Advanced Control of Electrical Drives and Power Electronic Converters (eBook)

Foreword 7
Preface 9
Contents 11
Introduction 13
Electric Drives and Motion Control 20
1 Sensorless Control of Polyphase Induction Machines 21
Abstract 21
1 Introduction 21
2 Transformation of Phase Variables to Orthogonal Coordinates 22
3 Vector Models of a Polyphase Induction Machine 28
4 Multiscalar Models of a Polyphase Induction Machine 30
5 Speed Observer for the Virtual Induction Machine in the First Plane 35
6 The Luenberger Observer for the Virtual Induction Machine with Known Rotor Speed 37
7 The Control System for the Polyphase Machine 38
8 Simulation Results 41
9 Summary 43
Acknowledgments 44
References 44
2 Adaptive Position Tracking with Hard Constraints—Barrier Lyapunov Functions Approach 45
Abstract 45
1 Introduction 45
2 Plant Model and Control Objectives 46
3 Quadratic and Barrier Lyapunov Functions 48
4 QLF Control Design 50
5 BLF Design with Position Constraints 53
6 BLF Design with Position and Velocity Constraints 55
7 Feasibility Conditions 57
8 Numerical Experiments 58
8.1 Known-Parameter Case 59
8.2 BLF-Based Adaptive Control with Position Constraints 61
8.3 BLF-Based Adaptive Control with Position and Velocity Constraints 62
8.4 System Performance with Bounded Adaptive Parameters 63
9 Real Plant Experiment 64
10 Conclusions 69
References 69
3 Predictive Position Control of a Two-Mass System with an Induction Motor in a Wide Range of Speed Changes 71
Abstract 71
1 Introduction 72
2 Mathematical Model of the Drive 74
3 Control Structure 76
3.1 General Structure 76
3.2 Torque Control Structure with Field Weakening Algorithm 76
3.3 Fuzzy Adaptation System 79
3.4 Predictive Control 80
3.5 Design of MPC Strategy for Two-Mass Drive System 82
4 Results 83
5 Conclusions 89
Acknowledgments 89
Appendix 89
References 90
4 Selected Methods for a Robust Control of Direct Drive with a Multi-mass Mechanical Load 93
Abstract 93
1 Introduction 94
2 Laboratory Stand 95
3 Filter Tuned to Several System Frequency Responses 96
3.1 Model of an Electrical Drive Control System 96
3.2 Model of the Mechanical Part 97
3.3 Synthesis of a Fixed Anti-resonance Filter Based on the Identification of the Mechanical Part of Drive 99
4 Online Trained Neural Speed Controller 102
4.1 Structure and Training Algorithm 102
4.2 Experiment Results 104
5 Terminal SMC of a Direct Drive with a Multi-mass Mechanical Load 106
5.1 Concept of the Terminal SMC 106
5.2 Elimination of Singularities in the Control Law 107
5.3 Modification of the Sliding Surface 108
5.4 Elimination of Chattering in the Control Signal 110
5.5 Simulation Tests 111
6 Conclusions 114
Appendix 115
References 116
Electric Drives and Fault-Tolerant Control 117
5 Fault-Diagnosis and Fault-Tolerant-Control in Industrial Processes and Electrical Drives 118
Abstract 118
1 Introduction 118
2 Fault Detection and Fault Diagnosis Methods 120
2.1 General Ideas 120
2.2 Basic Fault Detection Methods 123
3 Fault-Tolerant-Control Systems 126
4 Fault Classification in Electrical Drives 129
5 Summary 135
Acknowledgment 135
References 135
6 IGBT Open-Circuit Fault Diagnostic Methods for SVM-VSI Vector-Controlled Induction Motor Drives 138
Abstract 138
1 Introduction 138
2 A Short Overview of IGBT Diagnostic Methods 139
3 Analysis of IGBT Faults Influence on the Drive System Operation 140
4 Description of Chosen Diagnostic Methods of Open-Circuit IGBT Faults in VSI-Fed Induction Motor Drive 143
4.1 A Method Based on the Analysis of Stator Voltage Vector Transient 143
4.2 A Method Based on the Analysis of Stator Flux Vector Transient 144
5 A Descriptive Analysis of Selected Diagnostic Methods of Open-Circuit IGBT Faults in VSI-Fed Induction Motor Drive 146
5.1 A Short Description of the Testing Methodology and the Laboratory Set-up 146
5.2 Method Robustness Against the False Alarms 148
5.3 Verification of the Transistor Open-Circuit Fault Diagnostic Methods 149
6 Post-fault Control of the Drive System 151
7 Summary 154
Acknowledgment 154
Appendix 1 154
References 155
7 Speed and Current Sensor Fault-Tolerant-Control of the Induction Motor Drive 157
Abstract 157
1 Introduction 157
2 A Short Review of Existing Diagnostic Methods of Sensor Faults in Induction Motor Drives 158
3 Analysis and Compensation of the Selected Speed and Current Sensor Faults in a Vector-Controlled Induction Motor Drive 161
3.1 A Short Description of the Analyzed Drive System 161
3.2 The Influence of the Speed Sensor on the DRFOC Drive System Operation 163
3.3 Detectors of Speed Sensor Faults in the DRFOC Structure 165
3.4 The Compensation Method of Speed Sensor Faults in the DRFOC Structure 168
4 An Analysis and Compensation of Current Sensor Faults in a Vector-Controlled Induction Motor Drive 171
4.1 The Influence of Current Sensor Faults on the DRFOC Drive System Operation 171
4.2 Detectors of Current Sensor Faults in the DRFOC Structure 172
4.3 The Compensation Method of Current Sensor Faults in the DRFOC Structure 176
5 The Fault Tolerant Control Algorithm with Current and Speed Sensor Fault Detectors 177
6 Summary 180
Acknowledgment 181
Appendix 181
References 181
8 Stator Faults Monitoring and Detection in Vector Controlled Induction Motor Drives—Comparative Study 184
Abstract 184
1 Introduction 184
2 A Short Review of Diagnostic Methods of Stator Winding Faults in Induction Motors 185
3 Basic Vector Control Structures of the Induction Motor Drive 188
3.1 A Short Description of the Vector Control Structures 188
3.1.1 Direct Field Oriented Control Structure 188
3.1.2 Direct Torque Control with Space Vector Modulation 190
3.2 Experimental Setup Description 191
4 Performance of the Vector Control Structures Under the Faulty Operation of the Induction Motor Drive 193
5 Analysis of the Stator Winding Fault Diagnostic Methods in the Vector-Controlled Converter-Fed Induction Motor Drive 197
5.1 A Diagnostic Method Based on Stator Currents 197
5.2 A Diagnostic Method Based on Control Structure Signals 199
6 Summary 203
Acknowledgments 204
Appendix 204
References 205
9 Detection and Compensation of Transistor and Position Sensors Faults in PM BLDCM Drives 207
Abstract 207
1 Introduction 207
2 Short Review of Diagnostic Methods Applied in PM BLDCM Drives 208
3 Research Object and Laboratory Set-up 209
3.1 Operation of the PM BLDCM Control System 209
3.2 Description of the Laboratory Set-up 211
4 Analysis of Transistor Faults Diagnostic Methods in the PM BLDCM Drive 212
4.1 Symptoms of Transistor Faults 212
4.2 Transistor Faults Detection 214
4.3 Checking the Transistor Conduction at the Standstill of the Drive System 216
5 Analysis of Position Sensors Faults Diagnostic Methods in PM BLDCM Drive 219
5.1 Symptoms of Position Sensors Faults 219
5.2 Detection of the Position Sensors Faults 221
6 Post-fault Operation of the Drive System 223
6.1 Drive Operation After Rotor Position Sensors Fault 223
6.2 Drive Operation After Transistors Fault of the Electronic Commutator 226
7 Summary 229
References 230
Design and Control of Power Converters 233
10 Advanced Control Methods of DC/AC and AC/DC Power Converters—Look-Up Table and Predictive Algorithms 234
Abstract 234
1 Introduction 235
2 Basic Theory of 3-Phase Converters Fed AC Motors and 3-Phase Rectifiers Cooperating with the Grid 241
2.1 Mathematical Model of 3-Phase Voltage Source Converter 241
2.2 Mathematical Model of an AC/DC Converter Co-operating with the Supply Grid 242
2.2.1 Model with L Input Filter 242
2.2.2 Model with LCL Input Filter 244
2.3 Mathematical Model of a DC/AC Converter Fed Induction Motor 246
2.4 Mathematical Model of a DC/AC Converter Fed Permanent Magnet Synchronous Machine 248
2.5 Mathematical Models of 3-Phase 2-Level AC/DC Current Source Converter 249
3 Modern Look-Up Table Methods 252
3.1 DPC-3L3A Method 254
3.1.1 Method Description 254
3.1.2 Experimental Results 261
3.2 DTC-3L3A Method 264
3.2.1 Method Description 265
3.2.2 Experimental Results 272
3.3 Control Strategy of the DC-Link Voltage Balance in the Three-Level NPC DC/AC Inverter 275
3.3.1 Operational Principle of Balanced Voltage Division Algorithm 279
4 Predictive Control Methods 282
4.1 Constant Switching Frequency DPC-3V Method 282
4.1.1 Voltage Vectors Selection 285
4.1.2 Calculation of the Voltage Vectors Application Times 286
4.1.3 Experimental Results 289
4.2 Constant Switching Frequency Predictive DTC-3V Method 291
4.2.1 Torque and Flux Error Vector Minimization Strategy 291
4.2.2 Voltage Vector Selection 291
4.2.3 Calculation of the Voltage Vectors Application Times 293
4.2.4 Experimental Results 295
4.3 Finite Control Set Model Predictive Control—FCS-MPC 297
4.3.1 Predictive Current Control of an AC/DC Inverter with Active Damping—PCi-AD 298
4.3.2 Predictive Current and Capacitor Voltage Control—PCi2uc 301
4.3.3 Experimental Results 302
4.4 Predictive Control of 2-Level Current Source Rectifier 304
4.4.1 Predictive Control Strategy 304
4.4.2 Simulation Results 306
4.4.3 Conclusion 308
5 Conclusions 309
References 310
11 Active Power Filter Based on a Dual Converter Topology 316
Abstract 316
1 Introduction 316
2 A Power Electronics Current Source Based on the DCT 317
3 Simulation Studies 322
4 Conclusions 328
References 328
12 AC/DC/AC Converter with Power Electronics Current Modulator Used in DC Circuit for Renewable Energy Systems 330
Abstract 330
1 Introduction 330
2 Rectifier with Current Modulator 331
3 Boost Converter 333
4 Grid Tied Inverter 335
5 Simulation and Experimental Results 336
6 Summary 338
References 338
13 Power Electronics Inverter with a Modified Sigma-Delta Modulator and an Output Stage Based on GaN E-HEMTs 340
Abstract 340
1 Introduction 340
2 Dynamic Hysteresis Sigma-Delta Modulator Basics 341
3 Simulation Experiments 345
4 A Practical Arrangement of the VCVS 349
5 Conclusions 350
References 350
14 FC + TCR-Type Symmetrical Follow-Up Compensator of the Fundamental Harmonic Reactive Power—Analysis and Experiment 352
Abstract 352
1 Introduction 353
2 Thyristor Bridge Rectifier with Two Additional Thyristors (6T + 2T) as an Adjustable Component of an Inductive-Type Compensator 354
3 The Commutation Effect in the 6T + 2T Bridge Rectifier Circuit and Its Impact on the Control Algorithm, Restrictions and Control Interval of the Reactive Load Introduced by 6T + 2T Circuit 359
4 Passive Filter of Current Higher Harmonics as a Non-adjustable Element of a Symmetrical Capacitive Compensator 362
5 Symmetrical Follow-Up Compensator of the Fundamental Harmonic Reactive Power 363
6 Visualization of Selected Measurement Results in the 6T + 2T Circuit with a Passive Filter 367
7 Reactive Power Compensation System 371
8 Conclusions 372
References 372
15 Switched Capacitor-Based Power Electronic Converter—Optimization of High Frequency Resonant Circuit Components 374
Abstract 374
1 Introduction 375
2 The Power Electronic Mosfet-Based Switched-Capacitor DC-DC Voltage Multiplier—Configuration and Analysis of Operation 375
2.1 The Analysed Concept of SCVM 375
2.2 Semiconductor Switch Technology and Parameters of the SCVM 378
2.3 Resonant Circuit Components of SCVM 379
2.3.1 Operation with Full Discharge of the Switched Capacitors in the Case of Non-interrupted Input Current 380
2.3.2 Operation with Full Discharge of the Switched Capacitors in the Case of Interrupted Input Current 383
2.3.3 Operation with Partial Discharge of the Switched Capacitors in the Case of Non-interrupted Input Current 383
2.3.4 Quality Factor of Resonant Circuits and Inductor Volume Optimization 385
2.3.5 Limits of the Resonant Inductance 386
3 Experimental Results 386
4 Conclusions 389
References 390