Course-PM, CourseSyllabus_ENM076_2023_V2.pdf

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.

                     Nimananda Sharma                   sharman@chalmers.se                        Contact info.

                     Jian Zhao                                   zjian@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

TimeEdit

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 and you should work together in this group. Both students need to be able to answer all the questions.

To book a time for getting help or get approval on the computer tasks you have to book a time. You do this on Canvas, under the menu People you click on the tab Group and join the group with the time that works for both students in the group. OBSERVE that both students in the group must select the same time. On each timeslot 8 students can sign up and there will be 4 supervisors there so 4 groups can get help/do approvals at the same time. You will need to sign up for each session.

 

For the computer tasks, own work times that are in EDIT building, room 3502 Grundkurslab, see the teaching plan below, is if your group need help with the computer tasks. You must book a 2-hour slot for these times. During this 2-hour 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. During these times a booking system on the white board in the lab will be used, if your group need help you write the group on the board and when it is your time you can get help for maximum 20 min. If you need more help after this, you write your group last in the queue again. The assistants are by default not there, so the first group that writes on the white board pick up the first assistant in the teaching plan, if you are 2 groups in queue you pick up the second assistant and if you are 3 groups in queue you pick up the third assistant.

 

The possibility to sign up for the groups, both the lab times and the own work times will close at 12:00 the day before the lab time.

 

As can be seen in the teaching plan below there are

19 lectures = 38 h

10 tutorials = 20 h

15 x 25 min = 7 h

TOTAL: 65 h

 

This leaves 135 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.

Nimananda Sharma                 NS in the teaching plan           Contact info.

Jian Zhao                                  JZ in the teaching plan           Contact info.

Study week, Date, Time	Description / Material	Pages, course compendium / assistant/teacher
1 (3) Mon 16/1  8-10	L1. Introduction to electric drives. Current control derivation for an RL circuit. Current controller analysis.	SL
1 (3) Mon 16/1  10-12	L2. Current and speed control derivation for permanent magnet DC machine.	p.16-27                         SL
1 (3) Wed 18/1  10-12	L3. Transformation theory, rotating flux linkage.	p. 41-55                         SL
1 (3) Wed 18/1  13-15	L4. PMSM modeling and implementation.	p.60-64, p. 85-90           SL
1 (3) Wed 18/1  15-17	Tutorial 1, RL and PMDC models and controllers	SS
1 (3) Thu 19/1  08-10	Computer task introduction, here you can start with the project introduction and the recorded project introduction. You book the time on Canvas
1 (3) Thu 19/1  10-12	Computer task introduction, here you can start with the project introduction and the recorded project introduction. You book the time on Canvas
1 (3) Thu 19/1  13-17	Computer tasks, the project groups book the time on Canvas.	BA, NS, SS, JZ
2 (4) Mon 23/1  8-10	L5. PMSM control derivation. Current controller.	p. 93-98, p. 115-117       SL
2 (4) Mon 23/1  10-12	L6. PMSM speed and position controller.	SL
2 (4) Mon 23/1  13-15	Computer tasks, own work, EDIT building, room 3502 Grundkurslab, the project groups book the time on Canvas	BA, NS, SS, JZ
2 (4) Mon 23/1  15-17	Computer tasks, own work, EDIT building, room 3502 Grundkurslab, the project groups book the time on Canvas	BA, NS, SS, JZ
2 (4) Tue 24/1  13-17	Computer tasks, the project groups book the time on Canvas.	BA, NS, SS, JZ
2 (4) Wed 25/1  10-12	L7. Induction machine state-space modeling and implementation.	p. 65-68                         SL
2 (4) Wed 25/1  13-15	L8. Inverse Γ-model of the induction machine.	p. 68-73                         SL
2 (4) Wed 25/1  15-17	Tutorial 2, PMSM model and controllers	SS
2 (4) Thu 26/1  08-12	Computer tasks, the project groups book the time on Canvas.  Deadline for Comp. task 1	BA, NS, SS, JZ
2 (4) Thu 26/1  13-15	Computer tasks, own work. No room and no supervision
2 (4) Thu 26/1  15-17	Computer tasks, own work. No room and no supervision
3 (5) Mon 30/1  8-10	L9. Field-oriented control of IM, DFO, design of controller for the induction machine.	SL
3 (5) Mon 30/1  10-12	Tutorial 3. IM models	SS
3 (5) Mon 30/1 13-15	Computer tasks, own work, EDIT building, room 3502 Grundkurslab, the project groups book the time on Canvas	NS, BA, JZ, SS
3 (5) Mon 30/1 15-17	Computer tasks, own work, EDIT building, room 3502 Grundkurslab, the project groups book the time on Canvas	NS, BA, JZ, SS
3 (5) Tue 31/1  13-17	Computer tasks, the project groups book the time on Canvas.	BA, NS, SS, JZ
3 (5) Wed 1/2  10-12	L10. Current model flux estimator, IFO, speed and position controller.	p. 123-128, 160-161           SL
3 (5) Wed 1/2  13-15	Tutorial 4. IM Control	SS
3 (5) Wed 1/2  15-17	Tutorial 4. Current model flux estimator	SS
3 (5) Thu 2/2  10-12	Computer tasks, the project groups book the time on Canvas.  Deadline for Comp. task 2	BA, NS, SS, JZ
3 (5) Thu 2/2  13-15	Computer tasks, the project groups book the time on Canvas.  Deadline for Comp. task 2	BA, NS, SS, JZ
3 (5) Thu 2/2  15-17	Computer tasks, own work, EDIT building, room 3502 Grundkurslab, the project groups book the time on Canvas	BA, NS, SS, JZ
3 (5) Fri 3/2  13-15	Computer tasks, own work, EDIT building, room 3502 Grundkurslab, the project groups book the time on Canvas	BA, NS, SS, JZ
4 (6) Mon 6/2  8-12	L11 and Tutorial 6. Sensorless operation, voltage model flux estimator.	p. 128-150                         SL
4 (6) Mon 6/2  13-15	Computer tasks, own work, project groups 13 to 24. No room and no supervision
4 (6) Mon 6/2  15-17	Computer tasks, own work, project groups 1 to 12. No room and no supervision
4 (6) Tue 7/2  15-17	Computer tasks, the project groups book the time on Canvas.	BA, NS, SS, JZ
4 (6) Wed 8/2	Chalmers Student Union’s career fair (Charm). No lecture!
4 (6) Thu 9/2  08-10	Computer tasks, the project groups book the time on Canvas.	BA, NS, SS, JZ
4 (6) Thu 9/2  10-12	Computer tasks, the project groups book the time on Canvas. Deadline for Comp. task 3	BA, NS, SS, JZ
4 (6) Fri 10/2  13-15	Computer tasks, the project groups book the time on Canvas. Deadline for Comp. task 3	BA, NS, SS, JZ
5 (7) Mon 13/2  8-12	L12, L13. Three-phase converter and IM current control analysis.	p. 99-109                         SL
5 (7) Mon 13/2  13-15	Computer tasks, own work, EDIT building, room 3502 Grundkurslab, the project groups book the time on Canvas	NS, BA, JZ, SS
5 (7) Mon 13/2  15-17	Computer tasks, own work, EDIT building, room 3502 Grundkurslab, the project groups book the time on Canvas	NS, BA, JZ, SS
5 (7) Tue 14/2  13-17	Computer tasks, the project groups book the time on Canvas.	BA, NS, SS, JZ
5 (7) Wed 15/2  10-12	L14 and Tutorial 7. Digital controller	p. 27-29, 35-38, 117-121           SL
5 (7) Wed 15/2  13-15	L14 and Tutorial 7. Digital controller	p. 27-29, 35-38, 117-121           SL
5 (7) Thu 16/2  08-12	Computer tasks, the project groups book the time on Canvas.	BA, NS, SS, JZ
6 (8) Mon 20/2  8-10	L15. Field-weakening, Volts/Hz control.	p. 29-30, 157-160           SL
6 (8) Mon 20/2  10-12	L16. Other types of controllers.	p. 154-157, 110-115, 38-39       SL
6 (8) Mon 20/2  13-15	Computer tasks, own work, EDIT building, room 3502 Grundkurslab, the project groups book the time on Canvas	BA, NS, SS, JZ
6 (8) Mon 20/2  15-17	Computer tasks, own work, EDIT building, room 3502 Grundkurslab, the project groups book the time on Canvas	BA, NS, SS, JZ
6 (8) Tue 21/2  15-17	Computer tasks, the project groups book the time on Canvas.	BA, NS, SS, JZ
6 (8) Wed 22/2  13-15	Tutorial 8. Three-phase inverter and field weakening	SS
6 (8) Thu 23/2  08-10	Computer tasks, the project groups book the time on Canvas.  Deadline for Comp. task 4	BA, NS, SS, JZ
6 (8) Thu 23/2  10-12	Computer tasks, the project groups book the time on Canvas.	BA, NS, SS, JZ
6 (8) Thu 23/2  13-15	Computer tasks, own work, EDIT building, room 3502 Grundkurslab, the project groups book the time on Canvas	NS, BA, JZ, SS
6 (8) Thu 23/2  15-17	Computer tasks, own work, EDIT building, room 3502 Grundkurslab, the project groups book the time on Canvas	NS, BA, JZ, SS
6 (8) Fri 24/2  13-15	Computer tasks, the project groups book the time on Canvas.	BA, NS, SS, JZ
7 (9) Mon 27/2  8-12	L17. Signal injection and selection of drive.	SL
7 (9) Mon 27/2  13-15	Computer tasks, own work, EDIT building, room 3502 Grundkurslab, the project groups book the time on Canvas	BA, NS, SS, JZ
7 (9) Mon 27/2 15-17	Computer tasks, own work, EDIT building, room 3502 Grundkurslab, the project groups book the time on Canvas	BA, NS, SS, JZ
7 (9) Tue 28/2  13-17	Computer tasks, the project groups book the time on Canvas.  Deadline for Comp. task 5	BA, NS, SS, JZ
7 (9) Wed 1/3  10-12	L19. Extra lecture.	SL
7 (9) Wed 1/3  14-17	Study Visit Aros Electronics AB	SL
7 (9) Thu 2/3  08-10	Computer tasks, own work, EDIT building, room 3502 Grundkurslab, the project groups book the time on Canvas	NS, BA, JZ, SS
7 (9) Thu 2/3  10-12	Computer tasks, own work, EDIT building, room 3502 Grundkurslab, the project groups book the time on Canvas	NS, BA, JZ, SS
7 (9) Fri 3/3  08-12	Computer tasks, the project groups book the time on Canvas.	BA, NS, SS, JZ
8 (10) Mon 6/3  8-12	Tutorial 9 and 10. Demo old exam.	SS
8 (10) Mon 6/3 13-17	Computer tasks, own work, EDIT building, room 3502 Grundkurslab, the project groups book the time on Canvas	BA, NS, SS, JZ
8 (10) Tue 7/3  08-12	Computer tasks, the project groups book the time on Canvas.	BA, NS, SS, JZ
8 (10) Wed 7/3  13-17	Computer tasks, the project groups book the time on Canvas.	BA, NS, SS, JZ
8 (10) Thu 9/3  13-17	Computer tasks, own work, EDIT building, room 3502 Grundkurslab, the project groups book the time on Canvas Deadline for Comp. task 6 and 7	NS, BA, JZ, SS
9 (11) Mon 13/3 14:00-18:00	Written exam	SL

Changes made since the last occasion

• New supervisors for computer labs.

 

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.

.

Study plan

 

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.