Practical Control of Electric Machines: Model-Based Design and Simulation (Advances in Industrial Control)

Series Editor’s Foreword
Preface
Trademark Acknowledgements
Contents
1 Embedded Control System Development Process: Model-Based Design and Architecture Basics
	1.1 Introduction
	1.2 Model-Based Design
		1.2.1 V-Model
		1.2.2 Test Stage
		1.2.3 MBD Process
	1.3 Computer Simulations
		1.3.1 MATLAB/Simulink
		1.3.2 PSIM®
		1.3.3 Finite Element in Electric Machines
	1.4 Software Architecture Patterns
		1.4.1 Introduction
		1.4.2 Automotive Open System Architecture (AUTOSAR)
	1.5 Discrete-Time Electric Machine Control System Overview
	References
2 Electric Machine Control Technics
	2.1 Control Theory Overview
		2.1.1 Stability Analysis of Second-Order Systems
	2.2 Control Structures
		2.2.1 Feedforward Control
		2.2.2 Cascade Control Structure
	2.3 Classical PID Controllers
		2.3.1 PD Controller
		2.3.2 PI Controller
		2.3.3 PID Controller
		2.3.4 Anti-windup
	2.4 Digital Control
		2.4.1 Aliasing
		2.4.2 Quantifier
		2.4.3 Time Delays
		2.4.4 Integrators
		2.4.5 Derivative
	2.5 Digital PID Implementation
		2.5.1 Discrete PI
		2.5.2 Digital PI Implementation
	2.6 Fuzzy Logic as Controllers
		2.6.1 Overview
		2.6.2 Fuzzy Logic System
		2.6.3 Fuzzy Logic Control
		2.6.4 Adaptive Fuzzy PI
		2.6.5 Fuzzy + PI
	References
3 Three-Phase Electrical Systems
	3.1 Introduction
	3.2 Three-Phase Balanced Linear Load
		3.2.1 Star (Wye) Connection
		3.2.2 Delta Connection
		3.2.3 Low- and High-Voltage AC Machine Connection
	3.3 Power in Three-Phase Systems
	3.4 Vector Representation in Three-Phase Systems
	3.5 Mathematical Transformation for AC Machine Analysis
		3.5.1 The Clarke and Concordia Transformation
		3.5.2 The Rotation Transformation
	3.6 Instantaneous Power in Three-Phase Systems
		3.6.1 Instantaneous Power Computation
	3.7 RMS Computation
	References
4 Fundamentals of Electric Machines
	4.1 Introduction
	4.2 Electric Machine Classification
	4.3 Brushed Machine
		4.3.1 Universal Machine
		4.3.2 Self-Excited and Separately Excited Torque Expression
		4.3.3 Brushed Machine Operation
	4.4 Three-Phase Brushless AC Machine
		4.4.1 AC Induction Machine
		4.4.2 PMAC and BLDC Machine
		4.4.3 Synchronous Reluctance Machine
	References
5 Modeling Electric Machines
	5.1 Mechanical Motion Model (Newton’s Laws of Motion)
	5.2 State-Space Overview
	5.3 Modeling DC Machine
		5.3.1 Continuous State-Space
	5.4 Three-Phase Brushless AC Machine Model
		5.4.1 Induction Machine
		5.4.2 PMAC Machine
	References
6 Measurement in Electric Drives
	6.1 Introduction
	6.2 Voltage Measurement
		6.2.1 Non-isolated Voltage Measurement
		6.2.2 Adding a Low-Pass Filter (LPF)
	6.3 Temperature Measurement
		6.3.1 The Thermistor for Temperature Measurement
	6.4 Current Measurement
		6.4.1 Non-isolated Current Measurement
		6.4.2 Isolated Current Measurement
	6.5 Speed Measurement
		6.5.1 Tachometer Sensor
		6.5.2 Speed/Position Measurement
7 Microcontroller Peripherals for Electric Drives
	7.1 General Timer Module (GTM)
		7.1.1 GTM Sub-modules
	7.2 Analog-to-Digital Converter
		7.2.1 Successive Approximation A/D Converter
		7.2.2 Delta-Sigma Converter
	7.3 Infineon AURIX™ Automotive Microcontroller
		7.3.1 Introduction
		7.3.2 Infineon AURIX™ Family
		7.3.3 GTM in AURIX™ Family
		7.3.4 DSADC in AURIX™ Family
	7.4 General-Purpose Renesas RX600 Microcontroller
		7.4.1 Multi-function Timer Pulse Unit 3 (MTU3)
		7.4.2 A/D Converter
	7.5 Modeling and Simulation
		7.5.1 Modeling and Simulation of ATOM
		7.5.2 ATOM Configuration
		7.5.3 Simulation of SDADC
		7.5.4 Simulation of MTU for Three-Phase Machines
		7.5.5 MTU3-4 PWM Configuration
		7.5.6 MTU5 Configuration
		7.5.7 Simulation of A/D Converter
		7.5.8 A/D Configuration for Three-Phase Machines
	References
8 Analysis of Three-Phase Voltage-Source Inverters
	8.1 Introduction
	8.2 VSI
		8.2.1 Single-Phase VSI
		8.2.2 Three-Phase VSI
	8.3 Power Semiconductor
		8.3.1 Introduction
		8.3.2 Semiconductor Technology Overview
		8.3.3 Parasitic Effect in Semiconductor Switches
		8.3.4 Gate Charge
		8.3.5 Dynamic Characteristic
		8.3.6 Snubber Circuits
		8.3.7 Semiconductor Power Losses
	8.4 VSI Design Considerations
		8.4.1 Gate Driver
		8.4.2 Current Measurement
		8.4.3 Output Voltage Distortion
		8.4.4 DC Voltage Source
		8.4.5 DC-Link Pre-charge
		8.4.6 DC-Link Discharge
	8.5 VSI in Dynamic and Regenerative Braking Mode
	8.6 Machine Terminal Overvoltage
		8.6.1 Involved Impedance
		8.6.2 Sine-Wave Low-Frequency Output Filter
		8.6.3 High-Frequency Output Filter
		8.6.4 dv/dt Simulation
	8.7 VSI Self-protection
		8.7.1 Short-Circuit Protection (Surge Current Detection)
		8.7.2 Overcurrent Detection
		8.7.3 Overvoltage and Undervoltage Detection
		8.7.4 Overheating Detection
	8.8 Machine Fault Detection
		8.8.1 Locked Rotor Detection
		8.8.2 Overload Detection
		8.8.3 Overheating Detection
		8.8.4 Open-Phase Detection
	8.9 VSI Power Plant Model
	References
9 Space Vector Modulation
	9.1 Space Vector Modulation
		9.1.1 Introduction
		9.1.2 Space Vector Modulation
	9.2 Model Design
		9.2.1 Introduction
		9.2.2 SVPWM Model
		9.2.3 Deadtime Compensation Model
		9.2.4 Simulation Results
	9.3 Experimental Results
		9.3.1 Continuous SVPWM
		9.3.2 Discontinuous SVPWM
		9.3.3 Distortion Effect in the AC Current
		9.3.4 Semiconductor Temperature Effect
		9.3.5 Deadtime Compensation
	References
10 Practical Control of AC Machine
	10.1 Introduction
	10.2 Control Overview in an Electrical Machines
		10.2.1 Rotating Load Speed Control Design
		10.2.2 PI Current Control Design
		10.2.3 DC Servo Motor Drive Model-Based Simulation
	10.3 Principle of Vector Control
	10.4 Sensored Vector Control
		10.4.1 Induction Machine
		10.4.2 SynRM/PMASynRM
		10.4.3 PMSM
	10.5 Flux Weakening Control
		10.5.1 Flux Weakening Control of Induction Machine
		10.5.2 Flux Weakening Control of SynRM and PMASynRM
		10.5.3 Flux Weakening Control Strategy
	10.6 Sensorless Control
		10.6.1 Introduction
		10.6.2 Rotor Flux Linkage Estimator in IM, PMSM, SynRM, and PMASynRM
		10.6.3 Rotor Flux Linkage Estimator PMSM
		10.6.4 Instantaneous Slip and Speed Estimator for IM
	10.7 Simulations Results
		10.7.1 Flux Observer and Slip Estimator Simulations in IM
		10.7.2 Flux Observer in PMSM
	References
11 Model-in-the-Loop Development in a Vector Control of Induction Machine
	11.1 Introduction
	11.2 Control Loop Analysis
	11.3 Rapid Prototype Simulation Without Power Plant
	11.4 Software Architecture Design
	11.5 MCL SWC Design
		11.5.1 Slow Control Loop Task
		11.5.2 Fast Control Loop Task
		11.5.3 MCL Unit Test
	11.6 Model-in-the-Loop Test (MiL)
		11.6.1 Test Below Nominal Speed
		11.6.2 Test Above Nominal Speed
	11.7 Application in Electrical Vehicle
		11.7.1 Vehicle Movement Simulation
		11.7.2 Vehicle Speed Control Simulation
	11.8 Application in Propeller Aircraft
	References
12 Appendices
	12.1 Real-Time Implementation: PiL Testing
	12.2 55 kW IPMSM Simulation Results
		12.2.1 Static Simulation
		12.2.2 Motor Mode
		12.2.3 Generator Mode
	References
Index