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1Challenge the future
Overview Electrical Machines and
Drives
• 7-9 1: Introduction, Maxwell’s equations, magnetic circuits
• 11-9 1.2-3: Magnetic circuits, Principles
• 14-9 3-4.2: Principles, DC machines
• 18-9 4.3-4.7: DC machines and drives
• 21-9 5.2-5.6: IM introduction, IM principles
• 25-9 Guest lecture Emile Brink
• 28-9 5.8-5.10: IM equivalent circuits and characteristics
• 2-10 5.13-6.3: IM drives, SM
• 5-10 6.4-6.13: SM, PMACM
• 12-10 6.14-8.3: PMACM, other machines
• 19-10: rest, questions
• 9-11: exam
2Challenge the future
Induction machines
• Introduction (5.1)
• Rotating magnetic field (5.2, also for SM)
• Why does an induction machine rotate?
• Induced voltage (5.3, also for SM)
• Definitions (5.4, 5.5)
• Equivalent circuits and voltage equations (5.7)
• Parameter identification (5.8)
• Performance characteristics (5.9)• Torque-speed characteristic• Stator current
• Efficiency / Power flow in three modes of operation (5.10)
• Speed control (5.13)
• Linear induction motors (5.16)
3Challenge the future
Parameter identification (5.8)
• resistance measurement (dc current) - which resistance?
• no-load test - which parameters?
• blocked-rotor test - which parameters?
4Challenge the future
Performance characteristics (5.9)
t
WPPP f
dismeche d
d++=
2 2 21Rag R R R R R
R sP I R I R I
s s
′ −′ ′ ′ ′ ′= = +
mechag PPP += 2
agsPP =2
agmech PsP )1( −=1:)1(:::2 ssPPP agmech −=
Power balance:- neglect iron losses- field energy constantThe power crossing the air gap per phase is
From this analysis:
5Challenge the future
Torque-speed characteristic per phase
2(1 )(1 )
2(1 )
mech ag R R
mech m mech mech
sP s P R I
s
P T s Tp
ω ω
− ′ ′= − = = = −
2
2 2R R
mech ag
R Ip pT P
sω ω′ ′
= =
2 21
222 2
( )
R R Rmech
R
R I V Rp pT
s sRL
s σ
ω ωω
′ ′ ′= =
′ +
1 0R =assuming
6Challenge the future
21
222
( )
Rmech
R
V RpT
sRL
s σ
ωω
′=
′ +
Torque speed characteristic
7Challenge the future
Torque-speed characteristic per phase
RRL
s σω′
<<
At low values of the slipRR
Ls σω′
>>2
2112
22 2( )
Rmech
RR
V Rp p sT V
s RRL
s σ
ω ωω
′= ≈
′′ +
> Torque is proportional to the slip
2 21 1
2 222 2 ( )
( )
R Rmech
R
V R V Rp pT
s L sRL
sσ
σ
ω ω ωω
′ ′= ≈
′ +
At high values of the slip
> Torque is inversely proportional to the slip
8Challenge the future
Maximum torque
0d
d =s
T RRs
Lσω′
= ± proportional to RR
independent of RR
21
4mech
VpT
Lσω ω= ±
9Challenge the future
Induction machines
• Introduction (5.1)
• Rotating magnetic field (5.2, also for SM)
• Why does an induction machine rotate?
• Induced voltage (5.3, also for SM)
• Definitions (5.4, 5.5)
• Equivalent circuits and voltage equations (5.7)
• Parameter identification (5.8)
• Performance characteristics (5.9)• Torque-speed characteristic• Stator current
• Efficiency / Power flow in three modes of operation (5.10)
• Speed control (5.13)
• Linear induction motors (5.16)
10Challenge the future
Stator current
j jRs
U UI
RL Ls σ
ω ω= + ′
+
1 0R =assuming
- Calculate the current phasor for s=0- Calculate the current phasor for s=∞- What is form of the trajectory of the stator current phasor?
11Challenge the future
Stator current: Heyland circle
j jRs
U UI
RL Ls σ
ω ω= + ′
+
12Challenge the future
Power factor
• What is the power factor?
13Challenge the future
Induction machines
• Introduction (5.1)
• Rotating magnetic field (5.2, also for SM)
• Why does an induction machine rotate?
• Induced voltage (5.3, also for SM)
• Definitions (5.4, 5.5)
• Equivalent circuits and voltage equations (5.7)
• Parameter identification (5.8)
• Performance characteristics (5.9)• Torque-speed characteristic• Stator current
• Efficiency / Power flow in three modes of operation (5.10)
• Speed control (5.13)
• Linear induction motors (5.16)
14Challenge the future
Efficiency: power flow
Prot: core, friction and windage losses
agsPP =2s
PPag
2=
agmech PsP )1( −=
Pag Pmech
motor + +
generator - -
plugging + -
15Challenge the future
Efficiency
agmechout PsPP )1( −==
agsPP =2
Ideal: agin PP =
sP
P
in
outideal −== 1η
16Challenge the future
Induction machines
• Introduction (5.1)
• Rotating magnetic field (5.2, also for SM)
• Why does an induction machine rotate?
• Induced voltage (5.3, also for SM)
• Definitions (5.4, 5.5)
• Equivalent circuits and voltage equations (5.7)
• Parameter identification (5.8)
• Performance characteristics (5.9)
• Power flow in three modes of operation (5.10)
• Speed control (5.13)
• Linear induction motors (5.16)
17Challenge the future
Speed control
• How can the speed of an
induction machine be
controlled?
18Challenge the future
Speed control
• Old:
• pole changing
• line voltage control
• rotor resistance control
• State-of-the-art:
• line frequency control
• rotor slip energy recovery
• Realized by means of
• Voltage source inverter (VSI)
• Current source inverter (CSI) not discussed
• Replaces dc motor drives
19Challenge the future
Line voltage control / soft starter
• To limit inrush currents
20Challenge the future
Line frequency control
21Challenge the future
Line frequency control
22Challenge the future
Voltage as a function of frequency
pw fNkE Φ= π2
Can be realized with�controlled rectifier�PWM
23Challenge the future
Principle of voltage source converter
v v
t1f
v v
v2
t
control tri
c
Ao ao,1
d
0
2dv
0
b.
c.
T
v
V
+
i
+
d g1
g2
o
an
2
0
D1
D2
S1
S2
V2
d
_ _a.
N
Vd
Phase leg ofVoltage Source Converter
=Basic building block of
modern power electronics
Average output voltage is a replica of vcontrol
24Challenge the future
Field weakening above base speed
25Challenge the future
Closed loop speed control
• Why is the slip limited?
26Challenge the future
Speed control
• Old:
• pole changing
• line voltage control
• rotor resistance control
• State-of-the-art:
• line frequency control
• rotor slip energy recovery
• Realized by means of
• Voltage source inverter (VSI)
• Current source inverter (CSI) not discussed
• Replaces dc motor drives
27Challenge the future
Rotor resistance control
28Challenge the future
Slip energy recovery
29Challenge the future
Doubly fed induction generator
30Challenge the future
Large wind turbines
31Challenge the future
Example large
wind turbine
REpower•5 MW•12 rpm•126 m rotor diameter•100 m tower
Source: REpower Systems AG, photo: Jan Oelker.
32Challenge the future
Wind power stations: Horns Rev
80 x 2 MW
Copyright: DONG Energy A/S
33Challenge the future
Horns Rev construction
Copyright: DONG Energy A/S
34Challenge the future
Generator system
with gear
NEG Micon
Source: Bundesverband WindEnergie e
35Challenge the future
DFIG system
Works as a generator both below and above synchronous speed.What is the direction of the energy flow in generator operation - Above synchronous speed?- Below synchronous speed?
agsPP =2
agmech PsP )1( −=
36Challenge the future
Induction machines
• Introduction (5.1)
• Rotating magnetic field (5.2, also for SM)
• Why does an induction machine rotate?
• Induced voltage (5.3, also for SM)
• Definitions (5.4, 5.5)
• Equivalent circuits and voltage equations (5.7)
• Parameter identification (5.8)
• Performance characteristics (5.9)
• Power flow in three modes of operation (5.10)
• Speed control (5.13)
• Linear induction motors (5.16)
37Challenge the future
Linear induction machines
38Challenge the future
Linear induction machines
39Challenge the future
Traction application LIM
40Challenge the future
Overview Electrical Machines and
Drives
• 7-9 1: Introduction, Maxwell’s equations, magnetic circuits
• 11-9 1.2-3: Magnetic circuits, Principles
• 14-9 3-4.2: Principles, DC machines
• 18-9 4.3-4.7: DC machines and drives
• 21-9 5.2-5.6: IM introduction, IM principles
• 25-9 Guest lecture Emile Brink
• 28-9 5.8-5.10: IM equivalent circuits and characteristics
• 2-10 5.13-6.3: IM drives, SM
• 5-10 6.4-6.13: SM, PMACM
• 12-10 6.14-8.3: PMACM, other machines
• 19-10: rest, questions
• 9-11: exam