Piotr Dynamics and Control of Electrical Drives

1. Auflage 2011
ISBN: 978-3-642-20222-3
Verlag: Springer
Format: PDF
Kopierschutz: 1 - PDF Watermark

E-Book, Englisch, 454 Seiten

Dynamics is a science concerned with movement and changes. In the most general approach it relates to life processes as well as behavior in nature in rest. It governs small particles, technical objects, conversion of matter and materials but also concerns people, groups of people in their individual and, in particular, social dimension. In dynamics we always have to do with causes or stimuli for motion, the rules of reaction or behavior and its result in the form of trajectory of changes.This book is devoted to dynamics of a wide class of specific but very important objects such as electromechanical systems. This is a very rigorous discipline and has a long tradition, as its theoretical bases were formulated in the first half of the XIX century by d' Alembert, Lagrange, Hamilton, Maxwell and other prominent scientists, but their crucial results were based on previous pioneering research of others such as Copernicus, Galileo, Newton...This book in its theoretical foundations is based on the principle of least action which governs classical as well as relativistic mechanics and electromagnetism and leads to Lagrange's equations which are applied in the book as universal method to construct equations of motion of electromechanical systems. It gives common and coherent grounds to formulate mathematical models for all lumped parameters' electromechanical systems, which are vital in our contemporary industry and civilized everyday life.From these remarks it seems that the book is general and theoretical but in fact it is a very practical one concerning modern electrical drives in a broad sense, including electromechanical energy conversion, induction motor drives, brushless DC drives with a permanent magnet excitation and switched reluctance machines (SRM). And of course their control, which means shaping of their trajectories of motion using modern tools, their designed autonomy in keeping a track according to our programmed expectations.The problems presented in the book are widely illustrated by characteristics, trajectories, dynamic courses all computed by use of developed simulation models throughout the book. There are some classical subjects and the history of the discipline is discussed but finally all modern tools and means are presented and applied.More detailed descriptions follow in abstracts for the particular chapters.The author hopes kind readers will enjoy and profit from reading this book. 

Autoren/Hrsg.

Piotr, Wach

Inhaltsverzeichnis

1;Contents;12
2;Introduction;17
2.1;References;22
3;Dynamics of Electromechanical Systems;24
3.1;Mechanical Systems;24
3.1.1;Basic Concepts;24
3.1.2;Constraints, Classification of Constraints and Effects of Their Imposition;27
3.1.3;Examples of Constraints;28
3.1.4;External Forces and Reaction Forces; d’Alembert Principle;30
3.1.5;Number of Degrees of Freedom and Generalized Coordinates;35
3.1.6;Lagrange’s Equations;38
3.1.7;Potential Mechanical Energy;41
3.1.8;Generalized Forces, Exchange of Energy with Environment;43
3.1.9;Examples of Application of Lagrange’s Equations Method for Complex Systems with Particles;45
3.1.10;Motion of a Rigid Body;51
3.1.11;Examples of Applying Lagrange’s Equations for Motion of Rigid Bodies;61
3.1.12;General Properties of Lagrange’s Equations;67
3.2;Electromechanical Systems;74
3.2.1;Principle of Least Action: Nonlinear Systems;74
3.2.2;Lagrange’s Equations for Electromechanical Systems in the Notion of Variance;81
3.2.3;Co-energy and Kinetic Energy in Magnetic Field Converters;87
3.2.4;Potential Energy in Electric Field Converters;92
3.2.5;Magnetic and Electric Terms of Lagrange’s Function: Electromechanical Coupling;93
3.2.6;Examples of Application of Lagrange’s Equations with Regard to Electromechanical Systems;95
3.3;References;121
4;Induction Machine in Electric Drives;123
4.1;Mathematical Models of Induction Machines;123
4.1.1;Introduction;123
4.1.2;Construction and Types of Induction Motors;124
4.1.3;Fundamentals of Mathematical Modeling;128
4.1.4;Mathematical Models of an Induction Motor with Linear Characteristics of Core Magnetization;135
4.1.5;Transformed Models of Induction Motor with Linear Characteristics of Core Magnetization;142
4.1.6;Mathematical Models of Induction Motor with Untransformed Variables of the Stator/Rotor Windings;150
4.2;Dynamic and Static Characteristics of Induction Machine Drives;157
4.2.1;Standardized Equations of Motion for Induction Motor Drive;157
4.2.2;Typical Dynamic States of an Induction Machine Drive – Examples of Trajectories of Motion;161
4.2.3;Reduction of a Mathematical Model to an Equivalent Circuit Diagram;178
4.2.4;Static Characteristics of an Induction Motor;182
4.3;Methods and Devices for Forming Characteristics of an Induction Motor;189
4.3.1;Control of Supply Voltage;190
4.3.2;Slip Control;194
4.3.3;Supply Frequency fs Control;202
4.4;Control of Induction Machine Drive;250
4.4.1;Vector Control;250
4.4.2;Direct Torque Control (DTC);261
4.4.3;Observers in an Induction Machine;278
4.5;References;289
5;Brushless DC Motor Drives (BLDC);295
5.1;Introduction;295
5.2;Permanent Magnet – Basic Description in the Mathematical Model;297
5.3;Mathematical Model of BLDC Machine with Permanent Magnets;308
5.3.1;Transformed Model Type d-q;311
5.3.2;Untransformed Model of BLDC Machine with Electronic Commutation;314
5.3.3;Electronic Commutation of BLDC Motors;316
5.4;Characteristics of BLDC Machine Drives;323
5.4.1;Start-Up and Reversal of a Drive;324
5.4.2;Characteristics of BLDC Machine Drive;335
5.4.3;Control of Rotational Speed in BLDC Motors;346
5.5;Control of BLDC Motor Drives;352
5.5.1;Control Using PID Regulator;352
5.5.2;Control with a Given Speed Profile;360
5.5.3;Control for a Given Position Profile;365
5.5.4;Formal Linearization of BLDC Motor Drive;380
5.5.5;Regulation of BLDC Motor with Inverse Dynamics;383
5.6;References;392
6;Switched Reluctance Motor Drives;395
6.1;Introduction;395
6.2;Operating Principle and Supply Systems of SRM Motors;398
6.3;Magnetization Characteristics and Torque Producing in SRM Motor;404
6.4;Mathematical Model of SRM Motor;407
6.4.1;Foundations and Assumptions of the Mathematical Model;407
6.4.2;Equations of Motion for the Motor;409
6.4.3;Function of Winding Inductance;410
6.5;Dynamic Characteristics of SRM Drives;414
6.5.1;Exemplary Motors for Simulation and Tests;414
6.5.2;Starting of SRM Drive;415
6.5.3;Braking and Generating by SRM;425
6.6;Characteristics of SRM Machines;434
6.6.1;Control Signals and Typical Steady-State Characteristics;434
6.6.2;Efficiency and Torque Ripple Level of SRM;436
6.6.3;Shapes of Current Waves of SRS;441
6.7;Control of SRM Drives;445
6.7.1;Variable Structure – Sliding Mode Control of SRM;445
6.7.2;Current Control of SRM Drive;446
6.7.3;Direct Torque Control (DTC) for SRM Drive;453
6.7.4;Sensor- and Sensorless Control of SRM Drive;456
6.7.5;State Observer Application for Sensorless Control of SRM;458
6.8;References;460
7;Index;463