IRANIAN JOURNAL OF ELECTRICAL AND COMPUTER ENGINEERING, VOL. 2, NO. 1, WINTER-SPRING Mohamed M. Negm and Tarek M. Nasab

Transcription

1 IRANIAN JOURNAL OF ELECTRICAL AND COPUTER ENGINEERING VOL NO WINTER-SPRING 7 Inel VSC n Peview Conol o Eiieny n Spee o DC Dive ohme Nem n Tek Ns As A novel inel vile suue onol (VSC) sysem n peview onol sysem o onol he spee o DC ive n oin mimum eiieny ove he whole onol ne e popose in his ppe The eue ynmi equion o he DC (RDE-DC) ive sysem is eive se on mimum eiieny This is one o simpliy he ompleiy o he onol sysem n hene o eue he eeuion ime o he miopoesso An inel ion is inoue ino he VSC o impove he nsien esponse minimize he sey se kin eo n eue he ise n selin imes o he ive sysem An umene sysem uilizin pue ineo (ile) is inoue ino he VSC sysem o miie he inpu hein polem o he ive sysem A peview onolle is lso synhesize n implemene wih he RDE-DC ive sysem o mimize he eiieny n onol he ive spee This onolle uilizes ew uue vlues o he esie sinl n isune sinl The esie sinl is he esie ive spee while he lo oque is onsiee s isune sinl The esin poeues n ompisons eween he ieen VSC onol sysems e me ATLAB simulion suies e ie-ou o invesie he esiiliy kin peomne n ousness o he onol sysem wih hnin he spee; oque n pmees o he RDE-DC ive sysem Ine Tems VSS opiml onol peview onol DC ive RDE D I INTRODUCTION UE o he simpliiy o onollin o he DC ive in iion o is hih peomne n s spee esponse mny inusil ppliions inluin hemil seel minin ppe onveyos n eleil ion uilize his ive Besies i is onsiee s one o he mos onollle ives use in ooi mnipulos leile mnuuin n posiion onol Sevel onol ppliions hve een one uilizin moen onol ehniques Some o hem uilize vile suue onol (VSC) [-[ opiml onol [-[7 opiml PID onol [8 pive onol [9 [ e The wk o usin he VSC is minly ue o he onen o eessive hein [ [ In pie hein is enelly unesile euse i involves eemely hih equeny hein onol iviy uin he sliin moion phse Besies hein inoues he possiiliy o omponen we n p me These polems will pelue he VSC om usin in pil ppliions Howeve VSC is ple o mkin onol sysem ous wih espe o sysem pmei o ynmil uneinies n inenl Ahive o SID nusip eeive h 8 ; evise Jnuy 9 ohme Nem is wih he Depmen o Eleil Enineein Ain-Shms Univesiy Cio Eyp (e-mil: mmnem@yhooom) Tek Ns is wih he Sui-Oe Compny Sui Ai (e-mil: ns@suioeom) Pulishe Iem Ieniie S 68-5()6 68-5/$ Jh Dneshhi o eenl isunes povie h miiin he hein Theeoe his ppe poposes wo onol sysems o spee n eiieny onol o DC ive The is onol sysem is n inel VSC sysem wih n wihou umene sysem while he ohe one is peview onol sysem The popose onol sysems e esine o onol he spee o he RDE-DC ive in he pesene o eenl n inenl isunes Desin o he VSC is se on he pln umenion meho whee he RDE-DC ive moel is umene y pue ineo (ile) whih is pimily ounle o euin he hein Wih his ile hein will ppe he umene sysem inpu he hn he inpu o he DC ive Fuhe impovemens hve een one wih inouin n inel ion in he swihin union o he VSC sysem whih is si hee y inel VSC sysem The synhesize peview onol sysem epens on soluion o he opiml onol polem whih is implemene o line n he opiml polem is solve n iy opein poin The ojeive o he popose onol sysems is o onol he ive spee n mimize he eiieny ove he whole onol ne Dieen ATLAB simulion suies e me n showe oo spee kin une ieen opein oniions suh s lo oque viions n/o pmees viion The synhesize mehos o he popose ive onol sysems e ie-ou n hey epen on he eue ynmi equion (RDE) o he DC ive This is one o eue he on-line eeuion ime he miopoesso Eensive simulion esuls o hese onol sysems e ompe n illuse oinienl esponse une ieen opein oniions These onol sysems e esine implemene n ve onsiele peomne ove he whole onol ne The eommenion n onlusion ou ppliion o hese onol sysems onenin ppliiliy ousness n eeiveness e emonse II DYNAIC EQUATION OF A DC DRIVE The ynmi equion o sepely eie DC ive is iven y [ ω() ω() kmi()i () TL = τm J J i() kmi ()ω( ) i() Av() = () L τ L i () i () A v () = τ L whee ω() : nul spee o DC ive (/se) wwwsidi

2 8 IRANIAN JOURNAL OF ELECTRICAL AND COPUTER ENGINEERING VOL NO WINTER-SPRING v () i () : mue vole n uen espeively v () i () : iel vole n uen espeively L L : inune o mue n iel winins espeively R R : esisnes o he mue n iel iuis espeively τ = L R τ = L R : eleil ime onsn o mue n iel winins espeively τ m = J B : mehnil ime onsn J B momen o inei n visous iion espeively k m : oque momen o inei oeiien T L () : mehnil lo oque A A : ins o powe mpliies III RDE OF A DC DRIVE The RDE o DC ive is oine on he sis o mimum eiieny ove he whole onol ne s ollows The onollle losses o DC ive is L() = k i() k ( ω())i () () whee k n k ( ω()) e he loss oeiiens n he ls one epens on he ive spee suh h he opimum uen io ( β ) o mimum eiieny is iven y i() k ( ω()) β = = () i () k Equin he ien o L() o zeo n usin () ives i() kmω ()i()i () i()v() τ L L () i () i ()v () = β [ τ L whih is eue o R km v () = [ β ω() v () (5) R R Then he RDE o he DC ive (6) is oine om () () n (5) ω() ω() kmi() TL = τm Jβ J (6) i() kmi()ω( ω) i() v() = L β τ L Ahive o SID Noe h o pupose o simpliiy we hve onsiee A v() = v() n A v () = v () The se spe moel o he RDE-DC ive (7) is oine e lineizin (6) oun he opein poin ( i o ω o ) n usin Eule s meho &() = A () B u() C () (7) whee () = [ ω() i () u() = v() () = TL() Then he isee se spe moel o he RDE-DC ive (8) is iven om (7) &( k ) = A ( k) Bu(k ) C(k) (8) whee (k) : se vile; u(k) : inpu sinl ω (k) : oupu sinl; (k) : isune sinl R( k) = ω (k) : esie sinl TOTAL VSC AUGENTED SYSTE W = N U U RDE-DC W = N VSC /S DRIVE Fi VSC wih umene sysem The symol k mens he smplin ime kt n T is he smplin peio while he supesip enoes he nsposiion I is le h he mue vole is elye y one smplin peio o ompense o he miopoesso s eeuion ime oeove he opimum uen io β is oine mimum eiieny IV VSC SYSTE The vile suue onol (VSC) sysem is synhesize se on he RDE moel in wo ses The is se wih usin pue ineo (ile) o elimine he inpu hein while n ineo is inoue ino he swihin union o in zeo sey se kin eo s in he seon se A Aumene VSC Sysem To esin he VSC sysem is he umene sysem is implemene whee new ineo is inoue s p o he RDE-DC ive Howeve his ineo is onsiee s p o he VSC sysem s shown in Fi Chein will now ppe he umene sysem inpu inse o he inpu o DC ive Then he VSC ehnique is pplie o he umene sysem whih onsiss o he RDE-DC ive n pue ineo Desin o he VSC sysem is se on he ehin oniion meho [ The enel om o he ehin lw is s& () = p s() qsn(s()) (9) whee he symols p n q e posiive ins n sn (s()) enoes he sinum em o s() The ousness o he onolle ive my poly e evelope y oely selein he ins p n q in (9) The ynmi equion o he RDE-DC ive moel o (7) is ewien in () & & v i = = β = R = [ R k β R m u u u T L () whee = ω = i u = v = TL ; n ij i i i = j = e he elemens o he mies A B C in (7) The VSC ehnique hs he om u() = u () i s() > () u() = u () i s() < The swihin union o he umene VSC sysem is eine s wwwsidi

3 NEG AND NASAB: INTEGRAL VSC AND PREVIEW CONTROL OF EFFICIENCY AND SPEED OF A DC DRIVE 9 s() = e & () whee e = ω is he oupu eo The symol ω enoes he esie ive spee The onsns n e oine o-line oin he equie peomne n u n u e illuse he mimum n minimum llowle onol vole espeively The oniion une whih he sysem se will move ow n eh he swihin sue is lle ehin oniion Suh h he pi o inequliies: lim s() & < n lim s() & > () s() s() ive suiien oniions o sliin moes o eis The esin poeue o he VSC sysem is eive s ollows le = & () hen om () onsiein u = u& & && & & u & = = (5) he susiuion om () ino (5) ives & u u & = (6) whee = = = = Now he umene sysem ompises he is equion in () () n (6) Then susiuion o he viles o hese umene sysem ino he is eivive o () wih espe o ime ives s() & = u & whee = = ω& = = u (7) The VSC o he umene sysem (8) is oine y equin (9) y (7) n solvin o u u = [ u (8) & ω& k s() qsn(s()) Ahive o SID s() = (9) e e The sme poeues s he pevious su-seion will e epee wihou usin he umene sysem o oin he ollowin inel VSC sysem u whee = [ ω ω& k s() qsn(s()) = = = = () Bu wih usin he umene sysem he swihin union o () eomes s() = () e e Then ollow he pevious poeues o oin he inel VSC sysem wih he umene sysem s iven y u = [ u & ω ω& k s() qsn(s()) () whee he vile is iven om () n he onsns n e oine o-line oin o he esie peomne The onsns n e iven y = = = = = V PREVIEW CONTROL SYSTE The el ime opiml peview onol lw () o he RDE-DC ive is synhesize usin (8) s iven in [5 whee u(k) = i= The onsns n e oine oin o he ssinmen o he eienvlues o he oiinl sysem (RDE- DC ive) o y il n eo sis The lok im o he VSC sysem o he RDE-DC ive is onsue om (8) s illuse in Fi B Inel VSC Sysem Dieen om usin he umene sysem wih pue ineo (ile) o he oiinl sysem s in he pevious su-seion n inel VSC sysem is synhesize s inie in he ollowin seps The onep o his sysem elies on inouin n ineo ino he swihin union n hen pplyin he ehin oniion meho Then le he swihin union o () o e u(k- ) e(i) ( j= { F [ R(k j) R(j) F [ (k j ) (j ) } j k G = [ j )e(k) (k) () Fj = G G Fj G jg j j = = Feek Gin : G = γθ KΦ Feeow Gin : G = γ Θ K G = γ Θ Φ λ G j = G j K ; j = K = K φ λ K γ n λ e he sey se soluion o he ollowin Rii equion K( i) = Q Φ λ( i ) = K( i )[ I γ( i ) = [ R θ K ( i ) θ λ( i ) Φ 5 θγ( i ) θ K ( i ) whee W(k) = G z(k) G (k ) z(k) = [ R(k R(k ); = ( q ) The weih mies o he peomne ine e wwwsidi

4 IRANIAN JOURNAL OF ELECTRICAL AND COPUTER ENGINEERING VOL NO WINTER-SPRING Peview Seps: j = j Z F j F j j Z T L (k) W (k) e(k) - Ineo U (k) Z U ( k ) oo W (k) Fi Peview onol sysem NN (pm) TTL (Nm) % E iieny VSC RESPONSE OF RDE-DC DRIVE [V-W: Aumene Time (smples) () Fi Resuls o VSC wih umene sysem (see (8)) = 55 = p = 775 q = 85 q q Q = q q ( 5 5) R = ( ) Ahive o SID The oupu eo is e(k) = ω (k) (k) All he pmees o he opiml peview onol lw () e eine sih ow s in [5 n uilizin (8) The symol enoes he peview seps The peview onol sysem suue is implemene om () s inie in Fi In his iue he lo oque whih epesens he isune sinl is iely mesue o n e esime on line uin opeion VI SIULATION RESULTS AND COENTS The popose VSC sysems n he opiml peview onolle e use in his ppe o mimize he eiieny n o onol spee o he RDE-DC ive This ive is -pole 5 kw V 85 A pm DC shun moo V (V) V (V) I (A) (k) VSC RESPONSE OF RDE-DC DRIVE [V-W: Aumene 6 8 I (A) Time (smples) whih hs he ollowin pmees J =65 Nmse ; L =7 H; L = H τ =86 se; τ = se; τ m = se K m =89 Nm/A; K e =57 Nm/A; T L =89 Nm β = 55 oo spee N = pm Fis o 7 inie he ATLAB simulion esuls o he synhesize VSC sysems n he opiml peview onolle wih T= mse In hese iues he hoizonl lines enoe he ime in smples The veil lines in Fis () 5 n 6() epi om up o own he esie ive spee N (pm) in oe line n is esponse N (pm) in soli line n he lo oque T L (Nm) in oe line n he evelope oque T D (Nm) in soli line The %eiieny o he RDE-DC ive is lso inie in he ls lok o hese iues While in Fis () n 6() he veil lines emonse om up o own he mue vole V (V) iel vole V (V) mue uen I (A) n iel uen I (A) espeively An enle p o Fi 6() is shown in Fi 6() In his p ee o he peview seps ( =) on he nsien esponse o he () wwwsidi

5 NEG AND NASAB: INTEGRAL VSC AND PREVIEW CONTROL OF EFFICIENCY AND SPEED OF A DC DRIVE ive when he esie spee is hne om 5 pm o 7 pm n he lo oque is hne om % o 5% is illuse Ee o hnin he lo oque (om % o 5% n k o %) mehnil ime onsn (om % o 5%) n oo esisne (om % o 5%) o he eule spee is epie in Fi 7 Fi illuses he esponse o he VSC (8) wih umenin he RDE-DC ive sysem while Fi epis he sysem esponse o he inel VSC () whee n ineo is inoue ino he swihin union wihou umenin he RDE-DC ive sysem The esponse o he Ahive o SID wwwsidi

6 IRANIAN JOURNAL OF ELECTRICAL AND COPUTER ENGINEERING VOL NO WINTER-SPRING NN (pm) VSC RESPONSE OF RDE-DC DRIVE [V-W : oel NN (pm) VSC RESPONSE OF RDE-DC DRIVE [V-W : oel TTL (Nm) 6 8 TTL (Nm ) 6 8 %Eiieny Time (smples) Fi Resuls o inel VSC wihou umene sysem (see ()) = 5 = p = 6 q = NN (pm) TTL (Nm ) %Eiieny PREVIEW RESPONSE OF RDE-DC DRIVE [V-W : oel 9 8 = = NN (pm) = = = = 6 8 Time (smples) () PREVIEW RESPONSE OF A DC DRIVE [RDE-ODEL N N = 6 8 Time (smples) Ahive o SID %Eiieny 5 Fi 5 Resuls o inel VSC wih umene sysem (see ()) p = q = V (V) V (V) I (A) = = = PREVIEW RESPONSE OF RDE-DC DRIVE [V-W : oel 6 8 = = I (A) = = 6 8 = NN (pm) = 6 8 = = 6 8 Time (smples) N %TL %Tm %R () PREVIEW RESPONSE OF A DC DRIVE [RDE-ODEL = = 5%TL %Tm %R 5%TL 5%Tm 5%R N %TL 5%Tm 5%R = = 695 = = = Time (smples) () V/W : oel Time (smples) () Fi 6 Resuls o peview onol (see ()) = q = = inel VSC () wih umenin he RDE-DC ive sysem is inie in Fi 5 Fuhemoe Fis 6 n 7 inie he esponse o he peview onol () wihou umenin he RDE-DC ive sysem The ins o he VSC o (8) e =55 = p =775 n q =85 n o he inel VSC o () he ins e =5 = p =6 n q = while o he inel VSC o () e =5 =5 =85 p = n q = Fo he peview onol lw o () he weihin os n peview seps e = q = n = o he esponse o Fi 6 n = q = n = o he esponse o Fi 7 In hese iues he oe lines enoe wwwsidi

7 NEG AND NASAB: INTEGRAL VSC AND PREVIEW CONTROL OF EFFICIENCY AND SPEED OF A DC DRIVE he esie spee N in pm n he esie lo oque TL in Nm s in Fis () 5 6() n 7 As inie in Fis 6() n 7 he peview seps = o = impove he nsien esponse o he RDE-DC ive sysem in ompison wih peview seps = whee his epesens he nsien esponse o he sysem wih he oiny opiml onol lw In Fis o 6 he esie spee N is selee o hne uply mp n sinusoil shpe while he lo oque T L is selee o hne uply om ull lo o hl lo n k o ull lo These hnes e me o invesie he kin peomne n he ousness o he popose onolles wih eenl isunes The esie moo spee is ken onsn pm s in Fi 7 Finlly in ll hese iues he mehnil ime onsn τ m = Tm is hne om % o 5% while he oo esisne R is hne om % o 5% he smple insn 5 o invesie he ousness o he popose onolles wih pmees viion Une hese opein oniions he peview onolle wih minimum peview seps hs he supeio peomne ove he peomne o ll he popose VSC sysems Also he inel VSC wihou umene sysem ives oo nsien esponse wih espe o he esponse o he VSC wih umene sysem I n e seen h emkle impovemen in he ovell sysem peomne is hieve y pplyin hese onolles Finlly he ousness o he peview onolle n ope wih he suion o he mue eion ees whee he esin is ie ou o el wih he uneiny o un-moele ynmis VII CONCLUSION In his ppe novel inel vile suue onol sysem n peview onol sysem o mimize he eiieny ove he whole onol ne n o onol he spee o he DC ive sysem e synhesize n implemene The RDE-DC ive is eive se on mimum eiieny This is one o simpliy he ompleiy o he onol sysem n hene o eue he eeuion ime o he miopoesso An inel ion is inoue ino he VSC sysem o impove he nsien esponse minimize he sey se oupu kin eo n eue he inpu hein An umene sysem uilizin pue ineo is inoue ino he VSC sysem o miie he inpu hein polem o he ive sysem The peview onolle uilizes minimum peview seps o esie moo spee n lo oque o impove he nsien esponse o he RDE-DC ive sysem The popose onolles e susine o ope wih le ne o pmees isunes o eeene viions Theeoe hese onolles e useul o onol sysems uilizin epeely opein poins o vile los ove he whole onol ne inimum oveshoo minimum ise n selin imes zeo sey se kin eo oo ousness n less inpu hein e hieve y usin he inel VSC sysem n peview onolle wih minimum nume o peview seps The epeimenl wok will e one o invesie he ppliiliy o he popose onolles onsiein ees o he suion n mue eion o he DC ive REFERENCES [ T Ns n Nem "Rous peomne o inuion moo usin VSC sysems wih ee hein" in Po o he IFAC-IFIP-IACS In Con on Conol o Inusil Sysems pp [ T Ns n W L Geen "A pil meho o suppessin VSS hein" ASE Jounl on Simulion n Conol vol 9 no pp [ T Ns n Nem "A new ehnique o suppess hein in vile suue sysems" in Po o he ISCA h In Con on Compue Appliions in Inusy n Enineein ICCAIE 97 pp - Tes USA De [ Nem n A F Kheielin "Eiieny opimize spee onol o eue ynmi equion o DC moo se on ous peview onol sysem heoy" Jounl o oelin Simulion n Conol A ASE Peioils vol no pp [5 Nem "Toque opimize spee onol o -phse inuion moo" in Po o he IEEE-PES/CSEE Inenionl oneene on Powe Sysem Tehnoloy PoweCon vol pp 67-7 Ausli [6 E A ohme Nem A I Si n A S Aw "Spee onol o DC ive se on opiml peomne" in Po IEEE Aion h In Con vol pp Souh Ai Sep [7 S Aw E A ohme Nem n AI Si "Spee onol o DC moo ives se on eiien uilizion o eney n opiml peomne" in Po CIRED h In Con n Ehiiion on Conol UK IEE Con Pu No 8 vol 5 pp [8 Nem F N Al-Ghnnm T Ns n SALeihy Epeimenl invesiion o spee onol o DC moo se on opiml PID-onolle" in Po o he Sih Annul IEEE-TE KFUP Sui-Ai pp6-999 [9 Nem n A F Kheielin "Eiieny opimize spee onol o RDE o DC moo se on ous peview onol n pive onolm" in Po o he IACS-IFAC Symposium Cosponsoship o AFCET IACS-CTS 9 vol pp -9 Fne 99 [ Nem "Apive veo onol o hee-phse inuion moo" in Po IEEE ICIT 96 Ine Cone On Inusil Tehnoloy pp Shnhi Chin De 996 [ T Ns n Nem "Desinin o swihin sues wih vile pmees o hin ee vile suue Sysems" in Po o he Fis IEEE Inenionl Eney Coneene IEC pp -5 UAE y 7-9 [ E Ho n P C Sen "Conol ynmis o spee ive sysems usin sliin moe onolles wih inel ompension" IAS Annul eein 989 Coneene eo o he 989 IEEE vol pp ohme Nem ws on in Cio Eyp on Noveme He eeive he BS (wih honos-is nk) S n PhD eees in eleil enineein om Ain-Shms Univesiy Cio Eyp in n Jnuy 99 espeively Sine 979 he hs een wih he Depmen o Eleil Enineein Fuly o Enineein Ain-Shms Univesiy Duin he inevl he ws ne Jpnese sholship he Depmen o Eleil Enineein Fuly o Enineein Hokkio Univesiy Jpn Duin he inevl 99- he ws ssoie poesso wih he Collee o Tehnoloy Dmmm Sui-Ai Sine he hs een wih he Depmen o Eleil Enineein Fuly o Enineein Ain-Shms Univesiy Eyp whee he is uenly Poesso o Conol o Powe n Eleil hines His eseh o ineess inlues he ineisipliny e o he opiml peview VSS ANN n pive onol sysem heoies n hei ppliions onol o powe sysems onol o eleil mhines n oois onol o powe eleoni sysems vne poess onol esin iil onol sysems sensoless onol n ppliions o PLC n miopoessos Poesso Nem is Senio eme o IEEE Ahive o SID Tek Ns The uho s iophy ws no ville he ime o puliion wwwsidi