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Laboratory of Power Converters and Electrical Drives

01SRQNC

A.A. 2021/22

2021/22

Laboratory of Power Converters and Electrical Drives

This course is part of the Masters’ Degree in Electrical Engineering, part of the programme in Electric Energy Conversion, and an elective course for the rest of the MSc’ Degree in Electrical Engineering. The course objective is to provide the methods and hands-on experience for commanding power converters and electric drives via an embedded controller.

Laboratory of Power Converters and Electrical Drives

This course is part of the Masters’ Degree in Electrical Engineering, part of the programme in Electric Energy Conversion, and an elective course for the rest of the MSc’ Degree in Electrical Engineering. The course provides the methods, the development tools and the hands-on experience on the embedded control of power converters and electric drives. Hardware and software aspects are covered by the course. Simulation and code development tools are extensively used during the course, and the students are asked to develop and validate the control of one electrical drive autonomously by the end of the course. Besides the technical takeaways, the students must show their autonomy and the capability of soundly reporting about their work.

Laboratory of Power Converters and Electrical Drives

After this course, the student will • Fundamentals of real-time digital control • Simulation of the discrete-time control of power converters and electric drives • Study of the microcontroller: hardware, software, developement toolchain • Case studies: Induction motor, BLDC and PM and Reluctance Synchronous Motors • Experimental implementation: control of Induction, BLDC and BLAC motors • Producing of a technical report of a individual project, including simulated or experimental results

Laboratory of Power Converters and Electrical Drives

After this course, the student will master: • Fundamentals of real-time digital control • Simulation of the discrete-time control of power converters and electric drives in Simulink and PLECS • Knowledge of the microcontroller's hardware structure, and of one software development toolchain • A number of case studies including the DC/DC converter, Induction motor, PM and Reluctance Synchronous motor Drives, the three-phase Active Rectifier • Processor-in-the-Loop implementation of selected case studies • Experimental implementation of selected case studies • Producing of a technical report of a individual project, including experimental or simulated results

Laboratory of Power Converters and Electrical Drives

• Fundamentals of Power Electronics and Electric Drives • Fundamentals of continuous-time and discrete time control • C-programming and fundamentals of Matlab-programming • Simulation in Matlab/Simulink

Laboratory of Power Converters and Electrical Drives

Prerequisite knowledge for this course includes: • Fundamentals of Power Electronics and Electrical Drives • Fundamentals of continuous-time control theory • Fundamental of C- and Matlab-programming • Simulation in Matlab/Simulink

Laboratory of Power Converters and Electrical Drives

1) Introduction Embedded Control (4.5 hours) • The micro-controller unit (MCU) • Use of the MCU in power converter and drives • Basics of task synchronization • Digital numbers: sampling, digital representation of numbers 2) The STM32 ARM-Cortex MCUs (12 hours) • Description of the STM32 family and applications • Fundamentals of code development and MCU programming and debug • How to read the documentation • The structure of the MCU • Key internal blocks: core, memory, buses, peripherals • GPIO Blocks • General purpose timer and PWM timer • Analog to Digital Converter • Watchdog timer • Structure of the control code: PWM Interrupt Service Routine 3) Control of DC/DC converters and DC machine (9 hours) • Review of control structure and tuning in continuous time • Discrete-time control: closed loop current control, speed control • Code • Step by step calibration • Control of the Brushless DC Motor 4) Control of the three-phase inverter and Induction machine (9 hours) • Review of scalar and vector control of the induction motor (IM) • Step by step implementation: V/Hz, I-Hz, field-oriented vector control • Code • Step by step calibration of each of the above 5) Control of the Synchronous Machines (7.5 hours) • Encoder • Review of vector control • Code • Step by step calibration • Motor parameters identification 4) Laboratory: Simulation (15 hours) a) C-MEX S-Functions in Matlab/Simulink (1.5 h) b) Closed-loop current control of DC/DC converters (3.0 h) c) Control of the DC motor (1.5 h) d) Control of the Brushless DC motor (1.5 h) e) Scalar Control of the Induction Motor (1.5 h) f) Vector Control of the Induction Motor (3.0 h) g) Control of the Brushless AC motor (1.5 h) h) Control of Synchronous Reluctance Motors (1.5 h) 5) Laboratory: Experimental (21 hours) a) STM32 Nucleo Boards and add-ons (1.5 h) b) Toolchain for software development and debug: the Blinky example (3.0 h) c) Open loop control of the BLDC motor: debug of encoder and analog quantities acquisition (3.0 h) d) Closed loop Control of the Brushless DC motor (3.0 h) e) Closed loop Control of the Brushless AC motor (3.0 h) f) Scalar Control of the Induction Motor (3.0 h) g) Vector Control of the Induction Motor (4.5 h)

Laboratory of Power Converters and Electrical Drives

Lectures (40 hours) • Introduction to Embedded Control systems • The STM32 Industrial MCU • Timers units, including PWM mode and capture mode, Internal Watchdog Timer • Digital I/O and ADC Units • Serial communication and USART interface • Quadrature Encoder and Encoder Unit • Control of IM Drives • Control of SPM machine drives • Control of IPM and PM-SyR machine drives • Flux Maps Identification: • Grid connected converters and simulation in PLECS • SensorlessControl of Synchronous Motor Drives Simulation Laboratory (16 hours) • Closed-loop current control of DC/DC converters • Control of the Induction Motor • Control of the SPM motor • Control of the IPM and Synchronous Reluctance Motors • Control of the Active Rectifier (PLECS) Experimental Laboratory (20 hours) • STM32 Nucleo Boards and add-ons • Toolchain for software development and debug • PWM timer and synchronization, use of STM32CubeMX, logic analyzer • ADC, DAC, watchdog timer and virtual oscilloscope • Control of the induction motor, V/Hz, I-Hz • Control of the SPM machine, alignment, parking, I-Hz, FOC (4.5 h) Laboratory at home (4 hours) • Processor in the Loop • PiL simulation of the RLE control • PiL simulation of the SPM machine control

Laboratory of Power Converters and Electrical Drives

Laboratory of Power Converters and Electrical Drives

Laboratory of Power Converters and Electrical Drives

41 hours: Lectures 15 hours: Simulink laboratory: simulation of the control algorithms 24 hours: Experimental Laboratory: implementation and debug of the control algorithms

Laboratory of Power Converters and Electrical Drives

40 hours: Lectures 16 hours: Simulink and Plecs laboratory on the simulation of the control algorithms 4 hours: Processor-in-the-Loop for lab at home experiments on the STM32 Nucleo board 20 hours: Hands-on laboratory: implementation and debug of the control algorithms

Laboratory of Power Converters and Electrical Drives

• Class notes (provided online) • STM32 ARM Microcontrollers Manuals and documentation • D.W.J. Pulle et al., “Applied Control of Electrical Drives”, 2015, Springer • B. K. Bose, "Modern Power Electronics and AC Drives", Prentice Hall PTR, 2002 • G.Ellis, “Control System Design Guide”, 2000, Academic Press. • R. Isermann, “Digital control systems”, 1989, Springer. • A. Vagati, “Electrical drives”, Politecnico di Torino, class notes. • A. Fratta, “Dispense del corso di conversione statica dell’energia elettrica”, Politecnico di Torino, class notes

Laboratory of Power Converters and Electrical Drives

• Class notes (provided online) • STM32 ARM Microcontrollers and Nucleo Boards documentation • D.W.J. Pulle et al., “Applied Control of Electrical Drives”, 2015, Springer • B. K. Bose, "Modern Power Electronics and AC Drives", Prentice Hall PTR, 2002 • G.Ellis, “Control System Design Guide”, 2000, Academic Press. • R. Isermann, “Digital control systems”, 1989, Springer. • M. Pastorelli, “Electrical drives”, Politecnico di Torino, class notes. • A. Fratta, “Dispense del corso di conversione statica dell’energia elettrica”, Politecnico di Torino, class notes

Laboratory of Power Converters and Electrical Drives

Modalità di esame: Prova orale obbligatoria; Elaborato progettuale individuale; Elaborato progettuale in gruppo;

Laboratory of Power Converters and Electrical Drives

The mandatory oral exam will start with the individual discussion of one assigned project, regarding the simulation or experimental implementation of one digital control algorithm. Each student will produce a technical report of the respective project. The project and the report can be delivered individually or in groups of maximum 3 students. This first part of the oral exam will be evaluated with a maximum grade of 15 out of 30. If the project report is evaluated 6 or more, the rest of the oral exam will consist of two oral questions on any of the content covered by the exam. This second part will be graded 15 out of 30, as well.

Laboratory of Power Converters and Electrical Drives

Exam: Compulsory oral exam; Individual project; Group project;

Laboratory of Power Converters and Electrical Drives

The mandatory oral exam will start with the individual discussion of one assigned project, regarding the simulation or experimental implementation of one digital control algorithm. Each student will produce a technical report of the respective project. The project and the report can be delivered individually or in groups of maximum 3 students. This first part of the oral exam will be evaluated with a maximum grade of 15 out of 30. If the project report is evaluated 6 or more, the rest of the oral exam will consist of two oral questions on any of the content covered by the exam. This second part will be graded 15 out of 30, as well.

Laboratory of Power Converters and Electrical Drives

Modalità di esame: Prova orale obbligatoria; Elaborato progettuale individuale; Elaborato progettuale in gruppo;

Laboratory of Power Converters and Electrical Drives

The mandatory oral exam will start with the individual discussion of one assigned project, regarding the simulation or on-chip implementation of one control algorithm. Each student will produce and present a technical report of the respective project. The project and the report can be delivered individually or in groups of maximum 3 students. This first part of the oral exam will be evaluated with a maximum grade of 15 out of 30. If the project report is evaluated 6 points or more, the rest of the exam will consist of two oral questions on the content covered by the exam, having the datasheet and reference manual documentation at hand. In this stage, the student may be asked to respond in (hand) written form, and therefore send a picture of such notes right away for evaluation. This second part will be graded 15 out of 30, as well.

Laboratory of Power Converters and Electrical Drives

Exam: Compulsory oral exam; Individual project; Group project;

Laboratory of Power Converters and Electrical Drives

The mandatory oral exam will start with the individual discussion of one assigned project, regarding the simulation or on-chip implementation of one control algorithm. Each student will produce and present a technical report of the respective project. The project and the report can be delivered individually or in groups of maximum 3 students. This first part of the oral exam will be evaluated with a maximum grade of 15 out of 30. If the project report is evaluated 6 points or more, the rest of the exam will consist of two oral questions on the content covered by the exam, having the datasheet and reference manual documentation at hand. In this stage, the student may be asked to respond in (hand) written form, and therefore send a picture of such notes right away for evaluation. This second part will be graded 15 out of 30, as well.

Laboratory of Power Converters and Electrical Drives

Modalità di esame: Prova orale obbligatoria; Elaborato progettuale individuale; Elaborato progettuale in gruppo;

Laboratory of Power Converters and Electrical Drives

The mandatory oral exam will start with the individual discussion of one assigned project, regarding the simulation or on-chip implementation of one control algorithm. Each student will produce and present a technical report of the respective project. The project and the report can be delivered individually or in groups of maximum 3 students. This first part of the oral exam will be evaluated with a maximum grade of 15 out of 30. If the project report is evaluated 6 points or more, the rest of the exam will consist of two oral questions on the content covered by the exam, having the datasheet and reference manual documentation at hand. In this stage, the student may be asked to respond in (hand) written form. If not in presence, the student with be asked to send a picture of such notes right away for evaluation. This second part will be graded 15 out of 30, as well.

Laboratory of Power Converters and Electrical Drives

Exam: Compulsory oral exam; Individual project; Group project;

Laboratory of Power Converters and Electrical Drives

The mandatory oral exam will start with the individual discussion of one assigned project, regarding the simulation or on-chip implementation of one control algorithm. Each student will produce and present a technical report of the respective project. The project and the report can be delivered individually or in groups of maximum 3 students. This first part of the oral exam will be evaluated with a maximum grade of 15 out of 30. If the project report is evaluated 6 points or more, the rest of the exam will consist of two oral questions on the content covered by the exam, having the datasheet and reference manual documentation at hand. In this stage, the student may be asked to respond in (hand) written form. If not in presence, the student with be asked to send a picture of such notes right away for evaluation. This second part will be graded 15 out of 30, as well.

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