Multilevel converter modulation: implementation and analysis

Multilevel converters provide an attractive solution to bring the benefits of speed-controlled rotational movement to high-power applications. Therefore, multilevel inverters have attracted wide interest in both the academic community and in the industry for the past two decades. In this doctoral thesis, modulation methods suitable especially for series connected H-bridge multilevel inverters are discussed. A concept of duty cycle modulation is presented and its modification is proposed. These methods are compared with other well-known modulation schemes, such as space-vector pulse width modulation and carrier-based modulation schemes. The advantage of the modified duty-cycle modulation is its algorithmic simplicity. A similar mathematical formulation for the original duty cycle modulation is proposed. The modified duty cycle modulation is shown to produce well-formed phase-to-neutral voltages that have lower total harmonic distortion than the space-vector pulse width modulation and the duty cycle modulation. The space-vector-based solution and the duty cycle modulation, on the other hand, result in a better-quality line-to-line voltage and current waveform. The voltage of the DC links in the modules of the series-connected H-bridge inverter are shown to fluctuate while they are under load. The fluctuation causes inaccuracies in the voltage production, which may result in a failure of the flux estimator in the controller. An extension for upper-level modulation schemes, which changes the switching instants of the inverter so that the output voltage meets the reference voltage accurately regardless of the DC link voltages, is proposed. The method is shown to reduce the error to a very low level when a sufficient switching frequency is used. An appropriate way to organize the switching instants of the multilevel inverter is to make only one-level steps at a time. This causes restrictions on the dynamical features of the modulation schemes. The produced voltage vector cannot be rotated several tens of degrees in a single switching period without violating the above-mentioned one-level-step rule. The dynamical capabilities of multilevel inverters are analyzed in this doctoral thesis, and it is shown that the multilevel inverters are capable of operating even in dynamically demanding metal industry applications. In addition to the discussion on modulation schemes, an overvoltage in multilevel converter drives caused by cable reflection is addressed. The voltage reflection phenomenon in drives with long feeder cables causes premature insulation deterioration and also affects the commonmode voltage, which is one of the main reasons for bearing currents. Bearing currents, on the other hand, cause fluting in the bearings, which results in premature bearing failure. The reflection phenomenon is traditionally prevented by filtering, but in this thesis, a modulationbased filterless method to mitigate the overvoltage in multilevel drives is proposed. Moreover, the mitigation method can be implemented as an extension for upper-level modulation schemes. The method exploits the oscillations caused by two consecutive voltage edges so that the sum of the oscillations results in a mitigated peak of the overvoltage. The applicability of the method is verified by simulations together with experiments with a full-scale prototype.

Tuplakuori-rakenne eristettyihin muoviputkiin

Eristettyjen muoviputkien kuljetus- tai asennusvaiheessa on mahdollista, että putken suojakuori rikkoutuu mekaanisen iskun vaikutuksesta ja putken sisään pääsee vettä. Huonoimmassa tapauksessa vesi pääsee etenemään suojakuoren ja eristekerroksen välissä talon sisälle ja aiheuttaa mittavat kosteusvahingot. Tämän diplomityön tarkoituksena oli selvittää, onko eristetylle muoviputkelle mahdollista toteuttaa tuotantotaloudellisesti tuplakuori-rakenne. Tuplakuoren tarkoituksena oli tässä työssä estää putken sisärakenteisiin päässeen veden eteneminen putken pitkittäissuunnassa. Diplomityössä käsiteltiin muutamia vaihtoehtoisia ratkaisuja toteuttaa tuplakuori-rakenne joista lopulta päädyttiin keskittymään muovikalvon käyttöön. Muovikalvon käytöllä oli lähinnä kaksi tarkoitusta. Tärkeimpänä oli saada muovikalvo sulamaan eristekerroksen ja suojakuoren väliin. Tällöin sulanut muovikalvo toimisi liiman tavoin ja hitsaisi eristekerroksen ja suojakuoren toisiinsa kiinni. Näin veden eteneminen eristekerroksen ja suojakuoren välissä saataisiin estetyksi. Muovikalvo oli myös tarkoitus kiristää eristepaketin päälle niin kireälle, että eristepaketin halkaisijaa saataisiin pienennettyä. Muovikalvon käyttöön perehdyttiin suorittamalla tuotantolinjalla koeajoja. Koeajoissa kokeiltiin erilaisia ja erikokoisia putkituotteita erilaisilla tuotantoparametreilla. Näin pyrittiin löytämään parhaat parametrit ja arvot, joilla muovikalvoa pystyttäisiin tulevaisuudessa käyttämään jatkuvassa tuotannossa. Koeajojen tuloksista voitiin havaita, että kalvoitetut putkituotteet käyttäytyivät tuotannossa hyvin eri tavoin.

Hybrid du/dt-filter in frequency converter applications

The aim of the thesis is to investigate the hybrid LC filter behavior in modern power drives; to analyze the influence of such a du/dt filter on the control system stability. With the implementation of the inverter output RLC filter the motor control becomes more complicated. And during the design process the influence of the filter on the motor should be considered and the filter RLC parameters should be constrained.

Mobile system for pump working point estimation

In the current economy situation companies try to reduce their expenses. One of the solutions is to improve the energy efficiency of the processes. It is known that the energy consumption of pumping applications range from 20 up to 50% of the energy usage in the certain industrial plants operations. Some studies have shown that 30% to 50% of energy consumed by pump systems could be saved by changing the pump or the flow control method. The aim of this thesis is to create a mobile measurement system that can calculate a working point position of a pump drive. This information can be used to determine the efficiency of the pump drive operation and to develop a solution to bring pump’s efficiency to a maximum possible value. This can allow a great reduction in the pump drive’s life cycle cost. In the first part of the thesis, a brief introduction in the details of pump drive operation is given. Methods that can be used in the project are presented. Later, the review of available platforms for the project implementation is given. In the second part of the thesis, components of the project are presented. Detailed description for each created component is given. Finally, results of laboratory tests are presented. Acquired results are compared and analyzed. In addition, the operation of created system is analyzed and suggestions for the future development are given.

Pumppukäyttöjen energiankulutuksen määrittäminen prosessimittauksia käyttäen

Pumppukäytöt vastaavat noin neljännestä Euroopan alueen sähkömoottoreissa kuluvasta energiasta. Energian hinnan nousun vuoksi energian säästäminen ja energiatehokkuus ovat nousseet tärkeään asemaan paljon energiaa kuluttavassa teollisuudessa. Pumppukäyttöjen hyötysuhteen parantaminen on noussut olennaiseen osaan paperi- ja kartonkiteollisuuden energiatehokkuustarkasteluissa. Tässä työssä tarkastellaan kartonkikoneen pumppukäyttöjen toiminnan energiatehokkuutta moottorin virtamittausten perusteella. Analyysi perustuu moottorin akselitehon määrittämiseen ja sen perusteella tehtävään pumpun toimintapisteen laskentaan. Työssä esitellään käytetyt estimointimenetelmät ja niillä saadut tulokset kartonkikoneen pumppukäytöille. Lisäksi työssä arvioidaan kolmen yksittäisen pumppukäytön energiankulutuksen säästöpotentiaalia. Työssä käytettyä menetelmää voidaan käyttää sekä vakio- että vaihtonopeuspumppukäyttöjen toiminnan ja hyötysuhteen analysointiin.

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.

Ohutlevytuotteen valmistuskustannusten määrittely suunnitteluvaiheessa

Diplomityössä kehitetään ABB Oy Drives:lle menetelmää, jolla voidaan ennustaa ohutlevyosien ja niistä koostuvien kokoonpanojen hintaa ilman tarkkaa valmistuksellista geometriatietoa. Työ on osa Tekesin rahoittamaa Piirre 2.0 -projektia. Työn teoriaosa määrittelee lyhyesti ohutlevytuotteet ja niiden valmistusmenetelmät. Laajemmassa teoriatarkastelussa ovat erilaiset ohutlevytuotteiden valmistuskustannusten ennustamismenetelmät regressioanalyysin käyttöön painottuen. Käytännön osiossa määritetään Finn-Power LP6 -levytyökeskuksen suorituskyky ja muodostetaan työaikalaskuri kerättyyn tietoon perustuen. Lisäksi muodostetaan regressioanalyysit kahden eri alihankkijan valmistamien ohutlevytuotteiden pohjalta. Regressiotekniikoiden avulla etsitään kustannuksiin voimakkaasti vaikuttavat parametrit ja muodostetaan laskukaava valmistuskustannusten ennustamiseen. Lopuksi vertaillaan teorian ja käytännön osien yhteensopivuutta ja etsitään syitä havaittuihin eroihin. Tutkimustulosten hyödyntämismahdollisuuksien ohella esitetään myös eräitä jatkokehitysehdotuksia.

Kestomagneettitahtikoneen emulointi digitaalisella signaaliprosessorilla

Sähkökäytön suunnittelussa säätöä voidaan testata useassa tapauksessa reaaliaikasimulaattorilla todellisen laitteiston sijaan. Monet reaaliaikasimulaatioiden perustana käytetyt algoritmit soveltuvat täysinohjatulle invertterisillalle. Eräissä sovelluksissa halutaan kuitenkin käyttää puoliksiohjattua siltaa. Puoliksiohjattulla sillalla mallin kausaalisuus voi kääntyä, mitä perinteiset reaaliaikasimulaattorit eivät pysty simuloimaan Tässä työssä oli tavoitteena kehittää reaaliaikasimulaattori puoliksiohjatulle kestomagneettitahtikonekäytölle. Emulaattoriin mallinnettiin todellisen käytön kestomagneettitahtikone ja invertterisilta. Simulaattori toteutettiin digitaaliselle signaaliprosessorille (DSP) ja mittauksiin liittyvät oheislaitteet mallinnettiin FPGA-piirille. Emulaattoriin liitettiin erillinen säätäjä, jota käytettiin myös todellisen sähkökäytön säätämiseen. Emulaattorilla ja todellisella käytöllä tehtyjä mittauksia verrattiin ja emuloimalla saadut tulokset vastasivat melko hyvin todellisesta käytöstä mitattuja.

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.

Kylmätilojen kuljetinkäyttöjen energiatehokkuus

We study how conveyor drives in refrigerating rooms affect total energy costs. Studied conveyor drives are different types of gear motor drives. Energy efficiencies of the conveyor drives are determined by using direct torque measurement and energy costs of the conveyor drives are approximated from these results. From the measurement results and the approximated total costs it can be seen how the energy efficiency of a conveyor drive has a considerable influence on the total costs, especially, with large operating hours. An energy efficient conveyor drive can minimize the total energy costs by reducing the energy consumption of the conveyor motor while cooling costs in refrigerated rooms are also reduced.

The Integrin Tail: A Tale of Cell Motility and Division

Integrin transmembrane receptor functions are regulated by adaptor molecules binding to their alpha and beta subunit intracellular domains, or tails, thus affecting integrin traffic and adhesion during e.g. cell motility. Interestingly, many cellular proteins function in both cell motility and cell division, thus raising the possibility that integrins might be involved in regulating the cell cycle. A thorough understanding of cell division is essential in cell biology and in human malignancies. It is well established that failures to complete cell cycle can give rise to genetically unstable cells with tumorigenic properties. Transformed cells promote the disruption of intercellular adhesions such as tight junctions, and this correlates with the onset of cell motility, invasion and unfavorable prognosis in cancer. In this study, we analyzed integrin regulation, mediated by adaptor binding to the  subunit tail, during cell motility and cell division. We revealed a novel molecular mechanism by which Rab21, through association with the integrin alpha subunits, drives integrin endosomal traffic during mitotic phases. In addition, we found indications for this finding in vivo, as RAB21 gene deletions were mapped in ovarian and prostate cancer samples. Importantly, the multinucleated phenotype of cultured ovarian cancer cells could be reverted by Rab21 overexpression. In this thesis work, we also show how the tight junction protein ZO-1 unexpectedly interacts with the 5 integrin cytoplasmic domain in the lamellipodia to promote cell motility and at the cleavage furrow to support separation of the daughter cells. The alpha5-ZO-1 complex formation was dependent on PKC which regulates ZO-1 phosphorylation and its subcellular localization. In addition, by an in situ detection method, we showed that a subset of metastatic human lung cancers expressed the alpha5beta-ZO-1 complex. Taken together, we were able to identify new molecular pathways that regulate integrin functions in an alpha tail-mediated fashion. These findings firmly suggest that genetic alterations in integrin traffic may lead to progression of tumorigenesis as a result of failed cell division. Also, the interplay of integrins and ZO-1 in forming spatially regulated adhesive structures broadens our view of crosstalk between pathways and distinct adhesive structures that can be involved in cancer cell biology.

Design and analysis of a transversal-flux switched-reluctance-linear-machine pole-pair

The Switched Reluctance technology is probably best suited for industrial low-speed or zerospeed applications where the power can be small but the torque or the force in linear movement cases might be relatively high. Because of its simple structure the SR-motor is an interesting alternative for low power applications where pneumatic or hydraulic linear drives are to be avoided. This study analyses the basic parts of an LSR-motor which are the two mover poles and one stator pole and which form the “basic pole pair” in linear-movement transversal-flux switchedreluctance motors. The static properties of the basic pole pair are modelled and the basic design rules are derived. The models developed are validated with experiments. A one-sided one-polepair transversal-flux switched-reluctance-linear-motor prototype is demonstrated and its static properties are measured. The modelling of the static properties is performed with FEM-calculations. Two-dimensional models are accurate enough to model the static key features for the basic dimensioning of LSRmotors. Three-dimensional models must be used in order to get the most accurate calculation results of the static traction force production. The developed dimensioning and modelling methods, which could be systematically validated by laboratory measurements, are the most significant contributions of this thesis.

Potential of the Osteoclast’s Proton Pump as a Drug Target in Osteoporosis

Decreasing bone mass during aging predisposes to fractures and it is estimated that every second woman and one in five men will suffer osteoporotic fractures during their lifetime. Bone is an adaptive tissue undergoing continuous remodeling in response to physical and metabolic stimuli. Bone mass decreases through a net negative balance in the bone remodeling process of bone, in which the new bone incompletely replaces the resorbed bone mass. Bone resorption is carried out by the osteoclasts; the bone mineral is solubilized by acidification and the organic matrix is subsequently degraded by proteases. Several classes of drugs are available for prevention of osteoporotic fractures. They act by different mechanisms to increase bone mass, and some of them act mainly as antiresorptives by inhibition of osteoclast formation or their function. Optimally, a drug should act selectively on a specific process, since other processes affected usually result in adverse effects. The purpose of this study was to evaluate whether the osteoclastic vacuolar adenosine trisphosphatases (V-ATPase), which drives the solubilization of bone mineral, can be selectively inhibited despite its ubiquitous cellular functions. The V-ATPase is a multimeric protein composed of 13 subunits of which six possesses two or more isoforms. Selectivity for the osteoclastic V-ATPase could be provided if it has some structural uniqueness, such as a unique isoform combination. The a3 isoform of the 116kDa subunit is inevitable for bone resorption; however, it is also present in, and mainly limited to, the lysosomes of other cells. No evidence of a structural uniqueness of the osteoclastic V-ATPase compared to the lysosomal V-ATPase was found, although this can not yet be excluded. Thus, an inhibitor selective for the a3 isoform would target the lysosomal V-ATPase as well. However, the results suggest that selectivity for bone resorption over lysosomal function can be obtained by two other mechanisms, suggesting that isoform a3 is a valid target. The first is differential compensation; bone resorption depends on the high level of a3 expression, and is not compensated for by other isoforms, while the lower level of a3 in lysosomes of other cells may be partly compensated for. The second mechanism is because the bone resorption process itself is fundamentally different from lysosomal acidification because of the chemistry of bone dissolution and the anatomy of the resorbing osteoclast. By this mechanism, full inhibition of bone resorption is obtained with more than tenfold lower inhibitor concentration than those needed to fully inhibit lysosomal acidification. The two mechanisms are additive. Based on the results, we suggest that bone resorption can be selectively inhibited if VATPase inhibitors that are sufficiently selective for the a3 isoform over the other isoforms are developed.

Luistonestojärjestelmän ja elektronisen tasauspyörästön suunnittelu ja implementointi hybridityökoneympäristöön

Ympäristörasituksen vähentäminen, tiukkenevat päästörajat ja ehtyvät öljyvarat ovat ajaneet kulkuvälineteollisuuden hakemaan uusia vaihtoehtoja ajoneuvojen energiatehokkuuden kehittämiseksi. Hybriditeknologia tarjoaa ratkaisuja kustannustehokkuuden ja ympäristöystävällisyyden parantamiseksi. Hybriditeknologian yleistyessä myös työkoneympäristössä saadaan paitsi kehitettyä energiatehokkaampia ja pienemmillä käyttökustannuksilla olevia työkoneita, niin myös tuotua siviiliajoneuvoista tuttuja turvallisuusominaisuuksia työkoneympäristöön. Perinteisten diesel-moottorien korvaaminen nopeavasteisilla ja tarkasti säädettävillä sähkömoottoreilla tarjoaa mahdollisuuksia toteuttaa tarkempia ja monipuolisempia säätöjärjestelmiä kuin perinteisessä ympäristössä. Tässä diplomityössä suunnitellaan luistonestojärjestelmä ja elektroninen tasauspyörästö hybridityökoneympäristöön. Järjestelmä voi käyttökohteesta riippuen pienentää huomattavasti käyttökustannuksia ja mahdollistaa uusien sovellusten tuomista markkinoille, kuten esimerkiksi kääntymisen avustaminen differentiaalisella ohjauksella.

Broadband excitation in the system identification of active magnetic bearing rotor systems

One of the targets of the climate and energy package of the European Union is to increase the energy efficiency in order to achieve a 20 percent reduction in primary energy use compared with the projected level by 2020. The energy efficiency can be improved for example by increasing the rotational speed of large electrical drives, because this enables the elimination of gearboxes leading to a compact design with lower losses. The rotational speeds of traditional bearings, such as roller bearings, are limited by mechanical friction. Active magnetic bearings (AMBs), on the other hand, allow very high rotational speeds. Consequently, their use in large medium- and high-speed machines has rapidly increased. An active magnetic bearing rotor system is an inherently unstable, nonlinear multiple-input, multiple-output system. Model-based controller design of AMBs requires an accurate system model. Finite element modeling (FEM) together with the experimental modal analysis provides a very accurate model for the rotor, and a linearized model of the magneticactuators has proven to work well in normal conditions. However, the overall system may suffer from unmodeled dynamics, such as dynamics of foundation or shrink fits. This dynamics can be modeled by system identification. System identification can also be used for on-line diagnostics. In this study, broadband excitation signals are adopted to the identification of an active magnetic bearing rotor system. The broadband excitation enables faster frequency response function measurements when compared with the widely used stepped sine and swept sine excitations. Different broadband excitations are reviewed, and the random phase multisine excitation is chosen for further study. The measurement times using the multisine excitation and the stepped sine excitation are compared. An excitation signal design with an analysis of the harmonics produced by the nonlinear system is presented. The suitability of different frequency response function estimators for an AMB rotor system are also compared. Additionally, analytical modeling of an AMB rotor system, obtaining a parametric model from the nonparametric frequency response functions, and model updating are discussed in brief, as they are key elements in the modeling for a control design. Theoretical methods are tested with a laboratory test rig. The results conclude that an appropriately designed random phase multisine excitation is suitable for the identification of AMB rotor systems.