Professional Documents
Culture Documents
EPS Frequency Converters Principles
EPS Frequency Converters Principles
EPS Frequency Converters Principles
October 2007
Agenda
Electro-magnetic Field
Electric Machines
Magnetic to magnetic
Magnetic attraction between opposed poles : North and South
This is the principle used in synchronous machines
Magnetic repulsion between poles of the same type : North/North or
South/South
If we have a variable current, in time, the magnetic field will also vary, in
time.
With a sinusoidal current, we obtain a sinusoidal variation of the induction
B
I B
I
t t
Série1 Série1
The magnetic field will vary in time, but not in space : the forces lines remain
in the same place, only the induction, the direction and intensity of the force,
will vary.
| CUSTOMISED TECHNOLOGY FOR CUSTOMER SUCCESS | May 2007 |7
Electro-magnetic Field
This is what we do with the stators or The B vector, above, corresponds to the field of
both : a two-pole (rotating) magnet.
Therefore this illustrates a two-pole machine
- Synchronous machines
If we use more than three coils, six, or nine, etc,
- Asynchronous (induction) machines equally distributed on the stator circumference,
then we shall have a multi-pole machine
Electro-magnetic Field
Electric Machines
Stator
The stator is the same for a synchronous
or induction machine
The rotor of a synchronous machine consists in magnets, each with two poles,
North and South
150 %
At excitation 100 %
50 %
The variation of the stator field, due to its rotation, will induce a current to
circulate in the rotor circuit (in the rotor bars)
Each rotor bar, having a current, and submitted to a magnetic field, will
be subjected to a force, perpendicular to the bar axis. The result will be
an « induced » torque applied to the rotor cage
If there were no resisting torque on the shaft (no load at all), the induced
torque would start the rotation of the rotor and bring it to the same speed
as that of the stator rotating field.
Synchronous Motor
Induction Motor
And now let us review some features of the induction motor, and its use
with variable speed drives.
Rated curve
Constant torque at
At constant voltage & frequency different speeds
T
Motor mode Generator mode
N
Fr / Fs
0 1
At variable F & decreasing U/F
T
Rated curve
Decreasing torque
Fr / Fs
| CUSTOMISED TECHNOLOGY FOR CUSTOMER SUCCESS | May 2007 | 19
Electric Machines – Mechanical reminders
Generator mode
The machine receives mechanical energy from a prime mover, diesel
engine or turbine, connected to its rotor, and converts it into electrical
energy delivered to an electrical network connected to its stator
Motor mode
The machine receives electrical energy from the network, and converts it
into mechanical energy available at the shaft of its rotor, to drive a load
torque (mN)
TM TM
TR
T TR
Generator N N
Motor
N
TM TM
speed (rpm)
TR TR
N N
Motor Generator
TM Motor torque
TR Resisting torque
N Shaft speed
This is easy
The rotor shaft speed depends directly on the speed of the stator rotating
field, which in turn directly depends on the frequency of the current or
voltage applied to the stator circuit
Example :
The components are linked through a matrix representing a model of the motor
dω
Tm = T r + J Speed variation
dt acceleration /
Motor torque deceleration
(mN) Resisting torque (rd/s)
(propeller)
r r
The torque of an electric machine is given by T = k φ ∧ I
r
φ is the total flux, stator and rotor flux
This is why for a synchronous motor the control of the excitation is not enough
(rotor flux)
r r
Torque will be maximum when φ and I are kept perpendicular to each other
Vector control will deal not only with magnitude but also with phase, so that both
vectors will be kept perpendicular at all times, including transient periods
Electro-magnetic Field
Electric Machines
There are many sorts of variable speed drives, for synchronous motors as well
as for induction motors
The constant evolution of technology, for power electronic devices and for
control devices, has rendered some solutions obsolete. So we will
concentrate only on the up-to-date, most efficient, solutions
Control Architecture
Control Architecture
Speed Ref
N.B
Limited Torque Ref
Motor Ramps
Speed Ref + εN Motor
Speed
Control Loop model
- M.B
Mot. Freq.
meas. Torque Ref I
Speed meas. U
Selection
PLS M
Sequential limitation
Process limitation
Control Architecture
We can distinguish between two control methods, applicable to both current and
voltage fed inverters, to both synchronous and induction motors :
Scalar control : only the magnitude of vector variables is controlled
Vector control : magnitude and phase are controlled
The difference is to be found in the motor model and computation method.
Voltage (or current) and frequency are the two control variables.
But both torque and flux depend on voltage (or current) and frequency.
And moreover torque also depends on flux. So torque and flux cannot be
controlled separately with scalar methods.
The result of scalar methods is poor dynamic response and poor torque control
(with the exception of « Direct Torque Control », of which we will talk later on)
But Flux Vector Control will de-couple, and separately control, torque and flux.
| CUSTOMISED TECHNOLOGY FOR CUSTOMER SUCCESS | May 2007 | 33
Frequency Converters Principles
Basic principles
r r
The torque of an electric machine is given by T = k φ ∧ I
r
vector product of : φr vector representing total flux, stator and rotor flux
I instant vector representing the three-phase stator currents
r r
But φ and I are not independent, they are linked together !
r r
When we touch I … we also touch φ !!
r
The principle is then to « break » I into two components : Im and Ia
This will require a lot of calculations, to be done at each scanning period, but it
is now possible with modern digital micro-controllers
| CUSTOMISED TECHNOLOGY FOR CUSTOMER SUCCESS | May 2007 | 35
Frequency Converters Principles
Iw(t)
I(t)
Iv(t)
Iu(t)
For an induction motor IW(t) IV(t)
Iu(t)
Iβ(t)
IW(t) IV(t)
Iα(t)
We can still have the rotating field with the two-phase machine
(only the equations are different)
Iβ(t)
Iα(t)
This transformation is applied to the instant current vector, Is, which is then
expressed in the fixed reference axes α,β
This new instant current vector is further expressed in a new reference axes
m,a, rotating with the flux
a Is
m
Ia Im
α
The components of the instant current vector, in this rotating system of axes …
We can now take a closer look inside the vector control architecture
Synchronous motor case
Speed Ref Torque
Control Ø
Torque Ref Motor Firing angles
Ia Iα N.B
computation
+ Control Loop m,a 2 ph Ref I Dynamic
-
Iβ Model
Ref Im Im α,β 3 ph
Control Loop Meas I Firing angles
M.B
Meas U computation
Flux
U
Control
Let us now take a look into the vector control for the induction motor
A closer look inside the vector control architecture Induction motor case