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New edition of the popular reference on machine analysis, focusing on reference frame theory with techniques for derivation of equations
Analysis of Electric Machinery and Drive Systems covers the concepts needed to understand the evolution of electrical and magnetic variables for designing the power-electronic circuits that supply or extract electrical energy from a variety of machines, comprehensively addressing the varied needs of readers in the electric machinery, electric drives, and electric power industries.
This fourth edition has been extensively revised and updated to include nine new or updated chapters on symmetrical three-phase stators, symmetrical induction machines, brushless DC machines, synchronous machines, neglecting electric transients, eigenvalues and voltage-behind-reactive machine equations, direct current machine and drive, and torque control of permanent-magnet and synchronous reluctance machines.
Introductory concepts related to the subject have also been expanded upon, detailing stationary magnetically coupled circuits, energy balance relationships, energy in coupling field, and steady-state and dynamic performance of electromechanical systems. The fourth edition also includes illustrations of the free-acceleration characteristics of induction and brushless dc machines viewed from various reference frames and many other topics.
With problems at the end of each chapter to reinforce learning, the book explores additional topics including:
Operational impedances and time constraints of synchronous machines, covering Park's equations in operational form and parameters from short-circuit and frequency-response characteristics
Fully controlled three-phase bridge converters, covering six-step, sine-triangle, space-vector, hysteresis, and delta modulations, along with open- and closed-loop voltage and current regulations
Motor drives, covering volts-per-hertz, constant slip current, field-oriented, and direct torque control as well as slip energy recovery drives
Brushless DC motor drives, covering average-value analysis, steady-state performance, and transient and dynamic performance of voltage-source inverter drives
Analysis of Electric Machinery and Drive Systems, Fourth Edition, is a perfect resource for electrical engineering students and an essential, up-to-date reference for electrical and mechanical engineers working with drives.
Contents
About the Authors xi
Preface xiii
Acknowledgments xv
About the Companion Website xvii
1 Introductory Concepts 1
1.1 Introduction 1
1.2 Stationary Magnetically Coupled Circuits 1
1.2.1 Nonlinear Magnetic System 8
1.3 Energy Balance Relationships 13
1.4 Energy in Coupling Field 18
1.5 Electromagnetic Forces 24
1.6 Steady-State and Dynamic Performance of an Electromechanical System 27
References 33
Problems 33
2 Symmetrical Three-Phase Stator 37
2.1 Introduction 37
2.2 Stator Winding Configuration and Air-Gap mmf 37
2.3 Transformation Equations 41
2.4 Voltage Equations in Arbitrary Reference Frame 46
2.4.1 Electric Power 49
2.5 Transformation Between Reference Frames 49
2.6 P-Pole Machines 51
2.7 Transformation of a Balanced Set 52
2.8 Instantaneous and Steady-State Phasors 56
2.9 Variables Observed from Several Frames of Reference 57
References 63
Problems 63
3 Symmetrical Induction Machine 65
3.1 Introduction 65
3.2 Induction Machine 65
3.3 Transformation of Rotor Windings to the Arbitrary Reference Frame 67
3.4 Voltage, Flux-Linkage Equations, and Equivalent Circuit 70
3.5 Torque Expressed in Arbitrary Reference Frame Variables 75
3.6 Computer Simulation in the Arbitrary Reference Frame 77
3.7 Per Unit System 78
3.8 Steady-State Equivalent Circuit and Common Modes of Operation 81
3.9 Free-Acceleration Torque Versus Speed Characteristics 89
3.10 Free-Acceleration Characteristics Viewed from Various Reference Frames 97
3.11 Dynamic Performance During Sudden Changes in Load Torque 102
References 105
Problems 105
4 Brushless DC Machine 109
4.1 Introduction 109
4.2 Voltage Equations in Machine Variables 109
4.3 Voltage and Torque Equations in Rotor Reference Frame Variables 113
4.4 Instantaneous and Steady-State Phasors 116
4.5 Field Orientation of a Brushless DC Drive 117
4.5.1 Brushless Dc Motor Operation with Φ V = 0 118
4.5.2 Maximum-Torque-Per-Volt Operation of a Brushless dc Drive (φ V = Φ Vmt/v) 121
4.5.3 Maximum-Torque-Per-Ampere Operation of a Brushless dc Drive (φ V = Φ Vmt/a) 124
References 125
Problems 126
5 Synchronous Machines 127
5.1 Introduction 127
5.2 Windings of a Synchronous Machine 128
5.3 Voltage Equations in Rotor Reference Frame Variables 130
5.4 Torque Expressions Positive for Motor Action 133
5.5 Time-Domain Block Diagram 133
5.6 Rotor Angle and Angle Between Rotors 136
5.7 Per Unit System 137
5.8 Analysis of Steady-State Operation 138
5.9 Stator Currents Positive out of Machine—Synchronous Generator Operation 143
5.9.1 Dynamic Performance during a Sudden Change in Input Torque 147
5.9.2 Dynamic Performance during a Three-Phase Fault at the Machine Terminals 153
References 158
Problems 158
6 Neglecting Electric Transients 163
6.1 Introduction 163
6.2 Neglecting Stator Electric Transients 163
6.3 Induction Machine with Stator Transients Neglected 166
6.3.1 Free-Acceleration Characteristics 166
6.4 The Synchronous Machine with Stator Transients Neglected 170
6.4.1 Three-Phase Fault at Machine Terminals 171
References 175
Problems 175
7 Machine Equations in Operational Impedances and Time Constants 177
7.1 Introduction 177
7.2 Park's Equations in Operational form 178
7.3 Operational Impedances and G(P) for a Synchronous Machine with Four Rotor Windings 178
7.4 Standard Synchronous Machine Reactances 182
7.5 Standard Synchronous Machine Time Constants 184
7.6 Derived Synchronous Machine Time Constants 185
7.7 Parameters from Short-Circuit Characteristics 188
7.8 Parameters from Frequency-Response Characteristics 196
References 202
Problems 204
8 Eigenvalues and Voltage-Behind-Reactance Machine Equations 207
8.1 Introduction 207
8.2 Machine Equations to be Linearized 208
8.2.1 Induction Machine 208
8.2.2 Synchronous Machine 209
8.3 Linearization of Machine Equations 210
8.3.1 Induction Machine 211
8.3.2 Synchronous Machines 213
8.4 Small-Displacement Stability—Eigenvalues 216
8.5 Eigenvalues of Typical Induction Machines 216
8.6 Eigenvalues of Typical Synchronous Machines 220
8.7 Detailed Voltage-Behind-Reactance Model 221
8.8 Reduced-Order Voltage-Behind-Reactance Model 230
References 231
Problems 232
9 Semi-Controlled Bridge Converters 233
9.1 Introduction 233
9.2 Single-Phase Load Commutated Converter 233
9.3 Three-Phase Load Commutated Converter 245
9.4 Conclusions and Extensions 256
References 257
Problems 258
10 Fully Controlled Three-Phase Bridge Converters 259
10.1 Introduction 259
10.2 The Three-Phase Bridge Converter 259
10.3 Six-Step Operation 265
10.4 Six-Step Modulation 273
10.5 Sine-Triangle Modulation 278
10.6 Extended Sine-Triangle Modulation 283
10.7 Space-Vector Modulation 285
10.8 Hysteresis Modulation 289
10.9 Delta Modulation 292
10.10 Open-Loop Voltage and Current Regulation 293
10.11 Closed-Loop Voltage and Current Regulation 296
References 300
Problems 302
11 Direct-Current Machine and Drive 305
11.1 Introduction 305
11.2 Commutation 306
11.3 Voltage and Torque Equations 309
11.4 Permanent-Magnet dc Machine 311
11.5 dc Drive 313
11.5.1 Average-Value Time-Domain Block Diagram 316
11.5.2 Torque Control 318
Reference 319
Problems 319
12 Torque Control of Permanent-Magnet and Synchronous Reluctance Machines 321
12.1 Introduction 321
12.2 Torque Control of a Permanent-Magnet AC Machine 322
12.2.1 Maximum Steady-State Torque Versus Speed 324
12.3 Simulation of a Permanent-Magnet AC Machine with Torque Control 331
12.3.1 Electrical Dynamics 333
12.3.2 Mechanical Dynamics 333
12.3.3 System-Level Simulation Block Diagram 334
12.3.4 System Studies 335
12.3.5 Reduced-Order Simulation 339
12.4 Torque Control of a Synchronous Reluctance Machine 339
References 347
Problems 348
13 Induction Motor Drives 351
13.1 Introduction 351
13.2 Volts-Per-Hertz Control 351
13.3 Constant Slip Current Control 358
13.4 Field-Oriented Control 365
13.5 Direct Field-Oriented Control 369
13.6 Robust Direct Field-Oriented Control 371
13.7 Indirect Rotor Field-Oriented Control 376
13.8 Direct Torque Control 379
13.9 Slip Energy Recovery Drives 383
13.10 Conclusions 386
References 386
Problems 387
14 Permanent-Magnet AC Motor Drives 389
14.1 Introduction 389
14.2 Voltage-Source Inverter Drives 390
14.3 Equivalence of Voltage-Source Inverters to an Idealized Source 391
14.4 Average-Value Analysis of Voltage-Source Inverter Drives 400
14.5 Steady-State Performance of Voltage-Source Inverter Drives 403
14.6 Transient and Dynamic Performance of Voltage-Source Inverter Drives 406
14.7 Case Study: Voltage-Source Inverter-Based Speed Control 411
14.8 Current-Regulated Inverter Drives 417
14.9 Voltage Limitations of Current-Regulated Inverter Drives 421
14.10 Current Command Synthesis 423
14.11 Average-Value Modeling of Current-Regulated Inverter Drives 426
14.12 Case Study: Current-Regulated Inverter-Based Speed Controller 428
References 431
Problems 431
Appendix A Abbreviations, Constants, Conversions, and Identities 433
Appendix B Phasors and Phasor Diagrams 437
Index 441
