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turned off when the phase angle of the acceleration of the
existing stator vibrations behind the stator poles is
between 90 and 270 degrees, the acceleration produced H
in this case will assist the existing vibrations. The stator
vibrations consequently increase. I
d) The vibrations induced at 90 mechanical
degrees to the excited pole is exactly 180 degrees out of
phase with the vibrations of the excited poles. This is due
to the ovalizing characteristics of the stator.
e) The largest vibrations are produced when an
odd harmonic of the exciting phase current and the Fig. 2.1 Block diagram of SRM drive
resonant frequency of the stator are coincident. Smaller
vibrations are produced with the coincidence of an even 2.3 Sound pressure and power measurement
harmonic of the exciting current and the resonant A comparative evaluation of the noise is made
frequency of the stator. in a anechoic chamber with a commercial converter and
with the new chopper controlled converter. The theory of
2.2 Techniques for mitigation the noise measurement is now presented [6].
As a result of the noise characteristics above, There are three different processes for the
several techniques were developed for reducing the measurementof sound power in a free field. They are, (a)
noise in SRMs. spherical surface measurement, (b) hemispherical
surface measurement, and (c) conformal and other
a) Selection of a current conduction angle away measurement surfaces. For spherical surface
from the aligned position. This is inefficient and measurement, the machine is required to be placed at the
unacceptable since full use of the phase is not utilized. center of an anechoic chamber or suspended in a large
b) Control the firing of the phases based on the open area and multiple-point sound-pressure level
mechanical vibration. This requires knowledge of the measurements made over a spherical surface enclosing
phase of the vibration. the machine. Hemisphericalsurface measurements are
c) Implementing turn off in two stages so that made with the machine mounted on the ground in an
the induced vibrations cancel each other out. This will open area or in a semi-anechoic chamber, i.e. an
lead to deterioration of overall performance and in anechoic chamber having a hard (reflecting) floor. If a
particular the possibility of current flowing in the negative sound absorbent floor is used then the dB error is the
aUd0 region. noise pressure is less than 1 dB. This is the method used
In this paper, a chopper controlled SRM drive in this paper. The third method is used for vertical
is proposed for noise reduction. The idea arose from machines and for large machines mounted on the floor.
point 2 in section 2.1 which states that the magnitude of The machine under investigation is rated at 5
the vibration is proportional to the gradient of the exciting HP and is mounted in a semi-anechoic chamber with a
current. This was observed qualitatively in that the SRM sound absorbent floor. Hence the hemispherical surface
motor noise was much lower at high speeds where the measurement process must be used where sound-
motor back emf counters the applied voltage to reduce pressure level measurements can be made over a
the rise and fall times of the phase currents. At low hemisphericalsurface of radius r enclosing the machine.
speeds, the noise was particularly severe where full Table 1 gives the coordinates of 10 key measurement
voltage was being applied to the phase with very little points and figure 2.2 illustratesthe relative locations of the
counter emf to reduce the current gradient. microphone positions.
In this paper a chopper is inserted between the These locations give the Cartesian coordinates
rectifier output and the SRM converter as shown in figure (x, y, z) with the origin at the center of the source. The z
2.1. The chopper is fully on at full speed but at low axis is chosen perpendicularly upward from a horizontal
speeds the chopper mark-space ratio is controlled to plane (z=O). It should be at least twice the largest linear
reduce the average dc voltage applied to the converter. dimension of the motor but not less than 1 m.
Thus when the SRM converter is fired, the lower dc link The sound pressure level at a given point is
voltage results in a lower rate of change of the current defined as the instantaneous pressure minus the static
which according to part 2 above should result in a pressure atthat point and generally it is expressed as the
reduced noise. sound-pressure level in dB which can be described by the
following equation:
Lp - 10 log,, P2
dB (2.1)
P ref
314
where p is the r.m.s sound pressure and pnr is the r.m.s where W is the average sound power emitted by an
reference sound pressure which is internationally taken object in watts and W,d is the reference sound power in
as 2x1O 5 Nm". watts. InternationallyWM is taken as
1x10-l2watts. \
The sound intensity at a given point in a sound
field in a specified direction is defined as the average
sound power passingthrough a unit area perpendicular
to the specified direction at that point. For a plane and
spherical sound wave propagating in a free field, the
sound intensity along the direction of wave propagation
is given by
--v
/
I -0.56r ,
9
7.
0 89r wrePc
31 5
pc=415 kgm-*s-’. the dc link capacitor. Once the dc link reaches the
So, the sound-power level can now be nominal operating voltage, the resistor is shorted with a
expressed as: relay.
L~ - L~ + 10 log,, 2 n r 2 (2.9)
During a supply disturbance like an outage for
a few cycles or a dip for several cycles, the dc link voltage
will rapidly reduce as it supplies power to the motor. In the
commercial drive, the entire drive is disconnected at
around 90% of nominal voltage. The reason is that if the
power is reclosed onto a low dc link voltage, a large surge
in the rectifier current will result, which can easily exceed
the diode ratings.
Thus to improve the ride-through capability,
either the series resistor must be reinserted at some
defined dc link voltage or an alternative technique used to
control the inrush current. An alternative is to use a
chopper which can control the inrush current by varying
the mark-space ratio. Thus the input voltage can be
matched to the residual dc link voltage (on the output of
the chopper) with a proper mark-space ratio. Thus the
chopper in this design performs the dual function of
improving the ride-through capability as well as reducing
the acoustic noise.
100
Conduclive Separalor
lnsulaling Ring
10
Eleclrode
(Carbon and Eleclrolyle]
316
3.3 Overall block diagram to the converter IGBT's via the driver circuit.
The motor drive consists of the speed, switching The split link converter is used for the phase
angle and current feedback controllers as well as the machine to allow the use of 4 power switching devices
rectifier, chopper, split-link converter, motor and encoder with 4 phases and only 2 current transducers.
as is shown in Fig. 3.3 [e]. Speed and position feedback
are obtained from an absolute optical encoder. The 3.4 Power circuit
commanded speed W', is compared with the actual In this Converter, T1 is used to allow current to
speed W; the difference behrveen these two signals is the flow into phase 1. For current control, T I is turned off and
speed error. This error is the input of a PI speed the current freewheels through D I , capacitor C2 and
controller. The output of the PI controller is the phase 1,When the current flows through C2, -lR Vdc is
commanded torque from which a current "i"' is produced. effectivelyapplied to phase 1 so that the current reduces
The switching angle controller produces the more quickly than if 0 V is applied. In order to turn the
reference currents i,*, i,* i,* ,,; i the rotor position 8r and phase off completely, T1 is turned off and the current
i*. These are compared with the actual i,, ib i, and id takes the same path as during freewheeling so that the
currents for current control. While many different forms of rate of fall is the same as during current control.
current control are available, a simple hysteresis controller
is used here. The actual ,i ,ib , ic and idcurrents are 3.5 Semikron driver circuit
measured using current transducers. 3.5.1 Conventional design
Some overlap betweer! the phase currents is The IGBT is a voltage controlled device and
often desirable to minimize the torque ripple; this overlap exhibits MOSFET-like capacitive gate-to-emitter
is achieved by advancing the firing angle of each phase characteristics. The SKHl 21 driver shown in figure 3.4,
and is controlled by a DSP. The motor used is a is a hybrid IC capable of driving a 150 A, 600 V IGBT or
commercial SRM with 8 stator poles and 6 rotor poles. 8 75 A, 1200 V IGBT [Q].Since the signal delay in the
drive circuit is 1 ps or less, the hybrid IC is suitable for
switching at up to about 40 kHz.
1 PQIMIIPY SCCONDARY I
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31 7
interruption. The value is 1.1 F. Three 5.5 V super
capacitor were used in series because of the availability
of the 5.5 V rating.
The drivers used for the chopper and for the
four switches T I to T4 are the SKHl21 manufactured by
SEMIKRON. Each driver controls two IGBTs, so only
three drivers are required. The power supply for these
drivers is 15 V. The supply current is 160 mA. The
minimum supply voltage is 13 V. If it falls below this value
the turn-on pulses for the IGBTs are blocked. The voltage
of the super capacitors during the power interruption
must be greater than 13 V.
To make certain that the voltage across the
individual device (capacitor) in the series string does not
exceed the maximum voltage of each capacitor, 5.6 V
zener diodes are connected in parallel to each super
capacitor.
3.6 Super capacitors for the logic circuit Fig. 4.1 gives the algorithm for improved ride
The DSP TMS320E15 and all the logic requires through capability during the power interruption or dip. To
5V DC and the supply current is 1.3 amps. Hence four detect the interruption or dip in the power supply, a
super capacitors rated at 3.3 F, 5.5V are used to resistor R2=100K and an optocoupler LM3093 IC9 are
provide standby power. The current transducers, the connected as shown in Fig. 3.3. A current i flows through
analog to digital converter and the analog switch requires the resistor and the optocoupler. A voltage V proportional
+ I 2 V DC and -12 V DC and the supply current is 130 to the current i appears at the output of the optocoupler.
mA. Thus three super capacitors of 3.3 F 5.5 V DC Hence the voltage V is also proportional to the dc link
connected in series are used to provide backup power. voltage at the output of the bridge rectifier.
To ensure equal voltage distribution, 5.6 V zener diodes The voltage V, is compared to a reference
are connected across each capacitor. The discharge voltage Vref. When V > Vrefthe output of the comparator
rates of the 5 V logic, as well as the +I5 V supply, both is low. If V .C Vref the comparator output goes high;
with and without super capacitors are in figures 3.5 and under this condition a dip or an interruption in the power
3.6 respectively. supply has been detected. To avoid oscillations, the
- _____.. __ output of the comparator feeds a Schmitt-trigger. The
r - qF F T R O N 1 X 2232 1 output of the comparator is used to turn on LED 1, which
is used to indicate a disturbance at the input voltage. The
output of the comparator is also used to interrupt the
DSP. The DSP then turns the chopper off and continues
to fire the converter, thus transferring energy from the dc
link to the motor. Energy for the electronic and drivers
circuits are obtained from the super capacitors described
previously.
After the power returns, the highest p r i o r i is the
charging of the D.C. link capacitors. To control the
charging current, the chopper is turned on for a short
time and turned off again, so the current does not exceed
the ratings of the devices.
During the period of the dc link capacitor
Fig 3.5 5V and 15V supply voltage without super charging, the firing of the converter is inhibited. To avoid
capacitors. 2VIdiv (top), 5V/div (lower). 0.1 s/div. the use of a second voltage sensor on the output of the
chopper, an open loop charging for the capacitor is
4. ALGORITHM FOR IMPROVED RIDE THROUGH executed, assuming a worst case of the dc link capacitor
CAPABILITY being completely discharged.
During a power interruption or dip, the chopper In order to limit the current flowing through the
isturned off, butthe controller continues firing the phases chopper and the diode bridge , the firing of the motor
through the converter, based on the rotor position. converter is inhibited to remove an additional parallel path
Becausethe chopper is off, there is no current flow from to the dc link capacitor. The time duration to fire is
the power supply, and the dc link capacitors supplies determined from a PSPlCE simulation as shown in Fig.
energy to the motor. The energy stored in the dc link 4.2. Once the nominal voltage for the capacitor is
capacitors is relatively small, therefore the capacitor obtained, the SRM converter is fired again.
voltage decays. Hence the speed also decays, since the
motor energy requirements are not being met.
31 8
40
a
!39
~ H A R G ECAPACITOR<,
r--
Fig. 4.3 Difference of sound pressure level vs. speed
._ __ ~- -
319
with power as shown in figure 4.10. The gate drive
signakfor phase A are shown in figure 4.1 1. During the
fault, there is a reduction in the driver voltage but it is still
operating properly with the help of the super capacitors.
There is a short duration when phase A is turned off to
allow charging of the dc link Capacitors. The phase A
current is shown in figure 4.12. During normal operation
the phase A current is proportional on the load of the
motor. During the fault, the phase A current gradually
reduces as the dc link capacitors discharge. When firing
begins again after the dc link capacitors are charged up,
a larger current is drawn to accelerate the motor back up
to the commanded speed.
320
The speed of the motor is shown in figure 4.13. For the
fault applied here, a 20% reduction in the speed was
experienced.
5. CONCLUSIONS
REFERENCES
[I]. H.H. Moghbelli, G.E. Adams, R.G. Hoft, "Comparison
of Theoretical and Experimental Performance of 10 hp
Switched Reluctance Motor", Industry Applications
Society annual meeting, 1989, pp. 89-1 07.
[2]. C. W. Wu and C. Pollock, "Analysis and Reduction of
Vibration and Acoustic Noise in the Switched Reluctance
Fig. 4.1 1 Gate drive for phase A. 5 Vldiv. 100 mddiv. Drive", Conference Record of the 1993 IEEE-IAS Annual
Meeting, Part I, pp. 106-113.
[3]. D. E. Cameron, J. H. Lang, and S. D. Umans, "The
I---:
I
-
. . . . . , .
. .; 1
. , . :
.--
.., ;1..4,
origin and reduction of acoustic noise in doubly salient
variable reluctance motor", IEEE Trans. on Industry
applications, vol. IA-26, No. 6, pp. 1250-1255,1992.
[4] C. Y. Wu and C. Pollock, "Time domain analysis of
vibration and acoustic noise in the switched reluctance
drive", IEE, International Electrical Machines and Drives
I__-- _._----_J Conference, 1993.
[5]. J. Hob, W. Lotzkat, "Controlled AC Drives with Ride-
Through Capability at Power Interruption", IEEE 1993,
Fig. 4.12 Phase A current. 1 Ndiv, 1OOms/div. pp. 629-636
[6]. S. J. Yang and A, J. Ellison, Machinery Noise
Measurement,Oxford Universty Press, New York, 1985.
[7]. J. Lai, "Super Capacitors and Their Applications",
PQNPECON IV Conference.
[8]. R. Samudio, P. Pillay, "DSP Based Control of
Switched Reluctance Motors", proceedings of 1994 IEEE
southeastcon '94, Miami FI, April 1994, pp. 115-119.
[9]. Semikron Power Semiconductors Data Book,
Semikron International, 1992.
[I01. T.J.E. Miller, "Brushless Permanent-Magnet and
Reluctance Motor Drives", Oxford science publications,
1989, pp. 149-189.
Speed
time
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