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15.1 Architecture
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15.2 Topology
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Now recall
c = 2v vqs dc
c =0 vds
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Thus
vdc vs = 2 v = h 1 2
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Thus
r = 2 d v cos vqs h dc r = 2 d v sin vds h dc
So
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1 2 vs = d vdc 2 v = h
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Sine-Triangle Modulation
In this case, converter angle calculated as
c = r + v
1 dv 0 < d 1 dc c 2 vqs = 2 v f (d ) d >1 dc
c vds =0
(15.3-13)
Now recall
(15.3-14) (15.3-15)
2 1 f ( d ) = 1 1 1 + 1 d 2 arccos d > 1 2 d 4 d
()
(15.3-16)
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Sine-Triangle Modulation
Converting to the rotor reference frame
(15.3-17)
r vds
(15.3-18)
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Sine-Triangle Modulation
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0 d 2/ 3
r = 1 dv sin vds dc v 2
0 d 2/ 3
(15.3-19) (15.3-20)
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r vqs
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r vds
(15.3-21)
(15.3-22)
v* spk =
( ) ( )
2 2 * * r r vqs + vds
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(15.3-23)
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Modulation Summary
For all VSI strategies, we have
r vqs = vdc m cosv
r vds = vdc m sin v
(15.3-24) (15.3-25)
Where
2d duty - cycle modulation 1 sine - triangle modulation (d 1) 2d 2 sine - triangle modulation (d 1) f (d ) m= 1 third - harmonic modulation (d 2 / 3 ) 2d v* spk space vector modulation v* spk vdc / 3 vdc 1 space vector modulation v* spk vdc / 3 3
(15.3-26)
( (
) )
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Modulation Summary
Note, for space vector modulation
r* jv r* ) = angle ( v v qs ds
(15.3-27)
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(15.4-1)
Where
three phase rectifier single phase rectifier
three phase rectifier single phase rectifier
2 L lr = c Lc
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L1rl 0
1 Lst
0 C1dc
rst L st 1 Cst
0 0 L1st 0 0 0 0
0 0 0 0
rs L q
0 0 0 0 0
rs L d
0 0 0 0
0 0 0
3 P 2 1 2 2 J
( )
0 m
0 1 Lrl vr 0 cos ir 0 3 m r r i i (cos sin ) v v qs v ds 2 C dc dc 0 0 ist 0 0 v + ' st m r 1 v m cos Ld i r iqs dc v r ds L Lq Lq r q1 Lq r ids Ld vdc m sin v + Ld r iqs 0 P 1 3P r r r L L i i T ( ( ) ) q qs ds L 2J 22 d 0
(15.4-21)
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r cos I r sin ) 0 = I r 3 m( I qs v v ds 2
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(15.5-3)
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(15.5-7) (15.5-8)
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(15.5-9)
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(15.5-10)
(15.5-11)
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v dc
i st
1 Lrl
v st 0 C1
dc
r i qs
r ids
= 0 0
3 m0 2 Cdc
0 0
1 Lst
0
1 Lst
3 m0 2 Cdc
cos v 0
sin v 0 0 0
0
m0 Lq
0 0 +
3 P 2 1 2 2 J rs Lq
0 0 0 0 0
cos v 0 sin v 0 0
0 0 0
Ld Lq
r0
rs Ld
m0 Ld
( )
Lq Ld
r0
3 P 2 1 2 2 J
r + ( Ld Lq )ids ( m 0)
()
r ( Ld Lq )i qs 0
i r 0 v dc 0 i st v st 0 r m L r i Ld ids 0 Lq qs q i r Lq r ds i 0 qs Ld r 0 0
vr 0 Lrl 0 0 + 0 0 0 0
cos0 Lrl
0
r r 3 m0 (sin v 0iqs 0 +cosv 0ids 0 ) 2 Cdc
0 0 0 0 0 0
0 0 vdc 0 cos v 0 L
q
0 0
v 0m0 dc sin v 0 Lq v 0m0 dc cos v 0 Ld
vdc 0 Ld
sin v 0 0
0 0 cos 0 v ro 0 m v 0 T L 0 1 P 2 J
(15.6-1)
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x = x0 + x
(15.6-2)
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C dc
J
1000 F 5 mN!m!s2
Ld
m
P
11.4 mH 0.156 Vs 4
eu
Lc L dc
rs
2.98 11.4 mH
Lq
Design Objectives
Load is Inertial No Steady-State Error Phase Margin of 60o at Nominal Speed of 200 rad/s (mechanical)
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Control Law
Mathematically
) dt (rm d = K (rm rm ) + K rm
(15.8-1)
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Selection of
Integral Feedback Will Decrease Phase By 90o at Frequencies Less Than 1/(2) We Will Select Breakpoint Frequency at 0.01 Hz for of 16 s
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Selection of K
Select K to Achieve Phase Margin of 60o Thus, We Choose K=0.25 (-12 dB)
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Time-Domain Response
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Critique of Design
Drive Becomes Quite Overmodulated Bandwidth is Not Nearly 100 Hz Significant Overcurrent (Rated is 2.6 A, rms) The Speed is not 200 rad/s At End of Study
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Disadvantage
Switching Frequency Cannot Be Directly Controlled
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Disadvantage
Lower Control Bandwidth
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Example 15B
Suppose We Utilize
r = ( L i r + ) + K + K i (i r i r ) vqs qs qs r ss ds m p s r = L i r + K + K i (i r i r ) vds ds ds r ss qs p s
(15.B-1) (15.B-2)
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Example 15B
Results
Ki = 2280 / s
K p = 10.7
(15B-4) (15B-5)
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Then
r = r i r* + L i r* + vqs s qs r d ds r m r = r i r* L i r* vds s ds r q qs
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1 vs = 2
( ) ( )
r 2 r 2 vqs + vds
(15.10-5)
Thus
(15.10-6)
Also Recall
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vs =
vs =
1 vdc 6
2
vdc
(w Harmonics)
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Thus
Advantages But..
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(15.11-4)
z2
(15.11-5) (15.11-6)
2 2 z = rs2 + r Lss
(15.11-7) (15.11-8)
Thus
Te 1 m r ids = 3 P ( L L ) i r L L d q q qs 22 d
Also Recall
1 r ) 2 + (i r ) 2 is = (iqs ds 2
(15.11-9)
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Thus
r + i r ) 2 + ( L L )i r i r + i r ] [rs (iqs P = 3 r d q qs ds r m qs (15.12-5) ds 2
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P idc = Vdc
(15.12-6)
We Have
1 [r (i r + i r ) 2 + ( L L )i r i r + i r ] (15.12-7) idc = 3 r d q qs ds r m qs 2 Vdc s qs ds
r + ( L L )i r i r ) iqs Te = 3 P (m d q qs ds 22
(15.12-8)
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0 1
Cdc r st Lst 1 Cst
0 0 1 0 0
Lst
0 0
(15.12-9)
Te = Te
(15.13-1) (15.13-2)
Well Use
) )(rm Te = K p (1 + 1 rm s
Thus We Obtain
K (s + 1) = J rm s2 + K s + K J J
rm
(15.13-3)
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This Yields
Kp=0.257 Nms, =0.22 s
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