1、Power SystemsAndreVeltmanDucoW.J.PulleR.W.deDonckerFundamentals of Electrical Drives Second Edition Power SystemsAndr Veltman,Duco W.J.Pulle,Rik W.De DonckerFundamentals of Electrical DrivesMore information about this series at http:/ Veltman Duco W.J.PulleR.W.De DonckerFundamentalsof Electrical Dri
2、vesSecond Edition123Andr VeltmanTU EindhovenPiak Electronic DesignCulemborg,GelderlandThe NetherlandsR.W.De DonckerRWTH Aachen FBFB 6 ElektrotechnikAachen,GermanyDuco W.J.PulleEMSynergyMilperra,NSWAustraliaISSN 1612-1287ISSN 1860-4676(electronic)Power SystemsISBN 978-3-319-29408-7ISBN 978-3-319-2940
3、9-4(eBook)DOI 10.1007/978-3-319-29409-4Library of Congress Control Number:2016931895 Springer International Publishing Switzerland 2007,2016This work is subject to copyright.All rights are reserved by the Publisher,whether the whole or part ofthe material is concerned,specifically the rights of tran
4、slation,reprinting,reuse of illustrations,recitation,broadcasting,reproduction on microfilms or in any other physical way,and transmission or informationstorage and retrieval,electronic adaptation,computer software,or by similar or dissimilar methodologynow known or hereafter developed.Theuseofgener
5、al descriptive names,registered names,trademarks,service marks,etc.in this publicationdoes not imply,even in the absence of a specific statement,that such names are exempt from the relevantprotective laws and regulations and therefore free for general use.The publisher,the authors and the editors ar
6、e safe to assume that the advice and information in this bookare believed to be true and accurate at the date of publication.Neither the publisher nor the authors orthe editors give a warranty,express or implied,with respect to the material contained herein or for anyerrors or omissions that may hav
7、e been made.Printed on acid-free paperThis Springer imprint is published by Springer NatureThe registered company is Springer International Publishing AG SwitzerlandThis book is dedicated to our families andfriendsForewordWithin one academic lifetime,the electric drive has progressed from the three-
8、machine DC drive called the Ward-Leonard system to todays sophisticated ACdrives utilizing PWM inverter power electronics and field orientation or directtorque control.Roughly around the same period,machine theory progressed fromthe classical“one machine at a time”approach to the generalized or unif
9、iedapproach emphasizing similarities between machine types.This unified theory alsoutilized much more sophisticated mathematical tools to obtain models applicableto transients as well as steady state.This enabled theoretical modeling a host ofimportant machine problems,but almost always required com
10、puter solutions asopposed to more general analytic solutions.This often left one with a feeling ofdetachmentfromthephysicalrealityofinrushcurrents,thewhineofspinningrotors,and the smell of over-warm electrical insulation.Partway through my academic lifetime,I was introduced to the next phase ofunifi
11、ed theory;the use of complexnotation to model the effectivespatial orientationof quantities within a machine.This concept,often called space vector theory,provides a much clearer mathematical picture of what is happening in a machine,but at the expenseof anotherlevel of abstractionin the model.Howev
12、er,the insightsprovided to one initiated in the method are so significant that today essentially allwork in drive control is presented in this format.And therein lies a problem.To theuninitiated these presentations appear quite unintelligible,and a route to becominginitiated is generally hard to fin
13、d and often harder to follow once found.This purpose of this book is to show the theory and notation used,in modernelectric drive analysis and design at an introductory level.The authors,bring anexceptionalbreadth of knowledgeto this book making it stand out from other booksthat only providing mathe
14、matical foundation for advanced work.This strong effortis madeto presentthe physicalbasis forall ofthe majorsteps indevelopment,andtogive the space vector physical and mathematical meaning.Readers using the bookfor self-study will find the sets of simulation tutorials at the end of each chapter ofsp
15、ecial value in mastering the implications and fine points of the material coveredin the chapter.viiviiiForewordElectric machine theory with its interacting temporal,spatial variations andmulti-winding topologies can appear to be a very complicated and difficult subject.The approach followed in this
16、book is,I believe,one that will help eliminate thisperception by providing a fundamental,coherent,and user-friendly introduction toelectric machines for those beginning a serious study of electric drive systems.Madison,WI,USADonald W.NovotnyPrefaceOur motivation and purpose for writing this book ste
17、ms from our belief that thereis a practical need for a learning platform which will allow the motivated reader togain a basic understandingof the modern multidisciplinary principles which governelectrical drives.The book in question should appeal to those readers who havean elementary understanding
18、of electrical circuits and magnetics and who have aninterest or need to comprehend advanced textbooks in the field of electrical drives.Consideration has also been given to those interested in using this book as a basisfor teaching this subject matter.In this context,a Springer website Extra Materia
19、lshas been set up which contains the simulation examples and tutorials discussed inthis book.Furthermore,all the figures in this book are available on the Springerwebsite,in order to assist lecturers with the preparation of electronic“power point”type lectures.Electrical drives consist of a number o
20、f components:the electrical machine,converter,and controller,all of which are discussed at variouslevels.A brief rsumof magnetic and electrical circuit principles is given in Chap.1 together with aset of generic building modules which are used throughout this book to representdynamic models.Chapter
21、2 is designed to familiarize the reader with the process ofbuilding a dynamic model of a coil with the aid of generic modules.This part of thetext contains an introduction on phasors as required for steady-state analysis.Theapproach taken in this and the following chapters is to present a physical m
22、odel,which is then represented by a symbolic model with the relevant equation set.Ageneric model is then presented which forms the basis for a set of build and playsimulations set out in various steps in the tutorial at the end of the chapter.Chapter 3 introduces a single-phase ideal transformer(ITF
23、)which forms thebasis of a generic transformer model with leakage and magnetizing inductance.Aphasor analysis is given to familiarize the reader with the steady-state model.Thebuild and play tutorials at the end of the chapter give the reader the opportunity tobuild and analyze the transformer model
24、 under varying conditions.It is emphasizedthat the use of these build and play sets are essential components of the learningprocess throughout this book.ixxPrefaceChapter 4 deals with star and delta connectedthree-phasesystems and introducesthe generic modules required to model such systems.The spac
25、e vector-typerepresentation is also introduced in this part of the text.A set of build and playtutorials are given which reinforce the concepts introduced in this chapter.Chapter 5 deals with the concepts of real and reactive power in single-as well asthree-phase systems.Additional generic modules a
26、re introduced in this part of thetext,and tutorial examples are given to familiarize the reader with this material.Chapter 6 extends the ITF concept introduced earlier to a space vector-typemodel which is represented in a symbolic and generic form.In addition,a phasor-based model is also given in th
27、is part of the text.The build and play tutorials areself-contained step-by-step simulation exercises which are designed to show thereader the operating principles of the transformer under steady-state and dynamicconditions.At this stage of the text,the reader should be familiar with building andusin
28、g simulation tools for space vector-type generic models which form the basisfor a transition to rotating electrical machines.Chapter 7 introduces a unique concept,namely,the ideal rotating transformer(IRTF),which is the fundamentalbuilding blockthat forms the basis of the dynamicelectrical machine m
29、odels discussed in this book.A generic space vector-basedIRTF model is given in this part of the text which is instrumental in the processof familiarizing the reader with the torque production mechanism in electricalmachines.This chapter also explores the conditions under which the IRTF moduleis abl
30、e to produce a constant torque output.It is emphasized that the versatility ofthe IRTF module extends well beyond the electrical machine models discussed inthis book.These advanced IRTF-based machine concepts are used in our secondbook Advanced Electrical Drives 2 and also in our third book Applied
31、Controlof Electrical Drives 10.The latter-mentioned book has been recently introducedto facilitate the transition to experimental drives by the reader.The build and playtutorials at the end of this chapter serve to reinforce the IRTF concept and allowthe reader to“play”with the conditions needed to
32、produce a constant torque outputfrom this module.Chapters 89 deal with the implementation of the IRTF module for synchronousand asynchronous machines.In both cases,a simplified IRTF-based symbolic andgeneric model is given of the machine in question to demonstrate the operatingprinciples.This model
33、is then extended to a“full”dynamic model as required formodeling standard electrical machines.A steady-state analysis of the machines isalso given in each chapter.In the sequel of each chapter,a series of build and playtutorials are introduced which take the reader through a set of simulation exampleswhich steps up from a very basic model designed to show the operating principles,to a full dynamic
