High Performance Control of AC Drives with Matlab/Simulink. Edition No. 2

Table of Contents

Acknowledgment xiv

Biographies xvi

Preface to Second Edition xviii

Preface to First Edition xx

About the Companion Website xxii

1 Introduction to High-Performance Drives 1

1.1 Preliminary Remarks 1

1.2 General Overview of High-Performance Drives 6

1.3 Challenges and Requirements for Electric Drives for Industrial Applications 10

1.3.1 Power Quality and LC Resonance Suppression 11

1.3.2 Inverter Switching Frequency 12

1.3.3 Motor-Side Challenges 12

1.3.4 High dv/dt and Wave Reflection 12

1.3.5 Use of Inverter Output Filters 13

1.4 Wide Bandgap (WBG) Devices Applications in Electric Motor Drives 14

1.4.1 Industrial Prototype Using WBG 15

1.4.2 Major Challenges for WBG Devices for Electric Motor Drive Applications 15

1.5 Organization of the Book 16

References 19

2 Mathematical and Simulation Models of AC Machines 23

2.1 Preliminary Remarks 23

2.2 DC Motors 23

2.2.1 Separately Excited DC Motor Control 24

2.2.2 Series DC Motor Control 27

2.3 Squirrel Cage Induction Motor 28

2.3.1 Space Vector Representation 28

2.3.2 Clarke Transformation (ABC to αβ) 29

2.3.3 Park Transformation (αβ to dq) 32

2.3.4 Per Unit Model of Induction Motor 33

2.3.5 Double Fed Induction Generator (DFIG) 36

2.4 Mathematical Model of Permanent Magnet Synchronous Motor 39

2.4.1 Motor Model in dq Rotating Frame 40

2.4.2 Example of Motor Parameters for Simulation 42

2.4.3 PMSM Model in Per Unit System 42

2.4.4 PMSM Model in α - β (x - y)-Axis 44

2.5 Problems 45

References 45

3 Pulse-Width Modulation of Power Electronic DC-AC Converter 47
Atif Iqbal, Arkadiusz Lewicki, and Marcin Morawiec

3.1 Preliminary Remarks 47

3.2 Classification of PWM Schemes for Voltage Source Inverters 48

3.3 Pulse-Width Modulated Inverters 49

3.3.1 Single-Phase Half-Bridge Inverters 49

3.3.2 Single-Phase Full-Bridge or H-Bridge Inverters 55

3.4 Three-Phase PWM Voltage Source Inverter 60

3.4.1 Carrier-Based Sinusoidal PWM 67

3.4.2 Third-Harmonic Injection Carrier-Based PWM 67

3.4.3 MATLAB/Simulink Model for Third-Harmonic Injection PWM 72

3.4.4 Carrier-Based PWM with Offset Addition 72

3.4.5 Space Vector PWM (SVPWM) 74

3.4.6 Discontinuous Space Vector PWM 79

3.4.7 MATLAB/Simulink Model for Space Vector PWM 84

3.4.8 Space Vector PWM in Overmodulation Region 93

3.4.9 MATLAB/Simulink Model to Implement Space Vector PWM in Overmodulation Regions 99

3.4.10 Harmonic Analysis 100

3.4.11 Artificial Neural Network-Based PWM 100

3.4.12 MATLAB/Simulink Model of Implementing ANN-Based SVPWM 103

3.5 Relationship Between Carrier-Based PWM and SVPWM 104

3.5.1 Modulating Signals and Space Vectors 105

3.5.2 Relationship Between Line-to-Line Voltages and Space Vectors 106

3.5.3 Modulating Signals and Space Vector Sectors 107

3.6 Low-Switching Frequency PWM 107

3.6.1 Types of Symmetries and Fourier Analysis 109

3.6.2 Selective Harmonics Elimination in a two-Level VSI 109

3.6.3 MATLAB Code 114

3.7 Multilevel Inverters 116

3.7.1 Neutral-Point-Clamped (Diode-Clamped) Multilevel Inverters 116

3.7.2 Flying Capacitor-Type Multilevel Inverter 120

3.7.3 Cascaded H-Bridge Multilevel Inverter 126

3.8 Space Vector Modulation and DC-Link Voltage Balancing in Three-Level Neutral-Point-Clamped Inverters 128

3.8.1 The Output Voltage of Three-Level NPC Inverter in the Case of the DC-Link Voltage Unbalance 128

3.8.2 The Space Vector PWM for NPC Inverters 134

3.8.3 MATLAB/Simulink of SVPWM 137

3.9 Space Vector PWM for Multilevel-Cascaded H-Bridge Converter with DC-Link Voltage Balancing 138

3.9.1 Control of a Multilevel CHB Converter 141

3.9.2 The Output Voltage of a Single H-Bridge 142

3.9.3 Three-Level CHB Inverter 143

3.9.4 The Space Vector Modulation for Three-Level CHB Inverter 145

3.9.5 The Space Vector Modulation for Multilevel CHB Inverter 149

3.9.6 MATLAB/Simulink Simulation of SVPWM 150

3.10 Impedance Source or Z-source Inverter 150

3.10.1 Circuit Analysis 154

3.10.2 Carrier-Based Simple Boost PWM Control of a Z-source Inverter 156

3.10.3 Carrier-Based Maximum Boost PWM Control of a Z-source Inverter 157

3.10.4 MATLAB/Simulink Model of Z-source Inverter 159

3.11 Quasi Impedance Source or qZSI Inverter 159

3.11.1 MATLAB/Simulink Model of qZ-source Inverter 164

3.12 Dead Time Effect in a Multiphase Inverter 164

3.13 Summary 169

Problems 169

References 170

4 Field-Oriented Control of AC Machines 177

4.1 Introduction 177

4.2 Induction Machines Control 178

4.2.1 Control of Induction Motor Using V/f Methods 178

4.2.2 Vector Control of Induction Motor 182

4.2.3 Direct and Indirect Field-Oriented Control 188

4.2.4 Rotor and Stator Flux Computation 188

4.2.5 Adaptive Flux Observers 189

4.2.6 Stator Flux Orientation 190

4.2.7 Field Weakening Control 191

4.3 Vector Control of Double Fed Induction Generator (DFIG) 192

4.3.1 Introduction 192

4.3.2 Vector Control of DFIG Connected with the Grid (αβ Model) 194

4.3.3 Variables Transformation 194

4.3.4 Simulation Results 198

4.4 Control of Permanent Magnet Synchronous Machine 198

4.4.1 Introduction 198

4.4.2 Vector Control of PMSM in dq Axis 200

4.4.3 Vector Control of PMSM in α-β Axis Using PI Controller 203

4.4.4 Scalar Control of PMSM 207

Exercises 208

Additional Tasks 208

Possible Tasks for DFIG 208

Questions 208

References 209

5 Direct Torque Control of AC Machines 211
Truc Phamdinh

5.1 Preliminary Remarks 211

5.2 Basic Concept and Principles of DTC 212

5.2.1 Basic Concept 212

5.2.2 Principle of DTC 214

5.3 DTC of Induction Motor with Ideal Constant Machine Model 220

5.3.1 Ideal Constant Parameter Model of Induction Motors 220

5.3.2 Direct Torque Control Scheme 222

5.3.3 Speed Control with DTC 225

5.3.4 MATLAB/Simulink Simulation of Torque Control and Speed Control with DTC 225

5.4 DTC of Induction Motor with Consideration of Iron Loss 240

5.4.1 Induction Machine Model with Iron Loss Consideration 240

5.4.2 MATLAB/SIMULINK Simulation of the Effects of Iron Losses in Torque Control and Speed Control 243

5.4.3 Modified Direct Torque Control Scheme for Iron Loss Compensation 254

5.5 DTC of Induction Motor with Consideration of Both Iron Losses and Magnetic Saturation 259

5.5.1 Induction Machine Model with Consideration of Iron Losses and Magnetic Saturation 259

5.5.2 MATLAB/Simulink Simulation of Effects of Both Iron Losses and Magnetic Saturation in Torque Control and Speed Control 260

5.6 Modified Direct Torque Control of Induction Machine with Constant Switching Frequency 275

5.7 Direct Torque Control of Sinusoidal Permanent Magnet Synchronous Motors (SPMSM) 276

5.7.1 Introduction 276

5.7.2 Mathematical Model of Sinusoidal PMSM 276

5.7.3 Direct Torque Control Scheme of PMSM 278

5.7.4 MATLAB/Simulink Simulation of SPMSM with DTC 278

References 296

6 Nonlinear Control of Electrical Machines Using Nonlinear Feedback 299
Zbigniew Krzeminski and Haitham Abu-Rub

6.1 Introduction 299

6.2 Dynamic System Linearization Using Nonlinear Feedback 300

6.3 Nonlinear Control of Separately Excited DC Motors 301

6.3.1 MATLAB/Simulink Nonlinear Control Model 303

6.3.2 Nonlinear Control Systems 303

6.3.3 Speed Controller 304

6.3.4 Controller for Variable m 304

6.3.5 Field Current Controller 306

6.3.6 Simulation Results 306

6.4 Multiscalar Model (MM) of Induction Motor 306

6.4.1 Multiscalar Variables 307

6.4.2 Nonlinear Linearization of Induction Motor Fed by Voltage Controlled VSI 308

6.4.3 Design of System Control 310

6.4.4 Nonlinear Linearization of Induction Motor Fed by Current Controlled VSI 311

6.4.5 Stator-Oriented Nonlinear Control System (based on Ψs, is) 314

6.4.6 Rotor-Stator Fluxes-Based Model 315

6.4.7 Stator-Oriented Multiscalar Model 316

6.4.8 Multiscalar Control of Induction Motor 318

6.4.9 Induction Motor Model 319

6.4.10 State Transformations 320

6.4.11 Decoupled IM Model 321

6.5 MM of Double-Fed Induction Machine (DFIM) 322

6.6 Nonlinear Control of Permanent Magnet Synchronous Machine 325

6.6.1 Nonlinear Control of PMSM for a dq Motor Model 327

6.6.2 Nonlinear Vector Control of PMSM in α-β Axis 329

6.6.3 PMSM Model in α-β (x-y) Axis 329

6.6.4 Transformations 329

6.6.5 Control System 333

6.6.6 Simulation Results 334

6.7 Problems 334

References 334

7 Five-Phase Induction Motor Drive System 337

7.1 Preliminary Remarks 337

7.2 Advantages and Applications of Multiphase Drives 338

7.3 Modeling and Simulation of a Five-Phase Induction Motor Drive 339

7.3.1 Five-Phase Induction Motor Model 339

7.3.2 Five-Phase Two-Level Voltage Source Inverter Model 345

7.3.3 PWM Schemes of a Five-Phase VSI 380

7.4 Direct Rotor Field-Oriented Control of Five-Phase Induction Motor 396

7.4.1 MATLAB/Simulink Model of Field-Oriented Control of Five-Phase Induction Machine 398

7.5 Field-Oriented Control of Five-Phase Induction Motor with Current Control in the Synchronous Reference Frame 402

7.6 Direct Torque Control of a Five-Phase Induction Motor 404

7.6.1 Control of Inverter Switches Using DTC Technique 404

7.6.2 Virtual Vector for Five-Phase Two-Level Inverter 405

7.7 Model Predictive Control (MPC) 420

7.7.1 MPC Applied to a Five-Phase Two-Level VSI 421

7.7.2 MATLAB/Simulink of MPC for Five-Phase VSI 422

7.7.3 Using Eleven Vectors with γ = 0 423

7.7.4 Using Eleven Vectors with γ = 1 425

7.8 Summary 426

7.9 Problems 426

References 427

8 Sensorless Speed Control of AC Machines 433

8.1 Preliminary Remarks 433

8.2 Sensorless Control of Induction Motor 433

8.2.1 Speed Estimation Using Open-Loop Model and Slip Computation 434

8.2.2 Closed-Loop Observers 434

8.2.3 MRAS (Closed-Loop) Speed Estimator 443

8.2.4 The Use of Power Measurements 446

8.3 Sensorless Control of PMSM 448

8.3.1 Control System of PMSM 450

8.3.2 Adaptive Backstepping Observer 450

8.3.3 Model Reference Adaptive System for PMSM 452

8.3.4 Simulation Results 454

8.4 MRAS-Based Sensorless Control of Five-Phase Induction Motor Drive 454

8.4.1 MRAS-Based Speed Estimator 458

8.4.2 Simulation Results 460

References 464

9 Selected Problems of Induction Motor Drives with Voltage Inverter and Inverter Output Filters 469

9.1 Drives and Filters - Overview 469

9.2 Three-Phase to Two-Phase Transformations 471

9.3 Voltage and Current Common Mode Component 473

9.3.1 MATLAB/Simulink Model of Induction Motor Drive with PWM Inverter and Common Mode Voltage 474

9.4 Induction Motor Common Mode Circuit 477

9.5 Bearing Current Types and Reduction Methods 478

9.5.1 Common Mode Choke 480

9.5.2 Common Mode Transformers 482

9.5.3 Common Mode Voltage Reduction by PWM Modifications 483

9.6 Inverter Output Filters 489

9.6.1 Selected Structures of Inverter Output Filters 489

9.6.2 Inverter Output Filters Design 494

9.6.3 Motor Choke 503

9.6.4 MATLAB/Simulink Model of Induction Motor Drive with PWM Inverter and Differential Mode LC Filter 506

9.7 Estimation Problems in the Drive with Filters 509

9.7.1 Introduction 509

9.7.2 Speed Observer with Disturbances Model 511

9.7.3 Simple Observer Based on Motor Stator Models 514

9.8 Motor Control Problems in the Drive with Filters 516

9.8.1 Introduction 516

9.8.2 Field-Oriented Control 518

9.8.3 Nonlinear Field-Oriented Control 522

9.8.4 Nonlinear Multiscalar Control 526

9.9 Predictive Current Control in the Drive System with Output Filter 530

9.9.1 Control System 530

9.9.2 Predictive Current Controller 534

9.9.3 EMF Estimation Technique 536

9.10 Problems 541

Questions 544

References 545

10 Medium Voltage Drives - Challenges and Trends 549
Haitham Abu-Rub, Sertac Bayhan, Shaikh Moinoddin, Mariusz Malinowski, and Jaroslaw Guzinski

10.1 Introduction 549

10.2 Medium Voltage Drive Topologies 551

10.3 Challenges and Requirements of MV Drives 561

10.3.1 Power Quality and LC Resonance Suppression 561

10.3.2 Inverter Switching Frequency 561

10.3.3 Motor Side Challenges 562

10.4 Summary 569

References 569

11 Current Source Inverter Fed Drive 575
Marcin Morawiec and Arkadiusz Lewicki

11.1 Introduction 575

11.2 Current Source Inverter Structure 576

11.3 Pulse Width Modulation of Current Source Inverter 578

11.4 Mathematical Model of the Current Source Inverter Fed Drive 582

11.5 Control System of an Induction Machine Supplied by a Current Source Inverter 583

11.5.1 Open-Loop Control 583

11.5.2 Direct Field Control of Induction Machine 584

11.6 Control System Model in Matlab/Simulink 587

References 591

Index 593

Authors