Modelling and Control of Six-Phase Induction Motor Drive

Transcription

1 Modellg ad Cool of S-Pae dco Moo Dve Nebom Be Aaya Mae of Scece Elecc Powe Egeeg Sbmo dae: Jly Spevo: om F. Nel, EKAF Co-pevo: oy Nle, Wälä Noway AS Nowega vey of Scece ad ecology Depame of Elecc Powe Egeeg

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3 Modellg ad Cool of S-Pae dco Moo Dve by Nebom Be Aaya A e bmed o Depame of Elecc Powe Egeeg Nowega vey of Scece ad ecology paal flfllme of e eqeme fo e degee Mae of Scece Elecc Powe Egeeg Jly

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5 Poblem Decpo Mlpae mace ae of ee o be appled elecc p poplo wee ceaed powe ag, elably of opeao, eddacy ad effcecy ae eqed. e dy of modellg ad cool of mlpae dve mpoa o ealze applcao. A geeal model of -pae mace a bee developed. Cool meod fo dco Mace ad Pemae Mage Mace ave bee mlaed pevo wo. Dealed mlao model of vee ave alo bee developed. A laboaoy ep fo a -pae dco mace wa aembled ad pogammed fo Doble Sycoo Fame Ce Cool a pevo mae e. a pecalzao pojec, e de a caed o a mlao dy of modellg ad ce cool meod -pae mace. mae e old bld o e pevo el. e wo, e de old Cay o a moe dealed mlao dy of bo Doble Sycoo Fame Ce Cool DSFCC & Sgle Sycoo Fame Ce Cool SSFCC g Malab Sml/SmPoweSyem. mpove e DSFCC cool meod g ew afomao meod ad lme fco ode o avod able ocllao ad mpove epoe o DC l de-volage. mpleme ad e e cool meod e eg laboaoy ep fo a pae dco mace. Agme gve:. Jaay Spevo: om F. Nel, Elaf Co-pevo: oy Nle, Wälä Noway

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7 Peface mae e wa doe coopeao w Wälä Noway AS. e e wo a bee bo callegg ad eeg, ad a gve me valable epeece my edcao. wold le o a Pofeo om F. Nel, my pevo, fo gdace ad fo gvg me e oppoy o eploe mpoa feld of applcao. am vey gaefl o Pofeo oy Nle of Wälä Noway. He a cobed mmeely o wo og may dco, leae ad mlao model. wa o a M Sac opae fo gdace a leaed e dve ep Jly. wold alo le o a e admave ad eccal aff e depame of Elecc Powe Egeeg fo povdg me e eceay eoce. aly, a my famly ad fed fo e love ad ecoageme. Nebom Be Aaya odem, Noway Jly

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9 Abac Mlpae mace ae of ee o be appled elecc p poplo, wee ceaed powe ag, elably of opeao, eddacy ad effcecy ae eqed. e dy of modellg ad cool of mlpae dve mpoa o ealze applcao. e ma ppoe of e wa o mpleme ad e cool meod fo a -pae dco moo dve. e wo foced o coao ad mpoveme of pevo el aceved e ame aea of applcao. e modellg of -pae dco mace g wo dffee appoace wa ded. Baed o ee appoace, wo ype of veco cool meod wee mplemeed. ee ae gle ycoo fame cool SSFC ad doble ycoo fame cool DSFC. e -pae dco moo dve wa eed fo dffee opeag codo g e wo cool meod. e moo omally ppled fom wo vee w a pl DC l. e DC l volage ae ep eqal ad e wo -pae gop of e moo ae e oqe ad powe eqally. eg e dve dg omal opeao owed deed cool pefomace g bo SSFC ad DSFC meod. Aymmecal opeao of e dve wa alo vegaed. cae, e ce e wo -pae gop of e -pae moo ae eqal., bo do o ave eqal cobo o e oqe developed e moo. e el obaed g SSFC ad DSFC ae a deed bo oqe cool ad peed cool mode. e d cae of ee e dve eg wa e vegao of pply aymmee ad fal. Dg de-volage oe DC l, fale of oe ecfe, o p of oe vee, e DSFC meod gave deed epoe bo oqe cool ad peed cool mode. Smla el wee obaed g SSFC ecep fo e cae of vee p dg peed cool mode. Fom e el obaed, wa coclded a bo SSFC ad DSFC meod gve deed pefomace dg omal opeao of e dve. alo e cae fo ce aymmee e moo we ee ae o pply fal. e cae of pply fal, e DSFC meod gave bee cool of e dve. e DSFC meod wa alo fod o be mple o mpleme ad le compaoally demadg.

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11 Coe PEFACE... ABSAC... S OF FGES... V S OF ABES... X ACONYMS... X NOAONS... X NODCON.... BACKGOND.... EAE EVEW.... HESS SCOPE AND MAONS OGANZAON OF HE EPO... 4 MODENG OF SX-PHASE NDCON MACHNE NODCON MODENG N SNGE SYNCHONOS EFEENCE FAME Pycal Modellg afomao of e model.... MODENG N DOBE SYNCHONOS EFEENCE FAME Pycal Modellg e afomed Pe Model... MODENG OF NVEES FO SX-PHASE NDCON MACHNE NODCON SX-PHASE WO-EVE NVEE HEE-PHASE NVEES WH SP DC NK PSE WDH MODAON ECHNQES... 4 CONO OF SX-PHASE NDCON MACHNE NODCON SNGE SYNCHONOS FAME CONO odco Deg of e Coolle Deg of Fl Coolle Deg of Speed Coolle DOBE SYNCHONOS FAME CONO odco Deg of e Coolle Deg of Fl Coolle Deg of Speed Coolle EXPEMENA SEP OF SX-PHASE MOO DVE HADWAE SEP Sep Ovevew S-Pae dco Mace DC Mace Covee FPGA Cool Boad Ce, Volage ad Speed Meaeme SOFWAE MPEMENAON Sofwae Evome Pogam Sce Sae Mace... 6 v

12 6 SMAON AND EXPEMENA ESS NODCON SSFC ESS Nomal Opeao Opeao w Ce aymmee Opeao dg Spply Fal DSFC ESS Nomal Opeao Opeao w Ce Aymmee Opeao dg Spply Fal DSCSSON OF ESS NOMA DVE OPEAON OPEAON DNG ASYMMEES AND FAS ANAYSS OF PPE AND HAMONCS CONCSON AND FHE WOK CONCSON FHE WOK EFEENCES APPENDX... A SX-PHASE NDCON MACHNE NAMEPAE DAA... B PE N SYSEM... C SX-PHASE NDCON MACHNE EQVAEN CC PAAMEES... D CONO PAAMEES... 4 E ADDONA ESS N SSFC... 6 F ADDONA ESS N DSFC... 8 v

13 of Fge Fge.: Scemac epeeao of -pae dco mace... 6 Fge.: S-pae dco mace w eqvale -pae wod oo... 8 Fge.: Pe eqvale cc of SPM gle ycoo fame... 6 Fge.4: S-pae dco mace w eqvale ee-pae wod oo... 7 Fge.5: Pe eqvale cc of SPM doble ycoo fame... 5 Fge.: S-pae -level volage oce vee... 7 Fge.: wo -pae vee w pl DC l... 8 Fge.: Sodal PWM... Fge.4: Sodal PWM w d amoc jeco... 4 Fge 4.: dec veco cool of -pae dco mace... 7 Fge 4.: Sgle ycoo fame ce cool... 4 Fge 4.: d-a ce cool loop SSFC... 4 Fge 4.4: Dcee-me cool of a coo yem... 4 Fge 4.5: Feqecy doma eqvale of dgal coolle ad coo pla... 4 Fge 4.6: Fl cool loop Fge 4.7: Speed cool loop Fge 4.8: Doble ycoo fame ce cool... 5 Fge 4.9: d -a ce cool loop DSFC... 5 Fge 5.: Scemac of -pae moo dve lab ep Fge 5.: Aembly of -pae moo dve Fge 5.: S-pae dco mace a eeal vew, b ao emal Fge 5.4: ecfe modle Fge 5.5: vee modle a op de, b dve cad de [45] Fge 5.6: Ma pa of e FPGA poceo boad [47] Fge 5.7: Xl SDK... 6 Fge 5.8: AcveDSP ma wdow [5]... 6 Fge 5.9: Pogam flow ad ep... 6 Fge 5.: Sae mace of e -pae moo dve Fge 6.: Smlao el: epoe of ce coolle dg omal ap ad opeao Fge 6.: Fl coolle epoe v

14 Fge 6.: e d-a ce cool dg magezao Fge 6.4: Sa-p ad oqe cool SSFC Fge 6.5: Pae gop ce dg a-p Fge 6.6: Pae gop ce dg a-p Fge 6.7: Ocllogam of ao ce [pobe yellow - a, pobe p - a ]... 7 Fge 6.8: Volage a e volage ab ad ab, b Pae volage a, a. 7 Fge 6.9: Speed coolle epoe o load... 7 Fge 6.: e coolle dg peed cool... 7 Fge 6.: epoe of coolle dg oqe aymmey... 7 Fge 6.: Ce dg aymmecal opeao a pae gop, b pae gop 7 Fge 6.: Ce a ad a a befoe aymmey, b afe aymmey Fge 6.4: oo peed dg aymmecal oqe opeao Fge 6.5: SSFC epoe o DC l vaao ad de-volage Fge 6.6: SSFC epoe dg vee p, q ad z Fge 6.7: SSFC epoe dg vee p: d ad z Fge 6.8: SSFC epoe o vee p, oo fl Fge 6.9: Sao ce befoe vee p Fge 6.: Sao ce afe vee p Fge 6.: Smlao el: a-p ad oqe cool DSFCC Fge 6.: Fl ad d-a ce cool DSFC... 8 Fge 6.: Sap ad q-a ce cool DSFC... 8 Fge 6.4: oqe ad ce aymmey... 8 Fge 6.5: d-a ad z-a ce dg oqe aymmey... 8 Fge 6.6: oo peed dg oqe aymmey... 8 Fge 6.7: DC l de-volage ad cage oqe efeece... 8 Fge 6.8: DC l de-volage ad q-a ce Fge 6.9: epoe of ce coolle o vee p Fge 6.: Pae ce a ad a dg vee p Fge 7.: SSFC - Pefomace of d coolle Fge 7.: DSFC - Pefomace of d ad d coolle Fge 7.: SSFC - z, z yem ce Fge 7.4: DSFC - z, z yem ce Fge 7.5: SSFC - epoe o p of vee oqe cool mode v

15 Fge 7.6: DSFC - epoe o p of vee oqe cool mode... 9 Fge 7.7: pple coolled ce befoe ad afe a-p [SSFC]... 9 Fge 7.8: Ce pple a.75 p peed [DSFC,. p oqe]... 9 Fge 7.9: Ce pple a.44 p peed [DSFC,. p oqe]... 9 Fge 7.: Smlao el: pple ce cool [SSFC, oqe cool a.8 p, peed.7 p]... 9 Fge E.: Speed cool dg load dbace... 6 Fge E.: ecfe off ad o... 6 Fge E.: Pae ce ad volage afe p of vee... 7 Fge F.: Speed cool loaded mace... 8 Fge F.: peed cool dg load dbace... 8 Fge F.: oqe efeece dg DC l devolage... 9 Fge F.4: Ce dg DC l devolage... 9

16 of able able 7.: Ce pple feqecy ad amoc a fco of oo peed... 9 able A.: S-pae dco mace ameplae daa... able B.: Pe yem... able C.: Cc paamee of -pae dco mace... able D.: SSFC ce coolle paamee... 4 able D.: DSFC ce cool paamee... 4 able D.: Paamee of oe fl ad peed coolle... 5 able D.4. vee paamee... 5

17 Acoym AC CS DC DSFC FPGA M MSPS P p PWM SPWM SSFC VS Aleag Ce Ce Soce vee Dec Ce Doble Sycoo Fame Cool Feld Pogammable Gae Aay dco Mace Mllo Sample Pe Secod Popooal egal pe Ple Wd Modlao Sodal Ple Wd Modlao Sgle Sycoo Fame Cool Volage Soce vee

18 Noao Symbol Ψ S P φ Ψ d q f f ω Eplaao Volage Ce eace dcace Fl lage Appae powe eal powe powe faco agle Colm ma of volage Colm ma of ce Colm ma of fl lage Ma of eace Ma of dcace ao eacace ao leaage eacace oo eacace oo leaage eacace mal eacace dec a eacace qadae a eacace oo me coa oo peed [p] Sycoo peed [p] Slp peed [p] aed agla peed, eleccal oo agle, eleccal Agle of oo fl veco, eleccal Agle of oo fl veco w epec o oo, eleccal

19 J Ω M e M mec p m oal mome of ea of dve efeed o e mace de Agla peed, mecacal Elecomagec oqe oad oqe oo agle, mecacal mbe of pole pa Mecacal me coa dc DC l volage dc DC l volage ζ ω SS J Cool volage Agle of volage pace veco Agla peed of volage pace veco afomao ma fo ao qae afomao ma fo oo qae oal afomao ma oao ma ed afomao Specp S S Eplaao Sao qae ao coodae oo qae oo coodae Bo ao ad oo qae e ogal coodae paamee efeed o ao paamee efeed o oo paamee efeed o a ycooly oag fame paamee o qay gle ycoo modellg paamee o qay gle ycoo modellg

20 Sbcp Eplaao a, b, c Pae gop of a pae mace a, b, c Pae gop of a pae mace d d-a qay q q-a qay z z z -a qay z -a qay -a qay -a qay N p ao qay oo qay aed omal vale ba efeece vale pae le-o-le v

21 odco. Bacgod Elecc poplo fo p emeged dg e ealy cey. Howeve, poplo yem dve by deel ege ad ga be ave bee e mo wdely ed. Elecc p poplo a gaed a eewed ee dg ece decade becae povde eveal advaage. Some of ee beef clde edced fel compo ad maeace, mpoved maeveably, le poplo oe ad vbao, edced vleably o a gle yem fale ad flebly locao of e devce []. e ceaed ee elecc p poplo ca be maly abed o advace powe elecoc, dgal cool yem ad elecc mace deg. ee advace ave eabled e ecely ceag applcao of elecc moo dve e mae dy []. A mbe of eqeme e fo e applcao of elecc dve p poplo. ee clde g powe ag, effcecy, elably ad fal olea opeao. meeg ee eqeme, mlpae mace dve ca be bee aleave a compaed o e coveoal ee-pae mace dve []. Mlpae dve poe eveal advaage ove coveoal ee-pae dve c a: edced ce e o powe elecoc wce wo edcg e powe, lowe elecomagec oqe plao, edced oo amoc loe, edced amoc ce of e DC l ce, ad mpoved oveall yem elably [4]-[6], []. Mlpae mace ca ave vao poble pae mbe cldg 5, 6, 7, 9, ad 8 [4]. Amog ee e -pae mace w wo e of eepae wdg paally fed by eleccal degee pobably e mo wdely ded. Wälä, a leadg compay mae olo ad fleble powe pla, a bee codcg eeac o e applcao of mlpae dve elecc p poplo. Some of e wo a eved a e ma efeece fo e. Modellg of ycoo mace w,, 6 ad 9 pae wa peeed [7], weea [8] dced modellg ecqe fo -pae PM mace. Modellg ad cool of a -pae pemae mage ycoo mace PMSM wa dced [9]. wo peeed mlao el of doble ycoo fame ce cool DSFCC -pae PMSM ppled by wo ee-pae vee w epaae DC l. [] mlao el o cool of -pae PMSM g wo dffee ce cool meod wee peeed. e cool of a -pae dco moo dve wa mplemeed a laboaoy ep e wo docmeed []. Baed o wo, dy of e dve yem ad mplemeao of

22 lme fco wa doe o e ame laboaoy ep []. e modellg ad cool of -pae PM mace wa caed o [], ad mlao el wee peeed. e modellg of -pae dco mace wa alo peeed e ame wo. e wo doe e coceae o e modellg ad cool of -pae dco mace. eoecal dy ad epemeal mplemeao ae bo peeed. e model, cool meod ad el e afoemeoed wo ae e bae fo pojec. e callege docmeed ee pape ae ded o ge g fo mpoved modellg ad cool meod.. eae evew e dy of eleccal mace w moe a ee pae dae bac o e 9. e eoy fo ee, fo ad pae amae wdg fo a ymmecal poly-pae yem wa peeed [4]. Doble wdg geeao wee popoed lae ode o edce e fal ce e o cc beae [5]. e eeo of Pa -eaco eoy o mlpae ycoo mace wa dced [6]. Howeve, ee wa lmed oppoy fo applcao of mlpae mace. Oe of e eao fo e mace ad o be ppled fom ee pae oce a powe poceg wee ye o come. eeac o mlpae mace aed o ge moe aeo ealy 97 w e adve of powe dode ad yo. Nelo ad Kae [7] peeed aaly of mlpae dco mace w abay dplaceme bewee wdg e. ey alo dcaed a, a mace w wo ee pae gop, a aageme w eleccal degee dplaceme bewee e wo pae gop gve gfcaly mpoved oqe caacec. po [8] peeed a d-q model fo a -pae mace ppled fom a ce oce vee CS. A compeeve wo cldg pace amoc, me amoc ad ymmecal compoe aaly of mlpae dco moo wa doe by Klg [4]. Epemeal wo o - ad e-pae mace wa alo peeed by e ame ao [9]. A -pae dco moo volage dve by a volage oce vee VS wa peeed []. po ad Zao [] odced e modellg of -pae dco mace g veco pace decompoo. wa a mpoa wo a mplfed e modellg ad cool of -pae mace. mplfed e veco cool of ee mace g pace veco ad oe PWM ecqe. eeac o mlpae mace a polfeaed ove e la

23 decade. may of e pblcao, e mo wdely dced mlpae mace a pae dco mace w eleccal degee epaao bewee pae gop ad w olaed eal po [5], [6], []-[6]. e -pae dco mace ca be modelled g e ecqe of veco pace decompoo a demoaed [], [4]-[6]. meod el a model of e mace gle -pae efeece fame w ee pa of ae decopled fom oe aoe. A le commo modellg ecqe e dal ao appoac meoed [], [4] ad [6]. code e -pae mace a wo copled ee-pae mace, ad e ee pae afomao. Veco cool e commoly ed cool ecqe fo mlpae dco mace alog dec oqe cool ca alo be ed []-[4]. wo dffee ce cool ecqe ca be ed veco feld oeed cool: doble ycoo fame cool DSFC ad gle ycoo fame cool SSFC [4]. Ce cool aoay efeece fame alo meoed [5]. ee ae vao ple wd modlao PWM ecqe fo VS dve mlpae dco mace. Sodal PWM, odal PWM w d amoc jeco, ad dffee vaao of pace veco PWM ae e mo commo a dced [6], [] ad [7]. may of e pblcao efeed, oly omal opeao of -pae dco mace codeed [5][] [4][5]. e wo ao pae gop of e mace ae e powe eqally. Moeove, e mace ppled g a -pae VS. e aaly [6] codeed balaced ce ag bewee e wo pae gop. Fal oleace opeao of mlpae dve o ope cc oe o ome of e pae dced [8] ad [9]. e wo [] aalyzed e fal olea opeao o oe o moe faled vee a -pae dco mace ppled by fo -level ee-pae vee. e, e modellg ad cool of -pae dco mace bo gle ad doble ycoo fame vegaed. e mace ppled fom wo -level eepae vee w pl DC l. Modellg of ee vee alo dced. e el of epemeal wo ae peeed ad dced. Nomal dve opeao, ad fal olea opeao dg ce aymmee, pply aymmee ad fale ae vegaed.

24 . e Scope ad mao e foce o modellg ad cool of -pae mace. Scope of e wo clde: Modellg of -pae dco mace gle ad doble ycoo fame, Modellg of vee fo -pae mace, Cool ecqe fo -pae dco moo dve gle ad doble ycoo fame, Epemeal el of omal ad fal olea opeao of e dve, ad Aaly of e el, cldg compao bewee e wo ecqe. mao of e wo clde: Epemeal paamee defcao of e -pae dco mace o codeed. Feld weaeg opeao of e dve o ded. PWM ecqe codeed ae SPWM ad SPWM w d amoc jeco. addo o ee lmao, a mbe of mplfyg b appopae ampo ae ae o acco e modellg of e mace, vee ad cool ce. ee ave bee eplaed e epecve opc..4 Ogazao of e epo cape, e bacgod ad movao fo e e, e cope ad lmao of e wo, ad a bef leae evew ae peeed. Cape deal w e modellg of pae dco mace bo gle ad doble ycoo efeece fame. Modellg ad modlao ecqe fo -level ee-pae vee ae dced cape. Cape 4 pee cool meod DSFC ad SSFC fo -pae dco mace. e epemeal ep ed e e wo dced cape 5, weea cape 6 pee e mlao ad epemeal el. e el fo dffee opeag codo ae clded. cape 7, dco of e epemeal el peeed. Fally, cape 8 coclde e epo w ecommedao fo fe wo. Moeove, e mace ameplae daa ad paamee, cool paamee ad addoal mlao el ae clded e apped. 4

25 Modellg of S-Pae dco Mace. odco A dco mace a ype of AC mace wc aleag ce ppled o e ao wdg decly. Aleag ce alo flow e oo de o elecomagec dco fom e ao. e oo, wc epaaed fom e ao by a a-gap, ca be of wo ype. A wod oo a a wdg mla o ad w e ame mbe of pole a e ao, ad lp g ae ed o coec o eeal cc. A qel-cage oo, o e oe ad, bl w codcg ba embedded e oo o ad o-cced a eac ed by codcg g []. e ee-pae dco mace w qel-cage oo e mo wdely ed eleccal mace dy. Sgle-pae dco mace ave alo bee commoly ed oeold applace, weea wo-pae dco mace ae maly ed a evomoo a cool yem []. ecely mlpae dco mace,.e. avg moe a ee pae, ave gaed ceaed ee maly ome pecalzed applcao cldg elecc p poplo ad aco. becae mlpae mace ave bee effcecy, geae fal oleace ad le cepbly o me amoc a e eepae coepa []. wo a -pae dco mace w qel-cage oo codeed. e ao of e mace a wo ee-pae wdg e wc ae epaaed by eleccal degee pace. Eac pae gop a-coeced ad a ee wdg epaaed by eleccal degee. e wo pae gop ave olaed eal. All e ao pae wdg ae dbed odally, gvg a ycooly oag odal magec feld aod e a gap of e mace. A cemac epeeao of e mace ow Fge.. A mace w oe pole pa ow fo mplcy, weea e acal mace codeed a wo pole pa fo pole. Pae gop ao wdg ae ae labeled a a S, b S ad c S ; weea a S, b S ad c S dcae ae of pae gop ao wdg. Eac wdg ow a a coceaed col alog ow magec a. 5

26 b S b S _ b b b b _ a S _ a a oo a S _ a a c _ c _ Sao c c c S c S Fge.: Scemac epeeao of -pae dco mace Modellg of e mace eeded ode o mpleme cool of e mace paccally. Moeove, alo mpoa o model e mace ad e e cool pcple g mlao ofwae. Dffee modellg appoace ca be ed depedg o e cool ecqe deed. Fo a aoay fame cool, modellg of e mace doe coodae a ae fed o e ao [5]. f oo feld oeed cool deed, e modellg doe ycoo efeece fame,.e. a efeece fame oag w e oo fl. wo modellg appoace ca be ed e ycoo fame, amely gle ycoo fame modellg ad doble ycoo fame modellg. ee appoace lead o wo ype of cool ecqe [4]. ee ecqe ae dced cape 4. e followg ampo ae ae o acco e mace modellg [7], [4]: e ao wdg gve a odally dbed magec feld aod e a-gap of e mace,.e. oly e fdameal compoe of e feld modelled. e ao wdg ae all eqal, b ave dffee deco of wdg ae. 6

27 eace ad dcace ae amed o be depede of empeae ad feqecy. Magec aao, yee ad eddy ce ae o codeed. e oo cage eqvale o a wod oo.. Modellg Sgle Sycoo efeece Fame modellg appoac baed o e veco pace decompoo ecqe odced [], wc afom e ao ad oo qae o a gle -pae aoay fame. o afom ee qae o a commo -pae oag fame, a modfed afomao baed o [7] ad [8] ed. ally e eqao of e mace ae eabled by modellg e pycal yem. e appopae afomao ad pe yem ed o oba e pe model of e mace ycoo efeece fame... Pycal Modellg Fo mple aaly, e qel cage oo ca be eplaced by eqvale wdg [4]. e oo cage ae a eqvale o a -pae wod oo a ow Fge.. modellg appoac welve volage ad fl lage eqao ca be obaed, e ao ad e oo. e volage ad fl lage eqao ae gve compacly ma fom a S S S dψ d S. Ψ S S S. ee eqao decbe e elecomagec yem e mace. e veco ad mace e eqao coa ao ad oo qae e ogal fame of efeece,.e. ao qae ao fame ad oo qae oo fame. e volage, ce ad fl lage veco ae Ψ S S S [ ] a [ ] a [ Ψ Ψ Ψ Ψ Ψ Ψ Ψ Ψ Ψ Ψ Ψ Ψ ] a a a a b b b b b c b c c c a c c a a a b a b a b c b b c b c c c c. 7

28 e oo volage ae zeo ce e oo o cced, b ae ow e epecve ymbol fo compleee. e eace of e pycal model ae gve by e followg dagoal ma: [ ] S dag.4 b S d a q b S _ b b b b _ a b a _ a a a S a S b c c _ a a _ c c _ c c c S c S Fge.: S-pae dco mace w eqvale -pae wod oo e dcace ma coa e ao elf ad mal dcace, oo elf ad mal dcace, ad e mal dcace bewee e ao ad e oo. S S S.5 wee agle of e oo a a w epec o e ao a a a ow Fge.. e dffee b mace e dcace ma of eqao.5 ae gve below. e ao elf- ad mal dcace ae gve e ma 8

29 S a b b c c a a a a a a aa a ba ba ca ca ab ab b bb cb cb ab ab bb b cb cb ac ac bc bc c cc ac ac bc bc cc c.6 e dcace ma ae gve by S 6.7 S S wee 6 a 6 6 dey ma, ad e ma S.8 Smlaly, e oo dcace ae gve a follow: a b b c c a a a a a a aa a ba ba ca ca ab ab b bb cb cb ab ab bb b cb cb ac ac bc bc c cc ac ac bc bc cc c.9 gve a 6. wee 6 a 6 6 dey ma, ad e ma 9

30 . e mal dcace bewee ao ad oo wdg ae gve e mace below co 6 co co 6 5 co 4 co co 6 co co co co 6 7 co 4 co co co co 6 co co 6 5 co 6 5 co co 6 co co co co 4 co 6 7 co co co co 6 co co 4 co 6 5 co co 6 co co S S. e dffee coa em ed e dcace mace ae defed a follow: eaage dcace of eac ao wdg eaage dcace of eac oo wdg Pea vale of e mal dcace bewee wo ao wdg Pea vale of e mal dcace bewee wo oo wdg Pea vale of e mal dcace bewee oe ao wdg ad oe oo wdg e elecomagec oqe, lg e elecomagec ad mecacal yem, ca be obaed g e co-eegy cocep a S S S S mec S S e p M. e mecacal yem goveed by e followg eqao:

31 mec mec e p d d M M d d J Ω Ω.4.. afomao of e model... Coodae afomao ode o mplfy e dyamc cool of e mace, a oo feld-oeed coodae yem ed baed o e meod of oag veco pace decompoo [7]. e ogal ao ad oo coodae ae afomed o a commo oo feld-oeed yem compoed of ee oogoal bpace d, q, z, z ad,. e amplde vaa afomao ma fo e ao qae gve a follow [7]: co 4 co 6 co co 6 7 co co co 4 co 6 5 co co 6 co co SS.5 wee e agle of e ycooly oag d-a w epec o e ao a a a ow Fge.. Smlaly e afomao ma fo e oo qae co 4 co 6 co co 6 7 co co co 4 co 6 5 co co 6 co co.6 wee e agle of ycooly oag d-a w epec o e oo a a. agle gve by.7

32 e complee afomao ma fom e pycal ao ad oo wdg o a commo oo feld oeed yem become SS.8 e afomed model ca be obaed by applyg afomao o eqao.,. ad.. S S S S d Ψ d S d d d Ψ d Ψ d d Ψ.9 wee e vee of e ma. By odcg e oao ma J, e volage eqao ca be we a d wee d d Ψ d ω J Ψ ω, J d d ad ca be o, fo ao o oo qay.. e veco ad mace e afomed volage eqao ae [ d q z z d q z z ] [ ] d q z z d q z z. Ψ [ Ψ Ψ Ψ Ψ Ψ Ψ Ψ Ψ Ψ Ψ Ψ Ψ ] d dag q z z [ ] d q z z e oao ma obaed a

33 J. e fl lage eqao ae afomed a S S S S Ψ Ψ Ψ. e afomed dcace ma obaed a follow: wee.4 afomao of e elecomagec oqe eqao gve a e e S S e p M p M p M S S S.5

34 e oqe eqao afomed eqao obaed a: M e p.6 q d d q g e afomed fl lage eqao fom., e oqe ca be we a M e p Ψ Ψ q d d q.7... Pe Syem e ba fo powe a AC mace ally ae a e oal powe o e ao wdg eady ae. By aveagg e powe eac wdg ove oe fdameal peod, e aed p powe ca be we a [7] ˆ ˆ pn pn P N 6 co N 6 pn, m pn, m ϕ coϕ N.8 e aed appae powe, wc ed a ba fo powe e mace, ˆ ˆ ˆ ˆ pn pn S N 6 pn pn 6 pn, m pn, m N N.9 wee N e m vale of e le-o-le volage oe of e wo ee-pae gop, ad N e m vale of e ce oe wdg,.e. e pae ce. e aed pe pae pea vale ae ed a ba vale e ao wdg. e ba vale fo ce, volage, mpedace ad fl afomed coodae ae d Z Ψ d d d q Z Ψ q q q z Z Ψ z z z z Z Ψ z z z Z Ψ ˆ Z N Ψ ˆ ˆ ˆ p, N p, N N Ψ ˆ p N ˆ, p, N ω f. e ba vale fo e oo qae ae e ame a e coepodg ao ba vale. e ba fo oqe M S Ω N N S N p ω ˆ pn ˆ pn p p Ψˆ ˆ ω pn. wee Ω N e aed ycoo peed mecacal ada pe ecod. 4

35 ... e afomed pe model e afomed pe model of e mace obaed afe calg e afomed eqao.,. ad.7 by e ba vale of e afoemeoed pe yem. e volage eqao ae obaed a d z d z d d ω d d ω d d d ω d z d ω d d f f f q q z q z q z d ω d q q d ω d d ω d z f d ω d f q d f z d. e fl lage ae z d d d d z d d q z q q q z q q. e mecacal yem eqao pe become m e q d d q f m d d d me d ω f m J m S mec p ω f ω Ω N N f ω ω.4 Sce ee o ecao of e z, z ad, bpace e oo cc, e coepodg eqao ave bee lef o of e model. e oo volage ae zeo a meoed eale. Codeg a e wo ao ee pae gop ave olaed eal, ee o ecao of e, e ao. eefoe, ca be omed fom modellg. Howeve, e ao z, z yem ca be eced de o ce o pply aymmee bewee e wo pae gop; ece, clded e model. 5

36 Fom e volage ad fl lage eqao. ad., e pe eqvale cc of e mace gle ycoo fame gve Fge.. d a f q d f q d d q a f d q f d q q z a z f z z a z f z z z Fge.: Pe eqvale cc of SPM gle ycoo fame. Modellg Doble Sycoo efeece Fame e -pae dco mace ca alo be modelled doble ycoo efeece fame a a aleave o e gle ycoo modellg peeed eale a demoaed [4]. appoac baed o e modellg pcple of ee-pae mace. e followg eco, model of e pycal yem eabled f. e a afomed pe model deved. Fally e eqvale cc of e mace baed o modellg appoac peeed. e pycal modellg of e ao ad e afomao ae baed o e wo [8]... Pycal Modellg e wo ao ee-pae gop ae ae a epaae oe, b e mal mpedace bewee e wo codeed e dcace ma. Eac -pae gop afomed o 6

37 a ycooly oag d-q- coodae yem. e qel cage oo modeled a a eqvale ee pae wod oo a ow Fge.4. b S d a q b S _ b b b b _ a a S b a _ a a S c _ a a _ c c _ c c c S c S Fge.4: S-pae dco mace w eqvale ee-pae wod oo e volage ad fl lage eqao of e ao ad oo ca be we ma fom a Ψ S S S S S S dψ d S.5.6 e volage, ce ad fl lage veco ae Ψ S S S [ a b c a b c d q ] [ a b c a b c a b c ] [ Ψ Ψ Ψ Ψ Ψ Ψ Ψ Ψ Ψ ] a b c a b c a b c.7 e eace ma of e pycal model [ ] S dag.8 e dcace ma of e pycal model gve a follow: 7

38 S S S.9 e b-ma of ao elf ad mal dcace S a b c a b c a a a a a ab b cb ab bb cb ac bc c ac bc cc aa ba ca a ba ca ab bb cb ab b cb ac bc cc ac bc c.4 e vale of e dcace ma ae gve by S 6.4 S wee 6 a 6 6 dey ma ad S.4 e b-ma of oo elf ad mal dcace a ab ac ba b bc.4 ca cb c e vale of e oo dcace ae gve by 8

39 .44 wee a dey ma ad.45 e mal dcace b-mace bewee ao ad oo ae S aa ba ca aa ba ca S ab bb cb ab bb cb ac bc cc ac bc cc wee e vale of eac dcace ae gve e followg mace.46 S co co 4 co co 6 5 co 6 co co co co co co 6 5 co 6 4 co co co 7 co 6 co co 6.47 S e dffee em e dcace mace ae defed a eaage dcace of eac ao wdg eaage dcace of eac oo wdg Pea vale of e mal dcace bewee wo ao wdg Pea vale of e mal dcace bewee wo oo wdg 9

40 Pea vale of e mal dcace bewee oe ao wdg ad oe oo wdg Poo of e oo w epec o e ao a a e eqao decbg e mecacal yem ae: S S S S mec S S e p M.48 mec mec e p d d M M d d J Ω Ω.49.. e afomed Pe Model... Coodae afomao A doble ycoo afomao ed o afom e ao a, b, c ad a, b, c qae o d, q, ad d, q, coodae yem epecvely. Bo d, q, ad d, q, yem cocde. e amplde vaa afomao ma fo e ao qae gve a co 6 5 co 6 co 4 4 co co co.5 wee e agle of e ycooly oag d-ae d ad d w epec o e ao a a. e oo a, b, c qae ae afomed o a ycooly oag d, q, coodae yem, wc cocde w d, q, ad d, q,. e afomao ma fo e oo qae 4 4 co co co.5

41 wee e agle of e ycooly oag d-a w epec o e oo a-a. gve by.5 e complee afomao ma fom e pycal ao ad oo wdg o a commo oo feld oeed coodae yem become SS.5 eefoe, e complee afomao ma 4 4 co co co co 6 5 co 6 co 4 4 co co co.54 e vee of e afomao ma 6 co 6 6 co 6 co co 6 6 co 6 6 co 6 co 6 6 co 6 co.55 odcg e afomao ad vee afomao mace o eqao.5 gve S d d d d d d Ψ Ψ Ψ S.56

42 By odcg e ma J, e volage eqao ca be we a oo em ao em ad epee, wee f d d d d f d d Ψ Ψ ω ω J J.57 e ma J gve a: J.58 e fl lage eqao afomed o S S S S Ψ Ψ.59 e volage, ce ad fl lage veco e afomed eqao ae [ ] [ ] [ ] q d q d q d q d q d q d q d Ψ Ψ Ψ Ψ Ψ Ψ Ψ Ψ Ψ Ψ q d q d.6 e eace ae gve e dagoal ma [ ] dag.6 e dcace ma afe afomao obaed a.6

43 e dcace ma ca be we a q d.6 wee.64 e elecomagec oqe ca be obaed em of e afomed qae g e followg eqao: p p S S S S S e p M.65 gve q d d q q d d q e p M.66 wc ca be we em of oo qae a q d d q e p M Ψ Ψ.67 e oqe epeo em of ao qae d q q d d q q d e p M Ψ Ψ Ψ Ψ afomed Pe Model e afomed pe model of e mace doble ycoo coodae obaed afe calg e afomed eqao.57,.59 ad.67 by e ba vale. e ame defo of e pe yem ed ed a e oe gle ycoo modellg eco... e pea pae volage, pea pae ce ad pea fl lage

44 4 vale ae ed a e ba vale fo volage, ce ad fl lage epecvely. e ba vale fo powe ad oqe ae e ame a e oe ed gle ycoo modellg. e ao ad oo volage eqao pe ae obaed a d q q q d d d q q q q d d d d q q q q d d d f d d f d d f d d f d d f d d f d d ω ω ω ω ω ω.68 e fl lage ae q q q q d d d d q q q q d d d d q q q q d d d d.69 e qae, bpace ae o eced fo mla eao a e gle ycoo modellg. ey ae omed fom e model. e elecomagec oqe ad oe mecacal yem eqao pe ae gve a mec N N m e m d q q d d q q d e ω ω f ω ω f f f p ω d d S Ω J m m d d m.7 Fom e volage ad fl lage eqao.68 ad.69, e pe eqvale cc of e mace doble ycoo fame ca be daw a Fge.5.

45 d a d & d f q d f q d f q d d d q a q & q f d q f d q f d q q q Fge.5: Pe eqvale cc of SPM doble ycoo fame cape, wo dffee modellg appoace of e -pae dco mace wee codeed. mpoa o eabl e elaop bewee e wo model. Fom e defo of oo wdg, e afomao eqao, e afomed dcace mace ad e p yem defo, e elaop bewee e wo p model deved ad mmazed a follow: 5

46 Eqvale cc paamee Ce d d d d q d q q q q Fle d d d d d q q q q q Volage d d d d d q q q q q.7 oqe m e m e e pecp dcae qae gle ycoo modellg, weea qae doble ycoo modellg ae degaed g e pecp. 6

47 Modellg of vee fo S-Pae dco Mace. odco vee ae eqed o pply -pae mace maly fo wo eao. e f becae e ma pply omally ee-pae. eefoe, a pply a ca gve -pae ce w e coec pae dffeece eqed. Secodly e ce o e mace eed o be coolled pecely fo vaable peed opeao. cape, wo dffee opologe of vee fo a -pae mace ae dced. A bef dco of -pae wo-level vee peeed f. e a moe dealed aaly of wo ee-pae vee w epaae DC l peeed. Ple wd modlao PWM ecqe fo opology ae meoed w pacla empa o odal PWM w d amoc jeco. Oly volage oce vee VS codeed cape.. S-pae wo-level vee A -pae wo-level vee ca be bl by coecg bdge leg a ow Fge.. e a, a, b, b, c ad c emal ae coeced o e coepodg -pae mace emal. e wc gae gal ae obaed fom a coolle o a appopae magde ad pae of ce ae delveed o e mace. A -pae wo-level vee ca alo be fomed fom wo ee-pae wo-level vee by coecg em o a commo DC l. dc _ a a b b c c Fge.: S-pae -level volage oce vee eac leg of a -pae vee oly oe wc ca be ON a a me o avod o ccg e DC l. e wcg of e leg ca be ae a depede fom oe aoe. gve 64 poble wcg ae e complee vee. Dffee dgal PWM ecqe ca be ed o cool e vee cldg coveoal pace veco 7

48 modlao, veco pace decompoo, veco clafcao, doble zeo-eqece jeco ad odal PWM [6]. Howeve, e -pae -level vee wll o be dced aymoe becae a o bee ed e.. ee-pae vee w Spl DC A -pae mace ca alo be ppled fom wo ee-pae vee w epaae DC l a ow Fge.. e emal fom e wo vee ae coeced o e coepodg emal of e -pae mace. cofgao pefeed o e pae vee o wo ee-pae vee w commo DC l e. becae offe eddacy ad bee elably. f oe DC l fal o oe of e vee p, e mace ca coe o fom e emag DC l ad vee. Howeve, e cool become moe complcaed becae of e eed o ee fal oleace of e dve e eve of low DC l volage o p of oe vee. dc dc N N a b c a b c Fge.: wo -pae vee w pl DC l o apply appopae cool o e vee, a elaop bewee vee volage ad e moo volage m be eabled. e N ad N epee e egave emal of DC l ad DC l, epecvely, a ow Fge., ad le ad epee e eal po of pae gop ad pae gop, epecvely. e followg aaly, oly vee ad pae gop wll be ed. e lae geealzed fo e oe vee ad pae gop. e aaly maly baed o e devao [9]. e vee le-o-le volage ca be obaed fom e bdge leg pae volage a a b b c c a a N b N c N b N c N a N 8.

49 9 e vee le-o-le ad mace le-o-le volage ae eqal. gve a c N a N c c b N c N b b a N b N a. e zeo yem volage pae gop ca be epeed a fco of e pae volage of e mace a follow: c b a. Fom eqao. ad., N b N a N c c N a N c N b b N c N b N a a.4 ca be amed a ee o zeo yem volage a log a e m of ao ce zeo. e e followg elaop bewee bdge leg volage ad moo pae volage obaed: N b N a N c c N a N c N b b N c N b N a a.5 mple a by coollg e vee bdge leg volage, e pae volage of e mace ca be coolled. e aveage epeeao of a bdge leg ca be ed o aalye ad cool a wc model ee-pae vee []. e dy ao of eac bdge leg e ao of e ple wd e me eval e ppe wc e leg o w a wcg peod o e wcg peod. Codeg odal PWM, wc eplaed moe deal e e eco, e dy ao of e ee bdge leg of vee ca be epeed em of e cool volage a

50 4 co 4 co ˆ co co ˆ co co ˆ d d d c c b b a a ω ζ ω ζ ω ζ.6 wee ad ω ae e amplde ad feqecy of e cool volage fo vee obaed fom e ce coolle. e amplde of e agla cae gal û ae a y, o lef o of e beqe fomla. e aveage vale of e vee leg volage dg a wcg peod ca be obaed fom e DC l volage ad e dy ao []. d d d c dc N c b dc N b a dc N a.7 Fom eqao.5 ad.7 e moo pae volage ca be epeed a d d d d d d d d d b a c dc c c a b dc b c b a dc a.8 Combg eqao.6 ad.8, ad g goomec dee, e followg aveage moo pae volage ae obaed w a wcg peod: 4 co co co ζ ζ ζ dc c dc b dc a.9 e cool of e -pae mace doe ycoo oo feld oeed efeece fame. eefoe, mpoa o eabl e elaop bewee e cool volage ad e moo volage fame of efeece. g e amplde vaa Clae afom, e moo volage aoay oogoal coodae ca be obaed a

51 4 co co co ζ ζ ζ dc c b a q d. ca be mplfed o co ζ ζ dc q d. Pa afom ca be ed o afom qae eqao. o a oo feld oeed efeece fame. e afom ed co co q d q d. A elaop bewee e ao volage ycoo fame ad e cool volage obaed fom eqao. ad.. co dc q dc d ζ ζ. Smla aaly ca be caed o fo vee ad pae gop by eplacg coepodg vale ad ag e pae f o acco. gve co dc q dc d ζ ζ.4 Scalg. ad.4 by e pe yem defed Apped S-pae dco Mace Nameplae Daa & Cc Paamee, e elaop bewee p ao volage ad cool volage gve a

52 d dc co ζ q d dc dc ζ co ζ.5 q dc ζ elaop ed o oba e amplde ad agle of e cool volage ed e PWM modlao of e vee fom e op of e ce coolle a dced cape Ple Wd Modlao ecqe e ma goal of e PWM cool aegy o mpoe e efeece ao volage veco geeaed by e ce coolle. ee ae dffee ype of PWM ecqe a ca be ed fo coollg vee fo -pae opeao [6]. e, oly odal PWM ad odal PWM w d amoc jeco ae codeed. Codeg vee, e cool volage odal PWM ae gve a a b c co ω co ω co ω 4.6 ee ae compaed w a agla gal of a gve feqecy e wcg feqecy o geeae e gae ple a cool e vee wce [4]. ow Fge. fo e ppe wc of e f bdge leg vee a.

53 Fge.: Sodal PWM e mamm le-o-le m volage a ca be obaed g odal PWM e lea age ca be obaed a [5] dc.7 dc, ma, m. 6 Hamoc doo ca be ed o mpove e lea modlao age of a ee-pae volage-oce vee. e amoc odced appea e bdge leg volage b cacel o e moo pae volage. ca be aceved by addg a d amoc w cea amplde o e fdameal. e mamm mpoveme lea age obaed we e amplde of e d amoc oe- a of e fdameal [6]. ag vee, e cool volage fo odal PWM w d amoc jeco ae a b c co ω co ω co ω coω 6 coω 6 4 coω 6.8 ow Fge.4 fo e ppe wc of e f bdge leg vee a. e vale of e fge eqal o oe. e mamm poble vale of fo lea modlao obaed we e amplde of e cool volage ad e agla gal ae eqal. e cae fo

54 , ma.9 Fom eqao.9 ad.9, e mamm vale of pea pae volage e mace obaed a ˆ dc dc pae,ma,ma. e mamm le-o-le m volage a ca be obaed g odal PWM w d amoc jeco e lea age dc. dc, ma, m. 77 Fom, ca be coclded a odal PWM w d amoc jeco povde bee lzao of e DC l volage a compaed o pe odal PWM. e mpoveme appomaely by 5%. Fo eao, odal PWM w d amoc jeco ed e. Fge.4: Sodal PWM w d amoc jeco e cool gal fo bo vee of e pae mace ae 4

55 5 co 6 7 co co 6 5 co co 6 co co 6 4 co co 6 co co 6 co c b a c b a ζ ζ ζ ζ ζ ζ ζ ζ ζ ζ ζ ζ. e aveage volage, wc ae eqal o e efeece volage a old be geeaed, ae gve a co 4 co 4 e e dc dc j j q d ζ ζ ζ ζ ς ς. geeal e agle ζ ad ζ wold be eqal eady ae; oweve, dg ae codo ey may be dffee. Fo e z, z yem co 4 co 4 e e dc dc j j z z z ζ ζ ζ ζ ς ς.4 f e yem ad commo dc-l ad commo cool gal, e aveage volage e z, z yem wold be zeo. Howeve, w epaae dc-l ad epaae ce coolle, bo ad, a well a ζ ad ζ, may dffe dg ae ae. No-lea effec e vee may gve amoc aveage -volage e z, z yem. e z-veco e dffeece bewee e ao volage veco fo e wo ee-pae gop, oweve, oag e oppoe deco. e coclo a we e wo ao volage veco ae dffee, e z-yem wll be eced [9].

56 4 Cool of S-Pae dco Mace 4. odco Scala cool ad veco cool ae wo commoly ed meod e opeao of dco moo dve. cala cool, e moo peed ca be coolled by coollg e feqecy ad magde of e ao volage appled o e moo. e cool meod alo ow a vol-pe-hez V/Hz cool becae e amplde ad feqecy of e appled volage ave a lea elaop ode o maa aed fl e mace []. Veco cool wo w veco qae, wee e volage ad ce e mace a epeeed by pace pao. alo ow a feld oeed cool FOC. e magde, feqecy ad pae of ee qae ae coolled meod. e ably o podce a ep cage oqe o commad eceay fo g pefomace dve yem. ca be aceved g veco cool, wc eable e oqe ad fl of e mace o be coolled depedely. A a aleave o FOC, dec oqe cool DC ca alo be ed. DC, e oqe ad fl ae decly coolled by applyg e appopae ao volage veco [], [5]. Compaed o FOC, DC le commoly ed. Veco cool ca be dvded o dec ad dec. Dec veco cool e fl meaeme g eo, wle dec veco cool compe e fl fom e ao ce ad/o volage. dec veco cool codeed e. e modellg of -pae dco mace wa peeed cape. wo dffee appoace wee codeed: modellg gle ycoo efeece fame ad modellg doble ycoo efeece fame. ee lead o wo dffee veco cool meod, emed a gle ycoo fame cool SSFC ad doble ycoo fame cool DSFC. cape, cool of e -pae dco moo dve g ee meod peeed. eoecal ba ad deg of bo e ad oe coolle clded. e cool of -pae dco moo dve ow e bloc dagam of fge 4.. e oe coolle e yem ae peed coolle ad fl coolle. e oo peed meaed g a eo, wle e fl comped g e fl model. Vao lme vaable ae clded e cool yem o opeae e dve deed opeag lm ad o ee appopae epoe o fal codo []. e ce cool meod deped o wee SSFC o DSFC coe. decbed e e wo eco. 6

57 Speed coolle _ _ m e Fl coolle Seleco d oqe lme oqe lme dc dc f m e m e d d Ce cool Decoplg efeece ce calclao & lm efeece ce calclao & lm 4 4 q q d q d q vee Pa & pola afom 6 vee Pa & pola afom ζ ζ PWM DC l _ DC l _ PWM f Fl model Saoay o ycoo oag afom a, b, c a, b, c Fge 4.: dec veco cool of -pae dco mace 6 vee vee 6 Ce eo oo peed ad agle calclao M S-pae dco moo dve cemeal oay Ecode 7

58 4. Sgle Sycoo Fame Cool 4.. odco e model of -pae dco mace gle ycoo efeece fame wa developed cape.. eco, cool of e mace baed o model peeed. e fl model, ce oqe cool, fl cool ad peed cool of e mace ae dced. e pe eqao of e model wee obaed cape. a follow: d z d z d z z z d z d d d d ω d d d d d ω d d ω d z d f f f q q q z q q q q z q q q z q d ω d q d ω d d ω d z q f f f d d z 4. m e m q d me d d m d q Sce oo feld oeed cool ed, e d-a alged w e oo fl lage pace veco. mple d q d q 4. d Sbg ee vale e oo fl lage eqao of 4., ad olvg fo e oo ce gve d d, q e ao fl lage ca e be epeed a d wee d q q q ,, 8

59 Sce dec veco cool ed, a fl model eeded o deeme e oo fl lage veco magde ad poo. ee ae vao model a ca be ed fo ppoe. wo commoly ed ype of fl model ae ce model ad volage model. e ce model e oly e meaed ao ce fo calclag e oo fl veco. e volage model, e oo fl lage pace veco calclaed a a egao of e ao volage dffeece. e volage model wo well a g ao feqece, weea e ce model bee fo low feqece. addo, e volage model afacoy fo low ao feqece [7]., e ce model e pefeed coce fo e applcao codeed e. e eqao of e ce model ca be obaed fom e oo volage eqao 4. by bg fo e oo ce ad eaagg e em. gve d d H d f H q ω 4.5 wee H ω e followg eco, e deg of coolle baed o e above eqao coveed. Deg of e ce coolle decbed f. e e oe coolle peed coolle & fl coolle ae deged. 4.. Deg of e Coolle e e cool ce SSFC ow Fge 4.. e meaed ce ad e ce efeece obaed fom e oe coolle ad lme ae coveed o e d, q, z, z efeece fame. e ce cool ad decoplg ae mplemeed efeece fame. e e comped volage efeece ae coveed o e d, q ad d, q fame ode o compe e cool volage fo e PWM opeao of e wo epaae vee. e d-a ce ed o cool e fl e mace, ad e q-a ce cool e oqe. o cool e balace e ce of e wo ao pae gop, e z ad z ce ae ed. e balace may be de o dffee efeece, lme, pply aymmee o pply fal. 9

60 d d q q d q d q d q z z z z q _ z d _ z _ q _ d d coolle q coolle z coolle z coolle d, q, z, z, d q z z d q d q d q z z d q d q a d q z z a b c a b c b c a b Sao ce meaeme c Fge 4.: Sgle ycoo fame ce cool e cool eqao eeded fo e ce coolle ca be obaed fom e ao volage eqao 4. by bg fo e ao fl lage. gve d d ω d d d f q ω d d q z q z ω ω d d q d d z f f d f z 4.6 z z ω d d z f z e d- ad q-a eqao 4.6 ca be fe modfed g e followg bo fom e fl model: 4

61 d d f H d ω H q H q f ω 4.7 gve d d ω d d d f q ω q q ω d d q f d z z ω d d z f z 4.8 z z ω d d z f z wee ad H ω e cool em ae obaed a d, z, d z ω ω d d d dz d q, z, q ω z ω d d q dz d 4.9 weea e decoplg feed-fowad em ae d, f q ω q, f d 4. z, f z z, f z o epla e deg pocede of e ce coolle, e d-a ce cool loop codeed. g aplace afom o e d-a eqao 4.9 gve d d wee ω 4. 4

62 e d-a ce cool loop codeg aalog cool yem ow Fge 4.. e me delay e coolle ae o acco e cool loop. e me delay odced by e ce fle alo clded; eqal o e fle me coa. e decoplg em ca be codeed a a dbace e cool yem deg [8]. e ype of coolle ed of P ype. P coolle me delay Covee Mace d * _ K pd d d dc v d f Ce fle Fge 4.: d-a ce cool loop SSFC e pla afe fco gve a G G p p dc v m, v f,, m, f,, wee 4. o avod e depedece of e cool paamee o e DC l volage dc, a eal ga eqal o e vee of dc ca be ed a e op of e P coolle [9]. eqvale o degadg e em dc e pla afe fco we a coveoal P coolle ed. Dgal cool ed e acal mplemeao of e yem. Hece, e cool doe dcee me weea e pla a coo me yem. Sc a yem ca be epeeed by e bloc dagam Fge 4.4 [4]. Fo dcee-me aaly of e yem codeed e, e PWM of e vee amed o ave e fco of a zeo ode old [4]. e aalog-o-dgal covee ADC e ample e yem. 4

63 _ e Dgal P Zeo ode old coolle D/A Pla C C Sample A/D Fge 4.4: Dcee-me cool of a coo yem e feqecy doma epeeao of e dcee-me yem ca be obaed g e Z- afom, elg e bloc dagam Fge 4.5: Feqecy doma eqvale of dgal coolle ad coo pla. Coolle ZOH ad pla z _ G C z Gz Cz Cz Fge 4.5: Feqecy doma eqvale of dgal coolle ad coo pla e ple afe fco of e dgal P coolle z-doma gve by z K z wee G C K p K K p 4. e ple afe fco of e pla e Z-afom of e pla peceded by a zeo ode old [4]. G e z Z G 4.4 p ode o apply coveoal feqecy epoe deg meod, e afe fco e z plae afomed o a e w plae. e w afomao a blea afomao defed by z w 4.5 w wee e amplg me of e dcee-me cool yem de codeao. Oce e afe fco afomed o w plae, may be eaed a a coveoal afe 4

64 fco w. Coveoal feqecy epoe deg ecqe, cldg Bode dagam, ca e be ed o deg e dcee-me cool yem [4]. Fom 4., 4.4 ad 4.5, e pla afe fco fo e d-a ce ca be obaed. el e followg afe fco w plae [9]: G w wee γ m amp, γ γ γ w γ w w amp, m, m m m m m amp, γ w 4.6 e P coolle g w afomao obaed a G C w K p w 4.7 w e afe fco of e P coolle w plae e ame a e plae [9]. e ope loop afe fco of e d-a ce cool loop e gve by combg 4.6 ad 4.7. od w K p amp, m w w w γ m γ d, m d 4.8, w γ w γ w, d m m e doma pla afe fco 4. a wo me coa e deomao: a vey mall m, ad a elavely lage. eefoe, e modl opmm ecqe ca be ed o deg e coolle fo yem [4], [4]. g modl opmm ceo fo a dgal cool yem 4.8, e paamee of e dgal P coolle ae deemed a follow [9]: K p, d amp, amp, 4.9, d m amp, g mla pocede, e paamee of e q-, z - ad z -a ce coolle ae obaed a 44

65 K K K p, q p, z p, z m z z m m amp, amp, amp, amp, amp, amp,, q, z wee, z z z z amp, amp, ω amp, 4. A meoed eale, oqe cool of e mace aceved g cool of e q-a ce. Fom e oqe eqao of e mace 4. ad e ao fl epeo 4.4, ca be ow a m e 4. q e fl e mace omally ep coa a aed vale,.e. we e mace o fl weaeg mode. e oqe popooal o e q-a ce, ad oqe cool aceved g elaop. e mplfed afe fco fo e cloed cool loop of q-a ce gve doma a q wee eq, eq, q m, 4. Hece, e afe fco fo e oqe cool [9] m m e e q eq, m e q eq, eq, m e 4. wc ca be afomed o w doma g e pocede eplaed eale. Fo dgal mplemeao, e me coa e afe fco [4] amp, eq, 4.4 m, 45

66 4.. Deg of Fl Coolle e fl model ed o deve e afe fco of e fl cool loop. g aplace afom o e oo fl magde eqao 4.5 gve d H 4.5 e coo me eqvale of e fl cool loop gve Fge 4.6. e e d- a ce cool loop a bee epeeed by a eqvale me coa. * _ K P coolle p me delay d-a ce cool eq, Mace H Fge 4.6: Fl cool loop e ope loop afe of e pla coo doma G p, H eq,, G p, H m, 4.6 wee m, eq,, e pla afe fco a oe lage ad oe mall me coa. ed fo modl opmm deg ecqe [4], [4]. g a mla deg ecqe w-doma a eco 4.., e dgal P coolle paamee ae obaed a K p, amp, amp, d 4.7 amp, H m, 4..4 Deg of Speed Coolle e peed cool loop doma ca be epeeed by e bloc dagam Fge 4.7. e e oqe q-a ce cool loop ca be ae a almo deal, b w a mall me delay, ce deged w a badwd e me a of e oe peed cool loop. epeeed by e afe fco 4.. e me delay dgal peed 46

67 coolle ad peed fle ae ae o acco. e load oqe codeed a a dbace ad degaded e coolle deg. e mecacal yem eqao 4. ed o deve e elao bewee e elecomagec oqe ad e peed. _ K P coolle p,,, me delay, oqe q-a ce cool eq, _ m Mecacal yem m, f Speed fle Fge 4.7: Speed cool loop e ope loop afe of e pla doma G p, m eq, f,, G p, m m, 4.8 wee m, eq, f,, g e w afom o e coo yem peceded by a ZOH ad addg a dgal P coolle gve e ope loop afe fco of e peed cool loop a follow [9]: o, w wee K γ m, w, w, amp, p, m, amp, m w w γ w γ w m, m, m, m, 4.9 e pla afe fco 4.8 mple a ymmec opmm ecqe ca be ed o deg e coolle [4], [4]. Fo a dgal coolle, e paamee ae baed o e afe fco 4.9 [9]. cec amp, K 4 4. pd m, m, m, amp, Noe: m ee vaable cz vaable load, ece Jo vae ole emao ca be ed 47

68 4. Doble Sycoo Fame Cool 4.. odco e model of -pae dco mace doble ycoo fame wa developed cape.. Doble ycoo fame cool of e mace ca be aceved baed o model. e pe- eqao decbg e model wee obaed a follow: d d d d d d d d d d d d ω d d ω d d d d d d d ω d d f f f q d d d q q q q q q q q q q d ω d q q d ω d q q q d ω d q q q f q f f d q q d d q 4. m e m d d me d q m q d d q oo feld oeed cool ed, ad e d-a alged w e oo fl lage pace veco. gve q d q d, q, 4. d g ee bo e oo fl lage eqao ad olvg fo e oo ce yeld d d d d e ao fl lage ca e be epeed a d d d d, q q q d q q d q q q q wee 48

69 e ce model ed o deeme e oo fl veco magde ad poo a eplaed cape 4... Fo DSFC, e eqao of model ae obaed a d d f H q ω q H d d 4.5 wee H ω 4.. Deg of e Coolle e e cool ce DSFC ow Fge 4.8. e meaed ao ce ae coveed o e d, q ad d, q efeece fame. e ce cool ad decoplg ae mplemeed efeece fame, gvg volage efeece d, q ad d, q fame. g vee Pa afom, e volage efeece d, q ad d, q fame ae ed o compe e cool volage fo e PWM opeao of e wo vee. e d - ad d -a ce ae ed o cool e fl e mace, ad e q - ad q - a ce cool e oqe. 49

70 q d q d _ d _ q _ q _ d d coolle q coolle d coolle q coolle d, q, d, q, d q d q a a b c d q a b c d q b c a b c Sao ce meaeme Fge 4.8: Doble ycoo fame ce cool e ao volage eqao ae ed o develop e afe fco ed e cool of ce. e devao ee, e eqao of e ao d ad q ae ae developed f. ag e d eqao 4. ad eplacg d ad q fom 4.4 gve d ω d ω d d d d f d ω q f d d d q 4.6 o cool e ce d g d, e dyamc em coag d 4.6 eplaced g oe able em. ca be doe by eplacg d g e d eqao 4.4, eplacg d g e d eqao 4., ad e eplacg q fom 4.4. e devao el 5

71 5 q d d d d d f d d ω d d ω 4.7 Sbo of d d fom e fl model 4.5, ad odco of ome ew em gve wee H q d d d d d f d d ω ω ω 4.8 g a mla pocede, e q eqao obaed a d q q q q q f f d d ω 4.9 e f f 4.9 ca be eplaced by f, ad f aga bed fom e fl model gve 4.5. gve d q q q q q f d d ω 4.4 e eqao fo e ao d ad q ae ae obaed g mla devao. e deved eqao ae q d d d d d f d d ω ω 4.4 d q q q q q f d d ω 4.4 Fom 4.8, 4.4, 4.4 ad 4.4, e cool eqao ca be defed a

72 5 d d ω d d ω d d ω d d ω q q q q q q d d d d d d,,,, 4.4 Ad e decoplg em ae,,,, d q q q d q q q q d d d q d d d f f f f f ω ω 4.44 e eqao 4.4 ae ed o deve e afe fco of e cool loop ad deg e P coolle. e d -a ce cool loop doma ca be epeeed a Fge 4.9. v dc _ P coolle me delay Covee Mace Ce fle f K d d pd d d Fge 4.9: d -a ce cool loop DSFC e pla afe fco fo d -a ce cool f v m m p f v dc p G G,,,,,, wee wee ω 4.45

73 evde a e d - a ce cool loop DSFC mla o e d-a loop of SSFC Fge 4., ecep fo e dffeece e ao me coa. e ame deg ecqe ed cape 4.. apple ee. e ame goe fo e oe ce coolle. g mla pocede, e paamee of e q-, z - ad z -a ce coolle ae obaed a K K K K p, d p, q p, d p, q m amp, m amp, m amp, m amp, amp, amp, amp, amp,, q amp,, d, q, d amp, amp, amp, 4.46 Calclaed paamee Fom e oqe eqao ad fl lage eqao 4., e oqe ca be epeed em of oo qae a m e q d d q 4.47 Sbg fo e oo ce fom 4. o 4.47, eplacg fo e oo fl lage fom 4., q me wee q q q 4.48 eefoe, oqe cool ca be aceved by coollg e q - ad q -a ce, ad mla deg meod ed oqe cool of SSFC apple ee. ca alo be vefed g e eqvalece elao bewee e wo dffee model elg 5

74 m e wee q q q q 4.49 wc eacly e ame eqao a eqao 4. of e SSFC meod. 4.. Deg of Fl Coolle ag e eqao fo e oo fl lage magde fom e fl model eqao 4.5, ad applyg aplace afom gve H d H d H d d 4.5 mplyg a e fl ca be coolled g e d - ad d -a ce. Fom e eqvalece elao bewee e wo model, ca be ow a H d wee d d d ad H H H o e H, 4.5 e ame a e doma fl eqao of SSFC. addo, bo d -a ad d -a ce efeece ae ep eqal omal codo, alo mag em eqal o e eqvale d-a efeece. e fl cool ca be deged by eplacg bo d -a ad d -a e cool loop by oe eqvale me coa. e paamee of e fl coolle ae fod o be e ame a a of SSFC deged cape Deg of Speed Coolle Speed cool of e mace aceved by g e oqe e coolle. e oqe cool DSFC, a ee fom oe cool, e ame a a of SSFC. wa dced eco 4... Bo modellg meod ave e ame mecacal yem eqao elag e peed ad oqe of e mace. eefoe, ca be coclded a e peed coolle DSFC ad SSFC ae eacly e ame. 54

75 5 Epemeal Sep of S-Pae Moo Dve 5. Hadwae Sep cape e epemeal ep of a -pae dco moo dve ed e e peeed. e ep co of vao adwae ad ofwae compoe. e adwae ep ad compoe ae dced eco. e ofwae mplemeao, cldg e ofwae evome ad pogam ce, eplaed cape Sep Ovevew e g-level cemac of e laboaoy ep ow Fge 5.. e ep e ame a e oe ed []. e ma adwae compoe ae a -pae dco mace, a DC mace coeced o load eo, wo -pae vee, wo dode ecfe, a eepae vaable afome, a FPGA Feld Pogammable Gae Aay cool cad, ce ad volage eo, oay ple ecode, ad a PC. Fge 5.: Scemac of -pae moo dve lab ep e -pae dco mace ppled fom wo wc-mode vee w epaae DC l volage. wo dode ecfe ae ed o oba e DC l volage. e AC p o e ecfe ca be vaed g e ee-pae afome, vayg e DC l volage a eeded. e DC mace decly coeced o e ame af o e -pae dco mace. Wae-cooled eo ae coeced o e DC mace amae. e PC ed o pogam e cool yem o e FPGA cool boad. eal-me moog alo doe g ofwae e PC. e aembled dve ow Fge

76 Fge 5.: Aembly of -pae moo dve 5.. S-Pae dco Mace e -pae dco mace ed e epeme a wo -pae ao wdg gop, epaaed by eleccal degee pace. e mace a a qel-cage oo. Fge 5. ow e eeal vew ad emal of e mace. Fge 5.: S-pae dco mace a eeal vew, b ao emal e aed powe op of e mace.7 W. e ameplae daa ad paamee of e mace ae gve Apped A. 56

77 5.. DC Mace A epaaely eced DC mace moed o e ame af a e -pae dco mace. e amae of e DC mace coeced o load eo. e epemeal ep e DC mace w e load eo ed a a load, ad opeae a a DC geeao. e load ca be vaed ee by cagg e vale of e load eo o by vayg e feld volage ecao of e DC mace. e -pae dco mace opeaed a a moo, ad ac a pme move a vewed fom e DC mace Covee wo ee-pae dode ecfe ae ed o cove e AC le volage o DC. e ecfe ca ae volage p of 4 V m. e ce ag 6 A. e DC volage op age 54 V. e fo vew of oe ecfe ow Fge 5.4. Fge 5.4: ecfe modle wo ee-pae GB vee coeced o e wo ecfe modle ae ed o pply e -pae dco mace. e powe ag of e vee W. e DC volage p ca be 65 V, ad wcg feqecy e age of 5 Hz ca be ed. e allowable ce deped o e DC p ad wcg feqecy. A 5 V DC ad Hz wcg feqecy, e mamm allowable ce 5 A. e capaco ba de e modle µf. e cool gal fo e gae dve 5 V CMOS. e vee modle ave capacve ad C bbe [45]. 57

78 a b Fge 5.5: vee modle a op de, b dve cad de [45] 5..5 FPGA Cool Boad e poceo boad deged fo e covee cool yem baed o Xl Ve 5 FX FPGA. e ma pa of e boad ae ow Fge 5.6. e ma feae of e poceo boad ca be mmazed a follow [46]: Baed o Xl Ve5: XC5V FX. FPGA w PowePC poceo. Memoy: 56 MB DAM DD, 8 MB Fla ad 64 B EEPOM. Aalog o Dgal Covee ADC: 8 b, 4 MSPS Dgal o Aalog Covee DAC: 4 b, MSPS Dgal p-op: 6 b, VDS gal pa Commcao po: S, SB, Eee ad CAN. Coa ccy of P ellecal Popey modle, cldg eface modle ad gal poceg modle. eface fo EM ce adce, ple ecode ad covee dve. e P modle ae developed g Xl Embedded Developme K EDK. me ccal opeao ae adled by ee P modle. e eface P modle co of AD covee eal gal eface, DA covee eface, ple ecode eface ad vee eface. e gal poceg modle ae accmlao fle bloc, P eglao, agle afomao, ple wd modlao ad compaao lme. e P modle fo P eglao ad agle afomao ae o ed mplemeao. ee ae mplemeed a ofwae e PowePC poceo. 58

79 elay dve 4 eface fo EM ce adce AD-covee 8 cael b 4 MSp FPGA: Ve5 FX Powe PC poco 6 B AM 64 mlple DA-covee 4 b 8 MB Fla 64 B Eepom 56 Mb DAM Sgal p 6 6 b dgal O Covee dve eface Ple ecode CAN, S, Eee Fge 5.6: Ma pa of e FPGA poceo boad [47] 5..6 Ce, Volage ad Speed Meaeme e meaeme of ao le ce doe g EM Ce adce A 5-S. a cloed loop ce adce g e Hall Effec. a a pmay omal m ce of A, ad a ecoday omal m ce of ma., e coveo ao : [48]. e DC l volage ae meaed g EM Volage adce V 5-6, wc baed o e Hall Effec. e pmay omal m volage of e adce 6 V, ad e ecoday omal m ce 5 ma. e coveo ao 6 V / 5 ma [49]. oo poo meaeme doe g Hedea EN-4 oay ecode. a cemeal ple ecode povdg gal a gve fomao abo e agla poo of e oo. al agle deeco ad cog of e ple eceay o deeme e abole poo of e oo. e oo peed comped a e ae of cage of e agla poo [5]. 59

80 5. Sofwae mplemeao eco e ofwae mplemeao of -pae moo dve cool decbed cocely. e ofwae evome ed ad e pogam flow ae dced. 5.. Sofwae Evome e ofwae evome ed o mpleme e cool yem Xl C/C Sofwae Developme K SDK. A ceeo of e SDK ow Fge 5.7. e pogammg lagage ed mplemeao C. Fge 5.7: Xl SDK Compaoally demadg b le me ccal pocee ae we e ofwae ad adled by e PowePC poceo e FPGA. me ccal opeao, o e oe ad, ae caed o g e dedcaed P modle a meoed eale. e cool code ogee w e lbay of P modle pogammed fom e PC o e FPGA g a SB coeco. e FPGA cool yem accep meaed p ad cool commad, gvg cool gal o e vee a op. 6

81 Oce e FPGA pogammed, eal-me opeao ad moog of e dve doe g e AcveDSP ofwae o e PC. Fge 5.8 ow a ceeo of e ofwae. e commcao doe og e S eal cable coeced o e compe. Fge 5.8: AcveDSP ma wdow [5] g e AcveDSP eface, cool commad ca be e o e FPGA ad daa ca be ead fom e FPGA ad dplayed e gap wdow. Moeove, e ofwae eable e eal-me loggg of daa [5]. daa ca be aved ad poceed g oe ofwae ool c a Malab. 5.. Pogam Sce e pogam flow ad ep oe of e dve cool yem ae ow Fge 5.9. e a oe alze e yem ad e p e ep mecam. e cool yem mplemeed wo ma ep evce oe: e fa ep oe ad e low ep oe. e fa oe adle a a old be eeced a fa a poble. ep oce a evey PWM wcg peod. Meaeme ad poeco, fl model calclao, ce cool loop ad modlao ae mplemeed oe. 6

82 Sa Sa oe - alze - ep & ege ep - Sa ep mecam - alze ae mace Pogam g? NO Bacgod oe - Commo YES Sevce oe Slow ep Fa ep oe oe Sop oe - Sop PWM ep - Sop me ep - Sop ep mecam Sae Mace - Meaeme - Scalg - Poeco - afom Ed YES Fal? NO - oad Cool B - pdae Moo Fa Eable Wod pdae Moo Slow Eable Wod Fl model Fl cool oqe cool Speed cool - Ce cool - Decoplg e PWM e Fge 5.9: Pogam flow ad ep 6

83 e low oe, cool a a ae le me ccal ae eeced. e a me fo e ep mecam. e low ep me ae a e me e fa ep me. g of e ae mace, ad e oe fl ad peed cool ae doe oe. 5.. Sae Mace e ae mace eable e pogam o accep commad ad eece em we cea codo ae me. e dve yem wll be a cea ae deemed by e opeag codo ad a of e dve compoe. e ae mace, wc baed o e DVECOM adad fo dve coolle, ow Fge 5.. bacally e ame ae mace ed []. Howeve, modfcao made o a e dve ca coe opeao we ee fal oly oe pply DC l o vee wle e oe pply ealy. 6

84 No eady o Swc O Ay of e Sae MooFalWod.All! Malfco eaco Acve Malfco Swc O Dabled!C_SwcO C_AoSa & C_VolageEable & C_NoQcSop!S_Malfco & S_DCPoweed & S_DCPoweed!C_VolageEable!C_NoQcSop eady o Swc O S_QcSopCompleed C_SwcO & C_d &!S_dCompleed & S_eadyoSwcO S_dCompleed defcao C_SwcO & C_NoQcSop & S_DCPoweed & S_DCPoweed &!C_d &!S_dCompleed & S_eadyoSwcO!C_VolageEable!C_NoQcSop!C_SwcO & C_NoQcSop & C_VolageEable Qc Sop Acve Swced O eged: C Cool B S Sa B & ogcal AND ogcal O! ogcal NO!C_SwcO!C_VolageEable & C_VolageEable!C_NoQcSop & C_NoQcSop C_SwcO &!C_OpeaoEable C_SwcO & C_VolageEable & C_VolageEable & C_NoQcSop & C_OpeaoEable & S_eadyFoOpeaoEable & C_NoQcSop &!C_OpeaoEable!C_VolageEable &!C_NoQcSop Opeao Eabled Fge 5.: Sae mace of e -pae moo dve 64

85 6 Smlao ad Epemeal el 6. odco cape, e el of mlao ad epemeal wo o e cool of -pae dco moo dve ae peeed. e am of e wo wa o mpleme ad e cool of e dve dg dffee opeag codo. Vao omal ad faly cae ca be codeed o e e yem. e, e followg cae ae of majo ee:. Nomal a-p ad balaced opeao,. Opeao w ce aymmee bewee e wo -pae gop of e mace,. Opeao dg pply aymmee ad fal, cldg low DC l volage ad lo of a DC l pply ad/o a vee. Afe eoecal modellg ad cool deg, mlao wee caed o. Dgal mlao wa ed Malab Sml/SmPoweSyem. wa ed ally o vefy e cool meod befoe laboaoy eg. e epemeal eg wa doe e laboaoy ep decbed cape 5. e ma el obaed mlao ad epeme mac fo e opeao cae omal codo ad ce aymmee. Fo e cae of pply fal, deable el wee obaed e epeme. Howeve, e el e mlao of -pae dco mace wee o a epeced. alo wo meog a deable el wee obaed a mlao of -pae pemae mage mace fo all opeag codo. B, e el ae o clded e de o lmao of e cope. e paamee of e coolle e yem wee deemed cape 4. e eoecal vale obaed ave bee ed e epeme o oba bee pefomace. e epemeal vale ae gve apped D. e el peeed cape, ecep oe degaed a mlao el, ae epemeal el. eal-me daa wa obaed g gge mecam AcveDSP logge ad ploed Malab. e me a of e plo, egave vale ow e daa befoe ggeg ad pove vale ow e daa afe ggeg. cape, empa gve o e peeao of epemeal el. Oly few of e mlao el ae clded. 65

86 6. SSFC el 6.. Nomal Opeao Dg omal opeao of e dve, e wo -pae gop e mace ae opeaed w eqal ce efeece ad pply volage. e powe ad oqe eqally aed bewee em. De o e dplaceme bewee e wdg gop, qae pae lead e coepodg qae pae by. e dve may be opeaed ee oqe cool mode o peed cool mode. epoe of e e coolle mlao ow fge 6.. ally e magezao of e mace g a fl coolle mlaed. e, a ep oqe of.8 p appled a.5 ec. Fge 6.: Smlao el: epoe of ce coolle dg omal ap ad opeao 66

87 e epemeal e, e mace ally magezed alog e ao a -a by applyg e aed fl efeece. e fl cool vaable ed a defed eqao 4.4 cape 4... Seg o.95 p gve a aed fl of. p. e epoe of e fl coolle ow Fge 6.. Fge 6.: Fl coolle epoe Fge 6. ow e epoe of e e d-a ce coolle dg e fl bld-p e mace. l e fl eace e aed vale, e coolle op a e aao lm, wc e o. p. A eady ae, e d-a ce eeded o maa e fl appomaely.58 p. deemed by e vale of e mal dcace a evde fom e eqao of e fl model. 67

88 Fge 6.: e d-a ce cool dg magezao Afe magezg, e mace ca be aed ee oqe o peed cool mode. epoe of e e coolle dg a-p w a ep oqe efeece of.6 p ow Fge 6.4. e q-a ce efeece obaed a.66 p fom e oqe efeece. e DC l volage p of bo vee ae eqal w a vale of 5 V. Fge 6.4: Sa-p ad oqe cool SSFC e mace ao pae ce dg ap w.6 ep oqe ae ow Fge 6.4. e ce dplayed e fge ae obaed afe fleg g a wo-po movg 68

89 aveage fle, wc a low pa fle w c-off feqecy of ca. Hz. Fom e magde of e ce befoe a-p, ca be ee a e mace magezed alog e ao a -a. Fge 6.5: Pae gop ce dg a-p Fge 6.6: Pae gop ce dg a-p e meaed ao ce ae ow e ocllogam Fge 6.7. e ce of oly pae a ad a ae ow. Bo ce ave e ame amplde ad feqecy, b a lead a by a epeced. e ocllogam of e vee le volage ad e ao pae volage ae ow Fge

90 Fge 6.7: Ocllogam of ao ce [pobe yellow - a, pobe p - a ] a b Fge 6.8: Volage a e volage ab ad ab, b Pae volage a, a aoe e cae, e mace wa aed peed cool mode de o load. e feld volage of e DC mace wa e o zeo, e oly load o e dco mace e eal ma of e af. A ep p of.4 p peed gave e epoe Fge

91 Fge 6.9: Speed coolle epoe o load e epoe of e e coolle dg peed cool ow Fge 6.. ca be ee a e eady ae elecomagec oqe ad q-a ce ae mall, j eog o oae e oo af ad cove loe. e z -a ce ae alo vey mall becae bo pae gop ave e ame ce. Fge 6.: e coolle dg peed cool 6.. Opeao w Ce aymmee opeag codo, e wo -pae gop of e mace ave dffee ce., ey do o ae e powe eqally. opeao cae ca occ oly oqe cool mode. 7

92 o vegae e cool epoe ad opeao of e dve dg ce aymmee, dffee oqe efeece ae gve o e wo -pae gop. e oqe efeece m e,ef edced fom.8 p o.4 p, weea m e,ef ep a a vale of.8 p. e DC l volage ae ep a a vale of 5 V. e q-a ce coolle epoe ow a q coolled a a vale deemed by aveage of e wo efeece. oed a e ce z ceae fom almo zeo o. p de o e mbalace oqe q-a ce of e wo pae gop. Sce bo pae gop ae e magezao eqally ave e ame d- a ce, z vey mall. e deal vale wold be zeo. Fge 6.: epoe of coolle dg oqe aymmey e mace pae ce dg aymmecal opeao ae ow Fge 6.. e ce magde pae gop ae edced, wle ce magde pae gop ae affeced. 7

93 a b Fge 6.: Ce dg aymmecal opeao a pae gop, b pae gop e ocllogam Fge 6. ow a amplde of pae ce edced fom 8. A o. A. Pae ce amplde ema coa a 8. A. e feqecy of all ao ce alo edced fom.75 Hz o.94 Hz. agee w e edco oo peed ow Fge

94 Fge 6.: Ce a ad a a befoe aymmey, b afe aymmey Fge 6.4: oo peed dg aymmecal oqe opeao 74

95 6.. Opeao dg Spply Fal e -pae dco mace omally ppled fom wo vee w eqal DC l volage. Howeve, vaao ad fal mg occ, ad mpoa o ee e yem ob o c fal. e cae ded wo ae dffeece e DC l volage, DC l de-volage, p of a vee ad off of a ecfe. ee ae ae o acco e yem mplemeao ad eg. Fge 6.5 ow e epemeal el fo DC l de-volage ad vaao. e e cae, e dve opeae oqe cool w a efeece of.6 p. ecfe ppled fom e vaable ee-pae afome, weea ecfe ge dec le pply. DC l ep coa a 56 V. ally DC l 45 V. g e vaable afome, e pply fo ecfe maally edced o zeo. coepod o appomaely 5 ecod e me a of e fge. e mmm accepable DC l volage wa e o 5 V. A oo a DC l fall below vale, e oqe lme ac by edcg e oqe efeece me ef wc edce e powe delveed o pae gop o almo zeo. f e DC l coe fallg, me ef ae o a egave vale bewee -. p ad baed o e eg ed ee. cae egave q-a ce q pae gop, ad cagg e DC l. e DC l ep caged. avod p of vee, wc ca coe pplyg powe o e mace afe DC l eoed. e efeece ad ce of pae gop 5 ecod e o e pe-fal vale we e pply of ecfe ceaed bac o omal. Fge 6.5: SSFC epoe o DC l vaao ad de-volage 75

96 aoe e cae, e p of oe vee dg opeao of e mace wa vegaed. Befoe e p eve, e mace opeaed oqe cool mode w a oqe efeece of.6 p. Bo DC l volage ave a vale of 5 V. vee ed off, wle vee ep opeaoal. e el obaed ae ow Fge 6.6 o Fge 6.. We vee pped, e ce efeece ad acal ce of pae gop go o zeo. e mace coe o, b w a edced oqe. e peed alo edced gve a e load ay e ame befoe ad afe p. e oqe of e mace ca be ceaed o a deed vale a log a e ce ag of pae gop o eceeded. Howeve, e oqe capably edced by alf ce oe of e pae gop ope. Ce z dced becae ee ce aymmey a a el of e p. Fge 6.6: SSFC epoe dg vee p, q ad z e a gap fl e mace old be ep a e aed vale eve afe vee p. doe by ceag e d-a ce e opeag pae gop d cae. e oal d-a ce d doe o cage de o e p eve. e z ow dced becae e d-a ce of pae gop ad ae dffee. 76

97 Fge 6.7: SSFC epoe dg vee p: d ad z Fge 6.8: SSFC epoe o vee p, oo fl Ocllogam of e a ad a ce befoe ad afe e fal ae gve Fge 6.9 ad Fge 6. epecvely. Ce pae gop go o zeo afe p, weea pae gop ce ceae amplde ad deceae feqecy. e amplde cage de o ceae d o eep e aed fl. e cae, d ceae fom.58 p o.6 p wle q coa a.6 p. cae e pea vale of e ao ce o ceae fom.786 p o.8 p. e ao feqecy edco fom.67 Hz o. Hz ageeme w e deceae oqe ad peed of e mace. 77

98 Fge 6.9: Sao ce befoe vee p Fge 6.: Sao ce afe vee p 6. DSFC el eco e el obaed g DSFC cool ae peeed. e opeag codo ad e e cae ae e ame a e coepodg SSFC e peeed e pevo eco. doe ode o compae e wo cool meod. 6.. Nomal Opeao e mlao el of e coolle ae ow fge 6.. e al magezao of e mace mlaed. e, a oqe efeece of.8 p appled a.5 ec. 78

99 Fge 6.: Smlao el: a-p ad oqe cool DSFCC e epeme, e mace magezed o aed fl befoe a-p. e epoe of e fl coolle e ame a SSFC. agee w e fac a e oe fl coolle e ame bo meod a decbed cape 4... Howeve, e e coolle ed ee ae d ad d, ead of d. 79

100 Fge 6.: Fl ad d-a ce cool DSFC Afe magezao, e dve wa aed oqe cool mode. Applyg a ep oqe efeece of.8 p gave e el ow fge 6.. e d-a ce ae alo ow o dcae e effec o em by e oqe cool loop. Fge 6.: Sap ad q-a ce cool DSFC Opeao of e dve peed cool mode wa alo eed. e peed coolle epoe wa fod o be e ame a e SSFC el. vefe a e peed cool e 8

101 ame bo cool meod. e dffeece a e DSFC e e e q ad q coolle, weea SSFC e q coolle. 6.. Opeao w Ce Aymmee e cae of ce/oqe aymmey wa eed DSFC meod. e dve oqe cool mode. oqe efeece edced fom.8 p o.4 p wle oqe efeece ema coa a.8 p. e epoe of q ad q coolle ae ow fge 6.4. Fge 6.4: oqe ad ce aymmey Fge 6.5 ow e effec of e oqe aymmey o e d, d, z ad z coolle. ca be ee a z dced de o e aymmey. 8

102 Fge 6.5: d-a ad z-a ce dg oqe aymmey e oo peed e dve dg oqe aymmey ow fge 6.6. e peed deceae a e oal oqe edced de o deceae oqe developed by pae gop. Fge 6.6: oo peed dg oqe aymmey 8

103 6.. Opeao dg Spply Fal e effec of DC l volage vaao, ecfe off ad vee p wa vegaed g mla e cae a e SSFC e of eco 6... e e cae fo DC l volage vaao gave e el fge 6.7ad 6.8. ecfe wa ppled fom ac le decly, eepg DC l volage coa a 56 V. Spply of ecfe wa edced o zeo ad eoed o omal afe few ecod. De o DC l volage ge edced fom e pe-fal vale 45 V. doe o go o zeo becae ep caged de o e cool yem. All qae e o pe-fal vale we e pply fo ecfe ceaed bac o omal. Fge 6.7: DC l de-volage ad cage oqe efeece 8

104 Fge 6.8: DC l de-volage ad q-a ce o e e effec of vee fale o e yem, vee wa pped wle vee wa ep opeaoal. e ma el ae ow fge 6.9 ad 6.. e coolle ad pae ce pae gop go o zeo. e ceae e amplde of pae gop ce becae e emag pae a o eep e oo fl lage a aed vale. Fge 6.9: epoe of ce coolle o vee p 84

105 Fge 6.: Pae ce a ad a dg vee p 85

106 7 Dco of el 7. Nomal Dve Opeao omal opeag codo of e dve, bo SSFC ad DSFC meod gave compaable el. e eoecally calclaed cool paamee wee ed o mpove e ae epoe. e pefomace paamee ed ae e me, pece oveoo, elg me ad eady ae eo. e e me ae a e me ae by e epoe o ceae o 9% of e efeece ep p. e elg me e me e epoe ae o ema w % eo of e ep p. g e deged cool yem ad ed paamee, e e ce coolle gave fa epoe w mall oveoo. e epoe wee fod o be able. e epoe of oe coolle wa fod o be e ame bo cool meod. e epoe of e d-a coolle bo cool meod ca be compaed fom fge fge 7. ad 7.. bo cae, e efeece ceaed a a ep fom. o.5 p. epoe of e oe coolle wee compaed a mla way ad fod o be compaably good bo meod. Fge 7.: SSFC - Pefomace of d coolle 86

107 Fge 7.: DSFC - Pefomace of d ad d coolle o compae e ao loe de o aymmey bewee e wo -pae gop, e ce e z, z yem wee vegaed. ee ce ae decly coolled e SSFC meod, weea ey ca be obaed g afomao DSFC. deally, ee ce ae zeo eady ae dg omal opeao of e dve. ee ce ae, ealy, mall b o zeo ce mall mbalace bewee e pae gop ca be epeced. A compao of e z, z yem ce e wo cool meod ca be made fom fge 7. ad 7.4. e vale ve me a ae fo omal dve opeao, weea e ve a vale ae fo aymmecal oqe opeao. evde a e ce ae mla bo cool me.od 87

108 Fge 7.: SSFC - z, z yem ce Fge 7.4: DSFC - z, z yem ce Oe ma dffeece e mplemeao of e wo meod e decoplg ewo. SSFC, e fll decoplg ewo baed o e deg eqao ed. DSFC, ome of e decoplg em ae emoved o mmze oveoo of e epoe ad mpove cool pefomace. Howeve, e fll decoplg DSFC alo gve able epoe. 88

109 7. Opeao dg Aymmee ad Fal A compao ca be made bewee e epoe of SSFC ad DSFC o vao aymmee ad fal cae. Ce aymmee, DC l de-volage ad vaao, ad vee p ave bee vegaed. Bo cool meod wo well ad gve compaable epoe dg ce aymmee. e epoe o DC l de-volage ad vaao ae alo mla bo meod. e cae bo dg peed ad oqe cool mode. We oe vee pped dg oqe cool mode, bo SSFC ad DSFC epod mla way. Howeve, e epoe DSFC wa fod o be fae a ca be ee fom fge 7.5 ad 7.6. bo cae, e dve opeaed w a oqe efeece of.6 p befoe e fal. Fge 7.5: SSFC - epoe o p of vee oqe cool mode 89

110 Fge 7.6: DSFC - epoe o p of vee oqe cool mode We e dve opeaed peed cool mode ad a vee p, e DSFC meod wa fod o epod well ad e dve ca coe opeao g e emag vee pply. Howeve, e SSFC meod dd o wo a epeced ad eled p of e oaffeced vee. geeal, e SSFC meod wa fod o be moe dffcl o mpleme epecally dg aymmee ad fal. e acal yem efeece ad aymmee come e fom of d, d ad q, q qae, b cool doe d, q ad z, z yem. cae dffcly we e aymmee oe cool vaable eed o be efleced e e coolle. SSFC meod alo moe compaoally demadg de o e afomao eeded bewee d, q, d, q ad d, q, z, z. ee afomao ae o eceay e DSFC meod. ca be ee fom e ce of e coolle fge 4. ad fge Aaly of pple ad Hamoc We e ao meaed ce ae coveed o e ycoo d-q yem, pple ae fod o be pempoed o e DC vale eady ae. ee pple wee obeved bo cool meod all opeag cae of e dve. e bldp of pple we e dve aed demoaed fge 7.7. Befoe applyg a oqe efeece of.8 p, e mace ad bee magezed. e d-a ce cool 9

111 epoe a almo zeo pple befoe e dve aed. We e dve aed, ee ae pple bo d-a ad q-a ce. Smla el wee fod e DSFC meod. Fge 7.7: pple coolled ce befoe ad afe a-p [SSFC] e pple wee fod o be ogly depede o e oo peed. o vegae depedece, e pple amplde ad feqecy wee meaed a dffee peed. e mace wa oqe cool mode w a oqe efeece of.8 p all e cae. e load eace coeced o e DC mace wa vaed ode o vay e peed. e el fod g DSFC meod ae gve able 7.. Speed [p] Fdameal ao feqecy [Hz] Feqecy of e ma pple compoe d, d, q ad q [Hz] Pea-pea pple q & q [p] Pea-pea pple d & d [p] , , , , , , able 7.: Ce pple feqecy ad amoc a fco of oo peed 9

112 Fom aaly of e el peeed able 7., wa fod a: e pple bo d- ad q-a ce ceae w peed, A low peed, e lage pple compoe 6 amoc of e fdameal ao feqecy, followed by e 4 amoc, A ge peed.44,.56 ad.6 p e able, e d amoc e majo compoe. A 6 amoc alo obeved b 5 amoc a.6 p peed, Fo e e cae decbed above, e pple a peed of.75 p ad.44p ae ow fge 7.8 ad fge 7.9, epecvely. Dg e epeme, codeable vbao wa obeved e dve we e mace opeaed a ge peed geae a.4 p ad lg load. Fge 7.8: Ce pple a.75 p peed [DSFC,. p oqe] 9

113 Fge 7.9: Ce pple a.44 p peed [DSFC,. p oqe] e mlao el, e pple e ce coolle wa o fod o be depede o peed of e mace. e magde alo vey mall. A ample of e cool epoe ow fge 7.. e el fom SSFC cool a a oqe of.8 p. e eady ae peed.7 p. e magde of e pea-o-pea pple appomaely. p bo d ad q. e feqecy of e pple d abo me e fdameal feqecy Fge 7.: Smlao el: pple ce cool [SSFC, oqe cool a.8 p, peed.7 p] 9

114 8 Coclo ad Fe Wo 8. Coclo Elecc p poplo a ecely gaed codeable aeo. Vaable peed eleccal dve, cldg mlpae dve, ae of ee aea of applcao. e, e modellg ad cool of a -pae dco moo dve a bee vegaed. e modellg of -pae dco mace g wo dffee appoace wa peeed. Veco cool ecqe baed o ee wo appoace wee ded. e wo clded eoecal dy, mlao ad epemeal mplemeao of e dve cool yem. e omal opeao of e dve wa vegaed ally. e el owed a bo SSFC ad DSFC cool meod gve deed ae ad eady ae pefomace. Cool of peed ad oqe of e mace a bee aceved fo dffee loadg codo, fom o-load p o fll-load. wa alo fod a e oe fl ad peed coolle ae e ame bo cool meod. e dffeece bewee e mplemeao of e wo meod e e ce coolle. e mlao ad epemeal el ae mla opeag codo. Opeao of e dve dg ce aymmee ad pply fal wa alo codeed e cool deg ad eg. We ee ce aymmey e wo -pae gop of e dco mace, bo SSFC ad DSFC ca cool e dve a deed. wa e cae fo bo mlao ad epemeal el. Dg DC l de-volage ad vaao, e wo meod gve accepable epoe. Howeve, e epoe DSFC wa fod o be fae a SSFC meod. bo meod, e affeced DC l ep caged a a deed level. eeded o a e affeced vee doe o p, fo eample e cae of empoay fale e pply of e DC l. We e pply eoed o omal vale, e opeao of e dve aomacally e o e pe-fal ae. e eve lo of oe vee, e mace ca coe o opeae fom e emag ealy pply. e avalable oqe ad powe, of coe, edced o alf of e oal pae mace ag. a bee aceved bo oqe cool ad peed cool mode g DSFC. e SSFC meod ca alo adle cae oqe cool mode, b a o bee aceved peed cool mode. Fom e el wo, ca be coclded a bee cool of e dve aceved g e DSFC meod. ca adle e yem aymmee ad fal a bee way a e SSFC. 94

115 8. Fe Wo wo, e modellg of -pae dco moo dve a bee ded. e cool yem a alo bee deged ad mplemeao a laboaoy ep. e followg a cold be codeed fo fe wo e dve yem: Epemeal defcao of e -pae dco mace paamee, vegao of e pple ad amoc e oqe ad ce of e dve, mpoveme of e SSFC meod o a ca gve deed pefomace dg vee p we e mace opeae peed cool mode. vegao of oe modlao ecqe, ad e effec o ce ad volage amoc. 95

116 efeece [] A.K. Ådae, Mame Eleccal allao ad Deel Elecc Poplo, oal epo, ABB Mae AS, Olo, Noway, Apl. Avalable: Acceed: 8 Decembe [] V.M. Moeo ad A. Pgazo, Fe ed Elecc Poplo Syem fo Commecal Veel, Joal of Mame eeac, vol. V, o., pp. 8-, Ag. 7. Avalable: p:// Acceed: Jly [] G.K. Sg, Ml-pae dco mace dve eeac a vey, Elecc Powe Syem eeac, vol. 6, e, pp. 9-47, Mac. do:.6/s x [4] E.A. Klg, Hg Pae Ode dco Moo Pa - Decpo ad eoecal Codeao, EEE a. Powe App. Sy., vol. PAS-, pp. 47 5, Ja. 98. do:.9/pas [5]. Bojo, M. azza, F. Pofmo ad A. eco, Dgal feld-oeed cool fo dal ee-pae dco moo dve, EEE a. d. Appl., vol. 9, o., pp , May-Je. do:.9/a..879 [6]. Bojo, A. eco, F. Pofmo, G. Gva ad D. Maello, Complee aaly ad compaave dy of dgal modlao ecqe fo dal ee-pae AC moo dve, Poc. EEE PESC, vol., pp ,. do:.9/psec..56 [7]. Nle, Modellg of ml-pae ycoo mace, Wälä Noway AS, Sp Powe ecology & D, odem, Noway, ec. ep. ev. B, Jl.. [8]. Nle, dqzz ad dq-dq model of 6-pae PM mace, Wälä Noway AS, Sp Powe ecology & D, odem, Noway, ec. ep., Ma.. [9]. Nle, Dbed -pae cool of 6-pae PM Moo, Wälä Noway AS, Sp Powe ecology & D, odem, Noway, ec. ep., Jl. 9. [] Ø.M.M. Hoem, Cool of S-Pae Mace, Mae e, Dep. Elec. Powe Eg., NN, odem, Je. 96

117 [] S. opae, Modellg, mlao ad mplemeao of Ml-pae dco Moo Dve, Mae e, Dep. Elec. Powe Eg., NN, odem, Je. [] N.B. Aaya, oqe me S-pae dco Mace Cool, Wälä Noway AS, Sp Powe ecology & D, odem, Noway, ec. ep., Ag.. [] N.B. Aaya, Cool of Mlpae Mace, Specalzao Poj., Dep. Elec. Powe Eg., NN, odem, Decembe. [4] S.P. Sm, e eoy of amae wdg, Joal of e o of Eleccal Egee, vol. 55, o. 6, pp. 8-6, Dec. 96. [5] Plp. Alge, E.H. Febgoe ad D.D. Cae, Doble wdg fo be aleao, AEE a., vol. 49, o., pp. 6-44, Ja. 9. [6] Y.H. K, Eeo o -eaco eoy o Mlpae Sycoo Mace, AEE a., vol. 56, o. 9, pp. 97-, Sep. 97. [7].H. Nelo ad P. C. Kae, dco mace aaly fo abay dplaceme bewee mlple wdg e, EEE a. Powe App. Sy., vol. PAS-9, o., pp , May 974. [8].A. po, A d-q model fo pae dco mace,. Cof. elecc Mace, Ae, Geece, Sep. 5-7, 98, pp [9] E.A. Klg, Hg pae ode dco moo Pa Epemeal el, EEE a. Powe App. Sy., vol. PAS-, pp , Ja. 98. [] M. A. Abba,. Ce ad.m. Ja, S-pae volage oce vee dve dco moo, EEE a. d. Appl., vol., pp.5-59, Sep./Oc [] Y. Zao ad.a. po, Space veco PWM cool of dal ee-pae dco mace g pace veco decompoo, EEE a. d. Appl., vol., pp.- 9, Sep./Oc [] E. ev,. Bojo, F. Pofmo, H.A. olya ad S. Wllamo, Mlpae dco moo dve - a ecology a evew, Elec. Powe Appl., E, vol., o. 4, pp , Jl. 7. [] G.K. Sg, K. Nam ad S.K. m, A Smple dec Feld-Oeed Cool Sceme fo Mlpae dco Mace, EEE a. d. Eleco., vol. 5, o. 4, pp , Ag

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119 [7].F. Nel,. Nle, Evalao ad compao of pedco model fo oo fl calclao dco moo, Poc. EEE-PESC 94, vol., pp , J [8] N.A. Ayee, MlPae Pemae Mage Sycoo Geeao fo Offoe Wd Eegy Syem: Cool of pae PMSG leg covee yem, Mae e, Dep. Elec. Powe Eg., NN, odem, Ag.. [9]. Nle, Elee Moodfe, Kompedm, fo Elafe, NN, odem, 4, pp. -. [4] K. Ogaa, Dcee-me Cool Syem, Pece-Hall, c., 995, pp [4] J.A. Sl, M. Mola,. Nom ad. delad, g of Cool oop fo Gd Coeced Volage Soce Covee, d EEE. Cof. o Powe ad Eegy, pp , Dec. 8. [4] J.W. mlad ad M. Safd, Magde ad Symmec Opmm Ceo fo e Deg of ea Cool Syem: Wa ad ow doe compae w e oe?, EEE d. Appl. Soc. A. Meeg, pp , 988 [4].F. Nel, Modl ad Symmec Opmm Cea fo e Deg of ea Cool Syem, Memo, Dep. Elec. Powe Eg., NN, odem, Ma.. [44] N.P. Qag ad J.-A. Dc, Veco Cool of ee-pae AC Mace: Syem Developme e Pacce, Spge, 8, pp.4 8. [45] H. Kolad ad K. jøeløy, W GB omfome. Bevele, Abedoa: a.., SNEF Eegfog AS, odem, Noway, Sep.. [46] K. jøeløy, Poceoo bae på Xl Ve5 FPGA. V.. Bevele, Abedoa: AN 9..4, SNEF Eegfog AS, odem, Noway, Feb. 9. [47] K. jøeløy, bay of P modle, bldg bloc fo FPGA baed covee cool yem, Pojec Memo: AN..66, SNEF Eegy eeac, odem, Noway, J.. [48] EM, Ce adce A 5-S, A 5-S daaee, Avalable: p:// [49] EM, Volage adce V 5-6, V 5-6 daaee, Avalable: p:// 99

120 [5] Hedea, oay Ecode, daaee, Ap. 5. [5] AcveDSP AS, AcveDSP: A ool fo eal me Moog, Opeao ad Maeace of Embedded Syem, e Maal, 8. [5] DVECOM Nzegppe e.v., DVECOM Pofle Dve Egeeg, May 995.

121 Apped A S-Pae dco Mace Nameplae Daa e maface ameplae daa of e -pae dco mace ed e epeme ae gve e able below: Paamee Eplaao Vale N Nomal le o le volage [V m ] 4 V N Nomal le ce [A m ].8 A f N Nomal feqecy [Hz] 75 Hz p Nmbe of pole pa N Nomal peed [mecacal pm] 5 pm M N Nomal op oqe [Nm] 5 Nm P N Nomal powe op [W].7 W coφ N Nomal powe faco.77 MAX Mamm peed [mecacal pm] 5 able A.: S-pae dco mace ameplae daa

122 B Pe yem e pe yem ed e mplemeao of e yem ae gve e bae efeece vale ae baed o e followg ee omal qae obaed fom e ameplae of e -pae dco mace gve Apped A:. N, e omal le-o-le volage. N, e omal ao le ce. f N, e omal ao feqecy Pycal qay Bae qay defo Vale of bae qay AC Volage N 6.6 V DC l volage dc, N 65. V Ce 6.7 A N mpedace Z 9.56 Ω Powe S 6.5 W N N Feqecy f f 75 Hz N Agla peed eleccal ω f N 47.4 ad Speed mecacal f N 6 5 pm p oqe M p S ω N 69.4 Nm Fl lage Ψ.69 Wb ω able B.: Pe yem

123 C S-Pae dco Mace Eqvale Cc Paamee A meod of calclag ee-pae dco mace cc paamee fom e ameplae daa gve [44]. e meod e vee-γ eqvale model of dco mace. meod adaped o emae paamee of e -pae dco mace. Oly e ao eace wa emaed epemeally g DC eace meaeme ad aveagg e pae eace. Epemeal defcao of e oe paamee beyod e cope of wo. e vale ae caled accodg o e pe yem ed e. Paamee Vale [p] H able C.: Cc paamee of -pae dco mace

124 D Cool Paamee e P coolle me coa e followg able ae epeed a e amplg me dvded by e acal me coa fo dgal mplemeao. e amplg me ae gve eac able. Paamee Vale K pd.5 K pq. K pz. K pz. _dv_ d.7 _dv_ q.45 _dv_ z.4 _dv_ z.4 amp, f c, / ec Hz able D.: SSFC ce coolle paamee Paamee Vale K pd. K pq. K pd. K pq. _dv_ d.5 _dv_ q.5 _dv_ d.5 _dv_ q.5 amp, f c, / ec Hz able D.: DSFC ce cool paamee 4

125 Paamee Vale K 8. _dv_.5 K. _dv_.8 amp / ec able D.: Paamee of oe fl ad peed coolle Paamee Vale f w v Hz.667 m,ma.5 able D.4. vee paamee 5

126 E Addoal el SSFC. Speed Cool Fge E.: Speed cool dg load dbace Speed cool de load dbace w peed cool a.5 p gve above. oad oqe vaed by vayg e feld volage of e DC mace.. ecfe off ad DC l lo Fge E.: ecfe off ad o 6

127 . vee p Fge E.: Pae ce ad volage afe p of vee 7

128 F Addoal el DSFC. Speed cool Fge F.: Speed cool loaded mace Fge F.: peed cool dg load dbace 8

129 . DC l devolage Fge F.: oqe efeece dg DC l devolage Fge F.4: Ce dg DC l devolage 9