Drives PE

1
CONTENTS 2
Power Electronic Systems
Modern Electrical Drive Systems
Power Electronic Converters in Electrical Drives

:: DC and AC Drives
Speed Control of Induction Motor
Power Electronic in Power System (FACTs)

Power Electronic Systems 3
What is Power Electronics ?
A field of Electrical Engineering that deals with the application of

power semiconductor devices for the control and conversion of
electric power
sensors
Input
Source Power Electronics Load
- AC Converters
- DC Output
- unregulated - AC
- DC
POWER ELECTRONIC
CONVERTERS – the
heart of power a power
Reference Controller electronics system
Why Power Electronics ?
Power semiconductor devices Power switches
isw
ON or OFF
+ vsw −
=0
isw = 0
Ploss = vsw× isw = 0
+ vsw −
Losses ideally ZERO !
K K K
  
G G
Vak Vak Vak
+ + +
ia ia ia
A A A
D
C
iD
+ ic
+
VDS G
G
VCE


S
E

Passive elements High frequency
transformer
+ VL 
+ +
iL
Inductor V1 V2
 
+ VC 
iC
Capacitor
sensors
Input
Source Power Electronics IDEALLY LOSSLESS
Load !
- AC Converters
- DC Output
- unregulated - AC
- DC
Reference Controller
Some Applications of Power Electronics :
Typically used in systems requiring efficient control and conversion of
electric energy:
Domestic and Commercial Applications
Industrial Applications
Telecommunications
Transportation
Generation, Transmission and Distribution of electrical energy
Power rating of < 1 W (portable equipment)

Tens or hundreds Watts (Power supplies for computers /office equipment)
kW to MW : drives
Hundreds of MW in DC transmission system (HVDC)
Modern Electrical Drive Systems 10
• About 50% of electrical energy used for drives
• Can be either used for fixed speed or variable speed

• 75% - constant speed, 25% variable speed (expanding)
• Variable speed drives typically used PEC to supply the motors
DC motors (brushed) AC motors

SRM - IM
- PMSM
BLDC
Classic Electrical Drive for Variable Speed Application :
• Bulky
• Inefficient
• inflexible
Typical Modern Electric Drive Systems
Power Electronic Converters Electric Motor

Electric Energy Electric Energy Electric Mechanical
- Unregulated - - Regulated - Energy Energy
POWER IN Power
Electronic Motor Load
Converters
feedback
Reference
Controller
Modern Electrical Drive Systems
13
Example on VSD application
Constant speed Variable Speed Drives
valve
Supply
motor pump
Power out
Power
In
Power loss
Mainly in valve
valve
Supply Supply
motor pump motor
PEC pump
Power out
Power out
Power
Power
In
In
Power loss
Power loss
Mainly in valve
valve
Supply Supply
motor pump motor
PEC pump
Power out
Power out
Power
Power
In
In
Power loss
Power loss
Mainly in valve
Electric motor consumes more than half of electrical energy in the US
Fixed speed Variable speed
Improvements in energy utilization in electric motors give large

impact to the overall energy consumption
HOW ?
Replacing fixed speed drives with variable speed drives
Using the high efficiency motors
Improves the existing power converter–based drive systems

Overview of AC and DC drives
DC drives: Electrical drives that use DC motors as the prime mover

Regular maintenance, heavy, expensive, speed limit
Easy control, decouple control of torque and flux
AC drives: Electrical drives that use AC motors as the prime mover

Less maintenance, light, less expensive, high speed
Coupling between torque and flux – variable spatial angle

between rotor and stator flux
Before semiconductor devices were introduced (<1950)

• AC motors for fixed speed applications
• DC motors for variable speed applications
After semiconductor devices were introduced (1960s)

• Variable frequency sources available – AC motors in variable
speed applications
• Coupling between flux and torque control
• Application limited to medium performance applications –
fans, blowers, compressors – scalar control
• High performance applications dominated by DC motors –

tractions, elevators, servos, etc
After vector control drives were introduced (1980s)

• AC motors used in high performance applications – elevators,
tractions, servos
• AC motors favorable than DC motors – however control is
complex hence expensive
• Cost of microprocessor/semiconductors decreasing –predicted
30 years ago AC motors would take over DC motors
Extracted from Boldea & Nasar

Power Electronic Converters in ED Systems 21
Converters for Motor Drives
(some possible configurations)
DC Drives AC Drives
AC Source DC Source AC Source DC Source
DC-AC-DC DC-DC
AC-DC AC-DC-DC AC-DC-AC AC-AC DC-AC DC-DC-AC
Const. Variable NCC FCC

DC DC
Converters for Motor Drives
Configurations of Power Electronic Converters depend on:
Sources available
Type of Motors
Drive Performance - applications

- Braking
- Response
- Ratings
DC DRIVES
Available AC source to control DC motor (brushed)
AC-DC AC-DC-DC
Uncontrolled Rectifier
Single-phase Control
Control
Three-phase
Controlled Rectifier DC-DC Switched mode
Single-phase 1-quadrant, 2-quadrant
Three-phase 4-quadrant
Single phase half wave converter drive
24
• A SE dc motor, fed through single-phase half-

wave converter.
• Motor field circuit is fed through a single-phase
Semiconverter in order to reduce the ripple
content.
• It is noted that thirystor current is equal to
source current. The armature current is
assumed ripple free.
• Such type of drives are used up to ½ kW dc
motors.
Single phase half wave semiconverter drive
25
• A SE dc motor, fed through single-phase

Semi-converter
• Motor field circuit is fed through a single-phase
Semiconverter in order to reduce the ripple
content.
• It is noted that thirystor current is equal to
source current. The armature current is
assumed ripple free.
• This converter offers one-quadrant drive and
us used uo to 15kW dc drives.
DC DRIVES
AC-DC
400
200
+ 2Vm -200
Vo  cos  -400
 0.4 0.405 0.41 0.415 0.42 0.425 0.43 0.435 0.44
50Hz Vo 10
1-phase Average voltage

over 10ms
5
 0
0.4 0.405 0.41 0.415 0.42 0.425 0.43 0.435 0.44
500
50Hz
+ -500
3-phase 0.4 0.405 0.41 0.415 0.42 0.425 0.43 0.435 0.44
3VL  L ,m
Vo Vo  cos  30

20
 Average voltage
over 3.33 ms 10
0
0.4 0.405 0.41 0.415 0.42 0.425 0.43 0.435 0.44
DC DRIVES
AC-DC
2Vm

+ 2Vm
Vo  cos 

50Hz Vo 90o 180o
1-phase Average voltage
over 10ms
 2Vm


3VL  L,m

50Hz
+
3-phase
3VL  L ,m
Vo Vo  cos 
 90o 180o
 Average voltage
over 3.33 ms 3VL  L ,m


DC DRIVES
AC-DC
ia
Vt
+
3-phase Q1
supply Vt Q2
Q3 Q4 Ia

- Operation in quadrant 1 and 4 only

DC DRIVES
AC-DC
+
3-
phase 3-phase
Vt supply
supply
Q2 Q1
Q3 Q4
T
DC DRIVES
AC-DC
F1 R1
3-phase
supply
+ Va -
R2 F2
Q2 Q1
Q3 Q4
T
DC DRIVES
AC-DC
Cascade control structure with armature reversal (4-quadrant):
iD
ref + iD,ref + Firing

Speed Current
controller Controller Circuit
_
_
iD,ref
Armature
iD, reversal
DC DRIVES
AC-DC-DC
Uncontrolled control
rectifier
Switch Mode DC-DC
1-Quadrant
2-Quadrant
4-Quadrant
DC DRIVES
AC-DC-DC
control
DC DRIVES
AC-DC-DC DC-DC: Two-quadrant Converter
Va
T1 D1
+
ia
Vdc Q2 Q1
+ Ia
D2
 T2 Va
T1 conducts  va = Vdc
DC DRIVES
Va
T1 D1
+
ia
Vdc Q2 Q1
+ Ia
D2
 T2 Va
D2 conducts  va = 0 T1 conducts  va = Vdc
Va Eb
Quadrant 1 The average voltage is made larger than the back emf
DC DRIVES
Va
T1 D1
+
ia
Vdc Q2 Q1
+ Ia
D2
 T2 Va
D1 conducts  va = Vdc
DC DRIVES
Va
T1 D1
+
ia
Vdc Q2 Q1
+ Ia
D2
 T2 Va
T2 conducts  va = 0 D1 conducts  va = Vdc
Va Eb
Quadrant 2 The average voltage is made smallerr than the back emf, thus
forcing the current to flow in the reverse direction
DC DRIVES
vc
2vtri
+
vA Vdc
-
+
vc
DC DRIVES
AC-DC-DC DC-DC: Four-quadrant Converter
leg A leg B
+ D1 D3
Q1 Q3
+ Va 
Vdc
 D4 D2
Q4 Q2
Positive current
va = Vdc when Q1 and Q2 are ON
DC DRIVES
leg A leg B
+ D1 D3
Q1 Q3
+ Va 
Vdc
 D4 D2
Q4 Q2
Positive current
va = Vdc when Q1 and Q2 are ON
va = -Vdc when D3 and D4 are ON
va = 0 when current freewheels through Q and D
DC DRIVES
leg A leg B
+ D1 D3
Q1 Q3
+ Va 
Vdc
 D4 D2
Q4 Q2
Positive current Negative current

va = Vdc when Q1 and Q2 are ON va = Vdc when D1 and D2 are ON
va = -Vdc when D3 and D4 are ON
va = 0 when current freewheels through Q and D
DC DRIVES
leg A leg B
+ D1 D3
Q1 Q3
+ Va 
Vdc
 D4 D2
Q4 Q2
Positive current Negative current

va = Vdc when Q1 and Q2 are ON va = Vdc when D1 and D2 are ON
va = -Vdc when D3 and D4 are ON va = -Vdc when Q3 and Q4 are ON
va = 0 when current freewheels through Q and D va = 0 when current freewheels through Q and D
DC DRIVES
Bipolar switching scheme – output
AC-DC-DC swings between VDC and -VDC
vc
2vtri
Vdc
Vdc
+ + vA
vA vB 0
- - Vdc
vB
0
vc Vdc
+ vAB
_ -Vdc
DC DRIVES
Unipolar switching scheme – output
AC-DC-DC swings between Vdc and -Vdc
vc
Vtri
-vc
Vdc
+ + Vdc
vA vB
vA
0
- -
Vdc
vc vB
0
+
Vdc
_
vAB
0
-vc
DC DRIVES
Armature
200 current 200
150 150 Armature

Vdc 100 Vdc 100 current
50 50
0 0
-50 -50
Vdc -100 -100
-150 -150
-200 -200
0.04 0.0405 0.041 0.0415 0.042 0.0425 0.043 0.0435 0.044 0.0445 0.045 0.04 0.0405 0.041 0.0415 0.042 0.0425 0.043 0.0435 0.044 0.0445 0.045
Bipolar switching scheme Unipolar switching scheme
• Current ripple in unipolar is smaller

• Output frequency in unipolar is effectively doubled
AC DRIVES
AC-DC-AC
control
The common PWM technique: CB-SPWM with ZSS

SVPWM
Speed control of 3-phase IM 47
• Stator voltage converter
• Stator frequency control
• Stator voltage and frequency control
• Stator current control
• Static rotor-resistance control
• Slip-energy recovery control.
3-phase ac voltage controller feeding 3-phase IM
48
• Stator-voltage-control method offers limited speed range.

• It introduces pronounced harmonic contents and input power factor is
quite low.
• These are used for low-power drives like fans, blowers and centrifugal
pumps requiring low starting torque.
Voltage source inverter feeding 3-phase IM
49
50
51
FACTS
1. POWER SYSTEMS
2. FACTS definition
3. FACTS controllers
4. Parallel controllers
5. Series controller
6. Series-parallel controllers
7. HVDC
8. Others
52
POWER SYSTEM
GENERATION TRANSMISSION DISTRIBUTION

Characteristics of Transmission 53
Bottlenecks
• Steady-State Power Transfer Limit

• Voltage Stability Limit
• Transient Stability Limit
• Thermal Limit
• Short-Circuit Current Limit
Conventional System Solutions
54
to enhance Transmission
capability
• Series Capacitors (X)
• Switched Shunt-Capacitor and Reactor (V)
• Transformer LTC’s (V)
• Phase Shifting Transformers (δ)
• Synchronous Condensers (V)
55
FACTS
1. POWER SYSTEMS
2. FACTS definition
7. HVDC
8. Others
Flexible Alternating Current 56
Transmission Systems (FACTS)
FACTS
AC transmission systems incorporating the
power electronic-based to enhance
controllability and increase power transfer
capability.
FACTS Controllers
A power electronic based system & other static
equipment that provide control of one or more
AC transmission parameters.
Power Electronics Devices For 57
FACTS Controllers
Line-Commutated
•Thyristors
•Electrically Triggered (ETT)

•Light Triggered (LTT) Self-Commutated
•Gate-Turn Off Thyristors (GTO)
•Insulated Gate Bipolar Transistors (IGBTs)
•Integrated Gate Commutated Thyristors (IGCTs)
58
FACTS
1. POWER SYSTEMS
2. FACTS definition
7. HVDC
8. Others
59
OVER VIEW OF FACTS
AC- NETWORK CONTROLLERS
CONVENTIONAL FACTS-Devices
(Switched) (Fast and Static)
R,L,C, Transformer Thyristor Valve VSC Hybrid
Shunt
Devices Switched Shunt
STATCOM STATCOM +
Compensation
SVC
Energy Storage
evices
Series D Switched Series
TCSC SSSC, IPFC FCL
Compensation
eries Phase Shifting

Shunt-S DFC UPFC, DPFC
Transformer
Vs Vr 61
X
Vs .Vr
P X sin 
Vs
I.X

Vr
I
Controllable parameters 62
Control of the line impedance current

and active power control Control of
angle
current and active power control
Series voltage injection
Current, active, and reactive power control
Parallel voltage injection
Current, active, and reactive power control
Series control 63
V1 Xseries X V2
Vseries
V1
P=V1.V2.sin( )/(X-Xserie s)
 I
V2
64
Parallel control
V1 X V2
V1
V1
Q
I
I
P=V1.V2.sin( )/X 
V2
65
Series and parallel control
V1 Xseries
X V2
Vseries
Q ?
66
FACTS
1. POWER SYSTEMS
2. FACTS definition
7. HVDC
8. Others
67
Static VAR compensator
• TCR = Thyristor Controlled Reactor
• TSR = Thyristor Switched Reactor
• TSC = Thyristor Switched Capacitor
• MSC = Mechanically-Switched Capacitor
• MSR = Mechanically-Switched Reactor
• FC = Fixed Capacitor
• Harmonic Filters
68
Thyristor Controlled Reactor (TCR)
Parallel-connected static var generator or
absorber
● Output is adjusted to exchange capacitive or
inductive current
● Maintain or control specific parameters of the
electrical power system
(typically bus voltage).
● Thyristor-based Controllers
● Lower cost alternative to STATCOM
Thyristor Controlled Reactor 69
6 Voltage Current
4
-2
-4
-6
-8
0 0.005 0.01 0.015
0.02
Time (s)
Firing angle of 90
0.667
0.333
-0.333
-0.667
-1
0 0.005 0.01 0.015
0.02
Time (s)
Firing angle of
135
Thyristor Switched Capacitor 70
(TSC)
Any Question??? 71
72
THANK
YOU….!

Drives PE

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1

Power Electronic Systems

Modern Electrical Drive Systems

Power Electronic Converters in Electrical Drives

Power Electronic in Power System (FACTs)

What is Power Electronics ?

A field of Electrical Engineering that deals with the application of

Why Power Electronics ?

Power semiconductor devices Power switches

Why Power Electronics ?

Power semiconductor devices Power switches

Why Power Electronics ?

Power semiconductor devices Power switches

Why Power Electronics ?

Why Power Electronics ?

Power rating of < 1 W (portable equipment)

• About 50% of electrical energy used for drives

• Can be either used for fixed speed or variable speed

• Variable speed drives typically used PEC to supply the motors

DC motors (brushed) AC motors

Power Electronic Converters Electric Motor

Constant speed Variable Speed Drives

Constant speed Variable Speed Drives

Constant speed Variable Speed Drives

Electric motor consumes more than half of electrical energy in the US

Fixed speed Variable speed

Improvements in energy utilization in electric motors give large

Improves the existing power converter–based drive systems

DC drives: Electrical drives that use DC motors as the prime mover

AC drives: Electrical drives that use AC motors as the prime mover

Coupling between torque and flux – variable spatial angle

Before semiconductor devices were introduced (<1950)

After semiconductor devices were introduced (1960s)

• High performance applications dominated by DC motors –

After vector control drives were introduced (1980s)

Extracted from Boldea & Nasar

AC Source DC Source AC Source DC Source

AC-DC AC-DC-DC AC-DC-AC AC-AC DC-AC DC-DC-AC

Const. Variable NCC FCC

Configurations of Power Electronic Converters depend on:

Drive Performance - applications

Available AC source to control DC motor (brushed)

• A SE dc motor, fed through single-phase half-

• A SE dc motor, fed through single-phase

1-phase Average voltage

- Operation in quadrant 1 and 4 only

ref + iD,ref + Firing

D2 conducts  va = 0 T1 conducts  va = Vdc

T2 conducts  va = 0 D1 conducts  va = Vdc

Positive current Negative current

Positive current Negative current

150 150 Armature

Vdc -100 -100

Bipolar switching scheme Unipolar switching scheme

• Current ripple in unipolar is smaller

The common PWM technique: CB-SPWM with ZSS

• Stator-voltage-control method offers limited speed range.

GENERATION TRANSMISSION DISTRIBUTION

• Steady-State Power Transfer Limit

•Electrically Triggered (ETT)

AC- NETWORK CONTROLLERS

R,L,C, Transformer Thyristor Valve VSC Hybrid

eries Phase Shifting