Workshop Matlab/Simulink in Drives and Power electronics - LGEP

Palestine Polytechnic University

Workshop Matlab/Simulink in Drives and Power electronics Lecture 7: Synchronous Motor Modeling Lecture 8: Synchronous Motor Control

Ghislain REMY 18-21 May 2009

Jean DEPREZ

Workshop Matlab/Simulink in Drives and Power electronics – Lecture 7-8

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Palestine Polytechnic University

Workshop Programe • 8 lectures will be presented based on Matlab/Simulink : – – – – – – – –

1 Introduction to Matlab 2 Introduction to Simulink 3 DC-Motor Control design 4 DC-Motor Chopper design SimPowerSystems 5 Introduction to Stateflow/Statechart 6 Induction Motor Inverter Control 7 Synchronous Motor Modeling 8 Synchronous Motor Control

• Two system applications (four quadrants electric drives of mechanical systems) will be used as “guidelines" during the workshop. 18-21 May 2009

Workshop Matlab/Simulink in Drives and Power electronics – Lecture 7-8

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Palestine Polytechnic University

Summary • • • • •

Presentation of Synchronous Motors Surface Mounted PM SM model in abc frame (+vector design) In dq frame Using SimPowerSystems Comparison of the three models results

18-21 May 2009

Workshop Matlab/Simulink in Drives and Power electronics – Lecture 7-8

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Palestine Polytechnic University

Presentation of Synchronous Motors • Various representations of PMSM in SimPowerSystems

18-21 May 2009

Workshop Matlab/Simulink in Drives and Power electronics – Lecture 7-8

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Palestine Polytechnic University

Pulse Field

Fixed Coil + 50Hz Current 18-21 May 2009

 Pulse Field

Workshop Matlab/Simulink in Drives and Power electronics – Lecture 7-8

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Palestine Polytechnic University

Rotating Field: Principle

1847–1897

Ferraris Principle: The sum of 3 Pulse Fields, 120o Shifted, of 3-phases currents 18-21 May 2009

 Rotating Field

Workshop Matlab/Simulink in Drives and Power electronics – Lecture 7-8

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Palestine Polytechnic University

Rotating Field: Vector Representation

18-21 May 2009

Workshop Matlab/Simulink in Drives and Power electronics – Lecture 7-8

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Palestine Polytechnic University

Influence of Pole Pairs

18-21 May 2009

Workshop Matlab/Simulink in Drives and Power electronics – Lecture 7-8

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Palestine Polytechnic University

Pole Pairs: p At 50Hz

ω Ω= p

At 60Hz

p

t/min

p

t/min

1

3000

1

3600

2

1500

2

1800

3

1000

3

1200

4

750

4

900

5

600

5

720

With a fixed ω,

 Ω will decrease

If p is increasing

18-21 May 2009

Workshop Matlab/Simulink in Drives and Power electronics – Lecture 7-8

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Palestine Polytechnic University

Model example in causal representation • Causal Representation is based on a decomposition of all the 3-phase electrical part of the PMSM • Using the From Tag and Goto Tag

18-21 May 2009

Workshop Matlab/Simulink in Drives and Power electronics – Lecture 7-8

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Palestine Polytechnic University

Trapezoidal Back-Electromotive force • Using the Lookup Table for the back-electromotive force generation

18-21 May 2009

Workshop Matlab/Simulink in Drives and Power electronics – Lecture 7-8

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Palestine Polytechnic University

The Park Transform • Main idea is to change from the stationary frame to the rotary frame  Sinusoidal signal with constant amplitude  Using the Park Transform ( Remove the sin() )  Constant value only in the dq frame  dq frame abc frame

P=

18-21 May 2009

 cos (θ e ) cos (θ e − 2π / 3) cos (θ e + 2π / 3)   2  − sin (θ e ) − sin (θ e − 2π / 3) − sin (θ e + 2π / 3)  3  1/ 2 1/ 2 1/ 2   Workshop Matlab/Simulink in Drives and Power electronics – Lecture 7-8

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Palestine Polytechnic University

PMSM in dq frame

18-21 May 2009

Workshop Matlab/Simulink in Drives and Power electronics – Lecture 7-8

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Palestine Polytechnic University

Example of PMSM • The power_simplealt shows a Simplified Synchronous Machine block with a 1000 MVA, 315 kV, 60 Hz equivalent source connected to an infinite bus (Three-Phase Programmable Voltage Source block). – The Simplified Synchronous Machine (SI Units) block is used as a synchronous generator. – The internal resistance and reactance are set respectively to 0.02 pu (1.9845 Ω) and 0.2 pu (X = 19.845 Ω; L = 0.0526 H). – The inertia of the machine is J = 168,870 kg.m2, corresponding to an inertia constant H = 3 s. The electrical frequency is ωs = 2*π*60/2 = 377 rad/s. – The machine has two pairs of poles such that its synchronous speed is 2*π*60/2 = 188.5 rad/s or 1800 rpm.

18-21 May 2009

Workshop Matlab/Simulink in Drives and Power electronics – Lecture 7-8

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Palestine Polytechnic University

Using the Bus Selector

18-21 May 2009

Workshop Matlab/Simulink in Drives and Power electronics – Lecture 7-8

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Palestine Polytechnic University

Synchronous Machine block in motor mode • The power_syncmachine demo illustrates the use of the Synchronous Machine block in motor mode. – The simulated system consists of an industrial grade synchronous motor (150 HP (112 kVA), 762 V) connected to a network with a 10 MVA short-circuit level. – In order to start simulation in steady state, the machine is initialized using the Load Flow and Machine Initialization option of the Powergui. The machine is initialized for an output electrical power of -50 kW (negative value for motor mode), corresponding to a mechanical power of -48.9 kW. – The corresponding values of mechanical power and field voltage have been automatically entered by the Load Flow analysis into the Pm Step block and in the Vf Constant block.

18-21 May 2009

Workshop Matlab/Simulink in Drives and Power electronics – Lecture 7-8

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Palestine Polytechnic University

Synchronous Machine block in motor mode • Using the simulation to observe the RMS current, RMS voltage, speed, load angle δ, and output electrical power of the motor.

18-21 May 2009

Workshop Matlab/Simulink in Drives and Power electronics – Lecture 7-8

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Palestine Polytechnic University

PM Synchronous 3HP Motor Drive • ac6_example: PM Synchronous 3HP Motor Drive

18-21 May 2009

Workshop Matlab/Simulink in Drives and Power electronics – Lecture 7-8

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Palestine Polytechnic University

PI Gain Calculator

18-21 May 2009

Workshop Matlab/Simulink in Drives and Power electronics – Lecture 7-8

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