Dr.
NNCE III EEE/06 SEM SEM-LAB
EE3009 – SPECIAL ELECTRICAL MACHINES
LABORATORY MANUAL
B.E (EEE) III YEAR 06 SEMESTER
(FOR PRIVATE CIRCULATION ONLY)
ANNA UNIVERSITY CHENNAI-25.
(Regulations 2021)
PREPARED BY
[Link], [Link].,(AP/EEE)
VERIFIED BY
HOD PRINCIPAL DIRECTOR/MD
DEPARTMENT OF ELECTRICAL & ELECTRONICS ENGINEERING
[Link] NEDUNCHEZHIYAN COLLEGE OF ENGINEERING
THOLUDUR- 606 303.
(Undertaken by sengunthar trust-Tiruchengode)
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GENERAL INSTRUCTIONS FOR LABORATORY CLASSES
Enter the Lab with CLOSED FOOTWEAR
Boys should “TUCK IN” the shirts
Girls are instructed to wear OVERCOATS
HANGING CHAINS, RINGS, WRIST WATCHES and like items are likely to
cause accidents and hence to be AVOIDED
LONG HAIR should be protected, let it not be loose especially near ROTATING
MACHINERY
Any other machines / equipment’s SHOULD NOT BE OPERATED other than the
prescribed one for the day
POWER SUPPLY to your test table should be only by the LAB TECHNICIAN
Do not LEAN and do not be CLOSE to the rotating components
TOOLS, GUAGE sets are to be returned before leaving the lab
All SUB-HEADING and DETAILS should be neatly written on the right side page of
the record.
For example
Aim of the experiment
Apparatus / Tools / Instruments required
Procedure / Theory / Algorithm / Program
Model Calculations & Result / discussions
The following items are to be given on the Left page
Neat Diagram / Flow charts
Specifications / Designs Details & Tabulations & Graph
GRAPHES / FIGURES drawn on the separate sheet in special cases should be firmly
pasted on the observation.
Before doing the experiment, the student should get the Circuit / Program approval by
the FACULTY - IN - CHARGE
Begin every experiment on a NEW PAGE
Write the NAME OF THE EXPERIMENT in Capital letters at the top of the page
Experiment number with date should be written at the top left hand corner.
Be PATIENT, STEADY, SYSTEMATIC AND REGULAR.
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SYLLABUS
ANNA UNIVERSITY CHENNAI
REGULATION-2021
DEPARTMENT OF ELECTRICAL &ELECTRONICS ENGINEERING
EE3009 SPECIAL ELECTRICAL MACHINES
1) Simulation of BLDC motor
2) Simulation of SRM motor
3) Simulation of stepper motor
4) Simulation of PMSM motor
5) Simulation of any other special machines
Index
Ex.
Date Name of the experiment Marks Signature
No.
Simulation of BLDC motor
1.
Simulation of SRM motor
2.
Simulation of stepper motor
3.
Simulation of PMSM motor
4.
Simulation of any other special machines
5.
[Link] [Link].,
Asst. Professor / EEE
[Link].
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Ex No:1 Simulation of BLDC Motor
Aim:
To Simulate the BLDC Motor by using MATLAB.
Software Required:
MATLAB 2010 Software
Theory:
Brushless DC Motor
This example shows how a system-level model of a brushless DC motor (i.e. a
servomotor) can be constructed and parameterized based on datasheet information. The
motor and driver are modeled as a single masked subsystem. If viewing the model in
Simulink®, select the Motor and driver block, and type Ctrl+U to look under the mask
and see the model structure.
This model of a brushless DC motor uses a standard configuration. An inner
feedback loop controls current and an outer feedback loop controls motor speed. Speed
demand is set by the voltage presented at the Vref pin, and motor direction by the voltage
presented at the Vdir pin. If the voltage at the Vbrk pin goes high, then Vref is overridden
and speed demand set to zero to implement a braking action.
In this model, the speed demand is set to 2V which corresponds to 40,000rpm.
After one second, the Vdir pin is set high, and the motor reverses to -40,000rpm. At 2
seconds, the braking pin Vbrk is set high, and the motor slows to zero rpm. The
efficiency of the brushless DC motor is calculated as the ratio of mechanical power out to
electrical power in. Hence it can be transiently outside of the 0 to 100 percent range due
to rotor inertia.
The manufacturer datasheet for the brushless dc motor gives the stall torque as 0.44mNm,
the maximum permissible speed as 100,000rpm, mechanical time constant as 5ms, rotor
inertia as 0.005gcm^2, efficiency as 41 percent at 0.23mNm and 40,000rpm, no-load
current as 22mA and nominal voltage as 12V. The time constant is based on using the
manufacturer motor driver which uses block commutation. The motor driver can be
configured so that when the speed reference voltage is as at its maximum of +5V, the
commanded speed is 100,000rpm.
The Servomotor block in the Motor and driver subsystem is used to model the
inner current feedback loop, plus balance mechanical and electrical powers. For system
design, it is not usually necessary to model the current switching controlled by the motor
driver, whereas ensuring the correct torque-speed characteristics and current drawn from
the DC supply is. The vector of maximum torque values is in practice determined by the
maximum driver current. Motor drivers normally have a maximum current setting which
should be matched to the maximum rated motor torque, or the maximum torque that is to
be applied to the load if the motor is over-specified. Here the vector of maximum torque
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values is set to be the motor stall torque up to and beyond the maximum speed of
100,000rpm. The assumption is that system in which the motor and driver are used will
take care of ensuring that the motor does not overheat by operating too long at high
torque and speed combinations.
Motor electrical losses are assumed to consist of two terms. The first is a fixed
loss that is independent of load, and this is calculated as Vcc*I0 where Vcc is the
nominal supply voltage and I0 is the no-load DC current drawn from the driver power
supply. Note that if block commutation is used, as for the driver this example is based on,
I0 will be twice the current in an energized phase winding. The second loss term is
proportional to the square of instantaneous motor winding current. This can be
approximated as a term that is proportional to the square of the average torque. The two
loss terms are implemented by the Servomotor block.
There are three Motor and driver mask parameters which have to be tuned to
match datasheet values. These are the proportional and integral gains for the speed
feedback controller, and the time constant for the inner-loop current controller. Here, the
datasheet gives the no-load time constant as 5ms. A typical rule of thumb is that an inner
control loop should be at least ten times faster than the outer loop. This means a time
constant of 0.5ms for the current controller. With this value set, the proportional term is
then increased until the speed time constant is approximately 5ms. The integral gain
should then be set when performing a speed step under load, and increased until steady-
state error is removed in the order of 5ms. Some fine tuning of the two gains is then
needed to recover the 5ms rise time under no load.
Model:
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Motor and Driver Subsystem
Simulation Results from Simscape Logging:
The plot below shows the speed of the brushless DC motor under varying conditions. The
load torque is a constant value always opposed to the rotation of the shaft. Commands to
reverse direction and brake are applied.
Result:
Thus the Simulation of BLDC motor was designed and Simulated by MATLAB.
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Ex No:2 Simulation of SRM Motor
Aim:
To Simulate the SRM Motor by using MATLAB.
Software Required:
MATLAB 2010 Software
Theory:
This example shows a current-controlled 60-kW 6/4 SRM drive using the SRM
specific model based on measured magnetization curves. 8/6 and 10/8 preset models are
also presented with same control strategy.
Model:
Description (6/4 specific model):
The SRM is fed by a three-phase asymmetrical power converter having three legs,
each of which consists of two IGBTs and two free-wheeling diodes. During conduction
periods, the active IGBTs apply positive source voltage to the stator windings to drive
positive currents into the phase windings. During free-wheeling periods, negative voltage
is applied to the windings and the stored energy is returned to the power DC source
through the diodes.
The fall time of the currents in motor windings can be thus reduced. By using a
position sensor attached to the rotor, the turn-on and turn-off angles of the motor phases
can be accurately imposed. These switching angle can be used to control the developed
torque waveforms. The phase currents are independently controlled by three hysteresis
controllers which generate the IGBTs drive signals by comparing the measured currents
with the references. The IGBTs switching frequency is mainly determined by the
hysteresis band.
Simulation (6/4 specific model)
In this example, a DC supply voltage of 240 V is used. The converter turn-on and
turn-off angles are kept constant at 45 deg and 75 deg, respectively, over the speed range.
The reference current is 200 A and the hysteresis band is chosen as +-10 A. The SRM is
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started by applying the step reference to the regulator input. The acceleration rate
depends on the load characteristics.
To shorten the starting time, a very light load was chosen. Since only the currents
are controlled, the motor speed will increase according to the mechanical dynamics of the
system. The SRM drive waveforms (phase voltages, magnetic flux, windings currents,
motor torque, motor speed) are displayed on the scope. As can be noted, the SRM torque
has a very high torque ripple component which is due to the transitions of the currents
from one phase to the following one.
This torque ripple is a particular characteristic of the SRM and it depends mainly
on the converter s turn-on and turn-off angles. In observing the drive's waveforms, we
can remark that the SRM operation speed range can be divided into two regions
according to the converter operating mode: current-controlled and voltage-fed.
Current-controlled mode
From stand still up to about 3000 rpm, the motor's emf is low and the current can
be regulated to the reference value. In this operation mode, the average value of the
developed torque is approximately proportional to the current reference. In addition to the
torque ripple due to phase transitions, we note also the torque ripple created by the
switching of the hysteresis regulator. This operation mode is also called constant torque
operation.
Voltage-fed mode
For speeds above 3000 rpm, the motor's emf is high and the phase currents cannot
attain the reference value imposed by the current regulators. The converter operation
changes naturally to voltage-fed mode in which there is no modulation of the power
switches. They remain closed during their active periods and the constant DC supply
voltage is continuously applied to the phase windings. This results in linear varying flux
waveforms as shown on the scope. In voltage-fed mode, the SRM develops its 'natural'
characteristic in which the average value of the developed torque is inversely
proportional to the motor speed. Since the hysteresis regulator is inactive in this case,
only torque ripple due to phase transitions is present in the torque waveforms.
Optimization of the Torque Characteristic - Adaptive Switching Angle:
In SRM drives, both the average torque and torque ripple are affected by the turn-
on and turn-off angles and by the current waveforms in the motor phases. And these
characteristics change as a function of the motor speed. In many applications, electric
vehicle drives for instance, it is highly desirable to have highest torque/ampere ratio and
lowest torque ripple and this over a widest speed range possible.
The SRM torque characteristic can be optimized by applying appropriated pre-
calculated turn-on and turn-off angles in function of the motor current and speed. The
optimum values of optimum angles can be stored in a 2-D lookup table.
Result:
Thus the Simulation of stepper motor was designed and Simulated by MATLAB.
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Ex No:3 Simulation of Stepper Motor
Aim:
To Simulate the Stepper Motor by using MATLAB.
Software Required:
MATLAB 2010 Software
Theory:
Stepper Motor with Control
This model shows how to use the Stepper Motor Driver and Stepper Motor blocks
together to implement a controlled permanent magnet stepper motor. The model provides
two controller options: one to control position and one to control speed.
To change the controller type, right-click on the Controller block, select Variant-
>Override using-> and select Position or Speed.
The stepper has a full step size of 1.8 degrees. In position control model, the input
Ref is the desired number of steps. In speed control mode, the input Ref is the desired
number of steps per second.
This model is a system-level model suitable for studying the dynamics of the stepper and
whether step angle will slip when driving a given load. It can also be used to tune the
stepper controller to improve stepping performance. Often the controller is either partly
or fully implemented on an off-the-shelf stepper controller module.
The alternative of implementing the algorithm on a microprocessor (such as a
PIC) gives greater flexibility, and the microprocessor may also be used to control other
parts of the overall system. In this case parts of the Stepper Motor Driver block may also
be implemented in on the microprocessor, leaving only the power amplifier stage in
analog electronics
Model:
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Simulation Results from Simscape Logging
Position Control Test
The motor shaft angle as compared to the demand signal. A position
control algorithm accepts a position command as a number of steps and converts
it to a pulse train that controls the stepper motor driver. The spikes on the angular
velocity plot occur as the shaft settles into its commanded position.
Speed Control Test
The plots below show the motor shaft angle as compared to the demand signal. A
speed control algorithm accepts a speed command as a number of steps per second and
converts it to a pulse train that controls the stepper motor driver. The spikes on the
angular velocity plot occur as the shaft settles into the current step.
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The plot below shows how the states of the pins on the stepper driver affect the
motion of the stepper motor. The driver initiates a step each time the ENA signal rises
above the Enable threshold voltage
Result:
Thus the Simulation of stepper motor was designed and Simulated by MATLAB.
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[Link] Simulation of PMSM Motor
Aim:
To Simulate the PMSM Motor by using MATLAB.
Software Required:
MATLAB 2010 Software
Theory:
This example shows the Permanent Magnet Synchronous Machine in a closed-
loop speed and current control on a 1.1 kW, 3000 rpm industrial motor.
Description:
A three-phase motor rated 1.1 kW, 220 V, 3000 rpm is fed by a PWM inverter.
The PWM inverter is built entirely with standard Simulink® blocks. Its output goes
through Controlled Voltage Source blocks before being applied to the PMSM block's
stator windings. The load torque applied to the machine's shaft is originally set to its
nominal value (3 N.m) and steps down to 1 N.m at t = 0.04 s.
Two control loops are used. The inner loop regulates the motor's stator currents. The
outer loop controls the motor's speed.
Model:
Simulation:
Observe that the stator currents are quite "noisy," which is to be expected when
using PWM inverters. Also, the amplitude of these currents decreases at t = 0.04 s, when
the load is decreased. The noise introduced by the PWM inverter is also observed in the
electromagnetic torque waveform Te. However, the motor's inertia prevents this noise
from appearing in the motor's speed waveform
Result:
Thus the Simulation of PMSM Motor was designed and Simulated by MATLAB.
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[Link] Simulation of AC Series Motor
Aim:
To Simulate the AC Series Motor by using MATLAB.
Software Required:
MATLAB 2010 Software
Theory:
The Voltage Measurement block acts as an interface between the Simscape
Electrical Specialized Power Systems blocks and the Simulink blocks. For the system
shown above, you implemented such an interface from the electrical system to the
Simulink system. The Voltage Measurement block converts the measured voltages into
Simulink signals.
Similarly, the Current Measurement block from
the Simscape > Electrical > Specialized Power Systems > Sensors and
Measurements library can be used to convert any measured current into a Simulink
signal.
You can also interface from Simulink blocks to the electrical system. For
example, you can use the Controlled Voltage Source block to inject a voltage in an
electrical circuit, as shown in the following figure.
Model:
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Measuring Voltages and Currents:
When you measure a current using a Current Measurement block, the positive
direction of current is indicated on the block icon (positive current flowing from +
terminal to – terminal). Similarly, when you measure a voltage using a Voltage
Measurement block, the measured voltage is the voltage of the + terminal with respect to
the – terminal.
Basic Principles of Connecting Capacitors and Inductors
Pay particular attention when you connect capacitor elements together with
voltage sources, or inductor elements in series with current sources. When you start the
simulation, the software displays an error message if one of the following two connection
errors are present in your diagram:
Using the Powergui Block to Simulate Simscape Electrical Specialized Power
Systems Models
The Powergui block is the environment block for Simscape Electrical Specialized
Power Systems models. It is used to store the equivalent Simulink circuit that represents
the state-space equations of the Simscape Electrical Specialized Power Systems blocks. It
also opens tools for steady-state and simulation results analysis and for advanced
parameter design. When you start the simulation, you will get an error if
no Powergui block is found in your model.
See powergui for more information on how to use the powergui block in your
models.
Result:
Thus the Simulation of AC Series Motor was designed and Simulated by MATLAB.
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