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Paper ID 852
(1)
Abstract - This
paper
presents
an
experimental
characterization of a flywheel energy storage system. The device is
based on steel seamless tube mounted as a vertical axis flywheel
storing kinetic energy. The motor/generator is a Permanent
Magnet Synchronous Machine controlled by an AC-AC Matrix
Converter. The matrix control method uses a discrete-time model
of the converter system to predict the future values of the input
currents for all the 27 possible output voltage vectors generated
by the matrix converter. An optimal controller minimizes current
errors using a weighted cost functional. This flywheel and control
process is intended for dynamic voltage restorer (DVR) to
mitigate voltage sags.
I.
INTRODUCTION
[ ]
(1)
(2)
Using
1
m r22 + r12 = 4,2 kgm 2
2
r1=250mm,
r2=240mm,
(3)
m=70kg,
and
1
2
J max
= 144[kJ ]
2
Paper ID 852
(4)
B. Flywheel dynamics
The Flywheel dynamics can be given as:
d
T=J
+ K D + K C
dt
(5)
Paper ID 852
S12
S 22
S 32
S13 van
S 23 vbn
S 33 vcn
(6)
Fig. 8. View of the gate driver printed circuit board.
The input phase currents (ia, ib, ic) can be related to the output
phase currents (iA, iB, iC) by:
ia S11
i = S
b 12
ic S13
S 21
S 22
S 23
S 31 i A
S 32 iB
S 33 iC
(7)
S11
1
0
0
1
0
0
1
0
0
0
0
1
0
1
0
0
1
0
0
1
0
0
1
0
1
0
0
S12
0
1
0
0
1
0
0
1
1
0
0
0
1
0
0
1
0
0
1
0
0
1
0
0
0
1
0
S13
0
0
1
0
0
1
0
0
0
1
1
0
0
0
1
0
0
1
0
0
1
0
0
1
0
0
1
S21
0
0
1
0
1
0
0
1
0
0
1
0
1
0
0
0
0
1
0
1
0
0
1
0
1
0
0
S22
1
0
0
0
0
1
1
0
0
1
0
0
0
1
1
0
0
0
1
0
0
1
0
0
0
1
0
S23
0
1
0
1
0
0
0
0
1
0
0
1
0
0
0
1
1
0
0
0
1
0
0
1
0
0
1
S31
0
1
0
0
0
1
0
1
0
0
1
0
0
1
0
0
1
0
1
0
0
0
0
1
1
0
0
S32
0
0
1
1
0
0
1
0
0
1
0
0
1
0
0
1
0
0
0
1
1
0
0
0
0
1
0
S33
1
0
0
0
1
0
0
0
1
0
0
1
0
0
1
0
0
1
0
0
0
1
1
0
0
0
1
vA(t)
va(t)
vb(t)
vc(t)
va(t)
vb(t)
vc(t)
va(t)
vb(t)
vb(t)
vc(t)
vc(t)
va(t)
vb(t)
va(t)
vc(t)
vb(t)
va(t)
vc(t)
vb(t)
va(t)
vc(t)
vb(t)
va(t)
vc(t)
va(t)
vb(t)
vc(t)
vB(t)
vb(t)
vc(t)
va(t)
vc(t)
va(t)
vb(t)
vb(t)
va(t)
vc(t)
vb(t)
va(t)
vc(t)
va(t)
vb(t)
vb(t)
vc(t)
vc(t)
va(t)
vb(t)
va(t)
vc(t)
vb(t)
va(t)
vc(t)
va(t)
vb(t)
vc(t)
vC(t)
vc(t)
va(t)
vb(t)
vb(t)
vc(t)
va(t)
vb(t)
va(t)
vc(t)
vb(t)
va(t)
vc(t)
vb(t)
va(t)
vc(t)
vb(t)
va(t)
vc(t)
va(t)
vb(t)
vb(t)
vc(t)
vc(t)
va(t)
va(t)
vb(t)
vc(t)
(8)
d
iq + r Ld id + r f
dt
(9)
ud = Rid + Ld
uq = Riq + Lq
(10)
r = n ppm
Where ud and uq are the d and q axis voltages of the
synchronously rotating reference, R is the stator resistance , id
and iq are the stator currents, r is the electrical rotor frequency
in rad/s, Ld and Lq are the rotating field inductance. The rotor
mechanical angular speed is m and the machine pole-pair
number is represented by npp.
The electromagnetic torque is:
Te = n pp f iq + (Ld Lq )id iq
(11)
r (t ) = r + r dt
Paper ID 852
ia
ib
c
v
S
11
"
S
33
RT
T
LT
isq (k + 1) = 1 s isq (k ) + s uq (k + 1) d s r (k )isd (k )
(14)
L
L
Lq
q
q
T
f s r (k )
Lq
(15)
(16)
i
s3
m (k )
r (k )
Ts Lq
T R
T
r (k )isq (k ) (13)
isd (k + 1) = 1 s isd (k ) + s ud (k + 1) +
Ld
Ld
Ld
i
s2
S """" S
11
33
i
s1
(12)
ic
r (k )
e (k + 1)
sq
e (k + 1)
sd
i* (k )
sd
i (k )
sd
isq (k )
i (k + 1)
sd
isq (k + 1)
i = 0
sd
T * (k )
=
isq
n
T*
f
pp
i*
sq (k )
VI. SIMULATIONS
The matrix converter with input filter, PMSM and the real
time predictive optimal controller were simulated in the
Matlab/Simulink environment to evaluate the control
performance. A sampling period Ts=50s was used in the
equations to predict output currents.
A. Matrix Converter
The matrix converter has the following parameters
and
ra = rb = rc = 25 ,
la = lb = lc = l = 6.5mH
Cab = Cbc = Cca = 6.6 F . The three-phase system frequency is
i = 2f i with fi=50Hz and Vi=230V(rms).
B. PMSM parameters
The PMSM machine has the following parameters
R = 0.83 ,
Ld = 6.5mH ,
Lq = 6.5mH ,
n pp = 3 ,
J PMSM = 16.1 104 kgm 2 and torque constant KT = 1.39 Nm A .
(17)
C. PMSM currents
In this work a reference torque of 2.6Nm was used to test the
current predictive controller.
Figure 10, present the reference (i*s1, i*s2, i*s3) and simulated
stator currents (is1, is2, is3) without steady state or dynamic
errors (apart from the converter ripples). The speed is
1500rpm.
Paper ID 852
VIII.
Fig. 10. Reference (i*s1, i*s2, i*s3) and simulated stator currents (is1, is2, is3).
Fig. 12. The electromechanical energy accumulator used for DVR operation.
CONCLUSIONS