1 Power Electronics for Masters: Syllabus

2 Power Electronics for Masters: Syllabus DayAAAM31 Thursday AAV0050 | Jõuelektroonika erikursus | Practice Raik Jansikene | VII week | rühm B, + Z.Raud AAV0050 | Jõuelektroonika erikursus | Practice Raik Jansikene | VII week | rühm A, + Z.Raud AAV0050 | Jõuelektroonika erikursus | Lecture V. Vodovozov | VII week Timetable

3 Power Electronics for Masters : Syllabus Topics 1.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 Power Electronics for Masters : Syllabus Manuals

5 Power Electronics for Masters : Syllabus Laboratory 1.Commissioning the power converter 2.Taking power converter characteristics 3.Computer examination of power converter

6 Power Electronics for Masters : Syllabus Practical design

7 Power Electronics for Masters : Syllabus 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 Power Electronics for Masters : Syllabus 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 L1L1 U2U2 U1U1 L2L2 L3L3 M

9 Power Electronics for Masters : Syllabus 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 Power Electronics for Masters : Power system engineering Lesson Request for proposal with the individual input data 1.2. Development of the design algorithm 1.3. Timing calculation and the mechanism travel diagram building

11 Power Electronics for Masters : Power system engineering Lesson 1.1. Design objective in the request for proposal 1. Drive specifications 2. Classification by applications 3. Thermal considerations 4. Electrical requirements 5. Constructional requirements 6. Accidental protection 7. Electromagnetic compatibility

12 Power Electronics for Masters : Power system engineering Lesson 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

13 Power Electronics for Masters : Power system engineering Lesson 1.1. Design objective 2: Classification by applications FeatureAppliancesGeneral-purpose drivesSystem drivesServo drives Applications Home appliances, Fans, pumps, compressors, mixers Test benches, cranes, elevators, hoists Robots, lathes, machine tools PerformanceMiddleLowHighVery high Power ratingLowWhole rangeLow and middle MotorMainly induction motorsMainly servomotors Converter Simple, low cost Open-loop ac and dcExpensive, high quality Typical feature Home, mass production Process, cost sensitive, low performance High accuracy and high dynamic, high precision and linearity

14 Power Electronics for Masters : Power system engineering Lesson 1.1. Design objective 3: Thermal considerations TypeDuty S1Continuous running S2Short-term S3Intermittent periodic S4Intermittent periodic with a high startup torque S5Intermittent periodic with a high startup torque and electric braking S6Continuous-operation periodic S7Continuous-operation periodic with a high startup torque and electric braking S8Continuous-operation periodic with related load-speed changes

15 Power Electronics for Masters : Power system engineering Lesson 1.1. Design objective 4: Electrical requirements U sup U load M Line chokes Input filter Overvoltage Power electronic Output filter or transformer protection converter

16 Power Electronics for Masters : Power system engineering Lesson 1.1. Design objective 5: Constructional requirements IPX – protection against accidental contact Y – protection against penetration of water 0No 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 Tools and solid objects exceeding 1 mm in diameter Spray water up to 60˚ from the vertical (rain) 4Deck water (splash water from all directions) 5 Any object and harmful dust deposits, which can interfere with operation Jet water from all directions 6Any contact and any kind of dustTemporary flooding (deck of a ship) 7Effects of brief immersion 8Pressurized water

17 Power Electronics for Masters : Power system engineering Lesson 1.1. Design objective 6: Accidental protection U sup U load M Mains Circuit Chokes and Switches Switch fuses breaker filters blocking cabinet

18 Power Electronics for Masters : Power system engineering Lesson 1.1. Design objective 7: EMI protection means EffectFrequency Counter-measure At sourceAt load MainsUp to 100 HzAvoid circulating currents Balanced 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 Intermediate2,5 kHz…150 kHzFilters Filtering. Screening. Balanced signal circuits Low frequency 155 kHz…30 MHzFilters. Cable screeningFiltering High frequency Higher than 30 MHz Screening. Internal filteringScreening

19 Power Electronics for Masters : Power system engineering Lesson 1.3. Timing calculation and the travel diagram development Lesson 1.2. Development of the design algorithm Report on Lesson 1

20 Power Electronics for Masters : Power system engineering Lesson 2.2. Building the torque or power patterns over the travel diagram Lesson 2.1. Mechanical forces calculation Report on Lesson 2

21 Power Electronics for Masters : Power system engineering Lesson 3. Motor-gear-converter kit selection 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 Power Electronics for Masters : Power system engineering Lesson 3.1. Electrical motors S N Φ B ψ I θ r + Ψ 2σ θ Ψ 12 Ψ2Ψ2 I 12 I2I2 E2E2 sΨ1sΨ1 I1R1I1R1 E1E1 I1I1 U1U1 Ψ1Ψ1 θ

23 Power Electronics for Masters : Power system engineering Lesson 3.2. Electrical motors: Induction motor ω1 = ω2 + ω12,

24 Power Electronics for Masters : Power system engineering Lesson 3.3. Electrical motors: Synchronous motor θ 12 M max θ M α β d θ ω1=ω12ω1=ω12 I1I1 q Ψ12Ψ12 sΨ1sΨ1 I1R1I1R1 E1E1 U1U1 θ 12 α β d θ ω 1 = ω 12 I1I1 q Ψ12Ψ12 sΨ1sΨ1 I1R1I1R1 E1E1 U1U1 ω*ω* – U e1 U e2 U e3 IL2*IL2* IL3*IL3* IL1*IL1* M*M* M Current reference unit ω controller Current- controlled converter M BQ

25 Power Electronics for Masters : Power system engineering Lesson 3.4. Electrical motors: DC motor ω M β α θ I1I1 Ψ12Ψ12 sΨ1sΨ1 I1R1I1R1 E1E1 U1U1

26 Power Electronics for Masters : Power system engineering Lesson 3.5. Power electronic converters 1. AC/DC converters - Rectifiers 2. DC/AC converters - Inverters 3. AC/AC converters - Changers 4. DC/DC converters - Choppers ~ = UsUs UdUd = ~ UdUd UsUs ~ ~ U s su p U s load = = U d sup U d load MM MM

Circuit type M12,221,573,100,293,141,001,57 M21,110,711,580,643,140,500,78 B21,111,001,110,901,570,500,78 M30,850,581,580,642,090,330,25 B60,420,821,050,951,050,330,06 27 Power Electronics for Masters : Power system engineering Lesson 3.6. Power electronic converters: Rectifiers

28 Power Electronics for Masters : Power system engineering Lesson 3.7. Power electronic converters: Inverters VD3 VD1 VD4 VD2 – + UsUs VT3 VT1 VT4 VT2 UdUd M

29 Power Electronics for Masters : Power system engineering Lesson 3.8. Power electronic converters: AC/AC converters

30 Power Electronics for Masters : Power system engineering Lesson 3.9. Power electronic converters: DC/DC converters U d load C VT + – VD L U d sup M U d load I d load C L VD1 VT1 VT2 VD2 – + U d sup U d load M I d load VD1VD2 VD3VD4 VT1VT2 + VT3VT4 U d sup U d load – M I d load

31 Power Electronics for Masters : Power system engineering Lesson 4. Motor-gear-converter kit examination 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 Power Electronics for Masters : Power system engineering Lesson 5. Power electronic converter dimensioning or design 5.1. Power converter description Transformers and inductors Diodes and thyristors Transistors Snubbers and clamps Braking resistors Filters 5.2. Building the modulation diagram

33 Power Electronics for Masters : Gating of power switches Lesson 5.2. Phase modulation 1 θ1θ1 θ1θ1 α θ1θ1 θ1θ1 θ1θ1 θ 1 U L3’ U L1’ U L2’ U L3 U L2 UsUs U L1 IG1IG1 IG6IG6 IG2IG2 IG4IG4 IG3IG3 IG5IG5 u* ucuc U max

34 Power Electronics for Masters : Gating of power switches Lesson 5.2. Phase modulation 2

35 Power Electronics for Masters : Gating of power switches Lesson 5.2. Block modulation 1 a. VD1, VD4 VD2, VD3 t off t on TcTc UsUs θ1θ1 VT1, VT4 θ1θ1 VT2, VT3 θ1θ1 Us1Us1 VT4 θ1θ1 VT1 θ1θ1 VT2 θ1θ1 VT3 θ1θ1 θ1θ1 θ1θ1 Us2Us2 b.b. θ1θ1

36 Power Electronics for Masters : Gating of power switches θ1θ1 VT6 VT5 VT4 VT3 VT2 VT1 θ1θ1 θ1θ1 θ1θ1 θ1θ1 θ1θ1 θ1θ1 2π π θ1θ1 UL1UL1 UL2 UL2 θ1θ1 UL3UL3 θ1θ1 θ1θ1 UL1L2UL1L2 UL2L3 UL2L3 θ1θ1 UL3L1UL3L1 Lesson 5.2. Block modulation 2

37 Power Electronics for Masters : Gating of power switches Lesson 5.2. Block modulation 3

38 Power Electronics for Masters : Gating of power switches Lesson 5.2. PWM 1 UsUs u c u* θ1θ1 t off U t on θ1θ1 TcTc UsUs θ1θ1 U θ1θ1

39 Power Electronics for Masters : Gating of power switches Lesson 5.2. PWM 2

40 Power Electronics for Masters : Gating of power switches Lesson 5.2. SVM

41 Power Electronics for Masters : Power system engineering Lesson 6. Building wiring diagram with power circuit and drive specification Report on Lesson 5Report on Lesson 6

42 Power Electronics for Masters : Power system engineering Lesson 7. Development and tuning a controller 7.1. Development of the block diagram 7.2. Auto tuning and fine-tuning 7.3. Simulation of the close-loop system

43 Power Electronics for Masters : Motor drive control engineering Lesson 7.1. Transfer functions and block diagrams b.c.a. u*UEω Mω U E IMω MsMs EI d. MI e. – – f.

44 Power Electronics for Masters : Motor drive control engineering Lesson 7.1. Signal converters and controllers

45 Power Electronics for Masters : Motor drive control engineering Lesson 7.2. Controller design 1 a. z*z – c. TμTμ zk y t a 1 =2,a 2 =4 (SO) 2. a 1 =2 (MO) 2. a 1 =4 1. a 1 =2 (EO)

46 Power Electronics for Masters : Motor drive control engineering Lesson 7.2. Controller design 2 z’*z’ – z* – z

47 Power Electronics for Masters : Power system engineering Lesson 8. Report defense Report on Lesson 7Graded credit