Download IECON_Presentation-1..

POWER ELECTRONICS AND MOTOR DRIVES
-TECHNOLOGY STATUS AND TRENDS
TUTORIAL
IEEE IECON 2005
RALEIGH, NC
November 6 , 2005
2:00 PM – 5:00 PM, Sunday
By
Fig,1
Dr. Bimal K. Bose, Life Fellow, IEEE
Department of Electrical Engineering
309 Ferris Hall
The University of Tennessee
Knoxville, TN 37996-2100
Tel: (865) 974-8398
Fax: (865) 974-5483
E-mail: [email protected] (or [email protected])
SOME SELECTED REFERENCES
[1] B. K. Bose, Modern Power Electronics and AC Drive, Prentice Hall, Upper Saddle River 2002.
[2] B. K. Bose, Advances and Trends in Power Electronics and Motor Drives, Academic Press. (Coming soon)
[3] S. Malik and D. Klunge, “ACS 1000 – world’s first standard ac drive for medium voltage applications”, ABB Review, pp.
1-11, 1998.
[4] W.A. Hill etc., “Vector controlled cycloconverter drive for an icebreaker”, IEEE IAS Annu. Meet. Conf. Rec., pp. 309-313,
1986.
[4] J.B. Borman, “The electrical propulsion system of the QE 2: some aspects of design and development”, IMAS 88, pp. 181190, May 1988.
[5] S. Kalsi etc. “HTS synchronous motors for Nsvy ship propulsion”, 1998 Naval Symp. On electrical machines, pp. 139-146,
1998.
[6]T.Nakajima, “Development and testing of prototype models of a 300 MW GTO converter for power system
interconnections”, IEEE IECON Conf. Rec., pp. 123-129, 1997.
[7] S. Mori etc., “Commissioning of 400 MW adjustable speed pumped storage system for Ohkawachi hydro power plant”,
Proc. Cigre Symp. No. 520-04, 1995.
[8] B.K. Bose and P.M. Szczesny, “A microcomputer based control and simulation of an advanced IPM synchronous machine
drive system for electric vehicle propulsion”, IEEE Trans. Ind. Elec. vol. 35, pp. 547-559, Nov. 1988.
[9] Using SIMULINK, Version 5, MathWorks Inc., April 2003
[10] SimPowerSystem User’s Guide, Version 3, MathWorks, Feb. 2003.
[11] B. K. Bose, “expert system, fuzzy logic, and neural network applications in power electronics and motion control”, Proc.
of the IEEE, vol. 82, pp. 1303-1323, Aug. 1994.
[12] Texas Instruments DSP Platforms, http://dspvillage.ti.com
[13] N.P. Filho, J.O.P. Pinto, B.K. Bose and L. da Silva, “A neural network based space vector PWM of a five level voltage-fed
inverter”, IEEE IAS Annu. Meet. Conf. Rec., 2004
[14] M.G. Simoes and B.K. Bose, “Neural network based estimation of feedback signals for vector controlled induction motor
drive”. IEEE Trans. Ind. Appl., vol. 31, pp. 620-629, May/June 1995.
[15] C. Wang, B.K.Bose etc., “Neural network based space vector PWM of a three-level inverter covering overmodulation
region and performance evaluation on induction motor drive”, IEEE IECON Conf. Rec., 2003.
------------
Fig.2
Fig.1.2.WHY POWER ELECTRONICS IS IMPORTANT?
 ELECTRICAL ENERGY PROCESSING AT HIGH EFFICIENCY
 APPARATUS AT LOW COST, HIGH RELIABILITY, HIGH VOLUME DENSITY
AND LONG LIFE
 KEY COMPONENT IN MODERN INDUSTRIAL PROCESS CONTROL
-HIGHER PRODUCTIVITY
-IMPROVED PRODUCT QUALITY
 FAST GROWTH IN GLOBAL ENERGY CONSUMPTION
 ENVIRONMENTAL AND SAFETY PROBLEMS BY FOSSIL AND NUCLEAR
POWER PLANTS
 INCREASING EMPHASIS OF ENERGY SAVING BY POWER ELECTRONICS
 GROWING INTEREST IN ENVIRONMENTALLY CLEAN SOURCES OF POWER
THAT ARE POWER ELECTRONICS INTENSIVE (WIND, PHOTOVOLTAIC AND
FUEL CELLS)
Fig.3
DC AND AC REGULATED POWER SUPPLIES
ELECTRO CHEMICAL PROCESSES
HEATING AND LIGHTING CONTROL
ELECTRONIC WELDING
POWER LINE VAR AND HARMONIC COMPENSATION
HIGH VOLTAGE DC SYSTEM
POWER
ELECTRIC
SYSTEMS
PHOTOVOLTAIC AND FUEL CELL CONVERSION
VARIABLE SPEED CONSTANT FREQUENCY SYSTEM
SOLID STATE CIRCUIT BREAKER
INDUCTION HEATING
MOTOR DRIVES
Fig.4
POWER ELECTRONICS APPLICATIONS
POWER ELECTRONICS IN ENERGY SAVING
 CONTROL OF POWER BY ELECTRONIC SWITCHING IS MORE EFFICIENT
THAN RHEOSTATIC CONTROL
 ROUGHLY 65% OF GENERATED ENERGY IS CONSUMED IN ELECTRICAL
DRIVES – MAINLY PUMPS AND FANS
 VARIABLE SPEED FULL THROTTLE FLOW CONTROL CAN IMPROVE
EFFICIENCY BY 30% AT LIGHT LOAD
 LIGHT LOAD REDUCED FLUX OPERATION CAN FURTHER IMPROVE
EFFICIENCY
 VARIABLE SPEED AIR-CONDITIONER/HEAT PUMP CAN SAVE ENERGY BY
30%
 20% OF GENERATED ENERGY IS USED IN LIGHTING
 HIGH FREQUENCY FLUORESCENT LAMPS ARE 2-3 TIMES MORE EFFICIENT
THAN INCANDESCENT LAMPS
Fig.5
WIND ENERGY SCENARIO
 MOST ECONOMICAL, ENVIRONMENTALLY CLEAN AND SAFE “GREEN”
POWER
 ENORMOUS WORLD RESOURCES – TAPPING 10% CAN SUPPLY ELECTRICITY
DEMAND OF THE WHOLE WORLD
 COMPETETIVE COST WITH FOSSIL FUEL POWER (5 Cents/kWH, $1.00/kW)
 TECHNOLOGY ADVANCEMENT IN POWER ELECTRONICS, VARIABLE SPEED
DRIVES AND VARIABLE SPEED WIND TURBINES
 GERMANY IS THE WORLD LEADER ( MW) – NEXT IS USA (2600 MW)
 CURRENTLY, 1.0% ELECTRICITY NEED IN USA – WILL INCREASE TO 5% BY
2020
 CURRENTLY, 13% ELECTRICITY NEED IN DENMARK – WILL INCREASE TO
40% BY 2030
 STATISTICAL AVAILABILITY – NEEDS BACK-UP POWER
 KEY ENERGY SOURCE FOR FUTURE HYDROGEN ECONOMY
Fig.6
PHOTOVOLTAIC ENERGY SCENARIO
 SAFE, RELIABLE, STATIC AND ENVIRONMENTALLY CLEAN
 DOES NOT REQUIRE REPAIR AND MAINTENANCE
 PV PANELS ARE EXPENSIVE
(CURRENTLY AROUND $5.00/W, 20
CENTS/kWH)
 SOLAR POWER CONVERSION EFFICIENCY – AROUND 16%
 APPLICATIONS:
SPACE POWER
ROOF TOP INSTALLATIONS
OFF-GRID REMOTE APPLICATIONS
 SPORADIC AVAILABILITY –REQUIRES BACK-UP POWER
 CURRENT INSTALLATION (290 MW):
JAPAN – 45%
USA – 26%
EUROPE – 21%
 TREMENDOUS EMPHASIS ON TECHNOLOGY ADVANCEMENT
Fig.7
FUEL CELL POWER SCENARIO
 HYDROGEN AND OXYGEN COMBINE TO PRODUCE ELECTRICITY AND WATER
 SAFE, STATIC, HIGH EFFICIENCY AND ENVIRONMENTALLY CLEAN
 FUEL CELL TYPES:
PROTON EXCHANGE MEMBRANE (PEMFC)
PHOSPHORIC ACID (PAFC)
DIRECT METHANEL (DMFC)
MOLTEN CARBONATE (MCFC)
SOLID OXIDE (SOFC)
 GENERATE HYDROGEN BY ELECTROLYSIS OR BY REFORMER (FROM GASOLINE,
METHANOL)
 BULKY AND VERY EXPENSIVE AT PRESENT STATE OF TECHNOLOGY
 SLOW RESPONSE
 POSSIBLE APPLICATIONS:
FUEL CELL CAR, PORTABLE POWER, BUILDING COGENERATION, DISTRIBUTED
POWER FOR UTILITY, UPS SYSTEM
 A LOT OF FUTURE PROMISE
Fig.8
AIR
GASOLINE
OR
METHANE
COMPRESSED
AIR
O2
REFORM
ER
ELECTRICITY FROM
GRID
WATER
WIND
TURBINE
ELECTRO
LYSIS
WIND
GENERAT
OR
CONVER
TER
FUEL
CELL
H2
PEMFC
+
H2
STORAGE
(LIQUID
OR GAS)
ULTRA-CAPACITOR
OR
BATTERY
ELECTRICITY
FUEL CELL CAR WITH THE CONCEPT OF HYDROGEN ECONOMY
Fig.9
MOTOR
Fig. 1.14. EVOLUTION OF POWER ELECTRONICS
MERCURY-ARC CONVERTERS
GAS TUBE ELECTRONICS
SATURABLE CORE MAGNETIC AMPLIFIERS
POWER SEMICONDUCTOR ELECTRONICS
(MODERN ERA)
CONTROL HARDWARE
AND SOFTWARE
POWER
SEMICONDUCTOR
DEVICES
CONVERTER
TOPOLOGIES
Fig. 10
ANALYTICAL AND
SIMULATION TECHNIQUES
ESTIMATION AND
CONTROL TECHNIQUES
SOME SIGNIFICANT EVENTS IN THE HISTORY OF POWER ELECTRONICS AND MOTOR
DRIVES






















Fig.11
1897 – Development of 3-phase diode bridge rectifier (Graetz circuit)
1901 – Peter Cooper Hewitt demonstrates glass-bulb mercury-arc rectifier
1906 – Kramer drive is introduced
1907 – Scherbius drive is introduced
1926 – Hot cathode thyratron is introduced
1930 – New York subway installs grid-controlled mercury-arc rectifier (3 MW) for dc drive
1931 – German railways introduce Mercury-arc cycloconverters for universal motor traction drive
1934 – Thyratron cycloconverter - synchronous motor(400 hp) was installed in Logan power station
for ID fan drive (first variable frequency ac drive)
1948 – Transistor is invented in Bell Lab.
1956 – Silicon power diode is introduced
1958 – Commercial thyristor (or SCR) was introduced in the market by GE
1971 – Vector or field-oriented control is introduced
1975 – Giant power BJT is introduced in the market by Toshiba
1978 – Power MOSFET is introduced by IR
1980 – High power GTOs are introduced in Japan
1981 – Multi-level inverter (diode-clamped) is introduced
1983 – IGBT is introduced by GE
1983 – Space vector PWM is introduced
1986 – DTC control is invented
1987 – Fuzzy logic is first applied to power electronics
1991 – Artificial neural network is applied to dc motor drive
1996 – Forward blocking IGCT is introduced by ABB
C
C
T1 G
C
G
 GATE TURN-OFF THYRISTOR (GTO) (1980)
A
A
 TRIAC (1958)
G
 THYRISTOR (1958)
T2
 DIODE (1955)
A
POWER SEMICONDUCTOR DEVICE EVOLUTION
C
B
 BIPOLAR POWER TRANSISTOR (BPT or BJT) (1975)
D
 POWER MOSFET (1975)
G
S
 INSULATED GATE BIPOLAR TRANSIATOR
(IGBT)(1985)
 STATIC INDUCTION TRANSISTOR(SIT) (1985)
C
G
E
D
G
 SILICON CARBIDE DEVICES
Fig.12
E
G
 INTEGRATED GATE-COMMUTATED
THYRISTOR (IGCT) (1996)
C
S
108
107
DEVICE V-I RATINGS PRODUCT (VI)
10
IGCT
GTO
6
105
IGBT IPM
IGBT
DISCRETE
THYRISTOR
104
103
POWER
MOSFET
102
10
10
TRIAC
!02
103
104
SWITCHING FREQUENCY (Hz)
105
106
POWER-FREQUENCY TRENDS OF THE DEVICES [5]
Fig.13
IGBT SCENARIO
• FAST EVOLUTION SINCE INTRODUCTION IN 1983
• SIMPLE STRUCTURE – SIMPLE PROCESSING
• ASYMMETRIC AND SYMMETRIC BLOCKING DEVICES
• “SMART POWER” CAPABILITY
• COMMERCIAL DEVICE – 3500 V, 1200 A,
(6.5 kV, 10 kV DEVICE UNDER TEST)
•INTELLIGENT POWER MODULES – UP TO 1200V, 800 A (250 HP MOTOR)
• SQUARE SOA – ADVANTAGES AND DISADVANTAGES OF SNUBBERLESS
OPERATION
• FOURTH GENERATION DEVICE WITH TRENCH GATE (50% LESS DROP)
• PWM SWITCHING FREQUENCY – 1.0 kHz (HIGH POWER_
• 1.00 MW AND HIGHER POWER IN 3-LEVEL INVERTER
Fig.14
IGCT SCENARIO
• RECENTLY INTRODUCED DEVICE BY ABB (1996)
• CURRENT-CONTROLLED DEVICE (HARD-DRIVEN GTO WITH
TURN-OFF CURRENT GAIN = 1)
• GATE DRIVER IS BUILT ON MODULE
• MONOLITHIC ANTI-PARALLEL DIODE
• COMMERCIAL DEVICE – 6.5 kV, 4000 A (10 kV UNDER TEST)
• ASYMMETRIC OR SYMMETRIC BLOCKING DEVICE
• SERIES – PARALLEL OPERRATION POSSIBLE
• SNUBBER OR SNUBBERLESS OPERATION
• LOWER THAN IGBT CONDUCTION DROP – 1.0 kH FREQUENCY
• VERY PROMISING DEVICE FOR HIGH POWER
Fig.15
ADVANCES AND TRENDS OF POWER SEMICONDUCTOR DEVICES
 MODERN POWER ELECTRONICS EVOLUTION PRIMARILY FOLLOWED THE
POWER DEVICE EVOLUTION - WHICH AGAIN FOLLOED THE
MICROELECTRONICS EVOLUTION
 GRADUAL OBSOLESCENCE OF PHASE CONTROL DEVICES (THYRISTOR,
TRIAC)
 DOMINANCE OF INSULATED GATE CONTROLLED DEVICES (IGBT, Power
MOSFET)
 POWER MOSFET WILL REMAIN UNIVERSAL IN LOW VOLTAGE HIGH
FREQUENCY APPLICATIONS
 GRADUAL OBSOLESCENCE OF GTOs (LOWER END BY IGBTs AND HIGHER
END BY IGCTs)
 REDUCTION OF CONDUCTION DROP IN HIGH VOLTAGE POWERMOSFET
AND IGBT
 SiC BASED DEVICES WILL BRING RENAISSANCE IN HIGH POWER
ELECTRONICS – DIAMOND DEVICES IN THE LONG RUN
Fig.16
CONVERTER CLASSIFICATION
 AC – to – DC : RECTIFIER
- DIODE
- THYRISTOR PHASE-CONTROLLED
- PWM (VOLTAGE-FED OR CURRENT-FED)
(HARD OR SOFT-SWITCHED)
 DC – to – DC
- PWM (BUCK, BOOST, OR BUCK/BOOST)
- RESONANT LINK
- QUASI-RESONANT LINK
 DC – to – AC : INVERTER
- THYRISTOR PHASE-CONTROLLED
- PWM (VOLTAGE-FED OR CURRENT-FED)
(HARD OR SOFT-SWITCHED)
 AC – to – AC: AC CONTROLLER
(SAME FREQUENCY)
CYCLOCONVERTER
(FREQUENCY CHANGER)
- THYRISTOR PHASE-CONTROLLED
- DC LINK (VOLTAGE-FED OR CURRENT-FED)
(HARD OR SOFT-SWITCHED)
- HIGH FREQUENCY LINK (VOLTAGE-FED OR CURRENT-FED)
- MATRIX
Fig.17
LINE POWER QUALITY PROBLEMS AND HARMONIC STANDARDS
 LARGE GROWTH OF DIODE AND THYRISTOR CONVERRERS ON UTILITY SYSTEM
 LINE VOLTAGE HARMONIC DISTORTION
 POOR LINE POWER FACTOR
 EMI
 LINE AND EQUIPMENT HARMONIC CURRENT LOADING
 COMMUNICATION INTERFERENCE
 METER INACCURACY
 SPURIOUS LINE RESONANCE
 IEEE-519 STANDARD – HARMONIC DISTORTION CONTROL AT COMMON ENTRY POINT
 IEC-1000 STANDARD – CONTROLS HARMONIC DISTORTION OF INDIVIDUAL EQUIPMENT
Fig.18
PROGRESSION OF VOLTAGE-FED CONVERTER SYSTEMS FOR AC DRIVES
Fig.19
PROGRESSION OF CURRENT-FED CONVERTER SYSTEMS FOR
Fig.20
AC DRIVES
18-STEP GTO CONVERTER FOR UTILITY BATTERY PEAKING SERVICE[7]
Fig.21
FEATURES OF GTO CONVERTER SYSTEM FOR BATTERY PEAKING SERVICE
 10 MW CAPACITY LEAD-ACID BATTERY STORAGE INSTALLED BY GE FOR
SOUTHERN CALIFORNIA EDISON ELECTRIC GRID (1988)
 STORES ENERGY IN OFF-PEAK HOURS AND DELIVERS IN PEAK DEMAND
 CAN OPERATE AS STATIC VAR COMPENSATOR ON GRID
 CAN CONTROL GRID VOLTAGE AND FREQUENCY
 CAN IMPROVE SYSTEM STABILITY
 THREE-PHASE 60 Hz VOLTAGE MAGNITUDE AND PHASE ANGLE CONTROL
BY THE H-BRIDGES
 60 Hz TRANSFORMER PERMITS COUPLING OF THE PHASE-SHIFTED HBRIDGES, VOLTAGE BOOST AND ISOLATION
 GTO SWITCHING FREQUENCY IS LOW AT 60 Hz
 HIGH CONVERTER EFFICIENCY (97%)
Fig.22
BACK-TO-BACK UTILITY SYSTEM INTER-TIE WITH 300 MW TWO-SIDED GTO CONVERTER
SYSTEM[18]
Fig.23
FEATURES OF GTO- BASED UTILITY INTER-TIE SYSTEM
 THREE-TERMINAL HVDC SYSTEM BACK-TO-BACK INTER-TIE
 LINKS TWO 66 kV, 50 Hz TERMINALS WITH ONE 275 kV, 60 Hz TERMINAL
 NINE-PULSE SINUSOIDAL SYNCHRONIZED PWM FOR EACH CONVERTER
 NEAR SINUSOIDAL LINE CURRENT WITH UNITY, LESDING OR LAGGING
POWER FACTOR FOR SYSTEM VAR CONTROL
 FOUR GTOs (6kV, 6000 A) SERIES-CONNECTED WITH REGENERATIVE
SNUBBER TO IMPROVE CONVERTER EFFICIENCY
 GTOs CAN BE REPLACED BY IGCTs
 MULTI-LEVEL PWM OR STEPPED WAVE CONVERTERS CAN AVOID SERIES
CONNECTION OF DEVICES
Fig.24
48 MVA STATIC VAR GENERATOR FOR ELECTRIC RAILWAYS
Fig.25
48 MVA STATIC VAR COMPENSATOR FEATURES
 VOLTAGE-FED PHASE-SHIFTED MULTI-STEP WAVE SVC ON JAPANESE
SHINKANSEN RAILWAY SYSTEM – INSTALLED BY FUJI IN 1995.
 REGULATES AC BUS VOLTAGE (BY  2%) AND COMPENSATES LINE
VOLTAGE UNBALANCE DUE TO SINGLE-PHASE LOAD
 20 MVA LAGGING VAR TO 48 MVA LEADING VAR CAPABILITY
 36 –PULSE STEPPED WAVE OUTPUT WITH MAGNITUDE AND PHASE
CONTROL
 SINGLE REVERSE CONDUCTION GTO (4.5 KV, 3000 A) IN EACH H-BRIDGE
 TRANSFORMER WITH DIODE CHARGER PRECHARGES THE CAPACITOR (
10%) DC VOLTAGE REGULATION
 14 MVA CAPACITIVE HARMONIC LINE FILTER
 HIGH EFFICIENCY (97%)
Fig.26
ADVANCES AND TRENDS IN CONVERTERS
• POWER QUALITY AND LAGGING PF PROBLEMS ARE MAKING PHASECONTROLLED CONVERTERS OBSOLETE - PROMOTING PWM TYPE
CONVERTERS ON LINE-SIDE
•VOLTAGE-FED CONVERTERS ARE SUPERIOR TO CURRENT-FED
CONVERTERS IN OVERALL FIGURE-OF-MERIT CONSIDERATIONS
• DOUBLE-SIDED VOLTAGE-FED GTO/IGBT/IGCT 3-LEVEL PWM CONVERTERS ARE
REPLACING HIGH POWER PHASE-CONTROLLED CYCLOCONVERTERS
• MULTI-LEVEL MULTI-STEPPED CONVERTERS WILL BE WIDELY ACCEPTED IN
UTILITY SYSTEM
• SPACE VECTOR PWM IS FINDING WIDE ACCEPTANCE
• SOFT-SWITCHED CONVERTERS FOR MOTOR DRIVES DO NOT SHOW ANY
FUTURE PROMISE
• CONVERTER TECHNOLOGY HAS NEARLY REACHED THE SATURATION
STAGE
• FUTURE EMPHASIS WILL BE ON INTEGRATED PACKAGING AND DESIGN
AUTOMATION
Fig.27
CLASSIFICATION OF MACHINES FOR DRIVES
1. DC MACHINES
SEPARATELY EXCITED
SHUNT
SERIES
COMPOUND
2. AC MACHINES
A. INDUCTION MACHINES: (ROTATING OR LINEAR)
CAGE
WOUND ROTOR (WRIM) OR DOUBLY-FED
B. SYNCHRONOUS MACHINES: (ROTATING OR LINEAR)
WOUND FIELD (WFSM)
RELUCTANCE MACHINE (SyRM)
PERMANENT MAGNET
RADIAL
SURFACE
TRAPEZOIDAL(BLDM)
AXIAL OR DISK
INTERIOR
SINUSOIDAL(PMSM)
C. VARIABLE RELUCTANCE (VRM) (ROTATING OR LINEAR)
Fig.28
SWITCHED RELUCTANCE (SRM)
STEPPER
ADVANCES AND TRENDS IN ELECTRICAL MACHINES
 MACHINE EVOLUTION HAS BEEN SLOW AND SUSTAINED OVER 100 YEARS
 ADVANCED CAD PROGRAMS AND IMPROVED MATERIALS HAVE CONTRIBUTED TO
LOWER COST, HIGHER EFFICIENCY, IMPROVED RELIABILITY AND POWER DENSITY
 DC MACHINES WILL TEND TO BE OBSOLETE IN FUTURE
 CAGE TYPE INDUCTION MOTORS REMAINS INDUSTRY’S WORKHORSE IN WIDE POWER
RANGE.
 WFSM REMAINS POPULAR IN VERY HIGH POWER APPLICATIONS
 PM SYNCHRONOUS MACHINES ARE EFFICIENT BUT AT HIGHER COST – THEY ARE
SUPERIOR TO INDUCTION MACHINES IN LIFE CYCLE COST
 MOST MACHINES (FOR CONSTANT OR VARIABLE SPEED DRIVE) WILL HAVE FRONTEND CONVERTER IN THE LONG RUN
 INTELLIGENT MACHINES WITH INTEGRATED CONVERTER AND CONTROLLER LOOK
VERY PROMISING IN FUTURE
Fig.29
PRINCIPAL CLASSES OF INDUCTION MOTOR DRIVES
 STATOR VOLTAGE CONTROL AT CONSTANT FREQUENCY
 VOLTAGE-FED PWM INVERTER DRIVE
 CURRENT-FED INVERTER DRIVE (SIX-STEP OR PWM)
 CYCLOCONVERTER DRIVE
 SLIP POWER RECOVERY DRIVE
- STATIC KRAMER DRIVE
- STATIC SCHERBIUS DRIVE
Fig.30
ADVANCED CONTROL TECHNIQUES OF INDUCTION MOTOR DRIVES
*VECTOR CONTROL
INDIRECT METHOD
*ADAPTIVE CONTROL
DIRECT METHOD
*OPTIMAL CONTROL
* SELF-TUNING REGULATOR (STR)
* MODEL REFERENCING ADAPTIVE CONTROL (MRAC)
* SLIDING MODE OR VARIABLE STRUCTURE CONTROL(SMC or VSS)
* H – INFINITY CONTROL
* INTELLIGENT CONTROL
EXPERT SYSTEM (ES)
FUZZY LOGIC (FL)
ARTIFICIAL NEURAL NETWORK (ANN)
GENETIC ALGORITHM (GA)
Fig.31
*FAULT TOLERANT CONTROL
QUEEN ELIZABETH 2 (QE2) CRUISE SHIP DIESEL-ELECTRIC PROPULSION SYSTEM
Fig.32
FEATURES OF QE2 PROPULSION SYSTEM
 NINE DIESEL GENERATOR UNITS – 10.5 MW, 0.9 PF, 10 kV, 60 Hz,
400 RPM (EACH)
 TWO WF SYNCHRONOUS MOTORS WITH EXTERNAL DC BRUSH EXCITATION – 44 MW,
0-144 RPM, 50-POLE, UNITY PF (EACH)
 SIX-PULSE RECTIFIER AND SIX-PULSE LOAD-COMMUTATED INVERTER SYSTEM
 MOTOR START-UP WITH CONVERTER, BUT SWITCH OVER TO 60 Hz LINE SUPPLY AT
FULL MOTOR SPEED (144 RPM)
 CONVERTER DC CURRENT INTERRUPTION MODE AT START-UP ( <10% SPEED), BUT
CEMF LOAD COMMUTATION AT HIGHER SPEED
 VARIABLE PITCH PROPELLER TO CONTROL LOAD TORQUE
 PROPULSION SPEED RANGE BY CONVERTER: 72 – 144 RPM
 REVERSIBLE SPEED WITH REGENERATION
 SPEED CONTROL WITH INNER LOOP Id CURRENT CONTROL
 FULL LOAD EFFICIENCY: GENERATOR- 97.3%, MOTOR – 98%
Fig.33
Fig.34
ICEBREAKER DIESEL-ELECTRIC SHIP PROPULSION WITH CYCLOCONVERTER-WFSM
DRIVE
FEATURES OF ICEBREAKER SHIP PRPULSION CYCLOCONVERTERWFSM DRIVE
 INSTALLED BY CANADIAN GE FOR ICE BREAKING IN ST. LAWRENCE RIVER
 CONSTANT BUS VOLTAGE AT FIXED SPEED DIESEL ENGINE (4160 V, 60 Hz)
 36-THYRISTOR, 6-PULSE BLOCKING MODE CYCLOCONVERTER
 SELF-CONTROLLED WFSM
POLE, 0-180 RPM, 0-18 Hz)
DRIVE WITH POSITION SENSOR (8000HP, 12-
- BRUSHLESS EXCITATION
- SPEED REVERSAL BUT NO REGENERATION
- UNITY MACHINE DPF
- DIRECT VECTOR CONTROL WITH STATOR FLUX ORIENTATION
- CURRENT MODEL FLUX VECTOR ESTIMATION AT LOW SPEED BUT
VOLTAGE MODEL ESTIMATION AT HIGH SPEED
- INSTANTANEOUS PHASE CURRENT CONTROL WITH
ESTIMATED
FEEDFORWARD CEMF INJECTION
 SCALAR CONTROL IN FIELD-WEAKENING MODE WITH TRAPEZOIDAL
VOLTAGE WAVE
Fig.35
12 MW DUAL CYCLOCONVERTER SYNCHRONOUS MOTOR DRIVE FOR MINING ORE
CRUSHING MILL
.
Fig.36
400 MW SCHERBIUS DRIVE FOR VARIABLE SPEED HYDRO GENERATOR AND PUMP STORAGE
SYSTEM
Fig.37
SALIENT FEATURES OF 400 MW SCHERBIUS DRIVE
 WORLD’S FIRST AND ONLY VARIABLE SPEED HYDRO PUMP/GENERATOR IN
OHKAWACHI PLANT OF KANSAI POWER CO.
 400 MW SCHERBIUS DRIVE WITH SLIP POWER CONTROL
 3.0% EFFICIENCY IMPROVEMENT WITH VARIABLE HEAD
 THYRISTOR CYCLOCONVERTER:
- NON-CIRCULATING MODE
- -5.0 Hz TO +5.0 Hz FREQUENCY VARIATION
- 12-PULSE, 72 MVA
 INDUCTION MACHINE:
- 20 POLE
- 330 RPM TO 390 RPM (SYNC. SPEED = 360 RPM)
- LEADING/LAGGING STATOR CURRENT
 POWER SYSTEM: 500 kV, 60 Hz, LEADING/LAGGING PF.
Fig.38
10 MVA THREE-LEVEL CONVERTER-WFSM DRIVE SYSTEM FOR ROLLING MILL
Fig.39
FEATURES OF PWM CONVERTER SYNCHRONOUS MOTOR DRIVE FOR STEEL
ROLLING MILL
 PWM THREE-LEVEL CONVERTER SYSTEM WITH HIGHEST GTO RATINGS (6000 V, 6000
A) – BY MITSUBISHI
 SOLVES LOW POWER FACTOR AND HARMONICS PROBLEMS OF CYCLOCONVERTER
 DC LINK VOLTAGE: 6000 V
 REGENERATIVE SNUBBER WITH DC-DC CONVERTER GIVES 97% CONVERTER
EFFICIENCY
 SPACE VECTOR PWM WITH MINIMUM PW CONTROL
 SUPPRESSED NEUTRAL VOLTAGE FLUCTUATION
 FOUR-QUADRANT OPERATION: 0-60 Hz, 0-3600 V OUTPUT
 FIELD-WEAKENING RANGE: 2.25:1
 PEAK OUTPUT – 15 MVA FOR 1.0 MINUTE
Fig.40
 DIRECT VECTOR CONTROL ON BOTH CONVERTERS
COMMERCIAL DTC CONTROLLED INDUCTION MOTOR DRIVE
Fig,41
FEATURES OF ACS1000 DRIVE SYSTEM
 WORLD’S FIRST DTC CONTROLLED INDUCTION MOTOR DRIVE
 SPECS. - POWER : 315 kW - 5000 kW (AIR OR WATER COOLED)
OUTPUT VOLTAGE: 0-2.3 kV, 0-3.3 kV, 0-4.16 kV
OUTPUT FREQUENCY: 0-66 Hz (OPTIONALLY 200 Hz)
LINE DPF: 0.97
LINE PF: 0.95
 THREE-LEVEL SINGLE DEVICE IGCT INVERTER WITH INTEGRATED INVERSE DIODE- SNUBBERLESS
 SCALAR CONTROL – PERFORMANCE ENHANCEMENT OVER
VOLTS/Hz CONTROL
 12-PULSE DIODE RECTIFIER (OPTIONALLY 24-PULSE)
 CAPACITOR AND INVERTER FAULT PROTECTION BY IGCT
 MACHINE TERMINAL LC FILTER
– SINUSOIDAL MACHINE CURRENT
– NO BEARING CURRENT
– NO VOLTAGE BOOST
 DC CHOKE – LIMITS COMMON MODE CURRENT
HIGH INPUT PF
 LINE POWER LOSS RIDE THROUGH
 FLUX PROGRAM EFFICIENCY OPTIMIZATION
Fig.42
25 MW SUPERCONDUCTING SYNCHRONOUS MOTOR SHIP PROPULSION SYSTEM[18][19]
Fig.43
FEATURES OF SUPERCONDUCTING MAGNET SHIP PROPULSION SYSTEM
 SYNCHRONOUS MACHINE:
LIQUID NITROGEN COOLED (HTS) FIELD WINDING
IRONLESS CONSTRUCTION
RATED POWER: 25 MW
NUMBER OF PHASES: 9
PHASE VOLTAGE: 3810 V
NUMBER OF POLES: 12
FREQUENCY RANGE: 0 – 12 Hz
SPEED RANGE: 0 – 120 RPM
POWER FACTOR: 1.0
EFFICIENCY: 94%
 SUPPLY BUS: 7100 V, 60 Hz
 DIODE-CLAMPED NPC VOLTAGE-FED CONVERTER:
4.5 kV, 4000 A (peak) IGCT WITH INTEGRATED DIODE
1.0 KHz SWITCHING FREQUENCY
SPACE VECTOR PWM
HARD-SWITCHED WITH REGENERATIVE SNUBBER
DC LINK VOLTAGE: 10,000 V
LC FILTER: Ld = 100 mH, CF(SPLIT) = 5000 F
NEUTRAL POINT VOLTAGE BALANCING
EFFICIENCY: 97%
 DIODE BRIDGE RECTIFIER:
6000 V, 1000 A DIODE (TWO IN SERIES)
R AND RCD SNUBBER
EFFICIENCY: 98%
 DIRECT VECTOR CONTROL IN CONSTANT TORQUE
 SPEED CONTROL WITH FLUX CONTROL
Fig.44
IPM-SM VECTOR CONTROL BLOCK DIAGRAM
Fig.45
ADVANCES AND TRENDS OF INDUCTION MOTOR DRIVES
 VOLTAGE-FED CONVERTER CAGE MACHINE DRIVES ARE MOST COMMONLY USED
INDUSTRIAL DRIVES TODAY – ALSO THE TREND FOR FUTURE
 FUTURE EMPHASIS ON CONVERTER AND CONTROLLER INTEGRATION WITH THE
MACHINE ON THE LOWER END OF POWER - INTELLIGENT MACHINES
 OPEN LOOP VOLTS/Hz. CONTROL IS VERY POPULAR FOR GENERAL PURPOSE
INDUSTRIAL DRIVES, WHEREAS VECTOR CONTROL IS USED IN HIGH PERFORMANCE
DRIVES.
 VECTOR CONTROL WILL BE UNIVERSALLY USED IN FUTURE
 INCREASING EMPHASIS OF VARIABLE FREQUENCY SOFT STARTING OF CONSTANT
SPEED MOTOR
 INCREASING EMPHASIS ON SPEED SENSORLESS VECTOR AND SCALAR DRIVES –
HOWEVER PRECISION SPEED ESTIMATION, PARTICULARLY AT ZERO FREQUENCY
REMAINS A CHALLENGE
 THERE WILL BE INCREASING EMPHASIS ON ON-LINE DRIVE DIAGNOSTICS AND FAULTTOLERANT CONTROL TO IMPROVE SYSTEM RELIABILITY
 INTELLIGENT CONTROL AND ESTIMATION (DISCUSSED LATER) WITH ASIC CHIPS WILL
FIND INCREASING ACCEPTANCE IN FUTURE
Fig.46
ADVANCES AND TRENDS OF SYNCHRONOUS MOTOR DRIVES
 SYNCHRONOUS MOTORS HAVE HIGHER EFFICIENCY – BUT ARE MORE EXPENSIVE THAN INDUCTION
MOTORS, i.e. LIFE-CYCLE COST IS LOWER
 WFSM DRIVES ARE POPULAR IN HIGHEST POWER RANGE BECAUSE OF IMPROVED EFFICIENCY AND
ECONOMICAL CONVERTER SYSTEM DUE TO UNITY OR NEAR UNITY LEADING POWER FACTOR
 DECLINING COST OF NdFeB PERMANENT MAGNET WILL MAKE PMSM DRIVES MORE POPULAR IN
FUTURE – EVENTUALLY SURPASS INDUCTION MOTOR DRIVES
 ABSOLUTE POSITION SENSOR IS MANDATORY IN SELF-CONTROLLED SYNCHRONOUS MOTOR DRIVES
 SENSORLESS SELF-CONTROL IS EXTREMELY DIFFICULT AT LOW SPEED (NEAR ZERO FREQUENCY)
 SPM MACHINE DRIVES ARE USED IN CONSTANT TORQUE REGION WHEREAS IPM MACHINE DRIVES
CAN BE USED UP TO FIELD-WEAKENING EXTENDED SPEED OPERATION
 TRAPEZOIDAL SPM MACHINE DRIVE IS TRULY ANALOGOUS TO DC DRIVE (BLDM OR BLDC)
 MANY ADVANCED CONTROL AND ESTIMATION TECHNIQUES FOR INDUCTION MOTORS ARE ALSO
APPLICABLE FOR SYNCHRONOUS MOTORS
 SWITCHED RELUCTANCE
APPLICATIONS
Fig.47
DRIVES
HAVE
QUESTIONABLE
FUTURE
EXCEPT
SPECIALIZED