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.

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.

Design of marine generators for alternative diesel-electric power systems

This study compares different electric propulsion systems. Results of the analysis of all the advantages and disadvantages of the different propulsion systems are given. This thesis estimates possibilities to apply different diesel-electric propulsion concepts for different vessel types. Small and medium size vessel’s power ranges are studied. The optimal delivery system is chosen. This choice is made on the base of detailed study of the concepts, electrical equipment market and comparison of mass, volume and efficiency parameters. In this thesis three marine generators are designed. They are: salient pole synchronous generator and two permanent magnet synchronous generators. Their electrical, dimensional, cost and efficiency parameters are compared. To understand all the benefits diagrams with these parameters are prepared. Possible benefits and money savings are estimated. As the result the advantages, disadvantages and boundary conditions for the permanent magnet synchronous generator application in marine electric-power systems are found out.

Modeling and Parameter Estimation of Double-Star Permanent Magnet Synchronous Machines

The power rating of wind turbines is constantly increasing; however, keeping the voltage rating at the low-voltage level results in high kilo-ampere currents. An alternative for increasing the power levels without raising the voltage level is provided by multiphase machines. Multiphase machines are used for instance in ship propulsion systems, aerospace applications, electric vehicles, and in other high-power applications including wind energy conversion systems. A machine model in an appropriate reference frame is required in order to design an efficient control for the electric drive. Modeling of multiphase machines poses a challenge because of the mutual couplings between the phases. Mutual couplings degrade the drive performance unless they are properly considered. In certain multiphase machines there is also a problem of high current harmonics, which are easily generated because of the small current path impedance of the harmonic components. However, multiphase machines provide special characteristics compared with the three-phase counterparts: Multiphase machines have a better fault tolerance, and are thus more robust. In addition, the controlled power can be divided among more inverter legs by increasing the number of phases. Moreover, the torque pulsation can be decreased and the harmonic frequency of the torque ripple increased by an appropriate multiphase configuration. By increasing the number of phases it is also possible to obtain more torque per RMS ampere for the same volume, and thus, increase the power density. In this doctoral thesis, a decoupled d–q model of double-star permanent-magnet (PM) synchronous machines is derived based on the inductance matrix diagonalization. The double-star machine is a special type of multiphase machines. Its armature consists of two three-phase winding sets, which are commonly displaced by 30 electrical degrees. In this study, the displacement angle between the sets is considered a parameter. The diagonalization of the inductance matrix results in a simplified model structure, in which the mutual couplings between the reference frames are eliminated. Moreover, the current harmonics are mapped into a reference frame, in which they can be easily controlled. The work also presents methods to determine the machine inductances by a finite-element analysis and by voltage-source inverters on-site. The derived model is validated by experimental results obtained with an example double-star interior PM (IPM) synchronous machine having the sets displaced by 30 electrical degrees. The derived transformation, and consequently, the decoupled d–q machine model, are shown to model the behavior of an actual machine with an acceptable accuracy. Thus, the proposed model is suitable to be used for the model-based control design of electric drives consisting of double-star IPM synchronous machines.

Laivan voimalaitoksen ja jännitevälipiirillisen ruoripotkurikäytön vuorovaikutusten mallintaminen

Diplomityössä on tutkittu sähköisellä potkurijärjestelmällä varustetun laivan voimalaitoksen ja jännitevälipiirillisen propulsiokäytön vuorovaikutusta laivan hätäpysäytyksen aikana. Työssä on kehitetty simulointimalleja jännitevälipiirillisten sähkökäyttöjen simuloimiseksi Saber -simulontiohjelmistolla.Työn alkuosassa esitetään lyhyt yhteenveto laivan sähköisestä potkurijärjestelmästä komponentteineen, käsitellään laivan hätäpysäytyksen teoriaa sekä simuloinneissa huomioonotettavia laivan ja potkurin hydrodynaamisia ominaisuuksia. Työssä käytettävän simulointiohjelmiston toimintaa selvitetään lyhyesti. Jännitevälipiirillisellä propulsiokäytöllä varustetun laivan hätäpysäytyksen simulointimalli esitellään kokonaisuudessaan ja käsitellään simulointimallin sisältämien osakokonaisuuksien teoriaa ja toimintaa. Kehitetyn simulointimallin toimintaa on tarkasteltu vertaamalla tuloksia vastaavansyklokonvertterikäytöllä varustetun laivan simulointituloksiin sekä vertaamallasimulointituloksia laivan merikoeajon yhteydessä tehtyihin mittauksiin. Simulointitulokset vastasivat teoriaa sekä mittaustuloksia varsin hyvin. Voimalaitoksenosalta ei mittaustuloksia ollut käytettävissä, mutta simulointitulokset ovat teorian mukaisia.

Upgrading of thethird generation of the Remote Diagnostic Systems for ABB Marine Propulsion Systems

Remote diagnostics has become very popular in marine industry. Diagnostic systems are improved all the time and the newest monitoring systems are constantly taken into operation. Most vessels are, however, rigged up by outmoded facilities, which should be updated. In this work the principles of operating of such a remote diagnostic system as the ABB's third generation remote diagnostic system (RDS) and the newest Propulsion Condition Management System (PCMS) are studied. As a result of the thesis the ways of upgrading the old systems of RDS are presented. Specifically, the work focuses on the establishment of the connection between Advant controller AC-110 from the old system and PCMS server, and in other words how to get Modbus data by OPC server.

Ship Leases under IAS 17, case Fortum Shipping

International accounting standards will be applied from the1st of January 2005 in accounting of member states of the EU with a view of harmonizing the accounting practices in Europe, and on the long term even more widely. The purpose of adopting IAS accounting standards is to make the financial statements and financial information received from companies more comparable and more transparent for investors and other interest groups. IAS 17 introduces the treatment of a lease agreement in the light of the new accounting standards. Finnish companies have used finance leases widely as an alternative, off-balance sheet form of financing capital investments consistently with Finnish GAAP. Along with the appliance of IAS 17 the off-balance-sheet financing possibility of leases classified as finance leases will no longer exist. IAS 17 states that finance leases are going to be recognized in the balance sheet as both assets, in form of fixed assets, and loans in liabilities classified as long and short term loans. IAS 17 will make two major changes to the income statement. Firstly, the lease payments formerly treated as variable costs are moved below the operating profit level to finance costs. Secondly, the depreciations from the leased assets are also introduced. The effects to the case company's, Fortum Shipping's, income statement and balance sheet are remarkable. Along with the appliance of IAS Fortum Shipping's net assets are somewhat going to be doubled, the amount of liabilities increases significantly and the earnings before interests and taxes increases moderately. The preceding factors have a big effect on the case company's financial key figures. So, the IAS originated effects on balance sheet and income statement have essential impacts on a company's key financial indicators. Most significant changes can be found in key ratios measuring profitability, capital structure, and efficiency. This means that when comparing the IAS calculated profits of companies with the profits calculated prior with Finnish GAAP, the analysis should be made with prudence because the figures are not comparable on straight-forward basis.

Electric propulsion system in a modern sports car

In this thesis an electric propulsion system is designed on a device level using Cadence ORCAD. The vehicle belongs to the Helsinki Metropolia University of Applied Sci-ences and it is to compete in the Automotive X-Prize competition held in the USA. In this thesis the electric propulsion system and related electric safety measures are designed. Also electro-magnetic compatibility and interferences present in the system are examined by examining the birth mechanisms and transmission paths of interference. Per device effects of interference and solutions to minimize them were examined and proposed. Suitability of permanent magnet synchronous machines for passenger vehicle use was examined by examining the torque production capability of the motor and the torque requirements of the vehicle. Also a short overview of history of electric vehicles is given.

Pintataistelualusten kehittämisen haasteet 2000-luvun alussa : Yhdysvaltojen laivaston Littoral Combat Ship- ja hävittäjähankkeiden laivatekniikka

Tässä diplomityössä tutkittiin Yhdysvaltojen laivaston DDG-1000-hävittäjä- ja Littoral Combat Ship (LCS) -hankkeissa kehitettävien pintataistelualusten laivateknisten ratkaisujen vaikutusta alusten ominaisuuksiin. Tutkimuksen painopiste oli laivatekniikassa, mutta tarkastelu kiinnitettiin käynnissä oleviin hankkeisiin. Aineiston keräämisen menetelmänä käytettiin kirjallisuustutkimusta. Aineisto analysoitiin aineistolähtöisesti, ja laivatekniikan analysoinnin mallina käytettiin laivan konseptisuunnittelun keskeisiä osa-alueita. Laivatekniikkaa analysoitiin vertailemalla aiempien ja uusien alusten teknisiä ratkaisuja. Tutkimusraportti laadittiin soveltamalla prosessikirjoittamista. DDG-1000- ja LCS-hankkeiden vaatimukset perustuivat varsin tarkasti määriteltyihin tehtäviin osana rannikkomerioperointia. Uusilla hankintatavoilla ei kyetty hallitsemaan hankkeiden kustannuksia. DDG-1000-hankkeen kustannusten kasvu vaikutti johtuvan toimittajien välisen kilpailun puuttumisen lisäksi lukuisista uusista teknisistä järjestelmistä ja LCS-hankkeessa nopean hankintatavan aiheuttamista tekijöistä. DDG-1000-hankkeessa päädyttiin vain kolmen aluksen hankintaan ja vanhemman DDG-51-hävittäjän tuotannon uudelleen aloittamiseen. Toistaiseksi LCS-hankkeen 55 aluksen tavoitteessa ei ole tapahtunut muutoksia. LCS-1:n runkoratkaisu on puoliliukuva teräsrunko ja LCS-2:n alumiininen trimaraanirunko. Suuresta nopeudesta johtuen LCS:ien koneistotehot ovat samaa suuruusluokkaan kuin hävittäjillä, tosin LCS-2:n kulkuvastus on pienempi kuin LCS-1:n suurella nopeudella. Hitaammilla nopeuksilla LCS:ien runkojen ja vesisuihkupropulsion hyötysuhteet arvioitiin heikommiksi kuin uppoumarunkoisella fregatilla. LCS:issä on suuret modulaarisesta taistelujärjestelmästä ja alusten ulkopuolella operoitavista järjestelmistä johtuvat lasti- ja kansitilat. LCS-2:n runkoratkaisu on erittäin vakaa. Nopeat alukset ovat herkkiä painon muutoksille. Painavamman LCS-1:n kantavuus arvioitiin alhaiseksi. LCS-2:n painoa on hallittu kevyellä rakenteella. Sen osalta epävarmuutta on aiheuttanut poikittaisten aaltokuormien kantokyky. LCS:ien taistelunkestävyys on kyseenalaistettu. DDG-1000:n sisäänpäin kallistetuilla kyljillä varustettu runkoratkaisu perustui häivevaatimuksiin. Aluksen suureen kokoon on vaikuttanut keinunnanvaimennustankkien ja kokonaan sähköisen koneiston soveltaminen. Poikkeava runkomuoto ja suuri koko ovat mahdollistaneet uudenlaisen yleisjärjestelyn suunnittelun. Sähköisellä koneistolla on päästy pienempään kaasuturbiinien lukumäärään sekä joustavaan koneistojen käyttöprofiiliin. Runkomuodon vauriovakavuus, riski alavirtausperän paineiskuihin ja epävarmuus dynaamisesta vakavuudesta suuressa aallokossa ovat aiheuttaneet epäilyksiä aluksen merikelpoisuudesta. Suhteellisen alhaisen tehon perusteella aluksen kulkuvastusominaisuudet vaikuttivat hyviltä. Sekä LCS että DDG-1000 ovat tehtäviin optimoinnista johtuen eräänlaisia erikoisaluksia, jotka eivät sellaisenaan sovi yleiskäyttöisten pintataistelualusten esikuviksi. Yleisesti ottaen tutkimuksen aikana syntyi näkemys, jonka mukaan taistelualuksen tehtävät tulisi määritellä riittävän väljästi, ja siten varmistaa, että alus on hyvä, mutta ei välttämättä paras, koko elinjaksonsa ajan.

Propulsion products services laakerikunnonvalvonnan ansaintalogiikan kehittäminen

Tämän työn ensisijaisena tavoitteena on selvittää ABB Oy, Marine & Cranes, Propulsion Products Services tarjoamien laakerikunnonvalvontatuotteiden luonne, tuotteistuksen tila, liiketoimintamalli ja tutkia, kuinka olemassa olevaa ansaintalogiikkaa voidaan kehittää. Teoreettisessa osassa käydään läpi palvelun määritelmää, palveluiden tuotteistamista, akateemisia tuotteistusprosessimalleja sekä liiketoimintamallin käsitettä. Liiketoimintamallin käsittely työssä keskittyy Osterwalderin (2010) liiketoimintamallikehykseen. Teoriaosuuden materiaalia hyödynnetään empiirisessä osuudessa laakerikunnonvalvonnan tuotteiden tuotteistuksen tilan, tuotteistusprosessimallin, liiketoimintamallin ja ansaintalogiikan kehittämiseen. Työn keskeisimpinä tuloksina saatiin kehitysehdotuksia työntilaajalle liittyen laakerikun- nonvalvonnan ansaintalogiikkaan ja palveluiden tuotteistamiseen. Työssä ilmeni, että yrityksen olisi suositeltavaa optimoida tehtävien palveluiden suorittamissatamat. Jo olemassa olevien tuotteiden dokumentointia tulisi täydentää työssä ehdotetun mukaisesti. Omien resurssien laajempaa käyttämistä tulisi lisätä ja laakerikunnonvalvonnan palvelupakettien päivittämistarve sekä valmiiden tuotteiden säännöllinen päivittäminen ja niiden mahdollinen poistaminen valikoimasta tulisi ottaa osaksi käytössä olevaa prosessia.

Model-Based Tracking Initialization in Ship Building Environment

An augmented reality (AR) device must know observer’s location and orientation, i.e. observer’s pose, to be able to correctly register the virtual content to observer’s view. One possible way to determine and continuously follow-up the pose is model-based visual tracking. It supposes that a 3D model of the surroundings is known and that there is a video camera that is fixed to the device. The pose is tracked by comparing the video camera image to the model. Each new pose estimate is usually based on the previous estimate. However, the first estimate must be found out without a prior estimate, i.e. the tracking must be initialized, which in practice means that some model features must be identified from the image and matched to model features. This is known in literature as model-to-image registration problem or simultaneous pose and correspondence problem. This report reviews visual tracking initialization methods that are suitable for visual tracking in ship building environment when the ship CAD model is available. The environment is complex, which makes the initialization non-trivial. The report has been done as part of MARIN project.

The Straits of Seniavine : Behring Straits by the U.S. Ship Vincennes

Kartta kuuluu A. E. Nordenskiöldin kokoelmaan

St. Lawrence Bay showing Lutke's Harbor by the U.S. Ship Vincennes : lieutenant John Rodgers September 1855

Kartta kuuluu A. E. Nordenskiöldin kokoelmaan

Part of the Arctic Ocean reconnoitered in the U.S. Ship Vincennes

Kartta kuuluu A. E. Nordenskiöldin kokoelmaan

“Who is steering the ship and which constellation guides the way? Exploring transparency in the European Central Bank during the time of crisis”

This paper explores transparency in the decision-making of the European Central Bank (ECB). According to ECB´s definition, transparency means that the central bank provides the general public with all relevant information on its strategy, assessments and policy decisions as well as its procedures in an open, clear and timely manner. In this paper, however, the interpretation of transparency is somewhat broader: Information is freely available and directly accessible to those who will be affected by the decisions. Moreover, the individuals shall be able to master this material. ECB´s negative attitude towards publication of documents has demonstrated central bank´s reluctance to strive towards more extensive transparency. By virtue of the definition adopted by the ECB the bank itself is responsible for determining what is considered as relevant information. On the grounds of EU treaties, this paper assesses ECB`s accountability concentrating especially on transparency by employing principal-agent theory and constitutional approach. Traditionally, the definite mandate and the tenet of central bank independence have been used to justify the limited accountability. The de facto competence of the ECB has, however, considerably expanded as the central bank has decisively resorted to non-standard measures in order to combat the economic turbulences facing Europe. It is alleged that non-standard monetary policy constitutes a grey zone occasionally resembling economic policy or fiscal policy. Notwithstanding, the European Court of Justice has repeatedly approved these measures. This dynamic interpretation of the treaties seems to allow temporarily exceptions from the central bank´s primary objective during extraordinary times. Regardless, the paper suggests that the accountability nexus defined in the treaties is not sufficient in order to guarantee the accountability of the ECB after the adoption of the new, more active role. Enhanced transparency would help the ECB to maintain its credibility. Investing in the quality of monetary dialogue between the Parliament and the ECB appears to constitute the most adequate and practicable method to accomplish this intention. As a result of upgraded transparency the legitimacy of the central bank would not solely rest on its policy outputs.