Dedicated to my parents, my wife Beata, and my children Fatima, Iman, Omar, and Muhammad.

—Haitham Abu-Rub

Dedicated to my parents, parents in-law, my wife Shadma, and my kids Abuzar, Noorin, and Abu Baker who have inspired me to write this book.

—Atif Iqbal

Dedicated to my parents, my wife Anna, and my son Jurek.

—Jaroslaw Guzinski

Contents

Cover

Dedication

Title Page

Copyright

Acknowledgment

Biographies

Preface

Chapter 1: Introduction to High Performance Drives

1.1 Preliminary Remarks

1.2 General Overview of High Performance Drives

1.3 Challenges and Requirements for Electric Drives for Industrial Applications

1.4 Organization of the Book

References

Chapter 2: Mathematical and Simulation Models of AC Machines

2.1 Preliminary Remarks

2.2 DC Motors

2.3 Squirrel Cage Induction Motor

2.4 Mathematical Model of Permanent Magnet Synchronous Motor

2.5 Problems

References

Chapter 3: Pulse Width Modulation of Power Electronic DC-AC Converter

3.1 Preliminary Remarks

3.2 Classification of PWM Schemes for Voltage Source Inverters

3.3 Pulse Width Modulated Inverters

3.4 Three-phase PWM Voltage Source Inverter

3.5 Relationship between Carrier-based PWM and SVPWM 22

3.6 Multi-level Inverters

3.7 Impedance Source or Z-source Inverter

3.8 Quasi Impedance Source or qZSI Inverter

3.9 Dead Time Effect in a Multi-phase Inverter

3.10 Summary

3.11 Problems

References

Chapter 4: Field Oriented Control of AC Machines

4.1 Introduction

4.2 Induction Machines Control

4.3 Vector Control of Double Fed Induction Generator (DFIG)

4.4 Control of Permanent Magnet Synchronous Machine

Exercises

Additional Tasks

Possible Tasks for DFIG

Questions

References

Chapter 5: Direct Torque Control of AC Machines

5.1 Preliminary Remarks

5.2 Basic Concept and Principles of DTC

5.3 DTC of Induction Motor with Ideal Constant Machine Model

5.4 DTC of Induction Motor with Consideration of Iron Loss

5.5 DTC of Induction Motor with Consideration of both Iron Losses and Magnetic Saturation

5.6 Modified Direct Torque Control of Induction Machine with Constant Switching Frequency

5.7 Direct Torque Control of Sinusoidal Permanent Magnet Synchronous Motors (SPMSM)

References

Chapter 6: Non-Linear Control of Electrical Machines Using Non-Linear Feedback

6.1 Introduction

6.2 Dynamic System Linearization using Non-Linear Feedback

6.3 Non-Linear Control of Separately Excited DC Motors

6.4 Multiscalar model (MM) of Induction Motor

6.5 MM of Double Fed Induction Machine (DFIM)

6.6 Non-Linear Control of Permanent Magnet Synchronous Machine

6.7 Problems

References

Chapter 7: Five-Phase Induction Motor Drive System

7.1 Preliminary Remarks

7.2 Advantages and Applications of Multi-Phase Drives

7.3 Modeling and Simulation of a Five-Phase Induction Motor Drive

7.4 Indirect Rotor Field Oriented Control of Five-Phase Induction Motor

7.5 Field Oriented Control of Five-Phase Induction Motor with Current Control in the Synchronous Reference Frame

7.6 Model Predictive Control (MPC)

7.7 Summary

References

Chapter 8: Sensorless Speed Control of AC Machines

8.1 Preliminary Remarks

8.2 Sensorless Control of Induction Motor

8.3 Sensorless Control of PMSM

8.4 MRAS-based Sensorless Control of Five-phase Induction Motor Drive

References

Chapter 9: Selected Problems of Induction Motor Drives with Voltage Inverter and Inverter Output Filters

9.1 Drives and Filters – Overview

9.2 Three-phase to Two-phase Transformations

9.3 Voltage and Current Common Mode Component

9.4 Induction Motor Common Mode Circuit

9.5 Bearing Current Types and Reduction Methods

9.6 Inverter Output Filters

9.7 Estimation Problems in the Drive with Filters

9.8 Motor Control Problems in the Drive with Filters

9.9 Predictive Current Control in the Drive System with Output Filter

9.10 Problems

9.11 Questions

References

Index

This edition first published 2012

© 2012 John Wiley & Sons Ltd

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Library of Congress Cataloging-in-Publication Data

Abu-Rub, Haithem.

High performance control of AC drives with MATLAB/Simulink models / Haitham

Abu Rub, Atif Iqbal, Jaroslaw Guzinski.

p. cm.

Includes bibliographical references and index.

ISBN 978-0-470-97829-0 (hardback)

1. Electric motors, Alternating current–Computer simulation. 2. Electric motors, Alternating current–Automatic control. 3. MATLAB. 4. SIMULINK. I. Iqbal, Atif. II. Guzinski, Jaroslaw. III. Title. TK2781.A28 2012

621.46–dc23

2011052004

Acknowledgment

We would like to take this opportunity to express our sincere appreciation to all the people who directly or indirectly helped us in making this book a reality. Our thanks go to our colleagues and students at Texas A&M University at Qatar, Qatar University, Aligarh Muslim University, Gdansk University of Technology, and Ho Chi Minh City University of Technology. Our special thanks go to Mr Wesam Mansour, Mr S.K. Moin Ahmed, Dr M. Rizwan Khan, and Mr M. Arif Khan for assisting us in this work. We are also very grateful to Dr Khalid Khan for his very valuable assistance in preparing the Matlab/Simulink models and converting the C/C++ files into Matlab. The authors would like to put on record the help extended by Mr. Puneet Sharma in developing the simulation model of over-modulation PWM. Furthermore, we would like to also thank Dr Shaikh Moinoddin for his help in Chapters 3 and 7 of the book, as well as Miss Marwa Qaraqe and Mrs Amy Hamar for their help in revising the language of the text.

We are indebted to our family members for their continuous support, patience, and encouragement without which this project would not have been completed. We would also like to express our appreciation and sincere gratitude to the staff of Wiley, especially Laura Bell, Liz Wingett, and the late Nicky Skinner for their help and cooperation.

Above all we are grateful to the almighty, the most beneficent and merciful, who provided us the continuous confidence and determination in accomplishing this work.

Haitham Abu-Rub, Atif Iqbal and Jaroslaw Guzinski

Biographies

Haitham Abu-Rub is an Associate Professor at Texas A&M University at Qatar. He holds two PhDs, from Gdansk University of Technology and from Gdansk University in Poland, received in 1995 and 2004, respectively. He was an Assistant Professor at the Gdansk University, and then at Birzeit University in Palestine, where he held the positions of Assistant Professor and Associate Professor for eight years. For four of those years, he was chair of the Electrical Engineering Department. His main research interests are electrical machine drives and power electronics. Dr Abu-Rub has earned many international, prestigious fellowships, such as the American Fulbright Scholarship (at Texas A&M University), the German Alexander von Humboldt Fellowship (at Wuppertal University), the German DAAD Scholarship (at Bochum University), and the British Royal Society Scholarship (at Southampton University).

Dr Abu-Rub is a senior IEEE member, with more than one hundred and thirty published journal and conference papers to his credit. He has also served as an Associate Editor with two journals, and has been on their editorial boards.

Atif Iqbal received his BS and MS of Electrical Engineering degrees in 1991 and 1996, respectively, from the Aligarh Muslim University (AMU), Aligarh, India, and PhD in 2006 from Liverpool John Moores University in the United Kingdom. He has been employed as a lecturer at AMU in India since 1991, where he is an Associate Professor. He has been on academic leave to work in a research position at Texas A&M University at Qatar from April 2009 and serve as a faculty member in the Department of Electrical Engineering at Qatar University, where he is working at present. He has published more than 150 research papers in the field of power electronics and drives, including 50 international journal papers. He has completed large R&D projects, and is the recipient of Maulana Tufail Ahmad Gold Medal for his BS Engineering exams in 1991 from AMU and EPSRC, a UK fellowship for his PhD.

Atif Iqbal is a senior IEEE member. He is an Associate Editor of the Journal of Computer Science, Informatics and Electrical Engineering. He also serves on the editorial board of the International Journal of Science Engineering and Technology, and is a manager for the Journal of Electrical Engineering, the International Journal of Power Electronics Converter (IJPEC), International Journal of Power Electronics and Drive System (IJPEDS) and the International Journal of Power Electronics and Energy (IJPEE).

Jaroslaw Guzinski received his MS and PhD degrees from the Electrical Engineering Department at the Technical University of Gdansk, Poland, in 1994 and 2000, 2006 to 2009, he was involved in European Commission Project PREMAID Marie Curie, ‘Predictive Maintenance and Diagnostics of Railway Power Trains’, coordinated by Alstom Transport. He obtained scholarships in the Socrates/Erasmus programme, and headed two grants supported by the Polish government in the area of speed sensorless control and diagnostics for drives with LC filters. He has authored and coauthored more than 100 papers in journals and conferences. He has patented solutions for speed sensorless drives with LC filters. His current interests include sensorless control of electrical motors, digital signal processors, and electric vehicles.

Truc Phamdinh received his BE degree in electrical engineering from the University of New South Wales (Australia) with first class honours. He then successfully completed his PhD studies, producing a dissertation entitled ‘Direct Torque Control of Induction Machine Considering Iron Losses’ at Liverpool John Moores University (UK). He is at present a lecturer with the Faculty of Electrical and Electronic Engineering, Ho Chi Minh City University of Technology, Vietnam National University, Ho Chi Minh. He is responsible for courses in advanced controls of electrical machines at both undergraduate and postgraduate levels. His research interests include high-performance drives of AC machines, such as field-oriented control and direct torque control, sensorless speed controls, and controls of doubly fed induction generator for wind power.

Zbigniew Krzeminski received his PhD degree from the Technical University of Lodz, Lodz, Poland, in 1983 and the DSc degree from Silesian Technical University, Gliwice, Poland, in 1991. He is a Professor with Gdansk University of Technology, Gdansk, Poland. His main areas of research are modeling and simulation of electric machines, control of electric drives, and DSP systems.

Preface

The book describes the concept of advanced control strategies of AC machine drives along with their complete simulation models using Matlab/Simulink. Electrical Motors consume the most energy of the electricity generated worldwide. Thus, there exists a huge scope of saving energy by devising efficient operation schemes of these electrical machines. One approach could be the special design of motors with high-energy efficiency. Other approach lies in the proper control of the machines. The electrical motors employed in various applications run at fixed speed. However, it is found that by varying the speed of motors depending upon the load requirements, the efficiency can be improved significantly; thus, the variable speed operation is extremely important in obtaining highly efficient operations of the machines. As a result, the speed control of a machine for industrial and household applications is most vital for limiting greenhouse gas emission and offering an environment-friendly solution. Controlling the operation of an electrical machine by varying its speed, in literature, is called ‘variable speed drives’ or ‘adjustable speed drives’.

This book discusses the advanced technology used to obtain variable speed AC drives. This book also describes the basic modeling procedures of power electronic converters and AC machines. The mathematical model thus obtained will be used to develop a simulation model using Matlab/Simulink. The Pulse Width Modulation (PWM) techniques for voltage source inverters and their simulation models are described in one chapter. The AC machines that are taken up for discussion are the most popular squirrel cage induction machine, permanent magnet synchronous machine, and the double-fed induction machine. The book illustrates the advance control techniques of electric drives such as ‘field-oriented control’, ‘direct torque control’, ‘feedback linearization control’, ‘sensorless operation’, and advances in ‘multi-phase (more than three-phase) drives’. A separate chapter is dedicated to a five-phase motor drive system. The effect of using an output LC filter at the inverter side on the motor drive control is elaborated on in another chapter.

These control techniques are in general called ‘high-performance drives’ as they offer extremely fast and precise dynamic and steady-state response of electric machines. Thus, this book describes the most important and industrially accepted advanced control technology of AC machines. The book encompasses these diverse topics in a single volume.

This book features exhaustive simulation models based on Matlab/Simulink. Matlab/Simulink is an integral part of taught courses at undergraduate and postgraduate programs and is also extensively used in industries. Thus, the simulation models will provide a handy tool to students, practicing engineers, and researchers to verify the algorithms, techniques, and models. Once familiar with the models presented in the book, students and practicing engineers can develop and verify their own algorithms and techniques.

The book is useful for students studying electric drives/motor control at UG/PG levels. The prerequisite will be the basic courses of electric machines, power electronics, and controls. Lecturers can find tutorial materials and Solutions to the problems set out in the book on the companion website: www.wiley.com/go/aburub_control. The contents of the book will also be useful to researchers and practicing engineers, as well as specialists.

Chapter 1

Introduction to High Performance Drives

1.1 Preliminary Remarks

The function of an electric drives system is the controlled conversion of electrical energy to a mechanical form, and vice versa, via a magnetic field. Electric drives is a multi-disciplinary field of study, requiring proper integration of knowledge of electrical machines, actuators, power electronic converters, sensors and instrumentation, control hardware and software, and communication links (Figure 1.1). There have been continued developments in the field of electric drives since the inception of the first principle of electrical motors by Michael Faraday in 1821 [1]. The world dramatically changed after the first induction machine was patented (US Patent 381968) by Nikola Tesla in 1888 [2]. Initial research focused on machine design with the aim of reducing the weight per unit power and increasing the efficiency of the motor. Constant efforts by researchers have led to the development of energy efficient industrial motors with reduced volume machines. The market is saturated with motors reaching a high efficiency of almost 95–96%, resulting in no more significant complaints from users [3]. AC motors are broadly classified into three groups: synchronous, asynchronous (induction), and electronically commutated motors. Asynchronous motors are induction motors with a field wound circuit or with squirrel cage rotors. Synchronous motors run at synchronous speeds decided by the supply frequency () and are classified into three major types: rotor excited, permanent magnets, and synchronous reluctance types. Electronic commutated machines use the principle of DC machines but replace the mechanical commutator with inverter-based commutations. There are two main types of motors that are classified under this category: brushless DC motors and switched reluctance motors. There are several other variations of these basic configurations of electric machines used for specific applications, such as stepper motors, hysteresis motors, permanent magnet assisted synchronous reluctance motors, hysteresis-reluctance motors, universal motors, claw pole motors, frictionless active bearing-based motors, linear induction motors, etc. Active magnetic bearing systems work on the principle of magnetic levitation and, therefore, do not require working fluid, such as grease or lubricating oils. This feature is highly desirable in special applications, such as artificial heart or blood pumps, as well as in the oil and gas industry.

Figure 1.1 Electric drive system

Induction motors are called the workhorse of industry due to their widespread use in industrial drives. They are the most rugged and cheap motors available off the shelf. However, their dominance is challenged by permanent magnet synchronous motors (PMSM), because of their high power density and high efficiency due to reduced rotor losses. Nevertheless, the use of PMSMs is still restricted to the high performance application area, due to their moderate ratings and high cost. PMSMs were developed after the invention of Alnico, a permanent magnet material, in 1930. The desirable characteristics of permanent magnets are their large coercive force and high reminiscence. The former characteristics prevent demagnetization during start and short-conditions of motors and the latter maximizes the air gap flux density. The most used permanent magnet material is Neodymium-Boron-Iron (NdBFe), which has almost 50 times higher B-H energy compared to Alnico. The major shortcomings of permanent magnet machines are the non-adjustable flux, irreversible demagnetization, and expensive rare-earth magnet resources. Variable flux permanent magnet (VFPM) machines have been developed to incorporate the adjustable flux feature. This variable flux feature offers flexibility by optimizing efficiency over the whole machine operation range, enhancing torque at low speed, extending the high speed operating range, and reducing the likelihood of an excessively high back-EMF being induced at high speed during inverter fault conditions. The VFPM are broadly classified into hybrid-excited machines (they have the field coils and the permanent magnets) and mechanically adjusted permanent magnet machines. Detailed reviews on the variable flux machines are given in [4]. The detailed reviews on the advances on electric motors are presented in [5–16].

Another popular class of electrical machine is the double-fed induction machine (DFIM) with a wound rotor. The DFIM is frequently used as an induction generator in wind energy systems. The double-fed induction generator (DFIG) is a rotor-wound, three-phase induction machine that is connected to the AC supply from both stator and rotor terminals (). The stator windings of the machine are connected to the utility grid without using power converters, and the rotor windings are fed by an active front-end converter. Alternatively, the machine can be fed by current or voltage source inverters with controlled voltage magnitude and frequency [17–22].

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