Transcript Document

Prof. Ion BOLDEA
Department of Electrical Machines and Drives, University Politehnica
of Timisoara, V.Parvan 2,
RO - 1900 Timisoara, Romania, Tel.+40-56-204402, E-mail:
[email protected],
University “Politehnica” of Timisoara
1 of 61
Contents
•
•
•
•
•
Introduction
Variable speed wind-generator systems
Variable speed hydro-generator systems
Stand-alone variable speed generators
Superhigh speed gas turbine PM generator
systems
• Automotive starter (torque-assist)/alternator
systems
• Home and space electric generator systems
• Conclusion
University “Politehnica” of Timisoara
2 of 61
Variable speed wind-generator systems
• 13,932 MW by the end of 1999
• 2 – 2.5 MW units
Wind turbine induction generator system with blade angle
control and soft-starter [1]
CR-IG
University “Politehnica” of Timisoara
3 of 61
Connection circuit for fixed – speed wind turbine
using external resistors
CR-IG
University “Politehnica” of Timisoara
4 of 61
Measured (gray) and calculated (black)
current magnitude as the 15- kW machine is
connected using external resistance [26]
Measured (gray) and calculated (black) rotor
speed magnitude as the 15- kW machine is
connected using external resistance [26]
Measured (gray) and calculated (black) machine voltage as 15- kW
machine is connected using external resistance [26]
University “Politehnica” of Timisoara
CR-IG
5 of 61
Variable speed generator connected to the grid
through bidirectional converter
University “Politehnica” of Timisoara
CR-IG
6 of 61
Grid side converter control
University “Politehnica” of Timisoara
CR-IG
7 of 61
Machine side converter control
University “Politehnica” of Timisoara
CR-IG
8 of 61
CR-IG
 Unity power factor
Phase current and voltage.Speed
1500 rpm, generator, torque 100%
Phase current and voltage per
phase.Speed 1500 rpm, generator,
torque 100%, reactive power 50%
Results with inverter control at power grid
University “Politehnica” of Timisoara
9 of 61
Stand alone SCIG control systems [3]
University “Politehnica” of Timisoara
CR-IG
10 of 61
a) Vdc versus time
b) Vd versus time
Full load application over 50% load application [3]
CR-IG
University “Politehnica” of Timisoara
11 of 61
Doubly-fed IG (DFIG) wind turbine system
DFIG
University “Politehnica” of Timisoara
12 of 61
a)
b)
Vector control of DFIG a) and
step active power response b),
without and with decoupled
control [4]
University “Politehnica” of Timisoara
13 of 61
Sensorless
DFIG with
operating
modes I, II,
III [8]
University “Politehnica” of Timisoara
14 of 61
Rotor and stator current and their
harmonics content at s = -0.27with
controlled rectifier - current source
inverter in the rotor
DFIG
University “Politehnica” of Timisoara
15 of 61
DFIG connected to the power grid
University “Politehnica” of Timisoara
16 of 61
Power [pu / 2000 kW]
Turbine speed referred to generator side [rpm]
Implemented wind turbine characteristics – aerodynamics
characteristics
DFIG
University “Politehnica” of Timisoara
17 of 61
DFIG
The block diagram of the supply – side converter control [8]
University “Politehnica” of Timisoara
18 of 61
The block diagram of the machine-side converter control in a
DFIG
doubly-fed wind turbine [8]
University “Politehnica” of Timisoara
19 of 61
a) The active and b) reactive stator power control [8]
DFIG
University “Politehnica” of Timisoara
20 of 61
Three-phase short-circuit
on the power grid :
a)
Stator voltage
b) Stator currents
c)
Rotor currents
d) Speed
e)
Turbine torque
f)
Electromagnetic torque
g) Active power
h) Reactive power
[8]
University “Politehnica” of Timisoara
DFIG
21 of 61
Modified vector controller
for unbalanced voltages in the
power grid [6]
DFIG
University “Politehnica” of Timisoara
22 of 61
Stator currents in individual phases
Stator currents in individual phases
for 10% negative-sequence voltage
for 10% negative-sequence voltage
applied - conventional controller [6]
applied - modified controller [6]
DFIG
University “Politehnica” of Timisoara
23 of 61
Stator currents in individual
phases for two- phase
operation-modified controller
[6]
DFIG
University “Politehnica” of Timisoara
24 of 61
Sensorless control of DFIG
Im s 
s
 Im s  j Im s
Ls



 s   V s  Rs i s dt

Ls
I  ir  jir   i ms  i s
Lm
s
r
cos  1  ir is
cos  2  ir ? ir
sin 1  ir  ir
sin 2  ir  ? is
sin  er  sin  1   2 
d er
 r
dt
DFIG
University “Politehnica” of Timisoara
25 of 61
Sensorless control of DFIG
Experimental waveforms showing estimated and actual sin  for
step in ifrom
0 to 0.5 p.u. [2]
rq
DFIG
University “Politehnica” of Timisoara
26 of 61
Sensorless control of DFIG
DFIG
a) Before filtering [2]
b) After filtering
Experimental waveforms showing estimated and actual  at starting
University “Politehnica” of Timisoara
27 of 61
Variable speed hydrogenerator systems
Pump storage
necessities prompted
by nuclear power
usage led to the
design and
application of two
rather large
(310MW) power
DFIGs; one with a
cycloconverter and
the other with a
GTO inverterconverter in the
rotor circuit [10]
University “Politehnica” of Timisoara
28 of 61
Ramp power response for motoring mode
(Ohkawachi unit 4) [10]
University “Politehnica” of Timisoara
DFIG
29 of 61
Ramp power response for generating mode
(Ohkawachi unit 4) [10]
DFIG
University “Politehnica” of Timisoara
30 of 61
Goldishtal pump-storage station
300 MW [27]
University “Politehnica” of Timisoara
DFIG
31 of 61
Power flow at constant torque in turbine and pump
operation [27]
DFIG
University “Politehnica” of Timisoara
32 of 61
Stand-alone variable speed generators
Stand-alone MG generator – converter with battery quick back up
PMSG
University “Politehnica” of Timisoara
33 of 61
PMSG
PM generator advanced mobile genset [28]
PMSG
University “Politehnica” of Timisoara
34 of 61
PM generator
advanced
mobile genset
[28]
Peak torque,
power and fuel
consumption
PMSG
University “Politehnica” of Timisoara
35 of 61
PM
alternator
genset
with
Diesel
engine
[28]
PMSG
University “Politehnica” of Timisoara
36 of 61
Dual stator winding IG with reduced
count inverter – battery system
University “Politehnica” of Timisoara
CRIG
37 of 61
Starter generators for vehicular technologies
• Induction type
• IPM brushless type
• Transverse flux PM brushless type
• Switched reluctance type
• Claw pole rotor synchronous type
Characteristics :
* High starting torque
* Large power speed range
* Low volume and system costs
* Low total system losses at 42 Vdc – battery – mild hybrids, 200 –
400 Vdc – battery – full hybrids and electric vehicles
ISG
University “Politehnica” of Timisoara
38 of 61
Starter-alternators (continued)
So there is the low voltage (42 V d.c.)
starter-alternator and the high voltage (150400 V d.c.) motor-generator for mild and
respective heavy hybrids electric vehicles.
Typical peak torque and voltage versus
speed for a PM-RSM mild hybrid starting
and, respectively, torque-assist mode are
shown in next slide, with corresponding
ISG
efficiency.
University “Politehnica” of Timisoara
39 of 61
Starter-alternators (continued)
42V
battery
voltage
versus
d.c.
current
load
ISG
University “Politehnica” of Timisoara
40 of 61
Starteralternators
PM-RSM
crosssection
[12]
ISG
University “Politehnica” of Timisoara
41 of 61
a) Generating
Rotor position
b) Motoring
 er in relation to  
s
and   s
ISG
University “Politehnica” of Timisoara
42 of 61
Starter-alternators (continued)
150
1
60
0.9
125
50
100
40
0.8
30
50
20
25
10
Efficiency
75
Voltage (V)
Torque (rpm)
0.7
0.6
0.5
0.4
0.3
0.2
0.1
0
0
1000
2000
3000
speed (rpm)
a)
4000
5000
0
6000
0
0
1000
2000
3000
Speed [rpm]
4000
5000
6000
b)
Peak torque, voltage a) and corresponding machine
efficiency versus speed b) [12]
University “Politehnica” of Timisoara
ISG
43 of 61
a)
b)
Potential 42V d.c. automotive starter/alternator system
with winding switch (a.c. machines) and passive
(capacitor) voltage a) and with boost/buck converter b)
ISG
University “Politehnica” of Timisoara
44 of 61
H-bridge dc – dc boost bidirectional converter with
transformer and inductance (T + L) [11]
ISG
University “Politehnica” of Timisoara
45 of 61
IGBT losses for the induction motor drive: base
and max speed, with and without boost converter [11]
Total power loss at 30 kW max. delivered power motor
design of Table 2 with boost converter, Vb =180 V [11]
Total power loss at 30 kW max. delivered power motor
design of Table 1 with boost converter, Vb =180 V [11]
University “Politehnica” of Timisoara
46 of 61
Fundamental rotor – position and speed tracking observer [14]
ISG
University “Politehnica” of Timisoara
47 of 61
Estimated initial electrical rotor position [14]
University “Politehnica” of Timisoara
ISG
48 of 61
Superhigh speed gas turbine PM generator
systems
Typical power – speed ranges :
• to 150 kW at 70 – 80 000 rpm
• to 1.4 – 5 MW at 18 000 – 15 000 rpm
Applications :
Stand alone, standby or cogeneration in distributed
power systems.
PMSG
University “Politehnica” of Timisoara
49 of 61
The superhigh PM generator : rotors
a) cylindrical
b) disk – shape
PMSG
University “Politehnica” of Timisoara
50 of 61
Variable speed PMSG system with constant output
voltage and frequency
PMSG
University “Politehnica” of Timisoara
51 of 61
3 – 5 MW medium voltage superhigh speed PMSG ( f1  0.6  1.2 kHz )
With dc voltage booster and three level PWM inverter
University “Politehnica” of Timisoara
52 of 61
Home and space electric generator
systems
Stirling
engine
linear PM
generator
[25]
University “Politehnica” of Timisoara
53 of 61
Various PM linear
alternators [25]
University “Politehnica” of Timisoara
54 of 61
Conclusion
The present paper leads to conclusions such as:
 variable-speed generator technologies for power
systems are already available up to 400 MW with
doubly-fed induction generator motors. They bring
more flexibility and better efficiency to power
production and transportation for distributed/power
systems wind and hydro electric generators are prime
candidates for variable speed
 better system design optimisation and sensorless
control methodologies are still desired
University “Politehnica” of Timisoara
55 of 61
• automotive starter-alternator system for mild (42V
d.c.) and heavy (150-600V d.c.) hybrid vehicles have
been proposed in various configurations. The IM
solution has been brought to markets by Toyota and
Honda. Up to 35% fuel consumption reduction in
town driving has been reported for Toyota Prius but
the additional electrical equipment has been rated at
3000 USD. PM-RSM or transverse flux PM rotor
configurations are currently proposed as they are
credited with slightly less initial system costs for
lower total system losses.
University “Politehnica” of Timisoara
56 of 61

PM or induction generators with full (respectively
fractionary) power electronics rating are proposed for
dedicated stand alone or mobile gensets in the tens or
hundreds of kW. Faster availability, lower volume and better
energy conversion ratio with faster response for load
transients are expected for such solutions.
• Superhigh speed PM generators with powers up to 150kW
and 75 krpm and for higher powers (up to 5 MW and 15
krpm ) are proposed for distributed power systems, aircraft
and small vessel.
University “Politehnica” of Timisoara
57 of 61

Home combined electricity and heat production
through burning natural gas has been demonstrated with
quiet, free piston Stirling engines and linear PM
generators for efficiency above 85%, and at the power
electric grid for tens of thousands of hours in the kW
range. More compact configurations with still high
efficiency and lower initial costs are required to make
home electricity generation truly practical with all
implicit advantages.
University “Politehnica” of Timisoara
58 of 61
References
1.
L. Mihet Popa, F. Blaabjerg, I. Boldea, “Simulation of wind generator systems for the power grid”, Record
of OPTIM – 2002, vol 2, Nr. 423 – 428.
2.
G. Podder, A. Joseph, A.K. Unnikshnan, “Sensorless variable – speed control for existing fixed speed wind
power generator with unity power factor operation”, IEEE Transactions, Vol. ???, No. 5, 2003, pp. 1007 –
1015.
3.
R. Teodorescu, F. Blaabjerg, F. Iov, “Control strategy for small stand – alone wind turbines ”, Record of
PCIM – 2003, Nurnberg, pp. 201 – 206.
4.
S. Muller, M. Deicke, R.W. De Doncker, “Adjustable speed generators for wind turbines based on doubly
fed machines and 4 quadrant IGBT converter linked to the rotor”, Record of IEEE – IAS – 2000 Annual
meeting, pp. 2249 – 2254.
5.
E. Bogalecka, Z. Krzenmiski, “Sensorless control of doubly fed machine for wind power generators”,
Record of EPE – PEMC – 2002, Dubrovnic – Cavtat .
6.
I. Bendl, M. Chomat, L. Schreier, “Independent control of positive – negative sequence current components
in doubly fed machine”, Record of EPE - 2001
7.
L. Morel, H. Godfroid, A. Mirzoian, J.M. Kauffmann, “Doubly – fed induction machine: converter
optimization and field orientation control without position sensor ”, Proc. IEE, Vol. EPA – 145, No. 4, 1998,
pp. 360 – 368.
8.
I. Serban, F. Blaabjerg, I. Boldea, Z. Chen, “A study of doubly-fed wind power generator under power
systems faults ”, Record of EPE – 2003, Toulouse, France.
University “Politehnica” of Timisoara
59 of 61
9.
P. Pena, J.C. Clare, G.M. Asher, “A doubly fed induction generator using back to back PWM converter supplying
an isolated load from a variable speed turbine ” , Proc. IEE, Vol. EPA – 143, No. 5, 1996, pp. 380 – 387.
10.
T. Kuwabara, A. Shibuja, H. Furata, “Design and dynamic response characteristics of 400 MW adjustable speed
pump storage unit at Ohkawachi power station”, IEEE Transactions, Vol. EC – 11, No. 2, 1996, pp. 376 – 384.
11.
A. Vagati, A. Fratta, P. Gugliehni, G. Franchi, F. Villata, “Comparison of a.c. motor based drives for electric
vehicle application”, Record of PCIM – 1999, Nurenberg, pp. 173 – 181.
12.
I. Boldea, L. Tutelea, C.I. Pitic, “PM-assisted reluctance synchronous motor/generator (PM-RSM) for mild hybrid
vehicles”, Record of OPTIM – 2002, Vol. 3, pp. 383 - 388.
13.
W. L.. Soong, M. Ertugrul, E.C. Lovelace, T. M. Jahns, ”Investigation of interior permanent magnet offset
coupled automotive integrated starter – alternator ”, Record of IEEE – IAS – 2001, Annual meeting.
14.
H. Kim, K. K. Huh, M. Harke, J. Wai, R.D. Lorenz, T. Jahns, “Initial rotor position estimation for an integrated
starter alternator IPM synchronous machine”, Record of EPE – 2003, Toulouse, France.
15.
M. Linke, R. Kennel, J. Holtz, “Sensorless speed and position control of synchronous machines using alternating
carrier injection”, Record IEEE – IEMDC – 2003, Vol. 2, pp. 1211 – 1217.
16.
H. Bausch, A. Graif, K. Kanelis, A. Nickel, “Torque control of battery – supplied switched reluctance drives for
electrical vehicles ”, Record of ICEM – 1998, Vol. 1, pp. 229 – 239.
17.
O. Pyrhönen, “Analysis and control of excitation, field weakening and stability in direct torque controlled
electrically excited synchronous motor driver ”, Ph. D. Dissertation , Lappenranta University of Technology,
Finland, 1998.
18.
M. P. Kazmierkowski, F. Blaabjerg, R. Krishnan, Editors , “Control in power electronics ” – special problems,
book, chapter 9, “DTC of a.c. drives”, by I. Boldea, Academic Press, 2002.
University “Politehnica” of Timisoara
60 of 61
19.
H. Polinder, “On the losses in a high speed PM generator with rectifier with special attention to the
effect of damper winding”, Ph. D. Thesis, Technical University Delft, Netherlands, 1998.
20.
A. Castagnini, I. Leone, “Test results of a very high speed PM brushless motor”, Record of ICEM –
2002.
21.
D. Ede, Z.Q. Zhu, D. Howe, “Rotor resonance of high speed PM brushless machines”, IEEE
Transactions, Vol. IA – 38, No. 6, 2002, pp. 1542 – 1548 .
22.
Z.J.J. Offringa, R.W. P Kerwnaer, J.L.F. Van der Veen, “A high speed 1400 kW PM generator with
rectifier”, Record of ICEM – 2000, Vol. 1, pp. 301 – 313.
23.
K.H. Kim, M.J. Youn, “DSP – based high – speed sensorless control for a brushless d.c. motor using a
d.c. link voltage control”, ECPS Journal, Vol. 30, No. 9, 2002, pp. 889 – 906.
24.
B-H Bae, S-K Sul, J-H Kvon, J-S Byeon, “Inplementation of sensorless vector control for superhigh
speed PMSM of turbo – compressor”, IEEE Transactions, Vol. IA – 29, No. 3, 2003, pp. 811 – 818.
25.
I. Boldea, “Linear electric actuators and their control”, Record of EPE – PEMC – 2002, Dubrovnik,
Croatia.
26.
T. Thiringer, “Grid-Friendly Connecting of Constant-Speed Wind Turbines using External Resistors”,
IEEE Transactions on Energy Conversion, vol. 17, December, 2002
27.
A. Bocquel, J. Janning, “4*300 MW Variable Speed Drive for Pump-Storage Plant Application”, EPE
2003 – Toulouse
28.
L. M. Tolbert, W. A. Peterson, T. J. Theiss, M. B. Scudiere, “GEN-SETS”, Industry Application, IEEE,
March, 2003
University “Politehnica” of Timisoara
61 of 61