Electrical Drives:: An Application of Power Electronics

ELECTRICAL DRIVES:
An Application of Power Electronics
Presented by
R.Reddy Prasad
Assistant professor
Power Electronic Systems
What is Power Electronics ?
A field of Electrical Engineering that deals with the application of

power semiconductor devices for the control and conversion of
electric power
sensors
Input
Source Power Electronics Load
- AC Converters
- DC Output
- unregulated - AC
- DC
POWER ELECTRONIC
CONVERTERS – the
heart of power in a power
Reference Controller electronics system
Power Electronic Systems
Why Power Electronics ?
sensors
Input
Source Power Electronics IDEALLY LOSSLESS
Load !
- AC Converters
- DC Output
- unregulated - AC
- DC
Reference Controller
Modern Electrical Drive Systems
• About 50% of electrical energy used for drives
• Can be either used for fixed speed or variable speed

• 75% - constant speed, 25% variable speed (expanding)
• Variable speed drives typically used PEC to supply the motors
DC motors (brushed) AC motors

SRM - IM
BLDC - PMSM
Classic Electrical Drive for Variable Speed Application :
• Bulky
• Inefficient
• inflexible
Typical Modern Electric Drive Systems
Power Electronic Converters Electric Motor

Electric Energy Electric Energy Electric Mechanical
- Unregulated - - Regulated - Energy Energy
POWER IN Power
Electronic Motor Load
Converters
feedback
Reference
Controller
Example on VSD application
Constant speed Variable Speed Drives
valve
Supply
motor pump
Power out
Power
In
Power loss
Mainly in valve
valve
Supply Supply
motor pump motor
PEC pump
Power out
Power out
Power
Power
In
In
Power loss
Power loss
Mainly in valve
valve
Supply Supply
motor pump motor
PEC pump
Power out
Power out
Power
Power
In
In
Power loss
Power loss
Mainly in valve
Electric motor consumes more than half of electrical energy in the World.
Fixed speed Variable speed
Improvements in energy utilization in electric motors give large

impact to the overall energy consumption
HOW ?
Replacing fixed speed drives with variable speed drives
Using the high efficiency motors
Improves the existing power converter–based drive systems

Overview of AC and DC drives
DC drives: Electrical drives that use DC motors as the prime mover

Regular maintenance, heavy, expensive, speed limit
Easy control, decouple control of torque and flux
AC drives: Electrical drives that use AC motors as the prime mover

Less maintenance, light, less expensive, high speed
Coupling between torque and flux – variable spatial angle

between rotor and stator flux
Before semiconductor devices were introduced (<1950)

• AC motors for fixed speed applications
• DC motors for variable speed applications
After semiconductor devices were introduced (1960s)

• Variable frequency sources available – AC motors in variable
speed applications
• Coupling between flux and torque control
• Application limited to medium performance applications –
fans, blowers, compressors – scalar control
• High performance applications dominated by DC motors –

tractions, elevators, servos, etc
After vector control drives were introduced (1980s)

• AC motors used in high performance applications – elevators,
tractions, servos
• AC motors favorable than DC motors – however control is
complex hence expensive
• Cost of microprocessor/semiconductors decreasing –predicted
30 years ago AC motors would take over DC motors
Extracted from Boldea & Nasar

Power Electronic Converters in ED Systems
Converters for Motor Drives
(some possible configurations)
DC Drives AC Drives
AC Source DC Source AC Source DC Source
DC-AC-DC DC-DC
AC-DC AC-DC-DC AC-DC-AC AC-AC DC-AC DC-DC-AC
Const. Variable NCC FCC

DC DC
Converters for Motor Drives
Configurations of Power Electronic Converters depend on:
Sources available
Type of Motors
Drive Performance - applications

- Braking
- Response
- Ratings
DC DRIVES
Available AC source to control DC motor (brushed)
AC-DC AC-DC-DC
Uncontrolled Rectifier
Single-phase Control
Control
Three-phase
Controlled Rectifier DC-DC Switched mode
Single-phase 1-quadrant, 2-quadrant
Three-phase 4-quadrant
DC DRIVES
AC-DC
400
200
+ 2Vm
Vo  cos 
-200

-400
0.4 0.405 0.41 0.415 0.42 0.425 0.43 0.435 0.44
50Hz Vo 10
1-phase Average voltage

 over 10ms 5
0
0.4 0.405 0.41 0.415 0.42 0.425 0.43 0.435 0.44
500
50Hz
+ -500
3-phase 0.4 0.405 0.41 0.415 0.42 0.425 0.43 0.435 0.44
3VLL,m
Vo Vo  cos 

30
20
 Average voltage
over 3.33 ms 10
0
0.4 0.405 0.41 0.415 0.42 0.425 0.43 0.435 0.44
DC DRIVES
AC-DC
+
3-
phase 3-phase
Vt supply
supply

Q2 Q1
Q3 Q4
T
DC DRIVES
AC-DC
F1 R1
3-phase
supply
+ Va -
R2 F2
Q2 Q1
Q3 Q4
T
DC DRIVES
AC-DC
Cascade control structure with armature reversal (4-quadrant):
iD
ref + Speed
iD,ref + Current Firing
controller Controller Circuit
_
_
iD,ref
Armature
iD, reversal
Drawbacks of DC motor Controls
• Very high cost

• Heavy weight
• Losses are high due to commutation and brushes
• Regular Maintenance Required
• We need a converter to convert ac-dc
• Converter controller was costlier
• Low efficiency
Modeling and Control of Electrical Drives
Modeling of the Power Converters: IM drives
INDUCTION MOTOR DRIVES
Scalar Control Vector Control
Const. V/Hz is=f(r) FOC DTC
Rotor Flux Stator Flux Circular Hexagon DTC

Flux Flux SVM
Introduction
Scalar control of ac drives produces good steady state
performance but poor dynamic response. This manifests itself
in the deviation of air gap flux linkages from their set values.
This variation occurs in both magnitude and phase.
Vector control (or field oriented control) offers more precise

control of ac motors compared to scalar control. They are
therefore used in high performance drives where oscillations
in air gap flux linkages are intolerable, e.g. robotic actuators,
centrifuges, servos, etc.
Modelling and Control of Electrical Drives
Current controlled converters in DC Drives - PI-based
i*a +
PI PWM
Converter
i*b +
PI PWM
i*c + PWM
PI
• Sinusoidal PWM
Motor
• Interactions between phases  only require 2 controllers
• Tracking error
Current controlled converters in AC Drives - PI-based
i*a +
PI PWM
Converter
i*b +
PI PWM
i*c + PWM
PI
Motor
• Perform the 3-phase to 2-phase transformation

- only two controllers (instead of 3) are used
• Perform the control in synchronous frame

- the current will appear as DC
i*a
PI
SVM Converter
i*b
3-2 2-3
PI
i*c
3-2
Motor
va*
id* + PI
controller
 id
vb*
SVM
dqabc
or SPWM IM
iq* + VSI
PI vc*
 iq controller
s
Synch speed
s
estimator
abcdq
Stationary - ia Stationary - id
4 4
2 3
0 2
-2 1
-4 0
0 0.001 0.002 0.003 0.004 0.005 0.006 0.007 0.008 0.009 0.01 0 0.002 0.004 0.006 0.008 0.01 0.012 0.014 0.016 0.018 0.02
4 Rotating - ia Rotating - id
4
2 3
0 2
-2 1
-4 0
0 0.001 0.002 0.003 0.004 0.005 0.006 0.007 0.008 0.009 0.01 0 0.002 0.004 0.006 0.008 0.01 0.012 0.014 0.016 0.018 0.02
Control of induction machine based on steady-state model (per phase SS

equivalent circuit):
Is Lls Llr’
Rs Ir ’
+
+
Lm
Vs Rr’/s
Eag
– Im –
Te
Pull out
Torque Intersection point
(Tmax) (Te=TL) determines the
Te
steady –state speed
Trated TL
sm rotors
rated r
s
Given a load T– characteristic, the steady-state speed can be

changed by altering the T– of the motor:
Variable voltage (amplitude), variable

Pole changing
frequency (Constant V/Hz)
Synchronous speed change with no.
Using power electronics converter
of poles
Operated at low slip frequency
Discrete step change in speed
Variable voltage (amplitude), frequency

fixed
E.g. using transformer or triac
Slip becomes high as voltage reduced –
low efficiency
Variable voltage, fixed frequency

e.g. 3–phase squirrel cage IM
600
V = 460 V Rs= 0.25 
500 Rr=0.2  Lr = Ls =
0.5/(2*pi*50)
400
Lm=30/(2*pi*50)
Torque
300
f = 50Hz p=4
200 Lower speed  slip

higher
100
Low efficiency at low
speed
0
0 20 40 60 80 100 120 140 160
w (rad/s)
Constant V/Hz
To maintain V/Hz constant

Approximates constant air-gap flux when Eag is large
+ +
V Eag Eag = k f ag
_ _
 ag = constant 
E ag

V
f f
Speed is adjusted by varying f - maintaining V/f constant to avoid
flux saturation
Constant V/Hz
900
800
50Hz
700
30Hz
600
500
Torque
10Hz
400
300
200
100
0
0 20 40 60 80 100 120 140 160
Constant V/Hz
Vs
Vrated
frated f
Constant V/Hz
Rectifier
3-phase VSI
supply
C IM
f
Ramp Pulse
V Width
s* +
Modulator
Constant V/Hz
In1 Out 1
Subsystem
isd
Va
isq
Out1
ird
speed
0.41147 In 1 Out2 Vb
Vd
Scope
Step Slider Rate Limiter irq
Out3
Gain 1 Vq
Vc
Constant V /Hz Te
speed
Induction Machine
To Workspace 1
torque
To Workspace
Simulink blocks for Constant V/Hz Control

Constant V/Hz
200
100
Speed
0
-100
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
400
200
0
Torque
-200
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
200
100
0
Stator phase current
-100
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
Problems with open-loop constant V/f
At low speed, voltage drop across stator impedance is significant

compared to airgap voltage - poor torque capability at low speed
Solution:
1. Boost voltage at low speed
2. Maintain Im constant – constant ag
700
600 50Hz
500 A low speed, flux falls below

the rated value
400
30Hz
Torque
300
10Hz
200
100
0
0 20 40 60 80 100 120 140 160
With compensation (Is,ratedRs)

700
• Torque deteriorate at low

600 frequency – hence
compensation commonly
500
performed at low
frequency
400
Torque
• In order to truly
300
compensate need to
measure stator current –
200
seldom performed
100
0
0 20 40 60 80 100 120 140 160
With voltage boost at low frequency
Vrated
Linear offset
Non-linear offset – varies with Is

Boost
frated
Problems with open-loop constant V/f
Poor speed regulation
Solution:
1. Compesate slip
2. Closed-loop control
Rectifier
3-phase VSI
supply
C IM
f
Ramp Pulse
+ Width
s* + V
Modulator
+ +
Vboost
Slip speed
calculator
Vdc Idc
A better solution : maintain ag constant. How?
ag, constant → Eag/f , constant → Im, constant (rated)
Controlled to maintain Im at rated

Is Lls
Rs Llr’ Ir ’
+ +
Lm Rr’/s
Vs Eag
maintain at rated
Im
– –
Constant air-gap flux

900
800
50Hz
700
30Hz
600
500
Torque
10Hz
400
300
200
100
0
0 20 40 60 80 100 120 140 160

Rr
j L lr   r 
Im  s Is j slip  Tr  1
R
j (L lr  L m )  r  1 r 
s Is  Im,
j slipTr  1
Rr
j L r 
Im  s Is
   R • Current is controlled using current-
j  r L r  r controlled VSI
 1  r  s
• Dependent on rotor parameters –

jslipTr  1 sensitive to parameter variation
Im  Is ,
  
jslip  r Tr  1
 1  r 
3-phase VSI
Rectifier
supply
C IM
Current
controller
* + slip |Is|
PI
-
+
s
r
+
Brushless DC Motor
• No Commutators
• Position of Coils with respect to the magnetic

field is sensed electronically.
• Current is commutated through electronic

switches to appropriate phases.
SENSORED BLDC MOTOR
How it Works
• Halls Sensors sense the

position of the coils
• The Decoder Circuit turns

appropriate switches on
and off
• The voltage through the

specific coils turns the
motor
THANK YOU

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ELECTRICAL DRIVES:

An Application of Power Electronics

What is Power Electronics ?

A field of Electrical Engineering that deals with the application of

Why Power Electronics ?

• About 50% of electrical energy used for drives

• Can be either used for fixed speed or variable speed

• Variable speed drives typically used PEC to supply the motors

DC motors (brushed) AC motors

Classic Electrical Drive for Variable Speed Application :

Typical Modern Electric Drive Systems

Power Electronic Converters Electric Motor

Constant speed Variable Speed Drives

Constant speed Variable Speed Drives

Constant speed Variable Speed Drives

Fixed speed Variable speed

Improvements in energy utilization in electric motors give large

Improves the existing power converter–based drive systems

Overview of AC and DC drives

DC drives: Electrical drives that use DC motors as the prime mover

AC drives: Electrical drives that use AC motors as the prime mover

Coupling between torque and flux – variable spatial angle

Overview of AC and DC drives

Before semiconductor devices were introduced (<1950)

After semiconductor devices were introduced (1960s)

• High performance applications dominated by DC motors –

Overview of AC and DC drives

After vector control drives were introduced (1980s)

Overview of AC and DC drives

Extracted from Boldea & Nasar

AC Source DC Source AC Source DC Source

AC-DC AC-DC-DC AC-DC-AC AC-AC DC-AC DC-DC-AC

Const. Variable NCC FCC

Converters for Motor Drives

Configurations of Power Electronic Converters depend on:

Drive Performance - applications

Available AC source to control DC motor (brushed)

1-phase Average voltage

Cascade control structure with armature reversal (4-quadrant):

Drawbacks of DC motor Controls

• Very high cost

INDUCTION MOTOR DRIVES

Scalar Control Vector Control

Const. V/Hz is=f(r) FOC DTC

Rotor Flux Stator Flux Circular Hexagon DTC

Vector control (or field oriented control) offers more precise

• Perform the 3-phase to 2-phase transformation

• Perform the control in synchronous frame

Control of induction machine based on steady-state model (per phase SS

Given a load T– characteristic, the steady-state speed can be

Variable voltage (amplitude), variable

Variable voltage (amplitude), frequency

Variable voltage, fixed frequency

200 Lower speed  slip

To maintain V/Hz constant

Simulink blocks for Constant V/Hz Control

Problems with open-loop constant V/f

At low speed, voltage drop across stator impedance is significant