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.

Direct-on-line axial flux permanent magnet synchronous generator static and dynamic performance

In distributed energy production, permanent magnet synchronous generators (PMSG) are often connected to the grid via frequency converters, such as voltage source line converters. The price of the converter may constitute a large part of the costs of a generating set. Some of the permanent magnet synchronous generators with converters and traditional separately excited synchronous generators couldbe replaced by direct-on-line (DOL) non-controlled PMSGs. Small directly networkconnected generators are likely to have large markets in the area of distributed electric energy generation. Typical prime movers could be windmills, watermills and internal combustion engines. DOL PMSGs could also be applied in island networks, such as ships and oil platforms. Also various back-up power generating systems could be carried out with DOL PMSGs. The benefits would be a lower priceof the generating set and the robustness and easy use of the system. The performance of DOL PMSGs is analyzed. The electricity distribution companies have regulations that constrain the design of the generators being connected to the grid. The general guidelines and recommendations are applied in the analysis. By analyzing the results produced by the simulation model for the permanent magnet machine, the guidelines for efficient damper winding parameters for DOL PMSGs are presented. The simulation model is used to simulate grid connections and load transients. The damper winding parameters are calculated by the finite element method (FEM) and determined from experimental measurements. Three-dimensional finite element analysis (3D FEA) is carried out. The results from the simulation model and 3D FEA are compared with practical measurements from two prototype axial flux permanent magnet generators provided with damper windings. The dimensioning of the damper winding parameters is case specific. The damper winding should be dimensioned based on the moment of inertia of the generating set. It is shown that the damper winding has optimal values to reach synchronous operation in the shortest period of time after transient operation. With optimal dimensioning, interferenceon the grid is minimized.

Two-photon excitation fluorometry in detection of infectious diseases

Because of the heavily overlapping symptoms, pathogen-specific diagnosis and treatment of infectious diseases is difficult based on clinical symptoms alone. Therefore, patients are often treated empirically. More efficient treatment and management of infectious diseases would require rapid point-of-care compatible in vitro diagnostic methods. However, current point-of-care methods are unsatisfactory in performance and in cost structure. The lack of pointof- care methods results in unnecessary use of antibiotics, suboptimal use of virus-specific drugs, and compromised patient care. In this thesis, the applicability of a two-photon excitation fluorometry is evaluated as a tool for rapid detection of infectious diseases. New separation-free immunoassay methodologies were developed and validated for the following application areas: general inflammation markers, pathogen-specific antibodies, pathogen-specific antigens, and antimicrobial susceptibility testing. In addition, dry-reagent methodology and nanoparticulate tracers are introduced in context to the technique. The results show that the new assay technique is a versatile tool for rapid detection of infectious diseases in many different application areas. One particularly attractive area is rapid multianalyte testing of respiratory infections, where the technique was shown to allow simple assay protocols and comparable performance to the state-of-the-art laboratory methods. If implemented in clinical diagnostic use, the new methods could improve diagnostic testing routines, especially in rapid testing of respiratory tract infections.

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.

Var redo!

Soitinnus: sekakuoro. (SATB)

Var det en dröm?

Soitinnus: lauluääni, piano.

"Var trogen i allt" : den goda kvinnan som konstruktion i svenska och finlandssvenska minnesböcker 1800-1980

I minnesböcker, eller poesialbum, har unga kvinnor och flickor i bland annat Finland och Sverige samlat inskrifter från vänner och bekanta som ett minne av upplevd vänskap. I avhandlingen undersöks minnesbokstraditionen under nästan två sekel, med början i 1800-talets svärmiska vänskapsförklaringar och slut i det sena 1900-talets nonsensdiktning. Minnesböckerna och deras innehåll kan vid en första anblick verka triviala, men en närmare genomgång visar att det under ytan finns en mängd starka budskap riktade till de unga användarna. Genom generationers versskrivande konstrueras ”den goda kvinnan". Hennes egenskaper prisas och flickläsarna uppmanas att leva upp till en idealkvinna vars beståndsdelar även återfinns i samtida uppfostringslitteratur och läsning riktad till kvinnor.

Det var intressant, man måste tänka så mycket : öppna laborationer och V-diagram i kemiundervisningen

Laborationerna utgör i många skolor inom den grundläggande utbildningen en självklar del av kemiundervisningen. Laborationerna är vanligen formulerade som ”recept” och eleverna skall följa en given beskrivning då de genomför laborationen. Kravet på eget tänkande från elevernas sida kan härigenom bli litet. Laborationerna är därför utsatta för en hel del kritik på olika håll i världen, därför att de anses ineffektiva ur lärande-synvinkel. S.k. öppna laborationer är en annan typ av laboration som innebär att eleverna ställs inför ett problem eller en utmaning. Eleverna skall själva inom sin laborationsgrupp komma underfund med och planera hur de skall genomföra laborationen. Denna form av laborationer ställer andra krav på elevernas tänkande än traditionella ”kokbokslaborationer”. I denna studie har elever i en klass i årskurs 7 under sin första kemikurs arbetat med öppna laborationer. Laborationerna har av klassens lärare formulerats som utmaningar för eleverna. Eleverna har som ett hjälpverktyg under laborationen använt s.k. V-diagram. V-diagram utgör ett grafiskt verktyg som kan användas som en laborationsrapport. I V-diagrammet synliggörs de olika momenten som ingår i en laboration eller i en undersökning. Vilken är forskningsfrågan, hur planerar man att söka svar på sin fråga, vilka resultat har man kommit till och vilka slutsatser kan man dra? V-diagrammet innehåller också en teoretisk och begreppslig sida där laborationens teoretiska förankring synliggörs. Resultaten från undersökningen visar att arbetet med öppna laborationer i kombination med V-diagram hade positiv inverkan på elevernas uppfattning om sitt eget lärande. Eleverna upplevde att laborationerna krävde tänkande men att detta samtidigt ledde till förståelse. Eleverna hjälpte varandra att försöka förstå då de gemensamt skulle lösa problem. I diskussionen med sina kamrater och med läraren fick eleverna möjlighet att formulera sina egna uppfattningar och konfrontera dem mot andra uppfattningar. V-diagrammets struktur fungerade som vägledning då eleverna planerade sin laboration, men gav också en överblick över laborationer i efterhand då eleverna förberedde sig inför kursprovet, vilket för en del elever bidrog till deras förståelse. Grupperna var i allmänhet mycket fokuserade på uppgiften då de planerade en öppen laboration. Laborationerna hade alla en förankring i vardagen vilket gjorde att eleverna kunde göra kopplingar mellan sina egna erfarenheter och laborationen. Majoriteten av eleverna uppgav efter kemikursen att de upplevt den som intressant och laborationerna lyftes fram speciellt. De öppna laborationerna ställde stora krav på laborationsgrupperna och på elevernas samarbetsförmåga och gjorde laborationerna känsliga för grupprelaterade problem, genom att eleverna skulle klara av utmaningar gemensamt. För en elev med svag självuppfattning kan tillrättalagda laborationer med klara instruktioner kännas tryggare än en öppen laboration, där utmaningen är större. Samtidigt hade just utmaningarna, som var på en nivå som eleverna klarade av efter att ha tänkt och diskuterat med varandra, en positiv inverkan på självuppfattningen för ett flertal av eleverna. Att klara av utmaningar på rätt nivå kan inverka positivt på den egna själuppfattningen. De öppna laborationerna ställer krav på läraren att vara flexibel och kunna gå in i rollen av bl.a. handledare och coach. Samtidigt utgör lärare en representant för det naturvetenskapliga samfundet och har ansvar för att göra teori och begrepp tillgängliga för eleverna då de behöver dessa i sina undersökningar. För lärare kan de öppna laborationerna kännas problematiska, eftersom de själva sällan har erfarenheter av denna typ av laborationer från sin egen skoltid eller utbildning.

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.