ECEN 5737 Adjustable Speed AC Drives 
ECEN 4167 Energy Conversion 2 

HHH
1/16/2016 

Instructor Harry Hilgers Office: TBD 
Teaching Assistance Joshua Woodward Office: TBD 

Office Hours Spring 2016 Starting 1/19/2016 








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. 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 prerequisite 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
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 ·
Fundamental 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 