简介
unique approach to sensorless control and regulator design of electric drives Based on the author's vast industry experience and collaborative works with other industries, Control of Electric Machine Drive Systems is packed with tested, implemented, and verified ideas that engineers can apply to everyday problems in the field. Originally published in Korean as a textbook, this highly practical updated version features the latest information on the control of electric machines and apparatus, as well as a new chapter on sensorless control of AC machines, a topic not covered in any other publication. The book begins by explaining the features of the electric drive system and trends of development in related technologies, as well as the basic structure and operation principles of the electric machine.-
It also addresses steady state characteristics and control of the machines and the transformation of physical variables of AC machines using reference frame theory in order to provide a proper foundation for the material. The heart of the book reviews several control algorithms of electric machines and power converters, explaining active damping and how to regulate current, speed, and position in a feedback manner. Seung-Ki Sul introduces tricks to enhance the control performance of the electric machines, and the algorithm to detect the phase angle of an AC source and to control DC link voltages of power converters. Topics also covered are: * Vector control * Control algorithms for position/speed sensorless drive of AC machines * Methods for identifying the parameters of electric machines and power converters * The matrix algebra to model a three-phase AC machine in d-q-n axes Every chapter features exercise problems drawn from actual industry experience.-
The book also includes more than 300 figures and offers access to an FTP site, which provides MATLAB programs for selected problems. The book's practicality and realworld relatability make it an invaluable resource for professionals and engineers involved in the research and development of electric machine drive business, industrial drive designers, and senior undergraduate and graduate students. To obtain instructor materials please send an email to pressbooks@ieee.org
目录
Preface p. xiii
Introduction p. 1
Introduction p. 1
Electric Machine Drive System p. 4
Trend of Development of Electric Machine Drive System p. 5
Trend of Development of Power Semiconductor p. 7
Trend of Development of Control Electronics p. 8
Basics of Mechanics p. 8
Basic Laws p. 9
Force and Torque p. 9
Moment of Inertia of a Rotating Body p. 11
Equations of Motion for a Rigid Body p. 13
Power and Energy p. 17
Continuity of Physical Variables p. 18
Torque Speed Curve of Typical Mechanical Loads p. 18
Fan, Pump, and Blower p. 18
Hoisting Load; Crane, Elevator p. 20
Traction Load (Electric Vehicle, Electric Train) p. 21
Tension Control Load p. 23
Problems p. 24
References p. 35
Basic Structure and Modeling of Electric Machines and Power Converters p. 36
Structure and Modeling of DC Machine p. 36
Analysis of Steady-State Operation p. 41
Separately Excited Shunt Machine p. 42
Series Excited DC Machine p. 45
Analysis of Transient State of DC Machine p. 46
Separately Excited Shunt Machine p. 47
Power Electronic Circuit to Drive DC Machine p. 50
Static Ward-Leonard System p. 51
Four-Quadrants Chopper System p. 52
Rotating Magnetic Motive Force p. 53
Steady-State Analysis of a Synchronous Machine p. 58
Linear Electric Machine p. 62
Capability Curve of Synchronous Machine p. 63
Round Rotor Synchronous Machine with Field Winding p. 63
Permanent Magnet Synchronous Machine p. 64
Parameter Variation of Synchronous Machine p. 66
Stator and Field Winding Resistance p. 66
Synchronous Inductance p. 66
Back EMF Constant p. 67
Steady-State Analysis of Induction Machine p. 70
Steady-State Equivalent Circuit of an Induction Machine p. 72
Constant Air Gap Flux Operation p. 77
Generator Operation of an Induction Machine p. 79
Variation of Parameters of an Induction Machine p. 81
Variation of Rotor Resistance, Rr p. 81
Variation of Rotor Leakage Inductance, Llr p. 82
Variation of Stator Resistance, Rs p. 82
Variation of Stator Leakage Inductance, Lls p. 83
Variation of Excitation Inductance, Lm p. 84
Variation of Resistance Representing Iron Loss, Rm p. 84
Classification of Induction Machines According to Speed-Torque Characteristics p. 84
Quasi-Transient State Analysis p. 87
Capability Curve of an Induction Machine p. 88
Comparison of AC Machine and DC Machine p. 90
Comparison of a Squirrel Cage Induction Machine and a Separately Excited DC Machine p. 90
Comparison of a Permanent Magnet AC Machine and a Separately Excited DC Machine p. 92
Variable-Speed Control of Induction Machine Based on Steady-State Characteristics p. 92
Variable Speed Control of Induction Machine by Controlling Terminal Voltage p. 93
Variable Speed Control of Induction Machine Based on Constant Air-Gap Flux (≈V/F) Control p. 94
Variable Speed Control of Induction Machine Based on Actual Speed Feedback p. 95
Enhancement of Constant Air-Gap Flux Control with Feedback of Magnitude of Stator Current p. 96
Modeling of Power Converters p. 96
Three-Phase Diode/Thyristor Rectifier p. 97
PWM Boost Rectifier p. 98
Two-Quadrants Bidirectional DC/DC Converter p. 101
Four-Quadrants DC/DC Converter p. 102
Three-Phase PWM Inverter p. 103
Matrix Converter p. 105
Parameter Conversion Using Per Unit Method p. 106
Problems p. 108
References p. 114
Reference Frame Transformation and Transient State Analysis of Three-Phase AC Machines p. 116
Complex Vector p. 117
d-q-n Modeling of an Induction Machine Based on Complex Space Vector p. 119
Equivalent Circuit of an Induction Machine at d-q-n AXIS p. 120
Torque of the Induction Machine p. 125
d-q-n Modeling of a Synchronous Machine Based on Complex Space Vector p. 128
Equivalent Circuit of a Synchronous Machine at d-q-n AXIS p. 128
Torque of a Synchronous Machine p. 138
Equivalent Circuit and Torque of a Permanent Magnet Synchronous Machine p. 140
Synchronous Reluctance Machine (SynRM) p. 144
Problems p. 146
References p. 153
Design of Regulators for Electric Machines and Power Converters p. 154
Active Damping p. 157
Current Regulator p. 158
Measurement of Current p. 158
Current Regulator for Three-Phase-Controlled Rectifier p. 161
Current Regulator for a DC Machine Driven by a PWM Chopper p. 166
Anti-Wind-Up p. 170
AC Current Regulator p. 173
Speed Regulator p. 179
Measurement of Speed/Position of Rotor of an Electric Machine p. 179
Estimation of Speed with Incremental Encoder p. 182
Estimation of Speed by a State Observer p. 189
PI/IP Speed Regulator p. 198
Enhancement of Speed Control Performance with Acceleration Information p. 204
Speed Regulator with Anti-Wind-Up Controller p. 206
Position Regulator p. 208
Proportional-Proportional and Integral (P-PI) Regulator p. 208
Feed-Forwarding of Speed Reference and Acceleration Reference p. 209
Detection of Phase Angle of AC Voltage p. 210
Detection of Phase Angle on Synchronous Reference Frame p. 210
Detection of Phase Angle Using Positive Sequence Voltage on Synchronous Reference Frame p. 213
Voltage Regulator p. 215
Voltage Regulator for DC Link of PWM Boost Rectifier p. 215
Problems p. 218
References p. 228
Vector Control p. 230
Instantaneous Torque Control p. 231
Separately Excited DC Machine p. 231
Surface-Mounted Permanent Magnet Synchronous Motor (SMPMSM) p. 233
Interior Permanent Magnet Synchronous Motor (IPMSM) p. 235
Vector Control of Induction Machine p. 236
Direct Vector Control p. 237
Indirect Vector Control p. 243
Rotor Flux Linkage Estimator p. 245
Voltage Model Based on Stator Voltage Equation of an Induction Machine p. 245
Current Model Based on Rotor Voltage Equation of an Induction Machine p. 246
Hybrid Rotor Flux Linkage Estimator p. 247
Enhanced Hybrid Estimator p. 248
Flux Weakening Control p. 249
Constraints of Voltage and Current to AC Machine p. 249
Operating Region of Permanent Magnet AC Machine in Current Plane at Rotor Reference Frame p. 250
Flux Weakening Control of Permanent Magnet Synchronous Machine p. 257
Flux Weakening Control of Induction Machine p. 262
Flux Regulator of Induction Machine p. 267
Problems p. 269
References p. 281
Position/Speed Sensorless Control of AC Machines p. 283
Sensorless Control of Induction Machine p. 286
Model Reference Adaptive System (MRAS) p. 286
Adaptive Speed Observer (ASO) p. 291
Sensorless Control of Surface-Mounted Permanent Magnet Synchronous Machine (SMPMSM) p. 297
Sensorless Control of Interior Permanent Magnet Synchronous Machine (IPMSM) p. 299
Sensorless Control Employing High-Frequency Signal Injection p. 302
Inherently Salient Rotor Machine p. 304
AC Machine with Nonsalient Rotor p. 305
Problems p. 317
References p. 320
Practical Issues p. 324
Output Voltage Distortion Due to Dead Time and Its Compensation p. 324
Compensation of Dead Time Effect p. 325
Zero Current Clamping (ZCC) p. 327
Voltage Distortion Due to Stray Capacitance of Semiconductor Switches p. 327
Prediction of Switching Instant p. 330
Measurement of Phase Current p. 334
Modeling of Time Delay of Current Measurement System p. 334
Offset and Scale Errors in Current Measurement p. 337
Problems Due to Digital Signal Processing of Current Regulation Loop p. 342
Modeling and Compensation of Current Regulation Error Due to Digital Delay p. 342
Error in Current Sampling p. 346
Problems p. 350
References p. 353
Measurement and Estimation of Parameters of Electric Machinery p. 354
Parameter Estimation p. 354
DC Machine p. 355
Estimation of Parameters of Induction Machine p. 357
Parameter Estimation of Electric Machines Using Regulators of Drive System p. 361
Feedback Control System p. 361
Back EMF Constant of DC Machine, K p. 363
Stator Winding Resistance of Three-Phase AC Machine, Rs p. 363
Induction Machine Parameters p. 365
Permanent Magnet Synchronous Machine p. 370
Estimation of Mechanical Parameters p. 374
Estimation Based on Mechanical Equation p. 374
Estimation Using Integral Process p. 376
References p. 380
d-q Modeling Using Matrix Equations p. 381
Reference Frame and Transformation Matrix p. 381
d-q Modeling of Induction Machine Using Transformation Matrix p. 386
d-q Modeling of Synchronous Machine Using Transformation Matrix p. 390
Index p. 391
IEEE Press Series on Power Engineering p. 401
Introduction p. 1
Introduction p. 1
Electric Machine Drive System p. 4
Trend of Development of Electric Machine Drive System p. 5
Trend of Development of Power Semiconductor p. 7
Trend of Development of Control Electronics p. 8
Basics of Mechanics p. 8
Basic Laws p. 9
Force and Torque p. 9
Moment of Inertia of a Rotating Body p. 11
Equations of Motion for a Rigid Body p. 13
Power and Energy p. 17
Continuity of Physical Variables p. 18
Torque Speed Curve of Typical Mechanical Loads p. 18
Fan, Pump, and Blower p. 18
Hoisting Load; Crane, Elevator p. 20
Traction Load (Electric Vehicle, Electric Train) p. 21
Tension Control Load p. 23
Problems p. 24
References p. 35
Basic Structure and Modeling of Electric Machines and Power Converters p. 36
Structure and Modeling of DC Machine p. 36
Analysis of Steady-State Operation p. 41
Separately Excited Shunt Machine p. 42
Series Excited DC Machine p. 45
Analysis of Transient State of DC Machine p. 46
Separately Excited Shunt Machine p. 47
Power Electronic Circuit to Drive DC Machine p. 50
Static Ward-Leonard System p. 51
Four-Quadrants Chopper System p. 52
Rotating Magnetic Motive Force p. 53
Steady-State Analysis of a Synchronous Machine p. 58
Linear Electric Machine p. 62
Capability Curve of Synchronous Machine p. 63
Round Rotor Synchronous Machine with Field Winding p. 63
Permanent Magnet Synchronous Machine p. 64
Parameter Variation of Synchronous Machine p. 66
Stator and Field Winding Resistance p. 66
Synchronous Inductance p. 66
Back EMF Constant p. 67
Steady-State Analysis of Induction Machine p. 70
Steady-State Equivalent Circuit of an Induction Machine p. 72
Constant Air Gap Flux Operation p. 77
Generator Operation of an Induction Machine p. 79
Variation of Parameters of an Induction Machine p. 81
Variation of Rotor Resistance, Rr p. 81
Variation of Rotor Leakage Inductance, Llr p. 82
Variation of Stator Resistance, Rs p. 82
Variation of Stator Leakage Inductance, Lls p. 83
Variation of Excitation Inductance, Lm p. 84
Variation of Resistance Representing Iron Loss, Rm p. 84
Classification of Induction Machines According to Speed-Torque Characteristics p. 84
Quasi-Transient State Analysis p. 87
Capability Curve of an Induction Machine p. 88
Comparison of AC Machine and DC Machine p. 90
Comparison of a Squirrel Cage Induction Machine and a Separately Excited DC Machine p. 90
Comparison of a Permanent Magnet AC Machine and a Separately Excited DC Machine p. 92
Variable-Speed Control of Induction Machine Based on Steady-State Characteristics p. 92
Variable Speed Control of Induction Machine by Controlling Terminal Voltage p. 93
Variable Speed Control of Induction Machine Based on Constant Air-Gap Flux (≈V/F) Control p. 94
Variable Speed Control of Induction Machine Based on Actual Speed Feedback p. 95
Enhancement of Constant Air-Gap Flux Control with Feedback of Magnitude of Stator Current p. 96
Modeling of Power Converters p. 96
Three-Phase Diode/Thyristor Rectifier p. 97
PWM Boost Rectifier p. 98
Two-Quadrants Bidirectional DC/DC Converter p. 101
Four-Quadrants DC/DC Converter p. 102
Three-Phase PWM Inverter p. 103
Matrix Converter p. 105
Parameter Conversion Using Per Unit Method p. 106
Problems p. 108
References p. 114
Reference Frame Transformation and Transient State Analysis of Three-Phase AC Machines p. 116
Complex Vector p. 117
d-q-n Modeling of an Induction Machine Based on Complex Space Vector p. 119
Equivalent Circuit of an Induction Machine at d-q-n AXIS p. 120
Torque of the Induction Machine p. 125
d-q-n Modeling of a Synchronous Machine Based on Complex Space Vector p. 128
Equivalent Circuit of a Synchronous Machine at d-q-n AXIS p. 128
Torque of a Synchronous Machine p. 138
Equivalent Circuit and Torque of a Permanent Magnet Synchronous Machine p. 140
Synchronous Reluctance Machine (SynRM) p. 144
Problems p. 146
References p. 153
Design of Regulators for Electric Machines and Power Converters p. 154
Active Damping p. 157
Current Regulator p. 158
Measurement of Current p. 158
Current Regulator for Three-Phase-Controlled Rectifier p. 161
Current Regulator for a DC Machine Driven by a PWM Chopper p. 166
Anti-Wind-Up p. 170
AC Current Regulator p. 173
Speed Regulator p. 179
Measurement of Speed/Position of Rotor of an Electric Machine p. 179
Estimation of Speed with Incremental Encoder p. 182
Estimation of Speed by a State Observer p. 189
PI/IP Speed Regulator p. 198
Enhancement of Speed Control Performance with Acceleration Information p. 204
Speed Regulator with Anti-Wind-Up Controller p. 206
Position Regulator p. 208
Proportional-Proportional and Integral (P-PI) Regulator p. 208
Feed-Forwarding of Speed Reference and Acceleration Reference p. 209
Detection of Phase Angle of AC Voltage p. 210
Detection of Phase Angle on Synchronous Reference Frame p. 210
Detection of Phase Angle Using Positive Sequence Voltage on Synchronous Reference Frame p. 213
Voltage Regulator p. 215
Voltage Regulator for DC Link of PWM Boost Rectifier p. 215
Problems p. 218
References p. 228
Vector Control p. 230
Instantaneous Torque Control p. 231
Separately Excited DC Machine p. 231
Surface-Mounted Permanent Magnet Synchronous Motor (SMPMSM) p. 233
Interior Permanent Magnet Synchronous Motor (IPMSM) p. 235
Vector Control of Induction Machine p. 236
Direct Vector Control p. 237
Indirect Vector Control p. 243
Rotor Flux Linkage Estimator p. 245
Voltage Model Based on Stator Voltage Equation of an Induction Machine p. 245
Current Model Based on Rotor Voltage Equation of an Induction Machine p. 246
Hybrid Rotor Flux Linkage Estimator p. 247
Enhanced Hybrid Estimator p. 248
Flux Weakening Control p. 249
Constraints of Voltage and Current to AC Machine p. 249
Operating Region of Permanent Magnet AC Machine in Current Plane at Rotor Reference Frame p. 250
Flux Weakening Control of Permanent Magnet Synchronous Machine p. 257
Flux Weakening Control of Induction Machine p. 262
Flux Regulator of Induction Machine p. 267
Problems p. 269
References p. 281
Position/Speed Sensorless Control of AC Machines p. 283
Sensorless Control of Induction Machine p. 286
Model Reference Adaptive System (MRAS) p. 286
Adaptive Speed Observer (ASO) p. 291
Sensorless Control of Surface-Mounted Permanent Magnet Synchronous Machine (SMPMSM) p. 297
Sensorless Control of Interior Permanent Magnet Synchronous Machine (IPMSM) p. 299
Sensorless Control Employing High-Frequency Signal Injection p. 302
Inherently Salient Rotor Machine p. 304
AC Machine with Nonsalient Rotor p. 305
Problems p. 317
References p. 320
Practical Issues p. 324
Output Voltage Distortion Due to Dead Time and Its Compensation p. 324
Compensation of Dead Time Effect p. 325
Zero Current Clamping (ZCC) p. 327
Voltage Distortion Due to Stray Capacitance of Semiconductor Switches p. 327
Prediction of Switching Instant p. 330
Measurement of Phase Current p. 334
Modeling of Time Delay of Current Measurement System p. 334
Offset and Scale Errors in Current Measurement p. 337
Problems Due to Digital Signal Processing of Current Regulation Loop p. 342
Modeling and Compensation of Current Regulation Error Due to Digital Delay p. 342
Error in Current Sampling p. 346
Problems p. 350
References p. 353
Measurement and Estimation of Parameters of Electric Machinery p. 354
Parameter Estimation p. 354
DC Machine p. 355
Estimation of Parameters of Induction Machine p. 357
Parameter Estimation of Electric Machines Using Regulators of Drive System p. 361
Feedback Control System p. 361
Back EMF Constant of DC Machine, K p. 363
Stator Winding Resistance of Three-Phase AC Machine, Rs p. 363
Induction Machine Parameters p. 365
Permanent Magnet Synchronous Machine p. 370
Estimation of Mechanical Parameters p. 374
Estimation Based on Mechanical Equation p. 374
Estimation Using Integral Process p. 376
References p. 380
d-q Modeling Using Matrix Equations p. 381
Reference Frame and Transformation Matrix p. 381
d-q Modeling of Induction Machine Using Transformation Matrix p. 386
d-q Modeling of Synchronous Machine Using Transformation Matrix p. 390
Index p. 391
IEEE Press Series on Power Engineering p. 401
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