EE 2352 - SOLID STATE DRIVES - Fmcetfmcet.in/EEE/EE2352_uw.pdfee 2352 - solid state drives unit -1...

EE 2352EE 2352 -- SOLID STATE DRIVESSOLID STATE DRIVES

UnitUnit --11

DRIVE CHARACTERISTICSDRIVE CHARACTERISTICS

Mr.V.VIGNESH BABU M.E.,ASSISTANT PROFESSOR & EEE


UnitUnit --11

DRIVE CHARACTERISTICSDRIVE CHARACTERISTICS


1

Contents

Block Diagram of a drive Type of loads Steady State Stability Mathematical condition for the stability of the equilibrium point Four quadrant operation of a drive Loads with rotational motion Loads with translational motion Loads with rotational and translational motion Regenerative braking

Block Diagram of a drive Type of loads Steady State Stability Mathematical condition for the stability of the equilibrium point Four quadrant operation of a drive Loads with rotational motion Loads with translational motion Loads with rotational and translational motion Regenerative braking

2

Block Diagram of a drive

3

Type of loads

• Active load torque: - Active torques continues to act inthe same direction irrespective of the direction of thedrive. e.g. gravitational force or deformation in elasticbodies.

• Passive load torque :- the sense of the load torquechanges with the change in the direction of motion ofdrive. e. g. torques due to friction, due to shear anddeformation of inelastic bodies

• Active load torque: - Active torques continues to act inthe same direction irrespective of the direction of thedrive. e.g. gravitational force or deformation in elasticbodies.

• Passive load torque :- the sense of the load torquechanges with the change in the direction of motion ofdrive. e. g. torques due to friction, due to shear anddeformation of inelastic bodies

4

Steady State Stability

• Equilibrium speed of a motor load system is obtained when themotor torque, Te equals the load torque T l.

Stable state of equilibrium point

– The equilibrium point is termed as stable, if the operating point isrestored after a small departure from it due to disturbance in themotor or load.

Unstable state of equilibrium point

– The equilibrium point is termed as stable, if the operating pointwill not be restored after a small departure from it due todisturbance in the motor or load.

• Equilibrium speed of a motor load system is obtained when themotor torque, Te equals the load torque T l.

Stable state of equilibrium point

– The equilibrium point is termed as stable, if the operating point isrestored after a small departure from it due to disturbance in themotor or load.

Unstable state of equilibrium point

– The equilibrium point is termed as stable, if the operating pointwill not be restored after a small departure from it due todisturbance in the motor or load.

5

Steady State Stability

• Possible with variable frequency converter.• Variable frequency synchronous motor can be

controlled to posses the characteristics of aseparately excited dc motor.

6

Mathematical condition for the stability of the equilibriumpoint

7

Four quadrant operation of a drive

8

Four quadrant operation of a drive

I quadrant II quadrant III quadrant IV quadrant

Operation of

the Hoist

The hoisting

up of the

loaded cage

The hoisting

up of the

unloaded

cage

The

downward

motion of the

unloaded

cage

The

downward

motion of the

loaded cage

Te +VE -VE -VE +VE

TL -VE +VE +VE -VE

WM +VE +VE -VE -VE

Power +VE -VE +VE -VE

Operation of

the Drive

forward

motoring

Forward

Braking

Reverse

motoring

Reverse

Braking

9

Loads with rotational motion

10

Loads with translational motion

11

Loads with rotational and translational motion

12

Regenerative Braking

• Working the motor in the generator modewhile it is still connected to the supply andmechanical energy is converted to electricalenergy and fed back to the supply andhence the name regenerative braking.

• Working the motor in the generator modewhile it is still connected to the supply andmechanical energy is converted to electricalenergy and fed back to the supply andhence the name regenerative braking.

13

Regenerative braking in induction motor

14

References

G.K. Dubey, ‘Power semi-conductor controlled drives’, prenticehall of india,1989.

15

EE2352 SOLID STATE DRIVESEE2352 SOLID STATE DRIVESUNITUNIT--IIII

CONVERTER / CHOPPER FED DC MOTORCONVERTER / CHOPPER FED DC MOTOR


1

Contents

Review of dc motor equivalent circuit

DC motor speed control

Converters used in dc motor drives

Review of dc motor equivalent circuit

DC motor speed control

Converters used in dc motor drives

2

SCR “phase-angle controlled” DC drives

• By changing the firing angle, variable DC output voltage canbe obtained.

• Single phase (low power) and three phase (high and veryhigh power) supply can be used

• The line current is unidirectional, but the output voltage canreverse polarity. Hence 2- quadrant operation is inherentlypossible.

• 4-quadrant is also possible using “two sets” of controlledrectifiers.

• By changing the firing angle, variable DC output voltage canbe obtained.

• Single phase (low power) and three phase (high and veryhigh power) supply can be used

• The line current is unidirectional, but the output voltage canreverse polarity. Hence 2- quadrant operation is inherentlypossible.

• 4-quadrant is also possible using “two sets” of controlledrectifiers.

6

Single phase Full converter fed Dc drive

(a)

(b) (c )Fig. (a) 1-PHASE THYRISTOR BRIDGE WITH R-L-E LOAD

(b) CONTINUOUS CONDUCTION RECTIFICATION (Mode-A)(c ) DISCONTINUOUS CONDUCTION RECTIFICATION (Mode-B)

(a)

(b) (c )Fig. (a) 1-PHASE THYRISTOR BRIDGE WITH R-L-E LOAD

(b) CONTINUOUS CONDUCTION RECTIFICATION (Mode-A)(c ) DISCONTINUOUS CONDUCTION RECTIFICATION (Mode-B)

7

(a)

(b)

Fig. (a) CONTINUOUS CONDUCTION INVERSION MODE (Mode-C)(b) DISCONTINUOUS CONDUCTION INVERSION MODE (Mode-D)

(a)

(b)

Fig. (a) CONTINUOUS CONDUCTION INVERSION MODE (Mode-C)(b) DISCONTINUOUS CONDUCTION INVERSION MODE (Mode-D)

8

TYPICAL TORQUE-SPEED CURVES OF DC MOTOR WITH 1-PHASE BRIDGE CONVERTER

2cos .....(1), ' ...(2), ...(3)d m c d c m e dV V V I R V K K N T KI

TYPICAL TORQUE-SPEED CURVES OF DC MOTOR WITH 1-PHASE BRIDGE CONVERTER

9

Three phase converter fed DC drive

Fig. THREE-PHASE BRIDGE CONVERTER WITH DC MOTOR LOADFig. THREE-PHASE BRIDGE CONVERTER WITH DC MOTOR LOAD

10

Fig. 3-PHASE THYRISTOR BRIDGE WAVEFORMS INRECTIFICATION MODE ( = 40) (Mode-A)

Fig. 3-PHASE THYRISTOR BRIDGE WAVEFORMS INRECTIFICATION MODE ( = 40) (Mode-A)

11

Fig. PHASE THYRISTOR BRIDGE WAVEFORMS ININVERTING MODE ( = 150) (Mode – C)

Fig. PHASE THYRISTOR BRIDGE WAVEFORMS ININVERTING MODE ( = 150) (Mode – C)

12

0

( a )

V a b V a c V b c V b a V c a V d

V c

i d

0

( b )

v b c

V c

i d

2

/ 3

v b a v c a v c b v a b v a c

t

t

Q 1 Q 6 Q 1 Q 2

Q 1 Q 6 Q 1 Q 2

Fig. WAVEFORMS OF THREE-PHASE THYRISTOR BRIDGE CONVERTER AT DISCONTINUOUSCONDUCTION

(UPPER) RECTIFICATION MODE (Mode-B), (LOWER) INVERSION MODE(Mode-D)

0

( a )

V a b V a c V b c V b a V c a V d

V c

i d

0

( b )

v b c

V c

i d

2

/ 3

v b a v c a v c b v a b v a c

t

t

Q 1 Q 6 Q 1 Q 2

Q 1 Q 6 Q 1 Q 2

Fig. WAVEFORMS OF THREE-PHASE THYRISTOR BRIDGE CONVERTER AT DISCONTINUOUSCONDUCTION

(UPPER) RECTIFICATION MODE (Mode-B), (LOWER) INVERSION MODE(Mode-D)

13

Fig. TYPICAL TORQUE-SPEED CURVES OF DC MOTOR WITHTHREE-PHASE THYRISTOR BRIDGE CONVERTER

Fig. TYPICAL TORQUE-SPEED CURVES OF DC MOTOR WITHTHREE-PHASE THYRISTOR BRIDGE CONVERTER

14

Chopper fed DC drives

• Supply is DC (maybe from rectified-filtered AC, or some otherDC sources).

• DC-DC converters (coppers) are used.• suitable for applications requiring position control or fast

response, for example in servo applications, robotics, etc.• Normally operate at high frequency– the average output voltage response is significantly faster– the armature current ripple is relatively less than the controlled

rectifier• In terms of quadrant of operations, 3 possible configurations

are possible:– single quadrant,– two–quadrant and four–quadrant

• Supply is DC (maybe from rectified-filtered AC, or some otherDC sources).

• DC-DC converters (coppers) are used.• suitable for applications requiring position control or fast

response, for example in servo applications, robotics, etc.• Normally operate at high frequency– the average output voltage response is significantly faster– the armature current ripple is relatively less than the controlled

rectifier• In terms of quadrant of operations, 3 possible configurations

are possible:– single quadrant,– two–quadrant and four–quadrant

15

References

G.K. Dubey, ‘Power semi-conductor controlled drives’, prentice hall ofindia,1989.

19

EE 2352EE 2352 -- SOLIDSTATE DRIVESSOLIDSTATE DRIVES

UnitUnit --IIIIIIDESIGN OF CONTROLLERS FOR DRIVESDESIGN OF CONTROLLERS FOR DRIVES


EE 2352EE 2352 -- SOLIDSTATE DRIVESSOLIDSTATE DRIVES

UnitUnit --IIIIIIDESIGN OF CONTROLLERS FOR DRIVESDESIGN OF CONTROLLERS FOR DRIVES


1

Contents

• Introduction• Dynamic model of a DC Motor• Block Diagram of a DC Motor• Transfer Functions of a DC Motor• Closed loop speed control• Controller design• Torque loop• Speed loop• Position loop

• Introduction• Dynamic model of a DC Motor• Block Diagram of a DC Motor• Transfer Functions of a DC Motor• Closed loop speed control• Controller design• Torque loop• Speed loop• Position loop

2

Introduction

3

Introduction

4

Introduction

5

Dynamic model of a DC Motor

6

Block Diagram of a DC Motor

7

Derivation of Transfer Functions

8

Transfer Functions of a DC Motor

9

Closed loop speed control

10

Controller Design

Procedure• Design the torque loop (fastest) first.• Design the speed loop assuming the torque loop

to be ideal.• Design the position loop (slowest) assuming the

speed loop to be ideal.

Procedure• Design the torque loop (fastest) first.• Design the speed loop assuming the torque loop

to be ideal.• Design the position loop (slowest) assuming the

speed loop to be ideal.

11

Controller design

12

Torque loop

13

Speed loop

14

Position loop

15

References

• G.K. Dubey, ‘Power semi-conductor controlled drives’,prentice hall of india, 1989.

16


UnitUnit --IVIVINDUCTION MOTOR DRIVESINDUCTION MOTOR DRIVES



UnitUnit --IVIVINDUCTION MOTOR DRIVESINDUCTION MOTOR DRIVES


1

Contents

Advantageous features of converter Fed induction motor incomparison with line fed induction motor

Speed control of induction Speed control by Variable Voltage method speed control by rotor resistance variation Slip Energy Recovery Schemes Speed Control of IM Using Variable Frequency Features of VSI Fed IM Drives Features of PWM Fed IM Drives Features of CSI Fed IM Drives Slip controlled Drives


Speed control of induction Speed control by Variable Voltage method speed control by rotor resistance variation Slip Energy Recovery Schemes Speed Control of IM Using Variable Frequency Features of VSI Fed IM Drives Features of PWM Fed IM Drives Features of CSI Fed IM Drives Slip controlled Drives

2


Smooth Speed variation with VVVF(Variable Voltage VariableFrequency)

Assured smooth Start up Soft Starting and acceleration at constant current and torque are

possible. No switching surge currents with Direct Switching on even for

Higher Ratings High Moments of Inertia can be accelerated without the need for

over dimensioning the motor Speed control of IM by changing slip frequency. Speed control of IM by changing stator frequency which can change

the Synchronous speed of the motor

Smooth Speed variation with VVVF(Variable Voltage VariableFrequency)

Assured smooth Start up Soft Starting and acceleration at constant current and torque are

possible. No switching surge currents with Direct Switching on even for

Higher Ratings High Moments of Inertia can be accelerated without the need for

over dimensioning the motor Speed control of IM by changing slip frequency. Speed control of IM by changing stator frequency which can change

the Synchronous speed of the motor

3

Speed control of induction motor

Three simple means of limited speed control for aninduction motor are:

1) Reduced applied voltage magnitude2) Adjusting rotor circuit resistance

(suitable for a wound rotor machineand discussed earlier)

3) Adjusting stator voltage and frequency

Three simple means of limited speed control for aninduction motor are:

1) Reduced applied voltage magnitude2) Adjusting rotor circuit resistance

(suitable for a wound rotor machineand discussed earlier)

3) Adjusting stator voltage and frequency

4

Speed control by Variable Voltage method

5

Controller Circuit and Characteristics of Induction MotorWith Variable Voltage

Slip for maximum torque

S m= r21

((r12+(r2

1/s)2+(x1+x21)2 )1/2

•Slip at max torque does not depends on AppliedVoltage and it can be changed by changing therotor resistance.

•In slip Ring IM it is possible.

•Slip at max torque does not depends on AppliedVoltage and it can be changed by changing therotor resistance.

•In slip Ring IM it is possible.

6

Characteristics with Rotor Resistance Control

7

Td= m1* x2 * Vr2(r2

1/s)

(2*pi*ns)((r12+(r2

1/s)2+(x1+x21)2

Torque is Proportional to Square of the VoltageTorque is Proportional to Square of the Voltage

8

Conclusion from the above characteristics

• Linear portion of torque curve meets the locus of thebreakdown torque point.

• Sm increases with increase in r21

• Maximum torque is independent of r21

• If Slip increases rotor copper loss increases

• Linear portion of torque curve meets the locus of thebreakdown torque point.

• Sm increases with increase in r21

• Maximum torque is independent of r21

• If Slip increases rotor copper loss increases

9

speed control by rotor resistance variation

10

Block Diagram for Rotor Resistance Control

R*=R2(1-)

=1 R*=Zero

=0 R*= R2

0<R* <R20<R* <R2

11

Features

• Speed Range• Braking• Harmonics• Torque Pulsations• Good pf• Poor Efficiency• Reasonable Cost• General

• Speed Range• Braking• Harmonics• Torque Pulsations• Good pf• Poor Efficiency• Reasonable Cost• General

12

Draw backs of Stator Voltage Control and RotorResistance Control

• Poor Efficiency at low speed.• Limited range of Speed Control• Slip power is wasted in the Motor• Resistances in Stator Control and in Rotor

Resistance in Rotor Resistance control

• Poor Efficiency at low speed.• Limited range of Speed Control• Slip power is wasted in the Motor• Resistances in Stator Control and in Rotor

Resistance in Rotor Resistance control

13

Slip Energy Recovery Schemes

14

Block Diagram for Slip Energy Recovery

Dc voltage of the diode rectifierVd=1.35(sE 20)

Corresponding to no voltage conditionVd0=1.35(sE 20)

For Stator to Rotor turns Ratio ‘a’Vd0=1.35(sVL/a)

Dc voltage of the diode rectifierVd=1.35(sE 20)

Corresponding to no voltage conditionVd0=1.35(sE 20)

For Stator to Rotor turns Ratio ‘a’Vd0=1.35(sVL/a)

15

Vdi= 1.35(VL cos )

Vd0= -Vdi

1.35(VL cos )=1.35(sVL/a)

s= -a cos

Rotor Copper loss =sPg (Pg -Air Gap Power)

Vdi= 1.35(VL cos )

Vd0= -Vdi

1.35(VL cos )=1.35(sVL/a)

s= -a cos

Rotor Copper loss =sPg (Pg -Air Gap Power)

16

sPg =VdId

Torque Developed=Td=Pg /2*pi*ns

= VdId/s*2*pi*ns

Put Vd= 1.35(sVL/a)Td= 1.35*VLId/a*2*pi*ns

Td= KtIdWhere Kt =1.35*VL/a*2*pi*ns

sPg =VdId

Torque Developed=Td=Pg /2*pi*ns

= VdId/s*2*pi*ns

Put Vd= 1.35(sVL/a)Td= 1.35*VLId/a*2*pi*ns

Td= KtIdWhere Kt =1.35*VL/a*2*pi*ns

17

Features of Slip Power Recovery

• Power Factor is Improved• Slip Power Can be recovered to the mains instead of

wasting the same in the resistances of the motor itself.• Converter group handles Slip power only. Therefore it’s

rating can be low if speed control is in a limited range.

Contd..

• Power Factor is Improved• Slip Power Can be recovered to the mains instead of

wasting the same in the resistances of the motor itself.• Converter group handles Slip power only. Therefore it’s

rating can be low if speed control is in a limited range.

Contd..

18

• For achieving Zero Speed Converter rating shouldbe equal to the Motor rating.

• Improved efficiency• Maximum power factor attained is 0.7.Still the pf

can be improved by designing the inverter if theconverter operates at 180 Degree firing angle

Contd..

• For achieving Zero Speed Converter rating shouldbe equal to the Motor rating.

• Improved efficiency• Maximum power factor attained is 0.7.Still the pf

can be improved by designing the inverter if theconverter operates at 180 Degree firing angle

Contd..

19

For Achieving Super synchronous Speed ,Power shouldflow to the rotor circuit Via the converter Cascade.

This can be achieved by

20

Achievement of Super Synchronous Speed

• Replacing Diode rectifier by Phase Controlled rectifieroperating as rectifier.

• By replacing converter cascade by a Cycloconverter.Thisis known as Scherbius DrivesRotor Currents are non sinusoidal and it causes networkreactions and torque pulsations.

• Replacing Diode rectifier by Phase Controlled rectifieroperating as rectifier.

• By replacing converter cascade by a Cycloconverter.Thisis known as Scherbius DrivesRotor Currents are non sinusoidal and it causes networkreactions and torque pulsations.

21

Scherbius systems

22

Power Circuit Diagram for Scherbius Systems

Speed Control of IM Using Variable Frequency

• f= pns

• If frequency varies Saturation Problems Will occur– To avoid this V/f has to maintained at a

constant value– To avoid Impedance drop at low frequency

compensation is necessary (i.e E/f Control)

• f= pns

• If frequency varies Saturation Problems Will occur– To avoid this V/f has to maintained at a

constant value– To avoid Impedance drop at low frequency

compensation is necessary (i.e E/f Control)

23

V/f control circuit for IM (open loop control)

24

Open loop V/f control

V/f control circuit for IM (closed loop control)

25

Closed loop V/f control

Features of v/f control

• Best possible utilisation of available current capability• Generate Highest possible Torque per Ampere of Stator

Current.

26

Features of VSI Fed IM Drives

Can be used for Multi motor Drives Load independent Commutation of the Inverter

Devices. Inverter Frequencies can go up to 1500 Hz. Suitable for high speed operation Capacity upto 100 KVA At very low speed Commutation voltage is also

very low. Up to 10% of the Speed is not realisable. Speed Range 1:20 Not suitable for acceleration on Load and Sudden

Load Changes Dynamic braking can be realised by an additional

converter at the line side. Low cost with simple control circuit. Efficiency is very poor.

Contd..

Can be used for Multi motor Drives Load independent Commutation of the Inverter

Devices. Inverter Frequencies can go up to 1500 Hz. Suitable for high speed operation Capacity upto 100 KVA At very low speed Commutation voltage is also

very low. Up to 10% of the Speed is not realisable. Speed Range 1:20 Not suitable for acceleration on Load and Sudden

Load Changes Dynamic braking can be realised by an additional

converter at the line side. Low cost with simple control circuit. Efficiency is very poor.

Contd..

27

Features of PWM Based VSI Fed IM Drives

• Speed range: Up to zero speed• Nearly Sinusoidal voltage and current.• Minimized torque pulsations.• Line pf is closer to Unity.• High converter cost.• Inverter has constant dc link voltage and employs PWM

principle for both voltage control and Harmonicneutralisation.

• Speed range: Up to zero speed• Nearly Sinusoidal voltage and current.• Minimized torque pulsations.• Line pf is closer to Unity.• High converter cost.• Inverter has constant dc link voltage and employs PWM

principle for both voltage control and Harmonicneutralisation.

28

• Improved Output voltage wave form.• Uninterrupted operation is possible when buffer

battery is used.• Control is complicated.• Four quadrant operation is possible.• Smooth change over of voltage and frequency

values at zero crossing for speed reversal.

Contd..

• Improved Output voltage wave form.• Uninterrupted operation is possible when buffer

battery is used.• Control is complicated.• Four quadrant operation is possible.• Smooth change over of voltage and frequency

values at zero crossing for speed reversal.

Contd..

29

• Operating frequency is limited at 150 Hz.• Speed Control range 1:10.• The inverter and motor need not be matched. The

converter operates as source to which the motor canbe plugged.

• Size of the harmonic filter decreases.• Good dynamic response.

• Operating frequency is limited at 150 Hz.• Speed Control range 1:10.• The inverter and motor need not be matched. The

converter operates as source to which the motor canbe plugged.

• Size of the harmonic filter decreases.• Good dynamic response.

30

Features of CSI Fed IM Drives

• Simple Configuration.• Feed back diodes are absent. Blocking diodes

needed.• Load dependent commutation.• Multi motor operation is not possible.• Four quadrant operation is straight forward.• Inverter is force commutated to provide variable

frequency.

Contd..

• Simple Configuration.• Feed back diodes are absent. Blocking diodes

needed.• Load dependent commutation.• Multi motor operation is not possible.• Four quadrant operation is straight forward.• Inverter is force commutated to provide variable

frequency.

Contd..

31

• Finds application in medium to high power drive.• Torque pulsations at low speed can be eliminated by

PWM operations.• Both constant torque and constant power operations are

possible.

• Finds application in medium to high power drive.• Torque pulsations at low speed can be eliminated by

PWM operations.• Both constant torque and constant power operations are

possible.

32

Slip controlled drives

33

34

Slip Controlled Drive

Features of Slip Controlled Drives

Highly Efficient Precise and accurate control of torque is possible in the

complete speed range. The slip frequency can be any value up to the value

corresponding to break down torque from no load slip. Stable operation with good pf. Drive efficiency is comparable to a thyristorized dc drive. High power to Weight ratio, least maintenance, low inertia, no

limitations on power and speed ranges. Selective harmonic elimination is possible.

Highly Efficient Precise and accurate control of torque is possible in the

complete speed range. The slip frequency can be any value up to the value

corresponding to break down torque from no load slip. Stable operation with good pf. Drive efficiency is comparable to a thyristorized dc drive. High power to Weight ratio, least maintenance, low inertia, no

limitations on power and speed ranges. Selective harmonic elimination is possible.

35

References

• Bimal K. Bose. ‘Modern Power Electronics and ACDrives’, Pearson Education, 2002.




36

EE 2352EE 2352 -- SOLID STATE DRIVESSOLID STATE DRIVESUNITUNIT--VV

SYNCHRONOUS MOTOR DRIVESSYNCHRONOUS MOTOR DRIVES


EE 2352EE 2352 -- SOLID STATE DRIVESSOLID STATE DRIVESUNITUNIT--VV

SYNCHRONOUS MOTOR DRIVESSYNCHRONOUS MOTOR DRIVES


1

Contents

Open loop volts/HZ speed control of synchronousmotors. Self control.Self control. Separate control. Attractive feature of a synchronous motor. Synchronous motor operating with square wave

inverter Synchronous motor operating with pwm inverter Brushless excitation of synchronous machine

Open loop volts/HZ speed control of synchronousmotors. Self control.Self control. Separate control. Attractive feature of a synchronous motor. Synchronous motor operating with square wave

inverter Synchronous motor operating with pwm inverter Brushless excitation of synchronous machine

2

Open loop volts/Hz speed control of synchronous motors.Open loop volts/Hz speed control of synchronous motors.(Control of Synchronous Motors)(Control of Synchronous Motors)

• Possible with variable frequency converter.

• Variable frequency synchronous motor can becontrolled to possesses the characteristics of aseparately excited dc motor. (E & V arecontrolled in proportion to frequency in order tokeep air gap flux constant)

• Possible with variable frequency converter.

• Variable frequency synchronous motor can becontrolled to possesses the characteristics of aseparately excited dc motor. (E & V arecontrolled in proportion to frequency in order tokeep air gap flux constant)

3

Open loop Volts/Hz speed control of synchronous motorsOpen loop Volts/Hz speed control of synchronous motors

4

open loop volts/hz speed control characteristics

5

Self controlSelf control

A Synchronous motor in self controlled mode iscalled “commutator less Dc motor”.

The frequency becomes the slave the speed.

A Synchronous motor in self controlled mode iscalled “commutator less Dc motor”.

The frequency becomes the slave the speed.

6

Basic features of self-controlled synchronous machine

• The inverter, controller and absolute position encoder - act aselectronic commutator

• Electronic commutator replaces the mechanical commutators andbrushes (mechanical inverter) of traditional dc machine

• The flux phasor diagram rotate at synchronous speed

• The inverter, controller and absolute position encoder - act aselectronic commutator

• Electronic commutator replaces the mechanical commutators andbrushes (mechanical inverter) of traditional dc machine

• The flux phasor diagram rotate at synchronous speed

7

Basic features of self-controlled synchronous machine

• Control can modify the angle between the flux phasors

• Because of self-control, machine does not show any stabilityor hunting problem of traditional synchronous machine

• The transient response is fast – similar to dc machine

• The rotor inertia is smaller than dc machine with high energymagnet

• Control can modify the angle between the flux phasors

• Because of self-control, machine does not show any stabilityor hunting problem of traditional synchronous machine

• The transient response is fast – similar to dc machine

• The rotor inertia is smaller than dc machine with high energymagnet

8

Self-controlled synchronous motor analogy

9

Self Control Principle

• Commutation of the converter feeding the motor is controlledthrough the rotor position information from a shaft encoder.

• Under over excitation the motor voltages can be employed tocommutate the thyristors at the inverter. Now the inverterbecomes simple. But at low speeds commutation assistance isrequired.

• Commutation of the converter feeding the motor is controlledthrough the rotor position information from a shaft encoder.

• Under over excitation the motor voltages can be employed tocommutate the thyristors at the inverter. Now the inverterbecomes simple. But at low speeds commutation assistance isrequired.

10

• Rotor position is sensed and the firing signals tothe devices are synchronized to the motorposition.

• For every 600 rotation of the rotor a new devicein the sequence is fired.

Contd..

• Rotor position is sensed and the firing signals tothe devices are synchronized to the motorposition.

• For every 600 rotation of the rotor a new devicein the sequence is fired.

Contd..

11

• For rotation of the rotor by 2 pole pitches all the sixdevices will receive firing pulses.

• Using this control the angle between the rotor and thestator mmf (Torque Angle) can be controlled. This is notpossible in separately excited motor.

• Synchronous motor in self control is called asCommutator less motor having the steady stateperformance of the separately excited DC motor

• For rotation of the rotor by 2 pole pitches all the sixdevices will receive firing pulses.

• Using this control the angle between the rotor and thestator mmf (Torque Angle) can be controlled. This is notpossible in separately excited motor.

• Synchronous motor in self control is called asCommutator less motor having the steady stateperformance of the separately excited DC motor

12

Separate control

The speed is the slave the frequency.

13

Separate control principle

• Supply Frequency to the synchronous motor iscontrolled from the inverter which receives its firingpulses from a frequency controlled oscillator.

• The machine will exhibits conventional behavior.• Up to base speed the motor operates at constant

torque and above base speed are obtained byclamping the voltage at rated voltage. Frequencycan be increased and the motor operates in fluxweakening region

• Supply Frequency to the synchronous motor iscontrolled from the inverter which receives its firingpulses from a frequency controlled oscillator.

• The machine will exhibits conventional behavior.• Up to base speed the motor operates at constant

torque and above base speed are obtained byclamping the voltage at rated voltage. Frequencycan be increased and the motor operates in fluxweakening region

14

Separate control block diagram

15

Draw backs of Separate control

• Hunting• Poor dynamic Behavior.• Hunting• Poor dynamic Behavior.

16

Attractive feature of a synchronous machine

• Load commutation is possible only with CSI and notwith VSI.

17

Load Commutated Inverter fed Synchronous Motor

• When forced commutation is required, the motor may beoperated at UPF.

• To provide the necessary reactive power of the converterwhen the motor is over excited

• Load Commutation can be used when the cycloconverteris feeding the motor. When using cycloconverter,commutation difficulty is over come by utilising linecommutation.

• When forced commutation is required, the motor may beoperated at UPF.

• To provide the necessary reactive power of the converterwhen the motor is over excited

• Load Commutation can be used when the cycloconverteris feeding the motor. When using cycloconverter,commutation difficulty is over come by utilising linecommutation.

18

Synchronous motor operating with square waveinverter

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Synchronous motor operating with square wave inverter

• Speed Range– Medium to High

• Braking– Dynamic Braking Possible. Regeneration not

straight forward.• Harmonics

– Heating effect is high at lower frequencyContd..

• Speed Range– Medium to High

• Braking– Dynamic Braking Possible. Regeneration not

straight forward.• Harmonics

– Heating effect is high at lower frequencyContd..

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• Torque Pulsations–Problem at Low speed

• Power Factor–Low Line pf

• High Cost• Efficiency

–Moderately good• Open loop Control is possible.• Staring by cage winding or by open loop method

Contd..

• Torque Pulsations–Problem at Low speed

• Power Factor–Low Line pf


–Moderately good• Open loop Control is possible.• Staring by cage winding or by open loop method

Contd..

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Synchronous motor operating withpwm inverter

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Features

• Speed Range– Very wide Speed range upto zero speed is

possible• Braking

– Dynamic Braking Possible. Regenerationpossible if primary supply is dc.

• Harmonics– Nearly Sinusoidal

• Speed Range– Very wide Speed range upto zero speed is

possible• Braking

– Dynamic Braking Possible. Regenerationpossible if primary supply is dc.

• Harmonics– Nearly Sinusoidal

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• Torque Pulsations– Minimal

• Power Factor– Line pf closer to Unity.


– Good• Open loop Control is possible.

• Torque Pulsations– Minimal

• Power Factor– Line pf closer to Unity.


– Good• Open loop Control is possible.

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Brushless excitation of synchronous machine

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References





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EE 2352 - SOLID STATE DRIVES - Fmcetfmcet.in/EEE/EE2352_uw.pdfee 2352 - solid state drives unit -1...

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