High Performance Control of AC Drives with MATLAB/Simulink Models

492 Pages·2012·11.23 MB·English

by  Atif Iqbal

HIGH PERFORMANCE
CONTROL OF AC
DRIVES WITH
MATLAB/SIMULINK
MODELS
HIGH PERFORMANCE
CONTROL OF AC
DRIVES WITH
MATLAB/SIMULINK
MODELS
Haitham Abu-Rub
Texas A&M University at Qatar, Qatar
Atif Iqbal
Qatar University, Qatar and Aligarh Muslim University, India
Jaroslaw Guzinski
Gdansk University of Technology, Poland
Thiseditionfirstpublished2012
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LibraryofCongressCataloging-in-PublicationData
Abu-Rub,Haithem.
HighperformancecontrolofACdriveswithMATLAB/Simulinkmodels/Haitham
AbuRub,AtifIqbal,JaroslawGuzinski.
p.cm.
Includesbibliographicalreferencesandindex.
ISBN978-0-470-97829-0(hardback)
1. Electricmotors,Alternatingcurrent–Computersimulation.2. Electricmotors,Alternating
current–Automaticcontrol.3. MATLAB.4. SIMULINK.I. Iqbal,Atif.II. Guzinski,Jaroslaw.III. Title.
TK2781.A282012
621.46–dc23
2011052004
AcataloguerecordforthisbookisavailablefromtheBritishLibrary.
PrintISBN:9780470978290
Typesetin10/12ptTimesbyThomsonDigital,Noida,India
Dedicated to my parents, my wife Beata, and my children Fatima,
Iman, Omar, and Muhammad.
—Haitham Abu-Rub
Dedicatedtomyparents,parentsin-law,mywifeShadma,andmykids
Abuzar,Noorin,andAbuBakerwhohaveinspiredmetowritethisbook.
—Atif Iqbal
Dedicated to my parents, my wife Anna, and my son Jurek.
—Jaroslaw Guzinski
Contents
Acknowledgment xiii
Biographies xv
Preface xvii
1 Introduction toHigh PerformanceDrives 1
1.1 Preliminary Remarks 1
1.2 GeneralOverviewof High Performance Drives 6
1.3 Challenges andRequirementsfor Electric Drivesfor Industrial
Applications 10
1.3.1 PowerQuality and LC Resonance Suppression 11
1.3.2 Inverter SwitchingFrequency 12
1.3.3 Motor Side Challenges 12
1.3.4 High dv/dt andWave Reflection 12
1.3.5 Use ofInverterOutput Filters 13
1.4 Organization of the Book 13
References 16
2 Mathematical and SimulationModelsof ACMachines 19
2.1 Preliminary Remarks 19
2.2 DC Motors 19
2.2.1 Separately Excited DC Motor Control 20
2.2.2 Series DCMotorControl 22
2.3 Squirrel CageInduction Motor 25
2.3.1 Space VectorRepresentation 25
2.3.2 ClarkeTransformation (ABC to ab) 26
2.3.3 Park Transformation (ab to dq) 29
2.3.4 Per Unit ModelofInduction Motor 30
2.3.5 Double Fed Induction Generator(DFIG) 32
2.4 Mathematical Model ofPermanentMagnetSynchronous Motor 35
2.4.1 Motor Modelindq RotatingFrame 36
2.4.2 Example ofMotor Parameters for Simulation 38
2.4.3 PMSM Modelin PerUnit System 38
2.4.4 PMSM Modelin a–b (x–y)-Axis 40
2.5 Problems 42
References 42
viii Contents
3 Pulse WidthModulation ofPowerElectronic DC-AC Converter 45
3.1 Preliminary Remarks 45
3.2 Classification ofPWM Schemesfor Voltage Source Inverters 46
3.3 Pulse WidthModulated Inverters 46
3.3.1 Single-Phase Half-bridge Inverters 46
3.3.2 Single-Phase Full-bridge Inverters 54
3.4 Three-phase PWM Voltage Source Inverter 56
3.4.1 Carrier-based SinusoidalPWM 64
3.4.2 Third-harmonic Injection Carrier-based PWM 67
3.4.3 Matlab/SimulinkModelfor Third Harmonic
Injection PWM 68
3.4.4 Carrier-based PWM with OffsetAddition 69
3.4.5 Space VectorPWM 72
3.4.6 Discontinuous Space Vector PWM 77
3.4.7 Matlab/SimulinkModelfor Space Vector PWM 78
3.4.8 Space VectorPWM inOver-modulation Region 90
3.4.9 Matlab/SimulinkModeltoImplement Space Vector PWM in
Over-modulation Regions 96
3.4.10 Harmonic Analysis 96
3.4.11 ArtificialNeuralNetwork-based PWM 96
3.4.12 Matlab/SimulinkModelofImplementing ANN-based SVPWM 100
3.5 Relationship betweenCarrier-basedPWM and SVPWM 100
3.5.1 ModulatingSignals and Space Vectors 102
3.5.2 Relationship between Line-to-line Voltages and Space Vectors 104
3.5.3 ModulatingSignals and Space Vector Sectors 104
3.6 Multi-levelInverters 104
3.6.1 Diode Clamped Multi-levelInverters 106
3.6.2 Flying Capacitor Type Multi-levelInverter 109
3.6.3 Cascaded H-BridgeMulti-levelInverter 112
3.7 ImpedanceSource orZ-sourceInverter 117
3.7.1 Circuit Analysis 120
3.7.2 Carrier-based Simple Boost PWM Controlof aZ-source
Inverter 122
3.7.3 Carrier-based Maximum Boost PWM Controlofa Z-source
Inverter 123
3.7.4 Matlab/SimulinkModelofZ-source Inverter 124
3.8 Quasi Impedance Source or qZSI Inverter 127
3.8.1 Matlab/SimulinkModelofqZ-source Inverter 129
3.9 Dead TimeEffect ina Multi-phase Inverter 129
3.10 Summary 133
3.11 Problems 134
References 135
4 Field Oriented Control ofAC Machines 139
4.1 Introduction 139
4.2 InductionMachines Control 140
Contents ix
4.2.1 ControlofInduction Motorusing V/f Method 140
4.2.2 Vector ControlofInduction Motor 143
4.2.3 Direct and Indirect FieldOrientedControl 148
4.2.4 RotorandStator Flux Computation 149
4.2.5 Adaptive Flux Observers 150
4.2.6 Stator Flux Orientation 152
4.2.7 Field Weakening Control 152
4.3 Vector ControlofDouble Fed InductionGenerator (DFIG) 153
4.3.1 Introduction 153
4.3.2 Vector ControlofDFIG Connected with the Grid (ab Model) 155
4.3.3 VariablesTransformation 156
4.3.4 Simulation Results 159
4.4 ControlofPermanent Magnet SynchronousMachine 160
4.4.1 Introduction 160
4.4.2 Vector ControlofPMSM indq Axis 160
4.4.3 Vector ControlofPMSM ina-b Axis using PIController 164
4.4.4 Scalar ControlofPMSM 166
Exercises 168
Additional Tasks 168
Possible Tasks for DFIG 168
Questions 169
References 169
5 Direct Torque Control ofAC Machines 171
5.1 Preliminary Remarks 171
5.2 Basic Concept andPrinciples of DTC 172
5.2.1 Basic Concept 172
5.2.2 PrincipleofDTC 173
5.3 DTC ofInduction Motor with Ideal Constant Machine Model 179
5.3.1 Ideal ConstantParameter Model ofInductionMotors 179
5.3.2 Direct Torque Control Scheme 182
5.3.3 Speed Controlwith DTC 184
5.3.4 Matlab/SimulinkSimulation ofTorque Controland Speed
Controlwith DTC 185
5.4 DTC ofInduction Motor with Consideration of Iron Loss 199
5.4.1 InductionMachineModelwith IronLossConsideration 199
5.4.2 Matlab/SimulinkSimulation ofthe Effectsof Iron
Losses in TorqueControland Speed Control 202
5.4.3 ModifiedDirect TorqueControlSchemefor Iron Loss
Compensation 213
5.5 DTC ofInduction Motor with Consideration of both Iron Losses and
MagneticSaturation 217
5.5.1 InductionMachineModelwith ConsiderationofIronLosses
and MagneticSaturation 217
5.5.2 Matlab/SimulinkSimulation ofEffectsofbothIron Losses and
MagneticSaturation inTorque Controland Speed Control 218
x Contents
5.6 ModifiedDirectTorque ControlofInduction Machinewith Constant
Switching Frequency 233
5.7 Direct Torque Controlof SinusoidalPermanentMagnetSynchronous
Motors (SPMSM) 233
5.7.1 Introduction 233
5.7.2 Mathematical ModelofSinusoidalPMSM 234
5.7.3 Direct Torque Control SchemeofPMSM 236
5.7.4 Matlab/SimulinkSimulation ofSPMSM with DTC 236
References 253
6 Non-Linear Control of Electrical Machines Using Non-Linear Feedback 255
6.1 Introduction 255
6.2 Dynamic SystemLinearization usingNon-Linear Feedback 256
6.3 Non-Linear Controlof Separately Excited DC Motors 258
6.3.1 Matlab/SimulinkNon-Linear ControlModel 258
6.3.2 Non-Linear ControlSystems 259
6.3.3 Speed Controller 260
6.3.4 Controller for Variable m 261
6.3.5 FieldCurrent Controller 262
6.3.6 SimulationResults 262
6.4 Multiscalar model (MM)of InductionMotor 262
6.4.1 Multiscalar Variables 262
6.4.2 Non-Linear Linearization ofInduction Motor Fed byVoltage
Controlled VSI 264
6.4.3 Design ofSystem Control 266
6.4.4 Non-Linear Linearization ofInduction Motor Fed byCurrent
Controlled VSI 267
6.4.5 Stator Oriented Non-Linear ControlSystem (basedon Ys, is) 270
6.4.6 Rotor-StatorFluxes-based Model 271
6.4.7 Stator Oriented Multiscalar Model 272
6.4.8 Multiscalar ControlofInduction Motor 274
6.4.9 InductionMotorModel 275
6.4.10 State Transformations 275
6.4.11 DecoupledIM Model 277
6.5 MM of Double FedInduction Machine (DFIM) 278
6.6 Non-Linear Controlof PermanentMagnetSynchronousMachine 281
6.6.1 Non-Linear ControlofPMSM fora dq MotorModel 283
6.6.2 Non-Linear Vector ControlofPMSM in a-b Axis 285
6.6.3 PMSM Modelin a-b (x-y) Axis 285
6.6.4 Transformations 285
6.6.5 Control System 288
6.6.6 SimulationResults 288
6.7 Problems 289
References 290
Contents xi
7 Five-PhaseInductionMotor Drive System 293
7.1 Preliminary Remarks 293
7.2 Advantages andApplications of Multi-Phase Drives 294
7.3 Modeling andSimulation ofa Five-PhaseInduction Motor Drive 295
7.3.1 Five-Phase Induction Motor Model 295
7.3.2 Five-Phase Two-LevelVoltage Source Inverter Model 304
7.3.3 PWM Schemesof aFive-Phase VSI 328
7.4 IndirectRotor Field Oriented ControlofFive-Phase Induction Motor 344
7.4.1 Matlab/SimulinkModelofField-Oriented Control of
Five-Phase Induction Machine 347
7.5 Field Oriented Control ofFive-PhaseInduction Motor with Current
Controlinthe Synchronous Reference Frame 348
7.6 Model PredictiveControl(MPC) 352
7.6.1 MPC Applied toa Five-Phase Two-LevelVSI 354
7.6.2 Matlab/SimulinkofMPC for Five-Phase VSI 356
7.6.3 Using Eleven Vectors with g ¼0 356
7.6.4 Using Eleven Vectors with g ¼1 359
7.7 Summary 359
7.8 Problems 359
References 361
8 Sensorless Speed Control of AC Machines 365
8.1 Preliminary Remarks 365
8.2 SensorlessControlof InductionMotor 365
8.2.1 Speed Estimation usingOpenLoopModeland Slip
Computation 366
8.2.2 ClosedLoopObservers 366
8.2.3 MRAS (Closed-loop) Speed Estimator 375
8.2.4 The Use ofPowerMeasurements 378
8.3 SensorlessControlof PMSM 380
8.3.1 Controlsystem ofPMSM 382
8.3.2 Adaptive Backstepping Observer 383
8.3.3 ModelReference Adaptive System for PMSM 385
8.3.4 Simulation Results 388
8.4 MRAS-based Sensorless Control ofFive-PhaseInduction Motor Drive 388
8.4.1 MRAS-based Speed Estimator 389
8.4.2 Simulation Results 396
References 396
9 Selected Problems ofInductionMotor Drives with VoltageInverter
and Inverter OutputFilters 401
9.1 DrivesandFilters– Overview 401
9.2 Three-Phase toTwo-Phase Transformations 403
9.3 Voltage and Current Common Mode Component 404
9.3.1 Matlab/SimulinkModelofInduction Motor Drivewith
PWM Inverterand CommonMode Voltage 405
xii Contents
9.4 InductionMotorCommon Mode Circuit 408
9.5 Bearing CurrentTypes andReduction Methods 410
9.5.1 Common Mode Choke 412
9.5.2 Common Mode Transformers 414
9.5.3 Common Mode Voltage Reductionby PWM Modifications 415
9.6 InverterOutput Filters 420
9.6.1 SelectedStructures ofInverter Output Filters 420
9.6.2 Inverter Output Filters Design 425
9.6.3 Motor Choke 435
9.6.4 Matlab/SimulinkModelofInduction Motor Drivewith
PWM Inverterand Differential Mode (NormalMode)
LC Filter 437
9.7 Estimation Problems inthe Drivewith Filters 440
9.7.1 Introduction 440
9.7.2 Speed Observer with Disturbances Model 442
9.7.3 SimpleObserver based on Motor Stator Models 445
9.8 Motor ControlProblemsinthe Drivewith Filters 447
9.8.1 Introduction 447
9.8.2 FieldOrientedControl 449
9.8.3 Non-Linear Field Oriented Control 453
9.8.4 Non-Linear Multiscalar Control 457
9.9 PredictiveCurrentControlinthe DriveSystem with OutputFilter 461
9.9.1 Control System 461
9.9.2 Predictive Current Controller 464
9.9.3 EMF EstimationTechnique 467
9.10 Problems 471
9.11 Questions 475
References 475
Index 479