ECEN 5737 CU Boulder Electrical , Computer, and Energy Engineering Dept.

ECEN 5737: Adjustable Speed Drives

Dr. Nikola Milivojevic
Dr. Yusuf Gurkaynak
Joshua Traube



Spring 2013
ECEN 5737 CU Boulder Electrical , Computer, and Energy Engineering Dept.
Course info:
Monday/Wednesday 11:00-12:15, CAETE studio room, ECCS 1B12
Instructors: Dr. Nikola Milivojevic ,
e-mail: nikola.milivojevic@colorado.edu
Dr. Yusuf Gurkaynak,
e-mail: yusuf.gurkaynak@colorado.edu
Teaching Assistant: Joshua Traube,
e-mail: joshua.traube@colorado.edu
Email questions will be answered in 1-3 days. Please use 5017
in the subject line
web page: http://ecee.colorado.edu/~ecen5737/
blog: ecen5737.blogspot.com

ECEN 5737 CU Boulder Electrical , Computer, and Energy Engineering Dept.
Course info:
Visiting hours: Monday 9.30-10.30AM
Recommended textbooks:
Electric Motor Drives: Modeling, Analysis, and Control, R. Krishnan;
Advanced Electric Drives: Analysis, Control and Modeling Using Simulink,
Ned Mohan;
Electric Machinery, A. E. Fitzgerald, C. Kingsley, S. D. Umans
Exams/grading:
Assignments: 40%
Midterm exam: 30% (take home on March 15
th
, turn in March 22
nd
)
Final exam: 30% (in class, 2.5hrs) May 8
th

Matlab/Plex required
ECEN 5737 CU Boulder Electrical , Computer, and Energy Engineering Dept.
Course Outline
Introduction: Adjustable speed drives system
3 phase RLC circuits, Active-Reactive Power, RMS, Phasor diagrams, Apparent power
Faradays and Lorentz Law, basics of magnetics circuitry EMF built
Basics of magnetic circuitry transformer,
Basics of DC Machines: design; construction; types of DC
Modeling and Control of DC machines (outer- speed and inner current/torque loop)
T-w curve, 4Q diagram, operating envelope, DC machines application
Rotating magnetic field, difference from DC machines, wounded rotor, per phase equivalent
Squirrel cage induction, A, B, C, D types , T-w diagram
Control of Induction Machines: V/f ; Space Vector Modulation techniques
d/q transformations and modeling - Field Oriented Control of Induction machines
Introduction on synchronous machines: modeling, design and construction: sine vs. trap drives
Control of PM machines hall effect, BLDC
FOC (vector control) of PM machines
4Q drives of PM
Hybrid Electric Vehicle topologies
Basics of Switch Reluctance Machines; modeling; control and applications
ECEN 5737 CU Boulder Electrical , Computer, and Energy Engineering Dept.
Introduction
Course objective:
Understand various types of electric machines
Control of Electric machines control
Modeling and simulation
System integration
Electric drives applications
ECEN 5737 CU Boulder Electrical , Computer, and Energy Engineering Dept.
Adjustable Speed drive system
Mechanical
Load
Power
Converter
Power
source
Controller
Electrical
Machine
Battery
Grid (through rectifier)
uController
FPGA

Pump
Fan
Traction
Lift
Position
Speed
Torque
DC machine
AC machine
AC/DC
DC/DC
DC/AC
AC/AC
Electro-mechanical system Adjustable Speed drive
ECEN 5737 CU Boulder Electrical , Computer, and Energy Engineering Dept.
Power source
Rectified grid (AC) line:
300-400Vdc


Battery bank:
12-300Vdc
ECEN 5737 CU Boulder Electrical , Computer, and Energy Engineering Dept.
Mechanical Load
Proper match between el. machine and load

rpm
P
o
w
e
r

Power=krpm
Fans
Centrifugal pumps
Propellers
rpm
Hoist systems
Water pumping
Constant pressure gas
P
o
w
e
r

Power=krpm
Drilling machines
Milling machines
Traction drives!
rpm
P
o
w
e
r

Power=const.
ECEN 5737 CU Boulder Electrical , Computer, and Energy Engineering Dept.
Selecting the drive system
Thermal considerations of the drive
Match between el. machine and power converter:
Voltage
Current
Switching frequency inductance
Selecting position/speed/torque sensors

ECEN 5737 CU Boulder Electrical , Computer, and Energy Engineering Dept.
El. Machines classification
Electric Machines
Surface mount Interior mount
DC Machines AC Machines
Wound Field Permanent Magnet Synchronous Asynchronous
(Induction)
Series Shunt
Separately
excited
1 ph 3 ph Poly-ph
BLDC Step
PMSM
(Sinewave)
Switch
reluctance
Wound rotor Squirrel cage
ECEN 5737 CU Boulder Electrical , Computer, and Energy Engineering Dept.
Single speed of electrical machines
One speed of operation
Either ON or OFF
One voltage value input

ECEN 5737 CU Boulder Electrical , Computer, and Energy Engineering Dept.
Use of semiconductor switches
Provide variable voltage input
PWM technique using semiconductor switches
High frequency switching (tens kHz) results in smooth el.
machine control low-pass filter
Different technologies used for diff. powers:
Power MOSFETs up to 5-7kW, 50+kHz

- IGBTs up to hundreds of kW, 20kHz


- THYRISTORs - up to 1MW, <1kHz
ECEN 5737 CU Boulder Electrical , Computer, and Energy Engineering Dept.
Adjustable speed drive system
Q1 Q3 Q5
Q2 Q4 Q6
Vdc
Electric
Machine
drivers
uController
Position/speed
Currents/voltages
Supply voltage
temperature
Encoder
Resolver
Hall-effect
Battery
Capacitors
DC rail
ECEN 5737 CU Boulder Electrical , Computer, and Energy Engineering Dept.
Sensors
Current sensor:
Unidirectional
0-50A -> 0-3.3Vdc
Bidirectional
-50-50A -> 0-3.3Vdc


Photo: Courtesy of LEM
Photo: Courtesy of LEM
Voltage sensor:
- Isolated
- Voltage divider
3.3V
1.65V
+10A -10A
ECEN 5737 CU Boulder Electrical , Computer, and Energy Engineering Dept.
Position feedback - encoder:
Incremental -
Signals: A, B, Index, Vcc, GND


- Absolute
8, 10, 12, 16 bit and Vcc, GND
0 511 256 511 256
ECEN 5737 CU Boulder Electrical , Computer, and Energy Engineering Dept.
Completed ASD system