Electrical Drives:: An Application of Power Electronics
Electrical Drives:: An Application of Power Electronics
Electrical Drives:: An Application of Power Electronics
Presented by
R.Reddy Prasad
Assistant professor
Power Electronic Systems
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
sensors
Input
Source Power Electronics IDEALLY LOSSLESS
Load !
- AC Converters
- DC Output
- unregulated - AC
- DC
Reference Controller
Modern Electrical Drive Systems
• Bulky
• Inefficient
• inflexible
Modern Electrical Drive Systems
POWER IN Power
Electronic Motor Load
Converters
feedback
Reference
Controller
Modern Electrical Drive Systems
Example on VSD application
valve
Supply
motor pump
Power out
Power
In
Power loss
Mainly in valve
Modern Electrical Drive Systems
Example on VSD application
valve
Supply Supply
motor pump motor
PEC pump
Power out
Power out
Power
Power
In
In
Power loss
Power loss
Mainly in valve
Modern Electrical Drive Systems
Example on VSD application
valve
Supply Supply
motor pump motor
PEC pump
Power out
Power out
Power
Power
In
In
Power loss
Power loss
Mainly in valve
Modern Electrical Drive Systems
Example on VSD application
Electric motor consumes more than half of electrical energy in the World.
HOW ?
Replacing fixed speed drives with variable speed drives
Using the high efficiency motors
DC Drives AC Drives
DC-AC-DC DC-DC
Sources available
Type of Motors
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
Power Electronic Converters in ED Systems
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
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
3VLL,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
Power Electronic Converters in ED Systems
DC DRIVES
AC-DC
+
3-
phase 3-phase
Vt supply
supply
Q2 Q1
Q3 Q4
T
Power Electronic Converters in ED Systems
DC DRIVES
AC-DC
F1 R1
3-phase
supply
+ Va -
R2 F2
Q2 Q1
Q3 Q4
T
Power Electronic Converters in ED Systems
DC DRIVES
AC-DC
iD
ref + Speed
iD,ref + Current Firing
controller Controller Circuit
_
_
iD,ref
Armature
iD, reversal
Power Electronic Converters in ED Systems
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
Modelling and Control of Electrical Drives
Current controlled converters in AC Drives - PI-based
i*a +
PI PWM
Converter
i*b +
PI PWM
i*c + PWM
PI
Motor
Modelling and Control of Electrical Drives
i*a
PI
SVM Converter
i*b
3-2 2-3
PI
i*c
3-2
Motor
Modelling and Control of Electrical Drives
Current controlled converters in AC Drives - PI-based
va*
id* + PI
controller
id
vb*
SVM
dqabc
or SPWM IM
iq* + VSI
PI vc*
iq controller
s
Synch speed
s
estimator
abcdq
Modelling and Control of Electrical Drives
Current controlled converters in AC Drives - PI-based
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
Modelling and Control of Electrical Drives
Modeling of the Power Converters: IM drives
Is Lls Llr’
Rs Ir ’
+
+
Lm
Vs Rr’/s
Eag
– Im –
Modelling and Control of Electrical Drives
Modeling of the Power Converters: IM drives
Te
Pull out
Torque Intersection point
(Tmax) (Te=TL) determines the
Te
steady –state speed
Trated TL
sm rotors
rated r
s
Modelling and Control of Electrical Drives
Modeling of the Power Converters: IM drives
300
f = 50Hz p=4
+ +
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
Modelling and Control of Electrical Drives
Modeling of the Power Converters: IM drives
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
Modelling and Control of Electrical Drives
Modeling of the Power Converters: IM drives
Constant V/Hz
Vs
Vrated
frated f
Modelling and Control of Electrical Drives
Modeling of the Power Converters: IM drives
Constant V/Hz
Rectifier
3-phase VSI
supply
C IM
f
Ramp Pulse
V Width
s* +
Modulator
Modelling and Control of Electrical Drives
Modeling of the Power Converters: IM drives
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
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
Modelling and Control of Electrical Drives
Modeling of the Power Converters: IM drives
Solution:
1. Boost voltage at low speed
2. Maintain Im constant – constant ag
Modelling and Control of Electrical Drives
Modeling of the Power Converters: IM drives
700
600 50Hz
300
10Hz
200
100
0
0 20 40 60 80 100 120 140 160
Modelling and Control of Electrical Drives
Modeling of the Power Converters: IM drives
• 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
Modelling and Control of Electrical Drives
Modeling of the Power Converters: IM drives
Vrated
Linear offset
frated
Modelling and Control of Electrical Drives
Modeling of the Power Converters: IM drives
Solution:
1. Compesate slip
2. Closed-loop control
Modelling and Control of Electrical Drives
Modeling of the Power Converters: IM drives
Rectifier
3-phase VSI
supply
C IM
f
Ramp Pulse
+ Width
s* + V
Modulator
+ +
Vboost
Slip speed
calculator
Vdc Idc
Modelling and Control of Electrical Drives
Modeling of the Power Converters: IM drives
+ +
Lm Rr’/s
Vs Eag
maintain at rated
Im
– –
Modelling and Control of Electrical Drives
Modeling of the Power Converters: IM drives
800
50Hz
700
30Hz
600
500
Torque
10Hz
400
300
200
100
0
0 20 40 60 80 100 120 140 160
Modelling and Control of Electrical Drives
Modeling of the Power Converters: IM drives
3-phase VSI
Rectifier
supply
C IM
Current
controller
* + slip |Is|
PI
-
+
s
r
+
Brushless DC Motor
• No Commutators