Electric Drives for Automation and Robotics
- Garant předmětu:
- Department of Electric Drives and Traction
The aim of the course is to understand the basic principles of rotating machines, to gain an overview of their properties and capabilities, control methods, including respecting the influence of the load on the drive.
The course provides a brief overview of the basic types of electric drives. It deals with drives that are used as servo drives, ie DC, asynchronous, synchronous with permanent magnets and marginally special motors. The course discusses the topologies of power electronic converters, including basic modulation strategies and strategies for the control of servo drives such as vector, direct, MTPA control with emphasis on today's most commonly used PMSM motors. The course is focused not only on understanding the physical nature of the type of drive, but also on understanding the principles of operation of other important components such as sensors, semiconductor converters and digital controllers themselves. It also includes a description of the interaction of the drive with the inertial mass of the load in servomechanisms and other typical types of load in general.
Participation of lectures and laboratories. Submission of mathematical model in Matlab/Simulink
- Syllabus of lectures:
1) Electric drive and its components and design methodology of actuators, sensors and communication interfaces in electric drives.
2) Transients in electric drive, equations of motion, types of loads, nonlinearities and their mathematical description.
3) Basic static and dynamic properties and requirements for servo drives of working machines, types of servomechanisms, simple position loop. Dynamic flexibility of the position loop, quality criteria of drives
4) Basics of the theory of electrical machines, construction, design
5) DC machines, mathematical description, transfer function, DC motor as servo, four-quadrant operation.
6) Converters for DC servo drives 4Q rectifiers, DC / DC converters, transfer function, methods of switching elements.
7) Transients and steady state of an asynchronous machine, mathematical description, control methods (scalar, vector, direct).
8) Construction and its influence on the parameters of synchronous machines with permanent magnets, nonlinearities, mathematical model.
9) Control strategy of motors with permanent magnets (scalar, vector, direct control), MTPA strategy.
10) Converters for AC power supply, strategies of PWM modulation, remodulation, rectangular control, mathematical models.
11) Nonlinearities of semiconductor converters, influence on control structures, continuous vs. discrete converter and modulation model
12) Modern control strategies of AC drives (predictive, sensorless).
13) Online methods for determining the parameters of AC machines, the influence of the accuracy of parameter determination on the control strategy
14) Stepper motors and other special topologies of el. machines for drives, properties, behavior, mathematical description.
- Syllabus of tutorials:
1) Identification of motor parameters for a simulation model in the Matlab / Simulink environment
2) Assembly of a DC motor and load model in the Simulink environment, design of a control structure for a current / speed / position loop
3) Adding a H-Bridge semiconductor converter model with different switching strategies and real properties of current and speed measurement
4) Verification of the control design on the test HW in the laboratory
5) Identification of motor parameters for simulation model in Matlab / Simulink environment
6) Adding an inverter to the drive model
7 - 8) Checking the model and control in the Simulink environment
9 - 10) Design and tuning of control structure for current / speed / position loop
11) Verification of the control design on the test HW in the laboratory
12 - 13) Reserve for practical fine-tuning of tasks
- Study Objective:
- Study materials:
 CHIASSON, John Nelson. Modeling and high performance control of electric machines. Hoboken: Wiley, 2005. IEEE Press series on power engineering. ISBN 978-0-471-72235-9.
 SUNG, Su Whan, Jietae LEE a In-Beum LEE. Process identification and PID control. New York: Wiley, 2009. ISBN 978-0-470-82412-2.
 POLLEFLIET, J. Power electronics. London: Academic Press, 2018. ISBN 9780128146446.
- Further information:
- No time-table has been prepared for this course
- The course is a part of the following study plans:
- Cybernetics and Robotics 2016 (compulsory elective course)