Analysis of the voltage source inverter with small DC-link capacitor

IIn electric drives, frequency converters are used to generatefor the electric motor the AC voltage with variable frequency and amplitude. When considering the annual sale of drives in values of money and units sold, the use of low-performance drives appears to be in predominant. These drives have tobe very cost effective to manufacture and use, while they are also expected to fulfill the harmonic distortion standards. One of the objectives has also been to extend the lifetime of the frequency converter. In a traditional frequency converter, a relatively large electrolytic DC-link capacitor is used. Electrolytic capacitors are large, heavy and rather expensive components. In many cases, the lifetime of the electrolytic capacitor is the main factor limiting the lifetime of the frequency converter. To overcome the problem, the electrolytic capacitor is replaced with a metallized polypropylene film capacitor (MPPF). The MPPF has improved properties when compared to the electrolytic capacitor. By replacing the electrolytic capacitor with a film capacitor the energy storage of the DC-linkwill be decreased. Thus, the instantaneous power supplied to the motor correlates with the instantaneous power taken from the network. This yields a continuousDC-link current fed by the diode rectifier bridge. As a consequence, the line current harmonics clearly decrease. Because of the decreased energy storage, the DC-link voltage fluctuates. This sets additional conditions to the controllers of the frequency converter to compensate the fluctuation from the supplied motor phase voltages. In this work three-phase and single-phase frequency converters with small DC-link capacitor are analyzed. The evaluation is obtained with simulations and laboratory measurements.

Direct torque control of permanent magnet synchronous machines - analysis and implementation

Thedirect torque control (DTC) has become an accepted vector control method besidethe current vector control. The DTC was first applied to asynchronous machines,and has later been applied also to synchronous machines. This thesis analyses the application of the DTC to permanent magnet synchronous machines (PMSM). In order to take the full advantage of the DTC, the PMSM has to be properly dimensioned. Therefore the effect of the motor parameters is analysed taking the control principle into account. Based on the analysis, a parameter selection procedure is presented. The analysis and the selection procedure utilize nonlinear optimization methods. The key element of a direct torque controlled drive is the estimation of the stator flux linkage. Different estimation methods - a combination of current and voltage models and improved integration methods - are analysed. The effect of an incorrect measured rotor angle in the current model is analysed andan error detection and compensation method is presented. The dynamic performance of an earlier presented sensorless flux estimation method is made better by improving the dynamic performance of the low-pass filter used and by adapting the correction of the flux linkage to torque changes. A method for the estimation ofthe initial angle of the rotor is presented. The method is based on measuring the inductance of the machine in several directions and fitting the measurements into a model. The model is nonlinear with respect to the rotor angle and therefore a nonlinear least squares optimization method is needed in the procedure. A commonly used current vector control scheme is the minimum current control. In the DTC the stator flux linkage reference is usually kept constant. Achieving the minimum current requires the control of the reference. An on-line method to perform the minimization of the current by controlling the stator flux linkage reference is presented. Also, the control of the reference above the base speed is considered. A new estimation flux linkage is introduced for the estimation of the parameters of the machine model. In order to utilize the flux linkage estimates in off-line parameter estimation, the integration methods are improved. An adaptive correction is used in the same way as in the estimation of the controller stator flux linkage. The presented parameter estimation methods are then used in aself-commissioning scheme. The proposed methods are tested with a laboratory drive, which consists of a commercial inverter hardware with a modified software and several prototype PMSMs.

Analysis of torque and speed ripple producing non-idealities of frequency converters in electric drives

Electric motors driven by adjustable-frequency converters may produce periodic excitation forces that can cause torque and speed ripple. Interaction with the driven mechanical system may cause undesirable vibrations that affect the system performance and lifetime. Direct drives in sensitive applications, such as elevators or paper machines, emphasize the importance of smooth torque production. This thesis analyses the non-idealities of frequencyconverters that produce speed and torque ripple in electric drives. The origin of low order harmonics in speed and torque is examined. It is shown how different current measurement error types affect the torque. As the application environment, direct torque control (DTC) method is applied to permanent magnet synchronous machines (PMSM). A simulation model to analyse the effect of the frequency converter non-idealities on the performance of the electric drives is created. Themodel enables to identify potential problems causing torque vibrations and possibly damaging oscillations in electrically driven machine systems. The model is capable of coupling with separate simulation software of complex mechanical loads. Furthermore, the simulation model of the frequency converter's control algorithm can be applied to control a real frequency converter. A commercial frequencyconverter with standard software, a permanent magnet axial flux synchronous motor and a DC motor as the load are used to detect the effect of current measurement errors on load torque. A method to reduce the speed and torque ripple by compensating the current measurement errors is introduced. The method is based on analysing the amplitude of a selected harmonic component of speed as a function oftime and selecting a suitable compensation alternative for the current error. The speed can be either measured or estimated, so the compensation method is applicable also for speed sensorless drives. The proposed compensation method is tested with a laboratory drive, which consists of commercial frequency converter hardware with self-made software and a prototype PMSM. The speed and torque rippleof the test drive are reduced by applying the compensation method. In addition to the direct torque controlled PMSM drives, the compensation method can also beapplied to other motor types and control methods.

Vaihtosuuntauksen ja suodatuksen toteuttaminen tasasähkönjakeluverkossa

Pienjännitejakeluverkko Suomessa on toteutettu 400 V:n kolmivaiheisella vaihtosähköllä. Pienestä jännitteestä johtuen 20/0.4 kV:n muuntajat täytyy sijoittaa lähelle kuluttajaa, jotta siirtohäviöt eivät nouse liian suuriksi. Suuremman vaihto- tai tasajännitteen käyttö pienjännitejakelussa kasvattaisi verkon tehonsiirtokapasiteettia ja mahdollistaisi pidempien siirtomatkojen käytön. Käynnissä olevassa tutkimushankkeessa käsitellään vaihtoehtoa, jossa tasajännitettä käytettäisiin 20 kV:n verkon ja kuluttajan välisessä tehonsiirrossa ja kuluttajalla sijaitseva vaihtosuuntaaja muodostaisi tasasähköstä standardien mukaista yksi- tai kolmivaiheista vaihtosähköä. Tässä diplomityössä käsitellään tehoelektroniikan soveltamista kuluttajalle sijoitetussa vaihtosuuntaajassa. Työssä tarkastellaan yksivaiheisia invertteritopologioita, niiden ohjausta ja soveltamista erilaisissa vaihtosuuntaajaratkaisuissa sekä LC- ja LCL-suotimien soveltuvuutta invertterin lähtöjännitteen suodatukseen. Lisäksi esitellään erilaisia rakenneratkaisuja vaihtosuuntauksen toteutukseen ja tarkastellaan näiden järjestelmien vikatilanteita ja sähköturvallisuutta. Lopuksi käsitellään koko järjestelmän häviöitä ja hyötysuhdetta eri suodinkomponenteilla sekä kytkentätaajuuksilla ja esitellään laboratorioprototyyppi. Työssä saatiin selville, että puolisiltainvertteri ei sovellu suurten kondensaattorien vuoksi syöttämään verkkotaajuista kuormaa, vaan joudutaan käyttämään kokosiltainvertteriä. Kokosiltainvertterin ja LC- tai LCL-suotimen käsittävää kokonaisuutta tarkasteltaessa havaittiin, että pienimmät häviöt saavutetaan LC-suotimella 5 %:n ja LCL-suotimella 1 %:n särövaatimuksella. Hyötysuhdekäyrää tarkasteltaessa saatiin sama tulos läpi koko invertterin tehoalueen. Suotimen häviöiden tarkka laskenta on kuitenkin erittäin haasteellista, joten tulokset ovat suuntaa-antavia.

Taajuusmuuttajan verkkovirran yliaallot pienitehoisissa kolmivaihekäytöissä

Pienitehoisessa taajuusmuuttajassa verkkojännite tasasuunnataan yleisesti diodisillalla. Taajuusmuuttajaa kuormitettaessa diodisilta aiheuttaa sen, että verkosta otettava virta on epäsinimuotoista ja sisältää runsaasti eri kertalukujen yliaaltoja. Tällainen virta vääristää verkon jännitettä sekä aiheuttaa häviöitä, resonansseja ja toimintaepävarmuutta sähkönjakeluverkkoon liitetyissä laitteissa ja komponenteissa. Työssä on tarkasteltu pienitehoisen kolmivaiheisen taajuusmuuttajan tulovirrassa esiintyviä yliaaltoja ja keinoja niiden rajoittamiseksi. Laitevalmistajien osalta syynä aiheen tutkimiseen ja kiinnostavuuteen ovat lähinnä uudet yliaaltoja käsittelevät standardit. Työssä onkin tutustuttu tarvittavin osin standardoinnin nykytilaan sekä seurattu standardeja valmistelevien työryhmien työtä ja tätä kautta perehdytty alaa käsittelevien standardien tulevaisuudennäkymiin Euroopan Unionin alueella. Käsittely on kohdistettu kolmivaiheisiin laitteisiin. Standardi IEC 61000-3-2 asettaa yliaaltorajat ammattikäyttöön tarkoitetuille laitteille, kun laitteen tuloteho on korkeintaan 1 kW. Tällä tehoalueella riittää kolmivaihelaitteille kuristimilla suoritettu passiivinen suodatus täyttämään asetetut viranomaisvaatimukset. Tähän liittyen on suunniteltu kolmivaihekuristin, joka on tarkoitettu käytettäväksi taajuusmuuttajasarjan lisävarusteena tehoalueella 0.12…2.2 kW.

Electrical characteristics of eddy current position sensor

In the thesis the principle of work of eddy current position sensors and the main cautions that must be taken into account while sensor design process are explained. A way of automated eddy current position sensor electrical characteristics measurement is suggested. A prototype of the eddy current position sensor and its electrical characteristics are investigated. The results obtained by means of the automated measuring system are explained.

Eddy-current losses in rotor surface mounted permanent magnets

The aim of the work is to study the existing analytical calculation procedures found in literature to calculate the eddy-current losses in surface mounted permanent magnets within PMSM application. The most promising algorithms are implemented with MATLAB software under the dimensional data of LUT prototype machine. In addition finite elements analyze, utilized with help of Flux 2D software from Cedrat Ltd, is applied to calculate the eddy-current losses in permanent magnets. The results obtained from analytical methods are compared with numerical results.

Essays on pricing of risk and international linkage of Russian stock market

Last two decades have seen a rapid change in the global economic and financial situation; the economic conditions in many small and large underdeveloped countries started to improve and they became recognized as emerging markets. This led to growth in the amounts of global investments in these countries, partly spurred by expectations of higher returns, favorable risk-return opportunities, and better diversification alternatives to global investors. This process, however, has not been without problems and it has emphasized the need for more information on these markets. In particular, the liberalization of financial markets around the world, globalization of trade and companies, recent formation of economic and regional blocks, and the rapid development of underdeveloped countries during the last two decades have brought a major challenge to the financial world and researchers alike. This doctoral dissertation studies one of the largest emerging markets, namely Russia. The motivation why the Russian equity market is worth investigating includes, among other factors, its sheer size, rapid and robust economic growth since the turn of the millennium, future prospect for international investors, and a number of important major financial reforms implemented since the early 1990s. Another interesting feature of the Russian economy, which gives motivation to study Russian market, is Russia’s 1998 financial crisis, considered as one of the worst crisis in recent times, affecting both developed and developing economies. Therefore, special attention has been paid to Russia’s 1998 financial crisis throughout this dissertation. This thesis covers the period from the birth of the modern Russian financial markets to the present day, Special attention is given to the international linkage and the 1998 financial crisis. This study first identifies the risks associated with Russian market and then deals with their pricing issues. Finally some insights about portfolio construction within Russian market are presented. The first research paper of this dissertation considers the linkage of the Russian equity market to the world equity market by examining the international transmission of the Russia’s 1998 financial crisis utilizing the GARCH-BEKK model proposed by Engle and Kroner. Empirical results shows evidence of direct linkage between the Russian equity market and the world market both in regards of returns and volatility. However, the weakness of the linkage suggests that the Russian equity market was only partially integrated into the world market, even though the contagion can be clearly seen during the time of the crisis period. The second and the third paper, co-authored with Mika Vaihekoski, investigate whether global, local and currency risks are priced in the Russian stock market from a US investors’ point of view. Furthermore, the dynamics of these sources of risk are studied, i.e., whether the prices of the global and local risk factors are constant or time-varying over time. We utilize the multivariate GARCH-M framework of De Santis and Gérard (1998). Similar to them we find price of global market risk to be time-varying. Currency risk also found to be priced and highly time varying in the Russian market. Moreover, our results suggest that the Russian market is partially segmented and local risk is also priced in the market. The model also implies that the biggest impact on the US market risk premium is coming from the world risk component whereas the Russian risk premium is on average caused mostly by the local and currency components. The purpose of the fourth paper is to look at the relationship between the stock and the bond market of Russia. The objective is to examine whether the correlations between two classes of assets are time varying by using multivariate conditional volatility models. The Constant Conditional Correlation model by Bollerslev (1990), the Dynamic Conditional Correlation model by Engle (2002), and an asymmetric version of the Dynamic Conditional Correlation model by Cappiello et al. (2006) are used in the analysis. The empirical results do not support the assumption of constant conditional correlation and there was clear evidence of time varying correlations between the Russian stocks and bond market and both asset markets exhibit positive asymmetries. The implications of the results in this dissertation are useful for both companies and international investors who are interested in investing in Russia. Our results give useful insights to those involved in minimising or managing financial risk exposures, such as, portfolio managers, international investors, risk analysts and financial researchers. When portfolio managers aim to optimize the risk-return relationship, the results indicate that at least in the case of Russia, one should account for the local market as well as currency risk when calculating the key inputs for the optimization. In addition, the pricing of exchange rate risk implies that exchange rate exposure is partly non-diversifiable and investors are compensated for bearing the risk. Likewise, international transmission of stock market volatility can profoundly influence corporate capital budgeting decisions, investors’ investment decisions, and other business cycle variables. Finally, the weak integration of the Russian market and low correlations between Russian stock and bond market offers good opportunities to the international investors to diversify their portfolios.

The Current Situation of Sewage Sludge and Manure Treatment in Livestock Enterprises in the Leningrad Region

The problem concerning livestock waste handling in the Leningrad region has been subjected to a number of research works. However, the requirements for use of manure and sewage sludge as well as for treatment processes are not certain. So, this problem remains relevant and, therefore, further investigation ought to be made. Currently a large amount of sewage sludge and manure is generated in the Leningrad region. These livestock wastes have to be obligatory treated. The most common methods for treatment in the region, such as anaerobic digestion, composting and aging as well as the most potential methods are described in the thesis. The most potential methods for the Leningrad region are anaerobic digestion, composting and combustion. Each method has strengths and weaknesses, which are also considered in the paper. Aging was not considered as potential treatment method because it does not meet the sanitary and epidemiological requirements. Furthermore, the work gives an overview and comparison of Finnish and Russian legislative and normative acts concerning livestock wastes handling. On the whole the requirements of the Russian Federation concerning sewage sludge and manure are not much different from the Finnish ones.

Converter Supply Transformer For LVDC Distribution System

This master’s thesis is focused on optimizing the parameters of a distribution transformer with respect to low voltage direct current (LVDC) distribution system. One of the main parts of low voltage direct current (LVDC) distribution system is transformer. It is studied from several viewpoints like filtering capabilities of harmonics caused by rectifier, losses and short circuit current limiting Determining available short circuit currents is one of the most important aspects of designing power distribution systems. Short circuits and their effects must be considered in selecting electrical equipment, circuit protection and other devices.

Salient Pole Synchronous Machine Modelling in an Industrial Direct Torque Controlled Drive Application

Synchronous motors are used mainly in large drives, for example in ship propulsion systems and in steel factories' rolling mills because of their high efficiency, high overload capacity and good performance in the field weakening range. This, however, requires an extremely good torque control system. A fast torque response and a torque accuracy are basic requirements for such a drive. For large power, high dynamic performance drives the commonly known principle of field oriented vector control has been used solely hitherto, but nowadays it is not the only way to implement such a drive. A new control method Direct Torque Control (DTC) has also emerged. The performance of such a high quality torque control as DTC in dynamically demanding industrial applications is mainly based on the accurate estimate of the various flux linkages' space vectors. Nowadays industrial motor control systems are real time applications with restricted calculation capacity. At the same time the control system requires a simple, fast calculable and reasonably accurate motor model. In this work a method to handle these problems in a Direct Torque Controlled (DTC) salient pole synchronous motor drive is proposed. A motor model which combines the induction law based "voltage model" and motor inductance parameters based "current model" is presented. The voltage model operates as a main model and is calculated at a very fast sampling rate (for example 40 kHz). The stator flux linkage calculated via integration from the stator voltages is corrected using the stator flux linkage computed from the current model. The current model acts as a supervisor that prevents only the motor stator flux linkage from drifting erroneous during longer time intervals. At very low speeds the role of the current model is emphasised but, nevertheless, the voltage model always stays the main model. At higher speeds the function of the current model correction is to act as a stabiliser of the control system. The current model contains a set of inductance parameters which must be known. The validation of the current model in steady state is not self evident. It depends on the accuracy of the saturated value of the inductances. Parameter measurement of the motor model where the supply inverter is used as a measurement signal generator is presented. This so called identification run can be performed prior to delivery or during drive commissioning. A derivation method for the inductance models used for the representation of the saturation effects is proposed. The performance of the electrically excited synchronous motor supplied with the DTC inverter is proven with experimental results. It is shown that it is possible to obtain a good static accuracy of the DTC's torque controller for an electrically excited synchronous motor. The dynamic response is fast and a new operation point is achieved without oscillation. The operation is stable throughout the speed range. The modelling of the magnetising inductance saturation is essential and cross saturation has to be considered as well. The effect of cross saturation is very significant. A DTC inverter can be used as a measuring equipment and the parameters needed for the motor model can be defined by the inverter itself. The main advantage is that the parameters defined are measured in similar magnetic operation conditions and no disagreement between the parameters will exist. The inductance models generated are adequate to meet the requirements of dynamically demanding drives.

Counter-current Washing of Filter Cakes

The main objective of this thesis was to compare the efficiency of counter-current and co-current filter cake washing techniques. Filter cake washing is a common unit operation which is used in the chemical process industry for improving the recovery of the liquid phase or for purifying the solid phase of the filter cake. Counter-current displacement washing is more difficult to arrange and it requires additional process equipment but the advantage of counter-current method is that the consumption of wash water that is required for achieving certain filter cake purity may be considerably decreased when compared to the co-current washing method. This is true especially for materials that are difficult to wash. The literature part of this thesis consists of a review of filter cake washing in general, including the basic principles of co-current and counter-current techniques, and a description of the structure and operation of a horizontal vacuum belt filter, which is the equipment considered in the experimental part of this thesis. Also the most common cake washing models are introduced. The experiments were performed by washing wheat apatite filter cakes in a laboratory scale vacuum filter by using both co-current and counter-current washing methods. The main results of these tests were the washing curves that relate the purity of the filter cake to the amount of wash liquid used. Comparison between the obtained washing curves showed that both washing methods could be efficiently applied for achieving good washing results. The differences between the wash liquid consumptions in the co-current and counter-current washing methods were found to be surprisingly small but this is most probably explained by the relatively good washing characteristics of the apatite cakes. The washing models introduced in the literature part were compared with the results obtained from the experiments and it was found out that the studied cake washing processes could be described

Line filter optimization in elevator use

The purpose of this thesis was to create design a guideline for an LCL-filter. This thesis reviews briefly the relevant harmonics standards, old filter designs and problems faced with the previous filters. This thesis proposes a modified design method based on the “Liserre’s method” presented in the literature. This modified method will take into account network parameters better. As input parameters, the method uses the nominal power, allowed ripple current in converter and network side and desired resonant frequency of the filter. Essential component selection issues for LCL-filter, such as heating, voltage strength, current rating etc. are also discussed. Furthermore, a simulation model used to verify the operation of the designed filter in nominal power use and in transient situations is included in this thesis.

Current-phase relation in graphene Josephson junction

In this thesis, we present the results of high-frequency measurements on superconductor-graphene-superconductor junctions. We obtained the relation between the supercurrent through the junction and the superconducting phase. The relation allowed us to extract true critical current and to determine the transport regime of graphene in our SGS-junction samples at the Dirac point and away from it. An experimental temperature dependence of the current-phase relation is presented. We have calculated theoretical supercurrent-phase relation in the case of ballistic and diffusive junction. For the diffusive case, we have considered short and long limits where the coherence length is larger or smaller than the sample length, respectively.