Variable Speed AC Drives with Inverter Output Filters

Dr Jaroslaw Guzinski, Gdansk University of Technology, PolandDr Guzinski is currently an adjunct with the Faculty of Electrical and Control Engineering at Gdansk University of Technology. Dr Guzinski is the author and co-author of more than 100 papers presented in journals and conferences and the co-author of High Performance Control of AC Drives with Matlab/Simulink Models (John Wiley & Sons, 2012).Professor Haitham Abu-Rub, Texas A&M University at Qatar, Qatar, DohaProfessor Abu-Rub has worked in the academic field and has been an active expert in electric drives for almost 20 years. He joined Texas A&M University at Qatar in 2006 and teaches a course on electrical drives to graduate and undergraduate students. He has published around 80 journal and conference papers, has co-authored four lab manuals, and reviewed a significant number of scientific papers and projects. Professor Abu-Rub is also a co-author of High Performance Control of AC Drives with Matlab/Simulink Models (John Wiley & Sons, 2012).Patryk Strankowski, Gdansk University of Technology, PolandPatryk Strankowski is currently working towards his Ph.D. degree in monitoring and diagnosis of electrical drives at the Gdansk University of Technology in Poland.

• Foreword xiAcknowledgments xiiiAbout the Authors xivNomenclature xvi1 Introduction to Electric Drives with LC Filters 11.1 Preliminary Remarks 11.2 General Overview of AC Drives with Inverter Output Filters 21.3 Book Overview 41.4 Remarks on Simulation Examples 5References 62 Problems with AC Drives and Voltage Source Inverter Supply Effects 92.1 Effects Related to Common Mode Voltage 92.1.1 Capacitive Bearing Current 152.1.2 Electrical Discharge Machining Current 152.1.3 Circulating Bearing Current 152.1.4 Rotor Grounding Current 172.1.5 Dominant Bearing Current 172.2 Determination of the Induction Motor CM Parameters 182.3 Prevention of Common Mode Current: Passive Methods 202.3.1 Decreasing the Inverter Switching Frequency 202.3.2 Common Mode Choke 212.3.3 Integrated Common Mode and Differential Mode Choke 232.3.4 Common Mode Transformer 252.3.5 Machine Construction and Bearing Protection Rings 262.4 Active Systems for Reducing the CM Current 272.5 Common Mode Current Reduction by PWM Algorithm Modifications 282.5.1 Three Nonparity Active Vectors 302.5.2 Three Active Vector Modulation 322.5.3 Active Zero Voltage Control 322.5.4 Space Vector Modulation with One Zero Vector 362.6 Simulation Examples 392.6.1 Model of Induction Motor Drive with PWM Inverter and cmv 392.6.2 PWM Algorithms for Reduction of cmv 442.7 Summary 46References 463 Model of AC Induction Machine 493.1 Introduction 493.1.1 T‐Model of Induction Machine 503.2 Inverse‐Γ Model of Induction Machine 533.3 Per‐Unit System 543.4 Machine Parameters 563.5 Simulation Examples 59References 634 Inverter Output Filters 654.1 Structures and Fundamentals of Operations 654.2 Output Filter Model 714.3 Design of Inverter Output Filters 744.3.1 Sinusoidal Filter 744.3.2 Common Mode Filter 804.4 dV/dt Filter 834.5 Motor Choke 854.6 Simulation Examples 864.6.1 Inverter with LC Filter 864.6.2 Inverter with Common Mode and Differential Mode Filter 904.7 Summary 95References 965 Estimation of the State Variables in the Drive with LC Filter 975.1 Introduction 975.2 The State Observer with LC Filter Simulator 995.3 Speed Observer with Simplified Model of Disturbances 1035.4 Speed Observer with Extended Model of Disturbances 1065.5 Speed Observer with Complete Model of Disturbances 1075.6 Speed Observer Operating for Rotating Coordinates 1095.7 Speed Observer Based on Voltage Model of Induction Motor 1145.8 Speed Observer with Dual Model of Stator Circuit 1225.9 Adaptive Speed Observer 1255.10 Luenberger Flux Observer 1295.11 Simulation Examples 1305.11.1 Model of the State Observer with LC Filter Simulator 1305.11.2 Model of Speed Observer with Simplified Model of Disturbances 1335.11.3 Model of Rotor Flux Luenberger Observer 1365.12 Summary 138References 1386 Control of Induction Motor Drives with LC Filters 1416.1 Introduction 1416.2 A Sinusoidal Filter as the Control Object 1416.3 Field Oriented Control 1436.4 Nonlinear Field Oriented Control 1486.5 Multiscalar Control 1566.5.1 Main Control System of the Motor State Variables 1576.5.2 Subordinated Control System of the Sinusoidal Filter State Variables 1606.6 Electric Drive with Load‐Angle Control 1666.7 Direct Torque Control with Space Vector Pulse Width Modulation 1786.8 Simulation Examples 1866.8.1 Induction Motor Multiscalar Control with Multiloop Control of LC Filter 1866.8.2 Inverter with LC Filter and LR Load with Closed‐Loop Control 1946.9 Summary 198References 1987 Current Control of the Induction Motor 2017.1 Introduction 2017.2 Current Controller 2037.2.1 Predictive Object Model 2077.2.2 Costs Function 2087.2.3 Predictive Controller 2087.3 Investigations 2087.4 Simulation Examples of Induction Motor with Motor Choke and Predictive Control 2107.5 Summary and Conclusions 216References 2178 Diagnostics of the Motor and Mechanical Side Faults 2188.1 Introduction 2188.2 Drive Diagnosis Using Motor Torque Analysis 2188.3 Diagnosis of Rotor Faults in Closed‐Loop Control 2338.4 Simulation Examples of Induction Motor with Inverter Output Filter and Load Torque Estimation 2358.5 Conclusions 239References 2399 Multiphase Drive with Induction Motor and an LC Filter 2419.1 Introduction 2419.2 Model of a Five‐Phase Machine 2439.3 Model of a Five‐Phase LC Filter 2469.4 Five‐Phase Voltage Source Inverter 2479.5 Control of Five‐Phase Induction Motor with an LC Filter 2539.6 Speed and Flux Observer 2559.7 Induction Motor and an LC Filter for Five‐Phase Drive 2579.8 Investigations of Five‐Phase Sensorless Drive with an LC Filter 2579.9 FOC Structure in the Case of Combination of Fundamental and Third Harmonic Currents 2629.10 Simulation Examples of Five‐Phase Induction Motor with a PWM Inverter 266References 26910 General Summary, Remarks, and Conclusion 271Appendix A Synchronous Sampling of Inverter Output Current 273References 276Appendix B Examples of LC Filter Design 277B.1 Introduction 277Appendix C Equations of Transformation 282References 285Appendix D Data of the Motors Used in Simulations and Experiments 286Appendix E Adaptive Backstepping Observer 289Marcin MorawiecE.1 Introduction 289E.2 LC Filter and Extended Induction Machine Mathematical Models 290E.3 Backstepping Speed Observer 292E.4 Stability Analysis of the Backstepping Speed Observer 298E.5 Investigations 304E.6 Conclusions 305References 307Appendix F Significant Variables and Functions in Simulation Files 308Index 311