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أخواني في الله أحضرت لكم كتاب High Performance Control of Ac Drives With Matlab / Simulink Models Haitham Abu-Rub Texas A&M University at Qatar, Qatar Atif Iqbal Qatar University, Qatar and Aligarh Muslim University, India Jaroslaw Guzinski Gdansk University of Technology, Poland
![كتاب High Performance Control of Ac Drives With Matlab/Simulink Models H_p_c_10](https://i.servimg.com/u/f61/15/36/74/14/h_p_c_10.jpg) و المحتوى كما يلي :
Contents Acknowledgment xiii Biographies xv Preface xvii 1 Introduction to High Performance Drives 1 1.1 Preliminary Remarks 1 1.2 General Overview of High Performance Drives 6 1.3 Challenges and Requirements for Electric Drives for Industrial Applications 10 1.3.1 Power Quality and LC Resonance Suppression 11 1.3.2 Inverter Switching Frequency 12 1.3.3 Motor Side Challenges 12 1.3.4 High dv/dt and Wave Reflection 12 1.3.5 Use of Inverter Output Filters 13 1.4 Organization of the Book 13 References 16 2 Mathematical and Simulation Models of AC Machines 19 2.1 Preliminary Remarks 19 2.2 DC Motors 19 2.2.1 Separately Excited DC Motor Control 20 2.2.2 Series DC Motor Control 22 2.3 Squirrel Cage Induction Motor 25 2.3.1 Space Vector Representation 25 2.3.2 Clarke Transformation (ABC to ab) 26 2.3.3 Park Transformation (ab to dq) 29 2.3.4 Per Unit Model of Induction Motor 30 2.3.5 Double Fed Induction Generator (DFIG) 32 2.4 Mathematical Model of Permanent Magnet Synchronous Motor 35 2.4.1 Motor Model in dq Rotating Frame 36 2.4.2 Example of Motor Parameters for Simulation 38 2.4.3 PMSM Model in Per Unit System 38 2.4.4 PMSM Model in a–b (x–y)-Axis 40 2.5 Problems 42 References 423 Pulse Width Modulation of Power Electronic DC-AC Converter 45 3.1 Preliminary Remarks 45 3.2 Classification of PWM Schemes for Voltage Source Inverters 46 3.3 Pulse Width Modulated Inverters 46 3.3.1 Single-Phase Half-bridge Inverters 46 3.3.2 Single-Phase Full-bridge Inverters 54 3.4 Three-phase PWM Voltage Source Inverter 56 3.4.1 Carrier-based Sinusoidal PWM 64 3.4.2 Third-harmonic Injection Carrier-based PWM 67 3.4.3 Matlab/Simulink Model for Third Harmonic Injection PWM 68 3.4.4 Carrier-based PWM with Offset Addition 69 3.4.5 Space Vector PWM 72 3.4.6 Discontinuous Space Vector PWM 77 3.4.7 Matlab/Simulink Model for Space Vector PWM 78 3.4.8 Space Vector PWM in Over-modulation Region 90 3.4.9 Matlab/Simulink Model to Implement Space Vector PWM in Over-modulation Regions 96 3.4.10 Harmonic Analysis 96 3.4.11 Artificial Neural Network-based PWM 96 3.4.12 Matlab/Simulink Model of Implementing ANN-based SVPWM 100 3.5 Relationship between Carrier-based PWM and SVPWM 100 3.5.1 Modulating Signals and Space Vectors 102 3.5.2 Relationship between Line-to-line Voltages and Space Vectors 104 3.5.3 Modulating Signals and Space Vector Sectors 104 3.6 Multi-level Inverters 104 3.6.1 Diode Clamped Multi-level Inverters 106 3.6.2 Flying Capacitor Type Multi-level Inverter 109 3.6.3 Cascaded H-Bridge Multi-level Inverter 112 3.7 Impedance Source or Z-source Inverter 117 3.7.1 Circuit Analysis 120 3.7.2 Carrier-based Simple Boost PWM Control of a Z-source Inverter 122 3.7.3 Carrier-based Maximum Boost PWM Control of a Z-source Inverter 123 3.7.4 Matlab/Simulink Model of Z-source Inverter 124 3.8 Quasi Impedance Source or qZSI Inverter 127 3.8.1 Matlab/Simulink Model of qZ-source Inverter 129 3.9 Dead Time Effect in a Multi-phase Inverter 129 3.10 Summary 133 3.11 Problems 134 References 135 4 Field Oriented Control of AC Machines 139 4.1 Introduction 139 4.2 Induction Machines Control 140 viii Contents4.2.1 Control of Induction Motor using V/f Method 140 4.2.2 Vector Control of Induction Motor 143 4.2.3 Direct and Indirect Field Oriented Control 148 4.2.4 Rotor and Stator Flux Computation 149 4.2.5 Adaptive Flux Observers 150 4.2.6 Stator Flux Orientation 152 4.2.7 Field Weakening Control 152 4.3 Vector Control of Double Fed Induction Generator (DFIG) 153 4.3.1 Introduction 153 4.3.2 Vector Control of DFIG Connected with the Grid (ab Model) 155 4.3.3 Variables Transformation 156 4.3.4 Simulation Results 159 4.4 Control of Permanent Magnet Synchronous Machine 160 4.4.1 Introduction 160 4.4.2 Vector Control of PMSM in dq Axis 160 4.4.3 Vector Control of PMSM in a-b Axis using PI Controller 164 4.4.4 Scalar Control of PMSM 166 Exercises 168 Additional Tasks 168 Possible Tasks for DFIG 168 Questions 169 References 169 5 Direct Torque Control of AC Machines 171 5.1 Preliminary Remarks 171 5.2 Basic Concept and Principles of DTC 172 5.2.1 Basic Concept 172 5.2.2 Principle of DTC 173 5.3 DTC of Induction Motor with Ideal Constant Machine Model 179 5.3.1 Ideal Constant Parameter Model of Induction Motors 179 5.3.2 Direct Torque Control Scheme 182 5.3.3 Speed Control with DTC 184 5.3.4 Matlab/Simulink Simulation of Torque Control and Speed Control with DTC 185 5.4 DTC of Induction Motor with Consideration of Iron Loss 199 5.4.1 Induction Machine Model with Iron Loss Consideration 199 5.4.2 Matlab/Simulink Simulation of the Effects of Iron Losses in Torque Control and Speed Control 202 5.4.3 Modified Direct Torque Control Scheme for Iron Loss Compensation 213 5.5 DTC of Induction Motor with Consideration of both Iron Losses and Magnetic Saturation 217 5.5.1 Induction Machine Model with Consideration of Iron Losses and Magnetic Saturation 217 5.5.2 Matlab/Simulink Simulation of Effects of both Iron Losses and Magnetic Saturation in Torque Control and Speed Control 218 Contents ix5.6 Modified Direct Torque Control of Induction Machine with Constant Switching Frequency 233 5.7 Direct Torque Control of Sinusoidal Permanent Magnet Synchronous Motors (SPMSM) 233 5.7.1 Introduction 233 5.7.2 Mathematical Model of Sinusoidal PMSM 234 5.7.3 Direct Torque Control Scheme of PMSM 236 5.7.4 Matlab/Simulink Simulation of SPMSM with DTC 236 References 253 6 Non-Linear Control of Electrical Machines Using Non-Linear Feedback 255 6.1 Introduction 255 6.2 Dynamic System Linearization using Non-Linear Feedback 256 6.3 Non-Linear Control of Separately Excited DC Motors 258 6.3.1 Matlab/Simulink Non-Linear Control Model 258 6.3.2 Non-Linear Control Systems 259 6.3.3 Speed Controller 260 6.3.4 Controller for Variable m 261 6.3.5 Field Current Controller 262 6.3.6 Simulation Results 262 6.4 Multiscalar model (MM) of Induction Motor 262 6.4.1 Multiscalar Variables 262 6.4.2 Non-Linear Linearization of Induction Motor Fed by Voltage Controlled VSI 264 6.4.3 Design of System Control 266 6.4.4 Non-Linear Linearization of Induction Motor Fed by Current Controlled VSI 267 6.4.5 Stator Oriented Non-Linear Control System (based on Ys, is) 270 6.4.6 Rotor-Stator Fluxes-based Model 271 6.4.7 Stator Oriented Multiscalar Model 272 6.4.8 Multiscalar Control of Induction Motor 274 6.4.9 Induction Motor Model 275 6.4.10 State Transformations 275 6.4.11 Decoupled IM Model 277 6.5 MM of Double Fed Induction Machine (DFIM) 278 6.6 Non-Linear Control of Permanent Magnet Synchronous Machine 281 6.6.1 Non-Linear Control of PMSM for a dq Motor Model 283 6.6.2 Non-Linear Vector Control of PMSM in a-b Axis 285 6.6.3 PMSM Model in a-b (x-y) Axis 285 6.6.4 Transformations 285 6.6.5 Control System 288 6.6.6 Simulation Results 288 6.7 Problems 289 References 290 x Contents7 Five-Phase Induction Motor Drive System 293 7.1 Preliminary Remarks 293 7.2 Advantages and Applications of Multi-Phase Drives 294 7.3 Modeling and Simulation of a Five-Phase Induction Motor Drive 295 7.3.1 Five-Phase Induction Motor Model 295 7.3.2 Five-Phase Two-Level Voltage Source Inverter Model 304 7.3.3 PWM Schemes of a Five-Phase VSI 328 7.4 Indirect Rotor Field Oriented Control of Five-Phase Induction Motor 344 7.4.1 Matlab/Simulink Model of Field-Oriented Control of Five-Phase Induction Machine 347 7.5 Field Oriented Control of Five-Phase Induction Motor with Current Control in the Synchronous Reference Frame 348 7.6 Model Predictive Control (MPC) 352 7.6.1 MPC Applied to a Five-Phase Two-Level VSI 354 7.6.2 Matlab/Simulink of MPC for Five-Phase VSI 356 7.6.3 Using Eleven Vectors with g ¼ 0 356 7.6.4 Using Eleven Vectors with g ¼ 1 359 7.7 Summary 359 7.8 Problems 359 References 361 8 Sensorless Speed Control of AC Machines 365 8.1 Preliminary Remarks 365 8.2 Sensorless Control of Induction Motor 365 8.2.1 Speed Estimation using Open Loop Model and Slip Computation 366 8.2.2 Closed Loop Observers 366 8.2.3 MRAS (Closed-loop) Speed Estimator 375 8.2.4 The Use of Power Measurements 378 8.3 Sensorless Control of PMSM 380 8.3.1 Control system of PMSM 382 8.3.2 Adaptive Backstepping Observer 383 8.3.3 Model Reference Adaptive System for PMSM 385 8.3.4 Simulation Results 388 8.4 MRAS-based Sensorless Control of Five-Phase Induction Motor Drive 388 8.4.1 MRAS-based Speed Estimator 389 8.4.2 Simulation Results 396 References 396 9 Selected Problems of Induction Motor Drives with Voltage Inverter and Inverter Output Filters 401 9.1 Drives and Filters – Overview 401 9.2 Three-Phase to Two-Phase Transformations 403 9.3 Voltage and Current Common Mode Component 404 9.3.1 Matlab/Simulink Model of Induction Motor Drive with PWM Inverter and Common Mode Voltage 405 Contents xi9.4 Induction Motor Common Mode Circuit 408 9.5 Bearing Current Types and Reduction Methods 410 9.5.1 Common Mode Choke 412 9.5.2 Common Mode Transformers 414 9.5.3 Common Mode Voltage Reduction by PWM Modifications 415 9.6 Inverter Output Filters 420 9.6.1 Selected Structures of Inverter Output Filters 420 9.6.2 Inverter Output Filters Design 425 9.6.3 Motor Choke 435 9.6.4 Matlab/Simulink Model of Induction Motor Drive with PWM Inverter and Differential Mode (Normal Mode) LC Filter 437 9.7 Estimation Problems in the Drive with Filters 440 9.7.1 Introduction 440 9.7.2 Speed Observer with Disturbances Model 442 9.7.3 Simple Observer based on Motor Stator Models 445 9.8 Motor Control Problems in the Drive with Filters 447 9.8.1 Introduction 447 9.8.2 Field Oriented Control 449 9.8.3 Non-Linear Field Oriented Control 453 9.8.4 Non-Linear Multiscalar Control 457 9.9 Predictive Current Control in the Drive System with Output Filter 461 9.9.1 Control System 461 9.9.2 Predictive Current Controller 464 9.9.3 EMF Estimation Technique 467 9.10 Problems 471 9.11 Questions 475 References 475 Index 479 Index AC machines models, 19 Active power, 153 Adjacent line-to-line voltage, 311, 317 Artificial neural network, 5 Arbitrary common reference frame see machine model, 298 Back EMF, see Electromotive force Base values, 406 Bearing capacitance, 408-409 circulating current, 411 current, 404, 410 calculation, 410 classification, 410–20 reduction, 410–11 types, see Bearing current classification discharging current, 410 BLDC, 234–5 Butterworth filter, 206–207, 223 Cable parameters, 409 Choke 3 phase, 404 E shape, 404 toroidal, 404, 412–13, 422, 433 Clarke transformation, see transformation Clarke Common mode circuit, 408 component, 404, 415 filter, 402 inductance, 434 magnetic field density, 433 choke, 412–14, 423 design, 433 current, 409 path, 409 flux, 433 motor parameters, 410 reduction, 415 active zero voltage vector AZVC, AZVC-1, AZVC-2, 418–20 three active vectors 3AVM, 418 transformer 414–15 equivalent circuit, 415 voltage, 11, 60, 307, 309, 405–406, 408, 415–20 reduction, 415 waveform, 406 Comparator flux comparator, 183, 236, 240 torque comparator, 183, 236, 240–42 Compensation, 202, 211, 213–17 Computational, 233 Control problems, 447–61 Co-ordinate Transformation, see motor model, 297 Cost function see Model Predictive Control, 355 Current limit, 153 Damper winding, 235 DC motor, 19–24 separately excited, 20–22 analogy, 143–4 series excited, 22–4 DC link, 305, 307, 310, 316, 321, 332 Dead time, 307 dead band, 53 effect, 129 Direct torque control, 6, 8 Differential mode, see Sinusoidal filter Double fed induction generator autonomous generation system 153 base values, 34 control system, 158–9 Double fed induction generator (Continued) grid connected system, 153–4 model, 32–5 vector control, 153–9 DSC direct self control, 253 DTC direct torque control, 173–6, 179, 182–5, 189, 191–7, 199–200, 202, 206, 209, 211–20, 227, 229–30, 233–4, 236–7, 243–4, 253–4 Dumping resistance, 414 dv/dt 401 effects, 401, 437 filters, 401, 411 Dwell time, see Space vector PWM, 75 Dynamic model, 179, 181, 199–200, 202, 209, 234 Electric drive system, 2, 5, 10 Electromotive force EMF, 23 estimation, 467 Estimation, 172, 182–4, 206, 213, 233, 237, 239, Field oriented method 139, 145–6, 344, 347 direct, 148–9 with filter, 449–53 indirect, 148–9 stator oriented, 152 Field weakening control, 152–3 Five-phase, 293 five-phase drive system, 294 five-phase induction motor model, 295 five-phase inverter model, 307 five-phase supply, 327 five-phase VSI, 304, 307, 310, 326, 328 Fourier Series, 48, 316 Flux adaptive observer, 150–51 air gap flux, 205–206, 234 estimation, 141–2, 149 rotor rotor flux, 173–6, 186, 233–4, 236, 253 stator stator flux, 172–9, 181–8, 191–4, 196, 198–9, 205–6, 208–9, 211, 213, 220, 222, 224, 228, 233, 236–7, 239–41, 243, 246, 249, 251–2 Flux vector acceleration, 254 Frequency modulation ratio, 49, 66 Gate drive signal, 307–8 High performance drive, 6, 9 Hysteresis band, 172–4, 177–9, 182, 233, 240, 242, 252 Impedance, 429–30, 473 base, 407 characteristic, 473–4 wave, 403, 415 Impedance Source or Z-Source inverter, 117 Induction motor, 172–4, 176, 179, 182–7, 191, 193–5, 199–203, 209–11, 214, 217–18, 220, 226, 229, 233 common mode model, 404–408 dq model, 144 five phase, 388–96 control, 388–96 parameters, 396 machine control, 139–53 per unit model, 30–32 scalar control, 139–40 sensorless control, 365–80 squirrel cage, 25, 139 stator resistance, 141 vector control, 143–9 Inverter output filter, 420 control, 447–61 design, 425–33 estimation, 440–47 structures, 420–25 Iron losses, 185, 202–203, 206, 209–20, 224, 226–32 LC filter, see Sinusoidal filter, 4 Leg/pole Voltage five-phase, 307, 309–10 three-phase, 62 Load angle control, 461–4 Long cable connection, 401–402, 421, 465 Look-up table, 179, 187, 189, 243 Maximum torque production, 153 Magnetizing inductance, 180–81, 218–20, 225 Matlab, 182, 184–5, 191, 199, 202, 209, 218, 236, 243 Medium voltage drive, 10 Model reference adaptive system MRAS, see Observer model reference adaptive system Modulation index defination, 49, 51 Model predictive control, 352, 354 Model transformation, see Five-phase, 297 Motor torque, 297 480 IndexMulti-loop control, 448–9, 461 Multi-phase, 293–4 Multi-level inverters, 104, 326 cascaded H-bridge, 112 diode clamped, 106 flying capacitor, 109 Multiscalar control with filter, 457–61 Nonlinear field oriented method NFOC with filter, 6, 453–6 Normal mode filter, see Sinusoidal filter Non-adjacent line-to-line voltage, 311, 316–17 Observer, 9, 442–7 adaptive back stepping, 383–5 close loop, 366–75, 445–7 structure 1, 367–9 structure 2, 370–72 structure 3, 372–5 disturbance, see Observer speed flux, see Observer close loop Luenberger, 151 model reference adaptive system MRAS, 365, 375–8 five-phase induction motor, 388–9 observer 1 structure, 376–8 PMSM, 385–8 speed estimator, 389–96 simple, see Observer close loop speed, 366, 442–5 Over-modulation, 90 over-modulation I, 91 over-modulation II, 94 Parasitic capacitances, 402, 408 current, 408–409 Passive filter, 401–402, 411–12 Park transformation, 25, 29–30 Per unit system, 14, 38–9, 406 Permanent magnet synchronous motor, 160–68 back EMF observer, 380–82 control, 164–5, 382–3 scalar, 166–8 sensorless, 380–88 model, 35–6, 162 base values, 39 in ab coordinates, 40–41 in dq coordinates, 36–8 in per unit, 38–40 properties, 161 vector control, 160–61 Phase shifting network, 321 Phase variable model, see Five-phase induction motor, 295 Phase voltage or phase-to-neutral voltage, 62, 307, 309 PI controller, see Proportional-integral PI controller Power calculation, 153, 158, 378, 380 Power measurement, see Power calculation PMSM, 233–7, 239, 243–8, 250–52 Predictive control, 233 Predictive current control with filter, 461–71 Proportional-integral PI controller, 142–3, 145, 158–9, 303, 346–7, 375, 386, 391, 439, 456, 457, 461 cascaded, 163 Pulse width modulation PWM, 4, 326, 328 ANN based PWM, 96 carrier-based PWM, 64, 328, 332, 335 discontinuous PWM, 46, 77 fifth harmonic injection, 332–3, 337 offset addition, three-phase, 69, 71 five-phase, 336 space vector PWM three-phase, 72 five-phase, 294, 338, 342 sinusoidal PWM control, 294 synchronous and asynchronous, 51 third harmonic injection, 67 unipolar, bipolar, 55–6 modifications, 415–20 Quality factor, 429, 431, 434, 473–4 Quasi impedance source or qZSI inverter, 127 Reactive power, 153 Ripple flux ripple, 191, 233 Torque ripple, 191, 196, 200, 211, 233 Ripple inductor current, 428, 472–4 Rotor flux estimation, 149 Saturation, 179, 184–5, 217–20, 224, 227–32 Sensorless speed control, 5, 9, 365 Sector, 172–3, 176–9, 183–5, 187–8, 236, 239–41 Simulation, 181–2, 184–5, 191, 193–4, 199–202, 206, 209, 214, 217–18, 220, 229–30, 233, 236–8, 243 Index 481Simulink, 182, 184–6, 189–91, 199, 202, 209, 218, 229, 236–7, 243 Sinusoidal filter, 401, 421–2, 425–7, 429 characteristics, 430 circuit, 430 design, 429–30 elements, see Sinusoidal filter design model, 437, 439 Sinusoidal wave shape, 233 Six-step mode, 60 Space vector, 25 five-phase, 328 representations of AC machines, 143 three-phase, 72 Space Vector Modulation, 233 Speed control, 172–3, 182–5, 191, 193–7, 199, 202, 209, 211–12, 214, 216–8, 229–30, 243, 252 SPMSM, 233–7, 239, 243–8, 250–52 Stator current relationship, 157 Steady state equivalent circuit, see Five-phase system, 300 SVPWM, 233 Switching combination 405 Switching Frequency changing switching frequency, 233 constant switching frequency, 233 Switching table, 176, 178, 183, 185, 187, 236, 243 Ten step operation, see Five-phase system, 294, 310 Torque control, 171–6, 177–9, 181–2, 185, 193, 196, 199, 202, 206, 213–15, 218, 220, 227–9, 233, 236 Transformation Clarke, 26–9, 145 matrix constant magnitude, 403 power, 404 Park, 29–30 variables, 147, 156–7, 164 Trapezoidal wave shape, 234 Uniform cylindrical surface, 234 Variable speed drives, 235 Voltage source inverter, see three-phase, 56 five-phase, 304, 307, 310, 326, 328 Voltage space vector, 173–7, 182, 185, 187, 190, 233 Wind generation systems, 154 Zero sequence component, see Common mode, 331 #ماتلاب,#متلاب,#Matlab,
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