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Gaolin Wang Nannan Zhao Guoqiang Zhang Dianguo Xu Reduced DC-link Capacitance AC Motor Drives Reduced DC-link Capacitance AC Motor Drives Gaolin Wang Nannan Zhao (cid:129) (cid:129) Guoqiang Zhang Dianguo Xu (cid:129) Reduced DC-link Capacitance AC Motor Drives 123 GaolinWang Nannan Zhao Harbin Institute of Technology Harbin Institute of Technology Harbin, Heilongjiang, China Harbin, Heilongjiang, China Guoqiang Zhang Dianguo Xu Harbin Institute of Technology Harbin Institute of Technology Harbin, Heilongjiang, China Harbin, Heilongjiang, China ISBN978-981-15-8565-4 ISBN978-981-15-8566-1 (eBook) https://doi.org/10.1007/978-981-15-8566-1 ©TheEditor(s)(ifapplicable)andTheAuthor(s),underexclusivelicensetoSpringerNature SingaporePteLtd.2021 Thisworkissubjecttocopyright.AllrightsaresolelyandexclusivelylicensedbythePublisher,whether thewholeorpartofthematerialisconcerned,specificallytherightsoftranslation,reprinting,reuseof illustrations, recitation, broadcasting, reproduction on microfilms or in any other physical way, and transmissionorinformationstorageandretrieval,electronicadaptation,computersoftware,orbysimilar ordissimilarmethodologynowknownorhereafterdeveloped. The use of general descriptive names, registered names, trademarks, service marks, etc. in this publicationdoesnotimply,evenintheabsenceofaspecificstatement,thatsuchnamesareexemptfrom therelevantprotectivelawsandregulationsandthereforefreeforgeneraluse. The publisher, the authors and the editors are safe to assume that the advice and information in this book are believed to be true and accurate at the date of publication. Neither the publisher nor the authors or the editors give a warranty, expressed or implied, with respect to the material contained hereinorforanyerrorsoromissionsthatmayhavebeenmade.Thepublisherremainsneutralwithregard tojurisdictionalclaimsinpublishedmapsandinstitutionalaffiliations. ThisSpringerimprintispublishedbytheregisteredcompanySpringerNatureSingaporePteLtd. The registered company address is: 152 Beach Road, #21-01/04 Gateway East, Singapore 189721, Singapore Preface ReducedDC-linkcapacitancemotordrivesystemhasbeendevelopedforitshigher reliability, higher power density, lower cost, and longer lifetime. Compared with the conventional drive system equipped with large volume electrolytic capacitors, the DC-link capacitance is reduced remarkably. The DC-link voltage fluctuates obviously,andthecouplingbetweenthegridinputsideandtheinverteroutputside is enhanced. Many techniques have been developed to improve the drive system performance in the last few decades. The book focuses on the advanced control of reduced dc-link capacitance AC motor drives. The proposed control strategies are verified by experimental results, which include high power factor control, drive system stability control, beat phe- nomenon suppression, enhanced flux-weakening control, anti-overvoltage control, etc. The major features of this book are the systematic analysis, effective and optimized control of the practical issues in industry application, which could help thereaders tolearnthereduceddc-linkcapacitancePMSMdrivesandpromotethe drive system application. This book could benefit researchers, engineers, and stu- dents in the field of AC motor drives. Harbin, China Gaolin Wang Nannan Zhao Guoqiang Zhang Dianguo Xu v Contents 1 Basic Knowdge of AC Motor Drives. . . . . . . . . . . . . . . . . . . . . . . . . 1 1.1 Structure and Mathematical Model . . . . . . . . . . . . . . . . . . . . . . . 1 1.1.1 PMSM Applications . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 1.1.2 PMSM Structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2 1.1.3 PMSM Mathematical Model in Three-Phase Coordinate Frame . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 1.2 Space Vector and Coordinate Transformation. . . . . . . . . . . . . . . . 5 1.2.1 Introduction of PMSM Space Vector . . . . . . . . . . . . . . . . 5 1.2.2 Coordinate Transformation. . . . . . . . . . . . . . . . . . . . . . . . 6 1.2.3 PMSM Mathematical Model in Different Coordinate Frames . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 1.3 Space Vector Pulse Width Modulation (SVPWM) . . . . . . . . . . . . 11 1.3.1 Principle and Realization of SVPWM. . . . . . . . . . . . . . . . 11 1.3.2 Evaluation of Maximum Voltage Vector in SVPWM. . . . . 14 1.4 Vector Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16 1.4.1 Basic Structure of Vector Control System . . . . . . . . . . . . . 16 1.4.2 Principle of Field Orientation Control. . . . . . . . . . . . . . . . 16 1.5 Model Based Sensorless Control . . . . . . . . . . . . . . . . . . . . . . . . . 17 1.5.1 Concept of Extended Electromotive Force. . . . . . . . . . . . . 17 1.5.2 Sliding-Mode Observer Construction . . . . . . . . . . . . . . . . 18 1.5.3 Full-Order Sliding-Mode Observer . . . . . . . . . . . . . . . . . . 19 1.5.4 Stability Analysis of Sliding-Mode Observer. . . . . . . . . . . 21 1.6 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25 References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25 2 High Power Factor Control of Grid Input Current . . . . . . . . . . . . . 27 2.1 Power Characteristic Analysis of Drive System . . . . . . . . . . . . . . 28 2.1.1 Topology of Single-Phase Reduced DC-Link Capacitance Motor Drives . . . . . . . . . . . . . . . . . . . . . . . . 28 vii viii Contents 2.1.2 Grid Input Power. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28 2.1.3 Inverter Output Power . . . . . . . . . . . . . . . . . . . . . . . . . . . 29 2.2 Inverter Power Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30 2.2.1 Principle of Inverter Power Control . . . . . . . . . . . . . . . . . 30 2.2.2 Inverter Power Control Scheme . . . . . . . . . . . . . . . . . . . . 31 2.2.3 Inverter Power Control Loop . . . . . . . . . . . . . . . . . . . . . . 31 2.3 Parameter Determination of Inverter Power Controller . . . . . . . . . 33 2.3.1 Mathematical Model of Inverter Power Control Loop . . . . 33 2.3.2 Parameters Design of PR Controller . . . . . . . . . . . . . . . . . 34 2.3.3 Parameters Determination. . . . . . . . . . . . . . . . . . . . . . . . . 35 2.4 Inverter Power Compensation Based on DC-Link Voltage Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35 2.4.1 Performance Evaluation of Inverter Power Control . . . . . . 35 2.4.2 Closed Loop Control of DC-Link Voltage Control . . . . . . 36 2.4.3 DC-Link Voltage Reference Generation . . . . . . . . . . . . . . 38 2.4.4 DC-Link Voltage Control Realization . . . . . . . . . . . . . . . . 39 2.4.5 Analysis of Maximum Motor Speed . . . . . . . . . . . . . . . . . 42 2.5 Experimental Results . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44 2.6 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51 References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51 3 Resonance Suppression Between Line Inductor and DC-Link Capacitor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53 3.1 Analysis of LC Resonance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53 3.1.1 Drive System Model Construction . . . . . . . . . . . . . . . . . . 53 3.1.2 Stability Analysis of Drive System . . . . . . . . . . . . . . . . . . 54 3.1.3 Influence of DC-Link Capacitance on Drive System . . . . . 55 3.2 DC-Link Voltage Feedback Based Active Damping Control Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56 3.2.1 Principle of Active Damping Control . . . . . . . . . . . . . . . . 56 3.2.2 Direct Damping Current to Stabilize Drive System . . . . . . 57 3.2.3 Stability Analysis Using Routh-Hurwitz Criterion . . . . . . . 58 3.2.4 Realization of Direct Damping Current. . . . . . . . . . . . . . . 60 3.2.5 Parameters Determination of Direct Damping Current Generator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62 3.2.6 Experimental Results . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63 3.3 Virtual Resistor Based Active Damping Control. . . . . . . . . . . . . . 69 3.3.1 Different Configurations of Virtual Damping Resistor . . . . 69 3.3.2 Stability Analysis of Virtual Resistor Based Active Damping Control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69 Contents ix 3.4 Inductor Current Feedback Based Active Damping Control Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73 3.4.1 Realization of Inductor Current Feedback Control . . . . . . . 73 3.4.2 Compensation of Distorted Grid Voltage. . . . . . . . . . . . . . 73 3.4.3 Experimental Results . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75 3.5 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79 References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83 4 Impedance Model Based Stability Control . . . . . . . . . . . . . . . . . . . . 85 4.1 Impedance Modeling of PMSM. . . . . . . . . . . . . . . . . . . . . . . . . . 85 4.2 System Performance Evaluation. . . . . . . . . . . . . . . . . . . . . . . . . . 88 4.2.1 System Stability Analysis. . . . . . . . . . . . . . . . . . . . . . . . . 88 4.2.2 Analysis of Grid Current Harmonics. . . . . . . . . . . . . . . . . 89 4.3 DC-Link Voltage Feedback Stability Control Method. . . . . . . . . . 90 4.3.1 DC-Link Voltage Feedback Based Stability Control Method. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90 4.3.2 System Stability Analysis. . . . . . . . . . . . . . . . . . . . . . . . . 90 4.3.3 Analysis of Grid Current Harmonics. . . . . . . . . . . . . . . . . 91 4.4 Grid Current Feedback Based Stabilization Control Method . . . . . 92 4.4.1 Principle of the Grid Current Feedback Based Stabilization Control Method . . . . . . . . . . . . . . . . . . . . . . 92 4.4.2 System Stability Analysis. . . . . . . . . . . . . . . . . . . . . . . . . 93 4.4.3 Analysis of Grid Current Harmonics. . . . . . . . . . . . . . . . . 95 4.4.4 Experimental Results . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96 4.5 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101 References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101 5 Analysis and Suppression of Beat Phenomenon . . . . . . . . . . . . . . . . 103 5.1 Beat Phenomenon Simply Caused by DC-Link Voltage . . . . . . . . 103 5.2 Beat Phenomenon of Reduced DC-Link Capacitance IPMSM Drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104 5.2.1 Effect of Fluctuated DC-Link Voltage on Motor Current . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104 5.2.2 Interaction Between DC-Link Voltage Fluctuation and Load Torque Fluctuation . . . . . . . . . . . . . . . . . . . . . . 106 5.3 Drive System Performance Analysis Influenced by Beat Phenomenon . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108 5.3.1 Effect of Beat Phenomenon on Grid Current . . . . . . . . . . . 108 5.3.2 Effect of Beat Phenomenon on Motor Speed. . . . . . . . . . . 108 5.4 Beat Phenomenon Suppression Method . . . . . . . . . . . . . . . . . . . . 109 5.4.1 Principle of Beat Phenomenon Suppression Method . . . . . 109 5.4.2 Beat Phenomenon Suppression of Grid Current. . . . . . . . . 110 5.4.3 Beat Phenomenon Suppression of Motor Speed. . . . . . . . . 111 5.4.4 Experimental Results . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112 x Contents 5.5 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121 References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121 6 Flux-Weakening Control Method . . . . . . . . . . . . . . . . . . . . . . . . . . . 123 6.1 Conventional Flux-Weakening Control . . . . . . . . . . . . . . . . . . . . 123 6.2 Torque Ripple Analysis Caused by DC-Link Voltage Fluctuation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 124 6.2.1 Introduction of Three-Phase Reduced DC-Link Capacitance PMSM Drives. . . . . . . . . . . . . . . . . . . . . . . . 124 6.2.2 Analysis of Influence on Stator Voltage . . . . . . . . . . . . . . 125 6.2.3 Analysis of Torque Ripple . . . . . . . . . . . . . . . . . . . . . . . . 128 6.3 Adjustable Maximum Voltage Based Flux-Weakening Control . . . 131 6.3.1 Principle of the Control Method. . . . . . . . . . . . . . . . . . . . 131 6.3.2 Realization of the Control Method . . . . . . . . . . . . . . . . . . 133 6.3.3 Analysis of Stator Current Vector Trajectory. . . . . . . . . . . 135 6.4 Power Loss Analysis of Flux-Weakening Control. . . . . . . . . . . . . 136 6.5 Experimental Results . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 137 6.6 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 145 References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 146 7 Motor Loss Based Anti-Overvoltage Control . . . . . . . . . . . . . . . . . . 147 7.1 Braking Performance Analysis Under Reduced DC-Link Capacitance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 147 7.1.1 Electrical Power Analysis Under Breaking Process . . . . . . 147 7.1.2 DC-Link Voltage Analysis Under Breaking Process. . . . . . 149 7.2 Motor Loss Based Braking Method. . . . . . . . . . . . . . . . . . . . . . . 150 7.3 Stator Current Vector Orientation Based Anti-Overvoltage Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152 7.3.1 Principle Analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152 7.3.2 Current Trajectory Planning in Braking Process. . . . . . . . . 153 7.3.3 Anti-Overvoltage Realization Using Stator Current Vector Orientation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 154 7.3.4 Parameters Determination of Voltage Controller . . . . . . . . 156 7.3.5 Experimental Results . . . . . . . . . . . . . . . . . . . . . . . . . . . . 158 7.4 Energy Control Error Analysis of Braking Scheme. . . . . . . . . . . . 162 7.5 Dual Anti-Overvoltage Control Method . . . . . . . . . . . . . . . . . . . . 168 7.5.1 Principle Analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 168 7.5.2 Realization of Dual Anti-Overvoltage Control Method. . . . 169 7.5.3 Analysis of Energy Control Error . . . . . . . . . . . . . . . . . . . 170 7.5.4 Voltage Controller Coefficient Autoregulation . . . . . . . . . . 171 7.5.5 Experimental Results . . . . . . . . . . . . . . . . . . . . . . . . . . . . 174 7.6 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 185 References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 187 Contents xi 8 Optimized Overmodulation Strategy. . . . . . . . . . . . . . . . . . . . . . . . . 189 8.1 Overmodulation Method of SVPWM. . . . . . . . . . . . . . . . . . . . . . 189 8.1.1 Conventional Overmodulation of SVPWM . . . . . . . . . . . . 189 8.1.2 Analysis of the Overmodulation in Reduced DC-Link Capacitance PMSM Drives. . . . . . . . . . . . . . . . . . . . . . . . 190 8.2 Voltage Distortion Caused by Convensional Dual-Mode Overmodulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 191 8.3 Transition Analysis of Uncontrollable Modulation Region . . . . . . 196 8.4 Voltage Bundary Based Overmodulation Scheme. . . . . . . . . . . . . 198 8.4.1 Optimized Voltage Boundary Based Overmodulation Strategy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 198 8.4.2 Experimental Results of Optimized Voltage Boundary Based Overmodulation Strategy . . . . . . . . . . . . . . . . . . . . 202 8.5 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 207 References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 210

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Author:Gaolin Wang, Nannan Zhao, Guoqiang Zhang, Dianguo Xu
Publication Year:2020
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