Seung-Ki Sul, PhD, serves as the director of Electrical Engineering and Science Research Center at Seoul National University in Korea. A well-known world authority on the subject of electrical drives, Dr. Sul has lectured on this topic at Seoul National University for the last seventeen years. Previously, he served as the acting director and consultant at Yaskawa Electric Company in Japan. An IEEE Fellow since 2000, Dr. Sul holds fifteen domestic patents and eight international patents.

"The book's practicality and realworld relatability make it an invaluable resource for professionals and engineers involved in the research and development of electric machine drive business, industrial drive designers, and senior undergraduate and graduate students." (Trading-house.net, 7 March 2011)

• Preface xiii1 Introduction 11.1 Introduction 11.1.1 Electric Machine Drive System 41.1.2 Trend of Development of Electric Machine Drive System 51.1.3 Trend of Development of Power Semiconductor 71.1.4 Trend of Development of Control Electronics 81.2 Basics of Mechanics 81.2.1 Basic Laws 91.2.2 Force and Torque 91.2.3 Moment of Inertia of a Rotating Body 111.2.4 Equations of Motion for a Rigid Body 131.2.5 Power and Energy 171.2.6 Continuity of Physical Variables 181.3 Torque Speed Curve of Typical Mechanical Loads 181.3.1 Fan, Pump, and Blower 181.3.2 Hoisting Load; Crane, Elevator 201.3.3 Traction Load (Electric Vehicle, Electric Train) 211.3.4 Tension Control Load 23Problems 24References 352 Basic Structure and Modeling of Electric Machines and Power Converters 362.1 Structure and Modeling of DC Machine 362.2 Analysis of Steady-State Operation 412.2.1 Separately Excited Shunt Machine 422.2.2 Series Excited DC Machine 452.3 Analysis of Transient State of DC Machine 462.3.1 Separately Excited Shunt Machine 472.4 Power Electronic Circuit to Drive DC Machine 502.4.1 Static Ward–Leonard System 512.4.2 Four-Quadrants Chopper System 522.5 Rotating Magnetic Motive Force 532.6 Steady-State Analysis of a Synchronous Machine 582.7 Linear Electric Machine 622.8 Capability Curve of Synchronous Machine 632.8.1 Round Rotor Synchronous Machine with Field Winding 632.8.2 Permanent Magnet Synchronous Machine 642.9 Parameter Variation of Synchronous Machine 662.9.1 Stator and Field Winding Resistance 662.9.2 Synchronous Inductance 662.9.3 Back EMF Constant 672.10 Steady-State Analysis of Induction Machine 702.10.1 Steady-State Equivalent Circuit of an Induction Machine 722.10.2 Constant Air Gap Flux Operation 772.11 Generator Operation of an Induction Machine 792.12 Variation of Parameters of an Induction Machine 812.12.1 Variation of Rotor Resistance, Rr 812.12.2 Variation of Rotor Leakage Inductance, Llr 822.12.3 Variation of Stator Resistance, Rs 822.12.4 Variation of Stator Leakage Inductance, Lls 832.12.5 Variation of Excitation Inductance, Lm 842.12.6 Variation of Resistance Representing Iron Loss, Rm 842.13 Classification of Induction Machines According to Speed–Torque Characteristics 842.14 Quasi-Transient State Analysis 872.15 Capability Curve of an Induction Machine 882.16 Comparison of AC Machine and DC Machine 902.16.1 Comparison of a Squirrel Cage Induction Machine and a Separately Excited DC Machine 902.16.2 Comparison of a Permanent Magnet AC Machine and a Separately Excited DC Machine 922.17 Variable-Speed Control of Induction Machine Based on Steady-State Characteristics 922.17.1 Variable Speed Control of Induction Machine by Controlling Terminal Voltage 932.17.2 Variable Speed Control of Induction Machine Based on Constant Air-Gap Flux (͌≈V=F) Control 942.17.3 Variable Speed Control of Induction Machine Based on Actual Speed Feedback 952.17.4 Enhancement of Constant Air-Gap Flux Control with Feedback of Magnitude of Stator Current 962.18 Modeling of Power Converters 962.18.1 Three-Phase Diode/Thyristor Rectifier 972.18.2 PWM Boost Rectifier 982.18.3 Two-Quadrants Bidirectional DC/DC Converter 1012.18.4 Four-Quadrants DC/DC Converter 1022.18.5 Three-Phase PWM Inverter 1032.18.6 Matrix Converter 1052.19 Parameter Conversion Using Per Unit Method 106Problems 108References 1143 Reference Frame Transformation and Transient State Analysis of Three-Phase AC Machines 1163.1 Complex Vector 1173.2 d–q–n Modeling of an Induction Machine Based on Complex Space Vector 1193.2.1 Equivalent Circuit of an Induction Machine at d–q–n AXIS 1203.2.2 Torque of the Induction Machine 1253.3 d–q–n Modeling of a Synchronous Machine Based on Complex Space Vector 1283.3.1 Equivalent Circuit of a Synchronous Machine at d–q–n AXIS 1283.3.2 Torque of a Synchronous Machine 1383.3.3 Equivalent Circuit and Torque of a Permanent Magnet Synchronous Machine 1403.3.4 Synchronous Reluctance Machine (SynRM) 144Problems 146References 1534 Design of Regulators for Electric Machines and Power Converters 1544.1 Active Damping 1574.2 Current Regulator 1584.2.1 Measurement of Current 1584.2.2 Current Regulator for Three-Phase-Controlled Rectifier 1614.2.3 Current Regulator for a DC Machine Driven by a PWM Chopper 1664.2.4 Anti-Wind-Up 1704.2.5 AC Current Regulator 1734.3 Speed Regulator 1794.3.1 Measurement of Speed/Position of Rotor of an Electric Machine 1794.3.2 Estimation of Speed with Incremental Encoder 1824.3.3 Estimation of Speed by a State Observer 1894.3.4 PI/IP Speed Regulator 1984.3.5 Enhancement of Speed Control Performance with Acceleration Information 2044.3.6 Speed Regulator with Anti-Wind-Up Controller 2064.4 Position Regulator 2084.4.1 Proportional–Proportional and Integral (P–PI) Regulator 2084.4.2 Feed-Forwarding of Speed Reference and Acceleration Reference 2094.5 Detection of Phase Angle of AC Voltage 2104.5.1 Detection of Phase Angle on Synchronous Reference Frame 2104.5.2 Detection of Phase Angle Using Positive Sequence Voltage on Synchronous Reference Frame 2134.6 Voltage Regulator 2154.6.1 Voltage Regulator for DC Link of PWM Boost Rectifier 215Problems 218References 2285 Vector Control 2305.1 Instantaneous Torque Control 2315.1.1 Separately Excited DC Machine 2315.1.2 Surface-Mounted Permanent Magnet Synchronous Motor (SMPMSM) 2335.1.3 Interior Permanent Magnet Synchronous Motor (IPMSM) 2355.2 Vector Control of Induction Machine 2365.2.1 Direct Vector Control 2375.2.2 Indirect Vector Control 2435.3 Rotor Flux Linkage Estimator 2455.3.1 Voltage Model Based on Stator Voltage Equation of an Induction Machine 2455.3.2 Current Model Based on Rotor Voltage Equation of an Induction Machine 2465.3.3 Hybrid Rotor Flux Linkage Estimator 2475.3.4 Enhanced Hybrid Estimator 2485.4 Flux Weakening Control 2495.4.1 Constraints of Voltage and Current to AC Machine 2495.4.2 Operating Region of Permanent Magnet AC Machine in Current Plane at Rotor Reference Frame 2505.4.3 Flux Weakening Control of Permanent Magnet Synchronous Machine 2575.4.4 Flux Weakening Control of Induction Machine 2625.4.5 Flux Regulator of Induction Machine 267Problems 269References 2816 Position/Speed Sensorless Control of AC Machines 2836.1 Sensorless Control of Induction Machine 2866.1.1 Model Reference Adaptive System (MRAS) 2866.1.2 Adaptive Speed Observer (ASO) 2916.2 Sensorless Control of Surface-Mounted Permanent Magnet Synchronous Machine (SMPMSM) 2976.3 Sensorless Control of Interior Permanent Magnet Synchronous Machine (IPMSM) 2996.4 Sensorless Control Employing High-Frequency Signal Injection 3026.4.1. Inherently Salient Rotor Machine 3046.4.2 AC Machine with Nonsalient Rotor 305Problems 317References 3207 Practical Issues 3247.1 Output Voltage Distortion Due to Dead Time and Its Compensation 3247.1.1 Compensation of Dead Time Effect 3257.1.2 Zero Current Clamping (ZCC) 3277.1.3 Voltage Distortion Due to Stray Capacitance of Semiconductor Switches 3277.1.4 Prediction of Switching Instant 3307.2 Measurement of Phase Current 3347.2.1 Modeling of Time Delay of Current Measurement System 3347.2.2 Offset and Scale Errors in Current Measurement 3377.3 Problems Due to Digital Signal Processing of Current Regulation Loop 3427.3.1 Modeling and Compensation of Current Regulation Error Due to Digital Delay 3427.3.2 Error in Current Sampling 346Problems 350References 353Appendix A Measurement and Estimation of Parameters of Electric Machinery 354A.1 Parameter Estimation 354A.1.1 DC Machine 355A.1.2 Estimation of Parameters of Induction Machine 357A.2 Parameter Estimation of Electric Machines Using Regulators of Drive System 361A.2.1 Feedback Control System 361A.2.2 Back EMF Constant of DC Machine, K 363A.2.3 Stator Winding Resistance of Three-Phase AC Machine, Rs 363A.2.4 Induction Machine Parameters 365A.2.5 Permanent Magnet Synchronous Machine 370A.3 Estimation of Mechanical Parameters 374A.3.1 Estimation Based on Mechanical Equation 374A.3.2 Estimation Using Integral Process 376References 380Appendix B d–q Modeling Using Matrix Equations 381B.1 Reference Frame and Transformation Matrix 381B.2 d–q Modeling of Induction Machine Using Transformation Matrix 386B.3 d–q Modeling of Synchronous Machine Using Transformation Matrix 390Index 391IEEE Press Series on Power Engineering 401

Seung-Ki Sul, PhD, serves as the director of Electrical Engineering and Science Research Center at Seoul National University in Korea. A well-known world authority on the subject of electrical drives, Dr. Sul has lectured on this topic at Seoul National University for the last seventeen years. Previously, he served as the acting director and consultant at Yaskawa Electric Company in Japan. An IEEE Fellow since 2000, Dr. Sul holds fifteen domestic patents and eight international patents.

"The book's practicality and realworld relatability make it an invaluable resource for professionals and engineers involved in the research and development of electric machine drive business, industrial drive designers, and senior undergraduate and graduate students." (Trading-house.net, 7 March 2011)

• Preface xiii1 Introduction 11.1 Introduction 11.1.1 Electric Machine Drive System 41.1.2 Trend of Development of Electric Machine Drive System 51.1.3 Trend of Development of Power Semiconductor 71.1.4 Trend of Development of Control Electronics 81.2 Basics of Mechanics 81.2.1 Basic Laws 91.2.2 Force and Torque 91.2.3 Moment of Inertia of a Rotating Body 111.2.4 Equations of Motion for a Rigid Body 131.2.5 Power and Energy 171.2.6 Continuity of Physical Variables 181.3 Torque Speed Curve of Typical Mechanical Loads 181.3.1 Fan, Pump, and Blower 181.3.2 Hoisting Load; Crane, Elevator 201.3.3 Traction Load (Electric Vehicle, Electric Train) 211.3.4 Tension Control Load 23Problems 24References 352 Basic Structure and Modeling of Electric Machines and Power Converters 362.1 Structure and Modeling of DC Machine 362.2 Analysis of Steady-State Operation 412.2.1 Separately Excited Shunt Machine 422.2.2 Series Excited DC Machine 452.3 Analysis of Transient State of DC Machine 462.3.1 Separately Excited Shunt Machine 472.4 Power Electronic Circuit to Drive DC Machine 502.4.1 Static Ward–Leonard System 512.4.2 Four-Quadrants Chopper System 522.5 Rotating Magnetic Motive Force 532.6 Steady-State Analysis of a Synchronous Machine 582.7 Linear Electric Machine 622.8 Capability Curve of Synchronous Machine 632.8.1 Round Rotor Synchronous Machine with Field Winding 632.8.2 Permanent Magnet Synchronous Machine 642.9 Parameter Variation of Synchronous Machine 662.9.1 Stator and Field Winding Resistance 662.9.2 Synchronous Inductance 662.9.3 Back EMF Constant 672.10 Steady-State Analysis of Induction Machine 702.10.1 Steady-State Equivalent Circuit of an Induction Machine 722.10.2 Constant Air Gap Flux Operation 772.11 Generator Operation of an Induction Machine 792.12 Variation of Parameters of an Induction Machine 812.12.1 Variation of Rotor Resistance, Rr 812.12.2 Variation of Rotor Leakage Inductance, Llr 822.12.3 Variation of Stator Resistance, Rs 822.12.4 Variation of Stator Leakage Inductance, Lls 832.12.5 Variation of Excitation Inductance, Lm 842.12.6 Variation of Resistance Representing Iron Loss, Rm 842.13 Classification of Induction Machines According to Speed–Torque Characteristics 842.14 Quasi-Transient State Analysis 872.15 Capability Curve of an Induction Machine 882.16 Comparison of AC Machine and DC Machine 902.16.1 Comparison of a Squirrel Cage Induction Machine and a Separately Excited DC Machine 902.16.2 Comparison of a Permanent Magnet AC Machine and a Separately Excited DC Machine 922.17 Variable-Speed Control of Induction Machine Based on Steady-State Characteristics 922.17.1 Variable Speed Control of Induction Machine by Controlling Terminal Voltage 932.17.2 Variable Speed Control of Induction Machine Based on Constant Air-Gap Flux (͌≈V=F) Control 942.17.3 Variable Speed Control of Induction Machine Based on Actual Speed Feedback 952.17.4 Enhancement of Constant Air-Gap Flux Control with Feedback of Magnitude of Stator Current 962.18 Modeling of Power Converters 962.18.1 Three-Phase Diode/Thyristor Rectifier 972.18.2 PWM Boost Rectifier 982.18.3 Two-Quadrants Bidirectional DC/DC Converter 1012.18.4 Four-Quadrants DC/DC Converter 1022.18.5 Three-Phase PWM Inverter 1032.18.6 Matrix Converter 1052.19 Parameter Conversion Using Per Unit Method 106Problems 108References 1143 Reference Frame Transformation and Transient State Analysis of Three-Phase AC Machines 1163.1 Complex Vector 1173.2 d–q–n Modeling of an Induction Machine Based on Complex Space Vector 1193.2.1 Equivalent Circuit of an Induction Machine at d–q–n AXIS 1203.2.2 Torque of the Induction Machine 1253.3 d–q–n Modeling of a Synchronous Machine Based on Complex Space Vector 1283.3.1 Equivalent Circuit of a Synchronous Machine at d–q–n AXIS 1283.3.2 Torque of a Synchronous Machine 1383.3.3 Equivalent Circuit and Torque of a Permanent Magnet Synchronous Machine 1403.3.4 Synchronous Reluctance Machine (SynRM) 144Problems 146References 1534 Design of Regulators for Electric Machines and Power Converters 1544.1 Active Damping 1574.2 Current Regulator 1584.2.1 Measurement of Current 1584.2.2 Current Regulator for Three-Phase-Controlled Rectifier 1614.2.3 Current Regulator for a DC Machine Driven by a PWM Chopper 1664.2.4 Anti-Wind-Up 1704.2.5 AC Current Regulator 1734.3 Speed Regulator 1794.3.1 Measurement of Speed/Position of Rotor of an Electric Machine 1794.3.2 Estimation of Speed with Incremental Encoder 1824.3.3 Estimation of Speed by a State Observer 1894.3.4 PI/IP Speed Regulator 1984.3.5 Enhancement of Speed Control Performance with Acceleration Information 2044.3.6 Speed Regulator with Anti-Wind-Up Controller 2064.4 Position Regulator 2084.4.1 Proportional–Proportional and Integral (P–PI) Regulator 2084.4.2 Feed-Forwarding of Speed Reference and Acceleration Reference 2094.5 Detection of Phase Angle of AC Voltage 2104.5.1 Detection of Phase Angle on Synchronous Reference Frame 2104.5.2 Detection of Phase Angle Using Positive Sequence Voltage on Synchronous Reference Frame 2134.6 Voltage Regulator 2154.6.1 Voltage Regulator for DC Link of PWM Boost Rectifier 215Problems 218References 2285 Vector Control 2305.1 Instantaneous Torque Control 2315.1.1 Separately Excited DC Machine 2315.1.2 Surface-Mounted Permanent Magnet Synchronous Motor (SMPMSM) 2335.1.3 Interior Permanent Magnet Synchronous Motor (IPMSM) 2355.2 Vector Control of Induction Machine 2365.2.1 Direct Vector Control 2375.2.2 Indirect Vector Control 2435.3 Rotor Flux Linkage Estimator 2455.3.1 Voltage Model Based on Stator Voltage Equation of an Induction Machine 2455.3.2 Current Model Based on Rotor Voltage Equation of an Induction Machine 2465.3.3 Hybrid Rotor Flux Linkage Estimator 2475.3.4 Enhanced Hybrid Estimator 2485.4 Flux Weakening Control 2495.4.1 Constraints of Voltage and Current to AC Machine 2495.4.2 Operating Region of Permanent Magnet AC Machine in Current Plane at Rotor Reference Frame 2505.4.3 Flux Weakening Control of Permanent Magnet Synchronous Machine 2575.4.4 Flux Weakening Control of Induction Machine 2625.4.5 Flux Regulator of Induction Machine 267Problems 269References 2816 Position/Speed Sensorless Control of AC Machines 2836.1 Sensorless Control of Induction Machine 2866.1.1 Model Reference Adaptive System (MRAS) 2866.1.2 Adaptive Speed Observer (ASO) 2916.2 Sensorless Control of Surface-Mounted Permanent Magnet Synchronous Machine (SMPMSM) 2976.3 Sensorless Control of Interior Permanent Magnet Synchronous Machine (IPMSM) 2996.4 Sensorless Control Employing High-Frequency Signal Injection 3026.4.1. Inherently Salient Rotor Machine 3046.4.2 AC Machine with Nonsalient Rotor 305Problems 317References 3207 Practical Issues 3247.1 Output Voltage Distortion Due to Dead Time and Its Compensation 3247.1.1 Compensation of Dead Time Effect 3257.1.2 Zero Current Clamping (ZCC) 3277.1.3 Voltage Distortion Due to Stray Capacitance of Semiconductor Switches 3277.1.4 Prediction of Switching Instant 3307.2 Measurement of Phase Current 3347.2.1 Modeling of Time Delay of Current Measurement System 3347.2.2 Offset and Scale Errors in Current Measurement 3377.3 Problems Due to Digital Signal Processing of Current Regulation Loop 3427.3.1 Modeling and Compensation of Current Regulation Error Due to Digital Delay 3427.3.2 Error in Current Sampling 346Problems 350References 353Appendix A Measurement and Estimation of Parameters of Electric Machinery 354A.1 Parameter Estimation 354A.1.1 DC Machine 355A.1.2 Estimation of Parameters of Induction Machine 357A.2 Parameter Estimation of Electric Machines Using Regulators of Drive System 361A.2.1 Feedback Control System 361A.2.2 Back EMF Constant of DC Machine, K 363A.2.3 Stator Winding Resistance of Three-Phase AC Machine, Rs 363A.2.4 Induction Machine Parameters 365A.2.5 Permanent Magnet Synchronous Machine 370A.3 Estimation of Mechanical Parameters 374A.3.1 Estimation Based on Mechanical Equation 374A.3.2 Estimation Using Integral Process 376References 380Appendix B d–q Modeling Using Matrix Equations 381B.1 Reference Frame and Transformation Matrix 381B.2 d–q Modeling of Induction Machine Using Transformation Matrix 386B.3 d–q Modeling of Synchronous Machine Using Transformation Matrix 390Index 391IEEE Press Series on Power Engineering 401