Werner Leonhard

Control
of Electrical Drives
Third Edition

With 299 Figures

Springer
Contents

Introduction 1

1. Elementary Principles of Mechanics 7

1.1 Newtons Law 7
1.2 Moment of Inertia 9
1.3 Effect of Gearing 11
1.4 Power and Energy 12
1.5 Experimental Determination of Inertia 14

2. Dynamics of a Mechanical Drive 17

2.1 Equations Describing the Motion of a Drive with Lumped
Inertia 17
2.2 Two Axes Drive in Polar Coordinates 20
2.3 Steady State Characteristics of Motors and Loads 22
2.4 Stable and Unstable Operating Points 26

3. Integration of the Simplified Equation of Motion 29

3.1 Solution of the Linearised Equation 29
3.1.1 Start of a Motor with Shunt-type Characteristic at
No-load 30
3.1.2 Starting the Motor with a Load Torque Proportional
to Speed 32
3.1.3 Loading Transient of the Motor
Initially Running at No-load Speed 33
3.1.4 Starting of a DC Motor
by Sequentially Short-circuiting Starting Resistors . . . . 35
3.2 Analytical Solution of Nonlinear Differential Equation 38
3.3 Numerical and Graphical Integration 39

4. Thermal Effects in Electrical Machines 43

4.1 Power Losses and Temperature Restrictions 43
4.2 Heating of a Homogeneous Body 44
4.3 Different Modes of Operation 48
4.3.1 Continuous Duty 48
X Contents

4.3.2 Short Time Intermittent Duty 48

4.3.3 Periodic intermittent duty 49
5. Separately Excited DC Machine 51
5.1 Introduction 51
5.2 Mathematical Model of the DC Machine 54
5.3 Steady State Characteristics with Armature and Field Control 56
5.3.1 Armature Control 57
5.3.2 Field Control 58
5.3.3 Combined Armature and Field Control 61
5.4 Dynamic Behaviour of DC Motor with Constant Flux 64
6. DC Motor with Series Field Winding 69
6.1 Block Diagram of a Series-wound Motor 70
6.2 Steady State Characteristics 73
7. Control of a Separately Excited DC Machine 77
7.1 Introduction 77
7.2 Cascade Control of DC Motor in the Armature Control Region 79
7.3 Cascade Control of DC Motor in the Field-weakening Region 90
7.4 Supplying a DC Motor from a Rotating Generator 93
8. Static Converter as a Power Actuator for DC Drives 97
8.1 Electronic Switching Devices 97
8.2 Line-commutated Converter in Single-phase Bridge Connectionl02
8.3 Line-commutated Converter in Three-phase Bridge Connectionll9
8.4 Line-commutated Converters with Reduced Reactive Power .. 130
8.5 Control Loop Containing an Electronic Power Converter . . . . 133

9. Control of Converter-supplied DC Drives 139

9.1 DC Drive with Line-commutated Converter 139
9.2 DC Drives with Force-commutated Converters 148
10. Symmetrical Three-Phase AC Machines 163
10.1 Mathematical Model of a General AC Machine 164
10.2 Induction Motor with Sinusoidal Symmetrical Voltages in
Steady State 176
10.2.1 Stator Current, Current Locus 176
10.2.2 Steady State Torque, Efficiency 182
10.2.3 Comparison with Practical Motor Designs 186
10.2.4 Starting of the Induction Motor 187
10.3 Induction Motor with Impressed Voltages of Arbitrary Wave-
forms 190
10.4 Induction Motor with Unsymmetrical Line Voltages in Steady
State 202
 Contents XI

\P 10.4.1 Symmetrical Components 202

} 10.4.2 Single-phase Induction Motor 206
10.4.3 Single-phase Electric Brake for AC Crane-Drives 209
10.4.4 Unsymmetrical Starting Circuit for Induction Motor .. 211
11. Power Supplies for Adjustable Speed AC Drives 215
11.1 Pulse width modulated (PWM) Voltage Source Transistor
Converter (IGBT) 218
11.2 Voltage Source PWM Thyristor Converter 225
11.3 Current Source Thyristor Converters 232
11.4 Converter Without DC Link (Cycloconverter) 236
12. Control of Induction Motor Drives 241
12.1 Control of Induction Motor Based on Steady State Machine
Model 242
12.2 Rotor Flux Orientated Control of Current-fed Induction Motor252
12.2.1 Principle of Field Orientation 252
12.2.2 Acquisition of Flux Signals 260
12.2.3 Effects of Residual Lag of the Current Control Loops . 262
12.2.4 Digital Signal Processing 265
12.2.5 Experimental Results 268
12.2.6 Effects of a Detuned Flux Model 269
12.3 Control of Voltage-fed Induction Motor 275
12.4 Field Orientated Control of Induction Motor with a Current
Source Converter 281
12.5 Control of an Induction Motor Without a Mechanical Sensor . 289
12.5.1 Machine Model in Stator Flux Coordinates 289
12.5.2 Example of an "Encoderless Control" 291
12.5.3 Simulation and Experimental Results 296
12.6 Control of an Induction Motor Using a Combined Flux Model 298
13. Induction Motor Drive with Reduced Speed Range 303
13.1 Doubly-fed Induction Machine with Constant Stator Fre-
quency and Field-orientated Rotor Current 303
13.2 Control of a Line-side Voltage Source Converter
as a Reactive Power Compensator 317
13.3 Wound-Rotor Induction with Slip-Power Recovery 323
14. Variable Frequency Synchronous Motor Drives 329
14.1 Control of Synchronous Motors with PM Excitation 331
14.2 Synchronous Motor with Field- and Damper-Windings 342
14.3 Synchronous Motor with Load-commutated Inverter (LCI-
Drive) 349
XII Contents

15. Some Applications of Controlled Electrical Drives 363

15.1 Speed Controlled Drives 364
15.2 Linear Position Control 373
15.3 Linear Position Control with Moving Reference Point 383
15.4 Time-optimal Position Control with Fixed Reference Point .. 389
15.5 Time-optimal Position Control with Moving Reference Point. 396
Bibliography 402

Index 455