Transcript Slide 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)
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Advanced course of Power Electronics for Masters: Syllabus
Timetable
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Advanced course of Power Electronics for Masters: Syllabus
Topics
1. Power system engineering
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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
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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
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Advanced course of Power Electronics for Masters: Syllabus
Manuals
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Advanced course of Power Electronics for Masters: Syllabus
Laboratory
1. Commissioning the power converter
2. Taking power converter characteristics
3. Computer examination of power converter
SAGEDUSMUUNDUR ACS800
Supply
Pingestatud Töötab
Pealüliti
Start
SAGEDUSMUUNDUR ACS800
Kaitse
Rike
Stopp
L2
L3
PE
UDC+
UDC-
PE
Start
U
L1
V
L2
W
L3
N
Kaitse
Rike
Stopp
V
W
PE
UDC+
UDC-
PE
Load machine
converter
ABB ACS 800
ABB ACS 800
Working machine
Clutch
Avarii
Pöörlemissuund
- Kiirus +
U
N
Working machine
converter
PC
(Drive windows)
Pingestatud Töötab
Pealüliti
L1
N
Supply
Avarii
Pöörlemissuund
- Kiirus +
Load machine
Speed sensor
(enkooder)
5
N
Advanced course of Power Electronics for Masters: Syllabus
Practical design
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Advanced course of Power Electronics for Masters: Syllabus
Practical design: Part 1- Power system engineering
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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
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Advanced course of Power Electronics for Masters: Syllabus
Practical design: Part 2 –
Gating of power switches
VS1
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Power electronic converter
dimensioning and selection or
design
VS2
U1
U2
VS3
L1
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Data and simulation results with
transients of an open-ended system
L
L2
VS4
L3
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Appendix 1: operation diagram of
the thyristor phase modulation, the
transistor 2-phase block
modulation, or 3-phase pulse-width
modulation
VS5
M
VS6
Appendix 2: wiring diagram with
power circuit and the drive
specification
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Advanced course of Power Electronics for Masters: Syllabus
Practical design: Part 3 - Drive control engineering
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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
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Advanced course of Power Electronics for Masters: Power System Engineering
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)
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Advanced course of Power Electronics for Masters: Power System Engineering
Lesson 1
1.1. Design objective in the request for proposal
(Textbook 55-60, 76-78, 85-86)
1.
2.
3.
4.
5.
6.
7.
Drive specifications
Classification by applications
Thermal considerations
Electrical requirements
Constructional requirements
Accidental protection
Electromagnetic compatibility
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Advanced course of Power Electronics for Masters: Power System Engineering
Lesson 1
1.1. Design objective 1: Drive specifications
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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
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Advanced course of Power Electronics for Masters: Power System Engineering
Lesson 1
1.1. Design objective 2: Classification by applications
Feature
Appliances
General-purpose drives
System drives
Servo drives
Applications
Home
appliances,
Fans, pumps,
compressors, mixers
Test benches,
cranes, elevators,
hoists
Robots, lathes,
machine tools
Performance
Middle
Low
High
Very high
Power rating
Low
Motor
Whole range
Mainly induction motors
Low and middle
Mainly servomotors
Converter
Simple, low
cost
Open-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
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Advanced course of Power Electronics for Masters: Power System Engineering
Lesson 1
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
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Advanced course of Power Electronics for Masters: Power System Engineering
Lesson 1
1.1. Design objective 4: Electrical requirements
Usup
Line chokes
or transformer
Uload
Input filter
Overvoltage
protection
Power electronic
converter
M
Output filter
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Advanced course of Power Electronics for Masters: Power System Engineering
Lesson 1
1.1. Design objective 5: Constructional requirements
IP
X – protection against accidental
contact
0
No protection
No protection
1
Large surface and solid objects
exceeding 50 mm in diameter
Dripping water (vertical falling drops)
2
Fingers and solid objects
exceeding 12 mm in diameter
Water drops falling up to 15˚ from the vertical
3
4
Tools and solid objects
exceeding 1 mm in diameter
Y – protection against penetration of water
Spray water up to 60˚ from the vertical (rain)
Deck water (splash water from all directions)
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Any object and harmful dust
deposits, which can interfere
with operation
Jet water from all directions
6
Any contact and any kind of dust
Temporary flooding (deck of a ship)
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Effects of brief immersion
8
Pressurized water
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Advanced course of Power Electronics for Masters: Power System Engineering
Lesson 1
1.1. Design objective 6: Accidental protection
Usup
Uload
Mains
fuses
Circuit
breaker
Chokes and
filters
Switches
blocking
M
Switch
cabinet
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Advanced course of Power Electronics for Masters: Power System Engineering
Lesson 1
1.1. Design objective 7: EMI protection means
Counter-measure
Effect
Frequency
At source
Mains
Mains
harmonics
At load
Up to 100 Hz
Avoid circulating currents
Balanced signal
circuits. Avoid earth
loops in signal paths
100 Hz…2,5 kHz
Line and/or dc link reactor
on rectifiers. Higher pulse
number rectifier. Avoid
loops in signal paths. Lowimpedance supply.
Harmonic filters
Balanced signal
circuits. Avoid loops in
signal paths. Filtering
Intermediate
2,5 kHz…150 kHz
Filters
Filtering. Screening.
Balanced signal
circuits
Low
frequency
155 kHz…30 MHz
Filters. Cable screening
Filtering
High
frequency
Higher than
30 MHz
Screening. Internal filtering
Screening
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Advanced course of Power Electronics for Masters: Power System Engineering
Lesson 1
1.2. Development of the design algorithm
1.3. Timing calculation and the
travel diagram development
Report on Lesson 1
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Advanced course of Power Electronics for Masters: Power System Engineering
Lesson 2
2.1. Mechanical force calculation (Manual 12-15)
2.2. Building the torque or power patterns over the
travel diagram (Manual 12-15)
Report on Lesson 2
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Advanced course of Power Electronics for Masters: Power System Engineering
Lesson 3. Motor-gear-converter kit selection
(Manual 16-19)
3.1. Finding the load angular speed ω’
3.2. Finding the maximum static countertorque M’
3.3. Finding moment of inertia J’
3.4. Optimum motor-gear-converter set
selection
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Advanced course of Power Electronics for Masters: Power System Engineering
U1
sΨ1
Lesson 3
3.1. Electrical motors (Textbook 166-171)
I1R1
E1
I1
θ
I12
θ
I2
E2
N
Φ
Ψ1
Ψ12 Ψ2σ
Ψ2
Ψ2σ
r
+
ψ θ
B
I
S
M12  Fr  Bςlr sin θ  ψ I
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Advanced course of Power Electronics for Masters: Power System Engineering
Lesson 3
3.2. Electrical motors: Induction motor
(Textbook 171-187)
,
ω1 = ω2 + ω12
ω1 
E1
E
, ω2  2
ψ1
ψ2
ω1
θ  θ2
ω  ω2
ω0 
φ 1
,ω  1
p
p
p
S
f2 ω0  ω ω2


f1
ω0
ω1
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Advanced course of Power Electronics for Masters: Power System Engineering
Lesson 3
3.3. Electrical motors: Synchronous motor (Textbook
188-192)
q
sΨ
ω1=
ωI12R
1
1
β
M
Mmax
I1
E1
1
U1
d
Ψ1
θ
2
α
θ12
θ
ω*
q
ω1= ω12
β
–
I1
sΨ
1
U1
IL1*
I1R1
E1
ω
controller
M*
Current IL2* Currentcontrolled
reference
IL3* converter
unit
d
Ψ1
θ
Ue1 Ue2
2
θ12
Ue3
α
BQ
M
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Advanced course of Power Electronics for Masters: Power System Engineering
Lesson 3
3.4. Electrical motors: DC motor (Textbook 192197)
α
sΨ
U1
β
ω
I1R
E1 1
I1
θ
M
Ψ1
2
UM  RM IM
ψ1  kc Φ 
ωM
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Advanced course of Power Electronics for Masters: Power System Engineering
Lesson 3
3.5. Power electronic converters (Textbook 13-54)
1.
2.
3.
4.
AC/DC converters - Rectifiers
DC/AC converters - Inverters
AC/AC converters - Changers
DC/DC converters - Choppers
Us
~
=
Ud
M
M
Ud
=
Us su
~
Us
~
load
M
p
~
Us
Ud
=
load
Ud
sup
M
=
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Advanced course of Power Electronics for Masters: Power System Engineering
Lesson 3
3.6. Power electronic converters: Rectifiers
(Textbook 14-23)
Circuit
type
kU 
Us
Ud
kI 
Is
Id
kP 
Ps
Pd
cos φ 
Pd
Ps
kR 
UR
Ud
kF 
IF
Id
kr 
Ur
2Ud
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
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Advanced course of Power Electronics for Masters: Power System Engineering
Lesson 3
3.7. Power electronic converters: Inverters (Textbook 23-34)
+
VT1
VD1
VT2
VD2
VT4
VD4
U
s
M
Ud
VT3
VD3
–
VT1
VD1
VT2
VD2
VT3
VD3
C
L1
Ud
M
L2
C
L3
VT4
VD4
VT5
VD5
VT6
VD6
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Advanced course of Power Electronics for Masters: Power System Engineering
Lesson 3
3.8. Power electronic converters: AC/AC converters
(Textbook 34-43)
L
VD1 VD2 VD3
VD7
VT1
VT2
VT3
VT7
C
M
R
VD4 VD5 VD6
VT4
VT5
VT6
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Advanced course of Power Electronics for Masters: Power System Engineering
Lesson 3
3.9. Power electronic converters: DC/DC converters
(Textbook 43-54)
L
VT
+
Ud load
VD
VD1
Ud load
C
Ud sup
Id load
M
–
+
VD2
Ud sup
+
L
VT1
Id load
Ud load
C
M
VT2
Ud load
VT1
VD1
VT2
VD2
–
Ud load
Ud load
Id load
Ud sup
M
VT3
–
VD3
VT4
VD4
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Advanced course of Power Electronics for Masters: Power System Engineering
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
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Advanced course of Power Electronics for Masters: Power System Engineering
Lesson 5. Power electronic converter dimensioning or
design
5.1. Power converter description (Textbook 61-91)
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Transformers and inductors
Diodes and thyristors
Transistors
Snubbers and clamps
Braking resistors
Filters
5.2. Building the modulation diagram
(Textbook 121-141)
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Advanced course of Power Electronics for Masters: Gating of Power Switches
Lesson 5
5.2. Phase modulation 1
Us
UL3’
UL1
UL1’
UL2
UL3
UL2’
θ1
Umax
α
u*
uc
θ1
θ1
IG1
θ1
IG6
θ1
IG2
θ1
IG4
θ1
IG3
IG5
θ1
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Advanced course of Power Electronics for Masters: Gating of Power Switches
Lesson 5
5.2. Phase modulation 2
Us sup, Us load
UL1 UL2
UL3
UL1
UL2
UL3
θ1
uc
u*
θ1
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Advanced course of Power Electronics for Masters: Gating of Power Switches
Lesson 5
5.2. Block modulation 1
Tc
VT1, VT4
θ1
θ1
VT2, VT3
Us
θ1
θ1
VD1, VD4
VD2, VD3
ton
VT1
a.
toff
θ1
VT2
θ1
VT3
VT4
θ1
θ1
Us1
θ1
θ1
Us2
b.
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Advanced course of Power Electronics for Masters: Gating of Power Switches
Lesson 5
5.2. Block modulation 2
2π
π
VT1
VT2
VT3
VT4
VT5
VT6
UL1
UL2
UL3
θ1
θ1
θ1
θ1
θ1
θ1
θ1
θ1
θ1
UL1L2
θ1
UL2L3
UL3L1
θ1
θ1
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Advanced course of Power Electronics for Masters: Gating of Power Switches
π
2π
VT1
θ1
θ1
VT2
VT3
θ1
VT5
θ1 1
VT6
UL1
θ1
θ1
UL2
0,67Ud
5.2.
Block modulation 3
θ1
UL3
0,16Ud
Lesson 5
θ1
VT4
0,5Ud
θ1
UN
θ1
UL1N
θ1
UL2N
θ1
θ1
UL3N
Ud
UL1L2
VD4
VD1
θ1
UL2L3
θ1
UL3L1
θ1
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Advanced course of Power Electronics for Masters: Gating of Power Switches
Lesson 5
5.2. PWM 1
U
ton
toff
uc u*
U
θ1
θ1
Tc
Us
Us
θ1
θ1
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Power Electronics for Masters : Gating of power switches
ton
toff
uc
u*
θ1
Lesson 5
θ1
5.2. PWM 2
T*
UL1
UL2
θ1
UL3
θ1
θ1
UN
UL1N
UL2N
θ1
UL3N
θ1
UL1L2
UL2L3
UL3L1
θ1
θ1
θ1
θ1
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Power Electronics for Masters : Gating of power switches
0 π/3 2π/3 π 4π/3 5π/3 2π π/3 2π/3 π 4π/3 5π/3 2π π/3
Lesson 5
Tc
T*
Lesson 5.2. SVM
UL1
θ1
UL2
θ1
UL3
θ1
UN
UL1N
θ1
θ1
UL2N
θ1
UL3N
θ1
UL1L2
θ1
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Advanced course of Power Electronics for Masters: Gating of Power Switches
Report on Lesson 5
Lesson 6. Building of wiring diagram with
power circuit and drive specification
(Textbook 198-235)
Report on Lesson 6
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Advanced course of Power Electronics for Masters: Motor Drive Control Engineering
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)
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Advanced course of Power Electronics for Masters: Motor Drive Control Engineering
Lesson 7
7.1. Transfer functions and block diagrams
u*
U
ω
E
a.
M
I
b.
E
c.
ω
M
I
d.
U
e.
I
M
–
M
–s
ω
E
f.
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Advanced course of Power Electronics for Masters: Motor Drive Control Engineering
C
R2
R1
Lesson 7
Uin
Uout
7.1. Signal
converters
and
controllers
a.
C
R2
C
R1
R2
R1
Uin
Uout
Uin
Uout
b.
c.
C2
C1
C2
R2
R2
C1
R1
R1
Uin
Uout
d.
Uin
Uout
e.
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Advanced course of Power Electronics for Masters: Motor Drive Control Engineering
Lesson 7
7.2. Controller design 1
z*
z
–
a.
zky
3. a1=2,a2=4 (SO)
2. a1=2 (MO)
1
2. a1=4
(EO)
1. a1=2
c.
t
2
4
6
8
10
12
14
16
Tμ
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Advanced course of Power Electronics for Masters: Motor Drive Control Engineering
Lesson 7
7.2. Controller design 2
z’*
z*
–
z’
z
–
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Advanced course of Power Electronics for Masters: Motor Drive Control Engineering
Report on Lesson 7
Lesson 8. Report defense
Graded credit
47