Electrical Servodrives (FSI-RES)

Academic year 2020/2021
Supervisor: doc. Ing. Pavel Vorel, Ph.D.  
Supervising institute: ÚMTMB all courses guaranted by this institute
Teaching language: Czech
Aims of the course unit:
The aim of the course is to acquaint students with principles and applications of various types of electric drives, design methods and applications of drives with DC machines, induction machines, BLDC motors, synchronous machines with permanent magnets, switched reluctance and stepper motors. Another important goal is to get acquainted with the specific technical difficulties related to the design and implementation of electric drives.
Learning outcomes and competences:
Students are able to:
- draw diagrams of the power parts of the thyristor rectifiers and explain in which quadrants are able to operate.
- create mathematical model of the thyristor rectifier and defined requirement on optimal current regulator.
- explain principle of the velocity control of the asynchronous motor, to draw equivalent electrical model and torque characteristic of the asynchronous motor.
- to draw block diagram and explain principle of scalar velocity control of the asynchronous motor.
- describe design techniques of the permanent magnet synchronous motor (PMSM).
- draw block diagram and explain principle of vector control of the PMSM
- explain principle of the switched reluctance motor, to describe its features and to draw block diagram of the regulation structure.
- describe all kinds of fault events in electrical systems and to design techniques which are reducing these effects.
Prerequisites:
Prerequisit – Student has to be able to:
- apply differential equations for description of the electromechanical system in time and Laplace domain
- describe motor principle according to their electrical diagram.
- design cascade control structure
- handle the software tool Matlab/Simulink
- prove that he is qualified to handle with electrical equipment according to defined rules.
Course contents:
Electric drives with DC motor - the aim is to repeat and consolidate the skills gained in the previous bachelor courses, frequency response of the DC motor, response of the inverter, response of all necessary sensors, synthesis of current ans speed loops.
Simplified BLDC machine design. Explanation of simplified procedure its design, considering the possibilities of a semiconductor converter, dimensioning of the inverter and description of its control structure with an overview of the possibilities of its implementation
Drives with BLDC and harmonic synchronous machine with permanent magnets on the rotor. Description of the design of a synchronous machine with respect to its power supply (BLDC / harmonic machine), overview of control algorithm variants for harmonic machines, description of synthesis of speed and position control loops.
Drives with thyristor rectifiers. Description of the diagram of all common types of controlled rectifiers with an overview of their industrial applications. Explanation of control circuits for thyristor controlled rectifiers
Traction drive with DC machine. Explanation of its control with special emphasis on traction applications, synthesis of control loops.
Converters for three-phase machines, types of DC links, active rectifiers. Explanation of possibilities of realization of inverters for three-phase machines, explanation of converter with voltage and current DC links.
Traction drives with induction machines, specifics of low voltage drives. Example of low-voltage drive design with induction machine, explanation of the control algorithm for traction purposes.
Usage of ultra-capacitors in electric traction. Description of ultracapacitor capabilities with demonstration of condenser battery application in traction system, explanation of control circuits for ultra-capacitor converters.
Position control of servo drives, speed and position sensors in electric drives. Synthesis of the speed and position loop of the electric drive, description of the sensors used in the drives.
Drives with switched reluctance motor. Explanation of reluctance motor principle, specifics of its usage, question of choice of number of phases, SRM converters, control algorithms for SRM,
Stepper motors. Overview of all types of stepper, explanation of its control, their industrial applications.
Electromagnetic interference in power electronic equipment, explanation of electromagnetic compatibility, mechanism of parasitic interference in power electronics structures, recommendations for design of interference-resistant devices.
Teaching methods and criteria:
The course is taught through lectures explaining the basic principles and theory of the discipline. Exercises are focused on practical topics presented in lectures.
Assesment methods and criteria linked to learning outcomes:
The course-unit creditts is awarded on condition of having solved of given problems. Examination has a written and an oral part
To get credits there is required solution of given problems
Examination has a written and an oral part.
Controlled participation in lessons:
Mandatory numeric and computer exercises, absence can be compensated by homework.
Type of course unit:
    Lecture  13 × 2 hrs. optionally                  
    Exercise  13 × 1 hrs. compulsory                  
Course curriculum:
    Lecture 1. Electric drives with DC motor - the aim is to repeat and consolidate the skills gained in the previous bachelor courses, frequency response of the DC motor, response of the inverter, response of all necessary sensors, synthesis of current ans speed loops.
2. Simplified BLDC machine design. Explanation of simplified procedure its design, considering the possibilities of a semiconductor converter, dimensioning of the inverter and description of its control structure with an overview of the possibilities of its implementation
3. Drives with BLDC and harmonic synchronous machine with permanent magnets on the rotor. Description of the design of a synchronous machine with respect to its power supply (BLDC / harmonic machine), overview of control algorithm variants for harmonic machines, description of synthesis of speed and position control loops.
4. Drives with thyristor rectifiers. Description of the diagram of all common types of controlled rectifiers with an overview of their industrial applications. Explanation of control circuits for thyristor controlled rectifiers
5. Traction drive with DC machine. Explanation of its control with special emphasis on traction applications, synthesis of control loops.
6. Converters for three-phase machines, types of DC links, active rectifiers. Explanation of possibilities of realization of inverters for three-phase machines, explanation of converter with voltage and current DC links.
7. Traction drives with induction machines, specifics of low voltage drives. Example of low-voltage drive design with induction machine, explanation of the control algorithm for traction purposes.
8. Usage of ultra-capacitors in electric traction. Description of ultracapacitor capabilities with demonstration of condenser battery application in traction system, explanation of control circuits for ultra-capacitor converters.
9. Position control of servo drives, speed and position sensors in electric drives. Synthesis of the speed and position loop of the electric drive, description of the sensors used in the drives.
10. Drives with switched reluctance motor. Explanation of reluctance motor principle, specifics of its usage, question of choice of number of phases, SRM converters, control algorithms for SRM,
11. Stepper motors. Overview of all types of stepper, explanation of its control, their industrial applications.
12. Electromagnetic interference in power electronic equipment, explanation of electromagnetic compatibility, mechanism of parasitic interference in power electronics structures, recommendations for design of interference-resistant devices.
    Exercise 1. Electric drives with DC motor - the aim is to repeat and consolidate the skills gained in the previous bachelor courses, frequency response of the DC motor, response of the inverter, response of all necessary sensors, synthesis of current ans speed loops.
2. Simplified BLDC machine design. Explanation of simplified procedure its design, considering the possibilities of a semiconductor converter, dimensioning of the inverter and description of its control structure with an overview of the possibilities of its implementation
3. Drives with BLDC and harmonic synchronous machine with permanent magnets on the rotor. Description of the design of a synchronous machine with respect to its power supply (BLDC / harmonic machine), overview of control algorithm variants for harmonic machines, description of synthesis of speed and position control loops.
4. Drives with thyristor rectifiers. Description of the diagram of all common types of controlled rectifiers with an overview of their industrial applications. Explanation of control circuits for thyristor controlled rectifiers
5. Traction drive with DC machine. Explanation of its control with special emphasis on traction applications, synthesis of control loops.
6. Converters for three-phase machines, types of DC links, active rectifiers. Explanation of possibilities of realization of inverters for three-phase machines, explanation of converter with voltage and current DC links.
7. Traction drives with induction machines, specifics of low voltage drives. Example of low-voltage drive design with induction machine, explanation of the control algorithm for traction purposes.
8. Usage of ultra-capacitors in electric traction. Description of ultracapacitor capabilities with demonstration of condenser battery application in traction system, explanation of control circuits for ultra-capacitor converters.
9. Position control of servo drives, speed and position sensors in electric drives. Synthesis of the speed and position loop of the electric drive, description of the sensors used in the drives.
10. Drives with switched reluctance motor. Explanation of reluctance motor principle, specifics of its usage, question of choice of number of phases, SRM converters, control algorithms for SRM,
11. Stepper motors. Overview of all types of stepper, explanation of its control, their industrial applications.
12. Electromagnetic interference in power electronic equipment, explanation of electromagnetic compatibility, mechanism of parasitic interference in power electronics structures, recommendations for design of interference-resistant devices.
Literature - fundamental:
1. Skalický, Jiří: Elektrické servopohony skripta VUT v Brně, FEKT, 2001
2. Pavelka, J., Čeřovský, Z., Javůrek, J.: Elektrické pohony, skripta ČVUT Praha, 1996
3. Caha, Z., Černý, M.: Elektrické pohony SNTL Praha, 1990
4. Leonhard, W.: Control of Electrical Drives Springer, Berlin 1996
Literature - recommended:
1. Souček, P. : Pohony výrobních zařízení. Servomechanizmy
2. Bělohoubek, P. : Elektrické servomechanizmy a jejich řízení
The study programmes with the given course:
Programme Study form Branch Spec. Final classification   Course-unit credits     Obligation     Level     Year     Semester  
M2A-P full-time study M-MET Mechatronics -- Cr,Ex 7 Compulsory 2 2 W