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電機控制(Electric Machinery Control)

(EE484000)

Course introduction

Department of Electrical Engineering,National Tsing Hua University

C. M. Liaw

清華大學電機系廖聰明

目的 (Purposes)：介紹一些工業控制系統之理論與操作實務，構建此類系統必要組件之結構與工作原理。(Introduce the theories and operation affairs of some industrial control systems, the structures and operation principles of constituted components in these systems.)

所涉及領域 (Covered fields)：

電機控制 (EE484000) 課前介紹

內容 (Contents)：如下頁所列 (See the following pages)。教材 (Teaching materials)：原則上由任課老師提供講義(Distributed lecture notes)。考核方式 (Evaluation)：作業、考試 (Exercises and tests)。實驗 (Experiments)：視實際需要及時間儘量提供。

電機控制(或機電整合系統控制)有關學域

電路系統

機械系統

電力電子

元件

:

靜止型

運動型

電動機械:

感測與轉換

應用電子:

類比

數位

,

實作

控制系統

類比

數位

:

,

設計,

感測技術

信號處理放大

:

Power supplies

Motor drives

(Electric Machine Control (EE484000): Course Introduction) (廖聰明, C. M. Liaw)

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Mechatronic control system covered fields

2

Text books:• 講義 (Handouts).• Timothy J. Maloney, Modern industrial electronics, 5th Ed., Pearson Prentice Hall, 2004.Reference books:• R. Krishnan, Electric motor drives: modeling, analysis and control, Prentice Hall, 2001.• J. M. Jacob, Industrial control electronics.• J. M. Jacob, Power electronics: principles and applications, Delmar Thomson Learning, 2002. • G. K. Dubey, Power semiconductor controlled drives, Alpha Science, UK, 2001.• Sergey E. Lyshevski, Electromechanical systems, electric machines and applied mechatronics,

CRC Press, 2000.• Ned Mohan et al., Power Electronics: Converters, Applications and Design, 3rd Ed., John Wiley &Sons, Inc., 2003.

• P. C. Sen, Thyristor DC Drives.• B. K. Bose, Modern Power Electronics and AC Drives, Prentice Hall PTR, New Jersey, 2002.• B. K. Bose, Power Electronics and Motor Drives: Advances and Trends, Academic Press, 2006.• Robet W. Erickson and Dragan Maksimovic, Fundamentals of Power Electronics, 2nd Ed., KluwerAcademic Publishers, 2001.

• P. C. Krause, O. Wasynczuk and S. D. Sudhoff, Analysis of Electric Machine and Drive System, New York: The Institute of Electrical and Electronics Engineers, Inc., 2002.

• John Chiasson, Modeling and high-performance control of electric machines, John Wiley & Sons, 2005. • Gregorio Romero Rey and Luisa Martinez Muneta, Electrical Generation and Distribution Systems and Power Quality Disturbances, INTECH Open Access Publisher, 2011.

• Others.

Contents• Introduction to electric machine control and mechatronics (機電整合).• Overview of power semiconductor devices.• Introduction to motor drives and their applications.• Dynamic and static specifications of sensors and transducers.• Sensors and transducers (for mechatronic system control).• Signal conditioning circuits for sensors and transducers.• V/I, I/V, F/V, V/F, A/D, D/A converters.• Shielding and grounding of power electronic systems.• Analog controllers.• Digital controllers (fuzzy controller).• Power electronic converters (AC-DC and DC-DC converters).• DC motor drives (converter-fed and chopper-fed)• Overview of Some AC motor drives and special motor drives:

Modulation techniques and harmonic analysis for power converters.Inverters (DC-AC converters).Induction motor drives.Permanent-magnet synchronous motor (PMSM) drives (Brushless DC

Motor (BDCM) drives).Switched-reluctance motor (SRM) drives.

• Experiments (Solid-state DC motor control, AC/DC controlled rectifiers (Optional)).

Electric Machine Control (電機控制) (EE484000) (C. M. Liaw)

3

機電整合及電機電子整合介紹 (馬達驅動系統 (Motor drive system))

Current controller

Open-loopcontrol

(switchingcontrol)

Hardware(Customized LSI circuits)

Software(DSP)

Power sectionControl sectionIsolation and driving

(Opto-coupler or transformer)

Diagnosis, protection(診斷), (保護)

(弱電)(隔離、驅動)

Current feedback loop

Position controller

Speedfeedback loop

Position feedback loop

(硬體)(軟體)

d/dt (速度迴授)

(位置迴授)(電流迴授)

+ + +

-- -

Powerconverter

(強電) (機電介面)

MotorMotor Mechanicalload

LT (Load torque)

BLoad (Damping ratio)

J Load (Inertia constant)

rωeT(Developed

torque)J MotorBMotor

+

-V

i

P(耦合)

(機械負載) (位置感測器)

位置命令

速度命令

電流命令

速度位置 電流

感應馬達有關控制策略:多迴路迴授 (Multi-loop control)框轉換及解耦控制 (向量控制)

(Transformation and decoupling (vector) control)向量控制之補償磁通準位及弱磁控制增壓控制 (Voltage boosting control) 估測迴授變數避免使用感測元件 (Sensorless)系統參數估測 (Parameter identification)適應控制 (Adaptive control)最佳控制 (Optimal control)韌性控制 (Robust control)智慧控制 (Intelligent control)

Speed controller

Speedcontroller

Positioncontroller

永磁同步馬達有關控制策略:多迴路迴授 (Multi-loop control)框轉換及直流無刷控制(解耦控制或向量控制)

(Transformation and brushless control (decoupling or vector control)

換相移位 (Commutation shift)控制激磁控制 (Excitation control)及弱磁控制(Field-weakening)增壓控制 (Voltage boosting control)估測迴授變數避免使用感測元件 (Sensorless)系統參數估測 (Parameter identification)適應控制 (Adaptive control)最佳控制 (Optimal control)韌性控制 (Robust control)智慧控制 (Intelligent control)

電力電子電路基本組成

(DC or AC)

電 源(DC,AC)

功率半導體元件

命令

迴授

負載

隔離電路

多迴路(串級)控制電路位移、速度、電流

切換控制信號產生電路

(閉迴路控制器) (開迴路控制器)

控制命令信號

(變壓器、光隔離器)

(變壓、整流、濾波、功因控制、湧浪電流抑制)

觸發驅動電路

Power stage

Controlsection

Isolation interface

4

5

電池充電電路基本組成

(Batteries)

電 源(DC,AC)

功率半導體元件

命令

迴授

電池

隔離電路

觸發驅動電路

多迴路(串級)控制電路溫度、電壓、電流

切換控制信號產生電路

(閉迴路控制器) (開迴路控制器)

控制命令信號

(變壓器、光隔離器)

(變壓、整流、濾波、功因控制、湧浪電流抑制)

電池系統研發有關學域電池系統研發有關學域

電路

機械系統

電力電子

元件

系統

:

實作

控制系統

類比

數位

:

,

設計,

感測與轉換

感測技術

信號處理放大

:

電化學

電池

:

應用電子

:

類比

數位

,

Classifications and related affairs of chargers

Saeid Haghbin, Sonja Lundmark, Mats Alak¨ula and Ola Carlson, “Grid-Connected Integrated Battery Chargers in Vehicle Applications: Review and New Solution,” IEEE Trans. Ind. Electronics, vol. 99, pp. xx-xx, 2012.

1. Classified in terms of power levels and time of charging (One example of classification that suits the US residential power source):Level 1: Common household type of circuit in the US rated to 120 V and up to 15 A.Level 2: Permanently wired electric vehicle supply equipment used specially for electric

vehicle charging rated up to 240V, up to 60 A, and up to 14.4 kW.Level 3: Permanently wired electric vehicle supply equipment used specially for electric

vehicle charging rated greater than 14.4 kW.

Emergency charger: which charges the battery pack of a vehicle in six to eight hours.Standard charger: which charges the battery pack in two to three hours.Rapid charger: which charges the battery pack in ten to fifteen minutes (fast chargers).

2. Conductive or inductiveInductive charger offers advantages of safety, power compatibility, connector robustness and durability to the users of electric vehicles but on the expense of a lower efficiency and the need of new equipment at charging sites.

3. Single-phase or three-phase.4. Isolated (galvanic isolation) or non-isolated. 5. Charging methods: battery types? CC and/or CV? Quick charger: CC?

toragi.cqpub.co.jp/Portals/0/greenele/.../no4/p004-005.pdf 6

ユニット: Unit

Charging Control System of i-MiEV

The BMU (Battery Management Unit) monitors the conditions of all 88 cells of the traction battery and sends information (maximum and minimum cell voltage, maximum and minimum cell temperature, battery current, etc.) to the EV-ECU (integrated vehicle controller). The EV-ECU calculates charging current command according to the battery information, and sends it to the on-board charger or the quick charger via CAN bus. Then the on-board charger or the quick charger generates charging current according to the command from the EV-ECU by controlling the output voltage.

On-board charger

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其他應用：

通信分散式電源架構 (Distributed power architecture, DPA)、不斷電電源供應器 (Uninterruptible power system, UPS)、各式切換式電源供應器、電腦周邊設備、分散式發電源 (Distributed generator, DG) 配電系統、再生式發電源 (Renewable energy source, RES) 配電系統、微電網 (Micro-grid)、儲能系統、彈性交流系統、乏補償器、功因校正控制器、電子式日光燈及照明裝置、感應加熱器、電焊器(Welder)、家電電器 (空調機、冷凍冷藏庫、洗衣機等)、電動車輛 (Electric vehicles)、軌道車輛、工廠自動化設備、輔助電源供應器 (Auxiliary power unit, APU)、電梯、軍事設備、電動工具、自動化設備、機器人、醫療器具、其他。

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Typical distributed power system andmicro-grid system configurations

綠能系統、微電網及電動車之應用可增進總體能源使用效率並降低碳排放，結合電動車輛之微電網可利用電動車輛內含電池/超電容及內燃機/燃料電池等提供額外之儲存能源。然而綠能系統、微電網及電動車均為一整合性系統，含能源、發電機、儲能系統、電力電子、控制、能源管理等，唯有其組成元件之妥適組建與搭配，適當之能源管控，始可建構一成功且高效率之總體系統。電力電子在節能與微電網之成功應用上扮演極關鍵之角色。

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rω

Bv

風力發電系統 (Wind generator system)為一含風渦輪機、機械、電動機械、電力系統、電力電子轉換器、控制器、感測與轉換等之整合系統，唯有各組成子系統本身之適當設計、系統組件間之妥善搭配、適當之總體操作及管理控制，始可得優良之運轉性能。

Requirements: Reliable, higher efficiency, smaller volume and loRequirements: Reliable, higher efficiency, smaller volume and low w weight, low cost, miniaturization, low vibration and acoustiweight, low cost, miniaturization, low vibration and acoustic noise, etc. c noise, etc.

Gearbox

Blades

Inductiongenerator

+

-

DC/ACConverter(Inverter)

Vdc

AC/DC Converteror SMR

Switching control schemeCommandController

Feedback

隔離驅動電路

Isolation anddriving

Power stage

Controlsection

Isolation interface

Utilitygrid

(Velocity, power, voltage, current,…)

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Home air conditioner trends Home air conditioner trends

www.irf.com/technical-info/whitepaper/mce_digitalpfc_ac.pdf

Trends:• Compressor motor: Induction motor >> Permanent-magnet synchronous

motor (PMSM) (Specifically Interior PMSM (IPMSM))• Vector control (brushless control)• Sensorless control.• Square-wave type PMSM >> sinewave type PMSM. • Front-end switch-mode rectifier (SMR)>> provide boostable and well-regulated

DC-link voltage with good line drawn power quality.• Common digital control environment for: Outdoor compressor PMSM,

outdoor condenser fan motor, front-end switch-mode rectifier (SMR).• DSP or ASIC + microcontroller, or FPGA + microcontroller.

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3AC source

+

-

Inverter

VdcAC

motor

VVVF 3

voltage

Rectifieror SMR

φ

φ

EC Load

Switching controlCommand Controller

Current feedback

Velocity and/or position feedback

馬達驅動系統 (Motor Drive)簡介

為一含馬達、機械載具、轉換器、控制器、感測與轉換馬達、機械載具、轉換器、控制器、感測與轉換等之整合系統，唯有馬達本身之適當設計與驅動系統組件間之妥善搭配，始可得優良之運轉控制性能。

隔離驅動電路

Power stage

Controlsection

Isolation interface

機械載具

VehicleVehicle

Requirements: reliable, low cost, miniaturization, smaller volumRequirements: reliable, low cost, miniaturization, smaller volume and e and weight (modularization and integration), higher efficiency (enerweight (modularization and integration), higher efficiency (energy saving), gy saving), lower vibration and acoustic noise, etc. lower vibration and acoustic noise, etc.

Isolation anddriving

Some Key Issues of Motor Drives (馬達驅動系統一些關鍵事務)

+

-

Inverter

VdVd

• Plug-in charger (Rectifier-based or SMR-based)

• Bi-directional to achieve V2G and G2V.

• EV, PHEV.

EC Load~

L −+ Ae −+ Ae→A

i→di

~~

n

Motor

re ,T ωre ,T ω B,J B,J

Δt,t,f cs Δt,t,f cs

reTP ω≈ reTP ω≈

AC or DCsources

Command ControllerFeedback

SMR, PFC and DClink voltage boosting.Converter quadrant number.Front-end DC/DC converterfor inverter.PAM and/or PWM controls. Dynamic braking.Inrush current. Storage types and controls. Battery sources.Battery charging.Super-capacitor buffer. Renewable or distributed sources.

PWM control, harmonics.Random switching.Dynamic modeling and estimation.Feedback sensing, transducing, signal conditioning and filtering. Dynamic control: (current, speedand/or position. Tuning control for specific motor.Digitization of control scheme.Common DSP for multiple power stages. Acoustic noise and vibration reduction.

Motor type. Inverter type and devices.Match between inverter, motor and loadVoltage utilization.Dynamic and regenerative braking.Field-weakening.Harmonic effects.Gate driving signal isolation.Interfacing and sensing.Current changing rate and response. Neutral isolation or not. Reflection due to unmatched impedance. Power module, SOC promotion.

Match between motor and load.Load types and parameters.Load required performance. Motion pattern. Speed range, constant torque, constant power.Flywheel storage?EV,PHEV: Charger, V2G,G2V,V2H operations. .

Encoder types.Resolution.Interfacing to DSP.

Ah

Ah

hA

AAA Z

vZ

evi∞

=∑+

−≈

21

11AhA ii +=

Δ

1Ah

Ah

hA

AAA Z

vZ

evi∞

=∑+

−≈

21

11AhA ii +=

Δ

1

,L

eVdtdi AdA −

∝ rAe ω∝,L

eVdtdi AdA −

∝ rAe ω∝

Motor ripplecurrent:

Motor currentchanging rate:

Multiple sources?Buffer storage?DC-link ripples.

Miniaturization.Cost effective.Reliability.EMI problems.Grounding and shielding.

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Key Components and Issues of EVKey Components and Issues of EVMotor:⌧⌧ DC brush motor (DCM) (Least used).DC brush motor (DCM) (Least used).⌧⌧ Induction motor (IM).Induction motor (IM).⌧⌧ PermanentPermanent--magnet synchronous motor (PMSM).magnet synchronous motor (PMSM).⌧⌧ SwitchedSwitched--reluctance motor (SRM). reluctance motor (SRM). Power electronic converter and its switching control:⌧⌧ DC/DC converters (DCM).DC/DC converters (DCM).⌧⌧ Inverters (SineInverters (Sine--wave, squarewave, square--wave) (IM, PMSM).wave) (IM, PMSM).⌧⌧ Asymmetric bridge converter (Asymmetric bridge converter (UnipolarUnipolar

squaresquare--wave) (SRM).wave) (SRM).Traction battery.Storage devices (Super-capacitor, flywheel).Energy management technology.

1

inverterMotor

inverterGenerator

k8.53bv

dcv

μH6.225

μF315

μ888

bvConfiguration of Plug-inseries/parallel HEV

Schematic of power control unit in 2010 Prius Synergy HEV

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