Control of Electrical Drives

1 Elementary Principles of Mechanics.- 1.1 Newtons Law.- 1.2 Moment of Inertia.- 1.3 Effect of Gearing.- 1.4 Power and Energy.- 1.5 Experimental Determination of Inertia.- 2 Dynamics of a Mechanical Drive.- 2.1 Equations Describing the Motion of a Drive with Lumped Inertia.- 2.2 Two Axes Drive in Polar Coordinates.- 2.3 Steady State Characteristics of Different Types of Motors and Loads.- 2.4 Stable and Unstable Operating Points.- 3 Integration of the Simplified Equation of Motion.- 3.1 Solution of the Linearised Equation.- 3.1.1 Start of a Motor with Shunt-type Characteristic at No-load.- 3.1.2 Starting the Motor with a Load Torque Proportional to Speed.- 3.1.3 Loading Transient of the Motor Running at No-load Speed.- 3.1.4 Starting of a DC Motor by Sequentially Shortcircuiting Starting Resistors.- 3.2 Analytical Solution of Nonlinear Differential Equation.- 3.3 Numerical and Graphical Integration.- 4 Thermal Effects in Electrical Machines.- 4.1 Power Losses and Temperature Restrictions.- 4.2 Heating of a Homogeneous Body.- 4.3 Different Modes of Operation.- 4.3.1 Continuous Duty.- 4.3.2 Short Time Intermittent Duty.- 4.3.3 Periodic Intermittent Duty.- 5 Separately Excited DC Machine.- 5.1 Introduction.- 5.2 Differential Equations and Block Diagram.- 5.3 Steady State Characteristics with Armature and Field Control.- 5.3.1 Armature Control.- 5.3.2 Field Control.- 5.3.3 Combined Armature and Field Control.- 5.4 Dynamic Behaviour of DC Motor at Constant Flux.- 6 DC Motor with Series Field Winding.- 6.1 Block Diagram of a Series-wound Motor.- 6.2 Steady State Characteristics.- 7 Control of a Separately Excited DC Machine.- 7.1 Introduction.- 7.2 Cascade Control of DC Motor in the Armature Control Range.- 7.3 Cascade Control of DC Motor in the Field-weakening Region.- 7.4 Supplying a DC Motor from a Rotating Generator.- 8 The Static Converter as Power Actuator for DC Drives.- 8.1 Electronic Switching Devices.- 8.2 Line-commutated Converter in Single-phase Bridge Connection.- 8.3 Line-commutated Converter in Three-phase Bridge Connection.- 8.4 Line-commutated Converters with Reduced Reactive Power.- 8.5 Control Loop Containing an Electronic Power Converter.- 9 Control of Converter-supplied DC Drives.- 9.1 DC Drive with Line-commutated Converter.- 9.2 DC Drives with Force-commutated Converters.- 10 Symmetrical Three-Phase AC Machines.- 10.1 Mathematical Model of a General AC Machine.- 10.2 Induction Motor with Sinusoidal Symmetrical Voltages.- 10.2.1 Stator Current, Current Locus.- 10.2.2 Steady State Torque, Efficiency.- 10.2.3 Comparison with Practical Motor Designs.- 10.2.4 Starting of the Induction Motor.- 10.3 Induction Motor with Impressed Voltages of Arbitrary Waveforms.- 10.4 Induction Motor with Unsymmetrical Line Voltages in steady State.- 10.4.1 Symmetrical Components.- 10.4.2 Single-phase Induction Motor.- 10.4.3 Single-phase Electric Brake for AC Crane-Drives.- 10.4.4 Unsymmetrical Starting Circuit for Induction Motor.- 11 Power Supplies for Adjustable Speed AC Drives.- 11.1 PWM Voltage Source Transistor Inverter.- 11.2 PWM Thyristor Converters with Constant Direct Voltage Supply.- 11.3 Thyristor Converters with Impressed Direct Current Supply.- 11.4 Converter Without DC Link (Cycloconverter).- 12 Control of Induction Motor Drives.- 12.1 Control of Induction Motor Based on Steady State Machine Model.- 12.2 Rotor Flux Orientated Control of Current-fed Induction Motor.- 12.2.1 Principle of Field Orientation.- 12.2.2 Acquisition of Flux Signals.- 12.2.3 Effects of Residual Lag of the Current Control Loops.- 12.2.4 Digital Signal Processing.- 12.2.5 Experimental Results.- 12.2.6 Effects of a Detuned Flux Model.- 12.3 Rotor Flux Orientated Control of Voltage-fed Induction Motor.- 12.4 Control of Induction Motor with a Current Source Inverter.- 12.5 Control of an Induction Motor Without a Mechanical Sensor.- 12.5.1 Machine Model in Stator Flux Coordinates.- 12.5.2 A possible Principle of "Encoderless Control".- 12.5.3 Simulation and Experimental Results.- 12.6 Control of an Induction Motor Using a Combined Flux Model.- 13 Induction Motor Drive with Restricted Speed Range.- 13.1 Doubly-fed Induction Machine.- 13.2 Wound Rotor Induction Motor with Slip-Power Recovery.- 14 Variable Frequency Synchronous Motor Drives.- 14.1 Control of Synchronous Motors with PM Excitation.- 14.2 Control of Synchronous Motors with Supply by Cycloconverter.- 14.3 Synchronous Motor with Load-commutated Inverter.- 15 Some Applications of Controlled Drives.- 15.1 Speed Controlled Drives.- 15.2 Linear Position Control.- 15.3 Linear Position Control with Moving Target Point.- 15.4 Time-optimal Position Control with Fixed Target Point.- 15.5 Time-optimal Position Control with Moving Target Point.