1 Institute of Mechatronics and Information Systems Control and Driving Systems

2 Institute of Mechatronics and Information Systems Lecture programme: 1.Fundamentals of electromagnetic phenomena in electro- mechanic energy conversion 2.Structure and operating principle of modern electrical machines used in driving systems 3.Power supplies – voltage and frequency converters 4.Control modes for chosen mechanical drive parameters 5.Parasitic phenomena 6.Advantages and disadvantages of various driving system configurations

3 Institute of Mechatronics and Information Systems Structure and operating principle of modern electrical machines used in driving systems 1.Transformer 2.Direct current machine 3.Induction machine 4.Synchronous machine 5.Special configurations

4 Institute of Mechatronics and Information Systems Induction (asynchronous) machine

5 Institute of Mechatronics and Information Systems Induction (asynchronous) machine Rotor (armature) types

6 Institute of Mechatronics and Information Systems Induction (asynchronous) machine Three phase magnetic field excitation

7 Institute of Mechatronics and Information Systems Induction (asynchronous) machine Rotating magnetic field

8 Institute of Mechatronics and Information Systems Induction (asynchronous) machine Ferro-magnetic core cross-section (lamination)

9 Institute of Mechatronics and Information Systems Induction (asynchronous) machine Stator (field) winding

10 Institute of Mechatronics and Information Systems Induction (asynchronous) machine Three phase magnetic field excitation

11 Institute of Mechatronics and Information Systems Induction (asynchronous) machine Synchronous speed: Rotor speed: Slip:

12 Institute of Mechatronics and Information Systems Induction (asynchronous) machine Equivalent circuit

13 Institute of Mechatronics and Information Systems Induction (asynchronous) machine Electromagnetic torque:

14 Institute of Mechatronics and Information Systems Induction (asynchronous) machine Electromagnetic torque:

15 Institute of Mechatronics and Information Systems Induction (asynchronous) machine Basic characteristics

16 Institute of Mechatronics and Information Systems Induction (asynchronous) machine Simplified equations Electromagnetic torque: Breakdown (maximal) torque: Breakdown slip:

17 Institute of Mechatronics and Information Systems Induction (asynchronous) machine Simplified equations Electromagnetic torque, Kloss equation: therefore starting torque: Overload coefficient:

18 Institute of Mechatronics and Information Systems Induction (asynchronous) machine Load torque versus electromagnetic torque

19 Institute of Mechatronics and Information Systems Induction (asynchronous) machine Start-up current speed

20 Institute of Mechatronics and Information Systems Induction slip ring machine Modification of output characteristics

21 Institute of Mechatronics and Information Systems Induction slip ring machine Modification of output characteristics

22 Institute of Mechatronics and Information Systems Induction slip ring machine Modification of output characteristics brakemotorgenerator

23 Institute of Mechatronics and Information Systems Induction squirrel cage machine

24 Institute of Mechatronics and Information Systems Induction squirrel cage machine

25 Institute of Mechatronics and Information Systems Induction squirrel cage machine Modification of output characteristics Dahlander winding setup

26 Institute of Mechatronics and Information Systems Induction squirrel cage machine Modification of output characteristics Frequency and voltage converter rectifier inverterDC link

27 Institute of Mechatronics and Information Systems Induction (asynchronous) machine Simplified equations Electromagnetic torque: Breakdown (maximal) torque: Breakdown slip:

28 Institute of Mechatronics and Information Systems Induction (asynchronous) machine Modification of output characteristics Electromagnetic dependencies: Breakdown (maximal) torque: Breakdown slip:

29 Institute of Mechatronics and Information Systems Induction (asynchronous) machine Modification of output characteristics Varying frequency and voltage – constant B m

30 Institute of Mechatronics and Information Systems Induction (asynchronous) machine Modification of output characteristics Varying frequency and constant voltage

31 Institute of Mechatronics and Information Systems Induction (asynchronous) machine Modification of output characteristics Control limitations

32 Institute of Mechatronics and Information Systems Induction (asynchronous) machine Losses and efficiency (Sankey diagram)

33 Institute of Mechatronics and Information Systems Thank You for Your attention