Table Of ContentIETCONTROL,ROBOTICSAND SENSORS SERIES 118
Modeling, Simulation and
Control of Electrical Drives
Othervolumesinthisseries:
Volume8 AHistoryofControlEngineering,1800–1930S.Bennett
Volume9 EmbeddedMechatronicsSystemDesignforUncertainEnvironments:
Linux‡-based,Rasbpian‡,ARDUINO‡andMATLAB‡xPCTarget
ApproachesC.S.Chin
Volume18 AppliedControlTheory,2ndEditionJ.R.Leigh
Volume20 DesignofModernControlSystemsD.J.Bell,P.A.CookandN.Munro(Editors)
Volume28 RobotsandAutomatedManufactureJ.Billingsley(Editor)
Volume33 TemperatureMeasurementandControlJ.R.Leigh
Volume34 SingularPerturbationMethodologyinControlSystemsD.S.Naidu
Volume35 ImplementationofSelf-tuningControllersK.Warwick(Editor)
Volume37 IndustrialDigitalControlSystems,2ndEditionK.WarwickandD.Rees
(Editors)
Volume39 ContinuousTimeControllerDesignR.Balasubramanian
Volume40 DeterministicControlofUncertainSystemsA.S.I.Zinober(Editor)
Volume41 ComputerControlofReal-timeProcessesS.BennettandG.S.Virk(Editors)
Volume42 DigitalSignalProcessing:Principles,devicesandapplicationsN.B.Jones
andJ.D.McK.Watson(Editors)
Volume44 Knowledge-basedSystemsforIndustrialControlJ.McGhee,M.J.Grimble
andA.Mowforth(Editors)
Volume47 AHistoryofControlEngineering,1930–1956S.Bennett
Volume49 PolynomialMethodsinOptimalControlandFilteringK.J.Hunt(Editor)
Volume50 ProgrammingIndustrialControlSystemsUsingIEC1131-3R.W.Lewis
Volume51 AdvancedRoboticsandIntelligentMachinesJ.O.GrayandD.G.Caldwell
(Editors)
Volume52 AdaptivePredictionandPredictiveControlP.P.Kanjilal
Volume53 NeuralNetworkApplicationsinControlG.W.Irwin,K.WarwickandK.J.Hunt
(Editors)
Volume54 ControlEngineeringSolutions:ApracticalapproachP.Albertos,R.Strietzel
andN.Mort(Editors)
Volume55 GeneticAlgorithmsinEngineeringSystemsA.M.S.ZalzalaandP.J.Fleming
(Editors)
Volume56 SymbolicMethodsinControlSystemAnalysisandDesignN.Munro
(Editor)
Volume57 FlightControlSystemsR.W.Pratt(Editor)
Volume58 Power-plantControlandInstrumentation:Thecontrolofboilersand
HRSGsystemsD.Lindsley
Volume59 ModellingControlSystemsUsingIEC61499R.Lewis
Volume60 PeopleinControl:HumanfactorsincontrolroomdesignJ.Noyesand
M.Bransby(Editors)
Volume61 NonlinearPredictiveControl:TheoryandpracticeB.Kouvaritakisand
M.Cannon(Editors)
Volume62 ActiveSoundandVibrationControlM.O.TokhiandS.M.Veres
Volume63 SteppingMotors,4thEditionP.P.Acarnley
Volume64 ControlTheory,2ndEditionJ.R.Leigh
Volume65 ModellingandParameterEstimationofDynamicSystemsJ.R.Raol,G.Girija
andJ.Singh
Volume66 VariableStructureSystems:Fromprinciplestoimplementation
A.Sabanovic,L.FridmanandS.Spurgeon(Editors)
Volume67 MotionVision:Designofcompactmotionsensingsolutionfor
autonomoussystemsJ.KolodkoandL.Vlacic
Volume68 FlexibleRobotManipulators:Modelling,simulationandcontrol
M.O.TokhiandA.K.M.Azad(Editors)
Volume69 AdvancesinUnmannedMarineVehiclesG.RobertsandR.Sutton(Editors)
Volume70 IntelligentControlSystemsUsingComputationalIntelligenceTechniques
A.Ruano(Editor)
Volume71 AdvancesinCognitiveSystemsS.NeftiandJ.Gray(Editors)
Volume72 ControlTheory:Aguidedtour,3rdEditionJ.R.Leigh
Volume73 AdaptiveSamplingwithMobileWSNK.Sreenath,M.F.Mysorewala,
D.O.PopaandF.L.Lewis
Volume74 EigenstructureControlAlgorithms:Applicationstoaircraft/rotorcraft
handlingqualitiesdesignS.Srinathkumar
Volume75 AdvancedControlforConstrainedProcessesandSystemsF.Garelli,
R.J.MantzandH.DeBattista
Volume76 DevelopmentsinControlTheorytowardsGlocalControlL.Qiu,J.Chen,
T.IwasakiandH.Fujioka(Editors)
Volume77 FurtherAdvancesinUnmannedMarineVehiclesG.N.RobertsandR.Sutton
(Editors)
Volume78 Frequency-domainControlDesignforHigh-performanceSystems
J.O’Brien
Volume80 Control-orientedModellingandIdentification:Theoryandpractice
M.Lovera(Editor)
Volume81 OptimalAdaptiveControlandDifferentialGamesbyReinforcement
LearningPrinciplesD.Vrabie,K.VamvoudakisandF.Lewis
Volume83 RobustandAdaptiveModelPredictiveControlofNonlinearSystems
M.Guay,V.AdetolaandD.DeHaan
Volume84 NonlinearandAdaptiveControlSystemsZ.Ding
Volume86 ModelingandControlofFlexibleRobotManipulators,2ndEdition
M.O.TokhiandA.K.M.Azad
Volume88 DistributedControlandFilteringforIndustrialSystemsM.Mahmoud
Volume89 Control-basedOperatingSystemDesignA.Levaetal.
Volume90 ApplicationofDimensionalAnalysisinSystemsModellingandControl
DesignP.Balaguer
Volume91 AnIntroductiontoFractionalControlD.Vale´rioandJ.Costa
Volume92 HandbookofVehicleSuspensionControlSystemsH.Liu,H.GaoandP.Li
Volume93 DesignandDevelopmentofMulti-laneSmartElectromechanical
ActuatorsF.Y.Annaz
Volume94 AnalysisandDesignofResetControlSystemsY.Guo,L.XieandY.Wang
Volume95 ModellingControlSystemsUsingIEC61499,2ndEditionR.Lewisand
A.Zoitl
Volume96 Cyber-PhysicalSystemDesignwithSensorNetworkingTechnologies
S.ZeadallyandN.Jabeur(Editors)
Volume99 PracticalRoboticsandMechatronics:Marine,spaceandmedical
applicationsI.Yamamoto
Volume100 OrganicSensors:MaterialsandapplicationsEGarcia-BreijoandPCosseddu
(Editors)
Volume102 RecentTrendsinSlidingModeControlL.FridmanJ.P.BarbotandF.Plestan
(Editors)
Volume104 ControlofMechatronicSystemsL.Guvenc,B.A.Guvenc,B.Demirel,
M.T.Emirler
Volume105 MechatronicHands:ProstheticandroboticdesignP.H.Chappell
Volume107 SolvedProblemsinDynamicalSystemsandControlD.Vale´rio,J.T.Machado,
A.M.LopesandA.M.Galhano
Volume108 WearableExoskeletonSystems:Design,controlandapplicationsS.Bai,
G.S.VirkandT.G.Sugar
Volume111 TheInvertedPenduluminControlTheoryandRobotics:Fromtheoryto
newinnovationsO.BoubakerandR.Iriarte(Editors)
Volume112 RFIDProtocolDesign,Optimization,andSecurityfortheInternetof
ThingsA.X.Liu,M.Shahzad,X.LiuandK.Li
Volume113 DesignofEmbeddedRobustControlSystemsUsingMATLAB‡/Simulink‡
P.H.Petkov,T.N.SlavovandJ.K.Kralev
Volume114 SignalProcessingandMachineLearningforBrain-MachineInterfaces
T.TanakaandM.Arvaneh(Editor)
Volume117 DataFusioninWirelessSensorNetworksD.CiuonzoandP.S.Rossi(Editors)
Volume119 SwarmIntelligenceVolumes1–3Y.Tan(Editor)
Volume121 IntegratedFaultDiagnosisandControlDesignofLinearComplexSystems
M.Davoodi,N.MeskinandK.Khorasani
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Modeling, Simulation and
Control of Electrical Drives
Edited by
Muhammed Fazlur Rahman and Sanjeet K. Dwivedi
The Institution of Engineering andTechnology
PublishedbyTheInstitutionofEngineeringandTechnology,London,UnitedKingdom
TheInstitutionofEngineeringandTechnologyisregisteredasaCharityinEngland&
Wales(no.211014)andScotland(no.SC038698).
†TheInstitutionofEngineeringandTechnology2019
Firstpublished2019
ThispublicationiscopyrightundertheBerneConventionandtheUniversalCopyright
Convention.Allrightsreserved.Apartfromanyfairdealingforthepurposesofresearch
orprivatestudy,orcriticismorreview,aspermittedundertheCopyright,Designsand
PatentsAct1988,thispublicationmaybereproduced,storedortransmitted,inany
formorbyanymeans,onlywiththepriorpermissioninwritingofthepublishers,orin
thecaseofreprographicreproductioninaccordancewiththetermsoflicencesissued
bytheCopyrightLicensingAgency.Enquiriesconcerningreproductionoutsidethose
termsshouldbesenttothepublisherattheundermentionedaddress:
TheInstitutionofEngineeringandTechnology
MichaelFaradayHouse
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www.theiet.org
Whiletheauthorsandpublisherbelievethattheinformationandguidancegiveninthis
workarecorrect,allpartiesmustrelyupontheirownskillandjudgementwhenmaking
useofthem.Neithertheauthorsnorpublisherassumesanyliabilitytoanyoneforany
lossordamagecausedbyanyerrororomissioninthework,whethersuchanerroror
omissionistheresultofnegligenceoranyothercause.Anyandallsuchliabilityis
disclaimed.
Themoralrightsoftheauthorstobeidentifiedasauthorsofthisworkhavebeen
assertedbytheminaccordancewiththeCopyright,DesignsandPatentsAct1988.
MATLAB‡andSimulink‡aretrademarksofTheMathWorks,Inc.
BritishLibraryCataloguinginPublicationData
AcataloguerecordforthisproductisavailablefromtheBritishLibrary
ISBN978-1-78561-587-0(hardback)
ISBN978-1-78561-588-7(PDF)
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PrintedintheUKbyCPIGroup(UK)Ltd,Croydon
Contents
Abouttheeditors xix
Preface xxi
Foreword xxiii
1 Introductionto electric drives 1
MuhammedFazlur Rahman
1.1 The role of motor drives inmodern industry and energy usage 1
1.2 Controller hierarchy forelectric drives 3
1.3 Quadrant operation of a drive and typical load torque 7
1.4 Powerswitch and integrated control devices for drive systems 8
1.5 Overview of chapters 9
List of symbols 12
Glossary of terms 13
Further reading 13
2 Electric machines, dynamic models andsensorsin drive systems 15
MohammadFazlurRahman,Rukmi Dutta and DanXiao
2.1 Introduction 15
2.2 Electric machines and torque–speed (T–w)boundaries 15
2.3 T–wcharacteristics within torque–speed boundaries 17
2.4 Dynamic models of machines and simulation 18
2.4.1 Dynamic model of DC machines 18
2.4.2 Dynamics model of synchronousmachines inrotor
reference frame [1] 19
2.4.3 Dynamic model of induction machines in synchronous
reference frame 24
2.5 Simulation of drive systems 35
2.5.1 Tuning of an electric drive usinga cascaded structure [4] 35
2.5.2 Voltage reference amplitude limitation 38
2.5.3 Pulse-width modulation block 38
2.6 Sensorsin drive systems 39
2.6.1 Current sensorsfor electric drive systems 39
2.6.2 Speed sensorsforelectric drive systems 42
2.7 Recent developments inPMmachines; with reference to
developments of other types: DCMand IM 45
2.7.1 Developmentsin winding topologies 46
2.7.2 Emerging electric machine topologies 47
viii Modeling, simulation and control of electrical drives
2.7.3 Permanent magnet synchronousmachines (PMSMs)with
deep flux weakening capability 53
2.7.4 Control of the PMSMat deep flux weakening 56
2.8 Summary 58
List of symbol 58
Glossary of terms 59
References 59
3 Converters for drives 63
Ramkrishan Maheshwari
3.1 Introduction 63
3.2 Three-phase two-level inverter 64
3.2.1 Sinusoidal PWM 66
3.2.2 Space Vector PWM 68
3.2.3 Carrier-based implementation of SVPWM 72
3.3 Three-phase multilevel inverter 76
3.3.1 Sinusoidal PWM 78
3.3.2 Space vector PWM 81
3.3.3 Carrier-based implementation of the three-level
SVPWM[14] 86
3.3.4 Neutral-point voltage control 90
3.4 Summary 97
List of symbols 97
Glossary of terms 98
References 99
4 DCmotor drives 101
Sanjeev Singh
4.1 Introduction 101
4.2 Modelingof DCmotor 102
4.3 Classification of DCmotor drives 104
4.4 Converters for DCmotor drives 107
4.4.1 Single-phase controlled AC–DCconverters 108
4.4.2 Three-phase controlled AC–DCconverters 110
4.4.3 Single-phase uncontrolled AC–DCconverters 110
4.4.4 Three-phase uncontrolled AC–DCconverters 110
4.4.5 Choppers 110
4.4.6 DC–DCconverters 114
4.5 Control schemes for DC motor drives 115
4.5.1 ControlledAC–DCconverter-based DC motor drive 116
4.5.2 Uncontrolled AC–DCconverter–chopper-based DC
motor drive 117
4.5.3 Uncontrolled AC–DCconverter-DC–DCconverter-based
DC motor drive 118
Contents ix
4.6 PIcontroller design 120
4.7 Powerquality control and sensorreduction forDC motor drives 121
4.8 Modeling of controllers and PWMgenerators 123
4.8.1 Voltage controller 123
4.8.2 Reference current generator for power quality control 123
4.8.3 PWMcurrent controller 124
4.8.4 PWMsignal generator for voltage follower control 124
4.8.5 PWMsignal generation for single switch converters 124
4.8.6 PWMsignal generation for push–pull converter 124
4.8.7 PWMsignal generation for half bridge converter 125
4.8.8 PWMsignal generation for full-bridge converter 125
4.9 Performance simulation of DC motor drives 125
4.10 DCseries motor control 131
4.11 Summary 131
List of symbols 132
Glossary of terms 134
References 134
5 Synchronousmotor drives 137
Sanjeet K.Dwivedi
5.1 Introduction 137
5.2 Classification of synchronousmotor drives 138
5.3 Magnet torque and reluctance torque-based classification 139
5.4 Comparison of IPMSMand PMaSynRM 140
5.5 Different control techniques for various synchronousspeed motors 140
5.6 Operating principle of vector control technique 142
5.7 Mathematical model of vector-controlled PMSMdrive 143
5.7.1 Modeling of speed controllers 143
5.7.2 Modeling of reference winding current generation 149
5.7.3 Modeling of PWMcurrent controller 150
5.7.4 Modeling of PMSM 150
5.7.5 Modeling of voltage source inverter 151
5.8 MATLAB-based model of vector-controlled PMSMdrive system 152
5.8.1 Modeling usingpower systemblockset (PSB)toolbox 152
5.9 Description of DSP-basedvector-controlled PMSMdrive 156
5.9.1 Developmentof signal conditioning circuits 157
5.9.2 Developmentof power circuit of the drive 157
5.10 DSP-basedsoftware implementation of vector-controlled
PMSMdrive 157
5.10.1 Reference speed input 158
5.10.2 Sensing of rotor position signals 158
5.10.3 Speed sensing 158
5.10.4 Speed controller 158
5.10.5 Reference winding current generation 158
