EPE'2005 Dresden MULTI-MACHINE MODELLING OF ... - eric semail
N. 5-leg VSI. 5-phase machine 1 stator. 5-phase machine 2 stator connection. A 5-leg Voltage Source Inverter for supplying two 5-phase machines with special ...
MODELLING OF SERIES CONNECTED 5-PHASE SYNCHRONOUS MACHINES EPE’2005 Dresden 1 EPE’2005
MULTI-MACHINE MODELLING OF TWO SERIES CONNECTED 5-PHASE SYNCHRONOUS MACHINES:
EFFECT OF HARMONICS ON CONTROL E. Semail, E. Levi, A. Bouscayrol, X. Kestelyn
ENSAM & University of Lille
Liverpool John Moores University
MODELLING OF SERIES CONNECTED 5-PHASE SYNCHRONOUS MACHINES - Introduction -
2 EPE’2005
A 5-leg Voltage Source Inverter for supplying two 5-phase machines with special series connection 5-phase machine 1 stator
5-leg VSI 1a 1b VDC
1c 1d 1e
connection 1'a
i1a i1b i1c i1d i1e
1'b 1'c 1'd 1'e
5-phase machine 2 stator
2a 2b 2c 2d 2e
i2a i2b i2c i2d i2e
N
MODELLING OF SERIES CONNECTED 5-PHASE SYNCHRONOUS MACHINES - Introduction -
3 EPE’2005
Independent controls of both machines? YES with 5-phase induction machines: •
S. Gataric, IEEE-IAS’2000
•
A. Iqbal & al, IEEE IAS 2005
VSI
M1
M2
(experimental results)
YES with 5-phase synchronous machines with sinusoidal EMF: •
E. Semail & all, RIGE 2005
Effect of EMF harmonics on control?
I. 5-phase SM modelling II. Two 5-phase machines III. Sinusoidal EMF IV. Trapezoidal EMF
MODELLING OF SERIES CONNECTED 5-PHASE SYNCHRONOUS MACHINES 4 EPE’2005
I. Multi-Machine Modelling of a 5-phase synchronous Machine
Modelling simplification using transformation?
MODELLING OF SERIES CONNECTED 5-PHASE SYNCHRONOUS MACHINES - Multi-Machine modelling of a 5-phase machine -
5 EPE’2005
Assumptions on the Permanent Magnet synchronous machines: • no reluctance, no saturation effects • regular spatial distribution of windings 5-leg VSI
5-phase machine ia
VDC
ib N
ic id ie νeΝ
MODELLING OF SERIES CONNECTED 5-PHASE SYNCHRONOUS MACHINES - Multi-Machine modelling of a 5-phase machine Concordia transformation
fictitious machines
mechanical coupling
5-leg VSI
shaft vmvsi
DC bus
ivsi
i mach
svsi
[C5 ] =
2 5
1 2 1 2 1 2 1 2 1 2
1 2π 5 4π cos 5 6π cos 5 8π cos 5 cos
0
1
2π 5 4π sin 5 6π sin 5 8π sin 5
4π 5 8π cos 5 12π cos 5 16π cos 5
sin
cos
im
Tmm MM
vvsi
VDC
6 EPE’2005
im
em
Ω
vsvsi
is
Tsm SM
is 4π sin 5 8π sin 5 12π sin 5 16 π sin 5
es
load
Ω
Ttot Ω
Tload
Ω
0
equivalent (d,q) machine
one 5-phase machine = two (d,q) machines
Ttot=Tmm+Tsm
two classical vector controls
MODELLING OF SERIES CONNECTED 5-PHASE SYNCHRONOUS MACHINES - Multi-Machine modelling of a 5-phase machine Concordia transformation EMF of actual machine 50 5-leg VSI vmvsi DC bus
fictitious machines
mechanical coupling (d,q) EMF of MM shaft Tmm load 250
40 30 20
200
im
MM
vvsi
VDC
-10
150 100
10
0
im
-20 -30
7 EPE’2005
50
em
Ω
0
Ω
Ttot
- 50
- 100 - 150
vsvsi Concordia is Tsm 0.04 transformation SM Ω is es - 200
-40
-500
0.005
0.01
ivsi
0.015
- 250
0.02
0.025
t(s)
svsi
i mach
0.03
0.2
0.035
Main (d,q) Machine family of odd harmonics
1, 9, 11… 5h±1
Ω EMFTof loadSM (d,q)
0.205
0.21
0.215
0.22
Secondary (d,q) Machine 3, 7, 13… 5h±2
0.225
MODELLING OF SERIES CONNECTED 5-PHASE SYNCHRONOUS MACHINES 8 EPE’2005
II. Extension to series connected 5-phase machines Association of equivalent machines?
MODELLING OF SERIES CONNECTED 5-PHASE SYNCHRONOUS MACHINES - Extension to two series connected 5-phase machines -
9 EPE’2005
5-leg VSI
VDC
5-phase machine 1
connection
5-phase machine 2
i1a
i2a
i1b
i2b
i1c
i2c
i1d
i2d
i1e
i2e
two fictitious machines MM1 & SM1
connection? two fictitious machines MM2 & SM2
N
MODELLING OF SERIES CONNECTED 5-PHASE SYNCHRONOUS MACHINES - Extension to two series connected 5-phase machines EPE’2005
global windings
5-leg VSI
DC bus
mechanical coupling
series connections
transformation
shaft
fictitious machines
Machine 1
Tm1
im1
MM1 vmvsi vvsi
VDC
im
vsvsi
ivsi
imach
svsi
MM1 & SM2 in series MM2 & SM1 in series
Ts1
is1
SM1 im
em
es1
is
is 2
Ttot1
Ω1
em1
Ω1
es
uur uur * i = i m1 s2 uur uur is1 = im 2
es 2
Ω2
im 2
Tm2 MM2
em 2
Ω2
Ω1
Ω1
Ts2 SM2
is
load
Tload1
Machine 2 Ttot2 Ω2
Ω2 Tload2
1 0
MODELLING OF SERIES CONNECTED 5-PHASE SYNCHRONOUS MACHINES EPE’2005
III. Controls of 5-phase machines with sinusoidal EMF Control of equivalent machines?
1 1
MODELLING OF SERIES CONNECTED 5-PHASE SYNCHRONOUS MACHINES - Control of two machines with sinusoidal EMF global windings
5-leg VSI
DC bus
transformation
shaft
fictitious machines
mechanical coupling
series connections
MM1
vvsi
VDC
vsvsi
ivsi
imach
svsi
Sinusoidal EMF
Ts1
is1
SM1 im
em
es1
is
is 2
Ttot1
Ω1
em1 im
Ω1
es
odd harmonics Main Machine
Secondary Machine
1, 9, 11… 5h±1
3, 7, 13… 5h±2
es 2
Ω2
im 2
Tm2 MM2
em 2
load
Ω1
Ω1
Tload1
Ts2 SM2
is
1 2
Tm1
im1
vmvsi
EPE’2005
Ttot2 Ω2
Ω2 Tload2
Ω2
independent controls of MM1 & MM2
MODELLING OF SERIES CONNECTED 5-PHASE SYNCHRONOUS MACHINES - Control of two machines with sinusoidal EMF Tm1
im1
MM1 em1 vmvsi vvsi
VDC
vsvsi
ivsi
im
Ttot2
es
Tm2 MM2
FOC2 FOC1
vsvsi_ref
Ω2
Ω2 Tload2
Ω2
em 2
PWM
Tload1
is
im 2
vmvsi_ref
Ω1
Ω1
SM2 is
Ttot1
em
imach
svsi
Ω1
SM1 im
EPE’2005
Ω2_ref Ω1_ref
1 3
MODELLING OF SERIES CONNECTED 5-PHASE SYNCHRONOUS MACHINES - Control of two machines with sinusoidal EMF EPE’2005
simulation results torque (Nm)
speed (rad/s) 25
100 90 80
1 4
Ω1
T1
20
70
Ω2
60 50
15
T2
10
40 30
5
20 10 00
0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9
time (s)
1
0 0
0.1
0.2 0.3
0.4 0.5 0.6
time (s)
independent behaviours of both machines with a common supply
0.7 0.8
0.9
MODELLING OF SERIES CONNECTED 5-PHASE SYNCHRONOUS MACHINES EPE’2005
IV. Controls of 5-phase machines with trapezoidal EMF Influence of EMF?
1 5
MODELLING OF SERIES CONNECTED 5-PHASE SYNCHRONOUS MACHINES - Control with one trapezoidal EMF machine Tm1
im1
MM1 vmvsi im vsvsi
ivsi
em1
Ω1
s1
s1
SM1
vvsi
VDC
im em
es1
is
is 2
imach is
es
Ttot1
Ω1
es 2
Ω2
im 2
Tm2 MM2
EMF compensation
em 2
es1_est vsvsi_ref
Ω1
1 6
MM1 1 SM1 3
Tload1
harmonics Ttot2 Ω2
Ω2 Tload2
MM2 1 SM2 -
Ω2
Ω2_ref
vmvsi_ref
PWM
Ω1
Ts2 SM2
svsi
EPE’2005
Ω1_ref
same control
MODELLING OF SERIES CONNECTED 5-PHASE SYNCHRONOUS MACHINES - Control of two machines with sinusoidal EMF EPE’2005
1 7
0.7 0.8
0.9
simulation results with eh3 = 30% eh1 without compensation torque (Nm) speed (rad/s) 25
100 90 80
Ω1
20
70
Ω2
60 50
15
T1 without eh3 T1 with eh3 T2
10
40 30
5
20 10 00
0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9
time (s)
1
0 0
0.1
0.2 0.3
0.4 0.5 0.6
time (s)
Influence of EMF during speed transient
MODELLING OF SERIES CONNECTED 5-PHASE SYNCHRONOUS MACHINES - Control of two machines with sinusoidal EMF EPE’2005
simulation results with eh3 = 30% eh1 torque (Nm)
torque (Nm)
25
25
with compensation 20
15
without compensation
20
T1
15
T2
10
T1 T2
10
5
0 0
1 8
5
0.1
0.2 0.3
0.4 0.5 0.6
time (s)
0.7 0.8
0.9
0 0
0.1
0.2 0.3
0.4 0.5 0.6
time (s)
improvement with compensation
0.7 0.8
0.9
MODELLING OF SERIES CONNECTED 5-PHASE SYNCHRONOUS MACHINES EPE’2005
1 9
Conclusion Multi-machine modelling • decomposition in coupled fictive machines • each machine associated with harmonics family Series connected 5-phase synchronous machines • easy independent control for sinusoidal EMF • EMF compensation for trapezoidal EMF
traction systems, two DC motors are connected in series in order to use only .... It then appears that it is sufficient to implement two usual vector control algorithms ..... X. Kestelyn, A. Bouscayrol, âSensitivity of a 5-phase Brushless DC machin
with Np the number of windings, Knin the source field and in the current associated to the winding n and µ the magnetic permeability. ÎB and ÎH are two ...
multiphase machines modeling methodologies, aiming at their control. A specific modeling, using the generalized Concordia transformation is pointed-out. Then ...
magnetic coupling between the two stars inducing high parasitic currents. To retain the same ..... are emitting the noise into the water. However, these promising ...
solution of the problem [25], [46]. ... that, with some conditions, it is possible to find an equivalent set of fictitious electric machines. These equivalent machines, called Multimachine system, are mechanically coupled on a ... get a transformatio
called Multimachine system, are mechanically coupled on the same shaft and ... get a transformation matrix is to find a matricial factorization of the stator ...
Usually supplied by Pulse. Amplitude Modulation Current Source Inverter. (PAM CSI), these motors can nowadays be controlled by Voltage Source Inverter (VSI) ...
synchronous machine, the fourth leg being clamped to the neutral point. ... I. INTRODUCTION. The aeronautic industry requires electrical actuators with a.
Two 1st order system (d- and q-axes) with e as a perturbation d- and q-currents controllers Cd,q(s), with compensation of the perturbation e. iS 1,2,3 d ref +.
Apr 30, 2008 - +d Electric motors â 07.10.Pz Instruments for strain, force, and torque ... spatial harmonics of the electromotive forces (EMF) and magnetomotive ... control relies on a design constraint of the 7-phase ma- chine: its EMFs must ...Mi
Abstract: - Multi-phase motors are widely used in marine propulsion. In this paper, a .... electric propulsion system topologies â, All Electrical. Ship AES 2000 ...
phase machine designed for a small-podded ship propeller, we make without changing the stator magnetic core a new. 5-phase winding design that improves ...
âFault-tolerant control of a multi-phase machine based on multi machine descriptionâ ... energy and Marine electrical propulsion are concerned by this activity.
Multi-phase PM synchronous motor are also used [2 ... Fig.1: Presentation of n-phase synchronous machine .... manufacturing assumption, involve, as usual, the.
inversion table allowing a fast practical implementation. Phase-to- ... rent sources, each switch is made of a parallel diode-transistor association. ... ulation strategies: analysis, comparison and design,â IEEE Trans. Power. Electron., vol. 13, p
The reliability of this kind of variable speed drive suffers mostly from the failure of semiconductor devices in the inverter. In this case, the failure results in the.
The polyphase machines have firstly been supplied by Pulse. Amplitude Modulation Current Source Inverter (PAM CSI). [15],[4]. In this case, a machine with q ...
set of two-phase fictitious machines each ones being characterized by a set of specific harmonic ranks. ... Electric marine propulsion widely uses multi-phase.
control of a supercapacitors storage system for traction applications",. IEEE-IAS'05, Hong-Kong, October 2005, vol. 3, pp. 2013-2020. [16] X. Kestelyn, E. Semail ...
