高级电气驱动：分析、建模与控制技术

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"Advanced Electrical Drives - Analysis, Modeling, Control" 本书深入探讨了高级电气驱动技术，涵盖了电气驱动系统的核心组成部分及其控制策略。电气驱动在将电能转化为机械能的过程中起到关键作用，由电气机器（一种电-机械能转换器）、电力电子转换器（电-电转换器）和控制器/通信单元组成。这些组件共同工作，使得电气驱动被广泛应用于高速列车、电梯、自动扶梯、电动船舶、电动叉车和电动汽车等。高级控制算法，尤其是数字实现的控制算法，能够实现高带宽的扭矩控制，从而实现精确的运动控制。这在机器人、拾放机器、工厂自动化设备等应用场景中尤为重要。例如，机器人驱动系统通过精密的控制算法，可以实现复杂而精准的动作，提高生产效率和质量。作者包括Rik De Doncker、Duco W. J. Puller和André Veltman，分别来自 RWTH Aachen 大学、Zener Electric Pty Ltd. 和 Eindhoven 技术大学，他们在电气工程领域具有深厚的学术背景和实践经验。书中的内容可能包括但不限于： 1. 电气机器分析：深入讨论电机的工作原理、性能特性，如感应电机、同步电机和直流电机等。 2. 功率电子转换器：涵盖逆变器、整流器和斩波器等，以及它们在电气驱动系统中的作用。 3. 控制策略：介绍各种先进控制算法，如矢量控制、直接转矩控制和自适应控制等，以及如何利用这些算法实现高效和精确的驱动控制。 4. 电气驱动系统的建模与仿真：讲解如何建立电气驱动系统的数学模型，以及如何通过仿真工具进行系统性能分析和优化。 5. 实际应用案例：通过具体的应用实例，展示电气驱动在不同领域的应用和挑战。 6. 数字化和通信技术：讨论现代电气驱动中嵌入式系统的应用，以及如何通过通信协议如CAN、EtherCAT等实现设备间的高效通信。此外，书中还可能包含实验数据、设计指导和实用技巧，以帮助读者理解和应用这些理论知识。读者可以通过提供的额外材料网址获取更多补充资料，进一步增强学习体验。《Advanced Electrical Drives - Analysis, Modeling, Control》是电气工程专业人士和学生深入了解电气驱动技术的重要参考书，它不仅提供了理论知识，还强调了实际应用和控制策略的实施。

1.2 Drive Technology Trends 3

1.2 Drive Technology Trends

This sections aims to provide the reader with an overview of technology

trends associated with key components of the electrical drive as shown in

Fig. 1.1. Most importantly the objective in each of the ensuing subsections

is to identify important developments and trends of key drive elements such

as the machine, converter and controller.

1.2.1 Electrical Machines

The primary electro-mechanical energy converter of the drive is the electrical

machine, which must be controlled in accordance with the industrial pro-

cesses in which the unit is deployed. Modern electrical drives typically use

one of the three electrical machine types shown in Fig. 1.3.Thesemachine

types are referred to as the induction (asynchronous), PM synchronous and

switched reluctance machine and are shown in Fig. 1.3 consecutively from

top to bottom and will be discussed extensively in this book. Both asyn-

chronous and synchronous machine conﬁgurations depicted in Fig. 1.3 are

shown with the typical three-phase winding, which is located in the stator

slots of the machine. Note that other machine types including the brushed DC

machine are also still in use. Of the three conﬁgurations shown in Fig. 1.3,

the induction machine is most commonly found in industrial drives. This

can be attributed to the inherent robustness of the machine itself and the

presence of tried and proven drive components which form the basis of a

reliable drive. Above all, the emergence of fast, low-cost digital processors

and micro-controllers has been instrumental in achieving this market posi-

tion, given that these units are able to accommodate well established con-

trol algorithms such as ﬁeld-oriented control. The end result is a brushless

and in many cases (position) sensorless induction machine drive with dy-

namic performance that outperforms that of the classical brushed DC ma-

chine.

An important performance parameter of the machine is the power density,

i.e., the output power to weight ratio in (kW/kg). The power density over

the past century has steadily increased from 0.02

/kg at the beginning of

the 20

century to 0.15

/kg by 1970, according to an ‘S’ curve as typi-

cally found in maturing technologies. The expectation at that time was that

further substantial increases in power density were unlikely. Consequently,

power density values were expected to level oﬀ around the 0.16

/kg value,

given the need to keep operating temperatures within acceptable levels. The

importance of this statement follows from Fig. 1.4, which shows the relation-

ship between operating temperature and lifetime. Hence, according to this

ﬁgure, a life-time of, for example, 80 000 h can be expected provided operat-

6 1 Modern Electrical Drives: An Overview

under low torque conditions which implies that the design can be made

light and compact.

• Improvements in quality control and automated production reduces losses

and allows design with higher precision. A prime example is the use of

copper injection techniques for manufacturing squirrel-cage rotors of in-

duction machines [3].

• Availability of improved design tools (to be discussed in Sect. 1.3)forma-

chines which allow the user to examine and ﬁne tune magnetic, thermal

(to identify hot spots) and acoustical behavior. In addition, extensive sim-

ulation tool are now available which allow the user to examine dynamic

drive operation with diﬀerent load and control scenarios.

• Improved cooling techniques to avoid hot spots, which leads to a better

utilization of available insulation materials. Consequently, better thermal

conductivity is achievable in machines.

• Reduced derating of converter connected machines. Traditionally a 15%

derating ﬁgure was imposed to counter the temperature rise due to higher

harmonics generated by the converter. Modern converter are able to oper-

ate with higher (than used in the previous century) operating frequencies

without compromising cost and eﬃciency of the converter, as will become

apparent in the ensuing subsection.

1.2.2 Power Converters

The development of power electronic converter has over the past twenty ﬁve

years been substantial as may be gauged from the volumetric power density

parameter, i.e., the ratio of converter apparent power to volume

kVA

.For

industrial air-cooled ac to ac converters the volumetric power density has

increased from 30

kVA

(at the end of the last century) to present day

values up to 500

kVA

. These substantial improvements to the volumetric

power density can be attributed to a number of factors namely:

• Availability of power semiconductors able to switch more eﬃciently, i.e.,

with lower power dissipation in comparison with values found in devices

present at the turn of the century.

• Improvements to heat-sink technology which means that smaller modules

can be developed.

• Use of topologies and control techniques to minimize power device losses,

such as for example soft-switching techniques.

• Use of better design tools as will become apparent in Sect. 1.3.

• Availability of compact high-performance digital processors with exten-

sive I/O capabilities that can be readily interfaced with the equally com-

pact power electronic drive circuitry required to control the switching de-

vices.

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