Position sensorless electrically excited synchronous motor drive for industrial use based on direct flux linkage and torque control

Synchronous machines with an AC converter are used mainly in large drives, for example in ship propulsion drives as well as in rolling mill drives in steel industry. These motors are used because of their high efficiency, high overload capacity and good performance in the field weakening area. Present day drives for electrically excited synchronous motors are equipped with position sensors. Most drives for electrically excited synchronous motors will be equipped with position sensors also in future. This kind of drives with good dynamics are mainly used in metal industry. Drives without a position sensor can be used e.g. in ship propulsion and in large pump and blower drives. Nowadays, these drives are equipped with a position sensor, too. The tendency is to avoid a position sensor if possible, since a sensor reduces the reliability of the drive and increases costs (latter is not very significant for large drives). A new control technique for a synchronous motor drive is a combination of the Direct Flux Linkage Control (DFLC) based on a voltage model and a supervising method (e.g. current model). This combination is called Direct Torque Control method (DTC). In the case of the position sensorless drive, the DTC can be implemented by using other supervising methods that keep the stator flux linkage origin centered. In this thesis, a method for the observation of the drift of the real stator flux linkage in the DTC drive is introduced. It is also shown how this method can be used as a supervising method that keeps the stator flux linkage origin centered in the case of the DTC. In the position sensorless case, a synchronous motor can be started up with the DTC control, when a method for the determination of the initial rotor position presented in this thesis is used. The load characteristics of such a drive are not very good at low rotational speeds. Furthermore, continuous operation at a zero speed and at a low rotational speed is not possible, which is partly due to the problems related to the flux linkage estimate. For operation in a low speed area, a stator current control method based on the DFLC modulator (DMCQ is presented. With the DMCC, it is possible to start up and operate a synchronous motor at a zero speed and at low rotational speeds in general. The DMCC is necessary in situations where high torque (e.g. nominal torque) is required at the starting moment, or if the motor runs several seconds at a zero speed or at a low speed range (up to 2 Hz). The behaviour of the described methods is shown with test results. The test results are presented for the direct flux linkage and torque controlled test drive system with a 14.5 kVA, four pole salient pole synchronous motor with a damper winding and electric excitation. The static accuracy of the drive is verified by measuring the torque in a static load operation, and the dynamics of the drive is proven in load transient tests. The performance of the drive concept presented in this work is sufficient e.g. for ship propulsion and for large pump drives. Furthermore, the developed methods are almost independent of the machine parameters.

Sähkökäyttöinen moottorikelkka

Diplomityö on tehty Lappeenrannan teknillisen yliopiston sähkötekniikan yksikössä. Työssä tarkastellaan mahdollisuuksia toteuttaa sähkökäyttöinen moottorikelkka. Työn alussa selvitetään, millaiset ovat moottorikelkan käytön aiheuttamat kuormat ja pyörimisnopeusalueet sekä miten polttomoottorit niistä selviävät. Seuraavaksi tarkastellaan eri sähkömoottorityyppien ja akkuvaihtoehtojen soveltuvuutta vastaavaan tehtävään. Työn tuloksena valitaan sähkökäyttöiseen moottorikelkkaan soveltuva sähkömoottori- ja akkutyyppi.

Heating control of an electrical motor

Electrical motors on a ship attackable to different factors which decrease these lifetimes. One of the main external factors on a ship which usually is a reason of the motor failure is a moisture condensation which decreases the motor winding insulation and increase a probability of the short circuit. Therefore, the protection against moisture is necessary for ship electrical motors. The motor should be protected against moisture all time when it does not operate. The necessity of such protection requires a lot of energy consumption. This master’s thesis is focused on the creation of the electrical motor thermal model and on the different methods of the motor protection against moisture analysis with energy consumption point of view.

Induction Motor Drive Energy Efficiency - Simulation and Analysis

A coupled system simulator, based on analytical circuit equations and a finite element method (FEM) model of the motor has been developed and it is used to analyse a frequency-converterfed industrial squirrel-cage induction motor. Two control systems that emulate the behaviour of commercial direct-torque-controlled (DTC) and vector-controlled industrial frequency converters have been studied, implemented in the simulation software and verified by extensive laboratory tests. Numerous factors that affect the operation of a variable speed drive (VSD) and its energy efficiency have been investigated, and their significance in the simulation of the VSD results has been studied. The dependency of the frequency converter, induction motor and system losses on the switching frequency is investigated by simulations and measurements at different speeds for both the vector control and the DTC. Intensive laboratory measurements have been carried out to verify the simulation results.

Insulation System in an Integrated Motor Compressor

A high-speed and high-voltage solid-rotor induction machine provides beneficial features for natural gas compressor technology. The mechanical robustness of the machine enables its use in an integrated motor-compressor. The technology uses a centrifugal compressor, which is mounted on the same shaft with the high-speed electrical machine driving it. No gearbox is needed as the speed is determined by the frequency converter. The cooling is provided by the process gas, which flows through the motor and is capable of transferring the heat away from the motor. The technology has been used in the compressors in the natural gas supply chain in the central Europe. New areas of application include natural gas compressors working at the wellheads of the subsea gas reservoir. A key challenge for the design of such a motor is the resistance of the stator insulation to the raw natural gas from the well. The gas contains water and heavy hydrocarbon compounds and it is far harsher than the sales gas in the natural gas supply network. The objective of this doctoral thesis is to discuss the resistance of the insulation to the raw natural gas and the phenomena degrading the insulation. The presence of partial discharges is analyzed in this doctoral dissertation. The breakdown voltage of the gas is measured as a function of pressure and gap distance. The partial discharge activity is measured on small samples representing the windings of the machine. The electrical field behavior is also modeled by finite element methods. Based on the measurements it has been concluded that the discharges are expected to disappear at gas pressures above 4 – 5 bar. The disappearance of discharges is caused by the breakdown strength of the gas, which increases as the pressure increases. Based on the finite element analysis, the physical length of a discharge seen in the PD measurements at atmospheric pressure was approximated to be 40 – 120 m. The chemical aging of the insulation when exposed to raw natural gas is discussed based on a vast set of experimental tests with the gas mixture representing the real gas mixture at the wellhead. The mixture was created by mixing dry hydrocarbon gas, heavy hydrocarbon compounds, monoethylene glycol, and water. The mixture was chosen to be more aggressive by increasing the amount of liquid substances. Furthermore, the temperature and pressure were increased, which resulted in accelerated test conditions. The time required to detect severe degradation was thus decreased. The test program included a comparison of materials, an analysis of the e ects of di erent compounds in the gas mixture, namely water and heavy hydrocarbons, on the aging, an analysis of the e ects of temperature and exposure duration, and also an analysis on the e ect of sudden pressure changes on the degradation of the insulating materials. It was found in the tests that an insulation consisting of mica, glass, and epoxy resin can tolerate the raw natural gas, but it experiences some degradation. The key material in the composite insulation is the resin, which largely defines the performance of the insulation system. The degradation of the insulation is mostly determined by the amount of gas mixture di used into it. The di usion was seen to follow Fick’s second law, but the coe cients were not accurately defined. The di usion was not sensitive to temperature, but it was dependent upon the thermodynamic state of the gas mixture, in other words, the amounts of liquid components in the gas. The weight increase observed was mostly related to heavy hydrocarbon compounds, which act as plasticizers in the epoxy resin. The di usion of these compounds is determined by the crosslink density of the resin. Water causes slight changes in the chemical structure, but these changes do not significantly contribute to the aging phenomena. Sudden changes in pressure can lead to severe damages in the insulation, because the motion of the di used gas is able to create internal cracks in the insulation. Therefore, the di usion only reduces the mechanical strength of the insulation, but the ultimate breakdown can potentially be caused by a sudden drop in the pressure of the process gas.

Analysis and Control of Excitation, Field Weakening and Stability in Direct Torque Controlled Electrically Excited Synchronous Motor Drives

Direct torque control (DTC) is a new control method for rotating field electrical machines. DTC controls directly the motor stator flux linkage with the stator voltage, and no stator current controllers are used. With the DTC method very good torque dynamics can be achieved. Until now, DTC has been applied to asynchronous motor drives. The purpose of this work is to analyse the applicability of DTC to electrically excited synchronous motor drives. Compared with asynchronous motor drives, electrically excited synchronous motor drives require an additional control for the rotor field current. The field current control is called excitation control in this study. The dependence of the static and dynamic performance of DTC synchronous motor drives on the excitation control has been analysed and a straightforward excitation control method has been developed and tested. In the field weakening range the stator flux linkage modulus must be reduced in order to keep the electro motive force of the synchronous motor smaller than the stator voltage and in order to maintain a sufficient voltage reserve. The dynamic performance of the DTC synchronous motor drive depends on the stator flux linkage modulus. Another important factor for the dynamic performance in the field weakening range is the excitation control. The field weakening analysis considers both dependencies. A modified excitation control method, which maximises the dynamic performance in the field weakening range, has been developed. In synchronous motor drives the load angle must be kept in a stabile working area in order to avoid loss of synchronism. The traditional vector control methods allow to adjust the load angle of the synchronous motor directly by the stator current control. In the DTC synchronous motor drive the load angle is not a directly controllable variable, but it is formed freely according to the motor’s electromagnetic state and load. The load angle can be limited indirectly by limiting the torque reference. This method is however parameter sensitive and requires a safety margin between the theoretical torque maximum and the actual torque limit. The DTC modulation principle allows however a direct load angle adjustment without any current control. In this work a direct load angle control method has been developed. The method keeps the drive stabile and allows the maximal utilisation of the drive without a safety margin in the torque limitation.

Introduktionen av kärnkraften i Finland

Finlands industri har av tradition varit starkt energikrävande. Träförädlingsindustrin, som fick sin egentliga start i medlet på 1800-talet, använde stora mängder energi liksom metallförädlingsföretagen i ett senare skede. Krigstiden med sin energiransonering visade handgripligen för allmänheten liksom för specialisterna att en tillräcklig tillgång till energi är ett livsvillkor för vår industri och därmed för vårt land. Efterkrigstiden kännetecknades av en allt snabbare utbyggnad av den på vatten- och ångkraft baserade elkraftskapaciteten, en utbyggnad som den inhemska verkstadsindustrin i stor utsträckning deltog i. Men redan på 1950-talet var vattenkraften till stor del utbyggd, varför den privata såväl som den statliga sektorns intresse allt mera inriktade sig på den speciellt i USA favoriserade atomenergin. Efter fördjupade studier i kärnfysik och kärnteknik vid the International School of Nuclear Science and Engineering i USA deltog författaren av dessa rader intensivt (först som Ahlströmanställd och senare som VD för Finnatom) i den utvecklingsverksamhet inom det kärntekniska området som inte bara elproducenterna utan även verkstadsindustrin i vårt land genomförde. Det var därför naturligt för mig att som objekt för min doktorsavhandling välja introduktionen av kärnkraften i Finland med speciell fokus på den inhemska verkstadsindustrins roll. Jag ställde följande forskningsfrågor: a. När och hur skedde introduktionen av kärnkraften i Finland? b. Vilka var orsakerna till och resultatet av denna introduktion? c. Vilken var den inhemska verkstadsindustrins roll? Ett grundligt studium av litteraturen inklusive mötesprotokoll och tidningsreferat samt personligen genomförda intervjuer med ett trettiotal av de verkliga aktörerna i den långa och komplicerade introduktionsprocessen ledde till en teori, vars riktighet jag anser mig ha kunnat bevisa. Den inhemska verkstadsindustrins roll var synnerligen central. Dess representanter lyckades, bl.a. refererande till erfarenheterna från utbyggnaden av vatten- och ångkraften liksom till byggandet av den underkritiska milan YXP samt forskningsreaktorn TRIGA, övertyga beslutsfattarna om att den besatt nödig kompetens för att kompensera den kompetensbrist som kunde iakttas inom vissa områden hos den sovjetiska kärnkraftverksleverantören. De inhemska leveranserna påverkade även driftsresultatet, speciellt i fallet Lovisa, i positiv riktning. Introduktionsprocessen, som omfattade tiden från slutet av 1950-talet till början på 1980-talet, beskrevs, noterande bl.a. J. W. Creswells anvisningar, i detalj i avhandlingen. Introduktionen fick som resultat konkurrenskraftig elkraft, impuls till start av nya företag, exempelvis Nokia Elektronik, liksom en klar höjning av den tekniska nivån hos vår industri, inkluderande kärnteknisk tillverkning i stor skala. Katastrofen i Tjernobyl i slutet av april 1986 innebar emellertid att utvecklingen tog en paus på ett par decennier. Erfarenheterna från introduktionsfasen kan förhoppningsvis utnyttjas till fullo nu, när utbyggnaden av kärnkraften återupptagits i vårt land.

Suorite- ja tuntiperusteisen hinnoittelun vertailu teollisuuden palveluhankinnoissa

Perinteisesti suuri osa yritysten hankkimista palveluista on laskutettu kuluneiden työtuntien mukaan tuntiperusteina laskutuksena. Yleistymässä on myös palveluiden tarjonta suoritteina, joilla on etukäteen määritelty sisältö ja hinta. Tämän tutkimuksen tavoitteena oli selvittää näiden hinnoittelumallien välisiä eroja kokonaiskustannusten näkökulmasta. Tutkimukseen kerättiin tietoja kohdeyrityksen palveluhankinnoista; prosessiputkistojen korjaus- ja muutostyöt sekä sähkömoottorien huollot. Laskutietojen lisäksi yksittäisistä töistä saatiin käyttöön myös mm. työtuntimäärät. Palvelutoimittajien hinnastoja hyödyntäen luotiin laskennallinen vertailuhinta-aineisto vaihtoehtoisella hinnoittelumallilla. Muut kokonaiskustannuksiin vaikuttavat elementit arvioitiin kokemukseen perustuen. Tutkimuksen mukaan suoritepohjainen hinnoittelu näyttää sopivan samankaltaisina toistuviin hankintoihin kuten sähkömoottorihuoltoihin. Putkistotöiden hankinnassa sen sijaan vaativan työn sisällön etukäteen määrittelyn ja lisätöiden takia tuntiperusteinen hinnoittelu arvioitiin kokonaiskustannusiltaan edullisemmaksi. Hinnoittelumallien välinen paremmuus siis riippuu hankittavan palvelun sisällöstä.

Automation Concept for Electrically Excited LV Synchronous Motor: Implementation into AC500 Programmable Logic Environment

This bachelor’s thesis is a part of the research project realized in the summer 2011 in Lappeenranta University of Technology. The goal of the project was to develop an automation concept for controlling the electrically excited synchronous motor. Thesis concentrates on the implementation of the automation concept into the ABB’s AC500 programmable logic enviroment. The automation program was developed as a state machine with the ABB’s PS501 Control Builder software. For controlling the automation program is developed a fieldbus control and with CodeSys Visualization Tool a local control with control panel. The fieldbus control is done to correspond the ABB drives communication profile and the local control is implemented with a function block which feeds right control words into the statemachine. A field current control of the synchronous motor is realized as a method presented in doctoral thesis of Olli Pyrhönen (Pyrhönen 1998). The Method combines stator flux and torque based openloop control and power factor based feedback control.

Automation concept for an electrically excited synchronous motor: Setup and requirements specification

This bachelor’s thesis is a part of the research project realized in the summer 2011 in Lappeenranta University of Technology. The goal of the project was to create an automation concept for controlling an electrically excited synchronous motor. This thesis concentrates on the setup and requirements specification part of the concept. The setup consists of ABB AC500 as the PLC master device, DCS800 as an exciter and ACS800 as a frequency converter. The ACS800 frequency converter uses permanent magnet synchronous machine software to control the stator’s magnetic field, the DC drive handles the excitation and the AC500 PLC master controls the communication and functionality of the system. The requirements specification briefly explains the general over-view of the concept, the use and functionality of the PLC program and the requirements needed for the whole concept and the PLC program to work as intended.

Mitä on Wakefield patent Castrol motor oil?

kuv., 10 x 13 cm

Wakefield Castrol motor oil

11 x 16 cm

Wakefield Castrol motor oil

13 x 21 cm