Power Electronics (EIEN25) Exercises With Solutions
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Baynaa DaariimaaPower Electronics (EIEN25) Exercises With Solutions
Uploaded by
Baynaa DaariimaaPower Electronics (EIEN25)
Exercises with Solutions
1. Exercises on Modulation
2. Exercises on Current Control
3. Exercises on Speed Control
4. Exercises on Electrical machine basic
5. Exercises on PMSM
6. Exercises on Losses and temperature
7. EMC
8. Old exams
Exam 2012-05-21
Exam 2014-05-30
Exam 2017-05-30
Power Electronics. Exercises with solutions 1
1
Exercises on Modulation
Power Electronics. Exercises with solutions 2
Exercise 1.1 2Q Boost / Buck converter no resistance
• Data for the Boost / Buck converter
Udc 300 V
e 100 V
L 2 mH
R 0 ohm
idc
fsw (switch- freq) 3.33 kHz
iave (constant) 10 A
+
C L,R i
• Determine Udc
+ +
– Load voltage (u) and load current (i) incl graphs
– Dclink current (idc) incl graphs
- u e
– The average powers at P1, P2, P3 - -
P1 P2 P3
Power Electronics. Exercises with solutions 3
Solution 1.1
1) 𝑢 =𝑒+𝑅⋅𝑖 = 100 + 0 = 100𝑉
• Calculation steps 𝑢 100
𝐷= = = 0.33
1. Duty cycle 𝑈 300
2. Load current ripple, at positive or negative Duty Cycle
current slope. Max and min current
3. Load current (i) graph, Load voltage (u) graph
and dclink (idc) current graph
4. Average current and average voltage at P1, 2) Current ripple, max and min current
P2, P3 and P4
𝑈 −𝑒 300 − 100
5. Average powers at P1, P2, P3 and P4 𝑖 = ⋅𝑇 ⋅𝐷 = ⋅ 0.0003 ⋅ 0.33
𝐿 0.002
= 10𝐴
Period time
a.k.a Tsw
Power Electronics. Exercises with solutions 4
Solution 1.1
3. The output voltage equals the DC link voltage
(u=Udc) during 33% of the period (called the
pulse) time(the duty cycle D), and equals zero
(u=0) the rest of the time (called the pulse
gap).
The output current (i) increases from 5 A to 15 A
during the pulse, and returns from 15 A back to
5 A in the pulse gap.
The dclink current = the output current (idc = i)
during the pulse (= when the upper transistor is
conducting) and is zero for the rest (when the
lower diode is conducting).
Power Electronics. Exercises with solutions 5
Solution 1.1
4. Average current, average voltage
and Power at P1, P2, P3 and P4
• P1
– The voltage is the DC link voltage 𝑈 =300 V
– The current equals the load current while
the transistor is on and zero for the rest →
𝑖 , = 3.33 𝐴
– The average power is 𝑃 = 𝑈 𝑖 , =
300 3.33 = 1000 𝑊 = 1 𝑘𝑊
• P2
• The voltage is the is the average output voltage 𝑢 =
100 V
• The current is the average load current 𝑖 =
10 𝐴
• The average power is 𝑃 = 𝑈 𝑖 , = 100
10 = 1000 𝑊 = 1 𝑘W
• P3
• The voltage is the is the load voltage 𝑒 = 100 V
• The current is the average load current 𝑖 =
10 𝐴
• The average power is 𝑃 = 𝑒 𝑖 = 100 10 =
1000 𝑊 = 1 𝑘W
Power Electronics. Exercises with solutions 6
Exercise 1.2 2Q Boost/Buck converter with resistance
• Data for the Boost / Buck converter
Udc 300 V
e 100 V
L Very large
R 1 ohm
idc
fsw (switch- freq) 3.33 kHz
iavg (constant) 10 A
+
C L,R i
Udc
+ +
• Determine - u e
– Load voltage (u) incl graphs
- -
– DC-link current (idc) incl graphs P1 P2 P3
– Power at P1, P2, and P3
Power Electronics. Exercises with solutions 7
Solution 1.2
Calculation steps
1. Avg phase voltage
2. Duty cycle
3. Load current. Ripple and min and max current
4. Load current graph, Load voltage graph and dclink current graph
5. Average current and average voltage at P1, P2 and P3
6. Power at P1, P2 and P3
1) Average load voltage
𝑢 =𝑒+𝑅⋅𝑖 = 100 + 1 ⋅ 10 = 110𝑉
2) Duty cycle (D)
𝑢 110
𝐷= = = 0.37
𝑈 300
Power Electronics. Exercises with solutions 8
Solution 1.2
3) Load current. Ripple and min and
max current
𝑈 −𝑅⋅𝑖 −𝑒 1
𝑖 = ⋅ ⋅ 𝐷 = 0.0𝐴
∞ 𝑓
4) Phase current graph, phase voltage
graph and dclink current graph
𝑖 𝑡 = 𝐿 𝑖𝑠 𝑣𝑒𝑟𝑦 ℎ𝑖𝑔ℎ, 𝑖. 𝑒. 𝑛𝑜 𝑟𝑖𝑝𝑝𝑙𝑒 = 10𝐴
Power Electronics. Exercises with solutions 9
Solution 1.2
5) Average current and average voltage
at P1, P2 and P3
𝑖 _ = 𝐷 ⋅ 10𝐴 = 3.7𝐴
𝑖 _ = 10𝐴
𝑖 _ = 10𝐴
𝑢 _ = 300𝑉
𝑢 _ = 110𝑉
𝑢 _ = 100𝑉
6) Power at p1, p2 and p3
𝑃 =𝑈 ⋅𝑖 = 300 ⋅ 3.7 = 1.1𝑘𝑊
𝑃 =𝑢 ⋅𝑖 = 110 ⋅ 10 = 1.1𝑘𝑊
𝑃 =𝑒⋅𝑖 = 100 ⋅ 10 = 1 𝑘𝑊
Power Electronics. Exercises with solutions 10
Exercise 1.3 1Q Boost converter with resistance
• Data for the Boost converter
Udc 300 V
e 100 V idc
L Very large
R 1 ohm
fsw (switch- freq) 3.33 kHz
iave (constant) 10 A
+
i L,R C
+ + Udc
e u -
- -
• Determine
– Input voltage (u) incl graphs P3 P2 P1
– DC-link current (idc) incl graphs
– Power at P1, P2, and P3
Power Electronics. Exercises with solutions 11
Solution 1.3
Calculation Steps
1. Avg phase voltage
2. Duty cycle
3. Phase current. Ripple and min and max current
4. Phase current graph, phase voltage graph and dclink current graph
5. Average current and average voltage at P1, P2 and P3
6. Power at P1, P2 and P3
1) 𝑢 =𝑒−𝑅⋅𝑖 = 100 − 1 ⋅ 10 = 90𝑉
𝑢 90
2) 𝐷 = = = 0.30
𝑈 300
Power Electronics. Exercises with solutions 12
Solution 1.3
3) Phase current. Ripple and min and max
current
𝑈 +𝑅⋅𝑖 −𝑒 1
𝑖 = ⋅ ⋅ 𝐷 = 0.0𝐴
∞ 𝑓
4) Load current graph, load voltage graph
and DC-link current graph
Power Electronics. Exercises with solutions 13
Solution 1.3
5) Average current and average voltage at P1, P2
and P3
𝑖 _ = 𝑑𝑢𝑡𝑦𝑐𝑦𝑐𝑙𝑒 ⋅ 10𝐴 = 3.0𝐴
𝑖 _ = 10𝐴
𝑖 _ = 10𝐴
𝑢 _ = 300𝑉
𝑢 _ = 90𝑉
𝑢 _ = 100𝑉
6) Power at P1, P2 and P3
𝑃 =𝑈 ⋅𝑖 ⋅ 𝐷 = 300 ⋅ 10 ⋅ 0.3 = 0.9𝑘𝑊
𝑃 =𝑢 ⋅𝑖 = 90 ⋅ 10 = 0.9𝑘𝑊
𝑃 =𝑒⋅𝑖 = 100 ⋅ 10 = 1𝑘𝑊
Power Electronics. Exercises with solutions 14
Exercise 1.4 1Q Boost converter no resistance
• Data for the Boost converter
Udc 300 V
e 100 V idc
L 2 mH
R 0 ohm
fsw (switch- freq) 3.33 kHz
iave (constant) 5A +
i L,R C
+ + Udc
• Determine e u -
– Input voltage (u) incl graphs - -
– DC-link current (idc) incl graphs
– Power at P1, P2, and P3
P3 P2 P1
Power Electronics. Exercises with solutions 15
Solution 1.4
Calculation steps
1. Duty cycle
2. Source current ripple, at positive or negative current slope.
3. Medium, max and min current
4. Source current graph, phase voltage graph and dclink current graph
5. Average source current voltage and power at P1, P2, P3
1) Duty cycle
𝑢 =𝑒−𝑅⋅𝑖 = 100 + 0 = 100𝑉
𝑢 100
𝐷= = = 0.33
𝑈 300
2) Source current ripple, at positive or negative current slope
𝑒−𝑈
𝑑𝑖 if Transistor OFF (Negative slope!)
= 𝐿
𝑑𝑡 𝑒
if Transistor ON(Positive slope!)
𝐿
𝑒−𝑈 𝑒−𝑈 100 − 300 1 𝑑𝑖 −10
⋅ Δ𝑡 = ⋅𝐷⋅𝑇 = ⋅ ⋅ 300 ⋅ 10 = −10 → = = −100 𝑘𝐴/𝑠
Δ𝑖 = 𝐿 𝐿 0.002 3 𝑑𝑡 100𝑒
𝑒 𝑒 100 2 𝑑𝑖 10
⋅ Δ𝑡 = ⋅ 1 − 𝐷 ⋅ 𝑇 = ⋅ ⋅ 300 ⋅ 10 = 10 → = = 50 𝑘𝐴/𝑠
𝐿 𝐿 0.002 3 𝑑𝑡 200𝑒
Power Electronics. Exercises with solutions 16
Solution 1.4
3) The current ripples between 0 and 10
A, with an average value of 5 A.
4) Phase current, Phase voltage and
dclink current graph
Power Electronics. Exercises with solutions 17
Solution 1.4
5) Average current and average voltage at P1, P2
and P3
𝑖 = 𝑑𝑢𝑡𝑦𝑐𝑦𝑐𝑙𝑒 ⋅ 5𝐴 = 1.67𝐴
𝑖 _ = 5𝐴
𝑖 _ = 5𝐴
𝑢 _ = 300𝑉
𝑢 = 100𝑉
𝑢 _ = 100𝑉
6) Power at P1, P2 and P3
𝑃 =𝑈 ⋅𝑖 ⋅ 𝐷 = 300 ⋅ 1.67 = 500 𝑊
𝑃 =𝑢 ⋅𝑖 = 100 ⋅ 5 = 500 𝑊
𝑃 =𝑒⋅𝑖 = 100 ⋅ 5 = 500 𝑊
Power Electronics. Exercises with solutions 18
Exercise 1.5 1Q Buck converter no resistance
• Data for the Buck converter
Udc 300 V
e 100 V
L 2 mH
R 0 ohm idc
fsw (switch- freq) 3.33 kHz
istart 0 A, i.e. a switching period starts with zero load current
ton 50 ms, the time the transistor is activated +
C L,R i
• Determine Udc + +
– Output voltage (u) incl graphs
-- u e
– DC-clink current (idc) incl graphs
- -
– Power at P1, P2, and P3
Calculation steps P1 P2 P3
1. How high do the load current rise during the time the transistor is on?
2. How long time does it take for the load current to fall back to zero?
3. The load voltage (u) when the transistor is off and current =0
4. The load current, load voltage and dclink current (idc) graph
5. The average current and average voltage at P1, P2 and P3
6. The powers at P1, P2 and P3
Power Electronics. Exercises with solutions 19
Solution 1.5
1) How high do the load current rise during the time the transistor is on?
𝑑𝑖 𝑢 − 𝑒
=
𝑑𝑡 𝐿
𝑢−𝑒 300 − 100
∆𝑖 = 𝑡 = 50𝑒 = 5𝐴
𝐿 0.002
2) Time for load current (i) current to fall back to zero.
𝑑𝑖 𝑢 − 𝑒 −𝑒
= =
𝑑𝑡 𝐿 𝐿
𝐿 0.002
∆𝑡 = −∆𝑖 = − −5 = 100𝜇𝑠
𝑒 100
3) Phase voltage when load current is zero (i=0)
When the load current (i) is zero, neither of the transistor or diode are conducting. This
means that neither of them ties the bridge output potential to the positive or negative
side of the DC link. Since there is no voltage drop over the resistor either, the load voltage
is ”floating” and equal to the back-emf,
u = e = 100 V
Power Electronics. Exercises with solutions 20
Solution 1.5
4) The load current, load voltage and dclink
current (idc) graph
5) Notice that with this 1Q (1 Quadrant)
Buck cponverter the current cannot be
negative and thus ”stops” on its way
down when it reaches zero. Then the
load becomes ”floating” and the output
voltage equal to the load back-emf.
Power Electronics. Exercises with solutions 21
Solution 1.5
5) Average current and average voltage at P1, P2
and P3
𝑢 _ = 𝑈 = 300𝑉
300 ⋅ 50𝜇𝑠 + 0 ⋅ 100𝜇𝑠 + 100 ⋅ 300 − 50 − 100 𝜇𝑠
𝑢 _ = = 100𝑉
300𝜇𝑠
𝑢 _ = 𝑒 = 100𝑉
5 ⋅ 50𝜇𝑠 1
𝑖 _ = ⋅ = 0.4167𝐴
2 300𝜇𝑠
5 ⋅ 150𝜇𝑠 1
𝑖 _ = ⋅ = 1.25𝐴
2 300𝜇𝑠
𝑖 _ =𝑖
6) Power at P1, P2 and P3
𝑃 = 𝑈 ⋅ 𝑖 _ = 300 ⋅ 0.4167 = 125𝑊
𝑃 = 𝑢 _ ⋅ 𝑖 _ = 100 ⋅ 1.25 = 125𝑊
𝑃 = 𝑒 ⋅ 𝑖 _ = 100 ⋅ 1.25 = 125𝑊
Power Electronics. Exercises with solutions 22
Exercise 1.6 4QC Bridge converter
Data for the Bridge converter
Udc 300 V idc
e 100 V P2
L 2 mH
R 0 ohm P3
+ L,R +e-
fsw (switch- freq) 3.33 kHz C va i vb
iave (constant) 10 A Udc
-
Determine
– Phase potentials (va & vb) incl graphs
P1
– DC-link current incl graphs
– Power at P1, P2 and P3
Power Electronics. Exercises with solutions 23
Solution 1.6
Calculation steps
1. Phase potential references
2. Phase potentials and Output voltage, pulse (𝑡 ) width
3. Phase current. Ripple and min and max current
4. DC link current graph
5. Average current and average voltage at P1, P2 and P3
6. Power at P1, P2 and P3
1) Assume symmetric modulation:
∗
→ 𝑣∗ = = Stationary operation = = =50V
∗
𝑢 𝑒 +𝑅 𝑖 100
→ 𝑣 ∗ = − = Stationary operation = − =− =−50V
2 2 2
Modulating Wave: ± @ 3.33 𝑘𝐻𝑧
∗
Pulse width of output voltage 𝑡 = = = 50𝜇𝑠
Power Electronics. Exercises with solutions 24
Solution 1.6
3) Phase current
Average load current is zero (𝑖 = 0), i.e., starting curre t is
zero
𝑑𝑖 𝑢 − 𝑒 𝑢−𝑒 300 − 100
= → ∆𝑖 = 𝑡 = 50𝑒 = 5𝐴
𝑑𝑡 𝐿 𝐿 0.002
i.e., a current rippling between 10 ± 2.5 𝐴
4) DC current graph?
The DC current, 𝑖 , equals the load current when u=Udc and
is zero when u=0.
5) Average Output voltage, 𝑢 = 100 𝑉
Average Output current, 𝑖 = 10 𝐴
Average Input voltage, 𝑢 = 300 𝑉
Average Input current, 𝑖 , = 10 = 3.33 𝐴
6) Average powers:
𝑃 =𝑢 𝑖 , = 300 3.33 = 1000 W
𝑃 =𝑢 𝑖 = 100 10= 1000 W
𝑃 = 𝑒 𝑖 = 100 10 = 1000 W
Power Electronics. Exercises with solutions 25
Exercise 1.7 4QC Bridge converter
Data for the Bridge converter
Udc 300 V idc
fsw (switch- freq) 3.33 kHz
+ L,R
va i vb
CU
dc
- + 𝑢 −
Determine
Draw the output potentials (va & vb) and
Output voltage (u) with symmetric
modulation and
a) 𝑢∗ = 100 V,
b) 𝑢∗ = -100 V
Power Electronics. Exercises with solutions 26
Solution 1.7
a) 𝑢∗ = 100 V → 𝑣 ∗ = 50𝑉 & 𝑣 ∗ = −50𝑉,
b) 𝑢∗ = -100 V → 𝑣 ∗ = −50𝑉 & 𝑣 ∗ = 50𝑉,
Power Electronics. Exercises with solutions 27
1.8 : Modulation of a 4Q converter
300
um va*
100
• Given:
– Udc = 600 V - 100
vb* 3 min
– e=200 V - 300
– i(t=0)=0
– Voltage reference given 300 va & vb
• Parameters:
– L= 2 [mH]
– Switchfrekvens: 6.67 [kHz]
• Draw:
- 300
– Potentials va and vb
– Load voltage u 600 u
• Calculate
– Positive current derivative
– Negative current derivative
• Draw
0
– Load current i
10
i
5
id
+ U d /2
+ e -
0 sa i L, R sb -5
va vb
+ u -
-U d /2
-10
Power Electronics. Exercises with solutions 28
1.8 Solution 300
um va*
100
• Given:
– Udc = 600 V - 100
vb* 3 min
– e=200 V - 300
– i(t=0)=0
– Voltage reference given 300 va & vb
• Parameters:
– L= 2 [mH]
– Switchfrekvens: 6.67 [kHz]
• Draw:
- 300
– Potentials va and vb
– Load voltage u 600 u
• Calculate
– Positive current derivative
– Negative current derivative
• Draw
0
– Load current i
5
i
2.5
id
+ U d /2
+ e -
0 sa i L, R sb -2.5
va vb
+ u -
-U d /2
-5
Power Electronics. Exercises with solutions 29
Exercise 1.9 Symmetrized 3phase voltage
• The sinusoidal reference curves (va*, vb*, vc*) for a
three phase constant voltage converter can be
modified with a zero-sequence signal:
– vz* = [max(a, b, c)+min(a, b, c)]/2
according to the figure below.
• Determine the analytical expression for e.g. a-z in
one of the 60˚ intervals!
• Determine the ratio between the maxima of the
input (e.g. va*) and output signals (e.g. vaz*) !
Power Electronics. Exercises with solutions 30
Solution 1.9
The interval 0-60 deg is used (any such 60 degree can be used)
Find the maximum in this interval.
4𝜋
𝑢 +𝑢 𝑢 𝑢 cos 𝑥 cos 𝑥 − 3
𝑢 , =𝑢 −𝑢 =𝑢 − = − = −
2 2 2 2 2
𝑑𝑢 , 4𝜋 4𝜋 4𝜋 3 3
= − sin 𝑥 + sin 𝑥 − = sin 𝑥 ⋅ cos − cos 𝑥 ⋅ sin − sin 𝑥 = − ⋅ sin 𝑥 + ⋅ cos 𝑥
𝑑𝑥 3 3 3 2 2
𝑑𝑢 , 3 3 2⋅ 3 1 𝜋
= 0 ⇒ ⋅ sin 𝑥 = ⋅ cos 𝑥 ⇒ tan 𝑥 = = ⇒ 𝑥 = = 30
𝑑𝑥 2 2 2⋅3 3 6
𝑑 𝑢 , 3 3 𝜋 3 3 3
𝐶ℎ𝑒𝑐𝑘 𝑖𝑓 max = − ⋅ cos 𝑥 − ⋅ sin 𝑥 = 𝑥 = =− − < 0 ⇒ max
𝑑𝑥 2 2 6 4 4
𝜋 𝜋 4𝜋 𝜋 7𝜋 3 3
𝜋 cos 6 cos 6 − 3 cos 6 − cos − 6 − − 3
𝑢 , = − = = 2 2 = ≈ 0.866
6 2 2 2 2 2
1
𝑇ℎ𝑒 𝑟𝑎𝑡𝑖𝑜 𝑏𝑒𝑡𝑤𝑒𝑒𝑛 𝑡ℎ𝑒 ⥂ 𝑖𝑛𝑝𝑢𝑡 𝑎𝑛𝑑 𝑡ℎ𝑒 𝑜𝑢𝑡𝑝𝑢𝑡 𝑠𝑖𝑔𝑛𝑎𝑙𝑠 = = 1.155
0.866
Power Electronics. Exercises with solutions 31
Exercise 1.10 Sinusoidal 3phase voltage
The following data is given for a 3-phase carrier wave modulated
2-level converter:
• Phase voltage reference amplitude: 350 V
• Phase voltage reference frequency: 50 Hz
• DC link voltage 700 VDC (+/- 350 V)
• Carrier wave frequency: 18 kHz
Calculate and draw the phase potential and phase voltage
references together with the modulating wave for 1 carrier wave
period @ phase angle 15 degrees into the positive half period of
the sinusoidal phase a.
Power Electronics. Exercises with solutions 32
Solution 1.10
ua* = 350*sin(15/180*pi) = 90 V
ub* = 350*sin(15/180*pi-2*pi/3) = -338 V
uc* = 350*sin(15/180*pi-4*pi/3) = 247 V
vz* = (max+min)/2 = (247-338)/2 = -45 V
va* = ua*-vz* = 135 V
vb* = ub*-vz* = -293 V
vc* = uc*-vz* = 292 V
Power Electronics. Exercises with solutions 33
Exercise 1.11 Voltage vectors
Deduce the 8 voltage vectors
that are created in a converter +
𝑈
2
fed by a constant voltage! +𝑢 −
va +𝑢 − 𝑣
0 vb +𝑢 −
vc
𝑈
−
2
Power Electronics. Exercises with solutions 34
Solution 1.11
𝑣 +𝑣 +𝑣
𝑣 =
𝑈 3
+ 𝑢 =𝑣 −𝑣
2 𝑢 =𝑣 −𝑣
+𝑢 − 𝑢 =𝑣 −𝑣
va +𝑢 − 𝑣
0 vb +𝑢 − 3
vc 𝑢 = 2⋅𝑢
1
𝑢 = ⋅ 𝑢 −𝑢
𝑈 2
−
2 𝛽
𝑈
2
Va Vb Vc Vo Ua Ub Uc Ualfa Ubeta
0 0 0 0 0
0 −𝑈 2
3⋅𝑈
6
𝑈 𝛼
− 2 3⋅𝑈
6
0
−𝑈
2
−𝑈
0 0 0 0 0 2
Power Electronics. Exercises with solutions 35
Exercise 1.12 iD and iQ in symmetric three phase
A three phase 2 level self commutated converter is
connected to the three phase grid with net reactors.
The fundamental current of from the converter to the
grid is a symmetric 3-phase system:
𝑖 = 𝚤̂ cos(wt)
𝑖 = 𝚤̂ cos(wt-2*pi/3)
𝑖 = 𝚤̂ cos(wt-4*pi/3)
𝑢
a) Deduce the expressions for iD and iQ!
b) Determine the active and reactive power!
c) The DC voltage is Udc. Determine the highest
possible grid voltage relative to Udc!
d) The same as c) BUT with zero current
e) The DC voltage is Udc. Determine the highest
possible grid voltage relative to Udc that can be
sustained at ANY grid phase angle.
Power Electronics. Exercises with solutions 36
Solution 1.12a
𝑎)𝑆𝑦𝑚𝑚𝑒𝑡𝑟𝑖𝑐 3 − 𝑝ℎ𝑎𝑠𝑒 (𝑎, 𝑏, 𝑐) − 𝑓𝑟𝑎𝑚𝑒
𝑖 = 𝚤̂ ⋅ cos 𝜔 ⋅ 𝑡 − 𝜙
2𝜋
𝑖 = 𝚤̂ ⋅ cos 𝜔 ⋅ 𝑡 − −𝜙
3
4𝜋
𝑖 = 𝚤̂ ⋅ cos 𝜔 ⋅ 𝑡 − −𝜙
3
𝑇𝑟𝑎𝑛𝑠𝑓𝑜𝑟𝑚𝑓𝑟𝑜𝑚 𝑎, 𝑏, 𝑐 − 𝑓𝑟𝑎𝑚𝑒𝑡𝑜(𝛼, 𝛽) − 𝑓𝑟𝑎𝑚𝑒
2 2𝜋 4𝜋
𝑖 = ⋅ 𝚤̂ ⋅ cos 𝜔 ⋅ 𝑡 − 𝜙 ⋅ 𝑒 + 𝚤̂ ⋅ cos 𝜔 ⋅ 𝑡 − −𝜙 ⋅𝑒 + 𝚤̂ ⋅ cos 𝜔 ⋅ 𝑡 − −𝜙 ⋅𝑒 =
3 3 3
𝑒 +𝑒 2 𝑒 +𝑒 𝑒 +𝑒 𝑒 +𝑒
= cos 𝑥 = = ⋅ 𝚤̂ ⋅ + ⋅𝑒 + ⋅𝑒 =
2 3 2 2 2
2 𝚤̂
= ⋅ ⋅ 𝑒 +𝑒 + 𝑒 +𝑒 ⋅𝑒 + 𝑒 +𝑒 ⋅𝑒 =
3 2
2 𝚤̂
= ⋅ ⋅ 𝑒 +𝑒 +𝑒 +𝑒 +𝑒 +𝑒 =
3 2
2 𝚤̂ 2 𝑥 1 3 1 3
= ⋅ ⋅ 𝑒 +𝑒 +𝑒 +𝑒 +𝑒 +𝑒 = ⋅ ⋅ 3⋅𝑒 +𝑒 ⋅ 1− − − + =
3 2 3 2 2 2 2 2
3 2 3 3
= ⋅ 𝚤̂ ⋅ 𝑒 = ⋅ 𝚤̂ ⋅ 𝑒 = ⋅ 𝚤̂ ⋅ cos 𝜔𝑡 − 𝜙 + 𝑗 ⋅ sin 𝜔𝑡 − 𝜙
2 3 2 2
3 3 3 𝜋 𝜋
𝐹𝑙𝑢𝑥 𝑐𝑜𝑜𝑟𝑑𝑖𝑛𝑎𝑡𝑒𝑠 𝑖 =𝑖 ⋅𝑒 = ⋅ 𝚤̂ ⋅ 𝑒 = ⋅ 𝚤̂ ⋅ 𝑒 = ⋅ 𝚤̂ ⋅ cos − 𝜙 + 𝑗 ⋅ sin − 𝜙
2 2 2 2 2
3 𝜋
𝑖 = ⋅ 𝚤̂ ⋅ cos − 𝜙
2 2
3 𝜋
𝑖 = ⋅ 𝚤̂ ⋅ sin − 𝜙
2 2
Power Electronics. Exercises with solutions 37
Solution 1.12 b
3 𝜋
𝑖 = ⋅ 𝚤̂ ⋅ cos − 𝜙
2 2
3 𝜋
𝑖 = ⋅ 𝚤̂ ⋅ sin − 𝜙
2 2
3 3 𝜋 3
𝑇ℎ𝑒 𝑎𝑐𝑡𝑖𝑣𝑒 𝑝𝑜𝑤𝑒𝑟 𝑃 = 𝑒 ⋅ 𝑖 = ⋅ 𝑒̂ ⋅ ⋅ 𝚤̂ ⋅ sin − 𝜙 = ⋅ 𝑒̂ ⋅ 𝚤̂ ⋅ cos 𝜙 = 3 ⋅ 𝑒 _ _ ⋅𝑖 _ ⋅ cos 𝜙
2 2 2 2
𝑇ℎ𝑒 𝑟𝑒𝑎𝑐𝑡𝑖𝑣𝑒 𝑝𝑜𝑤𝑒𝑟 𝑄 = 3 ⋅ 𝑒 _ _ ⋅𝑖 _ ⋅ sin 𝜙
Note that index “p_p_rms” means Phase-To_Phase_RMS” = the Phase to phase RMS value
Power Electronics. Exercises with solutions 38
Solution 1.12 c
• The highest output voltage vector length is:
• The grid voltage at the converter terminals,
expressed in the dq-reference frame, is:
𝑑𝚤⃗
𝑢 = 𝑅 ⋅ 𝚤⃗ +𝐿 + 𝑗 𝜔 𝐿 𝚤⃗ + 𝑒⃗
𝑑𝑡
• Which in stationarity is:
𝑢 = 𝑅 ⋅ 𝚤⃗ + 𝑗 𝜔 𝐿 𝚤⃗ + 𝑒⃗
• With the vector length, assuming zero resistance,
is:
𝑢 = 𝑗 𝜔 𝐿 𝑖 + 𝑗 𝜔 𝐿 𝑖 +𝑒
Power Electronics. Exercises with solutions 39
Solution 1.12 d
• With zero grid current, the grid voltage at the
converter terminal voltage is
𝑢 = 𝑗 𝜔 𝐿 𝑖 + 𝑗 𝜔 𝐿 𝑖 +𝑒 =𝑒 =𝐸 _ _
• If there is a current flowing, the grid voltage at
the converter terminal voltage must be higher
than 𝑬𝒑_𝒑_𝒓𝒎𝒔, see solution to 1.11 c.
Power Electronics. Exercises with solutions 40
Solution 1.12 e
• The longest vector that the converter can supply is
𝟐
𝑼𝒅𝒄 , see the figure to the right, BUT …
𝟑
– … that vector can ONLY be supplied in the corners of the 𝑢
hexagon.
• The maximum length of a voltage vector ( 𝑢 ) at
the terminals of the converter, that can be supplied at
ANY angle, must be shorter that a circle inscribed in the
hexagon, see the figure to the right.
𝟐 𝜋 𝟐 𝟑 𝑈
𝑢 = 𝑼𝒅𝒄 cos = 𝑼 =
𝟑 6 𝟑 𝒅𝒄 𝟐 2
Power Electronics. Exercises with solutions 41
Exercise 1.13 3 phase line
Symmetric three phase
A three phase grid with the voltages uR, uS, uT is loaded
by sinusoidal currents iR, iS, iT and the load angle j.
a) Derive the expression for the voltage vector
b) Derive the expression for the current vector
c) Determine the active power p(t)!
Do the same derivations as above with the vectors
expressed in the grid flux reference frame!
Power Electronics. Exercises with solutions 42
Solution 1.13a
𝑎) 𝐸𝑞𝑢 2.39, 2.40 𝑎𝑛𝑑 𝑒𝑥𝑒𝑟𝑐𝑖𝑠𝑒 4.26𝑎
2 3 1
𝑢 = ⋅ 𝑢 +𝑢 ⋅𝑒 +𝑢 ⋅𝑒 = ⋅𝑢 + ⋅ 𝑢 −𝑢
3 2 2
𝑢 = 𝑢 ⋅ cos 𝜔 ⋅ 𝑡
2𝜋
𝑢 = 𝑢 ⋅ cos 𝜔 ⋅ 𝑡 − 3
3 ⇒𝑢 = ⋅𝑢⋅𝑒
2
4𝜋
𝑢 = 𝑢 ⋅ cos 𝜔 ⋅ 𝑡 −
3
Power Electronics. Exercises with solutions 43
Solution 1.13b
𝑏)𝐼𝑛 𝑡ℎ𝑒 𝑠𝑎𝑚𝑒 𝑤𝑎𝑦
2 3 1
𝚤⃗ = ⋅ 𝑖 +𝑖 ⋅𝑒 +𝑖 ⋅𝑒 = ⋅𝑖 + ⋅ 𝑖 −𝑖
3 2 2
𝑖 = 𝚤̂ ⋅ cos 𝜔 ⋅ 𝑡 − 𝜙
2𝜋
𝑖 = 𝚤̂ ⋅ cos 𝜔 ⋅ 𝑡 − −𝜙 3
3 ⇒ 𝚤⃗ = ⋅ 𝚤̂ ⋅ 𝑒
2
4𝜋
𝑖 = 𝚤̂ ⋅ cos 𝜔 ⋅ 𝑡 − −𝜙
3
𝑇ℎ𝑒 𝑝𝑜𝑤𝑒𝑟 𝑖𝑛 𝑡ℎ𝑒 𝑑𝑞 − 𝑓𝑟𝑎𝑚𝑒, 𝑡ℎ𝑒 𝑑𝑜𝑡 − 𝑝𝑟𝑜𝑑𝑢𝑐𝑡 :
𝑃 =𝑒 ⋅𝑖 =𝑒 ⋅𝑖 +𝑒 ⋅𝑖
𝑒 = 𝑒̂ ⋅ cos 𝜔 ⋅ 𝑡
2𝜋
𝑒 = 𝑒̂ ⋅ cos 𝜔 ⋅ 𝑡 − 3
3 ⇒ 𝑒⃗ = ⋅ 𝑒̂ ⋅ 𝑒
2
4𝜋
𝑒 = 𝑒̂ ⋅ cos 𝜔 ⋅ 𝑡 −
3
𝑇𝑟𝑎𝑛𝑠𝑓𝑜𝑟𝑚 𝑓𝑟𝑜𝑚𝛼 𝛽 − 𝑓𝑟𝑎𝑚𝑒 𝑡𝑜 𝑡ℎ𝑒 𝑑𝑞 − 𝑓𝑙𝑢𝑥 𝑓𝑟𝑎𝑚𝑒:
3 3 3 ⋅ 3
𝑒⃗ = ⋅ 𝑒̂ ⋅ 𝑒 ⋅𝑒 = ⋅ 𝑒̂ ⋅ 𝑒 = ⋅ 𝑒̂ ⋅ 𝑒 =𝑗⋅ ⋅ 𝑒̂ = 𝑒⃗ , 𝑒⃗ = 0
2 2 2 2
3 3 𝜋 3
𝑇ℎ𝑒 𝑎𝑐𝑡𝑖𝑣𝑒 𝑝𝑜𝑤𝑒𝑟 𝑃 = 𝑒 ⋅ 𝑖 = ⋅ 𝑒̂ ⋅ ⋅ 𝚤̂ ⋅ sin − 𝜙 = ⋅ 𝑒̂ ⋅ 𝚤̂ ⋅ cos 𝜙 = 3 ⋅ 𝑒 ⋅𝑖 ⋅ cos 𝜙
2 2 2 2
𝑇ℎ𝑒 𝑟𝑒𝑎𝑐𝑡𝑖𝑣𝑒 𝑝𝑜𝑤𝑒𝑟 𝑄 = 3 ⋅ 𝑒 ⋅𝑖 ⋅ sin 𝜙
Power Electronics. Exercises with solutions 44
Solution 1.13c
𝑈 𝑈
𝑆𝑖𝑛𝑢𝑠𝑜𝑖𝑑𝑎𝑙 mod 𝑢 𝑙𝑎𝑡𝑖𝑜𝑛𝑈 = = ≈ 0.35 ⋅ 𝑈
2⋅ 2 8
3 𝑈 3
𝑆𝑖𝑛𝑢𝑠𝑜𝑖𝑑𝑎𝑙 mod 𝑢 𝑙𝑎𝑡𝑖𝑜𝑛𝑈 = ⋅ = ⋅𝑈 ≈ 0.61 ⋅ 𝑈
𝑐) 2 2 8
𝑈 𝑈
𝑆𝑦𝑚𝑚𝑒𝑡𝑟𝑖𝑐𝑒𝑑 mod 𝑢 𝑙𝑎𝑡𝑖𝑜𝑛𝑈 = = ≈ 0.41 ⋅ 𝑈
3⋅ 2 6
𝑈 ⋅ 3 𝑈
𝑆𝑦𝑚𝑚𝑒𝑡𝑟𝑖𝑐𝑒𝑑 mod 𝑢 𝑙𝑎𝑡𝑖𝑜𝑛𝑈 = = ≈ 0.71 ⋅ 𝑈
3⋅ 2 2
∗ 3 3 3
𝑃𝑜𝑤𝑒𝑟 𝑖𝑛 𝛼𝛽 − 𝑓𝑟𝑎𝑚𝑒 𝑃 𝑡 = 𝑃 = Re 𝑢 ⋅ 𝚤⃗ = Re ⋅𝑢⋅𝑒 ⋅ ⋅ 𝚤̂ ⋅ 𝑒 = ⋅ Re 𝑢 ⋅ 𝚤̂ ⋅ 𝑒 =
2 2 2
Rp
3 3
= ⋅ Re 𝑢 ⋅ 𝚤̂ ⋅ 𝑒 = ⋅ 𝑢 ⋅ 𝚤̂ ⋅ cos 𝜙 = 3 ⋅ 𝑈 ⋅𝐼 ⋅ cos 𝜙
2 2
𝜋
𝐼𝑛𝑓𝑙𝑢𝑥 ⥂⥂ ó𝑟𝑖𝑒𝑛𝑡𝑎𝑡𝑖𝑜𝑛, 𝑓𝑙𝑢𝑥 𝑖𝑠 𝑎𝑓𝑡𝑒𝑟 𝑣𝑜𝑙𝑡𝑎𝑔𝑒
2
3 3 3
𝑢 =𝑢 ⋅𝑒 = ⋅𝑢⋅𝑒 ⋅𝑒 = ⋅𝑢⋅𝑒 = ⋅𝑢⋅𝑒
2 2 2
3 3 3
𝑖 =𝑖 ⋅𝑒 = ⋅ 𝚤̂ ⋅ 𝑒 ⋅𝑒 = ⋅ 𝚤̂ ⋅ 𝑒 = ⋅ 𝚤̂ ⋅ 𝑒
2 2 2
∗ 3 3 3
𝑃 𝑡 = Re 𝑢 ⋅𝑖 = Re ⋅𝑢⋅𝑒 ⋅ ⋅ 𝚤̂ ⋅ 𝑒 = ⋅ Re 𝑢 ⋅ 𝚤̂ ⋅ 𝑒 =
2 2 2
3 3
= ⋅ Re 𝑢 ⋅ 𝚤̂ ⋅ 𝑒 = ⋅ 𝑢 ⋅ 𝚤̂ ⋅ cos 𝜙 = 3 ⋅ 𝑈 ⋅𝐼 ⋅ cos 𝜙
2 2
Power Electronics. Exercises with solutions 45
Exercise 1.14 Symmetric 3-phase transformation
Symmetric three phase
Do the inverse coordinate transformation from the (d,q)
reference frame to (a, b) reference frame and the two
phase to three phase transformation as well. Express the
equations in component form.
Apply the coordinate transform on the following signals.
a
1 D
2
b
2
D
1
Q
2
Power Electronics. Exercises with solutions 46
Solution 1.14 b
q
a D cos Q sin d
Q
b Q cos D sin
D
a
a
1 D
0 < 𝜃 < 𝜋: 𝛼 = cos 𝜃 , 𝛽 = sin 𝜃
Q 𝜋 < 𝜃 < 2𝜋: 𝛼 = cos 𝜃 − sin 𝜃 , 𝛽 = cos 𝜃 + sin 𝜃
2
b
2
D
1
0 < 𝜃 < 𝜋𝛼 = cos 𝜃 , 𝛽 = sin 𝜃
𝜋 < 𝜃 < 2𝜋𝛼 = 2 cos 𝜃 , 𝛽 = 2 sin 𝜃
Q
2
Power Electronics. Exercises with solutions 47
2
Exercises on Current Control
Power Electronics. Exercises with solutions 48
Exercise 2.1 Current increase
a. The coil in the figure to the right has the
inductance L and negligible resistance. It has
no current when t<0. The current shall be
increased to the value i1=0,1 Udc/L in the
shortest possible time.
Determine the voltage u(t) and the current + L,R
i(t)
i(t) for t>0! Udc
C
- +
u(t)
b. The switch s is operated with the period time -
T=1ms. The time constant of the coil is
L/R=10T. The average of the current is 0,1
Udc/R. Determine the voltage u(t) and the
current i(t)!
Power Electronics. Exercises with solutions 49
Solution 2.1
a) R=0
Calculate the shortest time for the current i to reach 0.1.Udc/L
𝐿 ⋅ Δ𝑖 𝐿 ⋅ 0.1 ⋅ 𝑈 + L,R
Δ𝑡 = = = 0.1 sec C i(t)
𝑈 𝑈 ⋅𝐿 Udc
- +
u(t)
-
(u(t),i(t))
u(t)
Udc
0.1*Udc/L
i(t)
0
0 0.1 t
Power Electronics. Exercises with solutions 50
Solution 2.1 Continued
𝑏)
𝑈
Average current 𝑖 = 0.1 ⋅
𝑅
𝑈
Average voltage 𝑢 =𝑅⋅𝑖 = 𝑅 ⋅ 0.1 ⋅ = 0.1 ⋅ 𝑈
𝑅
𝑢 0.1 ⋅ 𝑈
Duty cycle 𝐷 = = = 0.1
𝑈 𝑈
Period time 𝑇 = 1 𝑚𝑠
𝐿 + L,R
Time constant 𝜏 = = 10 ⋅ 𝑇 = 10 𝑚𝑠 i(t)
𝑅 C
Voltage pulse time 𝑡 = 𝐷 ⋅ 𝑇 = 0.1 𝑚𝑠
Udc
𝑈 𝑈 𝑡 𝑈 ⋅𝐷 𝑇 𝑈 ⋅𝑡 𝑈 ⋅𝑡 - +
𝑅 ≠ 0 → 𝑖(𝑡) = ⋅ 1−𝑒 = 𝑡 << 𝜏 ≈ ⋅ 1−1+ = = = u(t)
𝑅 𝑅 𝜏 𝑅⋅𝜏 𝐿 𝐿
𝑅⋅
𝑅 -
𝑈 𝑈 ⋅𝑡
𝑖 𝑡 = 0.1 ⋅ −
𝑅 2⋅𝐿
𝑈 𝑈 ⋅𝑡
𝑖 𝑡 = 0.1 ⋅ +
𝑅 2⋅𝐿
tp u(t)
Udc
T
Udc*tp/L
i(t)
0.1*Udc
Power Electronics. Exercises with solutions 51
2.2 2Q Current Control without load resistance
• A 2 quadrant DC converter with a constant
voltage load has the following data:
– Udc = 600 V
– L = 1 mH + L,R
C va i(t)
– R=0 Udc
- + +
– Ts = 0.1 ms u(t) e
-
– E = 200 V -
• Calculate and draw the output voltage patterns
before, during and after a current step from 0 to
50 A and then back to 0 A again a few modulation
periods after the positive step.
Power Electronics. Exercises with solutions 52
2.2 Solution
• Calculation steps:
1. Calculate the voltage reference before the positive
step, between the steps and after the negative step
2. Calculate how many sampling periods that are
needed for the positive and negative steps
3. Calculate the current derivative and ripple
4. Draw the waveform
Power Electronics. Exercises with solutions 53
2.2 Solution, continued
• Step 1
𝑒 = 200 V 𝑏𝑒𝑓𝑜𝑟𝑒 the positive step
1 ⋅ 10
⋅ 50 − 0 + 200 = 700 V 𝑑𝑢𝑟𝑖𝑛𝑔 the positive step
𝐿 0.1 ⋅ 10
𝑢∗ (𝑘) = ⋅ 𝑖 ∗ (𝑘) − 𝑖(𝑘) + 𝑒 = 𝑒 = 200 V 𝑏𝑒𝑡𝑤𝑒𝑒𝑛 the steps
𝑇
1 ⋅ 10
⋅ 0 − 50 + 200 = −300 V 𝑑𝑢𝑟𝑖𝑛𝑔 the negative step
0.1 ⋅ 10
𝑒 = 200 V 𝑎𝑓𝑡𝑒𝑟 the negative step
• Step 2
– The positive step requires 200+500V = 700V (back-emf+current increase), but the DC link only provides 600 V, i.e
two sampling periods are needed, one with 200+400V and one with 200+100 V.
– The negative step requires 200-500V = -300V (back-emf+current decrease), but the DC link only provides 0 V, i.e
three sampling periods are needed, two with 200-200V and one with 200-100 V.
Power Electronics. Exercises with solutions 54
2.2 Solution, continued
• Step 3
𝑑𝑖 𝑢
= 𝑢 𝑈 −𝑒 𝑒 600 − 200 200
𝑑𝑡 𝐿 → Δ𝑖 = ⋅𝑡 = ⋅ ⋅𝑇 = ⋅ ⋅ 0.1 ⋅ 10
𝑒 𝐿 𝐿 𝑈 1 ⋅ 10 600
𝑡 = ⋅𝑇
𝑈
= 13.3 A
• Step 4
– Draw the carrier wave and the voltage reference wave as calculated. This gives the switching times
– Note the time instants when the current will pass its reference values = when the carrier wave turns
– See next page
Power Electronics. Exercises with solutions 55
2.2 Solution, continued
Power Electronics. Exercises with solutions 56
2.3 4Q Current Control without load resistance
• A 4 quadrant DC converter with a constant
voltage load has the following data: idc
– Udc = 600 V
– L = 1 mH
+
– R=0 C va i L, R + e - vb
– Ts = 0.1 ms Udc
+ u -
– E = 200 V -
• Calculate and draw the output voltage patterns
before, during and after a current step from 0 to
50 A and then back to 0 A again a few modulation
periods after the positive step.
Power Electronics. Exercises with solutions 57
2.3 Solution
• Calculation steps:
1. Calculate the voltage reference before the positive
step, between the steps and after the negative step
2. Calculate how many sampling periods that are
needed for the positive and negative steps
3. Calculate the current derivative and ripple
4. Draw the waveform
Power Electronics. Exercises with solutions 58
2.3 Solution, continued
• Step 1
𝑒 = 200 V 𝑏𝑒𝑓𝑜𝑟𝑒 the positive step
1 ⋅ 10
⋅ 50 − 0 + 200 = 700 V 𝑑𝑢𝑟𝑖𝑛𝑔 the positive step
𝐿 0.1 ⋅ 10
𝑢∗ (𝑘) = ⋅ 𝑖 ∗ (𝑘) − 𝑖(𝑘) + 𝑒 = 𝑒 = 200 V 𝑏𝑒𝑡𝑤𝑒𝑒𝑛 the steps
𝑇
1 ⋅ 10
⋅ 0 − 50 + 200 = −300 V 𝑑𝑢𝑟𝑖𝑛𝑔 the negative step
0.1 ⋅ 10
𝑒 = 200 V 𝑎𝑓𝑡𝑒𝑟 the negative step
• Step 2
– The positive step requires 200+500V=700V (back-emf+current increase) = +/- 350 V, but the DC link only provides
+/-300 V, i.e two sampling periods are needed, one with 200+400V = +/-300 V and one with 200+100 V=+/-150V.
– The negative step requires 200-500V = -300V (back-emf+current decrease) = -/+150. The DC link provides down to -
300 V, i.e 1 sampling periods is enough
Power Electronics. Exercises with solutions 59
2.3 Solution, continued
• Step 3
𝑑𝑖 𝑢
= 𝑢 𝑈 −𝑒 𝑒 600 − 200 200
𝑑𝑡 𝐿 → Δ𝑖 = ⋅𝑡 = ⋅ ⋅𝑇 = ⋅ ⋅ 0.1 ⋅ 10 = 13.3 A
𝑒 𝐿 𝐿 𝑈 1 ⋅ 10 600
𝑡 = ⋅𝑇
𝑈
• Step 4
– Draw the carrier wave and the voltage reference wave as calculated. This gives the switching times
– Note the time instants when the current will pass its reference values = when the carrier wave turns
– See next page
Power Electronics. Exercises with solutions 60
2.3 Solution, continued
Power Electronics. Exercises with solutions 61
2.4. Three Phase Current Control
• Draw a block diagram with the
controller structure for a 3 phase
vector current controller with PI
control and modulation. All 3-phase
transformations between 3-phase 2-level Converter
and 2 phase as well as coordinate
transformations must be
abc
included. currents
Power Electronics. Exercises with solutions 62
2.4 Solution
a/b abc switch
d/q voltage voltage state
voltage references references references
references
2ph
d/q
+/- PIE Coord.- 3-phase
Current Modulator
referenses transf 3ph
2-level Converter
2ph abc
Coord.- currents
d/q
currents
transf 3ph
a/b
currents
Grid angle () Measure Voltages
Integrate to Flux
Calculate Angle
Power Electronics. Exercises with solutions 63
3
Exercises on Speed Control
Power Electronics. Exercises with solutions 64
Exercise 3.1 Cascade control
• The speed of a motor shaft shall be
controlled by so called cascade
control. The torque source is
modelled by a first order time
constant.
– Draw a block diagram of the system with
speed control, torque source model and
inertia
– Include the load torque in the block diagram.
– How large is the stationary error with a P-
controller and constant load torque?
– Show two different ways to eliminate the
stationary fault.
Power Electronics. Exercises with solutions 65
Solution 3.1a
4 1 2 3
w* 1 𝑇∗ 1 Tm 1
𝑘 ⋅ 1+
+ 𝑠𝜏 1 + 𝑠𝜏 𝑠⋅𝐽
_
w
1 The PI-controller with the gain kw
2 The torque controller is modelled as a first order low pass filter
3 By dividing the torque with the inertia J the angular acceleration is achieved. By
integration, in the LaPlace plane, the angular speed is achieved.
4 By subtracting the angular speed from its reference the control error is achieved
Power Electronics. Exercises with solutions 66
Solution 3.1b
4 1 2 3
Tload
_
w* 1 𝑇∗ 1 Tm
+ 1
𝑘 ⋅ 1+
+ 𝑠𝜏 1 + 𝑠𝜏 𝑠⋅𝐽
_
w
See equation 9.1. The load torque is subtracted from the achieved electric
torque at the output of the torque controller.
Power Electronics. Exercises with solutions 67
Solution 3.1c
Tload
_
w* 𝑇∗ 1 Tm
+ 1
𝑘
+ 1 + 𝑠𝜏 𝑠⋅𝐽
_
w
𝜔 = 𝜔∗ − 𝜔 𝑘 ⋅ ⋅ −
⋅ ⋅
1 1 1 1 𝑇
𝜔 1+𝑘 ⋅ ⋅ = 𝜔∗ 𝑘 ⋅ ⋅ −
1 + 𝑠𝜏 𝑠⋅𝐽 1 + 𝑠𝜏 𝑠⋅𝐽 𝑠⋅𝐽
⋅ ⋅ ∗ ⋅ ∗
⋅
∗ = =
⋅ ⋅ ⋅
Stationary error:
∗
∗ ∗
lim 𝜔 − 𝜔 = lim 𝜔 − =
→ →
Power Electronics. Exercises with solutions 68
Solution 3.1d (PI control)
Tload
_
w* 1 𝑇∗ 1 Tm
+ 1
𝑘 ⋅ 1+
+ 𝑠𝜏 1 + 𝑠𝜏 𝑠⋅𝐽
_
w
𝜔 = 𝜔∗ − 𝜔 𝑘 ⋅ ⋅ ⋅ −
⋅ ⋅
1 + 𝑠𝜏 1 1 1 + 𝑠𝜏 1 1 𝑇
𝜔 1+𝑘 ⋅ ⋅ ⋅ = 𝜔∗ 𝑘 ⋅ ⋅ ⋅ −
𝑠𝜏 1 + 𝑠𝜏 𝑠⋅𝐽 𝑠𝜏 1 + 𝑠𝜏 𝑠⋅𝐽 𝑠⋅𝐽
⋅ ⋅ ⋅ ∗ ⋅ ∗
⋅
∗ = =
⋅ ⋅ ⋅
⋅
Stationary error:
𝑠𝜏 1 + 𝑠𝜏 𝑇
𝑘 1 + 𝑠𝜏 −
𝑘 𝜔∗
lim 𝜔∗ − 𝜔 = lim 𝜔∗ − 𝜔∗ =0
→ → 𝐽 𝜏 𝜏 1 𝑘 𝑘
𝑠 +𝑠 +𝑠 +𝑘
𝜏 𝐽 𝜏 𝐽 𝜏 𝜏
Power Electronics. Exercises with solutions 69
Solution 3.1d (Feed forward of known load torque)
Tload
_
+
w* 𝑇∗ 1 Tm + 1
𝑘 +
+ 1 + 𝑠𝜏 𝑠⋅𝐽
_
w
𝜔 = 𝜔∗ − 𝜔 𝑘 ⋅ ⋅ + ⋅ −
⋅ ⋅ ⋅
1 1 1 1 𝑇 1 𝑇
𝜔 1+𝑘 ⋅ ⋅ = 𝜔∗ 𝑘 ⋅ ⋅ + ⋅ −
1 + 𝑠𝜏 𝑠⋅𝐽 1 + 𝑠𝜏 𝑠⋅𝐽 1 + 𝑠𝜏 𝑠⋅𝐽 𝑠⋅𝐽
⋅ ⋅ ⋅ ∗ ⋅ ∗ ∗
⋅ ⋅
∗ = =
⋅ ⋅ ⋅
Stationary error:
𝑇 1 + 𝑠𝜏 𝑇
𝑘 𝜔∗ + −
𝑘 𝑘
lim 𝜔∗ − 𝜔 = lim 𝜔∗ − =0
→ → 𝐽 𝜏 1 1
𝑠 +𝑠 𝜏 +𝑘 𝐽 𝜏
Power Electronics. Exercises with solutions 70
Exercise 3.2 DC motor control
A DC motor with the inertia J=0,033 kgm2 is driven by a converter with current control set
for dead-beat current control at 3.33 ms sampling time. The speed of the DC motor is
controlled by a P-regulator. The current loop is modelled with a first order time constant
that equals the pulse interval of the converter.
a) Draw a block diagram of the system with speed control with the models of the current loop and the
motor. Calculate kw = the gain of the speed control for maximum speed without oscillatory poles.
b) The motor is loaded with the torque Tl. How large is the speed stationary error?
c) If the speed is measured with a tachometer and lowpass filtered, what does that mean for kw?
Power Electronics. Exercises with solutions 71
Solution 3.2a
w* 1 𝑇∗ 1 Tm 1
𝑘 ⋅ 1+
+ 𝑠𝜏 1 + 𝑠𝜏 𝑠⋅𝐽
_
w
11
𝑂𝑝𝑒𝑛𝑐𝑖𝑟𝑐𝑢𝑖𝑡𝐺 = 𝑘 ⋅ ⋅
1 + 𝑠𝜏
𝑠⋅𝐽
1 1
𝐺 𝐾 ⋅ ⋅𝑠⋅𝐽 𝑘
1 + 𝑠𝜏
𝐶𝑙𝑜𝑠𝑒𝑑𝑙𝑜𝑜𝑝 = = =
1+𝐺 1+𝑘 ⋅ 1 1
⋅ 𝑠 ⋅ 𝐽 𝑠 ⋅ 𝐽 ⋅ 1 + 𝑠𝜏 +𝑘
1 + 𝑠𝜏
𝑘
=
𝐽⋅𝜏 ⋅𝑠 +𝑠⋅𝐽+𝑘
𝑠 𝑘 1 1 𝑘
𝐶ℎ𝑎𝑟𝑎𝑐𝑡𝑒𝑟𝑖𝑠𝑡𝑖𝑐 𝑒𝑞𝑢𝑎𝑡𝑖𝑜𝑛: 𝑠 + + = 0 𝑤𝑖𝑡ℎ 𝑡ℎ𝑒 𝑟𝑜𝑜𝑡𝑠 𝑠 = − ± −
𝜏 𝐽⋅𝜏 2⋅𝜏 4⋅𝜏 𝐽⋅𝜏
1 𝑘 𝐽
𝐹𝑎𝑠𝑡𝑒𝑠𝑡 𝑜𝑝𝑒𝑟𝑎𝑡𝑖𝑜𝑛 𝑖𝑠 𝑎𝑐ℎ𝑖𝑣𝑒𝑑 𝑤ℎ𝑒𝑛 𝑡ℎ𝑒𝑟𝑜𝑜𝑡𝑠 𝑎𝑟𝑒 𝑡ℎ𝑒 𝑠𝑎𝑚𝑒 = ⇒𝑘 =
4⋅𝜏 𝐽⋅𝜏 4⋅𝜏
𝐷𝑒𝑎𝑑 𝐵𝑒𝑎𝑡 𝑐𝑜𝑛𝑡𝑟𝑜𝑙 @ 𝑇 = 3.3𝑚𝑠
0.033
𝑘 = = 2.5
4 ⋅ 3.3 ⋅ 10
Power Electronics. Exercises with solutions 72
Solution 3.2b
w* 1 𝑇∗ 1 Tm 1
+ 𝑘 ⋅ 1+
_ 𝑠𝜏 1 + 𝑠𝜏 𝑠⋅𝐽
w
Stationary Error
∗
∗ ∗
lim 𝜔 − 𝜔 = lim 𝜔 − =
→ →
Power Electronics. Exercises with solutions 73
Solution 3.2c
Tload
_
w* 𝑇∗ 1 Tm
+ 1
𝑘
+ 1 + 𝑠𝜏 𝑠⋅𝐽
_
w 1
1 + 𝑠𝜏
It is now the measured speed (wt) that is controlled and the system
becomes of 3rd order.
IF we assume that the filter time constant (tw) is much longer that the
torque control time constant (tm), then the system (including the filter) is
now slower than the system without a filter, implying a need for a lower
gain.
The solution to 3.2a can be applied, but with the torque control time
constant replaced by the filter time constant, thus giving a lower speed
controller gain.
Power Electronics. Exercises with solutions 74
Exercise 3.3 Pump control
• A pump is driven at variable speed by an electric
machine with a PI speed controller. The total inertia
for both pump and electric machine is J=0,11. The
power converter is a current controlled switched
amplifier where the current control has an average
response time of 100 µs, which is considered very
fast if the integration time of the PI control is not of
the same magnitude.
a) Draw the speed control system as a block diagram with
the PI control and your selection of models for torque
source, load torque and inertia.
b) Dimension the PI control so that the system has a double
pole along the negative real axis.
c) If the integra on part for some reason is excluded (Ti=∞),
how large is the speed error then?
d) If the current loop can not be considered as very fast, how
is the it modelled in the block diagram?
e) There is a standard method for dimensioning the speed
control in d). What is it called?
Power Electronics. Exercises with solutions 75
Solution 3.3a
Tload
_
w* 1 𝑇∗ Tm
+ 1
+
𝑘 ⋅ 1+ 1
_ 𝑠𝜏 𝑠⋅𝐽
w
The torque source is modelled as a unity gain, as
the torque response time is very short (100𝜇𝑠)
compared to the expected dynamics of the pump
drive.
No measurement filter is modelled for the same
reason.
The PI-controller is used to eliminate stationary
errors.
Power Electronics. Exercises with solutions 76
Solution 3.3b
Tload
_
w* 1 𝑇∗ Tm
+ 1
+
𝑘 ⋅ 1+ 1
_ 𝑠𝜏 𝑠⋅𝐽
w
1 1
𝑂𝑝𝑒𝑛𝑐𝑖𝑟𝑐𝑢𝑖𝑡 𝑇ℎ𝑒 𝑡𝑜𝑟𝑞𝑢𝑒 𝑠𝑜𝑢𝑟𝑐𝑒 𝑖𝑠 100𝜇𝑠, 𝑣𝑒𝑟𝑦 𝑓𝑎𝑠𝑡 𝐺 = 𝐾 ⋅ 1 + ⋅1⋅
𝑠𝜏 𝑠⋅𝐽
1 1
𝐺 𝑘 ⋅ 1 + 𝑠𝜏 ⋅ 𝑠 ⋅ 𝐽 𝑘 ⋅ 𝑠𝜏 + 1
𝐶𝑙𝑜𝑠𝑒𝑑 𝑙𝑜𝑜𝑝 = = =
1+𝐺 1+𝑘 ⋅ 1+ 1 ⋅ 1 𝑠 ⋅ 𝐽 ⋅ 𝑠𝜏 + 𝑘 ⋅ 𝑠𝜏 + 1
𝑠𝜏 𝑠⋅𝐽
𝑘 ⋅ 𝑠𝜏 + 1
=
𝑠 ⋅𝐽⋅𝜏 +𝑠⋅𝐾 ⋅𝜏 +𝑘
𝑘 𝑘 𝑘 𝑘 𝑘
𝐶ℎ𝑎𝑟𝑎𝑐𝑡𝑒𝑟𝑖𝑠𝑡𝑖𝑐 𝑒𝑞𝑢𝑎𝑡𝑖𝑜𝑛: 𝑠 +𝑠 ⋅ + = 0 𝑤𝑖𝑡ℎ ⥂ 𝑡ℎ𝑒𝑟𝑜𝑜𝑡𝑠𝑠 = − ± −
𝐽 𝐽⋅𝜏 2⋅𝐽 4⋅𝐽 𝐽⋅𝜏
𝑘 𝑘 𝑘 𝑘 4⋅𝐽
𝐷𝑜𝑢𝑏𝑙𝑒 𝑟𝑜𝑜𝑡: 𝑠 ⇒ − =0⇒ = ⇒𝑘 =
4⋅𝐽 𝐽⋅𝜏 4⋅𝐽 𝐽⋅𝜏 𝜏
4 ⋅ 0.11
𝐴𝑠𝑠𝑢𝑚𝑒 𝜏 = 100 𝑚𝑠 𝑎𝑠 𝜏 >> 𝜏 , 100𝜇𝑠 , 𝐽 = 0.11𝐾 = = 4.4
0.1
Power Electronics. Exercises with solutions 77
Solution 3.3c
Tload
_
w* 1 𝑇∗ Tm
+ 1
+
𝑘 ⋅ 1+ 1
_ 𝑠𝜏 𝑠⋅𝐽
w
1
𝑇 = 𝜔∗ − 𝜔 ⋅ 𝑘 ⋅ 1 + = 𝜏 → ∞ = 𝜔∗ − 𝜔 ⋅ 𝑘
𝑠𝜏
𝑇 = 𝜔∗ − 𝜔 ⋅ 𝑘
𝑆𝑡𝑎𝑡𝑖𝑜𝑛𝑎𝑟𝑦, 𝑇 = 𝑇
𝑇 = 𝜔∗ − 𝜔 ⋅ 𝑘
𝑇
𝜔∗ − 𝜔 =
𝑘
Power Electronics. Exercises with solutions 78
Solution 3.3d
_
w* 1 𝑇∗ 1 Tm
+ 1
𝑘 ⋅ 1+
+ 𝑠𝜏 1 + 𝑠𝜏 𝑠⋅𝐽
_
w
Power Electronics. Exercises with solutions 79
Solution 3.3e
• With new closed loop system, there will a
another third pole to place. This is more
complicated, but a recommended method is the
Symmetric optimum, see chapter 9.5
1
𝜔 = 𝑒𝑞 ⥂ 9.19
𝜏 ⋅𝜏
𝜏 = 𝑎 ⋅ 𝜏 𝜏 < 𝜏 , 𝑎 > 1 𝑒𝑞 ⥂ 9.20
𝑁𝑜 𝑐𝑜𝑚𝑝𝑙𝑒𝑥 𝑝𝑜𝑙𝑒𝑠, 𝑠𝑒𝑡 𝑎 = 3 𝑐ℎ𝑎𝑝𝑡𝑒𝑟9.5
𝑆𝑒𝑡 𝑎𝑙𝑙 𝑡ℎ𝑟𝑒𝑒 𝑝𝑜𝑙𝑒𝑠 𝑡ℎ𝑒 𝑠𝑎𝑚𝑒 𝑎𝑡 𝜔
𝜏 = 𝑎 ⋅ 𝜏 = 3 ⋅ 100 ⋅ 10 = 0.9𝑚𝑠
𝑎⋅𝐽 3 ⋅ 0.11
𝐾 = = = 367 !
𝑇 0.9 ⋅ 10
Power Electronics. Exercises with solutions 80
4
Exercises on MMF distribution
Power Electronics. Exercises with solutions 81
Exercise 4.1 2- and 6-pole motor
• Draw a cross section of one two pole and
one six pole synchronous machine with
salient poles. Draw also a diameter harness
(Swedish “diameterhärva”) which covers all
poles.
Power Electronics. Exercises with solutions 82
Solution 4.1
2-pole synchrounous machine
6-pole synchrounous machine
Power Electronics. Exercises with solutions 83
Exercise 4.2 DC machine
• Draw a cross section of a DC
machine with salient poles. Draw
also a diameter harness which
covers all poles.
Power Electronics. Exercises with solutions 84
Solution 3.2
N S
2-pole DC machine
N S 6-pole DC machine
Power Electronics. Exercises with solutions 85
Exercise 4.3 mmf
”In electrical engineering, an armature is the power producing
component of an electric machine. The armature can be on
either the rotor (the rotating part) or the stator (stationary part) a
of the electric machine”. [Wikipedia].
In the other part the field is produced.
A two pole armature winding in the stator of an alternating
current machine is approximately sinusoidally distributed
according to the figure below.
The current density (current per angle unit) is J=Jmax*sin(α) A 2-pole machine
[A/radian]. The airgap is constant δ=δ0.
𝐶𝑢𝑟𝑟𝑒𝑛𝑡 𝑑𝑒𝑛𝑠𝑖𝑡𝑦 𝐽 = 𝐽 sin 𝛼
Note that the outspread figure is done by spreading the windings
from α=0 and that the machine is seen from the back,that is why
the current directions change.
How large is the magnetomotive force F(α)?
Where will the magnetomotive force be found? a
Power Electronics. Exercises with solutions 86
Solution 4.3
The magnetic field in the lower closed loop is clock wise,
while the magnetic field in the upper closed loop has the
opposite direction. However, along the center line, the
direction from both loops has the same direction, and the
contribution from both loops add.
Use ampèr’s law in one loop. The magnetomotoric force in
the air gap has contribution from both the lower and the
upper loop.
𝐹=2 ∫ 𝐽 𝑑𝛼 = 𝐽 ∫ sin 𝛼 𝑑𝛼 = 2 𝐽 cos 𝛼 − cos 180 + 𝛼 =
=2 𝐽 cos 𝛼 − cos 180 cos 𝛼 + sin 180 sin 𝛼 = 2 𝐽 cos 𝛼
Power Electronics. Exercises with solutions 87
Solution 4.3 cont’d
• Where will the magnetomotive force be found in the magnetic
circuit ?
𝑚𝑚𝑓 ⥂ 𝑒𝑞𝑢𝑎𝑙𝑠 𝑡ℎ𝑒 𝑡𝑜𝑡𝑎𝑙 𝑐𝑢𝑟𝑟𝑒𝑛𝑡 𝑖𝑛𝑠𝑖𝑑𝑒 𝑖𝑛 𝑜𝑛𝑒 𝑙𝑜𝑜𝑝.
𝐵 𝐵
𝑁 ⋅ 𝐼 = 𝐻 ⋅ 𝑑𝑠̄ = 𝐻 ⋅ 𝑠 + 𝐻 ⋅ 𝛿 = ⋅𝑠 + ⋅𝛿 =
𝜇𝜇 𝜇
𝑠 𝛿
= ⋅𝜓+ ⋅𝜓 =𝑅 ⋅𝜓+𝑅 ⋅𝜓
𝜇𝜇 ⋅ 𝐴 𝜇 ⋅𝐴
𝑠 𝛿
𝑅 = ,𝑅 =
𝜇𝜇 ⋅ 𝐴 𝜇 ⋅𝐴
As the reluctance is proportionel to 1/m, the reluctance in the iron
can be neglected compared to the air gap reluctance.
I.e. the magnetomotive force will be concentrated in the two air
gaps
The magnetomotive force in one air gap will be
𝐹 = 𝐽 cos 𝛼
Power Electronics. Exercises with solutions 88
Exercise 4.9 2 wave mmf
Fs
• An electrical machine has two waves of magnetomotive
force. One is caused by the current distribution in the
rotor and the other by the current distribution in the a
stator, see figure to the right.
Fr
The machine has a constant airgap, δ=δ0 and the iron in
0
the stator and the rotor has infinite magnetic
conductivity. The peak amplitude of the waves of the
magnetomotive force are for the stator and for the rotor.
Calculate the energy in the airgap.
Fr Fs
a
Power Electronics. Exercises with solutions 89
Solution 4.9
• Both the stator and the rotor are
cylindrical, thus the airgap reluctance R is
the same in all directions
𝑆𝑒𝑒 𝑒𝑞𝑢 8.8 𝐹⃗ = 𝐹⃗ + 𝐹⃗ = 𝐹 + 𝑗 ⋅ 𝐹
𝑆𝑒𝑒 𝑒𝑞𝑢 8.9 𝐹 = 𝐹 ⋅ cos( 𝛾) + 𝐹
𝑆𝑒𝑒 𝑒𝑞𝑢 8.9 𝐹 = 𝐹 ⋅ sin( 𝛾)
1 𝐹 1 𝐹 𝐹 ⋅ cos ( 𝛾) + 2 ⋅ 𝐹 ⋅ 𝐹 ⋅ cos( 𝛾) + 𝐹 + 𝐹 ⋅ sin ( 𝛾)
𝑆𝑒𝑒𝑒𝑞𝑢 8.10 𝑊 = ⋅ + ⋅ = =
2 𝑅 2 𝑅 2𝑅
𝐹 + 2 ⋅ 𝐹 ⋅ 𝐹 ⋅ cos( 𝛾) + 𝐹
=
2𝑅
Power Electronics. Exercises with solutions 90
Exercise 4.10 Torque
• Same as 3.9. Assume that no electric
energy can be fed to or from the machine
and that the system is lossless.
• How large is the mechanical torque as a
function of the angle γ?
Power Electronics. Exercises with solutions 91
Solution 4.10
See exercise 3.9
The airgap reluctance R is the same in all directions
No energy supplied to the system Wmagn +Wmagn =constant
𝑑𝑊 𝑑𝑊 𝑑𝑊 𝑑𝑊
𝑡ℎ𝑢𝑠 + =0⇒ =−
𝑑𝛾 𝑑𝛾 𝑑𝛾 𝑑𝛾
𝑑𝑊
𝑆𝑒𝑒 𝑒𝑞𝑢 8.11 𝑇 =
𝑑𝛾
𝐹 + 2 ⋅ 𝐹 ⋅ 𝐹 ⋅ cos( 𝛾) + 𝐹
𝑑 𝑅
𝑑𝑊 1 𝐹 ⋅ 𝐹 ⋅ sin( 𝛾) 𝐹 ⋅ 𝐹
𝑆𝑒𝑒 𝑒𝑞𝑢 8.13 𝑇 = − =− ⋅ = =
𝑑𝛾 2 𝑑𝛾 𝑅 𝑅
There is no reluctance torque
Power Electronics. Exercises with solutions 92
Exercise 4.11 Flux
A machine with salient poles in the rotor and cylindrical
stator has its armature winding in the stator. The
effective number of winding turns is Na, eff and the
magnetized rotor contributes to the air gap flux with Fm
The main inductances are Lmx and Lmy in the x- and y
directions.
a) How large is the flux contribution from the rotor that is
linked to the armature winding?
b) How large is the resulting flux that is linked with the
armature winding?
c) Draw a figure of how the armature current vector is
positioned in the x-y plane to be perpendicular to the
resulting air gap flux !
Power Electronics. Exercises with solutions 93
Solution 4.11a
• The magnetized rotor contribution to the
airgap flux
𝜙
• The effective number of winding turns in
the stator
Na,eff
• The linked flux contribution from the rotor
to the armature winding
𝜓 = Na,eff ⋅ 𝜙
Power Electronics. Exercises with solutions 94
Solution 4.11b
The stator main inductance in the x-direction Lmx
The stator main inductance in the y-direction Lmy
The armature winding current in the x-direction isx
The armature winding current in the y-direction isy
The magnetizing flux in x-direction 𝜓
The resulting flux, linked with the armature winding 𝜓 = 𝜓 + 𝐿mx ⋅ 𝑖 + 𝑗 ⋅ 𝐿my ⋅ 𝑖
Power Electronics. Exercises with solutions 95
Solution 4.11c
𝑖
𝚤⃗
𝑖
𝜓
𝐿my ⋅ 𝑖
𝜓 𝐿mx ⋅ 𝑖
Power Electronics. Exercises with solutions 96
Exercise 4.12 Flux vector
Same as 4.11 but Lmy<< Lmx.
Draw a stylized picture of a cross
section of the machine and draw
a figure of how the armature
current vector is positioned in
the x-y plane to be perpendicular
to the resulting air gap flux !
Power Electronics. Exercises with solutions 97
Solution 4.12
Assume I ax 0
x m L mx I ax I ax 0 m
L my I ay L my L mx , L my I ay 0 0
y
I ay
m
Power Electronics. Exercises with solutions 98
Exercise 4.13 Armature current vector
Same as 4.12 but now the
armature winding is in the rotor,
which is cylindrical, and the
stator has salient poles. Draw a
stylized picture of a cross
section of the machine and draw
a figure of how the armature
current vector is positioned in
the x-y plane to be perpendicular
to the resulting air gap flux !
Power Electronics. Exercises with solutions 99
Solution 4.13
Ia
m
Power Electronics. Exercises with solutions 100
Exercise 4.14 Rotation problem
Suggest two ways of solving tha
rotation problem, i. e. how the angle
of the armature current vector to the
air gap flux vector can be maintained
during rotation for the cases in 4.12
and 4.13!
Power Electronics. Exercises with solutions 101
Solution 4.14
Ia
m
See chapter 8.8 and 10.1. According to chapter 8.8
the armature DC-winding must not be fixed to the
stator.
Alt 1 This can be achieved be means of two or three
phase AC-windings, see figure 8.9.
Power Electronics. Exercises with solutions 102
Exercise 4.15 Voltage equation
A three phase armature winding with the resistances Ra,
the leakage inductances Laλ and the fluxes ψ1, ψ2, and ψ3
that are linked to the respective armature windings.
a) Form the voltage equations first for each
phase and then jointly in vector form!
b) Express all vectors in rotor coordinates
instead of stator coordinates and
separate the equation into real and
imaginary parts.
Power Electronics. Exercises with solutions 103
Solution 4.15a
Equation 8 . 28
d 1 d 1 L a i a
U a R a ia R a ia
dt dt
d 2 d 2 L a i b
U b R a ib R a ib
dt dt
d 3 d 3 L a i c
U c R a ic R a ic
dt dt
Equation 8 . 29
d ab L a i s ab
ab ab d sab ab
U s R a is R a is
dt dt
Power Electronics. Exercises with solutions 104
Solution 4.15b
Perform a transforma tion from the ab frame to xy frame.
Assume you are " sitting " on the xy frame , which is rotating in positive direction ,
then you will see the ab frame rotating in negative direction
Equation 8.30
ab
ab d ab La isab
u s Ra is
dt
Transform by multiply by e jwt ( negative direction )
u sxy u sab e jwt u sab u sxy e jwt
xy ab jwt
is is e isab is xy e jwt
xy ab jwt
s s e sab sxy e jwt
Insert
xy jwt d sxy e jwt La is xy e jwt xy jwt d sxy La is xy e jwt
xy jwt
u s e Ra is e Ra is e
dt dt
xy jwt d sxy La is xy jwt
e jw e jwt sxy La is xy
xy jwt
u s e Ra is e
dt
d s La is
xy
jw sxy La is xy
xy
u sxy Ra is xy
dt
Power Electronics. Exercises with solutions 105
Solution 4.15b cont’d
xy d xy L s is xy
xy
j w xy L s is xy
U s R s is
dt
Separate the equation in a real and in a imaginary part
Equation 8 .31
Lsx Lmx L s
Lsy Lmy L s
d m Lmx L s isx
U sx R s isx w r Lmy Ls isy
dt
d m L sx i sx
R s isx w r Lsy isy
dt
d Lmy L s i sy
U sy R s isy w r m Lmx L s isx
dt
di sy
R s isy L sy w r m Lsx isx
dt
Power Electronics. Exercises with solutions 106
Solution 4.15b cont’d
Separate the equation below in real and imaginary parts , see equation 8 . 31
d sxy L a i s xy
j w sxy L a i s xy
u sxy R a i s xy
dt
u sx R a i sx dt m L mx i sx L a i sx w r L my i sy L a i sy R a i sx dt m L sx i sx w r L sy i sy
d d
u R i d L i L i w L i L i R i L di sy w L i
sy a sy
dt
my sy a sy r m mx sx a sx a sy sy
dt
r m sx sx
Power Electronics. Exercises with solutions 107
Exercise 4.16 DC machine voltage equation
An armature winding is designed as a
commutator winding, positioned in the rotor.
a. Draw a stylized picture of a cross section
of the machine and show the resulting
current distribution in the armature circuit
that gives maximum torque if Lmy=0.
b. Given the position of the commutator as
in a), form an expression of the torque!
c. Give the voltage equation for the
aramature circuit as it is known via the
sliding contacts positioned as in b)
Power Electronics. Exercises with solutions 108
Solution 4.16a,b
a) See figure 10.2
ia
N m
S
b Torque Equation 10 . 1 T m ia
Power Electronics. Exercises with solutions 109
Solution 4.16c
c Voltage Equation 8 . 31
See paragraph 10 . 2 , the x axis windings are never used ,
the x axis current is always zero , see equation 10 . 1
d d
w r L sy i ay 0
u ax R s i ax L i L i
dt m
dt
mx ax a ax
0 cons tan t 0 0
0
0
d
w
u ay u a R a i a L my i a L a i a L a i ax
dt r
m
0 0
di
R a i a L a a w r m
dt
Power Electronics. Exercises with solutions 110
Exercise 4.17 DC machine torque, power and flux
A DC machine has the following
ratings:
Uan=300V
Ian=30A
Ra=1Ω
La=5mH
nn=1500 rpm
Determine the rated torque Tn ,
the rated power Pn and the rated
magnetization ψmn.
Power Electronics. Exercises with solutions 111
Solution 4.17
Uan= 300 V
Ian= 30 A
Ra= 1 ohm
La= 5 mH
na= 1500 rpm
At the nominal point, all values are constant
di a di
U a R a ia L a e a a 0 R a ia e a
dt dt
SOLUTION
Power Pmotor e a i a U a R a i a i a 300 30 1 30 8100 W
Pmotor 8100
Torque Tn 51 . 6 Nm
wn 1500
2
60
ea U a R a ia 300 30 1
Flux wn 1 . 72 Vs
wn wn 1500
2
60
Power Electronics. Exercises with solutions 112
Exercise 4.18 DC machine controller
Same data as in 4.17. The machine is fed from a
switched converter with the sampling interval
Ts =1ms, and the DC voltage Ud0 =300V.
Derive a suitable controller for torque control
at constant magnetization. The current is
measured with sensors that give a maximum
signal for ia = I0 =30A.
A DC machine has the following ratings:
Ra=1Ω
La=5mH
nn=1500 rpm
Power Electronics. Exercises with solutions 113
Solution 4.18
di a
U a R a ia La ea
dt
ia k 1 ia k i k 1 ia k i k ia k
*
u a* k R a
2
La a
Ts
e a k R a a
2
L
R a ia k a i *a k ia k e a k
Ts
R L
k 1
Ra * L
u a* k i a k ia k R a ia k a i *a k ia k e a k a a i *a k ia k R a i *a n ia n e a k
2 Ts 2 Ts n0
R a La *
k 1
Ra
u a k
*
i a k ia k i a n ia n e a k
*
2 Ts R a La n 0
2 T
s
k 1
R L T
u a* k a a i *a k ia k s
i *a n ia n e a k
2 Ts Ts L a n 0
2 R
a
k 1
1 0 . 005 0 . 001
u a k
*
i k ia k
*
i n ia n u a k 1 ia k R a 1, L a 0 . 005 , T s 0 .001 ,
*
2 0 . 001 a 0 .001 0 . 005 n 0 a
2 1
k 1
u a* k 5 . 5 i *a k ia k 0 .182 i *a n ia n u a k ia k
n0
Power Electronics. Exercises with solutions 114
Exercise 4.20 PMSM controller
A permanently magnetized synchronous
machine has the following ratings:
Uline-to-line=220V
Isn=13A
nn=3000 rpm
Ra=0,5Ω
Ld= Lq=7mH
The machine is driven by a switched amplifier
with the DC voltage Ud0 =350V. The frequency of
the modulating triangular wave ftri is 1000 Hz .
The current sensor measures currents up to a
maximum of I0 =25A.
Suggest a structure for the control of the torque
of the machine together with a set of relevant
equations.
Power Electronics. Exercises with solutions 115
Solution 4.20
*
1 i q* e q* y q*
T ejwt
m PI-reg
iq eq
ab-frame
0 y d*
PI-reg
id
di
Equation 11 . 3 assume stationari ty u sq R s i sq L sq sq w L s i sd R s i sq w
dt
0
0
3000
Angular frequency w 2 314 . 2
60
3
Assume i sq i sn , i sd 0 i sq 13 15 . 9 A
2
Voltage drop over res & ind eR 0 . 5 15 . 9 8 V
350
Max symmetrize d voltage u LL _ eff 247 . 5 V
2
Back emf voltage e u LL _ eff e R 247 . 5 V 8 V 239 . 5 V w
Power Electronics. Exercises with solutions 116
Exercise 4.25 Electric car
You are to design an electric car. You have a chassis with space for batteries and an electric motor. The battery weight is 265 kg, the
storing capacity is
32 kWh and can be charged with 5 kW. The battery no load voltage e0 ranges from 170V to 200V and its inner resistance is Rb =0,14Ω.
The motor is a two-pole three phase alternating current motor with the rating 50 kW at the rated speed nnm =3000 rpm. The car has
two gears, which give the speed 120 km/h at the rated speed of the motor, corresponding to the net gear 1/2,83. The weight of the
car is 1500 kg including the battery weight. The requirement is to manage a 30% uphill.
Data
Motor, 2-pole, 3 phase AC
Rated power 50 kW
Rated motor speed 3000 rpm
Battery
Voltage 170-200 V
Charge capacity 32 kWh
Max charging power 5 kW
Internal resistance 0.14 ohm
Weight 265 kg
Vehicle
Weight 1500 kg (incl battery)
Vehicle speed at rated motor speed 120 km/h
Gear 1/2.83 at 120 km/h
Rated uphill 30%
Power Electronics. Exercises with solutions 117
Exercise 4.25 cont’d
a) What is the rated torque of the motor?
b) What rated stator voltage would you choose when you order the
motor?
c) Which is the minimum rated current for the transistors of the main
circuit?
d) What gearing ratio holds for the low gear?
e) When driving in 120 km/h, the power consumption is 370 Wh/km. How
far can you drive if the batteries are fully loaded when you start? For a
certain drive cycle in city traffic, the average consumption is 190
Wh/km. How far can the car be driven in the city?
f) What is the cost/10 km with an energy price of 2 SEK/kWh?
Power Electronics. Exercises with solutions 118
Solution 4.25a,b
3000
a ) Angular speed at rated speed w 2 314
60
P 50000
Torque at rated speed T Power P T w 159 Nm
w 314
e 170 200 V
b ) P 50 kW u i e 0 R i i i 0 170 0 . 14 i i 170 i 0 . 14 i
2
use 170 V
2
170 i 50000 85 85 50000
i2 0 i 500 A
0 . 14 0 . 14 0 . 14 0 . 14 0 . 14
u 170 0 . 14 500 100 V dc
u dc
With symmetrize d 3 phase ac voltage uˆ LL 100 V dc u LL 71 V
2
Ri +
+
E0 U
-
-
Power Electronics. Exercises with solutions 119
Solution 4.25c
i
+ 1 0 0
Ri
+
E0 U M
-
- 0 1 1
c ) Assume power factor 0 .9
Pac 3 u LL I phase 0 . 9 50000 3 71 I phase 0 .9
50000
I phase _ eff 452 A
3 71 0 . 9
Iˆ phase 639 A
See figure above , "1" means the transistor is conducting , " 0 " the transistor is not conducting
E . g . the top left transistor is the only transistor in upper position which is conducting ,
thus the full dc current is flowing through this transistor ,
Rated transistor current is 639 A
Power Electronics. Exercises with solutions 120
Solution 4.25d
d ) The uphill slope is 30 %. arctan a 0 . 3 a 17 o
The requested force F 1500 9 . 81 sin 17 o
4228 N
Assume wheel radius r 0 . 3 m
Torque T F r 4228 0 . 3 1268 Nm
The motor torque at rated power T motor 159 Nm
1268
Assume the low gear , the gear ratio 8 .0
159
Power Electronics. Exercises with solutions 121
Solution 4.25 e,f
e ) Maximum battery ch arg e 32 kWh
Battery consumptio n at 120 km / h 370 Wh / km
32
How far with fully loaded battery at 120 km / h 86 km
0 . 37
Battery consumptio n in average city traffic 190 Wh / km
32
How far in average city traffic 168 km
0 . 19
f ) Cost / 10 km at 120 km / h 10 0 . 37 2 SEK / kWh 7 . 40 SEK
Cost / 10 km in average city traffic 10 0 . 19 2 SEK / kWh 3 . 80 SEK
Power Electronics. Exercises with solutions 122
5
Exercises on PMSM
Power Electronics. Exercises with solutions 123
Exercise 5.1 Flux and noload voltage
A permanent magnetized synchronous machine is
magnetized with at the most 0,7 Vs linkage flux in
one phase. It is not connected.
a. How large is the flux vector as a function of the rotor
position?
b. How large is the induced voltage vector as a function
of rotor position and speed?
c. At which speed is the voltage too large for a
frequency converter with a dc voltage of 600V?
Power Electronics. Exercises with solutions 124
Solution 5.1a
Given:
𝜓 = 0.7 𝑉𝑠, 𝑁𝑜 𝑙𝑜𝑎𝑑, 𝑜𝑝𝑒𝑛 𝑠𝑡𝑎𝑡𝑜𝑟
Sought:
𝜓=𝑓 Θ
Solution:
From equation (3.4) it is learned that the magnitude of the
vector equals the “phase-to-phase” RMS-value of the same
quantity:
3
𝜓 = ⋅𝜓 = 0.86𝑉𝑠
2
The flux vector is oriented along the PMSM rotor magnet
pole
Power Electronics. Exercises with solutions 125
Solution 5.1b,c
b)
From equation (3.5):
𝐸⋅𝑒 = 𝑒⃗ = 𝜔 ⋅ 𝜓 ⋅ 𝑒
The induced voltage is ”flux x speed” and radians ahead.
c)
According to figure 2.24 the voltage vector is ⋅𝑈 .
The longest vectro that can be sustained at any angle is the
radius of a circle inscribed in a hexagon defined by the active
voltage vectors (i.e. not the zero vectors),
𝑢 =𝜔 ⋅𝜓 = ⋅𝑈 = →𝜔 =
.
Power Electronics. Exercises with solutions 126
Exercise 5.2 Inductance and torque generation
A permanent magnetized synchronous machine has a cylindrical rotor with Lmx
= Lmy=Lm= 2 mH. The magnetization is the same as in 5.1, i.e. 0,7 Vs linkage
flux in one phase. The machine is controlled so that the stator current along
the x axle is zero (isx=0).
a) How large torque can the machine develop if the phase current
is limited to 15 A RMS?
b) Draw the flux linkage from the permanent magnets and from the
stator current in (x, y) coordinates together with induced
voltage and voltage for the frequency 25 Hz and the stator
resistance 0,2Ω!
c) How large stator current is required to reduce the flux to zero?
Power Electronics. Exercises with solutions 127
Solution 5.2a
Given:
Flux linkage (in vector form), 𝜓 = 0.86 𝑉𝑠
Frequency 25 Hz → 𝜔 = 2 𝜋 25 = 50 𝜋
Max phase current: 𝑖 , , = 15 𝐴
Inductances: 𝐿 = 𝐿 = 𝐿 = 2 𝑚𝐻
Sought:
a) Max Torque
Solution:
General torque equation: 𝑇 = 𝜓 ⋅ 𝑖 + (𝐿 − 𝐿 ) ⋅ 𝑖 ⋅𝑖
𝑖 =0→𝑇 =𝜓 ⋅𝑖
𝑖 , = 𝚤⃗ = 3 𝑖 , , = 26 𝐴
𝑇 =𝜓 ⋅𝑖 , = 0.86 26 = 22 𝑁𝑚
Power Electronics. Exercises with solutions 128
Solution 5.2b
Given:
Flux linkage (in vector form), 𝜓 = 0.86 𝑉𝑠
Frequency 25 Hz → 𝜔 = 2 𝜋 25 = 50 𝜋
y
Max phase current: 𝑖 , , = 15 𝐴
Phase resistance = 𝑅 = 0.2 Ω 𝑅 𝑖 𝑢
Inductances: 𝐿 = 𝐿 = 𝐿 = 2 𝑚𝐻
𝑗 𝜔 𝜓
Sought:
a) Flux linkage and Voltage components in the (x,y) frame
𝜓
𝑗 𝐿 𝑖
Solution:
𝜓 x
𝜓 = 0.86 𝑉𝑠
𝜓 = 𝜓 + 𝑗 𝐿 𝑖 = 0.86 + 𝑗 0.002 26 = 0.86 + 𝑗 0.052
𝑢 =𝑅 𝑖 +𝑗 𝜔 𝜓 =𝑅 𝑖 +𝑗 𝜔 𝜓 +𝑗 𝐿 𝑖 =
= 𝑅 𝑗 26 + 𝑗 50 𝜋 0.86 + 𝑗 0.052 = 𝑗 5.2 − 8 + 𝑗 132 V
Power Electronics. Exercises with solutions 129
Solution 5.2c
Given:
Flux linkage (in vector form), 𝜓 = 0.86 𝑉𝑠
Frequency 25 Hz → 𝜔 = 2 𝜋 25 = 50 𝜋
y
Max phase current: 𝑖 , , = 15 𝐴
Phase resistance = 𝑅 = 0.2 Ω
Inductances: 𝐿 = 𝐿 = 𝐿 = 2 𝑚𝐻
Sought:
a) Stator current for zero stator flux linkage
𝐿 𝑖
Solution:
𝜓 = 0.86 𝑉𝑠 𝜓 x
.
𝜓 =𝜓 + 𝐿 𝑖 +𝑗 𝐿 𝑖 =0 →𝑖 = = = 430 𝐴
.
Power Electronics. Exercises with solutions 130
Exercise 5.3 PMSM Control
The machine in example 5.2 is vector controlled. The voltage is
updated every 100 µs, i. e. the sampling interval is Ts=100 µs. The
machine shall make a torque step from 0 to maximum torque
when the rotor is at standstill. The DC voltage is 600V.
a. Determine the voltage that is required to increase the current
isy from zero to a current that corresponds to maximum torque
in one sample interval!
b. Is the DC voltage sufficient?
Power Electronics. Exercises with solutions 131
Solution 5.3a
Data
Sampling time T s 100 m s
Torque , see execisen 5 .2 a 22 . 3 Nm
Dclink voltage U dc 600 V
Start from s tan dstill w 0
a ) It is a 3 phase load , see the theory in chapter 3 . 7 , particular ly equ ( 3 . 17 ) and ( 3 . 18 )
Since it will be a step in i sy ( called i q in the equations ) following exp ressions are valid
L R Ts k 1
u *x t 0 0 0 0 w L s iq 0
Ts 2 L T 0
s 0
R 2
L
L R Ts k 1
R 2 10 3 0 .2
u *y t 26 0 0 0 w L i 26 26 522 V
2
0
2
m s d
Ts L T 0 Ts 2 1 10 4
s 0
R 2
Power Electronics. Exercises with solutions 132
Solution 5.3b
U
b ) The max imum line to line voltage from a dclink voltage is dc
424 V
2
If we are lucky and the step in u *y k happens to po int in the direction of
one of the six voltage vectors defining the
2
hexagon we will have the voltage U dc 490 V , still too low than the requested 522 V .
3
The step will take more than one sampling int erval
Power Electronics. Exercises with solutions 133
Exercise 5.4 Torque
A two-pole permanently magnetized synchronous machine with the parameters
Lmx=Lmy=Lm=15mH is used in an airplane and is therefore driven with stator
frequencies up to 400 Hz. The stator resistance is negligable. The phase current is
limited to 10A rms. The motor is fed by a converter with the DC voltage 600V.
a. Determine the magnetization from the permanent magnets considering the
case when all voltage is needed and the machine is developing full torque (all
the current along the q-axle) and 200 Hz stator frequency!
b. Determine the torque!
c. Determine the torque at 400 Hz stator frequency provided a part of the
current is needed for demagnetization!
Power Electronics. Exercises with solutions 134
Solution 5.4a,b
Data
PMSM 2 pole
L sx L sy 15 mH
f max 400 Hz
Rs 0
I phase 10 A
Dclink voltage U dc 600 V
a ) Sought m at max voltage and full torque , and no need for field weakening at this low speed
L sx L sy , thus no reluc tan ce torque
f 200 Hz
Start with equation 11 . 2
u s R s is
d
dt
m L s i s j w r m L s i s R s 0 . Assume stationari ty
d
dt
0
j w r m j w r L s i s u j w r m j w r L s i s
2
600 2
2 2 200 0 . 015 10 2
2 200 L s i s
U dc 2
2 200
2
0 . 26 Vs
2 200
m m
2
b) T m i sy 0 . 26 10 3 4 . 5 Nm
Power Electronics. Exercises with solutions 135
Solution 5.4c
c ) In this case i sx 0 sin ce field weakening is used
L sx L sy , thus no reluc tan ce torque
f 400 Hz
d
Assume stationari ty 0
dt
u R i j w j w L i R 0 w L s i sy
2
w r w r L s i sx 2 424 V
s s r m r s s s r m
i s i sx i sy 10 3
2 2
2
w r L s i sy w r w r L s i sx 2 w r w r L s i sx
2 2 2 2 2 2 2 2
u m m
w
r
2
Ls
2
2
2
i sx i sy m 2 m L s i sx 424
2 2
2513 . 3 0 . 015 0 . 26 0 . 26 0 . 015
10 3
2
424
2
2
0 . 015 10 3 0 . 26
2 2 2
i 2513 . 3 13 . 7 A
sx 2 0 . 26 0 . 015
i
sy
2
10 3 13 . 7 2 10 . 6 A
T 10 . 6 0 . 26 2 . 76 Nm
I .e . the torque has dropped to about half of the torque at 200 Hz , which is not a surprise
( a bit more than half sin ce we use 10 . 6 A instead of 10 3 17 . 3 A )
Power Electronics. Exercises with solutions 136
Exercise 5.5 Drive system
You are designing an electric bicycle with a synchronous machine as a motor, coupled to the
chain by a planetary gear. The power of the motor is 200W and it has 10 poles. The speed of
the motor is 1000rpm at full power. The motor is fed from a three phase converter with batteries
of 20V. The stator resistance and inductance can be neglected.
a. Determine the magnetization expressed as a flux vector at rated operational with full
voltage from the frequency converter!
b. Determine the phase current at full torque!
c. Determine the moment of inertia if the bicycle and its driver weigh 100kg, the gear ratio is
1:10 and the rated speed is 25 km/h!Om cykel med förare väger 100 kg, hur stort
tröghetsmoment upplever drivmotorn om utväxlingen är 1:10 och märkhastigheten är 25
km/h?
d. How long is the time for accelaration?
Power Electronics. Exercises with solutions 137
Solution 5.5a
Data
PMSM p 10 pole
Power 200 W
Dclink voltage U dc 20 V
speed at full power 1000 rpm
L sx Lsy 0 mH , no reluct . torque
Rs 0
d
a ) Magnetizat ion flux vector s at rated , nom speed . Assume stationari ty , 0
dt
u xy jw r s , see equ (11 .2 )
U dc
U dc 20
s 2 0 .027 Vs pm , as Ls 0
w r ,el 2 w r , mech
p
2 2
1000 10
2 60 2
Power Electronics. Exercises with solutions 138
Solution 5.5b,c,d
p p P 200
b)Torque Tmech Tel pm isy 1.91 Nm
2 2 w r ,mech 2 1000
60
Tmech 1.91
isy 14.15 A
p 10
pm 0.027
2 2
14 .15
Is 8.17 A
3
2
25
1 1 v
2
c ) Inertia Energy J w r , mech m v J ekv m
2 2
100 3 . 6 0.44 kgm 2
2 2 w r , mech 104 .72
T T w J 104 .72 0.44
d ) Accelerati on time w r , mech mech dt mech t acc t acc r , mech ekv 24.1 s
J ekv J ekv Tmech 1.91
Power Electronics. Exercises with solutions 139
6
Losses and temperature
Power Electronics. Exercises with solutions 140
Exercise 6.1 - 1Q converter, losses and temperature
A buck converter supplies a load according to the figure. The semiconductor are
mounted on a heat sink . The converter is modulated with a 5 kHz carrier wave, Udc =
400V, e=100V, L=1.5 mH. The current to the load has an average value of 10 A. The
following data is extracted from data-sheets:
IGBT:
• Threshold voltage = 1.0 V
• Differential resistance = 5.0 mOhm.
• Turn-on loss Eon = 1.5 mJ assuming a DC link voltage and current of 400 V DC and 50 A
• Turn-off loss Eoff = 0.6 mJ assuming a DC link voltage and current of 400 V DC and 50 A
Diode:
• Threshold voltage = 0.8 V
• Differential resistance = 7 mohm.
• Reverse recovery Charge Qf = 1 C @ 400 V DC link & 50 A
Thermal:
• Thermal resistance of the heat sink Rth,ha = 2.6 K/W
• Thermal resistance of the IGBT Rth,jc_T = 0.6 K/W
• Thermal resistance of the Diode Rth,jc_D = 0.7 K/W
• Ambient temperature = 35 C
• Disregard the thermal resistance case-to-heatsink.
a) Calculate the current ripple.
b) Calculate the losses of the transistor and the diode.
c) Calculate the junction temperatures of the transistor and the diode.
Power Electronics. Exercises with solutions 141
Exercise 6.1, datasheets
https://www.microsemi.com/existing-parts/parts/137150#resources
Power Electronics. Exercises with solutions 142
Power Electronics. Exercises with solutions 143
Solution 6.1 a
a) ∆𝑖 = ∆𝑡 = = 10
.
Power Electronics. Exercises with solutions 144
Solution 6.1 b(1)
The losses of the transistor consists of conduction losses and switching losses
The conduction losses requires both average and RMS-values of the current.
The average current of the transistor for the switch period (not the transistor conducts ¼’th of
the period) is:
10
𝑖 , = = 2.5 𝐴
4
The RMS current of the transistor is calculated as:
1 1 𝑖 , −𝑖 ,
𝑖 , = 𝑖 𝑑𝑡 = 𝑖 , + 𝑡 𝑑𝑡
𝑇 𝑇 𝑡
1 𝑡 𝑡 𝑻
= 𝑖 , 1− +𝑖 , 𝑑𝑡 = 𝑡 =
𝑇 𝑡 𝑡 4
1 𝑖 , +𝑖 , 𝑖 , +𝑖 , 1 5 + 15 + 5 15
= = = 5.2 𝐴
4 3 4 3
The switching losses of the transistor can be calculated from the turn-on and the turn-off
energies, scaled with the difference in voltage (no difference in this case, both 400 V) and
current (50A vs 5 and 15 A respectively for turn on and turn off). Thus, the total transistor
losses are:
5 15
𝑃 = 1.0 2.5 + 5𝑒 5.2 + 1.5𝑒 + 0.6𝑒 5000 = 4.3 𝑊
50 50
Power Electronics. Exercises with solutions 145
Solution 6.1 b(2)
The losses of the diode also consists of conduction losses and switching losses.
The conduction losses requires both average and RMS-values of the current.
The average current of the transistor for the switch period (not the transistor conducts ¼’th of
the period) is:
10 3
𝑖 , = = 7.5 𝐴
4
The RMS current of the transistor is calculated as:
1 1 𝑖 , −𝑖 ,
𝑖 , = 𝑖 𝑑𝑡 = 𝑖 , + 𝑡 𝑑𝑡
𝑇 𝑇 𝑡
1 𝑡 𝑡 𝑻
= 𝑖 , 1− +𝑖 , 𝑑𝑡 = 𝑡 =
𝑇 𝑡 𝑡 4
3 𝑖 , +𝑖 , 𝑖 , +𝑖 , 𝟑 5 + 15 + 5 15
= = = 𝟗. 𝟎 𝐴
4 3 4 3
The switching losses of the diode can be calculated form the “reverse recovery charge”, see
equation 6.17, scaled with the switching voltage (to become an Energy) and the switching
frequency (to be a power = energy/second). Thus, the total diode losses are:
15
𝑃 = 0.8 7.5 + 7𝑒 9.0 + 400 1𝑒 5000 = 7.2 𝑊
50
Power Electronics. Exercises with solutions 146
Solution 6.1 c
c) 𝑇 = 35 + 4.3 + 7.2 2.6 = 64.9 𝐶
𝑇 = 64.9 + 4.3 0.6 = 67.5 𝐶
𝑇 = 64.9 + 7.2 0.7 = 69.9 𝐶
Ambient temperature = 35 C
Thermal resistance of
the heat sink
Rth,ha = 2.6 K/W
𝑇 = 35 + 4.3 + 7.2 2.6 = 64.9 𝐶
Thermal resistance of the Thermal resistance of the
Diode Rth,jc_D = 0.7 K/W IGBT Rth,jc_T = 0.6 K/W
𝑇 = 64.9 + 7.2 0.7 = 69.9 𝐶 𝑇 = 64.9 + 4.3 0.6 = 67.5 𝐶
𝑃 𝑃
Power Electronics. Exercises with solutions 147
Exercise 6.2
Aluminum housing with
• Assume. cooling channel
– For the winding
• 10 A/mm^2 in winding
10 mm
• 60 C water temp 1 Stator core made of
• Copper resistivity: 1.7e-8 Ohm*m ℎ 𝐴 Laminated iron
• Fill factor 50 %
𝑅
• All copper losses in one point in the middle of the winding
• The slot liner is 1 mm thick
• The iron path starts at half the tooth height and has tooth width (15+10) mm
• The shrink fit of the core leads to a 0.05 mm airgap between the housing and the cor
– Cooling:
• Heat transfer Coefficient h=1000
𝑅
40 mm
• Thermal conductivity ():
30 mm
– Winding (Copper): 400 𝑅 𝑅
– Slot insulation: 1
Stator Winding with
slot insulation
– Stator core (Iron): 80
– Air: 0.024 1 mm
10 mm
• Estimate 10 mm 10 mm
– Conductor temperature
148
6.2 Solution
Aluminum housing with
cooling channel
10 mm
• Calculate the heat losses: 1 Stator core made of
0.1 ℎ 𝐴 Laminated iron
𝑃 =𝜌 . 10𝑒6 0.01 0.03 𝑘 = 26 𝑊
0.01 0.03 𝑘
𝑅
• Calculate the thermal resitances:
1 0.005
𝑅 = = 0.042 [𝐾 𝑊 ]
𝜆 0.030 0.1
1 0.001
𝑅 = = 0.33 [𝐾 𝑊 ]
𝑅
𝜆 0.030 0.1
40 mm
1 0.025
𝑅 = = 0.31 [𝐾 𝑊 ]
30 mm
𝜆 0.010 0.1
𝑅 𝑅
1 0.00005 Stator Winding with
𝑅 = = 1.4 [𝐾 𝑊 ] slot insulation
𝜆 0.015 0.1
0.67 [ ⁄ ]
• Calculate the temperature drops 1 mm
𝑇 =𝑇 +𝑃 𝑅 +𝑅 +𝑅 +𝑅 +
1
=
10 mm Conclusion
ℎ 𝐴 10 mm 10 mm Even a small airgap (as between
= 60+25.5∗(0.042+0.33+0.31+1.4+1/1000/0.015/0.1) = 130 𝐶 the core and housing (0.05 mm
assumed), can contribute a lot to
the winding temperature!
149
7
EMC
Power Electronics. Exercises with solutions 150
7.1 Common mode disturbance
• A symmetric 1-phase voltage source (u=320
V, 50 Hz) has its midpoint connected to a
potential (vmid = 100 V, 1000 Hz) relative to
ground.
• Between the 1-phase voltage source
terminals there is an inductive load (L)
connected, see figure.
• There are parasitic capacitors (C=10 mF) from
some nodes to ground, see figure.
a) Calculate the differential mode current in
the load.
b) Calculate the common mode current in the
middle of the load.
Power Electronics. Exercises with solutions 151
7.1 solution
a) The differential model current
>> w = 2*pi*50;
>> L = 1e-3;
>> C = 1e-5;
>> udm = 320;
>> idm = udm/(w*2*L) = 509.2958
b) The common model current flows through
the inductors in parallel
>> w = 2*pi*1000;
>> L = 1e-3;
>> C = 1e-5;
>> ucm = 100;
>> icm = ucm/(j*w*L + 1/j/w/C) = 0.0000 +10.3817i
Power Electronics. Exercises with solutions 152
7.2 Common model disturbance with a 4Q converter
• A 4Q converter is supplied from a series
connection of 2 batteries at 400 V each.
• Between the 4Q converter output
terminals there is an inductive load
(L=1mH) connected, see figure.
• There are parasitic capacitors (C=10 mF)
from some nodes to ground, see figure.
• The converter is modulated with carrier
wave modulation at 5000 Hz. And voltage
reference to the modulator u* = 0 V.
a) Calculate the differential mode current
in the load.
b) Calculate the common mode current in
the middle of the load.
Power Electronics. Exercises with solutions 153
Exam 2012-05-21
Power Electronics. Exercises with solutions 154
Exercise Exam 2012-05-21 1a - The four quadrant DC-DC converter
a) Draw a four quadrant DC/DC converter with a three phase diode rectifier connected to the power grid. Between the rectifier and the DC link capacitor is a
BIG inductor connected. This inductor, the dc-link capacitor and protection against too high inrush currents should be included in the drawing. The
transistors are of IGBT-type. (2 p.)
b) The three-phase grid, to which the three phase diode rectifier is connected, has the line-to-line voltage 400 Vrms at 50 Hz. The bridge output voltage of the
four quadrant DC/DC converter is 430 V.
Calculate the average voltage at the rectifier dc output.
Calculate the duty cycle of the four quadrant dc/dc converter. (2 p.)
c) Due to the big inductor between the rectifier and the DC link capacitor the rectifier output DC-current can be regarded as constant, 172 A. The 4Q bridge load can be
regarded as a constant voltage in series with a 5.1 mH inductance.
• The rectifier diode threshold voltage is 1.0 V and its differential resistance is 2.2 mohm.
• The rectifier diode turn-on and turn-off losses can be neglected
• The IGBT transistor threshold voltage is 1.4 V and its differential resistance is 12 mohm.
• The turn-on loss of the IGBT transistor is 65 mJ and its turn-off loss is 82 mJ.
• The IGBT diode threshold voltage is 1.1 V and its differential resistance is 9.5 mohm.
• The IGBT diode turn-off losses is 25 mJ, while the turn-on loss can be neglected
• Both the IGBT transistor and the IGBT diode turn-on and turn-off losses are nominal values at 900 V DC link voltage and 180 A turn-on and turn-off current.
• The switching frequency is 2 kHz.
Make a diagram of the 4Q load current
Calculate the rectifier diode losses.
Calculate the IGBT transistor losses of each IGBT in the four quadrant converter.
Calculate the IGBT diode losses of each IGBT in the four quadrant converter. (4 p.)
d) Which is the junction temperature of the IGBT transistor and of the IGBT diode, and which is the junction temperature of the rectifier diodes?
• The thermal resistance of the heatsink equals 0.025 K/W?
• The thermal resistance of the IGBT transistor equals 0.043 K/W?
• The thermal resistance of the IGBT diode equals 0.078 K/W?
• The thermal resistance of the rectifier diode equals 0.12 K/W?
• The ambient temperature is 42 oC.
• The rectifier diodes and the four quadrant converter IGBTs share the heatsink. (2 p.)
Power Electronics. Exercises with solutions 155
Solution Exam 2012-05-21 1a
iload
iult iuld iurt iurd
illt illd ilrt ilrd
Power Electronics. Exercises with solutions 156
Solution Exam 2012-05-21 1b
3
Average DC voltage U dc _ ave 400 2 V 540 V
(Since the rectifier is loaded with a BIG inductor and in stationary
state, the DC link voltage must be equal to the average of the rectified
grid voltage)
4Q average bridge voltage U dc 4 QC 430 V
(This is given in the question)
430
4Q output voltage duty cycle D 0 .8
(The 4Q output voltage is modulated to 430 V from 540 V DC))
540
Power Electronics. Exercises with solutions 157
Solution Exam 2012-05-21 1c_1
Rectifier diode current 172 A
Rectifier diode threshold voltage 1.0 V
Rectifier diode diff resistance 2.2 mohm
Rectifer diode on state voltage 1+172*0.0022=1.38 V
Rectifier diode power loss 1.38*172*0.33=78 W (conducting 33% of time)
Rectifer diode thermal resistance 0,12 K/W
Continous rectifier output current 172 A
The continous 4Q load current 172/0.8=215 A (to maintain the power)
Power Electronics. Exercises with solutions 158
Solution Exam 2012-05-21 1c_2
4Q load current Ipulse,avg=215A
4Q load inductance 5.1 mH
Only the upper left and lower right transistors have losses and the lower
left and upper right diodes have losses. The other semiconductors do not
conduct since the 4Q output current is strictly positive.
The load current ripple can be calculated as:
𝑢−𝑒 540 − 430 1
∆𝑖 = ∆𝑡 = 0.8 ∗ = 4.3 𝐴
𝐿 0.0051 2 ∗ 2000
The ”duty cycle” of the upper left, and lower right, transistor current is:
𝐷
𝐷𝑡𝑟 = 1 − = 0.9
2
The average transistor current is
𝑖 . = 𝐷𝑡𝑟 ∗ Ipulse,avg = 194 𝐴
The rms value of the transistor currents is:
∆𝑖
𝑖 , = 𝐷 ∗ (𝑖 + ∆𝑖 ∗ 𝑖 + ) = 204 𝐴
3
Power Electronics. Exercises with solutions 159
Solution Exam 2012-05-21 1c_3
The ”duty cycle” of the upper left, and lower right, diode current is:
𝐷
𝐷 = 0.1
2
The average diode current is
𝑖 , = 𝐷𝑡𝑟 ∗ Ipulse,avg = 21.5 𝐴
The rms value of the transistor currents is:
∆𝑖
𝑖 , = 𝐷 ∗ (𝑖 + ∆𝑖 ∗ 𝑖 + ) = 68 𝐴
3
Power Electronics. Exercises with solutions 160
Solution Exam 2012-05-21 1c_4
4QC transistor rms-current 204A
4QC transistor avg-current 194A
4QC transistor threshold voltage 1.4 V
4QC transistor diff resistance 12 mohm
4QC transistor turn-on loss 65 mJ
4QC transistor turn-off loss 82 mJ
4QC transistor thermal resistance 0,043 K/W
Ponstate 1 .4 194 204 2 0 .012 771 W
210 .7 219 .3 540
Pswitch 2000 0 .065 0 .082 211 W
180 180 900
Ptotal 771 211 982 W
Power Electronics. Exercises with solutions 161
Solution Exam 2012-05-21 1c_5
4QC diode threshold voltage 1.1 V
4QC diode diff resistance 9.5 mohm
4QC diode turn-off losses 25 mJ
4QC diode thermal resistance .078 W/K
I max 219.3 A
I min 210.7 A
219.32 219.3 210.7 210.7 2
I rms 0.1 68.0 A
3
219.3 210.7
I
avg 0.1 21.5 A
2
Ponstate 1.1 21.5 682 0.0095 67.6W
210.7 540
Pswitch 2000 0.025 35.1W
180 900
Ptotal 67.6 35.1 103W
Power Electronics. Exercises with solutions 162
Solution Exam 2012-05-21 1c_6
Upper left IGBT transistor loss 982 W
Upper right IGBT transistor loss 0W
Lower right IGBT transistor loss 982 W
Lower left IGBT transistor loss 0W
Upper right IGBT diode loss 103 W
Upper left IGBT diode loss 0W
Lower left IGBT diode loss 103 W
Lower right IGBT diode loss 0W
Power Electronics. Exercises with solutions 163
Solution Exam 2012-05-21 1d
Rectifier diode (6) IGBT diode (2) IGBT transistor (2)
Loss each 78 W Loss each 103 W Loss each 982W
Rth diode 0.12 K/W Rth diode 0.078K/W Rth trans 0.043 K/W
Temp diff 9.4 oC Temp diff 8.0 oC Temp diff 42.2 oC
Heatsink
Contribution fron 6 rectifier diodes and from two IGBT.
Heatsink thermal resistance 0.025 K/W
Ambient temperature 42 oC
Total loss to heatsink 6*78+2*103+2*982=2638 W
Heatsink sink temperature 42+2656*0.025=108 oC
Junction temperature
Rectifier diode 108+9.4=117 oC
IGBT diode 108+8=116 oC
IGBT transistor 108+42.2=150 oC
Power Electronics. Exercises with solutions 164
Exam 20120521 2 - Snubbers, DC/DC converter, semiconductor
a. Draw an IGBT equipped step down chopper (buck converter)
with an RCD snubber. The dclink voltage on the supply side is 250V and the load voltage is 175 V.
Give a detailed description of how the RCD charge-discharge snubber should operate. Explain why the snubbers are
needed (2 p.)
b. Calculate the snubber capacitor for the commutation time
0.012 ms.
The load current is 12 A, assumed constant during the commutation.
Calculate the snubber resistor so the discharge time (3 time constants)
of the snubber capacitor is less than the IGBT on state time.
The switch frequency is 1.5 kHz (4 p.)
Power Electronics. Exercises with solutions 165
Exam 20120521 2 - Snubbers, DC/DC converter, semiconductor
c. Draw the main circuit of a forward DC/DC converter.
The circuit should include DM-filter (differential mode) ,
CM (common mode)
filter, rectifier, dc link capacitors, switch transistor
and a simple output filter.
The circuit should also include snubbers. (2 p.)
d. Draw the diffusion structure of a MOSFET. In the figure the different doping areas
must be found. Draw where in the structure the unwanted
stray transistor effect can be found. What is done to avoid
this effect.
Also draw where in the structure
the anti-parallel diode effect can be found. (2 p.)
Power Electronics. Exercises with solutions 166
Solution Exam 2012-05-21 2a
i
D R
T
C
iload
FD
At turn off of transistor T, the current i commtutates over to the capacitor C via diode D. The capacitor C
charges until the potential of the transistor emitter reduces till the diode FD becomes forward biased and
thereafter the load current iload flows through diode FD and the current i=0.
A turn on of the transistor T, the capacitor C is discharged via the the transistor T and resistor R. The diode
FD becomes reverse biased and the current i commutates to the transistor T.
Power Electronics. Exercises with solutions 167
Solution Exam 2012-05-21 2b
i
Load current 12 A
D R
T Supply voltage 250 V
C Load voltage 175 V
iload
200 V Commutation time 0.012 ms
150 V Switching frequency 1.5 kHz
FD
At turn off of transistor T, the capacitor C charges until the potential of the transistor emitter reduces till the diode FD
becomes forward biased and thereafter the load current commutates to the freewheeling diode.
6
du i dt 12 12 10
i C C 0 . 58 m F
dt du 250
A turn on of the transistor Tthe current i commutates to the transistor T, and the capacitor C is discharged via the the
transistor T and resistor R. As the load voltage is 175V the duty cycle is 70%. The switching frequency is 1.5 kHz and
the on state time is 0.47 ms, and thus the time constant =0.16 ms
t156 10 6
t C R R 269
C 0 . 58 10 6
Power Electronics. Exercises with solutions 168
Solution Exam 2012-05-21 2c
Forward converter with snubbers
and common mode (CM) and differential mode (DM) filter
vD
L
D2
+
-
+
-
DM-filter CM-filter
Power Electronics. Exercises with solutions 169
Solution Exam 2012-05-21 2d
Diffusion structure of a MOSFET Source
Gate
metallisation
insulation
n+ p pn+
The npn-transistor structure is formed of the n+, the p
body body
(body) and the n- (drift region), which cannot be
turned off.
The gate metallisation short circuits the n+ and the p
(body) to avoid turning on this unwanted transistor
n- drift region
Drain
Power Electronics. Exercises with solutions 170
Exercise Exam 20120521 3_1 - The buck converter as battery charger
A battery charger is supplied from a symmetrical single phase system.
A dc voltage is created by a two pulse diode bridge and a 2-quadrant dc-converter is used for the
charge current control.
U1rms
L I
R
Ubatt
Data: U1rms= the phase-voltage rms value = 220 V, 50 Hz.
The switching frequency is f = 4 kHz.
L = 4 mH and R=0 Ohms.
Ubatt = 100 V and is approximated to be independent of the charge current.
Power Electronics. Exercises with solutions 171
Exam 20120521 3_2 - The buck converter as battery charger
a) What dc link voltage Ud will you get I) when the
charging current is zero and II) when the charging
current is non-zero with a perfectly smooth rectified
current ? (2p)
b) Start with the electrical equation for the load and
derive a suitable current control algorithm, giving
all approximations you use.
(4p)
c) Draw a current step from 0 A till 10 A in the load
current. The modulating wave (um), the voltage
reference (u*), the output voltage (u) and current
(ibatt) must be shown. Indicate the sampling
frequency you use in relation to the switching
frequency. (4p)
Power Electronics. Exercises with solutions 172
Solution Exam 2012-05-21 3a
2
Average dc voltage with average dc U dc _ ave 220 2 V 198 V
current
U dc _ max 220 2 V 311V
Max dc voltage with zero dc current
Power Electronics. Exercises with solutions 173
Solution Exam 20120521 3b_1
Current controller with fast computer
i R L e
di
u R i L e
dt
( k 1)Ts ( k 1)Ts ( k 1)Ts ( k 1)Ts
di
u dt
k T s
R i dt
k T s
L
k T s
dt
dt e dt
k T s
Ts Ts
i ( k 1) i ( k )
u ( k , k 1) R i ( k , k 1) L e ( k , k 1)
Ts
Power Electronics. Exercises with solutions 174
Solution Exam 20120521 3b_2
u ( k , k 1) u * ( k ) (a)
i ( k 1) i * ( k ) (b )
i * (k ) i (k )
i ( k , k 1) (c )
2
e ( k , k 1) e( k ) (d )
n k 1
i(k ) i * (n ) i (n ) (e)
n0
i * (k ) i(k ) L
u * ( k ) R 0 L e(k ) i * ( k ) i ( k ) e(k )
Ts Ts
Pr oportional
Feed
forward
i * (k ) i(k ) L
u * ( k ) R 0 L e(k ) i e(k )
Ts T s Pr oportional Feed
forward
Power Electronics. Exercises with solutions 175
Solution Exam 20120521 3c
Constant 0 A Modulation
Rectifier dc-voltage 220*1.414=311 V 311V
Voltage ref with const 0 A =100 V
Duty cycle 100/311=0.32 Ud
198 V
On pulse 0.25 *0.32=0.080 ms
Current ripple =(311-100)/0.004*0.00008=4.24A Uref
100V
Load current 0 to 10 A
Rectifier dc-voltage 2/3.14*220*1.414=198 V
0V
Inductive voltage drop at current step =98 V Time to reach 10 A
Phase current
t=10*.004/98=0.408 ms
More than one sample time, set duty cycle =1 10A 3.09A
Constant 10 A
Rectifier dc-voltage 2/3.14*220*1.414=198 V
Duty cycle with 10 A = 100/198=0.505 0A
4.24A
On pulse 0.25 *0.505=0.126 ms Duty cycle 0.32 Duty cycle 0.505
Voltage ref at const 10 A=100 V 0.408 ms
Inductive voltage drop at current step =98 V
Current ripple=(198-100)/.004*.000126=3.09 A
Power Electronics. Exercises with solutions 176
Exam 20120521 4 - 4Q Converter & 3 Phase
In a 4Q DC/DC converter using PWM bipolar voltage
switching, the bridge load consist of a constant voltage
E (e.g. the back emf of a dc-motor) and an inductor La,
the inductor resistance can be neglected.
The switching frequency is fs, and the DC link voltage is Vd.
a. Calculate the maximum peak-to-peak load current
ripple, expressed in Vd, La and fs,. (5 p.)
b. Draw the circuit of a current control block for a
generic three phase RLE load.
The drawing shall include three phase inverter,
reference and load current measurement.
It must be clear in which blocks the different
frame transformations occur. (5 p.)
•
Power Electronics. Exercises with solutions 177
Solution Exam 2012-05-21 4a
Control ratio x Vd
1 3
x
On pulse duration t x T s _ per E
fs
V1 V2
Phase voltages V1 _ avg x V d 2
La 4
V 2 _ avg 1 x V d V d x V d
Voltage over motor e V1 _ avg V 2 _ avg x V d V d x V d 2 V d x V d 0
At current rise , switch 1
Fig 1
and 4 are turned on V1 V d
V2 0
Voltage over inductor V L V1 e V 2 V d e V d 2 V d x V d 2 V d 1 x
di V t 2 V d 1 x x 2 V d x x 2
Current ripple via equation VL L i L i
dt L La fs f s La
i 2 V d i
it ' s derivative 1 2 x 0 when x 0 . 5
x f s La x
2 i 4 Vd
it ' s sec ond derivative 0 max at x 0 .5
x 2
f s La
Phase voltages at max V1 _ avg 0 . 5 V d 0 . 5 V d
V 2 _ avg 1 0 . 5 V d 0 . 5 V d
0
e V1 _ avg V 2 _ avg 0 .5 V d V d 0
Vd
2 V d 1 0 . 5 0 .5 Vd
Max current ripple imax
La fs 2 f s La
Power Electronics. Exercises with solutions 178
Solution Exam 20120521 4b
d,q
a,b a,b,c
Switch
voltage potential
voltage signals
ref ref
ref
2-phase
PIE
dq / ab to Voltage Source
d,q current ref vector Modulator
converter 3-phase Converter
controller
converter
Flux vector angle
Current sensor signals
3-phase
ab / dq a,b to
current
converter 2-phase
converter
Flux vector angle
Voltage sensor signals
3-phase
a,b a,b
flux Integrator voltage voltage
sensor
Generic
3-phase
load
Power Electronics. Exercises with solutions 179
Exam 20120521 5
A permanently magnetized synchronous machine with Lsy>Lsx is used as a traction motor in
an electric vehicle.
a. Draw the torque expression in rotor coordinates, and
describe your interpretation of the terms in the expression,
and how they relate to the rotor geometry and magnetization. (4p)
b. Explain, in a qualitative sense, what is the best locus for the
stator current vector to minimize the amount of current
needed for torque production. (3p)
c. Explain the restrictions to the stator current loci that are
imposed when the need for stator voltage is higher than
the maximum available voltage. (3p)
Power Electronics. Exercises with solutions 180
Solution Exam 20120521 5a_1
T s x is m xisy Lmx Lmy isx isy
(11 .5)
m is the permanent magetizati on along the positive x axes
isx is the current along the permanent magetizati on
isy is the current perpendicu lar to the permanent magetizati on ,
2 in positive direction
Lmx is the induct ance in the x direction
Lmy is the induct ance in the x direction
The more iron and the smaller the airgap in the
x or y direction , the higher is the induct ance is that dircction
The permanent magetizati on material has no impact on the induct ance
Power Electronics. Exercises with solutions 181
Solution Exam 20120521 5a_2
See the torque equation, the first part of the torque is achieved when the permanent flux m is
multiplied with the current isy .
The second part of the torque is the so called reluctance torque. E.g. At high speed the drive
system is in field weakening, and the permanent magnetisation must be reduced, which is done
with a negative isx.
If Lmx<Lmy the difference Lmx-Lmy is negative. When this difference is multiplied with the
negative isx and the positive isy the result is a positive torque, called the reluctance torque.
Power Electronics. Exercises with solutions 182
Solution Exam 20120521 5b
T s x is m xi sy L mx L my i sx i sy
The first torque and the reluctance torque are added to the total torque, which can be achieved with
different combinations of isx and isy .
The combination which gives the lowest
2 2
absolute sum of i sx and i sy i sx i sy
is the optimal combination of isx and isy for a certain torque.
Power Electronics. Exercises with solutions 183
Solution Exam 20120521 5c
We want to increase the voltage, more than the available voltlage.
This can be achieved by weaken the field further, by increasing the negative current isx.
However, this results in an increased total current, beyond the max current loci.
So, we have to reduce the isy, to fullfill the the maximum current loci.
See chapter 11.5
Power Electronics. Exercises with solutions 184
Exam 2014-05-30
Power Electronics. Exercises with solutions 185
Exam 20140530 1a
The four quadrant DC-DC converter
Draw a four quadrant DC DC converter with a three phase diode rectifier connected to
the power grid. The Dc link capacitor and protection against too high inrush currents
should be included in the drawing. The transistors are of IGBT-type. (2 p.)
Power Electronics. Exercises with solutions 186
Solution Exam 2014-05-30 1a
Power Electronics. Exercises with solutions 187
Exercise Exam 20140530 1b
The three-phase grid, to which the three phase diode rectifier is connected, has the line-to-line voltage
400 Vrms at 50 Hz. Calculate the dc output voltage and the maximum dc link voltage from the rectifier.
(1 p.)
Power Electronics. Exercises with solutions 188
Solution Exam 2014-05-30 1b
Maximum dc voltage U dc max 400 2 V 566 V
3
Average dc voltage U 400 2 V 540 V
dc _ ave
Power Electronics. Exercises with solutions 189
Exam 20140530 1c
Calculate the rms-current and the average current through one rectifying diode
(see figure 1). Calculate the rectifier diode losses. The diode threshold voltage
is 1.1 V and the differential resistance is 2.0 mohm. (2 p.)
Phase current
500
400
300
200
100
[A]
0
-100 1.63ms 1.70ms
-200
-300
-400
-500
0 0,002 0,004 0,006 0,008 0,01 0,012 0,014 0,016 0,018 0,02
time [s]
Power Electronics. Exercises with solutions 190
Solution Exam 2014-05-30 1c
Phase current
500 Rectifier diode
400
300
200
Threshold voltage 1.1 V
100
Differential resistance 2.0 mohm
[A]
0
-100
-200
-300
1.63ms Irms 114.2 A
-400
-500 Average current 41,5 A
0 0,002 0,004 0,006 0,008 0,01 0,012 0,014 0,016 0,018 0,02
time [s]
2
2 0 . 00163 400
I diode rms
114 . 2 A
0 . 02 2
sin( x ) dx
cos 0 cos 2
2 0 . 00163
I diode Average of sin us 0
0 . 637 0 . 637 400 41 . 5 A
ave
0 . 02
Rectifier diode power loss
P rectifier diode
V threshold I ave R diff I rms
2
1 . 1 41 . 5 0 . 002 114 . 2 2 71 . 7 W
Power Electronics. Exercises with solutions 191
Exam 20140530 1d
Calculate the IGBT component losses of each IGBT in the four quadrant converter.
The duty cycle of the converter is 70%.
The switching frequency is 2.5 kHz.
The threshold voltage of the IGBT transistor equals 1.6 V
and its differential resistance equals 1.0 mohm.
The turn-on loss of the IGBT transistor equals 65 mJ and
its turn-off loss equals 82 mJ.
These turn-on and turn-off losses are nominal values
at 900 V dclink voltage and 180 A turn-on and turn-off current.
The threshold voltage of the IGBT diode equals 1.0 V and
the differential resistance of this diode equals 10 mohm.
The IGBT diode turn-on can be neglected and its
turn-off losses equals 25 mJ, at 900 V dclink voltage and 180 A. (3 p.)
Power Electronics. Exercises with solutions 192
Solution Exam 2014-05-30 1d
3
2,5
1,5
1
6 0 . 00163 400
I dc 0 . 637 124 . 6 A
Dc current to the dc link
0,5
0
0 0,002 0,004 0,006 0,008 0,01 0,012 0,014 0,016 0,018 0,02
0 . 02
Duty cycle 70%
IGBT and diode on state current 124.6/0.7= 178 A
Conduction percentage of IGBT transistor (incl freewheeling) 70+30/2=85%
Conduction percentage of IGBT diode (when freewheeling) 30/2=15%
Switching frequency 2,5 kHz
IGBT transistor
Threshold voltage 1.6V
Differential resistance 1.0 mohm
On state voltage at 178 A 1.78 V
Turn on energy at 900 V and 180 A 65 mJ
Turn off energy at 900 V and 180 A 82 mJ
IGBT diode
Threshold voltage 1.0 V
Differential resistance 10. mohm
On state voltage at 178 A 2.78 V
Turn on energy at 900 V and 180 A 0 mJ
Turn off energy at 900 V and 180 A 25 mJ
Power loss 65 82 10 3 540 178
Ptrans _ loss 1 . 78 178 0 . 85 2500 487 W
900 180
P 25 10 3 540 178
2 . 78 178 0 . 15 2500 111 . 3 W 193
diode _ loss
900 180
Power Electronics. Exercises with solutions
Exam 20140530 1e
Which is the junction temperature of the IGBT transistor and of the IGBT diode,
and which is the junction temperature of the rectifying diodes?
The thermal resistance of the heatsink equals 0.024 K/W?
The thermal resistance of the IGBT transistor equals 0.07 K/W?
The thermal resistance of the IGBT diode equals 0.16 K/W?
The thermal resistance of the rectifier diode equals 0.14 K/W?
The ambient temperature is 35 oC.
The rectifier diodes and the four quadrant converter IGBTs share the heatsink. (2 p.)
Power Electronics. Exercises with solutions 194
Solution Exam 2014-05-30 1e
Rectifier diode (6) IGBT diode (2) IGBT transistor (2)
Loss each 71.7W Loss each 111.3 W Loss each 487 W
Rth diode 0.14 C/W Rth diode 0.16 C/W Rth trans 0.07C/W
Temp diff 10.0 oC Temp diff 17.8 oC Temp diff 34.1 oC
Heatsink
Contribution fron 6 rectifier diodes and from two IGBT.
Ambient temperature 35 oC
Total loss to heatsink 6*71.7+2*487+2*111.3=1627 W
Rth heatsink 0.024 C/W
Temperature heatsink 1627 *0.024+35=74 oC
Junction temperature
Rectifier diode 74 +10.0 = 84 oC
IGBT diode 74 +17.8 = 92 oC
IGBT transistor 74 +34.1 = 108 oC
Power Electronics. Exercises with solutions 195
Exam 20140530 2a
Snubbers
Draw an IGBTequipped step down chopper
(buck converter) with an RCD snubber.
The dclink voltage on the supply side is 200V and
the load voltage is 150 V.
Give a detailed description of how the RCD
charge-discharge snubber should operate.
Explain why the snubbers are needed (2 p.)
Power Electronics. Exercises with solutions 196
Solution Exam 2014-05-30 2a
i
D R
T
C
iload
F
D
The buck converter with RCD snubber
At turn off of transistor T, the current i commtutates over to the capacitor C via diode D. The capacitor C
charges until the potential of the transistor emitter reduces till the diode FD becomes forward biased and
thereafter the load current iload flows through diode FD and the current i=0.
A turn on of the transistor T, the capacitor C is discharged via
the transistor T and resistor R. The diode FD becomes reverse
biased and the current i commutates to the transistor T.
Power Electronics. Exercises with solutions 197
Exercise Exam 20140530 2b
Snubbers
Calculate the snubber capacitor for the commutation
time 0.01 ms.
The load current is 12 A, assumed constant during
the commutation.
Calculate the snubber resistor so the discharge time
(3 time constants)
of the snubber capacitor is less than the IGBT
on state time.
The switch frequency is 1.5 kHz (4 p.)
Power Electronics. Exercises with solutions 198
Solution Exam 2014-05-30 2b
i
Load current 12 A
D R
T Supply voltage 200 V
C iload Load voltage 150 V
200 V Commutation time 0.01 ms
Switching frequency 1.5 kHz
FD 150 V
At turn off of transistor T, the capacitor C charges until the potential of the transistor emitter reduces till
the diode FD becomes forward biased and thereafter the load current commutates to the freewheeling
diode.
6
du i dt 12 10 10
i C C 0 .6 m F
dt du 200
A turn on of the transistor the current i commutates to the transistor T, and the capacitor C is discharged via
the the transistor T and resistor R. As the load voltage is 150V the duty cycle is 75%. The switching frequency
is 1.5 kHz and the on state time is 0.5 ms, and thus the time constant =0.17 ms
t 170 10 6
t C R R 283
C 0 . 6 10 6
Power Electronics. Exercises with solutions 199
Exam 20140530 2c
Snubbers
Draw the main circuit of a flyback converter. The circuit should include DM-filter (differential
mode) ,CM (common mode) filter, rectifier, dc link capacitors,
alternative connection for voltage doubling connection, switch transformer
(one primary and one secondary winding is enough), switch transistor, flyback
diode and a simple output filter, The circuit should also include snubbers. (2 p.)
Power Electronics. Exercises with solutions 200
Solution Exam 2014-05-30 2c
v
+ D-
+ +
- -
double
voltage
+
-
DM-filter CM-filter
Power Electronics. Exercises with solutions 201
Exam 20140530 2d
Snubbers
Describe, in detail, the operation of the flyback converter snubbers you have used.
Describe in detail how the current is flowing in the snubber and the voltages n the
snubber (2 p.)
Power Electronics. Exercises with solutions 202
Solution Exam 2014-05-30 2d
Fly-back converter withSnubber operation
L2 L3 D0
C2 ip is D3
C3
D2 R2
R3
T1 C1
R1
L1
For the description of the snubber operation the stray inductance L1 between the switch
transistor and the supply/dclink, and the transformer leakage inductance, L2 on primary side
and L3 on secondary side are added as discrete component in the circuit drawing above.
Power Electronics. Exercises with solutions 203
Exam 2014-05-30 3_1
The buck converter as battery charger
A battery charger is supplied from a symmetrical single phase system.
A dc voltage is created by a two pulse diode bridge and a 2-quadrant dc-converter is used for the charge
current control.
U1rms
L I
R
Ubatt
Data: U1rms= the phase-voltage rms value = 220 V, 50 Hz.
The switching frequency is f = 4 kHz.
L = 4 mH and R=0 Ohms.
Ubatt = 100 V and is approximated to be independent of the charge current.
Power Electronics. Exercises with solutions 204
Exam 2014-05-30 3_2
The buck converter as battery charger
a) What dc link voltage Ud will you get I) when the
charging current is zero and II) when the charging
current is non-zero with a perfectly smooth rectified
current ? (2p)
b) Start with the electrical equation for the load and
derive a suitable current control algorithm, giving
all approximations you use. (4p)
c) Draw a current step from 0 A till 10 A in the load
current. The modulating wave (um), the voltage
reference (u*), the output voltage (u) and current
(ibatt) must be shown. Indicate the sampling
frequency you use in relation to the switching
frequency. (4p)
Power Electronics. Exercises with solutions 205
Solution Exam 2014-05-30 3a
2
Average dc voltage with average dc current U 220 2 V 198 V
dc _ ave
Max dc voltage with zero dc current U dc _ max 220 2 V 311 V
Power Electronics. Exercises with solutions 206
Solution Exam 2014-05-30 3b_1
Current controller with fast computer
i R L e
u
di
u R i L e
dt
( k 1)Ts ( k 1)Ts ( k 1)Ts ( k 1)Ts
di
u dt
k T s
R i dt
k T s
L
k T s
dt
dt e dt
k T s
Ts Ts
i ( k 1) i ( k )
u ( k , k 1) R i ( k , k 1) L e ( k , k 1)
Ts
Power Electronics. Exercises with solutions 207
Solution Exam 2014-05-30 3b_2
u ( k , k 1) u * ( k ) (a)
i ( k 1) i * ( k ) (b )
i * (k ) i(k )
i ( k , k 1) (c )
2
e ( k , k 1) e( k ) (d )
n k 1
i(k ) i * ( n ) i ( n ) i *((ek) ) i ( k ) L
u * ( k )n 0R 0 L e(k ) i * ( k ) i ( k ) e(k )
Ts Ts
Pr oportional Feed
forward
i * (k ) i(k ) L
u * ( k ) R 0 L e(k )
i e
(k )
Ts T s Pr oportional Feed
forward
Power Electronics. Exercises with solutions 208
Solution Exam 2014-05-30 3c
• Assuming that the DC link voltage is 198 V, the
Inductance L=4 mH and the switching frequency is 4
kHz,
• Ts = 125 microseconds
• The positive step voltage reference should be u* =
4e-3/125e-6*(10-0) + 100 = 320 +100 V. The voltage
margin of 98 V has to be repeated 3 times, i.e. the
voltage reference 198 V three times and then
100+26 V the last time. Even here, the example not
correctly illustrated. It should look like this:
Power Electronics. Exercises with solutions 209
Exercise Exam 2014-05-30 4a
Three phase system and 4QC
A symmetric three phase voltage:
e eˆ cos w t
a
2
e b eˆ cos w t
3
4
e c eˆ cos w t
3
Show that these voltages form a rotating
vector with constant length and constant
speed in the complex (α,β) frame. (5 p.)
Power Electronics. Exercises with solutions 210
Solution Exam 2014-05-30 4a
e a eˆ COS ( w t )
2
e b eˆ COS ( w t )
3
4
e c eˆ COS ( w t 3
)
2 2 1 3 4 1 3
2 4
2 cos w t
cos w t cos w t
j j
e ea eb e 3
ec e 3 eˆ j j
3
3 3 2 2 3 2 2
2 2 2 1 3 4 4 1 3
eˆ cos w t cos w t cos sin w t sin j cos w t cos sin w t sin j
3 3 3 2 2 3 3 2 2
1 3 1 3 3 1 3
cos w t sin w t
2 1
eˆ cos w t cos w t sin w t
j
j
3
2 2 2 2 2 2 2 2
2 1 3 1 3 3 3 3 3 2 3 3
eˆ cos w t 1 j j sin w t j j eˆ cos w t sin w t j
3 4 4 4 4
4 4 4 4 3 2 2
3 3
eˆ cos w t j sin w t eˆ e jw t
2 2
Alternativ e solution
2
2 4
2 2
2
4
4
e jx
e jx
cos w t cos w t
j j j j
e e a e b e 3 e c e 3 eˆ e 3 cos w t e 3
cos( x )
3 3 3 3 2
j wt
2
j wt
2
2
j wt
4
j wt
4
4
jw t j
2
j
2
jw t j
2
j
2
jw t j
4
j
4
jw t j
4
j
4
2 e jw t e jw t e 3
e 3 j e 3
e 3 j 2 e jw t
e jw t e 3 3
e 3 3
e 3 3
e 3 3
eˆ e 3 e 3 eˆ
3 2 2 2 3 2 2 2
2 2 3
4 8
1 j j 1 1 3 1 3
eˆ e jw t
e jw t
e jw t
e jw t
e 3
e jw t
e jw t
e 3
eˆ 3 e jw t
e jw t
1 eˆ e jw t
2 3 2 3 2 2 2 2 2
0
Power Electronics. Exercises with solutions 211
Exam 2014-05-30 4b
In a 4QC dc-dc converter using PWM bipolar voltage switching, the the bridge
load consist of a constant voltage E (e.g. the back emf of a dc-motor) and an
inductor La, the inductor resistance can be neglected. The switching frequency
is fs, and the dc-link voltage is Vd
Calculate the maximum peak-to-peak load current ripple, .expressed in Vd, La
and fs,. (5 p.)
Power Electronics. Exercises with solutions 212
Solution Exam 2014-05-30 4b
1. Assume a load with inductance L, no resistance
va vb
and a back emf e
2. Assume phase potential references va* and vb* where
vb* =- va* = u*/2 (symmetric modulation)
3. Assume stationarity
4. Calculate the current ripple as a function of the
back emf
Di/dt = (Udc-e)/L
Delta_i = (Udc-e)/L*Delta_t = current ripple
Delta_t = e/Udc*1/fsw/2 (time duration of a positive pulse)
Delta_i = (Udc-e)/L*(e/Udc/fsw/2) = (Udc*e-e^2)/Udc/fsw/2;
d(Delta_i)/d(e) = (Udc-2*e)/L/Udc/fsw/2 = 0 - > e = Udc/2;
Power Electronics. Exercises with solutions 213
Solution Exam 2014-05-30 4b
Control ratio x
Vd
x 1 3
On pulse duration t x T s _ per
fs E
Phase voltages V1 _ avg x V d V1 V2
V 2 _ avg 1 x V d V d x V d La
2 4
Voltage over motor e V1 _ avg V 2 _ avg x V d V d x V d 2 V d x V d
0
At current rise , switch 1
and 4 are turned on V1 V d Fig 1
V2 0
Voltage over inductor V L V1 e V 2 V d e V d 2 V d x V d 2 V d 1 x
di V t 2 V d 1 x x 2 V d x x 2
Current ripple via equation VL L i L i
dt L La fs f s La
i 2 Vd i
it ' s derivative 1 2 x 0 when x 0 . 5
x f s La x
2 i 4 Vd
it ' s sec ond derivative 0 max at x 0 . 5
x 2
f s La
Phase voltages at max V1 _ avg 0 . 5 V d 0 . 5 V d
V 2 _ avg 1 0 . 5 V d 0 . 5 V d
0
e V1 _ avg V 2 _ avg 0 . 5 V d V d 0
Vd
2 V d 1 0 . 5 0 . 5 Vd
Max current ripple i max
La fs 2 f s La
Power Electronics. Exercises with solutions 214
Exam 2014-05-30 5
Permanent magnetized motor
A 50 kW motor drive is to be designed. The motor will run from a Power Electronic Converter with 500
V DC link. The bases speed must be 4000 rpm and the maximum speed 12000 rpm. The motor has 18
poles.
a) What is the highest output voltage
(Uphase-to-phase_rms) that you would use? (2p)
b) What will be the phase current in this case? (2p)
c) What is the lowest sampling frequency that the controller must use to run this motor? (2p)
d) What is the lowest switching frequency that the modulation can use? (2p)
e) What will be the motor torque at base speed and maximum speed?
(2p)
All your answers must be accompanied with your calculations and motivations!
Power Electronics. Exercises with solutions 215
Solution Exam 20140530 5
500
5𝑎) 𝑃ℎ𝑎𝑠𝑒 − 𝑡𝑜 − 𝑝ℎ𝑎𝑠𝑒𝑣𝑜𝑙𝑡𝑎𝑔𝑒𝑟𝑚𝑠𝑈 _ _ _ = = 354𝑉
2
50000
5𝑏) 50000 = 𝑎𝑠𝑠𝑢𝑚𝑒 cos 𝜙 = 0.9 = 3 ⋅ 354 ⋅ 𝐼 ⋅ 0.9 ⇒ 𝐼 = = 90.7𝐴
3 ⋅ 354 ⋅ 0.9
12000
5𝑐) 𝑀𝑒𝑐ℎ𝑓𝑟𝑒𝑞 = = 200𝐻𝑧
60
𝐸𝑙𝑒𝑐. 𝑓𝑟𝑒𝑞 = 18𝑝𝑜𝑙𝑒𝑠, 9𝑝𝑜𝑙𝑒𝑝𝑎𝑖𝑟𝑠 = 9 ⋅ 200𝐻𝑧 = 1800𝐻𝑧
𝑆𝑎𝑚𝑝𝑙𝑖𝑛𝑔𝑓𝑟𝑒𝑞, 𝑠𝑒𝑒𝑠𝑜𝑙𝑢𝑡𝑖𝑜𝑛5𝑑.
5𝑑) 𝐴𝑡𝑙𝑒𝑎𝑠𝑡𝑠𝑤𝑖𝑡𝑐ℎ𝑖𝑛𝑔𝑓𝑟𝑒𝑞 = 6 ⋅ 𝐸𝑙𝑒𝑐. 𝑓𝑟𝑒𝑞 = 10800𝐻𝑧
𝑇𝑤𝑜𝑠𝑎𝑚𝑝𝑙𝑒𝑝𝑒𝑟𝑠𝑤𝑖𝑡𝑐ℎ. 𝑓𝑟𝑒𝑞𝑝𝑒𝑟𝑖𝑜𝑑 ⇒ 𝑠𝑎𝑚𝑝𝑙𝑖𝑛𝑔𝑓𝑟𝑒𝑞 = 21600𝐻𝑧
𝑃 50000
5𝑒) 𝑇𝑜𝑟𝑞𝑢𝑒 = 𝑃 =𝑇⋅𝜔 = = = 119𝑁𝑚
𝜔 2𝜋 ⋅ 4000
60
𝑃 50000
𝑇𝑜𝑟𝑞𝑢𝑒 = = = 39.8𝑁𝑚
𝜔 2𝜋 ⋅ 12000
60
Power Electronics. Exercises with solutions 216
Exam 2017-05-30
Power Electronics. Exercises with solutions 217
Exam 2017-05-30, 1a-c
The DC-DC buck converter
a) Draw a 1QC buck converter connected to the dc side of a
three phase diode rectifier, which is connected to the power
grid. The dclink capacitor and protection against too high
inrush currents should be included in the drawing. The
transistor is of IGBT-type. (1 p.)
b) The three-phase grid, to which the three phase diode rectifier
is connected, has the
line-to-line voltage 400 Vrms and the frequency 50 Hz.
Calculate the dc output voltage
and the maximum dc link voltage from the rectifier. (1 p.)
c) Calculate the rms-current and the average current through
one rectifying diode
(see figure 1). Calculate the rectifier diode losses. The diode
threshold voltage
is 0,9 V and the differential resistance is 2.0 mohm. (2 p.)
Power Electronics. Exercises with solutions 218
Exam 2017-05-30, 1d
The DC-DC buck converter
d) Calculate the losses of the IGBT transistor and of the free wheeling diode in the buck converter. The buck
converter phase inductor is 1 mH, and its resistance can be neglected.
Draw a time diagram with the buck converter phase current versus time during one period of the switching
frequency.
The load on the low voltage side of the buck converter is a battery with the voltage 400 Vdc.
The switching frequency is 2 kHz.
The threshold voltage of the IGBT transistor equals 1.1 V and its differential resistance
equals 1.0 mohm. The turn-on loss of the IGBT transistor equals 60 mJ and its
turn-off loss equals 80 mJ. These turn-on and turn-off losses are nominal values
at 900 V dclink voltage and 180 A turn-on and turn-off current.
The threshold voltage of the free wheeling diode equals 1.3 V and the
differential resistance of this diode equals 2 mohm. The free wheeling diode
turn-on losses can be neglected and its turn-off losses equals 25 mJ, at 900 V dclink
voltage and 180 A turn off current. (4 p.)
Power Electronics. Exercises with solutions 219
Exam 2017-05-30, 1e
The DC-DC buck converter
e) Which is the junction temperature of the IGBT transistor and of the free wheeling diode,
and which is the junction temperature of the rectifying diodes?
The thermal resistance of the heatsink equals 0.065 K/W?
The thermal resistance of the IGBT transistor equals 0.078 K/W?
The thermal resistance of the free wheeling diode equals 0.19 K/W?
The thermal resistance of the rectifier diode equals 0.21 K/W?
The ambient temperature is 35 oC.
The rectifier diodes and the buck converter transistor and diode share the heatsink. (2 p.)
Power Electronics. Exercises with solutions 220
Solution Exam 2017-05-30 1a
Power Electronics. Exercises with solutions 221
Solution Exam 2017-05-30 1b
Maximum dc voltage U dc max 400 2 V 566 V
3
Average dc voltage U 400 2 V 540 V
dc _ ave
Power Electronics. Exercises with solutions 222
Solution Exam 2017-05-30 1c
Data
Rectifier diode Threshold voltage 0.9 V
Differential resistance 2.0 mohm
400
I diode rms _ one half sin us
A 282 . 8 A
2
2 0 . 00163
I diode rms
282 . 8 2 114 . 2 A
0 . 02
sin( x ) dx
cos 0 cos 2 0.637 2 0.00163 0.637 400 41.5 A
I diode Average of sin us 0
ave
0.02
Rectifier diode power loss
P rectifier diode
V threshold I ave R diff I rms
2
0 . 9 41 . 5 0 . 002 114 . 2 2
63 . 4 W
Power Electronics. Exercises with solutions 223
Solution Exam 2017-05-30 1d_1
3
2,5
1,5
6 0 . 00163 400
I dc 0 . 637 124 . 6 A
1
0,5
0 . 02
0
0 0,002 0,004 0,006 0,008 0,01 0,012 0,014 0,016 0,018 0,02
Thc current to the dc link
Duty cycle 400/540=74%
Average transistor current 124.6/0.74=168.2 A
Switching frequency period time 1/2000=0.0005 s
Duration of transistor on 0.74/0.0005=0.00037 s
Current ripple, equ U=L*di/dt , i=U*t/L= i=(540-400)*0.00037/0.001=51.8 A
Low voltage side max phase current Imax=168.2+51.8/2=194.1 A
Low voltage side max phase current Imin=168.2-51.8/2=142.3A
224
Power Electronics. Exercises with solutions
Solution Exam 2017-05-30 1d_2
Find a general expression for RMS from a time domain trapezoid shaped current
(B A)
Equation for the straight line i t t A
T
T
(B A)
2
B
T
t A dt
B A 2 AB T
2 2 3 2
A T (B A) t 2
I rms 2A A
0
T 3T 2 T T 2T T
B 2 A 2 2 AB 3 A 2 3 AB 3 A 2 A 2 B 2 AB
3 3
I min 142 . 3 A 0
T
I max 194 . 1 A 0
142 . 3 2 194 . 1 2 142 . 3 194 . 1 142 . 3 194 . 1
I rms _ transistor 0 . 74 145 . 3 A I avg _ transistor 0 . 74 124 . 5 A
3 2
142 . 3 2 194 . 1 2 142 . 3 194 . 1 142 . 3 194 . 1
I rms _ diode 0 . 26 86 . 1 A I avg _ diode 0 . 26 43 . 7 A
3 2
threshold volrage[V] Rdiff[mohm] Turn-on[mJ] Turn off[mJ] Switch losses at voltage[V] and at current[A]
Transistor 1.1 1.0 60 80 900 180
Diode 1.3 2.0 0 25 900 180
1 . 5 124 . 5 0 , 001 145 . 3 2 2000
0 . 060
142 . 3 0 . 080 194 . 1 540
368 W
Ptrans _ loss
900 180
P 0 . 025 142 . 3 540
1 . 0 43 . 7 0 , 002 86 . 1 2 2000 82 . 2 W
diode _ loss
900 180
225
Power Electronics. Exercises with solutions
Solution Exam 2017-05-30 1e
Rectifier diode (6) IGBT diode IGBT transistor
Loss each 63.4W Loss each 82.2 W Loss each 368 W
Rth diode 0.25 C/W Rth diode 0.4 C/W Rth trans 0.2C/W
Temp diff 15.8 oC Temp diff 32.9 oC Temp diff 73.6 oC
Heatsink
Contribution fron 6 rectifier diodes and from one IGBT and one diode.
Ambient temperature 35 oC
Total loss to heatsink 6*63.4+368+82.2=831 W
Rth heatsink 0.07 C/W
Temperature heatsink 831 *0.07+35=93 oC
Junction temperature
Rectifier diode 93 +15.8 = 109 oC
IGBT diode 93 +32.9 = 126 oC
IGBT transistor 93 +73.6 = 167 oC
Power Electronics. Exercises with solutions 226
Exam 2017-05-30, 2
Snubbers and semiconductor
a) Draw an IGBTequipped step down chopper (buck converter) with an RCD
snubber. Give a detailed description of how the RCD charge-discharge snubber
operates at turn on and at turn-off. Explain why the snubbers are needed (2 p.)
b) The DC link voltage on the supply side is 250V and the load voltage is 200 V.
Calculate the snubber capacitor for the commutation time 0.015ms.
The load current is 17 A, assumed constant during the commutation.
Calculate the snubber resistor so the discharge time (3 time constants)
of the snubber capacitor is less than the IGBT on state time.
The switch frequency is 2 kHz (3 p.)
c) Draw a figure with the diffusion layers in a (n-channel) MOSFET (2 p.)
d) Where in the (n-channel) MOSFET diffusion layers structure can an unwanted
NPN-transistor be found, and where can the anti-parallel diode be found? (2 p.)
What in the MOSFET layout reduces the risk that this unwanted transistor is
turned on?
e) Which layer is always present in a power semiconductor? How is it doped? (1 p.)
Power Electronics. Exercises with solutions 227
Solution Exam 2017-05-30, 2a
i
D R
T
C
iload
FD
The buck converter with RCD snubber
At turn off of transistor T, the current i commtutates over to the capacitor C via diode D. The
capacitor C charges until the potential of the transistor emitter reduces till the diode FD becomes
forward biased and thereafter the load current iload flows through diode FD and the current i=0.
A turn on of the transistor T, the capacitor C is discharged via
the transistor T and resistor R. The diode FD becomes reverse
biased and the current i commutates to the transistor T.
Power Electronics. Exercises with solutions 228
Exam 2017-05-30 2b, 1
The DC link voltage on the supply side is 250V and the load voltage is 200 V.
Calculate the snubber capacitor for the commutation time 0.015ms.
The load current is 17 A, assumed constant during the commutation.
Calculate the snubber resistor so the discharge time (3 time constants) of the snubber capacitor is
less than the IGBT on state time.
The switching frequency is 2 kHz
(3 p.)
Power Electronics. Exercises with solutions 229
Solution Exam 2017-05-30 2b, 2
i
Load current 17 A
D R
T Supply voltage 250 V
C iload Load voltage 200 V
250 V Commutation time 0.015 ms
Switching frequency 2 kHz
FD 200 V
At turn off of transistor T, the capacitor C charges until the potential of the transistor emitter
reduces till the diode FD becomes forward biased and thereafter the load current commutates
to the freewheeling diode.
6
du i dt 17 15 10
i C C 1 .0 m F
dt du 250
A turn on of the transistor the current i commutates to the transistor T, and the capacitor C is
discharged via the the transistor T and resistor R. As the load voltage is 200V the duty cycle is
80%. The switching frequency is 2 kHz and the on state time is 0.5*0.8=0.4 ms, and thus the time
constant =0.133 ms
t120 10 6
t C R R 120
C 1 10 6
Power Electronics. Exercises with solutions 230
Solution Exam 20170530 2c
Power Electronics. Exercises with solutions 231
Solution Exam 20170530 2d
The metallisation
short circuits the Source
emitter and the
base of the Gate
unwanted
metallisation
transistor to
reduce the risk for insulation
n+ p pn+
its turning on
body body
The diode
The transistor
n- drift region
Drain
Power Electronics. Exercises with solutions 232
Solution Exam 20170530 2e
Depletion region n-
• The depletion region, is an insulating region within a conductive, doped semiconductor material where
the mobile charge carriers have been diffused away, or have been forced away by an electric field.
• The only elements left in the depletion region are ionized donor or acceptor impurities.
• The depletion region is so named because it is formed from a conducting region by removal of all free
charge carriers, leaving none to carry a current.
Power Electronics. Exercises with solutions 233
Exam 2017-05-30 3a
Three phase system
a) A symmetric three phase voltage:
e eˆ cos w t
a
2
e b eˆ cos w t
3
4
e c eˆ cos w t
3
b) Show that these voltages form a rotating vector with constant length and
constant speed in the complex (α,β) frame. (5 p.)
c) Draw the circuit of a current control block for a generic three phase RLE load.
The drawing shall include three phase converter, reference and load current
measurement. It must be clear in which blocks the different frame
transformations occur. (5 p.)
Power Electronics. Exercises with solutions 234
Solution Exam 2017-05-30 3a
e a eˆ COS ( w t )
2
e b eˆ COS ( w t )
3
4
e c eˆ COS ( w t 3
)
2 2 1 3 4 1 3
2 4
2 cos w t
cos w t cos w t
j j
e ea eb e 3
ec e 3 eˆ j j
3
3 3 2 2 3 2 2
2 2 2 1 3 4 4 1 3
eˆ cos w t cos w t cos sin w t sin j cos w t cos sin w t sin j
3 3 3 2 2 3 3 2 2
1 3 1 3 3 1 3
cos w t sin w t
2 1
eˆ cos w t cos w t sin w t
j
j
3
2 2 2 2 2 2 2 2
2 1 3 1 3 3 3 3 3 2 3 3
eˆ cos w t 1 j j sin w t j j eˆ cos w t sin w t j
3 4 4 4 4
4 4 4 4 3 2 2
3 3
eˆ cos w t j sin w t eˆ e jw t
2 2
Alternativ e solution
2
2 4
2 2
2
4
4
e jx
e jx
cos w t cos w t
j j j j
e e a e b e 3 e c e 3 eˆ e 3 cos w t e 3
cos( x )
3 3 3 3 2
j wt
2
j wt
2
2
j wt
4
j wt
4
4
jw t j
2
j
2
jw t j
2
j
2
jw t j
4
j
4
jw t j
4
j
4
2 e jw t e jw t e 3
e 3 j e 3
e 3 j 2 e jw t
e jw t e 3 3
e 3 3
e 3 3
e 3 3
eˆ e 3 e 3 eˆ
3 2 2 2 3 2 2 2
2 2 3
4 8
1 j j 1 1 3 1 3
eˆ e jw t
e jw t
e jw t
e jw t
e 3
e jw t
e jw t
e 3
eˆ 3 e jw t
e jw t
1 eˆ e jw t
2 3 2 3 2 2 2 2 2
0
Power Electronics. Exercises with solutions 235
Solution Exam 20170530 3b
d,q
a,b a,b,c
Switch
voltage potential
voltage signals
ref ref
ref
2-phase
PIE
dq / ab to Voltage Source
d,q current ref vector Modulator
converter 3-phase Converter
controller
converter
Flux vector angle
Current sensor signals
3-phase
ab / dq a,b to
current
converter 2-phase
converter
Flux vector angle
Voltage sensor signals
3-phase
a,b a,b
flux Integrator voltage voltage
sensor
Generic
3-phase
load
Power Electronics. Exercises with solutions 236
Exam 2017-05-30 4
The buck converter as battery charger
a) A DC/DC Converter has a DC link voltage of 100 V and can be either a 2Q or a 4Q converter supplying a load
consisting of a 625 mH inductance in series with a 20 V back emf. The converter is carrier wave modulated with a
4 kHz modulation frequency and equipped with a current controller. A current step from 0 to 12 A is made and
then back to 0 A again after 4 modulation periods.
b) Calculate the voltage reference for a few modulation periods before the positive step, for the positive step, for
the time in between the steps, for the negative step and for a few modulation periods after the negative step in
the 2Q case. (3p)
c) Draw the current to the load in the 2Q case, from two modulation periods before the positive current step to two
modulation periods after the negative step. (2p)
d) Calculate the voltage reference for a few modulation periods before the positive step, for the positive step, for
the time in between the steps, for the negative step and for a few modulation periods after the negative step in
the 4Q case. (3p)
e) Draw the current to the load in the 4Q case, from two modulation periods before the positive current step to two
modulation periods after the negative step. (2p)
f) In both b) and d) the current ripple must be correctly calculated.
Power Electronics. Exercises with solutions 237
Solution Exam 2017-05-30 4a
Data: fsw = 4 kHz.
L = 0.625 Mh
R=0
Ud = 100 V
Uref
Ud
i
e = 20 V
L R
M e
di
Equation U L e
dt
Before the pos. current step i=0 A, constant, di/dt=0 Uref=e=20 V
At the positive current step, use max voltage Uref=Ud=100 V
At the constant current 12 A, di/dt=0, and R=0 Uref=e=20 V
At the negative current step, use zero voltage Uref=0 V
After the neg. Current step i=0 A, constant, di/dt=0 Uref=e=20 V
Power Electronics. Exercises with solutions 238
Solution Exam 2017-05-30 4b
The sampling period is 1/4000/2 = 125 microseconds
The positive step voltage reference should be u* = 625e-6/125e-6*(12-
0) + 20 = 80 V. Since there is a 100 V DC link one sampling period
should be enough. I see that the solution is not correctly drawn. The
voltage reference step should not exceed the carrier but reach 80 V
only.
Power Electronics. Exercises with solutions
Solution Exam 2017-05-30 4c
Data: fsw = 4 kHz.
L = 0.625 Mh
R=0
Udc = 100 V
Udc L M e = 20 V
I
R emf
di
Equation U L e
dt
Before the pos. current step i=0 A, constant, di/dt=0 Uref=e=20 V
At the positive current step, use max voltage Uref=Udc=100 V
At the constant current 12 A, di/dt=0, and R=0 Uref=e=20 V
At the negative current step, use minimum voltage Uref=-100 V
After the neg. current step i=0 A, constant, di/dt=0 Uref=e=20 V
Power Electronics. Exercises with solutions 240
Solution Exam 2017-05-30 4d
20
Duty cycle D
0 .2
100
U L
di
e L
i
e i
U e t
dt t L
See figure . Time for current rise Duty cycle * half the switching frequency period
i
U e
t t
0 .5 D 100 20 0 . 1 3 . 2 A
Current ripple
L f sw 0 . 625 10 3 4 10 3
Modulation
Ud/2 50V
Uref/2 10V
-Uref/2 -10V
-Ud/2 -50V
Bridge current
12A 3.2 A
0A 3.2 A
Duty cycle 0.2 1 0.2 0 0.2
Power Electronics. Exercises with solutions 241
Exam 2017-05-30 5_1
Permanently magnetized synchronous machine
A 120 kW motor drive is to be designed. The motor will run from a Power Electronic Converter with
800 V DC link. The bases speed must be 5000 rpm and the maximum speed 12000 rpm.
a) What is the rated torque of the machine (2p)
b) What is the RMS Phase-to-phase voltage at rated power? (2p)
c) What is the rated phase current of the machine? (2p)
All your answers must be accompanied with your calculations and motivations!
Power Electronics. Exercises with solutions 242
Exam 2017-05-30 5_2
Permanent magnetized motor
d) The electric frequency of the machine at base
speed is 250 Hz.
What is the lowest sampling frequency that
you would choose to control the machine? (2p)
e) What is a suitable switching frequency for
the converter? (2p)
All your answers must be accompanied with your calculations and motivations!
Power Electronics. Exercises with solutions 243
Solution 20170530 5
P
120000
5a Torque of the machine T 229 Nm
w 5000 2
60
800
5b Phase to phase voltage rms U LL _ rms 566 V
2
120000
5c 120000 assume cos j 0 .95 3 566 I 0 .95 I 129 A
3 566 0 .95
5d The base speed is where the top power is achieved . At this speed the electric frequency
5000
of the motor equals 250 Hz , and itsthe mechanical frequency 83 .33 Hz
60
250
The relation between the electric and the mechanical frequency a3
83 .33
gives the result that the motor has 6 poles .
12000
At the top motor speed 12000 rpm the electric frequency 3 600 Hz .
60
Switching freq at least one switching period per hexagon side 6 600 3600 Hz
Sampling freq 2 samples per switching frequency period 2 3600 Hz 7200 Hz
5e See 5 d . Switching freq 3600 Hz
Power Electronics. Exercises with solutions 244
Exam 2017-05-30
Formulas:
2 4
j j 3 3
s K sa s b e 3 s c e 3 K s a j s b s c s a j s b
2 2
Power invariant
Three phase –> two phase conversion
sa = 3 s
a
2
sb = 1 s - s
b c
2
Power invariant
Two phase –> three phase conversion
sa = 2 sa
3
sb = - 1 sa + 1 sb
6 2
sc = - 1 sa - 1 sb
6 2
Power Electronics. Exercises with solutions 245
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