1 Advanced course of Power Electronics for Masters: Syllabus .

1

Advanced course of Power Electronics for Masters: Syllabus

https://moodle.e-ope.ee/course/view.php?id=2238 (guest entrance) and http://learnelectronics.narod.ru/ (free entrance)

2

Timetable


3

Topics1. Power system engineering

• Objective of electronic system design• Electrical motors as the objects of electronic control• Motor supplies: rectifiers, inverters, ac/ac and dc/dc converters• Power electronic components

2. Gating of power switches• Phase modulation• Block modulation• PWM – pulse-width modulation• SVM – space vector modulation

3. Motor drive control engineering• Transfer functions and block diagrams• Signal converters and controllers• Controller design and drive tuning


4

Manuals


5

Laboratory1. Commissioning the power converter 2. Taking power converter characteristics 3. Computer examination of power converter


ABB ACS 800

SAGEDUSMUUNDUR ACS800

Pealüliti Start StoppPöörlemis-

suund - Kiirus +

AvariiKaitseTöötabPingestatud Rike

L1

L2

L3

N

U

V

W

UDC+ UDC-PE PE N

PC(Drive windows)

ABB ACS 800

SAGEDUSMUUNDUR ACS800

Pealüliti Start StoppPöörlemis-

suund - Kiirus +

AvariiKaitseTöötabPingestatud Rike

L1

L2

L3

N

U

V

W

UDC+ UDC-PE PE N

Working machine Load machine

Speed sensor(enkooder)

Clutch

Working machineconverter

Load machineconverter

Supply Supply

6

Practical design


7

Practical design: Part 1- Power system engineering • Request for proposal with the individual input data• Timing calculation and the mechanism travel diagram• Mechanism forces calculation and torque/power patterns• Optimum motor-gear set selection and checking


8

Practical design: Part 2 –Gating of power switches

• Power electronic converter dimensioning and selection or design

• Data and simulation results with transients of an open-ended system

• Appendix 1: operation diagram of the thyristor phase modulation, the transistor 2-phase block modulation, or 3-phase pulse-width modulation

• Appendix 2: wiring diagram with power circuit and the drive specification

L

VS1

VS2

VS3

VS4

VS5

VS6

L1

U2U1

L2

L3

M


9

Practical design: Part 3 - Drive control engineering

• Block diagram of the control system• Controller development and tuning • Data and simulation results with transients of a close-loop system;• Conclusion of the project summary


10

Lesson 1.

1.1. Request for proposal with the individual input data (Manual 6-9, Textbook 55-60)

1.2. Development of the design algorithm (Manual 9-11) 1.3. Timing calculation and building the mechanism

travel diagram (Manual 11-12)

Advanced course of Power Electronics for Masters: Power System Engineering

11

1.1. Design objective in the request for proposal (Textbook 55-60, 76-78, 85-86)

1. Drive specifications2. Classification by applications 3. Thermal considerations 4. Electrical requirements 5. Constructional requirements 6. Accidental protection7. Electromagnetic compatibility


Lesson 1

12

1.1. Design objective 1: Drive specifications

• type of application• performance conditions and duty• supply conditions and harmonics • motor type • power and torque ratings • supply voltage, current, and frequency • speed range, minimum, and maximum values • accuracy and time response• efficiency and power factor• service life expectancy • standards, rules, and regulations


Lesson 1

13

1.1. Design objective 2: Classification by applications

Feature Appliances General-purpose drives System drives Servo drives

ApplicationsHome

appliances,Fans, pumps,

compressors, mixers

Test benches, cranes, elevators,

hoists

Robots, lathes, machine tools

Performance Middle Low High Very high

Power rating Low Whole range Low and middle

Motor Mainly induction motors Mainly servomotors

ConverterSimple, low

costOpen-loop ac and dc Expensive, high quality

Typical feature

Home, mass production

Process, cost sensitive, low performance

High accuracy and high dynamic, high precision and linearity


Lesson 1

14

1.1. Design objective 3: Thermal considerations

Type Duty

S1 Continuous running

S2 Short-term

S3 Intermittent periodic

S4 Intermittent periodic with a high startup torque

S5 Intermittent periodic with a high startup torque and electric braking

S6 Continuous-operation periodic

S7 Continuous-operation periodic with a high startup torque and electric braking

S8 Continuous-operation periodic with related load-speed changes


Lesson 1

15

1.1. Design objective 4: Electrical requirements

Usup UloadM

Line chokes Input filter Overvoltage Power electronic Output filteror transformer protection converter


Lesson 1

16

1.1. Design objective 5: Constructional requirements

IP X – protection against accidental contact

Y – protection against penetration of water

0 No protection No protection

1Large surface and solid objects exceeding 50 mm in diameter

Dripping water (vertical falling drops)

2Fingers and solid objects exceeding 12 mm in diameter

Water drops falling up to 15˚ from the vertical

3 Tools and solid objects exceeding 1 mm in diameter

Spray water up to 60˚ from the vertical (rain)

4 Deck water (splash water from all directions)

5Any object and harmful dust deposits, which can interfere with operation

Jet water from all directions

6Any contact and any kind of dust

Temporary flooding (deck of a ship)

7 Effects of brief immersion

8 Pressurized water


Lesson 1

17

1.1. Design objective 6: Accidental protection

Usup UloadM

Mains Circuit Chokes and Switches Switch fuses breaker filters blocking cabinet


Lesson 1

18

1.1. Design objective 7: EMI protection means

Effect FrequencyCounter-measure

At source At load

Mains Up to 100 Hz Avoid circulating currentsBalanced signal circuits. Avoid earth loops in signal paths

Mains harmonics

100 Hz…2,5 kHz

Line and/or dc link reactor on rectifiers. Higher pulse number rectifier. Avoid loops in signal paths. Low-impedance supply. Harmonic filters

Balanced signal circuits. Avoid loops in signal paths. Filtering

Intermediate 2,5 kHz…150 kHz FiltersFiltering. Screening. Balanced signal circuits

Low frequency

155 kHz…30 MHz Filters. Cable screening Filtering

High frequency

Higher than 30 MHz

Screening. Internal filtering Screening


Lesson 1

19

1.3. Timing calculation and the travel diagram development

1.2. Development of the design algorithm

Report on Lesson 1


Lesson 1

20

2.2. Building the torque or power patterns over the travel diagram (Manual 12-15)

2.1. Mechanical force calculation (Manual 12-15)

Report on Lesson 2


Lesson 2

21

Lesson 3. Motor-gear-converter kit selection (Manual 16-19)

3.1. Finding the load angular speed ω’ 3.2. Finding the maximum static counter-

torque M’ 3.3. Finding moment of inertia J’ 3.4. Optimum motor-gear-converter set

selection


22

3.1. Electrical motors (Textbook 166-171)

S

N

Φ

B

ψI

θ

r

+

Iψ θsinς12 lrBFrM

Ψ2σ

Ψ2σ

θ

Ψ12

Ψ2

I12

I2 E2

sΨ1

I1R1

E1 I1

U1

Ψ1

θ


Lesson 3

23

3.2. Electrical motors: Induction motor (Textbook 171-187)

ω1 = ω2 + ω12

2

22

1

11 ψ

ω ,ψ

ωEE

p1

0

ωω

pp2121 ωω

ω ,θθ

φ

,

1

2

0

0

1

2

ω

ω

ω

ωω

f

fS


Lesson 3

24

3.3. Electrical motors: Synchronous motor (Textbook 188-192)

θ12

Mmax

θ

M

α

β

d

θ

ω1= ω12

I1

q

Ψ12

sΨ

1

I1R

1 E1U1

θ12α

β

d

θ

ω1= ω12

I1

q

Ψ12

sΨ

1

I1R1

E1

U1

ω*

–

Ue1 Ue2 Ue3

IL2*

IL3*

IL1*

M*

M

Current reference

unit

ω controller

Current-controlled converter

MBQ


Lesson 3

25

3.4. Electrical motors: DC motor (Textbook 192-197)

ω

Mβ

α

θ

I1

Ψ1

2

sΨ1 I1R

1E1

U1

M

MMMc

IRUk

ωΦψ1


Lesson 3

26

3.5. Power electronic converters (Textbook 13-54)

1. AC/DC converters - Rectifiers2. DC/AC converters - Inverters 3. AC/AC converters - Changers 4. DC/DC converters - Choppers

~

=

UsUd =

~

Ud

Us

~

~

Us su

p

Us load =

=

Ud

sup

Ud load

M M

MM


Lesson 3

Circuittype

M1 2,22 1,57 3,10 0,29 3,14 1,00 1,57

M2 1,11 0,71 1,58 0,64 3,14 0,50 0,78

B2 1,11 1,00 1,11 0,90 1,57 0,50 0,78

M3 0,85 0,58 1,58 0,64 2,09 0,33 0,25

B6 0,42 0,82 1,05 0,95 1,05 0,33 0,06

27

3.6. Power electronic converters: Rectifiers (Textbook 14-23)

d

sU U

Uk

d

sI I

Ik

d

sP P

Pk

s

d

P

Pφcos

d

RR U

Uk

d

FF I

Ik

d

rr U

Uk

2


Lesson 3

28

3.7. Power electronic converters: Inverters (Textbook 23-34)

VD3

VD1

VD4

VD2

–

+

U

s

VT3

VT1

VT4

VT2

Ud M

VD1 VD2 VD3

VD4 VD5 VD6

L2

L1

L3

VT1 VT2 VT3

VT4 VT5 VT6

Ud M

C

C


Lesson 3

29

3.8. Power electronic converters: AC/AC converters (Textbook 34-43)

VT7

R

VT4 VT5 VT6

VT1 VT2 VT3VD1 VD2

VD4 VD5 VD6

C

L

VD3 VD7

M


Lesson 3

30

3.9. Power electronic converters: DC/DC converters (Textbook 43-54)

Ud load

C

VT

+

–

VD

L

Ud sup M

Ud load

Id load

C

L

VD1

VT1

VT2

VD2

–

+

Ud sup

Ud load

M

Ud load

Id load

VD1 VD2

VD3 VD4

VT1 VT2+

VT3 VT4

Ud sup

Ud load

–

M

Ud load

Id load


Lesson 3

31

Lesson 4. Motor-gear-converter kit examination (Getting started eDrive)

4.1. Building the static torque-speed diagram

4.2. Building the dynamic torque-speed or current-speed diagram

4.3. Examination calculation

Report on Lessons 3, 4


32

Lesson 5. Power electronic converter dimensioning or design

5.1. Power converter description (Textbook 61-91)

• Transformers and inductors • Diodes and thyristors • Transistors • Snubbers and clamps • Braking resistors• Filters

5.2. Building the modulation diagram (Textbook 121-141)


33

5.2. Phase modulation 1

θ1

θ1

α

θ1

θ1

θ1

θ 1

θ 1

θ 1

UL3’ UL1’ UL2’UL3UL2

UsUL1

IG1

IG6

IG2

IG4

IG3

IG5

u*

uc

Umax

Advanced course of Power Electronics for Masters: Gating of Power Switches

Lesson 5

34

5.2. Phase modulation 2

θ1

θ1

UL3UL2

Us sup, Us load

UL1

u*

UL3UL2UL1

uc


Lesson 5

35

5.2. Block modulation 1

a.

VD1, VD4VD2, VD3

toffton

Tc

Us

θ1

VT1, VT4

θ1VT2, VT3

θ1

Us1

VT4

θ1

VT1

θ1VT2

θ1VT3

θ1

θ1

θ1Us2

b.

θ1


Lesson 5

36

θ1

VT6

VT5

VT4VT3

VT2

VT1 θ1

θ1

θ1

θ1

θ1

θ1

2π π

θ1

UL1

UL2

θ1UL3

θ1

θ1

UL1L2

UL2L3

θ1UL3L1

5.2. Block modulation 2


Lesson 5

37

5.2.Block modulation 3

VT1

θ1

θ1

θ1

VD4

VT6

VT5

VT4

VT3

VT2θ1

1

θ1

θ1

θ1

UL3N

0,16Ud

Ud

2ππ

UN

0,5Ud θ1

UL1

UL2

θ1UL3

θ1

θ1UL2L3

θ1

UL3L1

UL1L2

θ1

θ10,67Ud

θ1

θ1

UL1N

UL2N

VD1


Lesson 5

38

5.2. PWM 1

Us

uc u*

θ1

toff

Uton

θ1

Tc

Us

θ1

U

θ1


Lesson 5

39

Power Electronics for Masters : Gating of power switches

UL2L3

UL3L1

uc

UL3N

UL2N

UL1N

θ1UN

UL1L2

UL3

UL2

toff

u*

ton

θ1

θ1

UL1

T*

θ1

θ1

θ1

θ1

θ1

θ1

θ1

θ1

5.2. PWM 2

Lesson 5

40

Power Electronics for Masters : Gating of power switches

Lesson 5.2. SVM

0 π/3 2π/3 π 4π/3 5π/3 2π π/3 2π/3 π 4π/3 5π/3 2π π/3

UL1

UL3N

UL2N

UL1N

θ1UN

UL1L2

UL3

UL2

Tc

θ1

T*

θ1

θ1

θ1

θ1

θ1

θ1

Lesson 5

41

Lesson 6. Building of wiring diagram with power circuit and drive specification

(Textbook 198-235)

Report on Lesson 5

Report on Lesson 6


42

Lesson 7. Development and tuning a controller (Manual 20-29, Textbook 142-165)

7.1. Development of the block diagram (Manual 20-22) 7.2. Auto tuning and fine-tuning (Manual 22-27) 7.3. Simulation of the close-loop system (Getting

started eDrive)

Advanced course of Power Electronics for Masters: Motor Drive Control Engineering

43

7.1. Transfer functions and block diagrams

b. c.a.

u* U E ω

M ω

U

E

I M ωMs

E I

d.

M I

e.

––

f.


Lesson 7

44

7.1. Signal converters

and controllers

R1

R2

C

UinUout

a.

R1

R2

C

Uin Uout

b.

R1

R2C

Uin Uout

c.

R1

R2

C1

Uin Uout

d.

C2

R1

R2C1

Uin Uout

e.

C2


Lesson 7

45

7.2. Controller design 1

a.

z* z

–

c.

Tμ

zky

t

1

2 4 6 8 10 12 14 16

3. a1=2,a2=4 (SO)

2. a1=2 (MO)

2. a1=4

1. a1=2(EO)


Lesson 7

46

7.2. Controller design 2

z’* z’

–

z*

–

z


Lesson 7

47

Lesson 8. Report defense

Report on Lesson 7

Graded credit


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1 Advanced course of Power Electronics for Masters: Syllabus .

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