Chapter
1.2.2 Linear Motion Device
1.2.3.1 Direct current motor
1.2.3.2 Synchronous motor
1.3 Mechanical Load System
1.3.1 Dynamic Equation of Motion
1.3.1.1 Combination system of translational motion and rotational motion
1.3.1.2 System with gears or pulleys
1.3.2 Operating Modes of an Electric Motor
1.4 Components of an Electric Drive System
1.4.3 Power Electronic Converters
1.4.4 Digital Controllers
1.4.5 Sensors and Other Ancillary Circuits
2 Control of direct current motors
2.1 Configuration of Direct Current Motors
2.2 Modeling of Direct Current Motors
2.2.2 Back-Electromotive Force
2.2.4 Mechanical Load System
2.3 Steady-State Characteristics of Direct Current Motors
2.3.1 Armature Voltage Control
2.3.3 Operation Regions of Direct Current Motors
2.3.3.1 Constant torque region (0≤ωm≤basespeed ωb)
2.3.3.2 Constant power region (ωm≥basespeed): field-weakening region
2.4 Transient Response Characteristics of Direct Current Motors
2.5.1 Configuration of Control System
2.5.2.1 Open-loop control (or nonfeedback control)
2.5.2.2 Closed-loop control (or feedback control)
2.5.2.2.1 Feedback control
2.5.2.3 Feedforward control
2.5.3 Design Consideration of Control System
2.5.3.1.1 Gain margin and phase margin
2.5.3.2 Response time/speed of response
2.5.3.3 Steady-state error
2.6 Current Controller Design
2.6.1 Proportional–Integral Current Controller
2.6.1.1 Selection of the bandwidth for current control
2.6.2 Anti-windup Controller
2.6.2.1 Gains selection procedure of the proportional–integral current controller
2.7 Speed Controller Design
2.7.1 Proportional–Integral Speed Controller
2.7.1.1 Selection of the bandwidth of speed control
Gains selection procedure of the proportional–integral speed controller
2.7.1.3 Drawback of a proportional–integral speed controller
2.7.2 Integral-Proportional Controller
2.8 Power Electronic Converter for Direct Current Motors
2.8.1.1 Bipolar switching scheme
2.8.1.2 Unipolar switching scheme
2.9 Simulation of Direct Current Motor Drive System: MATLAB/Simulink
2.9.1 Direct Current Motor Modeling
2.9.2 Mechanical System Modeling
2.9.3 Proportional–Integral Current Controller Modeling
2.9.4 Proportional–Integral Speed Controller Modeling
2.9.5 Four-Quadrant Chopper Modeling
3 Alternating current motors: synchronous motor and induction motor
3.1.1 Structure of Induction Motors
3.1.1.2.1 Squirrel-cage type
3.1.1.2.2 Wound-rotor type
3.1.2 Fundamentals of Induction Motors
3.1.2.1 Rotating magnetic field
3.1.3 Equivalent Circuit of Induction Motors
3.1.4 Characteristics of Induction Motors
3.1.4.2 Input power factor
3.1.4.4 Stable operating point
3.1.5 Operating Modes of Induction Motors
3.1.6 Effect of Rotor Resistance
3.1.6.1 Design types of induction motors
3.1.7 Determining Equivalent Circuit Parameters
3.1.7.1 Measurement of stator resistance Rs
3.1.7.3 Blocked rotor test
3.1.8 Speed Control of Induction Motors
3.1.8.2 Synchronous speed control
3.1.8.3 Closed-loop speed control by adjusting the slip frequency under constant V/f control
3.1.9 Operation Regions of Induction Motors
3.1.9.1 Constant torque region
3.1.9.2 Constant power region
3.1.9.3 Breakdown torque region
3.2.1 Cylindrical Rotor Synchronous Motors
3.2.1.1 Torque of a cylindrical rotor synchronous motor
3.2.2 Salient Pole Rotor Synchronous Motors
3.2.2.1 Torque of a salient pole rotor synchronous motor
3.2.3 Starting of Synchronous Motors
4 Modeling of alternating current motors and reference frame theory
4.1 Modeling of Induction Motor
4.1.3 Inductance Between the Stator and Rotor Windings
4.2 Modeling of Permanent Magnet Synchronous Motor
4.2.1 Structure of Permanent Magnet Synchronous Motors
4.2.2 Model of Permanent Magnet Synchronous Motors
4.3 Reference Frame Transformation
4.3.1 Types of the d–q Reference Frame
4.3.2 Reference Frame Transformation by Matrix Equations
4.3.2.1 Transformation of abc variables into dqn variables in the stationary reference frame
4.3.2.2 Transformation between reference frames
4.3.3 Reference Frame Transformation by Complex Vector
4.4 d–q Axes Model of an Induction Motor
4.4.1 Voltage Equations in the d–q Axes
4.4.2 Flux Linkage Equations in the d–q Axes
4.4.3 Torque Equation in the d–q Axes
4.5 d–q Axes Model of a Permanent Magnet Synchronous Motor
4.5.1 Voltage Equations in the d–q Axes
4.5.2 Flux Linkage Equations in the d–q Axes
4.5.3 Torque Equation in the d–q Axes
5 Vector control of alternating current motors
5.1 Conditions for Instantaneous Torque Control of Motors
5.2 Vector Control of an Induction Motor
5.2.1 Instantaneous Torque Control of an Induction Motor
5.2.1.1 Important information for vector control: flux angle θ
5.2.2 Direct Vector Control Based on the Rotor Flux
5.2.2.1 Relation between the d-axis stator current and the rotor flux linkage
5.2.2.2 Relationship between the q-axis stator current and the output torque
5.2.2.3 Induction motor drive system by the direct vector control
5.2.3 Indirect Vector Control Based on the Rotor Flux
5.2.4 Detuning in the Indirect Vector Control
5.3 Flux Estimation of an Induction Motor
5.3.1 Rotor Flux Linkages Estimation Based on the Stator Voltage Equations: Voltage Model
5.3.2 Rotor Flux Linkages Estimation Based on the Rotor Voltage Equations: Current Model
5.3.3 Combined Flux Estimation Method
5.4 Flux Controller of Induction Motors
5.4.1 Proportional–Integral Flux Controller
5.5 Vector Control of Permanent Magnet Synchronous Motors
5.5.1 Vector Control of a Surface-Mounted Permanent Magnet Synchronous Motor
5.5.2 Vector Control of an Interior Permanent Magnet Synchronous Motor
6 Current regulators of alternating current motors
6.2 Ramp Comparison Current Regulator
6.3 d-q Axes Current Regulators
6.3.1 Stationary Reference Frame d-q Current Regulator
6.3.2 Synchronous Reference Frame d-q Current Regulator
6.3.3 Gain Selection of the Synchronous Reference Frame PI Current Regulator
6.3.3.1 Proportional–integral gains for induction motors
6.3.3.2 Proportional–integral gains for permanent magnet synchronous motors
6.4.1 Feedforward Control for Induction Motors
6.4.2 Feedforward Control for Permanent Magnet Synchronous Motors
6.5 Complex Vector Current Regulator
7 Pulse width modulation inverters
7.1.1 Basic Circuit Configuration of a Voltage Source Inverter
7.1.1.1 The output voltage of the basic circuit
7.1.2 Single-Phase Half-Bridge Inverters
7.1.3 Single-Phase Full-Bridge Inverters
7.1.4 Three-Phase Square Wave Inverters (Six-Step Inverter)
7.1.5 Modeling of a Three-Phase Inverter Using Switching Functions
7.2 Pulse Width Modulation Inverters
7.2.1 Programmed PWM Technique
7.2.2 Sinusoidal PWM Technique
7.2.3 Third Harmonic Injection PWM Technique
7.2.4 Space Vector PWM Technique
7.2.4.1 Principle of space vector pulse width modulation technique
7.2.4.2 Symmetrical space vector pulse width modulation technique
7.3 Discontinuous PWM Techniques
7.3.1 60° Discontinuous PWM Technique
7.3.2 60° (±30°) Discontinuous PWM Technique
7.3.3 ±120° Discontinuous PWM Technique
7.3.4 30° Discontinuous PWM Technique
7.4 PWM Technique Based on Offset Voltage
7.4.1 Space Vector PWM Technique Implementation Based on Offset Voltage
7.5.1 Dynamic Overmodulation Methods
7.5.1.1 Minimum-phase-error pulse width modulation method
7.5.1.2 Minimum-magnitude-error pulse width modulation method
7.5.1.3 Overmodulation method considering the direction of current
7.5.2 Steady-State Overmodulation Methods
7.5.2.1 Overmodulation mode I (0.907≤M≤0.9523)
7.5.2.2 Overmodulation mode II (0.9523
7.6.2 Dead Time Compensation
7.6.2.1 Positive current: io>0
7.6.2.2 Negative current: io<0
8 High-speed operation of alternating current motors
8.1 Field-Weakening Control for Induction Motors
8.1.1 Classic Field-Weakening Control Method
8.1.2 Voltage- and Current-Limit Conditions
8.1.2.1 Voltage-limit condition
8.1.2.2 Current-limit condition
8.1.3 Field-Weakening Control for Producing the Maximum Torque
8.1.3.1 Constant torque region (ωe≤ωbase)
8.1.3.2 Constant power region (ωbase≤ωe<ωBT): Field-weakening region I
8.1.3.3 Breakdown torque region (ωe>ωBT): Field-weakening region II
8.2 Flux-Weakening Control for Permanent Magnet Synchronous Motors
8.2.1 High-Speed Operation of an Interior Permanent Magnet Synchronous Motor
8.2.1.1 Constant torque region (ωe≤ωbase)
8.2.1.2 Constant power region (ωe>ωbase)
8.2.2 High-Speed Operation of a Surface-Mounted Permanent Magnet Synchronous Motor
8.2.2.1 Constant power region (ωe>ωbase)
9 Speed estimation and sensorless control of alternating current motors
9.1.2.1 Operating principle of the optical incremental encoder
9.2 Speed Estimation Using an Incremental Encoder
9.3 Sensorless Control of Alternating Current Motors
9.3.1 Types of Sensorless Control
9.3.1.1 Sensorless technique using the motor model
9.3.1.2 Sensorless technique using the characteristics of a motor
10 Brushless direct current motors
10.1 Configuration of Brushless Direct Current Motors
10.1.1 Comparison Between Brushless Direct Current Motors and Direct Current Motors
10.1.2 Comparison Between Brushless Direct Current Motors and Permanent Magnet Synchronous Motors
10.1.3 Construction of Brushless Direct Current Motors
10.2 Driving Principle of Brushless Direct Current Motors
10.3 Modeling of Brushless Direct Current Motors
10.3.2.1 Torque ripple during the commutation
10.4 Control of Brushless Direct Current Motors
10.5 Pulse Width Modulation Techniques
10.5.1 Bipolar Switching Method
10.5.2 Unipolar Switching Method
10.6 Sensorless Control of Brushless Direct Current Motors
10.6.1 Sensorless Control Based on the Back-electromotive force
Electric Motor Control
：DC, AC, and BLDC Motors
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