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AC Motor Control and Electrical Vehicle Applications 2nd edition [Kõva köide]

  • Formaat: Hardback, 556 pages, kõrgus x laius: 254x178 mm, kaal: 1192 g, 47 Tables, black and white; 427 Line drawings, black and white; 31 Halftones, black and white
  • Ilmumisaeg: 05-Nov-2018
  • Kirjastus: CRC Press
  • ISBN-10: 1138712493
  • ISBN-13: 9781138712492
Teised raamatud teemal:
AC Motor Control and Electrical Vehicle Applications 2nd editionSuurem pilt
  • Formaat: Hardback, 556 pages, kõrgus x laius: 254x178 mm, kaal: 1192 g, 47 Tables, black and white; 427 Line drawings, black and white; 31 Halftones, black and white
  • Ilmumisaeg: 05-Nov-2018
  • Kirjastus: CRC Press
  • ISBN-10: 1138712493
  • ISBN-13: 9781138712492
Teised raamatud teemal:
Püsilink: https://www.kriso.ee/db/9781138712492.html
Märksõnad:
AC Motor Control and Electrical Vehicle Applications provides a guide to the control of AC motors with a focus on its application to electric vehicles (EV). It describes the rotating magnetic flux, based on which dynamic equations are derived. The text not only deals with the induction motor, but covers the permanent magnet synchronous motors (PMSM). Additionally, the control issues are discussed by taking into account the limitations of voltage and current. The latest edition includes more experimental data and expands upon the topics of inverter, pulse width modulation methods, loss minimizing control, and vehicle dynamics. Various EV motor design issues are also reviewed, while comparing typical types of PMSMs.

Features





Considers complete dynamic modeling of induction and PMSM in the rotating frame. Provides various field-oriented controls, while covering advanced topics in PMSM high speed control, loss minimizing control, and sensorless control. Covers inverter, sensors, vehicle dynamics, driving cycles, etc., not just motor control itself. Offers a comparison between BLDC, surface PMSM, and interior PMSM. Discusses how the motor produces torque and is controlled based on consistent mathematical treatments.
Preface xiii
About the Author xvii
1 Preliminaries for Motor Control 1(56)
1.1 Basics of Electromagnetics
1(18)
1.1.1 Tensors
1(2)
1.1.2 Riemann Integral and Fundamental Theorem of Calculus
3(3)
1.1.3 Ampere's Law
6(3)
1.1.4 Faraday's Law
9(3)
1.1.5 Inductance
12(1)
1.1.6 Analogy of Ohm's Law
13(1)
1.1.7 Transformer
14(4)
1.1.8 Three Phase System
18(1)
1.2 Basics of DC Machines
19(9)
1.2.1 DC Machine Dynamics
21(2)
1.2.2 Field Weakening Control
23(2)
1.2.3 Four Quadrant Operation
25(1)
1.2.4 DC Motor Dynamics and Control
25(3)
1.3 Dynamical System Control
28(21)
1.3.1 Gain and Phase Margins
30(1)
1.3.2 PD Controller
31(3)
1.3.3 PI Controller
34(3)
1.3.4 IP Controller
37(2)
1.3.5 PI Controller with Reference Model
39(5)
1.3.6 2-DOF Controller
44(1)
1.3.7 Variations of 2-DOF Structures
45(1)
1.3.8 Load Torque Observer
46(1)
1.3.9 Feedback Linearization
47(2)
References
49(1)
Problems
50(7)
2 Rotating Magnetic Field 57(30)
2.1 Magneto Motive Force and Inductance
58(4)
2.1.1 Single Phase Inductance
59(2)
2.1.2 Inductance of Three Phase Uniform Gap Machine
61(1)
2.2 Rotating Field
62(6)
2.2.1 Rotating Field Generation by Inverter
64(1)
2.2.2 High Order Space Harmonics
65(3)
2.3 Change of Coordinates
68(12)
2.3.1 Mapping into Stationary DQ Coordinate
69(2)
2.3.2 Mapping into Synchronous Frame
71(2)
2.3.3 Formulation via Matrices
73(2)
2.3.4 Power Relations
75(2)
2.3.5 Transformation of Impedance Matrices
77(3)
2.4 PI Controller in Synchronous Frame
80(3)
References
83(1)
Problems
84(3)
3 Induction Motor Basics 87(36)
3.1 IM Construction
87(2)
3.2 IM Operation Principle
89(12)
3.2.1 IM Equivalent Circuit
90(3)
3.2.2 Torque-Speed Curve
93(3)
3.2.3 Breakdown Torque
96(3)
3.2.4 Stable and Unstable Regions
99(1)
3.2.5 Parasitic Torques
100(1)
3.3 Leakage Inductances
101(4)
3.3.1 Inverse Gamma Equivalent Circuit
103(2)
3.4 Circle Diagram
105(5)
3.4.1 Torque and Losses
107(3)
3.5 Current Displacement
110(6)
3.5.1 Double Cage Rotor
112(3)
3.5.2 Line Starting
115(1)
3.6 IM Speed Control
116(3)
3.6.1 Variable Voltage Control
116(1)
3.6.2 VVVF Control
116(3)
References
119(1)
Problems
119(4)
4 Dynamic Modeling of Induction Motors 123(32)
4.1 Voltage Equation
123(15)
4.1.1 Flux Linkage
123(6)
4.1.2 Voltage Equations
129(4)
4.1.3 Transformation via Matrix Multiplications
133(5)
4.2 IM Dynamic Models
138(6)
4.2.1 ODE Model with Current Variables
138(1)
4.2.2 IM ODE Model with Current-Flux Variables
139(2)
4.2.3 Alternative Derivations
141(3)
4.2.4 Steady State Models
144(1)
4.3 Power and Torque Equations
144(6)
References
150(1)
Problems
151(4)
5 Induction Motor Control 155(46)
5.1 Rotor Field Oriented Scheme
156(9)
5.2 Stator Field Oriented Scheme
165(2)
5.3 Field Weakening Control
167(6)
5.3.1 Current and Voltage Limits
167(1)
5.3.2 Torque-Speed Curve
168(2)
5.3.3 Torque and Power Maximizing Solutions
170(3)
5.4 IM Sensorless Control
173(21)
5.4.1 Voltage Model Estimator
174(1)
5.4.2 Current Model Estimator
175(1)
5.4.3 Closed-Loop MRAS Observer
175(1)
5.4.4 Dual Reference Frame Observer
176(3)
5.4.5 Full Order Observer
179(2)
5.4.6 Reduced Order Observer
181(1)
5.4.7 Sliding Mode Observer
182(3)
5.4.8 Reduced Order Observer by Harnefors
185(2)
5.4.9 Robust Sensorless Algorithm
187(3)
5.4.10 Relation between Flux and Current Errors
190(4)
References
194(2)
Problems
196(5)
6 Permanent Magnet AC Motors 201(42)
6.1 PMSM and BLDCM
202(7)
6.1.1 PMSM Torque Generation
202(2)
6.1.2 BLDCM Torque Generation
204(5)
6.1.3 Comparison between PMSM and BLDCM
209(1)
6.2 PMSM Dynamic Modeling
209(20)
6.2.1 Types of PMSMs
209(4)
6.2.2 SPMSM Voltage Equations
213(5)
6.2.3 IPMSM Dynamic Model
218(7)
6.2.4 Multiple Saliency Effect
225(1)
6.2.5 Multi-pole PMSM Dynamics and Vector Diagram
226(3)
6.3 PMSM Torque Equations
229(1)
6.4 PMSM Block Diagram and Control
230(4)
6.4.1 MATLAB Simulation
232(2)
References
234(1)
Problems
234(9)
7 PMSM Control Methods 243(38)
7.1 Machine Sizing
243(3)
7.1.1 Machine Sizes under Same Power Rating
245(1)
7.2 Current Voltage and Speed Limits
246(4)
7.2.1 Torque versus Current Angle
248(2)
7.3 Extending Constant Power Speed Range
250(3)
7.3.1 Torque Speed Profile
251(2)
7.4 Current Control Methods
253(23)
7.4.1 Maximum Torque per Ampere Control
253(2)
7.4.2 Transversal Intersection with Current Limit
255(2)
7.4.3 Maximum Power Control
257(2)
7.4.4 Maximum Torque per Voltage Control
259(3)
7.4.5 Combination of Maximum Power Control Methods
262(2)
7.4.6 Unity Power Factor Control
264(3)
7.4.7 Current Control Contour for SPMSM
267(1)
7.4.8 Properties when ψm = LdIs
267(4)
7.4.9 Per Unit Model of PMSM
271(2)
7.4.10 Power-Speed Curve
273(1)
7.4.11 Wide CPSR
274(2)
References
276(1)
Problems
277(4)
8 Magnetism and Motor Losses 281(28)
8.1 Soft and Hard Ferromagnetism
281(12)
8.1.1 Permanent Magnet
283(1)
8.1.2 Air Gap Field Determination
283(2)
8.1.3 Temperature Dependence and PM Demagnetization
285(2)
8.1.4 Hysteresis Loss
287(1)
8.1.5 Skin Depth and Eddy Current Loss
288(4)
8.1.6 Electrical Steel
292(1)
8.2 Motor Losses
293(3)
8.3 Loss Minimizing Control for IPMSMs
296(9)
8.3.1 PMSM Loss Equation and Flux Saturation
297(2)
8.3.2 Solution Search by Lagrange Equation
299(2)
8.3.3 LMC Based Controller and Experimental Setup
301(2)
8.3.4 Experimental Results
303(2)
References
305(2)
Problems
307(2)
9 PMSM Sensorless Control 309(38)
9.1 IPMSM Dynamics in a Misaligned Frame
310(3)
9.1.1 Different Derivation Using Matrices
311(1)
9.1.2 Dynamic Model for Sensorless Algorithm
312(1)
9.2 Back-EMF Based Angle Estimation
313(18)
9.2.1 Morimoto's Extended EMF Observer
313(5)
9.2.2 Ortega's Nonlinear Observer for Sensorless Control
318(6)
9.2.3 Bobtsov's Initial Parameter Estimator
324(3)
9.2.4 Comparison between Back EMF and Rotor Flux Estimate
327(1)
9.2.5 Starting Algorithm by Signal Injection
328(3)
9.3 Sensorless Control by Signal Injection
331(9)
9.3.1 Rotating Signal Injection in Stationary Frame
332(1)
9.3.2 Signal Injection in a Synchronous Frame
333(3)
9.3.3 PWM Level Square-Voltage Injection in Estimated Frame
336(4)
References
340(3)
Problems
343(4)
10 Pulse Width Modulation and Inverter 347(38)
10.1 Switching Function and Six Step Operation
349(3)
10.2 PWM Methods
352(14)
10.2.1 Sinusoidal PWM
353(1)
10.2.2 Injection of Third Order Harmonics
354(1)
10.2.3 Space Vector Modulation
354(2)
10.2.4 Sector Finding Algorithm
356(2)
10.2.5 Space Vector Waveform
358(3)
10.2.6 Discrete PWM
361(1)
10.2.7 Overmodulation Methods
362(4)
10.3 Common Mode Current and Countermeasures
366(2)
10.4 Dead Time and Compensation
368(3)
10.5 Position and Current Sensors
371(7)
10.5.1 Encoder
372(1)
10.5.2 Resolver and R/D Converter
373(3)
10.5.3 Hall Current Sensor and Current Sampling
376(2)
References
378(2)
Problems
380(5)
11 Basics of Motor Design 385(60)
11.1 Winding Methods
385(8)
11.1.1 Full and Short Pitch Windings
387(6)
11.2 MMF with Slot Openings
393(7)
11.2.1 MMF with Current Harmonics
396(4)
11.3 Fractional Slot Machines
400(9)
11.3.1 Concentrated Winding on Segmented Core
400(1)
11.3.2 Feasible Slot-Pole Number Combination
401(5)
11.3.3 Torque-Producing Harmonic and Subharmonics
406(3)
11.4 Demagnetization Analysis
409(3)
11.4.1 PM Loss Influential Factors
409(1)
11.4.2 PM Loss and Demagnetization Analysis
410(1)
11.4.3 Armature Reaction
411(1)
11.5 Torque Analysis
412(16)
11.5.1 Torque Ripple
417(1)
11.5.2 Cogging Torque
418(2)
11.5.3 Radial Force Analysis
420(6)
11.5.4 Back Iron Height and Pole Numbers
426(2)
11.6 Reluctance Motors
428(4)
11.6.1 Switched Reluctance Motors
428(2)
11.6.2 Synchronous Reluctance Motors
430(1)
11.6.3 PM Assisted Synchronous Reluctance Machine
430(2)
11.7 Motor Types Depending on PM Arrangements
432(5)
11.7.1 SPMSM and Inset SPMSM
432(3)
11.7.2 IPMSM
435(1)
11.7.3 Flux Concentrating PMSM
435(1)
11.7.4 Temperature Rise by Copper Loss
436(1)
References
437(4)
Problems
441(4)
12 EV Motor Design and Control 445(44)
12.1 Requirements of EV Motor
446(2)
12.2 PMSM Design for EVs
448(4)
12.2.1 Pole and Slot Numbers
448(1)
12.2.2 PM and Flux Barrier Arrangements
449(3)
12.3 PMSM Design for EV Based on FEA
452(9)
12.3.1 Flux Density and Back EMF Simulation
452(2)
12.3.2 Voltage Vector Calculation
454(1)
12.3.3 Flux Linkage Simulation and Inductance Calculation
455(1)
12.3.4 Method of Drawing Torque-Speed Curve
456(5)
12.4 Finite Element Analysis
461(5)
12.4.1 Torque Simulation
461(1)
12.4.2 Loss Analysis
462(1)
12.4.3 PM Demagnetization Analysis
463(2)
12.4.4 Mechanical Stress Analysis
465(1)
12.5 PMSM Fabrication
466(5)
12.5.1 Stator Assembly
466(3)
12.5.2 Rotor Assembly
469(2)
12.6 PMSM Control in Practice
471(12)
12.6.1 Coil Resistance Measurement
471(1)
12.6.2 Back EMF Constant Measurement
472(1)
12.6.3 Inductance Measurement
473(2)
12.6.4 Look-up Table for Optimal Current Commands
475(7)
12.6.5 Torque Control with Voltage Anti-Windup
482(1)
References
483(1)
Problems
484(5)
13 Vehicle Dynamics 489(24)
13.1 Longitudinal Vehicle Dynamics
489(4)
13.1.1 Aerodynamic Drag Force
490(1)
13.1.2 Rolling Resistance
491(1)
13.1.3 Longitudinal Traction Force
492(1)
13.1.4 Grade
493(1)
13.2 Acceleration Performance and Vehicle Power
493(7)
13.2.1 Final Drive
495(1)
13.2.2 Speed Calculation with Torque Profile
496(4)
13.3 Driving Cycle
500(8)
13.3.1 Mechanical Power Calculation
501(3)
13.3.2 Electrical Power Calculation
504(1)
13.3.3 Motor and Inverter Loss Calculation
504(1)
13.3.4 Efficiency over Driving Cycle
505(3)
References
508(1)
Problems
509(4)
14 Hybrid Electric Vehicles 513(38)
14.1 HEV Basics
513(5)
14.1.1 Types of Hybrids
514(2)
14.1.2 HEV Power Train Components
516(2)
14.2 HEV Power Train Configurations
518(2)
14.3 Series Drive Train
520(1)
14.3.1 Simulation Results of Series Hybrids
521(1)
14.4 Parallel Drive Train
521(12)
14.4.1 Electrical Continuous Variable Transmission
525(1)
14.4.2 Planetary Gear
526(2)
14.4.3 Power Split with Speeder and Torquer
528(2)
14.4.4 Motor/Generator Operation Principle
530(3)
14.5 Series/Parallel Drive Train
533(13)
14.5.1 Prius Driving Cycle Simulation
541(1)
14.5.2 2017 Prius Plug-in Two-Mode Transmission
542(1)
14.5.3 Gen 2 Volt Powertrain
542(4)
References
546(2)
Problems
548(3)
Index 551
Dr. Kwang Hee Nam received his B.S. degree in chemical technology and his M.S. degree in control and instrumentation from Seoul National University in 1980 and 1982, respectively. He also earned an M.A. degree in mathematics and a Ph.D. degree in electrical engineering from the University of Texas at Austin in 1986. Since 1987, he has been at POSTECH, where he is now a Professor of electrical engineering. From 1987 to 1992, he participated in the Pohang Light Source (PLS) project as a beam dynamics group leader. He performed electron beam dynamic simulation studies, and designed the magnet lattice for the PLS storage ring. He also served as the director of POSTECH Information Research Laboratories from 1998 to 1999. He is the author of over 150 publications in motor drives and power converters and received a best paper award from the Korean Institute of Electrical Engineers in 1992 and a best transaction paper award from the Industrial Electronics Society of IEEE in 2000. Dr. Nam has worked on numerous industrial projects for major Korean industries, such as POSCO, Hyundai Motor Company, LG Electronics, and Hyundai Mobis. He served as a president of Korean Institute of Power Electronics in 2016. Presently, his research areas include sensorless control, EV propulsion systems, motor design, and EV chargers.