Course syllabus
Course-PM
ENM076 Electric drive systems lp3 VT20 (7.5 hp)
Course is offered by the department of Electrical Engineering
Contact details
Name Email
Examiner: Stefan Lundberg stefan.lundberg@chalmers.se Contact info.
Lecturer: Michela Diana michela.diana@chalmers.se Contact info.
Xiaoliang Huang xiaoliang.huang@chalmers.se Contact info.
Stefan Lundberg stefan.lundberg@chalmers.se Contact info.
Tutorial assistant: Xiaoliang Huang xiaoliang.huang@chalmers.se Contact info.
Laboratory and Project assistants:
Babak Alikhanzadehalamdari ababak@chalmers.se Contact info.
Xiaoliang Huang xiaoliang.huang@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 field vector 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 |
|
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 |
|
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 |
For the computer tasks, own work times on Tuesdays and Thursdays between 13:15 and 17:00, see the teaching plan below, the Grundkurslaboratoriet at the division is booked. If your group need help you can come to the lab on the following times:
- Project groups 1 to 12 Tuesday 13:15 to 15:00 and Thursdays 15:15 to 17:00
- Project groups 13 to 24 Tuesday 15:15 to 17:00 and Thursdays 13:15 to 15:00
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.
As can be seen in the teaching plan below there are
21 lectures = 42 h
11 tutorials = 22 h
15 x 25 min + 6h scheduled supervision = 13 h
TOTAL: 77 h
This leaves 123 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:
Babak Alikhanzadehalamdari BA in the teaching plan Contact info.
Michela Diana MD in the teaching plan Contact info.
Xiaoliang Huang XH in the teaching plan Contact info.
Stefan Lundberg SL in the teaching plan Contact info.
Chengjun Tang CT in the teaching plan Contact info.
|
8 (11) Tue 10/3 13-15 |
Computer tasks, own work, project groups 1 to 12. Grundkurslaboratoriet at the division |
BA, XH, CT |
|
8 (11) Tue 10/3 15-17 |
Computer tasks, own work, project groups 13 to 24. Grundkurslaboratoriet at the division |
BA, XH, CT |
|
8 (11) Thu 12/3 13-15 |
Computer tasks, own work, project groups 13 to 24. Grundkurslaboratoriet at the division |
BA, XH, CT |
|
8 (11) Thu 12/3 15-17 |
Computer tasks, own work, project groups 1 to 12. Grundkurslaboratoriet at the division |
BA, XH, CT |
|
1 (4) Wed 22/1 13-15 |
L4. PMSM modeling and implementation. Room EF |
p.60-64, p. 85-90 MD |
|
1 (4) Wed 22/1 15-17 |
Tutorial 1 Room EF |
XH |
|
1 (4) Thu 23/1 13-15 |
Computer tasks, all project groups 13 to 24 at the same time Room ES61 |
BA, XH, SL, CT |
|
1 (4) Thu 23/1 15-17 |
Computer tasks, all project groups 1 to 12 at the same time Room ES61 |
BA, XH, SL, CT |
|
1 (4) Fri 24/1 8-10 |
Computer tasks, project groups 13 to 24 according to the schedule above. Room ES63 |
BA, XH, CT |
|
1 (4) Fri 24/1 10-12 |
Computer tasks, project groups 1 to 12 according to the schedule above. Room ES63 |
BA, XH, CT |
|
2 (5) Mon 27/1 8-10 |
L5. PMSM control derivation. Current controller. Room EF |
p. 93-98, p. 115-117 SL |
|
2 (5) Mon 27/1 10-12 |
L6. PMSM speed and position controller. Room EF |
SL |
|
2 (5) Tue 28/1 8-10 |
Computer tasks, project groups 1 to 12 according to the schedule above. Room ES63 |
BA, XH, CT |
|
2 (5) Tue 28/1 10-12 |
Computer tasks, project groups 13 to 24 according to the schedule above. Room ES63 |
BA, XH, CT |
|
2 (5) Tue 28/1 13-15 |
Computer tasks, own work, project groups 1 to 12. Grundkurslaboratoriet at the division |
BA, XH, CT |
|
2 (5) Tue 28/1 15-17 |
Computer tasks, own work, project groups 13 to 24. Grundkurslaboratoriet at the division |
BA, XH, CT |
|
2 (5) Wed 29/1 10-12 |
L7. Induction machine state-space modeling and implementation.Room EF |
p. 65-68 MD |
|
2 (5) Wed 29/1 13-15 |
L8. Inverse Γ-model of the induction machine. Room EF |
p. 68-73 MD |
|
2 (5) Wed 29/1 15-17 |
Tutorial 2 Room EF |
XH |
|
2 (5) Thu 30/1 13-15 |
Computer tasks, own work, project groups 13 to 24. Grundkurslaboratoriet at the division |
XH, CT, BA |
|
2 (5) Thu 30/1 15-17 |
Computer tasks, own work, project groups 1 to 12. Grundkurslaboratoriet at the division |
XH, CT, BA |
|
2 (5) Fri 31/1 8-10 |
Computer tasks, project groups 13 to 24 according to the schedule above. Room ES63, deadline for Comp. task 1 |
BA, XH, CT |
|
2 (5) Fri 31/1 10-12 |
Computer tasks, project groups 1 to 12 according to the schedule above. Room ES63, deadline for Comp. task 1 |
BA, XH, CT |
|
3 (6) Mon 3/2 8-10 |
L9. Field-oriented control of IM, DFO, design of controller for the induction machine. Room EF |
SL |
|
3 (6) Mon 3/2 10-12 |
Tutorial 3. Room EF |
XH |
|
3 (6) Tue 4/2 8-10 |
Computer tasks, project groups 1 to 12 according to the schedule above. Room ES63 |
BA, XH, CT |
|
3 (6) Tue 4/2 10-12 |
Computer tasks, project groups 13 to 24 according to the schedule above. Room ES63 |
BA, XH, CT |
|
3 (6) Wed 5/2
|
Chalmers Student Union’s career fair (Charm). No lecture! |
|
|
3 (6) Thu 6/2 13-15 |
Computer tasks, own work, project groups 13 to 24. Grundkurslaboratoriet at the division |
CT, BA, XH |
|
3 (6) Thu 6/2 15-17 |
Computer tasks, own work, project groups 1 to 12. Grundkurslaboratoriet at the division |
CT, BA, XH |
|
3 (6) Fri 7/2 8-10 |
Computer tasks, project groups 13 to 24 according to the schedule above. Room ES63, deadline for Comp. task 2 |
BA, XH, CT |
|
3 (6) Fri 7/2 10-12 |
Computer tasks, project groups 1 to 12 according to the schedule above. Room ES63, deadline for Comp. task 2 |
BA, XH, CT |
|
4 (7) Mon 10/2 8-10 |
L10. Current model flux estimator, IFO, speed and position controller. Room EF |
p. 123-128, 160-161 SL |
|
4 (7) Mon 10/2 10-12 |
L11. IM current control analysis. Room EF |
SL |
|
4 (7) Tue 11/2 8-10 |
Computer tasks, project groups 1 to 12 according to the schedule above. Room ES63 |
BA, XH, CT |
|
4 (7) Tue 11/2 10-12 |
Computer tasks, project groups 13 to 24 according to the schedule above. Room ES63 |
BA, XH, CT |
|
4 (7) Tue 11/2 13-15 |
Computer tasks, own work, project groups 1 to 12. Grundkurslaboratoriet at the division |
BA, XH, CT |
|
4 (7) Tue 11/2 15-17 |
Computer tasks, own work, project groups 13 to 24. Grundkurslaboratoriet at the division |
BA, XH, CT |
|
4 (7) Wed 12/2 10-12 |
L12 and Tutorial 4. Sensorless operation, voltage model flux estimator. Room EF |
p. 128-150 XH |
|
4 (7) Wed 12/2 13-15 |
L12 and Tutorial 4. Sensorless operation, voltage model flux estimator. Room EF |
p. 128-150 XH |
|
4 (7) Wed 12/2 15-17 |
Tutorial 5. Room EF |
XH |
|
4 (7) Thu 13/2 |
Students' union day, no teaching |
|
|
4 (7) Fri 14/2 8-10 |
Computer tasks, project groups 13 to 24 according to the schedule above. Room ES63, deadline for Comp. task 3 |
BA, XH, CT |
|
4 (7) Fri 14/2 10-12 |
Computer tasks, project groups 1 to 12 according to the schedule above. Room ES63, deadline for Comp. task 3 |
BA, XH, CT |
|
4 (7) Fri 14/2 15 -
|
Study visit to Aros electronics AB. Deadline for signing up 7th of February at 10:00 |
|
|
5 (8) Mon 17/2 8-12 |
L13, L14. Three-phase converter Room EF |
p. 99-109 SL |
|
5 (8) Tue 18/2 8-10 |
Computer tasks, project groups 1 to 12 according to the schedule above. Room ES63 |
BA, XH, CT |
|
5 (8) Tue 18/2 10-12 |
Computer tasks, project groups 13 to 24 according to the schedule above. Room ES63 |
BA, XH, CT |
|
5 (8) Tue 18/2 13-15 |
Computer tasks, own work, project groups 1 to 12. Grundkurslaboratoriet at the division |
XH, CT, BA |
|
5 (8) Tue 18/2 15-17 |
Computer tasks, own work, project groups 13 to 24. Grundkurslaboratoriet at the division |
XH, CT, BA |
|
5 (8) Wed 19/2 10-12 |
L15 and Tutorial 6. Digital controller Room EF |
p. 27-29, 35-38, 117-121 SL |
|
5 (8) Wed 19/2 13-15 |
L15 and Tutorial 6. Digital controller Room EF |
p. 27-29, 35-38, 117-121 SL |
|
5 (8) Wed 19/2 15-17 |
Tutorial 7. Room EF |
XH |
|
5 (8) Thu 20/2 13-15 |
Computer tasks, own work, project groups 13 to 24. Grundkurslaboratoriet at the division |
CT, BA, XH |
|
5 (8) Thu 20/2 15-17 |
Computer tasks, own work, project groups 1 to 12. Grundkurslaboratoriet at the division |
CT, BA, XH |
|
5 (8) Fri 21/2 8-10 |
Computer tasks, project groups 13 to 24 according to the schedule above. Room ES63 |
BA, XH, CT |
|
5 (8) Fri 21/2 10-12 |
Computer tasks, project groups 1 to 12 according to the schedule above. Room ES63 |
BA, XH, CT |
|
6 (9) Mon 24/2 8-10 |
L16. Field-weakening, Volts/Hz control. Room EF |
p. 29-30, 157-160 SL |
|
6 (9) Mon 24/2 10-12 |
Tutorial 8. Room EF |
XH |
|
6 (9) Tue 25/2 8-10 |
Computer tasks, project groups 1 to 12 according to the schedule above. Room ES63, deadline for Comp. task 4 |
BA, XH, CT |
|
6 (9) Tue 25/2 10-12 |
Computer tasks, project groups 13 to 24 according to the schedule above. Room ES63, deadline for Comp. task 4 |
BA, XH, CT |
|
6 (9) Tue 25/2 13-15 |
Computer tasks, own work, project groups 1 to 12. Grundkurslaboratoriet at the division |
BA, XH, CT |
|
6 (9) Tue 25/2 15-17 |
Computer tasks, own work, project groups 13 to 24. Grundkurslaboratoriet at the division |
BA, XH, CT |
|
6 (9) Wed 26/2 10-12 |
L17. Other types of controllers. Room EF |
p. 154-157, 110-115, 38-39 SL |
|
6 (9) Wed 26/2 13-15 |
Tutorial 9. Room SB-L216 |
XH |
|
6 (9) Thu 27/2 13-15 |
Computer tasks, own work, project groups 13 to 24. Grundkurslaboratoriet at the division |
XH, CT, BA |
|
6 (9) Thu 27/2 15-17 |
Computer tasks, own work, project groups 1 to 12. Grundkurslaboratoriet at the division |
XH, CT, BA |
|
6 (9) Fri 28/2 8-10 |
Computer tasks, project groups 13 to 24 according to the schedule above. Room ES63 |
BA, XH, CT |
|
6 (9) Fri 28/2 10-12 |
Computer tasks, project groups 1 to 12 according to the schedule above. Room ES63 |
BA, XH, CT |
|
7 (10) Mon 2/3 8-10 |
L18. Signal injection. Room EF |
XH |
|
7 (10) Mon 2/3 10-12 |
L19. Signal injection. Room EF |
XH |
|
7 (10) Tue 3/3 8-10 |
Computer tasks, project groups 1 to 12 according to the schedule above. Room ES63, deadline for Comp. task 5 |
BA, XH, CT |
|
7 (10) Tue 3/3 10-12 |
Computer tasks, project groups 13 to 24 according to the schedule above. Room ES63, deadline for Comp. task 5 |
BA, XH, CT |
|
7 (10) Tue 3/3 13-15 |
Computer tasks, own work, project groups 1 to 12. Grundkurslaboratoriet at the division |
CT, BA, XH |
|
7 (10) Tue 3/3 15-17 |
Computer tasks, own work, project groups 13 to 24. Grundkurslaboratoriet at the division |
CT, BA, XH |
|
7 (10) Wed 4/3 10-12 |
L20. Extra lecture. Room EF |
SL |
|
7 (10) Wed 4/3 13-15 |
L21. Extra lecture. Room EF |
SL |
|
7 (10) Thu 5/3 13-15 |
Computer tasks, own work, project groups 13 to 24. Grundkurslaboratoriet at the division |
BA, XH, CT |
|
7 (10) Thu 5/3 15-17 |
Computer tasks, own work, project groups 1 to 12. Grundkurslaboratoriet at the division |
BA, XH, CT |
|
7 (10) Fri 6/3 8-10 |
Computer tasks, project groups 13 to 24 according to the schedule above. Room ES63 |
BA, XH, CT |
|
7 (10) Fri 6/3 10-12 |
Computer tasks, project groups 1 to 12 according to the schedule above. Room ES63 |
BA, XH, CT |
|
8 (11) Mon 9/3 8-12 |
Tutorial 10 and 11. Demo old exam. |
XH |
|
8 (11) Tue 10/3 8-10 |
Computer tasks, project groups 1 to 12 according to the schedule above. Room ES63 |
BA, XH, CT |
|
8 (11) Tue 10/3 10-12 |
Computer tasks, project groups 13 to 24 according to the schedule above. Room ES63 |
BA, XH, CT |
|
8 (11) Tue 10/3 13-15 |
Computer tasks, own work + approval time, project groups 1 to 12. Grundkurslaboratoriet at the division |
BA, XH, CT |
|
8(11) Tue 10/3 15-17 |
Computer tasks, own work + approval time, project groups 13 to 24. Grundkurslaboratoriet at the division |
BA, XH, CT |
|
8 (11) Thu 12/3 13-15 |
Computer tasks, own work + approval time, project groups 13 to 24. Grundkurslaboratoriet at the division |
BA, XH, CT |
|
8 (11) Thu 12/3 15-17 |
Computer tasks, own work + approval time, project groups 1 to 12. Grundkurslaboratoriet at the division |
BA, XH, CT |
|
8 (11) Fri 13/3 8-10 |
Computer tasks, project groups 13 to 24 according to the schedule above. Room ES63, deadline for Comp. task 6 and 7 |
BA, XH, CT |
|
8 (11) Fri 13/3 10-12 |
Computer tasks, project groups 1 to 12 according to the schedule above. Room ES63, deadline for Comp. task 6 and 7 |
BA, XH, CT |
|
9 (12) Wed 18/3 08:30-12:30 |
Written exam |
SL |
Changes made since the last occasion
- For digital control system, the computer project is replaced with a practical project instead. The student should implement the induction machine controller with DPSACE on a real system.
- Clearer division of the times for the project groups
- Added deadlines for presenting the different computer tasks.
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 can not 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) 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 |
|---|---|---|