Fundamentals of Electrical Drives, Second Edition.pdf

Fundamentals of Electrical Drives, Second Edition.pdf

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PowerSystemsAndreVeltmanDucoW.J.PulleR.W.deDonckerFundamentalsofElectricalDrivesSecondEditionPowerSystemsAndrVeltman,DucoW.J.Pulle,RikW.DeDonckerFundamentalsofElectricalDrivesMoreinformationaboutthisseriesathttp:

/VeltmanDucoW.J.PulleR.W.DeDonckerFundamentalsofElectricalDrivesSecondEdition123AndrVeltmanTUEindhovenPiakElectronicDesignCulemborg,GelderlandTheNetherlandsR.W.DeDonckerRWTHAachenFBFB6ElektrotechnikAachen,GermanyDucoW.J.PulleEMSynergyMilperra,NSWAustraliaISSN1612-1287ISSN1860-4676（electronic）PowerSystemsISBN978-3-319-29408-7ISBN978-3-319-29409-4（eBook）DOI10.1007/978-3-319-29409-4LibraryofCongressControlNumber:

2016931895SpringerInternationalPublishingSwitzerland2007,2016Thisworkissubjecttocopyright.AllrightsarereservedbythePublisher,whetherthewholeorpartofthematerialisconcerned,specificallytherightsoftranslation,reprinting,reuseofillustrations,recitation,broadcasting,reproductiononmicrofilmsorinanyotherphysicalway,andtransmissionorinformationstorageandretrieval,electronicadaptation,computersoftware,orbysimilarordissimilarmethodologynowknownorhereafterdeveloped.Theuseofgeneraldescriptivenames,registerednames,trademarks,servicemarks,etc.inthispublicationdoesnotimply,evenintheabsenceofaspecificstatement,thatsuchnamesareexemptfromtherelevantprotectivelawsandregulationsandthereforefreeforgeneraluse.Thepublisher,theauthorsandtheeditorsaresafetoassumethattheadviceandinformationinthisbookarebelievedtobetrueandaccurateatthedateofpublication.Neitherthepublishernortheauthorsortheeditorsgiveawarranty,expressorimplied,withrespecttothematerialcontainedhereinorforanyerrorsoromissionsthatmayhavebeenmade.Printedonacid-freepaperThisSpringerimprintispublishedbySpringerNatureTheregisteredcompanyisSpringerInternationalPublishingAGSwitzerlandThisbookisdedicatedtoourfamiliesandfriendsForewordWithinoneacademiclifetime,theelectricdrivehasprogressedfromthethree-machineDCdrivecalledtheWard-LeonardsystemtotodayssophisticatedACdrivesutilizingPWMinverterpowerelectronicsandfieldorientationordirecttorquecontrol.Roughlyaroundthesameperiod,machinetheoryprogressedfromtheclassical“onemachineatatime”approachtothegeneralizedorunifiedapproachemphasizingsimilaritiesbetweenmachinetypes.Thisunifiedtheoryalsoutilizedmuchmoresophisticatedmathematicaltoolstoobtainmodelsapplicabletotransientsaswellassteadystate.Thisenabledtheoreticalmodelingahostofimportantmachineproblems,butalmostalwaysrequiredcomputersolutionsasopposedtomoregeneralanalyticsolutions.Thisoftenleftonewithafeelingofdetachmentfromthephysicalrealityofinrushcurrents,thewhineofspinningrotors,andthesmellofover-warmelectricalinsulation.Partwaythroughmyacademiclifetime,Iwasintroducedtothenextphaseofunifiedtheory;theuseofcomplexnotationtomodeltheeffectivespatialorientationofquantitieswithinamachine.Thisconcept,oftencalledspacevectortheory,providesamuchclearermathematicalpictureofwhatishappeninginamachine,butattheexpenseofanotherlevelofabstractioninthemodel.However,theinsightsprovidedtooneinitiatedinthemethodaresosignificantthattodayessentiallyallworkindrivecontrolispresentedinthisformat.Andthereinliesaproblem.Totheuninitiatedthesepresentationsappearquiteunintelligible,andaroutetobecominginitiatedisgenerallyhardtofindandoftenhardertofollowoncefound.Thispurposeofthisbookistoshowthetheoryandnotationused,inmodernelectricdriveanalysisanddesignatanintroductorylevel.Theauthors,bringanexceptionalbreadthofknowledgetothisbookmakingitstandoutfromotherbooksthatonlyprovidingmathematicalfoundationforadvancedwork.Thisstrongeffortismadetopresentthephysicalbasisforallofthemajorstepsindevelopment,andtogivethespacevectorphysicalandmathematicalmeaning.Readersusingthebookforself-studywillfindthesetsofsimulationtutorialsattheendofeachchapterofspecialvalueinmasteringtheimplicationsandfinepointsofthematerialcoveredinthechapter.viiviiiForewordElectricmachinetheorywithitsinteractingtemporal,spatialvariationsandmulti-windingtopologiescanappeartobeaverycomplicatedanddifficultsubject.Theapproachfollowedinthisbookis,Ibelieve,onethatwillhelpeliminatethisperceptionbyprovidingafundamental,coherent,anduser-friendlyintroductiontoelectricmachinesforthosebeginningaseriousstudyofelectricdrivesystems.Madison,WI,USADonaldW.NovotnyPrefaceOurmotivationandpurposeforwritingthisbookstemsfromourbeliefthatthereisapracticalneedforalearningplatformwhichwillallowthemotivatedreadertogainabasicunderstandingofthemodernmultidisciplinaryprincipleswhichgovernelectricaldrives.Thebookinquestionshouldappealtothosereaderswhohaveanelementaryunderstandingofelectricalcircuitsandmagneticsandwhohaveaninterestorneedtocomprehendadvancedtextbooksinthefieldofelectricaldrives.Considerationhasalsobeengiventothoseinterestedinusingthisbookasabasisforteachingthissubjectmatter.Inthiscontext,aSpringerwebsiteExtraMaterialshasbeensetupwhichcontainsthesimulationexamplesandtutorialsdiscussedinthisbook.Furthermore,allthefiguresinthisbookareavailableontheSpringerwebsite,inordertoassistlecturerswiththepreparationofelectronic“powerpoint”typelectures.Electricaldrivesconsistofanumberofcomponents:

theelectricalmachine,converter,andcontroller,allofwhicharediscussedatvariouslevels.AbriefrsumofmagneticandelectricalcircuitprinciplesisgiveninChap.1togetherwithasetofgenericbuildingmoduleswhichareusedthroughoutthisbooktorepresentdynamicmodels.Chapter2isdesignedtofamiliarizethereaderwiththeprocessofbuildingadynamicmodelofacoilwiththeaidofgenericmodules.Thispartofthetextcontainsanintroductiononphasorsasrequiredforsteady-stateanalysis.Theapproachtakeninthisandthefollowingchaptersistopresentaphysicalmodel,whichisthenrepresentedbyasymbolicmodelwiththerelevantequationset.Agenericmodelisthenpresentedwhichformsthebasisforasetofbuildandplaysimulationssetoutinvariousstepsinthetutorialattheendofthechapter.Chapter3introducesasingle-phaseidealtransformer（ITF）whichformsthebasisofagenerictransformermodelwithleakageandmagnetizinginductance.Aphasoranalysisisgiventofamiliarizethereaderwiththesteady-statemodel.Thebuildandplaytutorialsattheendofthechaptergivethereadertheopportunitytobuildandanalyzethetransformermodelundervaryingconditions.Itisemphasizedthattheuseofthesebuildandplaysetsareessentialcomponentsofthelearningprocessthroughoutthisbook.ixxPrefaceChapter4dealswithstaranddeltaconnectedthree-phasesystemsandintroducesthegenericmodulesrequiredtomodelsuchsystems.Thespacevector-typerepresentationisalsointroducedinthispartofthetext.Asetofbuildandplaytutorialsaregivenwhichreinforcetheconceptsintroducedinthischapter.Chapter5dealswiththeconceptsofrealandreactivepowerinsingle-aswellasthree-phasesystems.Additionalgenericmodulesareintroducedinthispartofthetext,andtutorialexamplesaregiventofamiliarizethereaderwiththismaterial.Chapter6extendstheITFconceptintroducedearliertoaspacevector-typemodelwhichisrepresentedinasymbolicandgenericform.Inaddition,aphasor-basedmodelisalsogiveninthispartofthetext.Thebuildandplaytutorialsareself-containedstep-by-stepsimulationexerciseswhicharedesignedtoshowthereadertheoperatingprinciplesofthetransformerundersteady-stateanddynamicconditions.Atthisstageofthetext,thereadershouldbefamiliarwithbuildingandusingsimulationtoolsforspacevector-typegenericmodelswhichformthebasisforatransitiontorotatingelectricalmachines.Chapter7introducesauniqueconcept,namely,theidealrotatingtransformer（IRTF）,whichisthefundamentalbuildingblockthatformsthebasisofthedynamicelectricalmachinemodelsdiscussedinthisbook.Agenericspacevector-basedIRTFmodelisgiveninthispartofthetextwhichisinstrumentalintheprocessoffamiliarizingthereaderwiththetorqueproductionmechanisminelectricalmachines.ThischapteralsoexplorestheconditionsunderwhichtheIRTFmoduleisabletoproduceaconstanttorqueoutput.ItisemphasizedthattheversatilityoftheIRTFmoduleextendswellbeyondtheelectricalmachinemodelsdiscussedinthisbook.TheseadvancedIRTF-basedmachineconceptsareusedinoursecondbookAdvancedElectricalDrives2andalsoinourthirdbookAppliedControlofElectricalDrives10.Thelatter-mentionedbookhasbeenrecentlyintroducedtofacilitatethetransitiontoexperimentaldrivesbythereader.ThebuildandplaytutorialsattheendofthischapterservetoreinforcetheIRTFconceptandallowthereaderto“play”withtheconditionsneededtoproduceaconstanttorqueoutputfromthismodule.Chapters89dealwiththeimplementationoftheIRTFmoduleforsynchronousandasynchronousmachines.Inbothcases,asimplifiedIRTF-basedsymbolicandgenericmodelisgivenofthemachineinquestiontodemonstratetheoperatingprinciples.Thismodelisthenextendedtoa“full”dynamicmodelasrequiredformodelingstandardelectricalmachines.Asteady-stateanalysisofthemachinesisalsogivenineachchapter.Inthesequelofeachchapter,aseriesofbuildandplaytutorialsareintroducedwhichtakethereaderthroughasetofsimulationexampleswhichstepsupfromaverybasicmodeldesignedtoshowtheoperatingprinciples,toafulldynamic