13/08/64

Electrical Machines and Drives

ศาสตราจารย์ ดร.วิจิตร กิณเรศ

B.Eng (Hons.,KMITL) , M.Eng ( KMITL ), Ph.D. ( U. of Nottingham, UK )

Course Description
Fundamentals of using power converters in electrical machine
drives, variable speed
drive systems, phase-controlled dc motor drives (using thyristor-
controlled rectifiers), dc motor
drives using dc/dc switch mode converters (chopper-controlled
dc motor drives), phase controlled
induction motor drives, stator voltage control, slip power recovery
control,
frequency-controlled induction motor drives using scalar control,
pwm voltage-source inverter
control, pwm current-source inverter control, vector controlled
induction motor drives (fieldoriented
control), an introduction to direct torque and flux control for
induction motor drives,
an introduction to sensorless vector control for induction motor
drives.

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Electrical Machines and Drives

Assignment (Quiz, Homework, Assignment,simulation)

50 %, Midterm 20 % Final 30 %

Textbooks: 1.Electric Motor Drives, Modeling, Analysis and

control, R. Krishnan
2. Dynamic Simulation of Electric Machinery
Using Matlab/ Simulink, Chee_Mun Ong
3. Modern Power Electronics and AC Drives, B.
K. Bose

One of Prof. B. K. Bose’s Text Books

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Principle of Electromechanical Energy

Conversion

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 

2 2
i i
1 1
i i
Non-linear Linear

 i , x   Wfld  , x 
i   Wfld
 i , x   i   Wfld  , x 
Wfld

Mechanical Force in the Electromagnetic System

λ
x = x2
λ2 d b

λ1 c x = x1
a

0 2 i

dWe   eidt   id  area _ abcd

1

dW fld  area _ 0bd  area _ 0ac

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dWm  dWe  dW f
dWm  area _ abcd  area _ 0ad  area _ 0bc
 area _ 0ab
For constant current dWm  dW fld
'

f m dx  dWm  dW fld
'

W fld
'
(i, x)
fm 
x i  consa tan t

λ
x = x2
b

λ1 p
x = x1
a

i
0 i

f m dx  dWm  dW fld

W fld ( , x)
fm  
x   cons tan t

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Electrical Magnetic Mechanical

plunger

Electromechanical Energy Conversion Device

Linear relationship between  and i

Inductance (L(x)) depends on x

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  L x  i
dWmech  f fld dx
dWelec d
 ei  i
dt dt

dWelec  i d

dWmech
dWfld

Example
The - i relationship for an electromagnetic system
is given by

 g 
2

i 
 0.09 
which is valid for the limits

0  i  4A and 3  g  10cm
For current i=3 A and air gap length g=5 cm find the
mechanical force on moving part using energy and
coenergy field

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 0.09i1/2 
From relationship    

 g 

The coenergy of the system is

i
i 0.09i1 / 2
  di  
'
W fld di
0
0 g
0.09 2 3 / 2
 i joules
g 3

W fld
'

fm 
x i  consa tan t

2 3/ 2 1
 0.09  i
3 g2 i  cons tan t

For g=0.06m and i=3

f m  124.7 Nm

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W f  W f ( , x)
i  i( , x)
Multiexcited electromagnetic
system
J
Wf   i j 1
j dj

For doubly fed excited

W f (i1 , i2 , x)   [i1d 1 (i1 , i2 , x)  i2d 2 (i1 , i2 , x)]

Magnetically linear electromechnical energy

conversion with two electrical inputs and one
mechanical output

1 (i1 , i2 , x)  L11 ( x)i1  L12 ( x)i2

2 (i1 , i2 , x)  L21 ( x)i1  L22 ( x)i2
1 1
W f (i1 , i2 , x)  L11 ( x)i12  L12 ( x)i1i2  L22 ( x)i22
2 2
1 J J
W f   Lpqi piq
2 p 1 q 1

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The energy balance relationships

K J

f
k 1
ek dxk  ej 1
fj ji dt  dW f

K J

f
k 1
ek dxk  ij 1
j d  j  dW f

W f  W f (i1 ,..., i j ; x1 ,..., xk )

 j   j (i1 ,..., i j ; x1 ,..., xk )

Rotating system

Angular displacement 
and torque Tfld

dWfld  ,    i d  Tfld d

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 Wfld  ,  
Energy Tfld  
 

1 2
Wfld  ,   
2 L  

  1 2 
   2
d L  
Tfld  
  2 L     2 d
   2 L

 i,  
 Wfld
Coenergy Tfld 
 i

 i,    L   i 2
1
Wfld
2

i 2 d L  
Tfld 
2 d

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Principle of
switched
reluctance
Motor

Wmech  Tem mech

Tem mech  area(0  1  2  0)
area(0  1  2  0)
Tem 
mech
W '

mech
ia cons tan t

Basic configuration of a rotating

electromagnetic system
dW fld  es is dt  er ir dt
 is d s  ir d r
s  Lssis  Lsr ir
r  Lrsis  Lrr ir
1 1
W fld  Lss is2  Lsr is ir  Lrr ir2
2 2
  i,  
 Wfld
Tfld 
 1 dL dL 1 dL
i
T  is2 ss  is ir sr  ir2 rr
2 d d 2 d

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Switched reluctance motor (no winding on the rotor)

is  I sm sin t
ir  0

Lss  L0  L2 cos 2

(a) (b)

(a) Find an expression for the torque acting on the

rotor

Rotor current ir  0

1 dL
T  is2 ss
2 d
1 2 d
 I sm sin 2 t ( L0  L2 cos 2 )
2 d
  I sm
2
L2 sin 2 sin 2 t

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(b) Let   mt   Where  m is the angular

velocity of the rotor
and is the rotor
position at t=0
Find the condition for nonzero
average torque and obtain an
expression for the average torque

(1  cos 2t
T   I sm
2
L2 sin 2(mt   ) )
2
 1 
sin 2( t   )  sin 2 (m   )t   
1 2  m
2
  I sm L2  
2   1 sin 2 (   )t    
 2 
m

The average value of each of the three sinusoidally time-

varying functions is zero unless, in one of them, the
coefficient of t is zero. Average torque is produced at the
following speeds:

(i)  m  0 The average torque at zero speed is:

1 2
Tave   I sm L2 sin 2
2
Ld  Lq
L2 
2
1 2
Tave   I sm ( Ld  Lq ) sin 2
4
(ii) m   Tave  1 I sm 2
L2 sin 2
4
1 2
Tave  I sm ( Ld  Lq ) sin 2
8

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Self-inductance constant
Lss
Stator

Lrr

Lsr Mutual-inductance

L sr  θ me   M cos θ m

d s
vs  is rs 
dt
d r
vr  ir rr 
dt
s  Lssis  Lsr ir
r  Lrsis  Lrr ir
Lsr  Lrs  M cos  m
Wc (i1 , i2 ,m )
Te (i1 , i2 ,m )   isir M sin m
m

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is  I sm cos s t
ir  I rm cos(r t   )
  m t  
T   I sm I rm M cos s t cos(r t   ) sin(mt   )
sin (m  (s  r ))t      
 
I sm I rm M   sin (m  (s  r ))t     
  
4   sin ( m  ( s   r ))t     
  sin (  (   ))t     
 m s r 

The average value of each of the sinusoidal

terms is zero, unless the coefficient of t is
zero in that sinusoidal term.
Then

m  (s  r )
The machine will develop average torque if it
rotates in either direction at a speed that is
equal to the sum or difference of the angular
speeds of stator and rotor

m  (s  r )

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Case I: r  0,   0, m  s
This is the principle of synchronous machine.
The rotor current I R is a direct current ,and the
machine rotates at synchronous speed. The
developed torque is
 I sm I R M
T  sin(2s t   )  sin  
2
The instantaneous torque is pulsating. The average value of
the torque is  I sm I R M
Tave  sin 
2
Note that at m  0 the machine does not develop an
average torque ,therefore the machine is not self-starting. The
pulsating torque may result in vibration , speed fluctuation,
noise, waste of energy. The pulsating torque can be avoided in
a poly phase machine.

Case II: m   s   r
Both stator and rotor carry ac currents
different frequencies and the motor run at
asynchronous speed. This is an asynchronous
machine.
m   s , m  r
 I sm I rm M sin(2s t     )  sin( 2s t     ) 
T    sin(2 t  2 t     )  sin(   ) 
4  s r 

Instantaneous torque is pulsating . Its average value is

 I sm I rm M
Tavg  sin(   )
4

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Ex. The cylindrical rotating machine has two

windings. The parameters are:
Lss  0.15H Lsr  0.08cos  H
Lrr  0.06 H
(a) The rotor is driven at 3600 rpm. If the stator carries a current of
5A(rms) 60 Hz, determine the instantaneous voltage and rms
voltage induced in the rotor circuit. Determine the frequency of the
rotor induced voltage.
(b) Suppose the stator and rotor coils are connected in series and a
current of 5 A(rms) at 60 Hz is passed through them. Determine the
speeds at which machine will produce average torque. Also
determine the maximum torque that the machine will produce at
each speed.

d r
vr  ir rr 
dt
r  Lrs is  Lrr ir 0
d r d ( Lsr is ) d ( Lrr ir ) d (0.08cos  )(5 2 sin(120 t ) d (i )
    0.06 r
dt dt dt dt dt
เพราะ rotor เปิ ดวงจร

d (0.08cos(mt   )5 2 sin(120 t ) d (0.5656cos(mt   )sin(120 t ))

 
dt dt
1
sin A cos B  sin( A  B)  sin( A  B)
2
At rotor speed =3600 rpm (2 )(3600)
m   120
60
d (0.2828(sin(240 t   )  sin  )

dt

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Induced voltage of the rotor instantaneous

d r
vr   213.2 cos(240 t   ) V
dt
Rms 213.2
Vr   150.8V
value 2

  2 f  240
Frequency of rotor voltage f  120 Hz

จาก 1 2 dLss dLsr 1 2 dLrr

  i,  
 Wfld T  is  is ir  ir
Tfld  2 d d 2 d

T  is ir M sin  m
i

Instantaneous torque
T  4sin 2 (120 t )sin(mt   )
1 
 4  (1  cos 2(120 t ))sin(mt   ) 
2 
 2 sin(mt   )  2 cos 240 t sin(mt   )

 2sin(mt   )  sin(240 t  mt   )  sin(240 t  mt   )

ถ้าต้องการให้เกิดแรงบิดเฉลีย่ แสดงว่า   0, 240 Rad/s

m

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At m 0
Tavg  2 sin 
Maximum torque is 2 Nm

AT m  240 rad/s

Average torque
Tave   sin  Maximum torque is 1 Nm
At m  240
Tave  sin 
Maximum torque is 1 Nm

Electric Machines
• Dc Machines Shunt , series , compound , separately-
excited

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AC Machines
• Induction ; range between fractional-kW to MW
• Synchronous several MW (higher than IM)
• Permanent magnet synchronous up to 150 kW

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Permanent Magnet Synchronous Motor for

Electric Vehicle

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Brushless DC Motor

Brushless DC motor

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Brushless
DC (BLDC)

Other machines
• Switched reluctance machines up to 10kW

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Comparison of cage induction motors,

PM brushless motors and SRMs
Parameter Cage Induction Brushless PM Switched
Motor Motor Reluctance
Motor
Power density Satisfactory Highest Lower than PM

Maximum shear Up to 20,000 Over 60,000 Up to 35,000

stress
(N/m2)
Air gap Small, fraction of Up to 1 mm or more Small, fraction of
mm mm
Efficiency Satisfactory; Over 90% About 1% more
Good for energy than that
efficient of induction motor
motors
Power factor cosφ 0.8 to 0.9 High, up to 1.0 Switched d.c. motor

Parameter Cage Induction Brushless PM Switched

Motor Motor Reluctance
Motor
Power factor cosφ 0.8 to 0.9 High, up to 1.0 Switched d.c. motor

Performance at Satisfactory Good Torque is high, but

low efficiency low
Speed (VVVF)
Torque - voltage T ∝ V2 T∝V T ∝ V at constant
characteristic peak current
T=f(V)
Torque ripple Less than 7% About 10% Over 20%
Overload capacity 1.6 to 3.2 About 2 Highest
factor Tmax/Trated

Power electronics Not necessary for Necessary Necessary

converter constant
speed drive
Cost Cost-effective motor Still expensive motor Cost-effective motor

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ADJUSTABLE MAGNITUDE AND/OR FREQUENCY

CHOPPERS
DC DC

CONSTANT MAGNITUDE AND FREQUENCY

IN
VE
RT
E
RS

OUTPUT
INPUT

ES
FIR
I
CT
RE
CYCLOCONVERTERS
AC AC VOLTAGE CONTEROLLERS AC
Matrix Converter

รู ปแบบของ Power conversion และ Power electronic

converter ทีส่ อดคล้อง

AC-DC: Converter
วงจรเรียงกระแส
ใช้ สำหรับ DC motor Drive
AC-AC: Converter
วงจรควบคุมแรงดัน ใช้ สำหรับ
มอเตอร์ เหนี่ยวนำ
DC-DC: Converterวงจรชอปเปอร์
ใช้ สำหรับ DC motor Drive
DC-AC: Converter
วงจรอินเวอร์ เตอร์ ใช้ สำหรับมอเตอร์
เหนี่ยวนำ, Synchronous motor,
PMSM, BLDC

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3 Phase full bridge AC-DC Converter

Input Voltage
Output voltage and
current, input current

DC to DC Converter
io
S
Buck Converer R
+
VS - D Vo
L
( step down ) E

Vo

Vout,avg
a

t
Io

t
DT T
Boost Converer L D

( step up )
LOAD

+ S
VS -
Vo

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ia
a
3 - phase
ac input n

Three - phase
induction
motor
Stator voltage control

เป็ นเทคนิคสำหรับ soft starter และ ปรับควำมเร็วรอบของโหลดประเภท Fan

,Pumps

รู ปคลื่นแรงดันเอาต์พตุ ที่มุมจุดชนวนต่างๆของ AC voltage

controller

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DC to AC Inverter หน้าที่ของ free wheeling diode

หรื อ by pass diode เป็ นทางผ่าน
กระแสไหลย้อนกลับข้ามสวิตซ์ เพราะสวิตซ์
ยอมให้กระแสไหลผ่านทิศทางเดียว สาเหตุมา
จากโหลดมีพลังงานสะสมจึงต้องคายพลังงาน
ออก vo
io
Q1 D1 D3 Q3
t
vo
Vdc
io Q1 Q3
Q4 D4 D2 Q2 Q2 Q4
D1 D3
D2 D4
Single Phase Full Bridge Inverter

SUPPLY LINE AC to AC Matrix Converter

ข้ อดี
ควบคุมแรงดันและความถีไ่ ด้
โดยไม่ต้องอาศัย energy
INPUT FILTER storage
vA v B vC devices
ข้ อเสีย
iA iB iC
a
b ใช้จานวน devices มาก
SAa SBa SCa
SAa SBb SCb c แรงดัน
SAc SBc SCc
A B C va vb vc output น้อยกว่า แรงดัน input
ia ib ic
LOAD van vbn vcn
vn

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วงจรกาลังของวงจรแปลงผันกาลังเมตริ กซ์

Matrix Converter

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รู ปคลื่นแรงดัน PWM และกระแสของ Matrix

Converter

การทางาน 4 ควอแดรนท์

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Torque

F F

G M

2 1
Q2 Q1
Q3 Q4 Speed
F F

M G

2 1

Direction of Operation Quadrant Output power

rotation
1 (CW) As a motor 1 +
As a generator 4 -
2 (CCW) As a generator 2 -

As a motor 3 +

Torque-speed Boudary
Torque
Maximum
Constant Power
QII QI
Reverse
Maximum

Braking Forward
(or Generator) Motoring
Speed

QIII QIV
Reverse Forward Base speed

Motoring Braking
(Generator)

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ทางเดินของแรงบิดและความเร็ วตามลูกศรเมื่อมีการเปลี่ยนแปลงความเร็ ว
ของการควบคุมการทางาน 4 Quadrantของ Electric drive

maximum transient torque

maximum transient power Torque
maximum continuous power
maximum continuous torque

Speed

maximum speed

Maximum, continuous and transient torque and

power limitation of drives in four quadrant

Torque Load torque

P1 P2 Speed
1 2

torque-Speed 1 2

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Torque

P2 P1
Speed
2 1

torque-Speed 1 2

Torque

P1
Speed
1
2

torque-Speed 1 2

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ตัวอย่างการตอบสนองที่รวดเร็ว เช่น Field

Orientation Control, Direct Torque
Control

Electromagnetic
torque

Speed

ตัวอย่างการตอบสนองเมื่อไม่เกิด Optimal torque

เช่น Scalar V/F control

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Comparison of DC and AC Drives

1. Commutator and Brushes
DC motors ถูกจากัดโดย Speed , Voltage , transient
response
2. Power vs. Speed range
AC motors ได้เปรียบ
3. Efficiency
Induction motors used for VSD ดีกว่า ประสิทธิภาพของ
DC motor ในระดับขนาดเดียวกัน

4. Power factor input power factor ของ dc drives อยู่

ระหว่าง 0 - 0.9 และเพิ่มตามความเร็ว ส่วน PWM
Inverter drive จะคงที่ไม่เปลี่ยนแปลงตามความเร็วรอบ
5. Inertia ที่ same power rating and speed ; AC machine
น้อยกว่า DC machine
6. Protection; AC Drives ได้เปรียบในเรื่องการตรวจจับง่าย
กว่า เช่น อุณหภูมิ DC breaker ราคาแพงกว่าเป็ นต้น

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7. Motors Maintenance ; AC Motorได้เปรียบ

8. Ruggedness กรงกระรอกมีความทนทานมาก
9. Standstill ขณะหยุดนิ่งแรงบิดของ DC motor ด้อยกว่า
10. Size and Weight ; AC ได้เปรียบ

Comparison of Induction and DC Motors for Three Diverse Sizes

Machine
Large Medium Small
Size
Machine Cage DC Cage DC Cage DC
Type
Rating(kW) 6,000 6,000 75 75 1.5 1.5
Speed(rpm) 60 60 1,500 1,500 1,500 1,500
Efficiency
95.1 92 93.5 88 75 83
(%)
Inertia
30,000 60,000 0.75 0.673 0.0039 0.0098
(kg m )
2

Length(cm) 1,500 1,500 86.3 102.2 32.25 41.6

Width(cm) 410 473 45 39 17 21
Weight
- - 385 480 23 42.5
(kg)

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Comparisons of Control Types

Torque Flux
Control Type Control Control Resronse Advantages Disadvantages
DC Drive Direct Direct High High accuracy Motor maintenace
Good torque response Motor cost
Simple Encoder required for high accuracy
Scalar Frequency None None Low No encoder Low accuracy
Control Simple Poor torque response
Flux Vector Indirect Direct High High accuracy
Control Good torque response Encoder always require
Direct Torque Direct Direct High No encoder Encoder required for high accuracy
Control Moderate accuarcy
Excellent torque response

Evolution of Electric Motor Drives

DC Drive
Speed Torque DC
Control Control Motor

T
Scalar Frequency Control
V
V/f PWM AC
Freq. Ref. f Motor
Ratio Modulator

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Flux Vector Control

V
Speed Torque Vector PWM AC
Control Control Control f Modulator Motor

Direct Torque Control

Speed Torque Hysteresis AC
Control Control Control Motor

กำรควบคุมฟลักซ์ เวคเตอร์ ไดรฟ์ ชนิดโอเรียนเตชั่นทำงอ้ อม (indirect

orientation) โดยใช้ Voltage reference Control
3 phase
AC
Supply

Vector
i*sd PI current
V* sd V* a Controlled
Inverter
control
control V* sq ej *
jλ V* b
Vc
*
r i sq*
PI speed
control
PI current
control ia i
control b II M
M
r ej
-jλ

1  sl * s
*

Intergrater
 i *

r
r sd

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Direct Torque Control for Induction

Motors

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Direct torque control (DTC)

3-Phase
Inverter IM
Rectifier

Speed command Position

Torque Sensor
PI Hysteresis Voltage vectors S1 S3 S5
Flux Selection Table
Stator Hysteresis
Flux reference ud 
2 1
V dc S 1  V dc  S 3  S 5 
3 3
Sector Seletion uq 
1
V dc  S 3  S 5 
3

d   u  R s id dt id  ia
 
d
   i q  i a  2 i b  /
2 2
3
  u  R s i q dt
d q
q q

Te 
3 p
 i   q id 
d q
2 2

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Wind Turbine
Gear Box Simulation of doubly fed Induction machine drives for
Induction Gen.
.
Is,abwind generatorTerminal Voltage
Main

..
c Load
Vr,abc Y R
Encoder m L L
d/dt Ir,ab Ior Ios
C Ic
.
m c Vs,ab L LC Filter
Optimum
Tracking
Te*
Chopper Te Torque
Rotor Side Converter
Ir,ab PWM
Rotor Side
E
Supply Side Converter
PWM
Supply Side
Ia1,b1
.. C

Control Cal. Vector Vector

Control Rectifier
Control
Ims E* e L
Ims** s
s Iq* Voltage C
s Angle
Flux Angle
Ir,ab Calculation Calculation Auxiliary
Load
Calculat Calculati RL
PWM on
ion

43