Course syllabus
Course-PM
ENM076 Electric drive systems lp3 VT22 (7.5 hp)
Course is offered by the department of Electrical Engineering
Contact details
Examiner: Stefan Lundberg stefan.lundberg@chalmers.se Contact info.
Lecturer: Stefan Lundberg stefan.lundberg@chalmers.se Contact info.
Tutorial assistant: Sima Soltanipour sima.soltanipour@chalmers.se Contact info.
Laboratory and Project assistants:
Babak Alikhanzadehalamdari ababak@chalmers.se Contact info.
Sima Soltanipour sima.soltanipour@chalmers.se Contact info.
Chengjun Tang chengjun.tang@chalmers.se Contact info.
Course purpose
The overall aim of this course is to provide the students with an understanding of how a drive system is designed and operated. The students should be able to implement such drive systems in the computer environment Matlab/Simulink and develop the ability to interpret and evaluate the performance of the implemented systems.
Schedule
Course literature
Compendium “Control of Variable-Speed Drives”, Lennart Harnefors, 2002, available at Cremona. Lecture notes and handouts will be available on Canvas.
Course design
The course starts with the design of a current controller for an RL circuit. The designed controller serves as a platform for the other control derivations in the course. In the next step the design of current and speed controllers of the permanent magnet direct current machine is treated. The course continues with introducing the tool of coordinate transformations. The coordinate transformations mathematically transform three-phase ac motors into a separately-magnetized dc-machine. Using this tool, mathematical models of the permanent magnet synchronous machine is derived. In the next step the field-oriented control of the permanent magnet synchronous machine is treated. After this, the design of speed and position controllers are covered. After the permanent magnet synchronous machine has been treated the induction machine is modeled and controlled using the same methods. In addition to the current and speed controllers, design of the two base flux estimators, the current model and the voltage model, is covered. In addition to the control design, the operation of the three-phase power electronic converter for drive applications, the usage of the field weakening method to increase the speed of the machine above the nominal one, as well as simpler control structures are treated. Throughout the course, the course participants work with computer and practical projects dealing with control of the DC machine, the permanent magnet synchronous machine and the induction machine.
For each part of the course there is a computer task with home assignments and project assignments. The home assignments should be solved before you start to work with the project assignments. The home assignments are the basis of what you are going to implement in the project assignments. In the project assignments you are implementing the machines and the controllers in Matlab/Simulink and are using the models to investigate how an electric drive system works and behaves. To investigate this and to be able to answer the questions, you need to plot the results in Matlab and to analyze them.
You need to form your own groups of 2 students per group for the computer tasks. You do this on Canvas, under the menu People you click on the tab Group and join the group you want. OBSERVE that each project group has its own specific time slots, when selecting group, you also select the times when you can present your results and get help. On the computer task times on Tuesdays and Fridays between 08:00 and 11:50, see the teaching plan below, the groups have the following time slots
|
|
Project groups |
Tuesdays |
Fridays |
|
A |
1, 2 and 3 |
08:00 to 08:25 |
11:25 to 11:50 |
|
4, 5 and 6 |
08:25 to 08:50 |
11:00 to 11:25 |
|
|
7, 8 and 9 |
09:00 to 09:25 |
10:25 to 10:50 |
|
|
10, 11 and 12 |
09:25 to 09:50 |
10:00 to 10:25 |
|
|
B |
13, 14 and 15 |
10:00 to 10:25 |
09:25 to 09:50 |
|
16, 17 and 18 |
10:25 to 10:50 |
09:00 to 09:25 |
|
|
19, 20 and 21 |
11:00 to 11:25 |
08:25 to 08:50 |
|
|
22, 23 and 24 |
11:25 to 11:50 |
08:00 to 08:25 |
The computer tasks, own work times in EDIT building, room 3502 Grundkurslab on Tuesdays and Thursdays between 13:15 and 17:00, see the teaching plan below, is if your group need help with the computer tasks and you can then use the following times:
- Project groups 1 to 12 Tuesday 14:00 to 15:00 and Thursdays 15:15 to 16:15
- Project groups 13 to 24 Tuesday 15:15 to 16:15 and Thursdays 14:00 to 15:00
During these times you can get help for maximum 20 min. After this the assistant will help the other groups that need help for maximum 20 min per group. If you need more help you stay and will get an additional 20 min after all the other groups have got help.
For the teaching (lectures, tutorials and computer labs) that will be online or in hybrid format will be done on zoom, the link to the zoom room is: https://chalmers.zoom.us/j/61023220788
with the password: 123456. The online or hybrid lectures and tutorials will be recorded and uploaded on the course page on Canvas after the lecture/tutorial.
If the computer labs are online then you will need to put in your full name as it appears in Canvas as you name in zoom, this so you can be identified for the approvals of the computer tasks in zoom. You are also required to have your camera on during these approvals of the computer tasks. If the assistants cannot identify you, they cannot approve the assignments in Canvas. For the computer tasks the assistants may request to take control of your computer over zoom, this so the approval and debugging of your model goes quicker, remember that you only have 25 min on you for this, so we want to be as efficient as possible. When asking for help and for the approval of the computer tasks Breakout Rooms will be used and the assistants will move the group to one Breakout room.
As can be seen in the teaching plan below there are
21 lectures = 42 h
11 tutorials = 22 h
15 x 25 min + 2h scheduled supervision = 9 h
TOTAL: 73 h
This leaves 127 h for own work time, which means that you need to work on your own outside scheduled hours. There is 24 h in the schedule as own work time per group and this time can be used to get extra help from the assistants.
Teaching plan (all teaching activities will be online, see zoom link above):
Babak Alikhanzadehalamdari BA in the teaching plan Contact info.
Stefan Lundberg SL in the teaching plan Contact info.
Sima Soltanipour SS in the teaching plan Contact info.
Chengjun Tang CT in the teaching plan Contact info.
The column “Teaching method” specifies how the teaching is done:
- “Live” means it is only given at campus in the room specified in TimeEdit
- “Hybrid” means that the teaching is done at campus in the room specified in TimeEdit and it is streamed on zoom
- “Online” means that the teaching is only online on zoom
|
Study week, Date, Time |
Description / Material |
Teaching method |
Pages, course compendium / assistant/teacher |
|
1 (3) Mon 17/1 8-10 |
L1. Introduction to electric drives. Current control derivation for an RL circuit. Current controller analysis. |
|
SL |
|
1 (3) Mon 17/1 10-12 |
L2. Current and speed control derivation for permanent magnet DC machine. |
|
p.16-27 SL |
|
1 (3) Wed 19/1 10-12 |
L3. Transformation theory, rotating flux linkage.
|
|
p. 41-55 SL |
|
1 (3) Wed 19/1 13-15 |
L4. PMSM modeling and implementation.
|
|
p.60-64, p. 85-90 SL |
|
1 (3) Wed 19/1 15-17 |
Tutorial 1
|
|
SS |
|
1 (3) Thu 20/1 13-15 |
Computer tasks, all project groups 13 to 24 at the same time, here you can start with the project introduction and the recorded project introduction |
No supervision |
|
|
1 (3) Thu 20/1 15-17 |
Computer tasks, all project groups 1 to 12 at the same time, here you can start with the project introduction and the recorded project introduction |
No supervision |
|
|
1 (3) Fri 21/1 8-10 |
Computer tasks, project groups 13 to 24 according to the schedule above. |
Live |
BA, SS, CT |
|
1 (3) Fri 21/1 10-12 |
Computer tasks, project groups 1 to 12 according to the schedule above. |
Live |
BA, SS, CT |
|
2 (4) Mon 24/1 8-10 |
L5. PMSM control derivation. Current controller.
|
|
p. 93-98, p. 115-117 SL |
|
2 (4) Mon 24/1 10-12 |
L6. PMSM speed and position controller.
|
|
SL |
|
2 (4) Tue 25/1 8-10 |
Computer tasks, project groups 1 to 12 according to the schedule above. |
Live |
BA, SS, CT |
|
2 (4) Tue 25/1 10-12 |
Computer tasks, project groups 13 to 24 according to the schedule above. |
Live |
BA, SS, CT |
|
2 (4) Tue 25/1 13-15 |
Computer tasks, own work, project groups 1 to 12. EDIT building, room 3502 Grundkurslab |
Live |
BA, SS, CT |
|
2 (4) Tue 25/1 15-17 |
Computer tasks, own work, project groups 13 to 24. EDIT building, room 3502 Grundkurslab |
Live |
BA, SS, CT |
|
2 (4) Wed 26/1 10-12 |
L7. Induction machine state-space modeling and implementation. |
|
p. 65-68 SL |
|
2 (4) Wed 26/1 13-15 |
L8. Inverse Γ-model of the induction machine.
|
|
p. 68-73 SL |
|
2 (4) Wed 26/1 15-17 |
Tutorial 2
|
|
SS |
|
2 (4) Thu 27/1 13-15 |
Computer tasks, own work, project groups 13 to 24. No room and no supervision |
No supervision |
|
|
2 (4) Thu 27/1 15-17 |
Computer tasks, own work, project groups 1 to 12. No room and no supervision |
No supervision |
|
|
2 (4) Fri 28/1 8-10 |
Computer tasks, project groups 13 to 24 according to the schedule above. Deadline for Comp. task 1 |
Live |
BA, SS, CT |
|
2 (4) Fri 28/1 10-12 |
Computer tasks, project groups 1 to 12 according to the schedule above. Deadline for Comp. task 1 |
Live |
BA, SS, CT |
|
3 (5) Mon 31/1 8-10 |
L9. Field-oriented control of IM, DFO, design of controller for the induction machine. |
|
SL |
|
3 (5) Mon 31/1 10-12 |
Tutorial 3.
|
|
SS |
|
3 (5) Tue 1/2 8-10 |
Computer tasks, project groups 1 to 12 according to the schedule above. |
Live |
BA, SS, CT |
|
3 (5) Tue 1/2 10-12 |
Computer tasks, project groups 13 to 24 according to the schedule above. |
Live |
BA, SS, CT |
|
3 (5) Tue 1/2 13-15 |
Computer tasks, own work, project groups 1 to 12. EDIT building, room 3502 Grundkurslab |
Live |
BA, SS, CT |
|
3 (5) Tue 1/2 15-17 |
Computer tasks, own work, project groups 13 to 24. EDIT building, room 3502 Grundkurslab |
Live |
BA, SS, CT |
|
3 (5) Wed 2/2 10-12 |
L10. Current model flux estimator, IFO, speed and position controller. |
|
p. 123-128, 160-161 SL |
|
3 (5) Wed 2/2 13-15 |
L11. IM current control analysis.
|
|
SL |
|
3 (5) Wed 2/2 15-17 |
Tutorial 4.
|
|
SS |
|
3 (5) Thu 3/2 13-15 |
Computer tasks, own work, project groups 13 to 24. EDIT building, room 3502 Grundkurslab |
Live |
CT, BA, SS |
|
3 (5) Thu 3/2 15-17 |
Computer tasks, own work, project groups 1 to 12. EDIT building, room 3502 Grundkurslab |
Live |
CT, BA, SS |
|
3 (5) Fri 4/2 8-10 |
Computer tasks, project groups 13 to 24 according to the schedule above. Deadline for Comp. task 2 |
Live |
BA, SS, CT |
|
3 (5) Fri 4/2 10-12 |
Computer tasks, project groups 1 to 12 according to the schedule above. Deadline for Comp. task 2 |
Live |
BA, SS, CT |
|
4 (6) Mon 7/2 8-10 |
L12 and Tutorial 5. Sensorless operation, voltage model flux estimator. |
|
p. 128-150 SL |
|
4 (6) Mon 7/2 10-12 |
L12 and Tutorial 5. Sensorless operation, voltage model flux estimator. |
|
p. 128-150 SL |
|
4 (6) Tue 8/2 8-10 |
Computer tasks, project groups 1 to 12 according to the schedule above. |
Live |
BA, SS, CT |
|
4 (6) Tue 8/2 10-12 |
Computer tasks, project groups 13 to 24 according to the schedule above. |
Live |
BA, SS, CT |
|
4 (6) Wed 9/2
|
Chalmers Student Union’s career fair (Charm). No lecture! |
|
|
|
4 (6) Thu 10/2 13-15 |
Computer tasks, own work, project groups 1 to 24. EDIT building, room 3502 Grundkurslab |
Live |
CT, BA, SS |
|
4 (6) Thu 10/2 15-17 |
Computer tasks, own work, project groups 1 to 24. No room and no supervision |
No supervision |
|
|
4 (6) Fri 11/2 8-10 |
Computer tasks, project groups 13 to 24 according to the schedule above. Deadline for Comp. task 3 |
Live |
BA, SS, CT |
|
4 (6) Fri 11/2 10-12 |
Computer tasks, project groups 1 to 12 according to the schedule above. Deadline for Comp. task 3 |
Live |
BA, SS, CT |
|
5 (7) Mon 14/2 8-12 |
L13, L14. Three-phase converter
|
|
p. 99-109 SL |
|
5 (7) Tue 15/2 8-10 |
Computer tasks, project groups 1 to 12 according to the schedule above. |
Live |
BA, SS, CT |
|
5 (7) Tue 15/2 10-12 |
Computer tasks, project groups 13 to 24 according to the schedule above. |
Live |
BA, SS, CT |
|
5 (7) Tue 15/2 13-15 |
Computer tasks, own work, project groups 1 to 12. No room and no supervision |
No supervision |
|
|
5 (7) Tue 15/2 15-17 |
Computer tasks, own work, project groups 13 to 24. No room and no supervision |
No supervision |
|
|
5 (7) Wed 16/2 10-12 |
L15 and Tutorial 6. Digital controller
|
|
p. 27-29, 35-38, 117-121 SL |
|
5 (7) Wed 16/2 13-15 |
L15 and Tutorial 6. Digital controller
|
|
p. 27-29, 35-38, 117-121 SL |
|
5 (7) Wed 16/2 15-17 |
Tutorial 7.
|
|
SS |
|
5 (7) Thu 17/2 |
Students' union day, no teaching |
|
|
|
5 (7) Fri 18/2 8-10 |
Computer tasks, project groups 13 to 24 according to the schedule above. |
Live |
BA, SS, CT |
|
5 (7) Fri 18/2 10-12 |
Computer tasks, project groups 1 to 12 according to the schedule above. |
Live |
BA, SS, CT |
|
6 (8) Mon 21/2 8-10 |
L16. Field-weakening, Volts/Hz control.
|
|
p. 29-30, 157-160 SL |
|
6 (8) Mon 21/2 10-12 |
Tutorial 8.
|
|
SS |
|
6 (8) Tue 22/2 8-10 |
Computer tasks, project groups 1 to 12 according to the schedule above. Deadline for Comp. task 4 |
Live |
BA, SS, CT |
|
6 (8) Tue 22/2 10-12 |
Computer tasks, project groups 13 to 24 according to the schedule above. Deadline for Comp. task 4 |
Live |
BA, SS, CT |
|
6 (8) Tue 22/2 13-15 |
Computer tasks, own work, project groups 1 to 12. EDIT building, room 3502 Grundkurslab |
Live |
BA, SS, CT |
|
6 (8) Tue 22/2 15-17 |
Computer tasks, own work, project groups 13 to 24. EDIT building, room 3502 Grundkurslab |
Live |
BA, SS, CT |
|
6 (8) Wed 23/2 10-12 |
L17. Other types of controllers.
|
|
p. 154-157, 110-115, 38-39 SL |
|
6 (8) Wed 23/2 13-15 |
Tutorial 9.
|
|
SS |
|
6 (8) Thu 24/2 13-15 |
Computer tasks, own work, project groups 13 to 24. EDIT building, room 3502 Grundkurslab |
Live |
SS, CT, BA |
|
6 (8) Thu 24/2 15-17 |
Computer tasks, own work, project groups 1 to 12. EDIT building, room 3502 Grundkurslab |
Live |
SS, CT, BA |
|
6 (8) Fri 25/2 8-10 |
Computer tasks, project groups 13 to 24 according to the schedule above. |
Live |
BA, SS, CT |
|
6 (8) Fri 25/2 10-12 |
Computer tasks, project groups 1 to 12 according to the schedule above. |
Live |
BA, SS, CT |
|
7 (9) Mon 28/2 8-10 |
L18. Signal injection.
|
|
SL |
|
7 (9) Mon 28/2 10-12 |
L19. Signal injection.
|
|
SL |
|
7 (9) Tue 1/3 8-10 |
Computer tasks, project groups 1 to 12 according to the schedule above. Deadline for Comp. task 5 |
Live |
BA, SS, CT |
|
7 (9) Tue 1/3 10-12 |
Computer tasks, project groups 13 to 24 according to the schedule above. Deadline for Comp. task 5 |
Live |
BA, SS, CT |
|
7 (9) Tue 1/3 13-15 |
Computer tasks, own work, project groups 1 to 12. No room and no supervision |
No supervision |
CT, BA, SS |
|
7 (9) Tue 1/3 15-17 |
Computer tasks, own work, project groups 13 to 24. No room and no supervision |
No supervision |
CT, BA, SS |
|
7 (9) Wed 2/3 10-12 |
L20. Extra lecture.
|
|
SL |
|
7 (9) Wed 2/3 13-15 |
L21. Extra lecture.
|
|
SL |
|
7 (9) Thu 3/3 13-15 |
Computer tasks, own work, project groups 13 to 24. EDIT building, room 3502 Grundkurslab |
Live |
BA, SS, CT |
|
7 (9) Thu 3/3 15-17 |
Computer tasks, own work, project groups 1 to 12. EDIT building, room 3502 Grundkurslab |
Live |
BA, SS, CT |
|
7 (9) Fri 4/3 8-10 |
Computer tasks, project groups 13 to 24 according to the schedule above. |
Live |
BA, SS, CT |
|
7 (9) Fri 4/3 10-12 |
Computer tasks, project groups 1 to 12 according to the schedule above. |
Live |
BA, SS, CT |
|
8 (10) Mon 7/3 8-12 |
Tutorial 10 and 11. Demo old exam. |
|
SS |
|
8 (10) Tue 8/3 8-10 |
Computer tasks, project groups 1 to 12 according to the schedule above. |
Live |
BA, SS, CT |
|
8 (10) Tue 8/3 10-12 |
Computer tasks, project groups 13 to 24 according to the schedule above. |
Live |
BA, SS, CT |
|
8 (10) Tue 8/3 13-15 |
Computer tasks, own work + approval time, project groups 1 to 12. EDIT building, room 3502 Grundkurslab |
Live |
BA, SS, CT |
|
8 (10) Tue 8/3 15-17 |
Computer tasks, own work + approval time, project groups 13 to 24. EDIT building, room 3502 Grundkurslab |
Live |
BA, SS, CT |
|
8 (10) Thu 10/3 13-15 |
Computer tasks, own work, project groups 13 to 24. No room and no supervision |
No supervision |
|
|
8 (10) Thu 10/3 15-17 |
Computer tasks, own work, project groups 1 to 12. No room and no supervision |
No supervision |
|
|
8 (10) Fri 11/3 8-10 |
Computer tasks, project groups 13 to 24 according to the schedule above. Deadline for Comp. task 6 and 7 |
Live |
BA, SS, CT |
|
8 (10) Fri 11/3 10-12 |
Computer tasks, project groups 1 to 12 according to the schedule above. Deadline for Comp. task 6 and 7 |
Live |
BA, SS, CT |
|
9 (11) Mon 14/3 14:00-18:00 |
Written exam |
|
SL |
Changes made since the last occasion
- Added some figures for the computer assignments so students can know if their models gives the right values before they start to answer the questions
Learning objectives and syllabus
Learning objectives:
- design current, speed and position controllers of electric machines, based on bandwidth requirements of their performance, the parameters of the machine together with the load and the supplying power electronic converter.
- construct/develop a control system of a DC-machine and to judge the performance of the current and speed controller using a linear power amplifier.
- construct/develop a field-oriented control system of an induction machine and a PM synchronous machine and to judge the performance of the current and speed controllers.
- implement and evaluate active damping, feed-forward and anti-windup of the regulators.
- present currents, voltages and fluxes in 3- and 2-phase stationary systems as well as in the rotating 2-phase system, and to be able to move between these representation systems.
- derive, implement and judge the performance of the current model flux estimator in direct and indirect field orientation.
- derive the base equations of the voltage model flux estimator and evaluate the performance of the voltage model.
- derive the base equations for estimating the rotor position with signal injection for a salient PM synchronous machine and evaluate its performance.
- use the state-space representation for simulation of electric machines and be able to derive the state-space equations from the standard equation set-up describing an electric machine.
- describe how a three-phase converter operates and to determine the switching pattern that is created by the converter and the impact that this pattern has on the machine.
- design a field weakening controller for the machines.
- implement the developed control system on a drive system with a dSPACE real time control system and evaluate the drive system performance.
- describe how a Volt/Hz control operates.
- choose the relevant (environmental friendly) drive system for a given application with given specifications.
Link to the syllabus on Studieportalen.
.
Examination form
The grading (5, 4, 3, Not passed) off the course is based on a written exam in the end of the course. The maximum number of points on the exam is 50 and the limit for a 3 on the exam is 20 p, a 4 is 30 p and 5 is 40 p. In addition, the compulsory computer tasks, numbered 1 to 7, have all to be approved to get a grade on the course, if not the grade is Not passed until all 7 tasks are approved. Observe the deadlines for presenting respectively computer task in the teaching plan above (deadline for Comp. task X). If you get sick or have other similar reasons for why you cannot finish the task on time you should inform the examiner as soon as possible and then have a discussion with the examiner to see if it is possible to find a solution.
No report has to be filed for the compulsory computer tasks, instead it is sufficient for each project group to show their own solutions for the home assignments (this can be hand written solutions that you scan or take a photo of so you can show it on a shared screen during the approvals) and to demonstrate their own simulations directly in front of the computer, to analyze and interpret the results and answer the questions. The questions on the exam will be based on the issues dealt with in the home assignments, project assignments, tutorials and material presented during the lectures. Only CTH-approved calculators are allowed at the exam.
Course summary:
| Date | Details | Due |
|---|---|---|