ECEN 5737 Adjustable Speed AC Drives 
ECEN 4167 Energy Conversion 2 

Spring 2016 Last revised 5/4/2015 Instructor Harry H Hilgers harry.hilgers@colorado.edu Office: OT 352 

Do you like fast cars? How about fast motorcycles? Do you like fastgreen cars? How about fastgreen motorcycles? Did I
just NOT hear a Tesla go by? A
ZERO motorcycle sounds like
. nothing
.. The
LiveWire is so quiet, Harley gave it a unique sound. This begs the following question: Could the future automotive engineer be an electrical engineer? 




Please Note: 1.
This course makes heavy use of
Matlab/Simulink. a.
It is highly recommended that you use
the time period before the start of the semester to prepare/review
Matlab/Simulink. b.
The Student Version is sufficient for
this. 2.
Even though there will be a short
review of electrical machinery, it will be assumed that you meet all the
prerequisites. 3.
To review machinery, the Chapman text
listed below is highly recommended. Required Text Recommended (but NOT required) Library 
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 for both the Undergrad and
Grad Sections ·
A short
review of Energy Conversion 1 ·
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 based § Current model based § 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 Homework
Assignments (this may change): ·
There
will be 9 HW assignments with the majority including Matlab/Simulink work Exams
(this may change): ·
Two
takehome midterm exams ·
One
final take home exam Text
Books ·
Text
books: o Required § Control of Electric Machine Drive Systems, SeungKi Sul,
Wiley, IEEE Press ·
You will
get an extensive errata file. ·
This
text book will be supplemented by about 600 lecture PPT charts. o Required software § Access to Matlab/Simulink 
Additional Course Syllabus for the Grad
Section Homework ·
Expanded
homework assignments Exams ·
Expanded
exams All
 Semester Project ·
TBD 
IDEATE http://mochajava.uccs.edu/ideate/courses.html#ECEN5737 