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Chapter 1 - Intro To Drives
Chapter 1 - Intro To Drives
DC Drives
AC Drives
• PWM-VSI and IGBT widely used in AC drives in the power range to 200kW
• ease of application
• good power factor
• provides good dynamic performance
• also applied in brushless DC drives
• PWM-CSI using thyristors
• IM drives up to 3MW
• SM for higher-power range > 4MW and high speed > 5000 rpm
Present ……..continue
AC Drives
• Cycloconverter-fed AC drives
• suitable for driving low-speed & large-horse power AC motors
• e.g. shaft-winder, rolling mill drives
• Cycloconverter-fed synchronous machine
• Vector control- allows to control separately the flux and torque producing
components of the supply currents
• Speed or position sensorless vector control by utilising the voltage (e.g. DC link)
and currents
• PM Brushless DC drives suitable for better dynamic performance because
the motor has very low inertia
Present ……..continue
AC Drives
AC Drives
Disadvantages of DTC
• during starting and low speed operation
• during changes in torque command
• requires flux and torque estimator
Vi , i i Vo , i o
SOURCE POWER LOAD
PROCESSOR
Motor
Actuator
Equipment
Computer
Utility line
CONTROLLER
(PI, PID, FL, NN)
measurement
Reference
Introduction To Motor Drives
High-level Power Source
Command
Motor
Load
Host Power
Computer Controller
Electronic Converter
Command
signal
Feedback
Devices
Introduction To Motor Drives
Traditional method:
• Uncontrolled operation- motors running at constant speed
• i.e. when the compressor-motors in a refrigerator turns
ON, it runs at a constant speed
Adjustable method:
• Controlled operation, motors can running at different speed
• To full fill industry requirements for different applications
» Electric vehicle
Introduction To Motor Drives
History
Flow rates
• A throttling valve controls the flow rates
• Constant flow rates
Flow rates
• Much easier to automate the process plant
• Offer much higher energy efficiency
• Low maintenance
Motor speed (rad/s)
Adjustable Frequency Drives Concept
The principle of speed control for adjustable frequency drives is based on the
following fundamental formula for AC motors
2 3
1 4
What is an Electric-Motor Drive
Controller
Hardware
Uncontrolled Controlled
• Phase controlled
• Step-Down (Buck) Converter • Voltage-Source
• Diode rectifier
• Step-Up (Boost) Converter Inverter (VSI)
bridge Thyristors (SCR)
• Buck-Boost Converter • Current-Source
• Cuk DC-DC converter Inverter (CSI)
• Full Bridge Converter • Load Commutated (LCI)
What is an Electric-Motor Drive
Voltage-Source Current-Source
Inverter (VSI) Inverter (CSI)
Electric Motors
Synchronous
Motors
Brushed Brushed-less Squirrel-Cage Slip-ring
DC Motor DC Motor IM (Wound)
Reluctance
Square Motors
Wave
Feedback Devices
Speed Position
Resolver Absolute
Encoder
Tachogenerator Encoder
Current Voltage
Motor speed
Tacho. Voltage
• Encoder: a slotted disk and light source giving a pulsetrain which has a
frequency proportional to speed e.g. 1000 pulses per revolution (PPR)
What is an Electric-Motor Drive
A widevariety of measuring devices for collecting data from the manufacturing process for use in
feedback control.
Two types of measuring devices;
(1) Sensor – detects the physical variable (such as temperature, force, or pressure).
(2) Transducer – converts the physical variable into an alternative form (commonly electrical
voltage). Some cases, the sensor and transducer are the same device; e.g. a limit switch that
converts the mechanical movement of a lever to close an electrical contact.
Measuring devices can be classified into two basic categories;
(1) Analog – produces a continuous analog signal such as electrical voltage, e.g. thermocouple,
strain gages, and potentiometer. The signal must be convertered to digital data by an analog-
to-digital converter.
(2) Discrete – devided into two categories: binary and digital.
A binary measuring device produces on/OFF signal i.e. Limit switch, photoelectric sensors
and proximity switches
A digital measuring device produces a digital output signal
1. a set of parallel status bits (photoelectric sensor array)
2. A series of pulses that can be counted (optical encoder.
Types of motor drives
Motor
Drives
Direct Torque
Control (DTC)
Vector Control
Scalar control
Constant V/f
Separately-excited DC
Principle motor
Losses in motor drives
Power losses and energy efficiency
Power losses and energy efficiency
Motor speed
Motor speed
Motor speed
Time
Time
Time
Motor speed
Motor speed
Motor speed
Time
Time
Time
Common Speed Reference Profiles
Common Speed responses
Overview- The Analog Drive
• Sampling interval for digital speed control in the range of 50μs to 600 μ s
• Shorter sampling times, produce better the dynamic performance of the
drives
• The required speed is 0.01 rpm to 12,000 rpm (e.g. high speed cutting)
Analogue DC Drive Operation
• The function of the system is to control motor speed in response
to an analog input voltage.
• Speed is too low, drive deliver more current (torque to accelerate the
load)
• Motor winding are connected between the three bridge legs with
no connection to the star point at the junction windings.
1. The neodymium boron PM machine has a lower inertia when compared with
a rotor cage of IM. This make for a faster response for a given electric torque
or the torque to inertia ratio of these PM machines is higher.
4. The need for magnetizing current – requires a larger rated rectifier and
inverter for IM than for a PM of the same output capacity
5. The PM is smaller in size than an IM based on the same capacity. The power
density of PM is higher. ( space & weight)
Advantages of Induction Motor Drives over the
Permanent Magnet Motor Drives
4. Lower cost
1. PMSM - replaces a field coil, brushes, and slip rings of the wound rotor
synchronous machines (WRSM) with permanent magnet
4. BDCM – similar to brush DC motor but the commutator and brush gear are
replaced by a permanent magnet.
• Commutator in the brush DC motor converts the input DC current into
approximately rectangular shaped currents of variable frequency
• For BDCM, the permanent magnet provides field excitation and the
rectangular-shaped current directly applied to the stator of the BDCM
5. The magnet in the PMSM or BDCM can be either buried or surface mounted
• An expoxy glue is used to fix the magnets to the rotor of the
Surface-mount PM motor
• Buried PM machines are more difficult to construct – more robust and
tend to be used for high-speed applications.
6. Rotor position feedback is needed in both drives to convert the stator
current reference into phase current references
Differences between the PMSM and BDCM
1. PMSM
• a sinusoidal back emf
• Winding arrangement of the stator and shaping of the magnet
• Sinusoidal stator currents are to produce a steady torque
EMF Current
2. BDCM
• a trapezoidal back emf
• trapezoidal stator currents are to produce a steady torque
Current
EMF
1. Cost
2. Power density
• Applications like robotics and aerospace actuators required as low a weight
as possible for a given output power.
• Power density is limited by heat dissipation capability of the machine
• For PM motor – most of the losses are developed in the stator in
terms of copper, eddy currents, and hysteresis losses.
Rotor losses are assumed negligible
Therefore, for a given frame size, the motor that develops lower losses
Will be capable of higher power density
• The BDCM is capable of supplying 15% more power than the PMSM from
the same frame size, that is, the power density can be 15% larger, provided
the core losses are equal.
4. Speed range
• The speed rage of a PMSM would be higher than that of a BDCM of the
same parameters
• Speed range of the PMSM depends on the motor parameters, its current
rating, the back emf waveform, and the maximum output voltage from the
inverter.
4. The ripple torque of the BDCM is higher than that of the PMSM.
• The ripple torque in the PMSM is due only to the ripple in currents.
These ripple torques are of high frequency and are easily damped out
by the rotor
• The BDCM has a commutation ripple that depends of the speed of the machine
This makes the motor less suitable for high-performance position applications
• Buried PM motor are capable of higher torque per unit current than surface
Mount PM motor. It can increase up to 40% with proper design (due to
contribution of the reluctance torque)
5. Continuous rotor position feedback is needed by the PMSM for proper operation,
whereas the BDCM requires rotor position feedback information only every 60º.
Feedback
Devices