SIMULATION OF ELECTRICAL MACHINES, CIRCUITS AND C

TKKDissertations2Espoo2005SIMULATIONOFELECTRICALMACHINES,CIRCUITSANDCONTROLSYSTEMSUSINGFINITEELEMENTMETHODANDSYSTEMSIMULATORDoctoralDissertationHelsinkiUniversityofTechnologyDepartmentofElectricalandCommunicationsEngineeringLaboratoryofElectromechanicsSamiKanervaTKKDissertations2Espoo2005SIMULATIONOFELECTRICALMACHINES,CIRCUITSANDCONTROLSYSTEMSUSINGFINITEELEMENTMETHODANDSYSTEMSIMULATORDoctoralDissertationSamiKanervaDissertationforthedegreeofDoctorofScienceinTechnologytobepresentedwithduepermissionoftheDepartmentofElectricalandCommunicationsEngineeringforpublicexaminationanddebateinAuditoriumS4atHelsinkiUniversityofTechnology(Espoo,Finland)onthe29thofApril,2005,at12noon.HelsinkiUniversityofTechnologyDepartmentofElectricalandCommunicationsEngineeringLaboratoryofElectromechanicsTeknillinenkorkeakouluSähkö-jatietoliikennetekniikanosastoSähkömekaniikanlaboratorioDistribution:HelsinkiUniversityofTechnologyDepartmentofElectricalandCommunicationsEngineeringLaboratoryofElectromechanicsP.O.Box3000FI-02015TKKURL::[e-mail]©2005SamiKanervaISBN951-22-7609-7ISBN951-22-7610-0(PDF)ISSN1795-2239ISSN1795-4584(PDF)URL:://(summary+originalarticles)DepartmentLaboratoryFieldofresearchOpponent(s)Supervisor(Instructor)AbstractKeywordsUDCNumberofpagesISBN(printed)ISBN(pdf)ISBN(others)ISSNPublisherPrintdistributionThedissertationcanbereadatfiniteelementcodeofthelaboratory(FCSMEK)withasystemsimulator.TheworkwasfinancedbytheNationalTechnologyAgencyofFinland(Tekes),ABBOy,FortumPowerandHeatOyandtheGraduateSchoolinElectricalEngineering(GSEE).Firstofall,IwouldliketoexpressmygratitudetoEmeritusProfessorTapaniJokinen,whooriginallysuggestedthistopic,tomysupervisorProfessorAnteroArkkio,andtotheheadofthelaboratory,ProfessorAskoNiemenmaa.Formanypeople,thisworkmayseemmypersonalproject,sinceIhavebeencontinuouslyworkingonthistopicforseveralyears.However,Iwasnotalone.SlavomirSemanfromtheLaboratoryofElectromechanicshasmadearemarkablecontributiontothisworkbytestingthemethods,creatingsimulationmodels,providingresultsandbringingouttheuser’spointofview.IalsooweadebtofgratitudetoJukkaKaukonen,JukkaJärvinen,JuhaniMantereandÁronSzücsfromABBOy,HalinaBurzanowska,ChristianStulzandBilalGerhardfromABBSwitzerlandLtd,andallthecollegesintheLaboratoryofElectromechanics.Inaddition,IwouldliketoexpressmyspecialappreciationtoMarikaSchröder,KimmoHamunen,JarmoPerhoandAriHaavistoforkeepingthemanyevery-daymattersrunningsmoothly.Naturally,Ithankmylovingfamilyforbringingsomuchhappinessintomylife.Finally,thefinancialsupportoftheFinnishCulturalFoundation,ImatranVoimaFoundationandTekniikanedistämissäätiöisgratefullyacknowledged.Helsinki,2005SamiKanerva5ContentsAbstract3Preface4Contents5Symbolsanddefinitions81Introduction111.1Overviewofthecoupledfield-circuitproblems.................111.1.1Numericalmethods............................121.1.2Modellingelectricalmachinesbyfieldandcircuitequations......131.1.3Couplingwithexternalcircuits......................141.1.4Couplingwithpowerelectronics.....................141.1.5Couplingwithclosed-loopcontrolsystems...............161.1.6Softwareforcoupledsimulation.....................161.2Aimofthework..................................171.3Scientificcontribution...............................171.4Outlineofthethesis................................182Computationalmethods192.1Finiteelementmodelforelectricalmachines...................192.1.1Equationsformagneticfieldandwindings................192.1.2Transienttime-steppingsimulation....................232.2Directcouplingoffieldandcircuitequations...................272.3Couplingbythecurrentoutputapproach.....................282.3.1FEMmodelasafunctionalblock....................282.3.2ImplementationforSIMULINK.....................292.4Couplingbythecircuitparameterapproach...................302.4.1Electromotiveforceanddynamicinductance..............302.4.2Extractionofthecircuitparameters...................312.4.3ImplementationforSIMULINK.....................322.5Conclusion....................................3363Casestudy:doubly-fedinductiongenerator343.1Descriptionofthesystem.............................343.1.1Finiteelementmodelofthegenerator..................343.1.2Electricalsupply.............................353.2Simulationmodels................................373.2.1Circuitparameterapproach........................373.2.2Directcoupling..............................393.3Simulationresults.................................403.3.1Steadystate................................403.3.2Voltagedipinstator...............