Department of Electrical and Computer Engineering

ELE847
Advanced Electromechanical Systems

Course Notes

2009 Edition
 ELE847 Advanced Electromechanical Systems

Table of Contents

1. Course Outline ...... 1

2. Lab Manual ... 6
3. Problems (with Answers) ...... 22
4. Lecture Slides 27

Advanced Electromechanical Systems 1 ELE 847

 1. Course Outline

Course Description
A course on modeling and simulation of electromechanical systems. The main topics include: modeling of dc
motors, dc motor dynamic performance, reference frame theory, modeling of induction and synchronous machines,
small signal (linearized) analysis, solid state converters, advanced motor speed control schemes, and simulation
techniques. The modeling and simulation techniques developed in this course provide a useful tool for the analysis
and design of electric machines, power electronics circuits and dc/ac motor drives.

Prerequisite
All required third year courses.

Course Organization
This course consists of three hours of lecture and one hour of laboratory per week.

Course Material
Text: "Analysis of Electric Machinery and Drive Systems" by P.C. Krause, O.Wasynczuk and S.D.Sudhoff,
published by Wiley-IEEE Press, 2002. ISBN 0-471-14326-X

Instructor
Bin Wu, Ph.D., P.Eng., Professor
Room ENG328, 245 Church Street, Toronto
Department of Electrical and Computer Engineering
Ryerson University
(416) 979-5000 ext: 6484

Advanced Electromechanical Systems 2 ELE 847

Course Evaluation
Theoretical component 70%
Mid-term Examination 25%
Final Examination 45%

Laboratory component 30%

4 Labs including post-lab reports 20%
1 Project including a formal report 10%

In order to achieve a passing grade, the student must achieve an average of at least 50% in both theoretical and
laboratory components.

Course Material

1. Course Outline

2. Lab Manual Download from

http://www.ee.ryerson.ca/~bwu/courses.html
3. Problems

4. Lecture Slides

Purchase at Alicos Copy Centre

5. Selected Chapters from "Analysis of Electric 66 Gerrard Street, E. Toronto, M5B 1G3
Machinery and Drive Systems" by P.C. Krause, et al. Tel: (416) 977-6868
Copied under license from access

Advanced Electromechanical Systems 3 ELE 847

Lecture Topics
1 DC Motor Dynamic Performance and Speed Control (10hrs)
1.1 Introduction
1.2 DC Motor Dynamic Models and Transfer functions
1.3 Computer Simulation Techniques
1.4 Dynamic Performance of DC Motors
1.5 Thyristor (SCR) Rectifiers
1.6 DC Motor Speed Control and Simulation

2 Reference Frame Theory (3hrs)

2.1 Introduction
2.2 Equations of Transformation
2.3 Stationary and Arbitrary Reference Frames
2.4 Transformation Between Reference Frames

3 Theory of Induction Machines (8hrs)

3.1 Introduction
3.2 Modeling of Induction Machines
3.3 Commonly Used Reference Frame
3.4 Induction Motor Dynamic Performance
3.5 Steady State Operation
3.6 Induction Motor Small Signal Models

4 Induction Motor Speed Control (12hrs)

4.1 Introduction
4.2 Simulation of Voltage and Current Source Inverters
4.3 Pulse Width Modulation (PWM) Techniques
4.4 Induction Motor Control Schemes
4.5 Field Oriented Control and Simulation

5 Theory of Synchronous Machines (5hrs)

5.1 Introduction
5.2 Modeling of Synchronous Machines
5.3 Synchronous Machine Dynamic Performance
5.4 Steady State Operation
5.5 Small Signal Models
5.6 Speed Control of Synchronous Motors

Advanced Electromechanical Systems 4 ELE 847

Laboratory Schedule

Lab Topic Week #

Class

1 DC Motor Dynamic Performance and Solid-state Rectifiers 2&3

2 DC Motor Speed Control 4&5

3 Induction Motor Dynamic Performance 6&7

4 Pulse-width-modulated (PWM) Inverters and Harmonic Analysis 8&9

Project Simulation of a High Performance Induction Motor Drive 10, 11 &12

- Each lab class is composed of two lab sessions.

Note - Post-lab reports should be handed in one week after the second lab session.
- A formal report should be prepared for the project.

Advanced Electromechanical Systems 5 ELE 847

 2. Lab Manual

Lab 1 DC Motor Dynamic Performance and Solid State Rectifiers

Part A DC Motor Dynamic Performance

A1. Objectives
- Build a Simulink model for a separately exited DC motor; and
- Study dynamic performance of the motor.

A2. Pre-lab Exercises

1) Copy file Dcm1.mdl from /home/courses/ele847/ into your current working directory.
2) Open Dcm1.mdl and study all blocks and subsystems contained in this model (refer to your lecture notes
for comparison).
3) Start the simulation and study the waveforms of ia, Te and n using scope blocks.
4) Print the model including block diagrams of all subsystems.

A3. Lab Procedures

A3.1 Model Building
Build a dynamic model for a separately excited DC motor. A suggested system block diagram is shown in
Fig. 1. Refer to your lecture notes for details. The DC motor has the following nameplate data and parameters:
5hp, 1220rpm, 240V, 16.2A, ra = 0.6, rf = 240 , LAA = 0.012H, LAF = 1.8H, LFF = 120H, J = 1.0kg.m2. The
load torque TL is assumed to be zero.

File: Dcm2.mdl

Ia ia
Va Load
Armature Current [A] Scope To Workspace
Step Voltage [V]

Te Te
Motor
Torque [N.m] Scope1 To Workspace1
0 TL
Load
Const Torque [N.m] n n
Wm -K-
Motor To Workspace2
Gain Speed [rpm] Scope2

Vf
if
Field
Field
Step1 Voltage [V]
Current Scope3

DC Motor2

(Masked subsystem) t
Clock To Workspace3

Fig. 1 Suggested system block diagram of a separately excited DC motor.

Print the model including block diagrams of all subsystems.

Advanced Electromechanical Systems 6 ELE 847

A3.2 Dynamic Performance During Starting
1) Assuming that a dc supply of 50V is applied to the armature winding at the same time when the field
winding is switched to a 240V dc supply, find:
- the maximum starting current Ia,max, and
- the ratio of the maximum starting current to the motor rated current. Is this starting current acceptable
in practice?
2) Plot the transient waveforms of armature current ia, electromagnetic torque Te and motor speed n.
3) A dc supply of 240V is applied to the armature and field windings simultaneously. Find the value of an
external resistance in the armature circuit such that the maximum starting current is limited to 30A.

A3.3 Transients During Sudden Changes in Load Torque

The dc motor is running steadily under no load conditions with a 240V dc voltage applied to both
armature and field windings (Note: no external resistor is added to the armature circuit). Assume that the
load torque is suddenly increased to its rated value. Plot the transient waveforms of armature current ia,
electromagnetic torque Te and motor speed n. Find speed regulation under this operating condition
r ( no load ) r ( rated )
(Speed Regulation = ).
r ( rated )

Part B Solid-state Rectifiers

B1. Objectives
- Build Simulink models for diode and thyristor rectifiers; and
- Investigate rectifier characteristics.

B2. Pre-lab Exercises

1) Single phase diode rectifier
- Copy file Rectd1.mdl from /home/courses/ele847/ into your working directory.
- Open Rectd1.mdl and study all blocks and subsystems contained in this model (refer to your lecture
notes for details).
- Run the Simulink model and study the waveforms of va, vd1, vd2, vdc and idc.

2) Single phase thyristor (SCR) rectifier

- Copy file Rectt1.mdl from /home/courses/ele847/ into your working directory.
- Open Rectt1.mdl and study all blocks and subsystems contained in this model (refer to your lecture
notes for details).
- Run the model and study the waveforms of va, vd1, vd2, vdc and idc.

Advanced Electromechanical Systems 7 ELE 847

B3. Lab Procedures

B3.1 Three phase diode rectifier

1) Build a Simulink model for a three phase diode rectifier using the circuit diagram discussed in the lecture
class. The system block diagram should be similar to that given in Rectd1.mdl.

2) Run the Simulink model and plot the waveforms of va, vd1, vd2, vdc and idc assuming that the phase voltage
of the three phase ac supply is 110V (60Hz).

3) Calculate the average value of the rectifier output voltage (vdc) based on the simulated waveforms.

B3. 2 Three phase thyristor rectifier

1) Build a Simulink model for a three phase thyristor rectifier using the circuit diagram discussed in the
lecture class. The system block diagram should be similar to that given in Rectt1.mdl. It is assumed that
the output current of the rectifier is continuous.
Hint: Add Variable Transport Delay blocks to the three phase diode model you have built in Part B3.1.

2) Assume that the phase voltage of the ac supply is 110V (60Hz). Run the Simulink model and plot the
waveforms of of va, vd1, vd2, vdc and idc with the delay angle of 30 and 90 degrees respectively.

3) Derive an expression which can be used to calculate the average value of the rectifier output voltage (vdc).
Verify this expression using simulated waveforms.

General Instruction for Post-lab Reports (Lab 1 to 4)

The post-lab report (typed) should include the following items:
1) Cover page (including course/lab title, your name, student ID, date)
2) Abstract (a paragraph of about 150 words)
3) Theory (one page, 1.5 line space)
4) Required simulation waveforms
5) Required calculation results and answers to the questions if any
6) Conclusions (200 300 words)
7) Appendix: Simulink models, including block diagrams of all subsystems.

Advanced Electromechanical Systems 8 ELE 847

 Lab 2 DC Motor Speed Control
Objectives
- To investigate characteristics of various dc motor speed control schemes.
- To learn how to tune PI regulator parameters.

Part A Open-loop Speed Control

A1. System Block Diagram
The block diagram of a dc motor speed control system is shown in Fig. 1. The specifications and requirements
for masked subsystem blocks in the diagram are as follows:
AC Supply: A three-phase balanced power supply with phase voltage of 120V (rms) and frequency
of 60Hz.
SCR Rectifier: A three-phase full-wave thyristor rectifier with continuous dc current.
DC Motor2: A separately excited dc motor. The motor has the following nameplate data and
parameters: 5hp, 1220rpm, 240V, 16.2A, ra = 0.6, rf = 240 , LAA = 0.012H, LAF =
1.8H, LFF = 10H, J = 0.1kg.m2 and Bm= 0.
Note: The values of motor field self-inductance LFF and moment of inertia J are not
the same as those used in Lab 1.
-1
Firing Circuit: A cos function should be implemented to make the output voltage (Vdc) of the rectifier
proportional to the input voltage (V) of the firing circuit. The maximum and minimum
input voltages of the firing circuit should be 1.0 and -1.0V respectively. Therefore, a
limiter should be used in the firing circuit to limit its input voltage.

Dcdrv1.mdl

Va Vdc
Armature Current
Vb Ia
3 phase Va
Vdc Ia
Vc
Electromagnetic Torque
Te
AC Supply (N.m)
Te
SCR Rectifier 29.2 TL
t_d
Speed (rad/s)
Load (N.m) Wm -K-
Firing rpm
acos fcn included n
Circuit Gain

240 Vf Field Current

V_alpha if
Vf (V)
If
0.5
DC Motor2
Reference
(0 ~ 1)

Fig.1 A separately excited dc motor with open-loop speed control.

Advanced Electromechanical Systems 9 ELE 847

A2. Lab Procedures
A2.1 Build a dynamic model for the dc motor drive system shown in Fig.1. All the requirements given in
Section A1 should be satisfied.
A2.2 System Dynamic Performance
1) Assume that the field voltage is 240V, the input voltage to the firing circuit is 0.5V and the load torque is
rated. It is also assumed that the voltages and load torque are applied to the drive system simultaneously.
Suggested simulation parameters: start time = 0, stop time = 0.4sec and differential equation solver =
ode4 (Runge Kutta) with a fixed step size of 0.0001sec. (Select Parameters from Simulation menu,
choose Fixed-step from Solver Options, and then select ode4).
2) Run the model and determine:
- the peak value of the starting (armature) current (A), electromagnetic torque (N.m) and rotor speed
(rpm);
- the maximum speed overshoot (%); and
- the value of ripple current Ia and ripple torque Te in steady state. Question: How to reduce the
ripples?
- the average value of the dc voltage Vdc.
A2.3 Plot the transient waveforms of armature current, electromagnetic torque and rotor speed.

Part B DC Motor Drive with Current Feedback

B1. System Block Diagram
The block diagram of a current controlled dc motor drive system is shown in Fig. 2. The specifications and
requirements for masked subsystem blocks in the diagram remain the same as those given in Section A1. The
suggested parameters for the current PI regulator are:
Time constant: 0.01sec. Gain: 0.02
Upper limiting level: 1.0 Lower limiting level: 0.0

Dcdrv2.mdl

Va

Vb Ia
3 phase Mux
Vdc Va
Vc Ia
Mux
Te Torque
AC Supply (N.m)
Te
SCR Rectifier 29.2 TL
t_d
Load (N.m) Wm -K-
Firing rpm
acos fcn included n
Circuit Gain

240 Vf Field Current

V_alpha if
Vf (V)
Current If
PI
PI
DC Motor2
(with limiters)

Sum2

Current
32.4
Ref (A)

Fig.2 DC motor speed control with current feedback.

Advanced Electromechanical Systems 10 ELE 847

B2. Lab Procedures
B2.1 Build a dynamic model for the dc motor drive system shown in Fig.2. All the requirements given in
Section B1 should be satisfied.

B2.2 System Dynamic Performance

1) Assume that the field voltage is 240V, load torque is rated and current reference is 32.4A (twice the rated
current). It is also assumed that the field voltage, the load torque and the current reference are applied to
the drive system simultaneously. Suggested simulation parameters: start time = 0, stop time = 1sec and
solver type = ode4 (Runge Kutta) with a fixed step size of 0.0002 sec.
2) Run the model and plot the waveforms of starting current, electromagnetic torque and rotor speed;
3) Based on the simulation results, answer the following questions:
- During the motor starting, the rotor speed increases linearly with time. Why? Use equations to assist
explanation if necessary.
- The armature current and motor torque do not have similar waveforms at the very beginning of the
starting process. Why?
- The armature current is kept constant during starting. Why? Is this a desirable feature?
- If the moment of inertia is doubled, is the starting time doubled too? Please verify.

Part C DC Motor Drive with Current and Speed Feedbacks

C1. System Block Diagram
The block diagram of a dc motor drive system is shown in Fig. 3. The specifications and requirements for
masked subsystem blocks in the diagram remain the same as those given in Section B1. The parameters for the
speed PI regulator are tentatively set at:
Time constant: 0.3sec Gain: 1.2
Upper limiting level: 32.4 (A) Lower limiting level: 0.0

C2. Lab Procedures

C2.1 Build a dynamic model for the drive system shown in Fig.3. All the requirements given in Section C1
should be satisfied.

C2.2 Dynamic Performance

1) Assume that the field voltage is 240V, the load torque is 10N.m and the speed reference is 63.9 rad/s. The
field voltage, load torque and speed reference are applied to the drive system simultaneously. Suggested
simulation parameters: start time = 0, stop time = 1sec, and solver type = ode4 (Runge Kutta) with a fixed
step size of 0.0002sec.

Advanced Electromechanical Systems 11 ELE 847

 Dcdrv3.mdl

Va

Vb Ia
3 phase Mux
Vdc Va
Vc Ia
Mux
Te
AC Supply
Te
SCR Rectifier 10 TL
t_d rpm
Load (N.m) Wm -K-
Firing
acos fcn included n
Circuit Gain

240 Vf
V_alpha if
Vf (V)
Current If
PI
PI DC Motor2
(with limiters)
(Separately Excited)
Sum1
Ia

Ia (Ref)

Speed Note: Blocks with a drop shadow

PI
PI represent masked subsystems.
(with limiters)

Sum2
Wm (rad/s)

Speed Ref
63.9
(rad/s)

Fig.3 DC motor speed control with current and speed feedbacks.

2) Run the model and plot the waveforms of armature current and rotor speed;
3) Based on simulation results, calculate the speed overshoot (%).
4) Determine the speed PI regulator parameters such that the speed overshoot is approximately 5% and the
speed settling time as short as possible.
C2.3 Print the Simulink model including all subsystems.

Post-lab Report
Refer to Lab 1 for general instruction on post-lab report.

Advanced Electromechanical Systems 12 ELE 847

 Lab 3 Three-phase Induction Motor Dynamic Performance

Objectives
- To build a Simulink model for three phase induction motors; and
- To investigate induction motor dynamic performance.

Part A Induction Motor Dynamic Model

The block diagram of a three-phase induction motor supplied by a three-phase power supply is shown in Fig. 1.
The specifications and requirements for masked subsystem blocks in the diagram are as follows:

AC Supply
A three-phase power supply with phase voltage of 127V (rms) and frequency of 60Hz.

File: Lab3.mdl
Mux Ia

Vqs & Vds To Workspace

Mux

Va
Vqs iqs

Vb 3-phase 2-phase
Ia
3 phase To To
2-phase 3-phase Te
Vc Vds ids
To Workspace1
AC Supply 3-2 Transform
2-3 Transform
0 Tl Te

Load Torque
Te

0 W Wrm 60/(2*pi)
Stator Frame
n
Gain
IM_dq_Arbi
n
t
Induction motor model To Workspace2
Clock To Workspace3 in the arbitrary frame

Fig. 1 System block diagram.

3-phase to 2-phase Transformation:

Both 3-phase variables and 2-phase variables are in the stationary frame. Use the transformation equations
derived in the lecture or Equation 3.3-4 on Page 111 of textbook. Note: the angle between the stationary
and arbitrary frames should be set to zero.

Advanced Electromechanical Systems 13 ELE 847

IM_dq_Arbi
Induction motor d-q model in the arbitrary reference frame. This subsystem must be masked and the motor
parameters must be specified in its dialog box. The inputs of the subsystem are d-q axis voltages (vqs, vds), load
torque (TL) and the speed of the arbitrary reference frame () while the outputs are d-q axis current (iqs, ids),
electromagnetic torque (Te) and the rotor mechanical speed rm.

Build the induction motor d-q model using the equivalent circuit given in Fig. 4.5-1 (Page 151). The zero-axis
equivalent circuit can be neglected since this is a 3-phase balance system. The torque-speed relationship is
described by Eq. 4.3-8 and the electromagnetic torque generated by the motor can be calculated according to
Eq. 4.6-4.

2-phase to 3-phase Transformation

Both 2-phase variables and 3-phase variables are in the stationary frame. Use the transformation equations
derived in the lecture or Equation 3.3-6 on Page 111. Note: The angle between the stationary and arbitrary
frames should be zero.

Part B Free Acceleration Characteristics

The induction motor under investigation is rated at 3hp, 220V, 8.4A and 1710rpm. The parameters of the motor
are given in Table 4.10-1 (Page 165).

B1. Motor free acceleration with rated stator voltage

1) The motor is started under no load conditions with the rated stator voltage. Suggested simulation
parameters: start time = 0, stop time = 0.5sec and differential equation solver = ode4 (Runge Kutta) with a
fixed step size of 0.0002sec. (Select Parameters from Simulation menu, choose Fixed-step from Solver
Options, and then select ode4).
2) Run the model and determine:
- the maximum peak value of the stator current and electromagnetic torque during free acceleration;
- the average starting torque Te,start ; and
- the motor starting time t st .
The definition for Te,start and t st is given in Fig. 2.
3) Plot the waveforms of Te versus n, Te versus t, ia versus t, n versus t.

Advanced Electromechanical Systems 14 ELE 847

 n
(0.05) nss

nss

t st

(a) Motor speed

Te

Te1

Te,start
t
Te 2

(b) Electromagnetic torque

Fig. 2 Motor speed and torque waveforms during free acceleration.

B2. Motor free acceleration with a reduced voltage

1) The motor is started under no load conditions with 50% rated stator voltage.
2) Run the model and determine:
- the maximum peak value of the stator current and electromagnetic torque during free acceleration;
- the average starting torque; and
- the motor starting time.
3) Plot the waveforms of Te versus t, ia versus t, n versus t.
4) Compare the simulation results obtained from B1 and B2, and make your conclusions.

Post-lab Report
Refer to Lab 1 for general instruction on post-lab report.

Advanced Electromechanical Systems 15 ELE 847

 Lab 4 Three-phase Voltage Source Inverter and PWM Techniques

Objectives
- To build Simulink models for three phase voltage source inverters; and
- To investigate PWM inverter performance.

Part A Three Phase Voltage Source Inverter

A1. Model Building

The block diagram of a three phase voltage source inverter with a three phase RL load is shown in Fig. 1. The
specifications for masked subsystem blocks in the diagram are as follows.

Square Wave Generator

This block generates three square wave signals for the inverter. These signals should have the same amplitude
(1.0V) with a duty cycle of 50%. The phase shift between any two signals is 120 degrees. This is a masked
subsystem. The frequency of the square waves should be passed to the subsystem through its dialog box.

Lab4a.mdl

Van

G1
Van Ia

G3
Gating
Vbn Ib
VSI RL Load Mux
G5
Load
Current
Square Wave Vcn Ic
Gating Generator Mux1

Three Phase VSI RL Load

250

Vdc

Fig. 1 System block diagram.

Three Phase Voltage Source Inverter

Use the algorithm discussed in the lecture class to build the model for this inverter.

Advanced Electromechanical Systems 16 ELE 847

RL Load
This is a three phase balanced RL load. The parameters of the load resistance and inductance should be passed to
the subsystem through its dialog box.

A2. Lab Procedure

A2.1 Run the model and plot the waveforms of G1, van and ia under the following operating conditions:
Vdc = 250V, Rload = 2, Lload = 0.01H and the output frequency of the inverter is 60Hz.

A note on simulation parameters. You can either use fixed-step or variable-step differential equation solver. If you
use a fixed-step differential equation solver with a large time step, you may not be able to obtain accurate results or
the results may even be wrong. This is mainly due to the switching operation of the inverter and small time
constants that the drive system may contain. If you choose Runge Kutta (ode4) method, you may try to use a step
size of 10 s or smaller.

A2.2 Plot the harmonic spectrum of the waveforms of van and ia. Frequency range for the plot: 0 to 2kHz.
Note: This is a common task for electrical engineers working in the area of power electronics and motor drives.

Part B PWM Controlled Inverter

B1. Model Building

The system block diagram is shown in Fig. 2. The specifications and requirements for masked subsystem blocks in
the diagram are as follows:

Three Phase Sine Wave Generator

This block generates a three phase balanced sine wave whose frequency and amplitude are controlled by the block
input variables Freq and Md, where Freq is the reference frequency and Md is the modulation index. The
maximum value of the sine wave amplitude is 1V.

Advanced Electromechanical Systems 17 ELE 847

 Lab4b.mdl

Van
20

G1
Freq Sine Wave G1 Van Ia
Sine
0.8
G3
G3
Md
Vbn Ib
3-phase VSI RL Load Mux
SW Generator Carrier G5
G5 Load
Current

PWM Vcn Ic
Carrier Wave Mux
Generator

1-phase Three Phase VSI RL Load

CW Generator

250

Vdc

Fig. 2 PWM Controlled Voltage Source Inverter

Single Phase Carrier Wave Generator

This is a masked subsystem where the frequency of the carrier (a triangular wave) is passed to the block through
its dialog box. The carrier is not synchronized with the sine waves.

Other Blocks
The specifications for the other blocks are given in Part A.

B2. Lab Procedure

B2.1 Run the model and plot the waveforms of van and ia under the following operating conditions:
Assume that Vdc = 250V, Rload = 2 and Lload = 0.01H.
1) Freq = 20Hz, M d = 0.8, and the frequency of the carrier wave is 240Hz;
2) Freq = 20Hz, M d = 0.8, and the frequency of the carrier wave is 1080Hz;
3) Freq = 20Hz, M d = 0.4, and the frequency of the carrier wave is 1080Hz; and
4) Freq = 60Hz, M d = 0.4, and the frequency of the carrier wave is 1080Hz.
Compare the simulation results and make your conclusions.

B2.2 Plot the harmonic spectrum of the waveforms of van and ia in Part B2-4). Frequency range for the plot: dc to
2kHz. Compare the harmonic spectrum with that in Part A2.2, and then make conclusions.

Post-lab Report
Refer to Lab 1 for general instruction on post-lab report.

Advanced Electromechanical Systems 18 ELE 847

 Project Simulation of Induction Motor Drives

Objectives
To investigate characteristics of two induction motor speed control systems.

Part A Induction Motor Speed Control Using a Six-step Voltage Source Inverter
A.1 Model Building
Build the Simulink model according to the block diagram shown in Fig. 1. You may use some of the models you
built in the previous lab sessions. The parameters of the induction motor speed control system are as follows.

Induction motor Nameplate data: 3, 3hp, 220V, 8.4A (rated) and 1710rpm. Use the motor parameters given
in Table 4.10-1, P165, textbook.
DC link resistor This resistor represents the power loss of the SCR rectifier and dc link bus. The equivalent
resistance is 0.5.
Low pass filter This is a second order lower pass filter with dc gain k = 1 and quality factor Q = 1. The
corner frequency of the filter should be the same as the reference frequency of the drive. The
LP filter is used to extract the fundamental component from the six-step inverter output
voltage Van.
Power Supply 60Hz, 127V per phase.
Load torque 12.5N.m (rated torque)
Other constants Kv = 0.95/60 and Vcomp = 0.

Proja.mdl Mux

Vdc

Vdc Van
Vqs iqs
Va 3-phase 2-phase Ia
G1 To To
Vb 2-phase 3-phase
3 phase DC Link Vds ids
Vc VSI
Filter G3 Vbn
Vdo
2-3 Transform
AC Supply 12.5 Tl Te

SCR Rectifier G5 Load Torque Te

t_d [N.m]
Vcn
W Wrm 60/(2*pi)
Firing
acos fcn included Subsystem Three Phase VSI
Circuit
n
0 Gain
IM_dq_Arbi
V_alpha
Stator Frame
3-phase Induction motor model
Square Wave in the arbitrary frame
Sum Generator

0.05
LP Filter
Vcomp
Kv
-K- (2nd Order)
Van1

60 Ref [Hz]

Fig. 1 An Induction Motor Speed Control System Using a Six-step Inverter.

Advanced Electromechanical Systems 19 ELE 847

A.2 Simulation tasks
1) Run the Simulink model and determine the value of the dc link capacitor such that the dc link voltage ripple is
limited to 10% when the inverter operates at 20Hz with a rated V/f and the motor operates with rated torque.
Plot the steady state waveforms of vdo and vdc (e.g., 2 cycles of the supply frequency).

2) Start the drive system until a steady state operation is reached. Complete the following table.

Inverter Output Frequency [Hz] 60 45 30 15 5

Van (Fundamental, peak, steady state)

Van (Fundamental, rms)

V / f Ratio (Volts,rms/Hz)

Steady State Speed n (rpm)

Synchronous Speed ns (rpm)

Slip Speed (ns - n)

3) To compensate the voltage drop on stator winding resistance at low frequencies, let Kv = 0.9/60 and
Vcomp = 0.05. Run the drive system and complete the following table.

Inverter Output Frequency [Hz] 60 45 30 15 5

Van (Fundamental, peak, steady state)

Van (Fundamental, rms)

V / f Ratio (Volts,rms/Hz)

Steady State Speed n (rpm)

Synchronous Speed ns (rpm)

Slip Speed (ns - n)

4) Start the drive system at 60Hz under the operating conditions given in 2) until a steady state operation is
reached. Plot the transient waveforms of motor speed n, stator current Ia, motor torque Te, diode rectifier
output voltage Vdo and inverter input voltage Vdc.

Part B Induction Motor Speed Control using a PWM Inverter

B.1 Model Building
Build the Simulink model shown in Figure 2. The system parameters remain the same as those given in Part A.

B.2 Simulation tasks

Repeat the simulation tasks specified in A.2-2.

Advanced Electromechanical Systems 20 ELE 847

 Fig2. An Induction Motor Drive Using a PWM Inverter.

Report
The formal report should include the following items:
1) Cover page (including project title, your name, student ID, date)
2) Abstract (a paragraph of about 200 words)
3) Theory (two full pages, 1.5 line space)
4) All required waveforms, tables and calculations
5) Comment on the size of the dc link capacitors used in both systems
6) Compare the simulation results obtained in Part A.2-2 and A.2-3 by answering the following questions:
- Is the V/f ratio constant? You may draw V versus f curves for comparison.
- Is the slip speed constant? Why?
7) Compare the simulation results obtained in Part A.2-2 and B.2
8) Comments on harmonic issues of the two systems
9) Conclusions (300 400 words)
10) Appendix: Simulink model in Part B including block diagrams of all subsystems.

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 3. Problems
Topic 1 DC Motor Dynamic Performance and Speed Control

1.1 Consider the dynamic equivalent circuit of a shunt dc motor given in Fig. 2.4-2 (page 79, textbook). Drive
a block diagram for this motor. It is assumed that the armature voltage and load torque are input variables
while the armature current, rotor speed and electromagnetic torque are output variables. Show these
variables on the diagram.

1.2 Repeat Problem 1.1 for a series dc motor using the equivalent circuit given in Fig. 2.4-6 (page 83,
textbook). Answer: Discussed in the lecture class.

1.3 Formulate the following transfer functions for a shunt dc motor under the assumption that the field
current If is constant:
I (s)
(a) a assuming that armature voltage is zero. This transfer function can be used to study
T L (s)
the dynamic response of armature current due to changes in load torque.
Kv
I (s) J a ra
Answer: a =
S + (1/ a + B m /J )S + (B m /J + 1/ m )
T L (s) 2 1
a
J ra
where m = 2
Kv
I a (s)
(b) assuming that the load torque is zero. This transfer function can be used to study the dynamic
V a (s)
response of armature current due to changes in armature voltage.
J S + Bm

Answer: a =
I (s) ra J a
S + (1 / a + B m /J )S + (B m /J + 1/ m )
V a (s) 2 1
a
T e (s)
(c) assuming that the load torque is zero.
V a (s)
J S + Bm
Kv
T (s) ra J a
Answer: e =
S + (1 / a + B m /J )S + (B m /J + 1/ m )
V a (s) 2 1
a
1.4 Derive an expression for motor speed r(s) in terms of armature voltage Va(s) and load torque TL(s) for a
separately excited motor with a constant field current. Refer to Page 97 of textbook for answers.

1.5 Sketch to scale the dc side waveforms ( v d 1 , v d 2 and v dc = v d 1 v d 2 ) of a single phase full-wave
thyristor rectifier with a delay angle of 30 and 90 degrees respectively.

1.6 Repeat Problem 1.5 for a three phase full-wave thyristor rectifier.
1.7 Using standard Simulink blocks, derive a Simulink model for a single phase full-wave thyristor rectifier.

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1.8 Repeat Problem 1.7 for a three phase full-wave thyristor rectifier.

1.9 Derive an expression which can be used to calculate the average dc output voltage of a three phase full-
wave thyristor rectifier.

Topic 2 Reference Frame Theory

2.1 Consider three-phase currents ias = cos t, ibs = t/2 and ics = -sin t in the stationary reference frame. Find the
values of i qs and i ds in the arbitrary reference frame when the angle between the two reference frames is
/4 at t = /3 sec (refer to Pages113-114, textbook).

2.2 Assume that i and i are variables in the stationary reference frame and iq and id are variables in the arbitrary
frame which rotates in space at an arbitrary speed of as shown in Fig. 2.1 below. Verify the following
equations which can be used to transform the variables in the stationary frame to the arbitrary frame.
iq = i cos i sin ; and id = i sin + i cos (Two-phase to two-phase transformation).
q-axis

axis
(Stationary Frame)

d-axis
axis
(Stationary Frame)

Fig. 2.1 Transformation between two reference frames

2.3 Derive equations which can be used to transform two-phase variables (iq and id ) in the arbitrary reference
frame to two-phase variables (i and i) in the stationary frame.

2.4 Derive a coefficient matrix which can be used to transform abc variables in the stationary reference frame to
qdo variables also in the stationary reference frame, assuming that the q-axis is coincident with the a-axis.

2.5 Derive an equation which can be used to transform abc variables in the stationary reference frame to qdo
variables in the arbitrary reference frame which rotates in space at a speed of .

2.6 Derive an equation which can be used to transform qdo variables in the arbitrary reference frame to abc
variables in the stationary reference frame.

2.7 Derive arbitrary-frame (q-d) equivalent circuits for a three-phase balanced capacitor bank.
(Hint: Refer to Pages 119-120, textbook).

2.8 Derive arbitrary-frame (q-d) equivalent circuits for a three-phase RL circuit. It is assumed that
1) the RL circuit is three-phase balanced;
2) the resistors and inductors are connected in series; and
3) no mutual inductances exist between any two phases.
(Hint: Refer to Pages 120-122, textbook).

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Topic 3 Theory of Induction Machines

3.1 A simplified version of induction motor dq model in the arbitrary reference frame is shown in Fig. 3.1, where
LL is the total leakage inductance of the stator and rotor windings. It is also called the equivalent circuit of
the induction motor.
a) Express dq-axis flux linkages in terms of motor inductances and currents in a matrix form.
b) Express dq-axis currents in terms of motor inductances and flux linkages. Based on the derived equations,
draw a block diagram using standard Simulink blocks.
rs ds LL (-r )dr rr

vqs pqs Lm pqr vqr

q-axis

rs qs LL (-r )qr rr

vds pds Lm pdr vdr

d-axis
Fig. 3.1 Induction motor dq model in the arbitrary reference frame, where the stator
and rotor winding leakage inductances are lumped together (the equivalent circuit).

3.2 Derive equations for the calculation of the dq voltages specified in Fig. 3.1. Assume that this is a wound rotor
induction motor where the rotor winding is open. Following the same procedure discussed in the lecture class,
derive a Simulink model for the induction motor.
rs sds Lls Llr ( s-r )dr rr

vqs pqs Lm pqr

q-axis

rs sqs Lls Llr ( s-r )qr rr

vds pds Lm pdr

d-axis
Fig. 3.2 Induction motor dq model in the synchronous reference frame.

3.3 The induction dq model in the synchronous frame is shown in Fig. 3.2, where s is the speed of the
synchronously rotating frame. Assuming that the rotor winding is shorted, repeat the questions given in 3.1
and 3.2.

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3.4 A three phase induction motor is powered by a three phase balanced power supply. The power supply and the
induction motor can be represented by masked subsystems. Assume the induction motor model is in the
synchronous reference frame. The output variables of the power supply - induction motor system are stator
currents, electromagnetic toque and motor speed in the stator (stationary) reference frame. Draw a system
block diagram showing all the subsystem blocks including 3-phase to 2-phase transformation, stationary to
rotating transformation and other transformations if required. It is not necessary to show the details of the
subsystems.

3.5 Repeat Problem 3.4 except the induction motor model is in the rotor reference frame.

Topic 4 Induction Motor Speed Control

4.1 A three-phase induction motor has the following nameplate data: 10hp, 60Hz, 220V and 1150rpm. The
maximum torque (Tmax) of the motor is 155N.m, which occurs at the motor speed of 970rpm. The starting
torque of the motor is 70N.m. Assuming that the air gap flux of the motor is kept the constant, sketch to scale
the toque versus speed curves at the stator frequency of 60Hz, 40Hz and 20Hz.

4.2 Assuming that the input dc voltage of a three-phase IGBT-based voltage source inverter is 200V and the duty
cycle of the IGBTs is 50% (i.e., the IGBT conduction angle is 180 degrees).
a) Determine the amplitude of the fundamental component, 5th, 7th and 11th harmonics of the inverter output
voltage (line-to-line).
b) Sketch to scale the line-to-neutral voltage waveform (Phase a) and determine the amplitude of the
fundamental component, 5th, 7th and 11th harmonics.

4.3 Draw the inverter output voltage waveform (line-to-line) assuming that the IGBT devices in Question 4.2 have
a conduction angle of 120 degrees per cycle. Assume that the inverter is loaded with a three-phase balanced
resistor. Hint: the IGBT gating signals for the upper and lower IGBTs in the same inverter leg are no longer
complementary.

4.4. Derive a Simulink model for a three phase voltage source inverter, assuming the conduction angle of the
switching devices is 180 degrees.

4.5 Draw a block diagram (not Simulink Model) for a three-phase induction motor drive using Volts per Hertz
control scheme. To ensure a constant flux operation, voltage feedback should be used. The voltage drop on the
stator winding resistance at low operating frequencies should also be compensated. The drive system is
implemented with a sine pulse width modulator.

4.6 Fig. 4.1 shows the block diagram of an induction motor field oriented control scheme. Derive equations and
then Simulink block diagrams for the following subsystems:
Is* & T* Resolver, Current Reference Generator and Flux & Torque Estimator.

Advanced Electromechanical Systems 25 ELE 847

 Vdc

Te* iT* i*s i*as G1

m PI PI
Current G3
Delta
Resolver Reference VSI
Modulator
if* T s Generator G5
r PI

f ias
ibs
Te Flux & ics
Torque
vas
r Estimator
vbs

Tachometer
IM

Fig. 4.1 Block diagram of an induction motor field oriented control.

Topic 5 Theory of Synchronous Machines

5.1 Use the synchronous machine model discussed in the lecture class or given in Figure 5.5-1 (Page 202,
textbook). Note: Superscripts associated with machine variables may be ignored.

(a) Express flux linkages (qs, ds, kq1, kq2, kd, and fd) in terms of machine currents
(qs, ds, kq1, kq2, kd, and fd).

(b) Derive expressions for the following voltages: Vqs, Vds, Vkq1, Vkq2, Vkd, and Vfd.

5.2 For small size synchronous machines, the damper windings may be omitted to reduce manufacturing cost.
Assuming that for a synchronous machine, the kq2 and kd windings are not equipped, repeat questions given
in 5.1.

5.3 State the reasons why the rotor reference frame is often used for synchronous machine analysis.

5.4 Briefly explain the main functions of damper windings. What are the main differences between the
synchronous machine and induction machine.

Advanced Electromechanical Systems 26 ELE 847

 4. Lecture Slides
Topic 1

Fig. 1-1 Waveforms of a single-phase SCR rectifier.

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 Lecture Slides Topic 1
vd 1

D1 D3 D5
va
ia

vb
ib
vdc RL
vc
ic

D4 D6 D2

vd 2

Fig. 1-2 Waveforms of a three-phase diode rectifier.

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 Lecture Slides Topic 1

Fig. 1-3 Simplified Simulink model of three-phase diode rectifier.

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 Lecture Slides Topic 1

Fig. 1-4 Typical waveforms of a three-phase SCR rectifier.

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 Lecture Slides Topic 1

Fig. 1-5 Simulated waveforms of a three-phase SCR rectifier.

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 Lecture Slides Topic 1

Fig. 1-6 Simulated waveforms of a DC drive with open loop control.

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 Lecture Slides Topic 1

Fig. 1-7 Simulated waveforms of a DC drive with closed loop control.

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 Lecture Slides Topic 3

(Free acceleration)

Fig. 3-1 Simulated waveforms of a three-phase induction motor

in the STATOR (STATIONARY) reference frame.

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 Lecture Slides Topic 3

(Free acceleration)

Fig. 3-2 Simulated waveforms of a three-phase induction motor

in the STATOR (STATIONARY) reference frame.

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 Lecture Slides Topic 3

(Free acceleration)

Fig. 3-3 Simulated rotor speed waveform of a three-phase induction motor.

Advanced Electromechanical Systems 36 ELE 847

 Lecture Slides Topic 3

(Free acceleration)

Fig. 3-4 Simulated waveforms of a three-phase induction motor

in the SYNCHRONOUS reference frame.

Advanced Electromechanical Systems 37 ELE 847

 Lecture Slides Topic 3

ias ( pu ) nr ( rpm )

t (sec )

(a) Simulated waveforms

Stator current ias : 2.56 pu/div; Rotor speed n r : 720rpm/div

Time base: 0.1sec/div
(b) Measured waveforms

Fig. 3-5 Simulated and measured waveforms of a three-phase induction motor

during free acceleration.

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 Lecture Slides Topic 4

T1 D1 T3 D3 T5
D5
G1 G3 G5

ia
a
ib
Vdc b n
c ic
T4 D4 va T6
D6
T2
D2
G4 G6 G2

GND
G1 t
G2
G3 t
G4

G5
G6 t
2 3
/3 /3
va Vdc
t
vb Vdc
t
vc Vdc
t

vab Vdc
t

vbc Vdc
t

vca
Vdc
t
I II III IV V VI

Fig. 4-1 Three phase voltage source inverter with square wave operation.

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 Lecture Slides Topic 4

T1 D1 T3 D3 T5
D5
G1 G3 G5

ia
a
ib
Vdc b n
c ic
T4 D4 va T6
D6
T2
D2
G4 G6 G2

GND

v vcr vma vmb vmc

Vcr Vm
t

va
(G1 ) Vdc
t
vb
(G3 ) Vdc
t
vab1
vab
Vdc
t
2
vab = va vb

Fig. 4-2 Principle of sinusoidal pulse width modulation (SPWM).

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 Lecture Slides Topic 4

r (rpm)
r*
r

T (N m)
e

ias ( A)
(
r
a
d
)

(Wb),
r f

r
f

Fig. 4-3 Simulated waveforms of field oriented control for induction motor drives.

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 Lecture Slides Topic 5

Fig. 5-1 Synchronous generator with a salient-pole rotor.

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 Lecture Slides Topic 5

ikq1
rkq1

Vkq1
Llkq1
iqs rs rds Lls pkq1

imq
Llkq2
vqs pqs Lmq
rkq2
ikq2
pkq2
q-axis
Vkq2

ikd
rkd

Vkd
Llkd
ids rs rqs Lls pkd

imd
Llfd
vds pds Lmd
rfd
ifd

pfd
d-axis
Vfd

Fig. 5-2 dq-axis model of synchronous generator in the rotor reference frame.

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