Frequency converter protection against supply network phenomena

This master’s thesis is focused on power supply network disturbances and their effects on the frequency converter – one of the components of modern process crane electrical system. The most critical disturbance types, their causes and the effect they bring to crane electrical system was determined in this work. Variety of protective devices used for mitigation of disturbances is investigated. Device protection solutions for the frequency converter used in crane applications are presented. Analyses of the power supply requirements for frequency converter and various components of crane electrical system were carried out and as a result the crane power supply requirements list that guarantees normal crane operation was built. This list is to be included in crane projects for troubleshooting purposes in order to determine potentially dangerous network.

Phase voltage control and filtering in a converter-fed single-phase customer-end system of the LVDC distribution network

In recent years, the network vulnerability to natural hazards has been noticed. Moreover, operating on the limits of the network transmission capabilities have resulted in major outages during the past decade. One of the reasons for operating on these limits is that the network has become outdated. Therefore, new technical solutions are studied that could provide more reliable and more energy efficient power distributionand also a better profitability for the network owner. It is the development and price of power electronics that have made the DC distribution an attractive alternative again. In this doctoral thesis, one type of a low-voltage DC distribution system is investigated. Morespecifically, it is studied which current technological solutions, used at the customer-end, could provide better power quality for the customer when compared with the current system. To study the effect of a DC network on the customer-end power quality, a bipolar DC network model is derived. The model can also be used to identify the supply parameters when the V/kW ratio is approximately known. Although the model provides knowledge of the average behavior, it is shown that the instantaneous DC voltage ripple should be limited. The guidelines to choose an appropriate capacitance value for the capacitor located at the input DC terminals of the customer-end are given. Also the structure of the customer-end is considered. A comparison between the most common solutions is made based on their cost, energy efficiency, and reliability. In the comparison, special attention is paid to the passive filtering solutions since the filter is considered a crucial element when the lifetime expenses are determined. It is found out that the filter topology most commonly used today, namely the LC filter, does not provide economical advantage over the hybrid filter structure. Finally, some of the typical control system solutions are introduced and their shortcomings are presented. As a solution to the customer-end voltage regulation problem, an observer-based control scheme is proposed. It is shown how different control system structures affect the performance. The performance meeting the requirements is achieved by using only one output measurement, when operating in a rigid network. Similar performance can be achieved in a weak grid by DC voltage measurement. An additional improvement can be achieved when an adaptive gain scheduling-based control is introduced. As a conclusion, the final power quality is determined by a sum of various factors, and the thesis provides the guidelines for designing the system that improves the power quality experienced by the customer.

Diskreettiaikainen liukuvan moodin säätö kiinteäoksidipolttokennon DC-tasonnostossa

Huoli ympäristön tilasta ja fossiilisten polttoaineiden hinnan nousu ovat vauhdittaneet tutkimusta uusien energialähteiden löytämiseksi. Polttokennot ovat yksi lupaavimmista tekniikoista etenkin hajautetun energiantuotannon, varavoimalaitosten sekä liikennevälineiden alueella. Polttokenno on tehonlähteenä kuitenkin hyvin epäideaalinen, ja se asettaa tehoelektroniikalle lukuisia erityisvaatimuksia. Polttokennon kytkeminen sähköverkkoon on tavallisesti toteutettu käyttämällä galvaanisesti erottavaa DC/DC hakkuria sekä vaihtosuuntaajaa sarjassa. Polttokennon kulumisen estämiseksi tehoelektroniikalta vaaditaan tarkkaa polttokennon lähtövirran hallintaa. Perinteisesti virran hallinta on toteutettu säätämällä hakkurin tulovirtaa PI (Proportional and Integral) tai PID (Proportional, Integral and Derivative) -säätimellä. Hakkurin epälineaarisuudesta johtuen tällainen ratkaisu ei välttämättä toimi kaukana linearisointipisteestä. Lisäksi perinteiset säätimet ovat herkkiä mallinnusvirheille. Tässä diplomityössä on esitetty polttokennon jännitettä nostavan hakkurin tilayhtälökeskiarvoistusmenetelmään perustuva malli, sekä malliin perustuva diskreettiaikainen integroiva liukuvan moodin säätö. Esitetty säätö on luonteeltaan epälineaarinen ja se soveltuu epälineaaristen ja heikosti tunnettujen järjestelmien säätämiseen.

Monitoring of centrifugal pump operation by a frequency converter

Centrifugal pumps are widely used in industrial and municipal applications, and they are an important end-use application of electric energy. However, in many cases centrifugal pumps operate with a significantly lower energy efficiency than they actually could, which typically has an increasing effect on the pump energy consumption and the resulting energy costs. Typical reasons for this are the incorrect dimensioning of the pumping system components and inefficiency of the applied pump control method. Besides the increase in energy costs, an inefficient operation may increase the risk of a pump failure and thereby the maintenance costs. In the worst case, a pump failure may lead to a process shutdown accruing additional costs. Nowadays, centrifugal pumps are often controlled by adjusting their rotational speed, which affects the resulting flow rate and output pressure of the pumped fluid. Typically, the speed control is realised with a frequency converter that allows the control of the rotational speed of an induction motor. Since a frequency converter can estimate the motor rotational speed and shaft torque without external measurement sensors on the motor shaft, it also allows the development and use of sensorless methods for the estimation of the pump operation. Still today, the monitoring of pump operation is based on additional measurements and visual check-ups, which may not be applicable to determine the energy efficiency of the pump operation. This doctoral thesis concentrates on the methods that allow the use of a frequency converter as a monitoring and analysis device for a centrifugal pump. Firstly, the determination of energy-efficiency- and reliability-based limits for the recommendable operating region of a variable-speed-driven centrifugal pump is discussed with a case study for the laboratory pumping system. Then, three model-based estimation methods for the pump operating location are studied, and their accuracy is determined by laboratory tests. In addition, a novel method to detect the occurrence of cavitation or flow recirculation in a centrifugal pump by a frequency converter is introduced. Its sensitivity compared with known cavitation detection methods is evaluated, and its applicability is verified by laboratory measurements for three different pumps and by using two different frequency converters. The main focus of this thesis is on the radial flow end-suction centrifugal pumps, but the studied methods can also be feasible with mixed and axial flow centrifugal pumps, if allowed by their characteristics.

Galvaanisen erotuksen toteuttaminen tasavirtasähkönjakelun asiakaspäätelaitteessa

Suomessa sähkönjakeluverkon pääasialliset jännitetasot ovat 20 kV ja 400 V. 20 kV jännitetasolla sähkö viedään lähelle kuluttajia ja muunnetaan pienemmäksi lähellä asiakkaita. Haittapuolena on se, että 20 kV avojohtosähkönsiirtoverkko on hyvin vika-altis ja usein yhden haaran vikaantuessa monta muutakin jää ilman sähköä. Lisäksi hintavien ja suurien jakelumuuntajien määrä on suuri. Vaihtoehtona on toteuttaa osa sähkönjakelusta tasajännitteellä, jolloin tehollinen pienjännite olisi 400 V:a suurempi. Tällöin sähköä voitaisiin siirtää pidempiä matkoja ilman, että asiakaskohtaisia tai muutaman asiakkaan kattavia 20 kV siirtolinjoja tarvitsisi käyttää. Tämä edellyttää vaihtosuuntauksen toteuttamista kuluttajan päässä. Tässä työssä esiteltävällä 1 kVA:n tehoisella vaihtosuuntaajalla muodostetaan tasasähköjakeluverkosta saatavasta 750 V tasasähköstä yksivaiheista (230 VRMS, 50 Hz) verkkojännitettä. Laite on suunniteltu toteuttamaan galvaaninen erotus mahdollisimman hyvällä hyötysuhteella. Suurtaajuusmuuntajan mitoitus mahdollisimman hyvälle hyötysuhteelle on haastava tehtävä, koska vaatimuksia sille asettavat sekä syöttävä resonanssikonvertteri että syötettävä syklokonvertteri. Mitoituksessa on pyrittävä löytämään mahdollisimman hyvä hyötysuhde kustannusten ja toteutettavuuden suhteen.

Rastreamento da síndrome de Down com uso de escore de múltiplos parâmetros ultra-sonográficos

Objetivos: calcular a sensibilidade, especificidade e posteriormente os valores preditivos positivo e negativo dos escores ultra-sonográficos na síndrome de Down. Pacientes e Métodos: a sensibilidade e especificidade dos sinais ultra-sonográficos para a síndrome de Down foram calculadas por meio de escores em um estudo prospectivo realizado em população de alto risco para aneuploidia, entre a 16a e 24a semanas de gestação, que se mostrou desfavorável aos procedimentos invasivos após aconselhamento genético. Os sinais e os valores para a confecção dos escores foram: relação do comprimento do fêmur/pé < 0,9 (1), espessura nucal > 5 mm (2), diâmetro pielocalicial ³ 5 mm (1), ossos próprios do nariz < 6 mm (1), ausência ou hipoplasia da falange média do 5º dedo (1) e alterações estruturais maiores (2). Seguimento completo foi obtido caso a caso. A amniocentese genética foi proposta nos casos de escores 2 ou mais. Resultados: 963 pacientes foram submetidas a exames ultra-sonográficos no período de outubro de 93 a dezembro de 97. A idade gestacional média foi de 19,6 semanas (16 a 24 semanas). A idade materna variou de 35 a 47 anos (média de 38,8) e 18 casos (1,87%) de síndrome de Down foram observados. A sensibilidade foi de 94,5% para escores 1 e 73% para escores 2 (taxa de falso-positivos de 9,8% para escores 1 e de 4,1% para escores 2). A sensibilidade e especificidade individual para cada sinal foram: comprimento fêmur/pé = 16,7% (3/18) e 96,8% (915/945); ossos próprios do nariz = 22,2% (4/18) e 92,1% (870/945); espessamento nucal = 44,4% (8/18) e 96,5% (912/945); diâmetro pielocalicial = 38,9% (7/18) e 94,3% (891/945); ausência da falange média do 5º dedo = 22,2% (4/18) e 98,5% (912/945); malformações = 22,2% (4/18) e 98,2% (928/945). Conclusões: a sensibilidade geral para escore 1 foi bastante alta, porém taxas de falso-positivos também o foram. Para escore 2, a sensibilidade foi ainda boa (73%), com taxa de falso-positivos aceitáveis (4,1%). Os valores preditivos positivo e negativo podem ser calculados conforme a prevalência de cada situação (diferentes idades maternas). Mais casos são necessários para concluir sobre este método de rastreamento (especialmente na população de baixo risco), apesar de este sistema ter se mostrado útil para pacientes de alto risco que não optam pelo diagnóstico invasivo.

Performance and scalability of isolated DC-DC converter topologies in low voltage, high current applications

Fuel cells are a promising alternative for clean and efficient energy production. A fuel cell is probably the most demanding of all distributed generation power sources. It resembles a solar cell in many ways, but sets strict limits to current ripple, common mode voltages and load variations. The typically low output voltage from the fuel cell stack needs to be boosted to a higher voltage level for grid interfacing. Due to the high electrical efficiency of the fuel cell, there is a need for high efficiency power converters, and in the case of low voltage, high current and galvanic isolation, the implementation of such converters is not a trivial task. This thesis presents galvanically isolated DC-DC converter topologies that have favorable characteristics for fuel cell usage and reviews the topologies from the viewpoint of electrical efficiency and cost efficiency. The focus is on evaluating the design issues when considering a single converter module having large current stresses. The dominating loss mechanism in low voltage, high current applications is conduction losses. In the case of MOSFETs, the conduction losses can be efficiently reduced by paralleling, but in the case of diodes, the effectiveness of paralleling depends strongly on the semiconductor material, diode parameters and output configuration. The transformer winding losses can be a major source of losses if the windings are not optimized according to the topology and the operating conditions. Transformer prototyping can be expensive and time consuming, and thus it is preferable to utilize various calculation methods during the design process in order to evaluate the performance of the transformer. This thesis reviews calculation methods for solid wire, litz wire and copper foil winding losses, and in order to evaluate the applicability of the methods, the calculations are compared against measurements and FEM simulations. By selecting a proper calculation method for each winding type, the winding losses can be predicted quite accurately before actually constructing the transformer. The transformer leakage inductance, the amount of which can also be calculated with reasonable accuracy, has a significant impact on the semiconductor switching losses. Therefore, the leakage inductance effects should also be taken into account when considering the overall efficiency of the converter. It is demonstrated in this thesis that although there are some distinctive differences in the loss distributions between the converter topologies, the differences in the overall efficiency can remain within a range of a few percentage points. However, the optimization effort required in order to achieve the high efficiencies is quite different in each topology. In the presence of practical constraints such as manufacturing complexity or cost, the question of topology selection can become crucial.

Rastreamento Antenatal da Síndrome de Down Utilizando Parâmetros Ultra-sonográficos

Objetivo: avaliar o valor de parâmetros ultra-sonográficos para o diagnóstico da síndrome de Down fetal (T21), com a finalidade de permitir sua aplicação na prática clínica rotineira. Métodos: estudo do tipo coorte transversal prospectivo, utilizando múltiplos parâmetros ultra-sonográficos para predição da T21. Foram avaliados 1662 exames ultra-sonográficos no estudo de coorte e outros 289 exames como amostra diferencial para testar a curva de normalidade, de outubro de 1993 a novembro de 2000. A análise estatística se baseou no cálculo das variabilidades intra e interoperadores, na construção das curvas de normalidade dos parâmetros e provas de validação destas, nos cálculos de sensibilidade, especificidade, risco relativo, razão de probabilidade e dos valores preditivos pós-teste. Resultados: entre os 1662 casos do estudo, ocorreram 22 casos (1,32%) de fetos com T21. As curvas de normalidades foram construídas para os parâmetros espessura nucal, relação fêmur/pé e comprimento dos ossos próprios do nariz, sendo que a pelve renal obedeceu a distribuição semiquantitativa e o nível de corte estabelecido foi de 4,0 mm. Os valores de sensibilidade, especificidade, taxa de falso-positivos, risco relativo e razão de probabilidade para espessura da prega nucal acima do percentil 95 foram respectivamente 54,5%, 95,2%, 4,9%, 20,2 e 11. Para medida dos ossos próprios do nariz abaixo do percentil 5, os valores obtidos foram 59,0%, 90,1%, 9,0%, 13,4 e 6,5. Para a relação fêmur/pé abaixo do percentil 5, 45,5%, 84,4%, 15,6%, 3,7 e 2,6. Para a presença de bacinete >4,0 mm, 36,4%, 89,2%, 10,9%, 4,5 e 3,4. Para a ausência da falange média do quinto dedo, 22,7%, 98,1%, 1,9%, 13,2 e 11,9. Para a presença de anomalias estruturais, 31,8%, 98,7%, 1,3%, 27,2 e 24,8. A partir do cálculo da razão de probabilidade e da incidência de T21 nas diversas idades maternas, construiu-se tabela para risco pós-teste dos parâmetros ultra-sonográficos estudados. Conclusões: foram estabelecidas as curvas de normalidade e os índices para cálculo de risco populacional da síndrome de Down fetal utilizando diferentes idades maternas e os fatores multiplicadores por nós propostos. Não foi possível estabelecer curva de normalidade para o parâmetro medida da pelve renal, pois seus resultados tiveram comportamento semiquantitativo, tendo sido, portanto, analisados por faixa de normalidade.

Accuracy Analysis of Frequency Converter Estimates in Diagnostic Applications

Transportation of fluids is one of the most common and energy intensive processes in the industrial and HVAC sectors. Pumping systems are frequently subject to engineering malpractice when dimensioned, which can lead to poor operational efficiency. Moreover, pump monitoring requires dedicated measuring equipment, which imply costly investments. Inefficient pump operation and improper maintenance can increase energy costs substantially and even lead to pump failure. A centrifugal pump is commonly driven by an induction motor. Driving the induction motor with a frequency converter can diminish energy consumption in pump drives and provide better control of a process. In addition, induction machine signals can also be estimated by modern frequency converters, dispensing with the use of sensors. If the estimates are accurate enough, a pump can be modelled and integrated into the frequency converter control scheme. This can open the possibility of joint motor and pump monitoring and diagnostics, thereby allowing the detection of reliability-reducing operating states that can lead to additional maintenance costs. The goal of this work is to study the accuracy of rotational speed, torque and shaft power estimates calculated by a frequency converter. Laboratory tests were performed in order to observe estimate behaviour in both steady-state and transient operation. An induction machine driven by a vector-controlled frequency converter, coupled with another induction machine acting as load was used in the tests. The estimated quantities were obtained through the frequency converter’s Trend Recorder software. A high-precision, HBM T12 torque-speed transducer was used to measure the actual values of the aforementioned variables. The effect of the flux optimization energy saving feature on the estimate quality was also studied. A processing function was developed in MATLAB for comparison of the obtained data. The obtained results confirm the suitability of this particular converter to provide accurate enough estimates for pumping applications.

Towards Perfection Step by Step – User Experience Design and Evaluation in the Context of Digital Libraries

Heli Kautonen's presentation in the LIBER Conference 27 June, 2013 in Munich, Germany.

Improving the competitiveness of electrolytic Zinc process by chemical reaction engineering approach

This doctoral thesis describes the development work performed on the leachand purification sections in the electrolytic zinc plant in Kokkola to increase the efficiency in these two stages, and thus the competitiveness of the plant. Since metallic zinc is a typical bulk product, the improvement of the competitiveness of a plant was mostly an issue of decreasing unit costs. The problems in the leaching were low recovery of valuable metals from raw materials, and that the available technology offered complicated and expensive processes to overcome this problem. In the purification, the main problem was consumption of zinc powder - up to four to six times the stoichiometric demand. This reduced the capacity of the plant as this zinc is re-circulated through the electrolysis, which is the absolute bottleneck in a zinc plant. Low selectivity gave low-grade and low-value precipitates for further processing to metallic copper, cadmium, cobalt and nickel. Knowledge of the underlying chemistry was poor and process interruptions causing losses of zinc production were frequent. Studies on leaching comprised the kinetics of ferrite leaching and jarosite precipitation, as well as the stability of jarosite in acidic plant solutions. A breakthrough came with the finding that jarosite could precipitate under conditions where ferrite would leach satisfactorily. Based on this discovery, a one-step process for the treatment of ferrite was developed. In the plant, the new process almost doubled the recovery of zinc from ferrite in the same equipment as the two-step jarosite process was operated in at that time. In a later expansion of the plant, investment savings were substantial compared to other technologies available. In the solution purification, the key finding was that Co, Ni, and Cu formed specific arsenides in the “hot arsenic zinc dust” step. This was utilized for the development of a three-step purification stage based on fluidized bed technology in all three steps, i.e. removal of Cu, Co and Cd. Both precipitation rates and selectivity increased, which strongly decreased the zinc powder consumption through a substantially suppressed hydrogen gas evolution. Better selectivity improved the value of the precipitates: cadmium, which caused environmental problems in the copper smelter, was reduced from 1-3% reported normally down to 0.05 %, and a cobalt cake with 15 % Co was easily produced in laboratory experiments in the cobalt removal. The zinc powder consumption in the plant for a solution containing Cu, Co, Ni and Cd (1000, 25, 30 and 350 mg/l, respectively), was around 1.8 g/l; i.e. only 1.4 times the stoichiometric demand – or, about 60% saving in powder consumption. Two processes for direct leaching of the concentrate under atmospheric conditions were developed, one of which was implemented in the Kokkola zinc plant. Compared to the existing pressure leach technology, savings were obtained mostly in investment. The scientific basis for the most important processes and process improvements is given in the doctoral thesis. This includes mathematical modeling and thermodynamic evaluation of experimental results and hypotheses developed. Five of the processes developed in this research and development program were implemented in the plant and are still operated. Even though these processes were developed with the focus on the plant in Kokkola, they can also be implemented at low cost in most of the zinc plants globally, and have thus a great significance in the development of the electrolytic zinc process in general.

Jännitettä nostavan hakkurin käyttö akkukäyttöisessä audiolaitteessa

Audiovahvistimet pohjautuvat yhä useammin D-luokan vahvistimiin niiden korkean hyötysuhteen takia. Tämä mahdollistaa pidemmän käyttöajan tai vastaavasti tehon lisäämisen kannettavissa audiolaitteissa. Kuitenkin, jotta akkukäyttöisestä audiolaitteesta saataisiin suurempaa tehoa, se vaatii yleensä korkeamman jännitteen kuin yksittäisen akun lähtöjännite on. Korkeampi jännite voidaan saavuttaa lisäämällä akkuja tai käyttämällä jännitettä nostavaa hakkuria. Hakkureissa syntyy kuitenkin kytkennästä johtuvaa värettä, mille D-luokan vahvistimet ovat alttiita. Tässä työssä tutkitaan boost- ja Čuk-hakkurin soveltuvuutta jännitteen nostoon akkukäyttöisessä audiolaitteessa. Käytännön sovelluksena toimii Porsas, josta halutaan saada 500 W teho. Työssä tutkitaan audiolaitteen asettamia ehtoja jännitelähteelle sekä hakkurien mitoittamista ehtojen mukaisesti. Työn tutkimustapana on kirjallisuustutkimus ja simulointi. Audiolaitteen jännitelähteeltä vaatima teho vaihtelee suuresti. Tämä tulee ottaa huomioon hakkurin komponenttien mitoituksessa. Lisäksi hakkurin lähtöjännitteen väre pyritään minimoimaan, koska sillä on suuri vaikutus vahvistimen toimintaan. Tulovirran väreen minimoinnilla on pidentävä vaikutus akun purkusykliin. Hakkurien laskennalliset komponenttien arvot sekä simuloinnit osoittavat, että hakkurit olisivat myös mahdollista tehdä käytännössä. Simulointien perusteella boost-hakkurin komponenttien arvot ovat pienempiä kuin Čuk-hakkurin. Boost-hakkurille löytyy myös valmiita ohjainpiirejä enemmän. Toisaalta Čuk-hakkurilla on mahdollista tehdä myös energiansäästötila. Hakkurien ohjaus ja jäähdytys vaatisivat jatkotutkimusta.

Breaking down the boundaries to storing, sharing and publishing research data

Presentation at Open Repositories 2014, Helsinki, Finland, June 9-13, 2014

Robust current control of a phase shifted full-bridge buck converter

In this thesis, the main point of interest is the robust control of a DC/DC converter. The use of reactive components in the power conversion gives rise to dynamical effects in DC/DC converters and the dynamical effects of the converter mandates the use of active control. Active control uses measurements from the converter to correct errors present in the converter’s output. The controller needs to be able to perform in the presence of varying component values and different kinds of disturbances in loading and noises in measurements. Such a feature in control design is referred as robustness. This thesis also contains survey of general properties of DC/DC converters and their effects on control design. In this thesis, a linear robust control design method is studied. A robust controller is then designed and applied to the current control of a phase shifted full bridge converter. The experimental results are shown to match simulations.