ECEN 5737

Adjustable Speed

AC Drives

ECEN 4167

Energy Conversion

2

Spring 2016

HHH 1/16/2016

 

Instructor

Harry Hilgers

harry.hilgers@colorado.edu

Office: TBD

 

Teaching Assistance

Joshua Woodward

 Joshua.Woodward@Colorado.EDU

Office: TBD

 

Office Hours Spring 2016

Starting 1/19/2016

 

 

ECEN

2260

ECEN

4167

5737

Monday

Tuesday

Wednesday

Thursday

Friday

Harry

x

x

10 – 11

9:30 – 10:30

10 – 11

9:30 – 10:00

 

Priya

x

 

 

3:30 – 4:30

 

 

10 – 11

Joshua

 

x

2 – 3

 

11 – 12

 

 

 

 

 

Do you like fast cars?

How about fast motorcycles?

 

Do you like fast-green cars?

How about fast-green 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 have a good concept of all the pre-requisite material.

3.     To review machinery, the Chapman text listed further below is highly recommended.

 

Required Text

 

Recommended (but NOT required) Library

 


15

 
 


Course Objectives

 

 

·       The study and simulation of torque and speed control of symmetrical 3-phase 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.

 

Pre-requisites

 

By Courses (CU Boulder)

 

·       Intro-to-Circuits and Circuits-as-Systems (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

·       Fundamental circuits in the time and frequency domain

·       The application of Laplace Transforms for solving of electric circuits

·       Fundamental Electronics

·       Complex Algebra, Euler’s identity (extremely  important)

·       Fundamental block diagrams

·       Phasors

·       Real and reactive power in single phase circuits, power triangle

·       Balanced three-phase circuits, wye and delta connections

·       Fundamental magnetic circuits

·       Transformers (single and three-phase) and their equivalent circuits

·       AC-machinery fundamentals, forces/torques of electric machines

·       Per-unit method

·       Synchronous machines from a magnetic field point of view (equivalent circuit, phasor diagram, stability)

·       Synchronous motors (starting, damper windings, stability)

·       Three-phase induction machines (equivalent circuit, quasi-steady state torque-speed curves derived from a magnetic field point of view and from the equivalent circuit point of view, NEMA A, B, C, D designs, starting in-rush, traditional speed control methods)

·       DC machinery fundamentals (internal generated voltage and torque, commutation, DC motors (separately and series excited) and their block diagrams.

 

Pre-Requisite 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.

·       Torque-speed 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 d-q transformation.

§  All d-q transformations will all be done using complex analysis

§  Matrix d-q 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)

·       d-q modeling of induction machines based on complex space vectors

o   Derive 3-phase electrical equations of motion.

o   Convert these equations to/from any arbitrary d-q reference frame

o   Derive torques expressions in arbitrary reference frame

o   Simulation of these equations in Simulink model using d-q coordinates and their different transformations.

·       d-q modeling of synchronous machines based on complex space vectors

o   Derive 3-phase electrical equations of motion.

o   Convert these equations to/from any arbitrary d-q reference frame

o   Derive torques expressions in arbitrary reference frame

o   Simulation of these equations in Simulink model using d-q 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

§  Surface-mounted and interior-mounted 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 take-home midterm exams

·       One final take home exam

 

Text Books

·       Text books:

o   Required

§  Control of Electric Machine Drive Systems, Seung-Ki 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://mocha-java.uccs.edu/ideate/courses.html#ECEN5737

 

 

Graduate Education