ECEN 5737 Adjustable Speed AC Drives 
ECEN 4167 Energy Conversions 2 
Spring 2015 Last revised 7/6/2014 Instructor Harry H Hilgers harry.hilgers@colorado.edu Office: OT 352 Course Objectives 
·
The
study and simulation of torque and speed control of symmetrical 3phase
electric induction and permanent magnet synchronous machine drives. o
The core
tools for the study are the underlying physics, magnetic and electrical circuit
equations of electric machines. o
The
necessary reference frame theory will be done using space vectors described
with complex mathematics. http://www.ece.umn.edu/users/riaz/animations/spacevecmovie.html o
Simulation
will be a major part of the course and will be done using Matlab/Simulink.

By Courses (CU Boulder) ·
IntrotoCircuits and
CircuitsasSystems (or the traditional Circuits 1 and 2) o ECEN 2250 and ECEN
2260 ·
Energy Conversion 1 o ECEN 3170 (this
includes basic usage of Matlab and Simulink) ·
Highly recommended but not required:
Linear systems and control systems o ECEN 3300 o ECEN 4138 
By Topics ·
Basic
usage of Matlab and Simulink ·
General Physics of Electricity and
Magnetism ·
Undergrad Differential Equations and
Linear Algebra ·
Fundament circuits in the time and
frequency domain ·
The application of Laplace Transforms
for solving of electric circuits ·
Fundamental Electronics ·
Complex
Algebra, Eulers identity (extremely
important) ·
Fundamental
block diagrams ·
Phasors ·
Real and
reactive power in single phase circuits, power triangle ·
Balanced
threephase circuits, wye and delta connections ·
Fundamental
magnetic circuits ·
Transformers
(single and threephase) and their equivalent circuits ·
ACmachinery
fundamentals, forces/torques of electric machines ·
Perunit
method ·
Synchronous
machines from a magnetic field point of view (equivalent circuit, phasor
diagram, stability) ·
Synchronous
motors (starting, damper windings, stability) ·
Threephase
induction machines (equivalent circuit, quasisteady state torquespeed
curves derived from a magnetic field point of view and from the equivalent
circuit point of view, NEMA A, B, C, D designs, starting inrush, traditional
speed control methods) ·
DC
machinery fundamentals (internal generated voltage and torque, commutation, DC
motors (separately and series excited) and their block diagrams. 
PreRequisite
Review Sources ·
Text
books: o Electric Machinery § Chapman, Electric Machinery Fundamentals (used
in ECEN 3170) § Fitzgerald, Kingsley, Umans, Electric
Machinery § Sen, Principles of Electric Machines and Power
Electronics o
Electric
Circuits § The analysis and design of Linear Circuits,
Thomas/Rosa/Toussaint § Most any undergrad circuits text o Linear Systems and Controls § Most any undergrad linear systems and controls
text. ·
Student version of Matlab/Simulink R2013a. 
Course Syllabus ·
Short
review of 3phase voltages, magnetic circuits and transformers. ·
Short
review of basic mechanics. ·
Simulink
simulation example of the acceleration of a small car. ·
Torquespeed
curves of typical mechanical loads. ·
Basic
structure, analysis and modeling of electric machines. o
DC
machines o
Synchronous
machines o
Induction
machines ·
The
number one advantage of DC machines: o
The
angle between field flux vector and armature current flux vector is always at
90 degrees. o
Therefore
this angle does not require any special control of these vectors to keep it
there. ·
The
number one drawback of using DC machines for EV drives o
Commutator
and brushes are relative high maintenance. ·
The
number one advantage of induction machines and PM synchronous machines: o
Relative
low maintenance. ·
The
number one drawback of induction motors and PM synchronous machines: o
The
angle between field flux vector and armature current flux vector is not
always at 90 degrees. o
Therefore
this angle requires relative complicated control of these vectors to keep it
there. § This is referred to as vector control. ·
How
vector control of AC machines mimics DC machine controls ·
Reference
frame transformation using space vectors in an arbitrary reference frame o
COMPLEX
space vector dq transformation. § All dq transformations will all be done using complex
analysis § Matrix dq modeling will only be mentioned in passing. o
Matlab
and Simulink modeling of unified complex space vector transformations from
any frame to any other frame (abc, arbitrary, stator, rotor, synchronous
reference frames) ·
dq
modeling of induction machines based on complex space vectors o
Derive
3phase electrical equations of motion. o
Convert
these equations to/from any arbitrary dq reference frame o
Derive
torques expressions in arbitrary reference frame o
Simulation
of these equations in Simulink model using dq coordinates and their
different transformations. ·
dq
modeling of synchronous machines based on complex space vectors o
Derive
3phase electrical equations of motion. o
Convert
these equations to/from any arbitrary dq reference frame o
Derive
torques expressions in arbitrary reference frame o
Simulation
of these equations in Simulink model using dq coordinates and their
different transformations. ·
Regulator design o
Current
regulator o
Speed
regulator o
Voltage
regulation o
Simulink
simulation of the regulators ·
Closed
loop vector control of induction and permanent magnet synchronous machines o
Instantaneous
torque control § DC machine § Surfacemounted and interiormounted permanent magnet
synchronous machine o
Vector
control of an induction machine § Direct vector control § Indirect vector control o
Rotor
flux linkage estimator § Voltage model § Current model § Hybrid model § Enhanced hybrid model o
Flux
weakening control § Voltage and current constraints § Permanent magnet AC machine operating region in current
plane and rotor ref. frame § Flux weakening control of a PM synchronous machine § Flux weakening of an induction machine ·
(If time
permits) Sensorless Speed control Text
Books ·
Text
books: o Required § Control of Electric Machine Drive Systems, SeungKi Sul,
Wiley, IEEE Press ·
You will
get an extensive errata file. ·
During
lecture, this text book will be supplemented by several hundred PowerPoint
charts. o Required software § Access to Matlab/Simulink o
Highly
recommended but not required ·
Sensorless
vector and direct torque control, Peter Vas, Oxford Science ·
Student version of Matlab/Simulink R2011 or later. 
IDEATE http://mochajava.uccs.edu/ideate/courses.html#ECEN5737 