GeoPlex expe imen al se up:
Gene a o and con e e
A nau Dò ia Ce ezo, Ca les Ba lle A nau,
En ic Fossas Cole
ACES: Con ol A ança de Sis emes d’Ene gia
IST_2001_34166
IOC-DT-P-2006-1
Gene 2006
GeoPlex expe imen al se up: Gene a o and
con e e .
A nau D`o ia-Ce ezo, Ca les Ba lle and En ic Fossas
Uni e si a Poli `ecnica de Ca alunya
Sep embe , 2005
Abs ac
The expe imen al se up o he Flywheel Ene gy S o age Sys em is p esen ed. The sys em
is made o a doubly- ed induc ion machine coupled o a lywheel and a back- o-back con e e .
1 In oduc ion
The sys em s udied in his wo kpackage is an au onomous ene gy–swi ching sys em ha egula es
he ene gy low be ween a local p ime mo e (a lywheel) and he elec ical powe ne wo k, in o de
o sa is y he demand o a ime– a ying elec ical load. This sys em, used in he CERN (Cen e
Eu op´een pou la Reche che Nucl´eai e) o s o e elec ical ene gy o he pa icle accele a o o
a he Okinawa Elec ic Powe Company [1], has been also s udied in [1]. The main goal o he
sys em is, basically, o s o e kine ic ene gy in o a lywheel and deli e i when an ex e nal load
equi es a high ene gy low.
Powe Ne wo k Local Load
B2B DFIM Flywheel
Con ol Inpu s
Local Sou ce
Single-phase
Sou ce
s
inil
is
i ω
Figu e 1: Doubly ed induc ion machine coupled o a lywheel, con olled by a back- o-back
con e e and connec ed o a powe ne wo k and a load.
The sys em (see Figu e 1) is composed by a doubly– ed induc ion machine (DFIM) coupled o
a lywheel and con olled h ough he o o windings by a back- o-back con e e (B2B). This is
he mos common con ol a chi ec u e o he DFIM [1][6][8][9][10][11][14][15] , ypically achie ed
1
by means o a B2B. In a case ha he AC sou ce o he B2B is connec ed o he 3-phase powe g id,
his a chi ec u e is also known as Sche bius D i e [8], i.e. he powe con e e is in a closed–loop
wi h he DFIM. In p ac ice, due o he ac ha he powe lowing h ough he powe con e e
is smalle han he powe lowing o he DFIM s a o side, i is common o neglec his eedback
connec ion.
The DFIM is con olled h ough he o o windings po ( , i ∈R3, whe e and ia e a
h ee-phase ol age and cu en a iables, and subindex e e s o he o o ). I is coupled o an
ene gy–s o ing lywheel wi h po a iables (τeelec ical o que, ωmechanical speed). An elec ical
ne wo k modelled by an ideal AC ol age sou ce wi h po a iables ( n, in∈R3subindex n e e s
o he ne wo k a iables), and a gene ic elec ical h ee-phase load, ep esen ed by i s impedance
Zl, is connec ed o he s a o po a iables ( s, is∈R3).
As men ioned abo e, he main objec i e o he sys em is o supply he equi ed powe o
he load wi h a high ne wo k powe ac o . Depending on he load demands, he DFIM ac s as
an ene gy–swi ching de ice be ween he lywheel and he elec ical powe ne wo k. The con ol
p oblem is o op imally egula e he powe low.
These goals, assuming a maximal ac i e powe o he ne wo k PM AX
n, can be summa ized as
ollows:
•To supply he ex a ene gy equi ed by he load. No ice ha his objec i e conce ns he
ac i e powe , and conside ing a cons an g id ol age, Vn=c , his equi emen is achie ed
by he s a o cu en s.
•To s o e kine ic ene gy in he lywheel when he load does no equi e all he g id powe .
•To compensa e he powe ac o (cos φ), i.e., he whole sys em (load and local sou ce ac s
as a pu e esis o ). Tha is cos φ∼0, o , in o he wo ds assuming, sinusoidal wa e o m and
an equilib a ed sys em, his objec i e can be w i en as Qn∼0.
This con ol p oblem can be achie ed by commu ing be ween di e en s eady–s a e egimes.
The swi ching s a egy was s udied in [2].
2 The doubly- ed induc ion machine
Doubly– ed induc ion machines (DFIM) o m a class o induc ion machines which ha e become
e y popula o enewable ene gy applica ions. They ha e been p oposed in he li e a u e, among
o he applica ions, o wind- u bine gene a o s [8][13], hyb id engines [3] o high pe o mance
s o age sys ems [1][2]. The a ac i eness o he DFIM s ems p ima ily om i s abili y o handle
la ge speed a ia ions a ound he synch onous speed (see [11] o an ex ended li e a u e su ey
and discussion). Ano he ad an age is ha he powe elec onic equipmen o con ol he machine
only has o handle a ac ion (maximum 20 −30%) o he o al powe [12]. The e o e, he losses
in he powe elec onic con e e can be educed, compa ed o a sys em whe e he con e e has
o handle he o al powe . In addi ion, he cos o he con e e becomes lowe .
Figu e 2 shows he DFIM coupled o a lywheel. In o de o inc ease he pe o mance o he
expe imen al se up he lywheel is spli in o wo di e en ine ias.
The DFIM is a 1.1kW machine De Lo enzo DL 1022K, wi h he ollowing pa ame e s: numbe
o poles n= 2, ol age ed 220/380V(∆/Y), nominal cu en 4.8/2.8A(∆/Y), s a o esis ance
Rs= 4.92Ω, o o esis ance R = 4.42Ω, mu ual induc ance Ls = 0.71H, s a o induc ance
Ls= 0.725H, o o induc ance L = 0.715H, mechanical damping B = 0.005Kgm2s−1and
ine ia Jm= 0.00512Kgm2.
The lywheel is a De Lo enzo DL-10410 wi h J= 0.055Kgm2each ine ia.
3 The back- o-back con e e
Elec onic powe con e e s [4] a e de ices able o deli e elec ical ene gy in a sui able way o he
applica ions, i.e., wi h p esc ibed equency, ol age ampli ude o any o he speci ica ion. They
2
DFIM Flywheel
Figu e 2: The DFIM coupled o a lywheel.
++
+
+
+
i
L
C
a
b
c
i
ia
ib
ic
s1s2
1 2
s4s5
4 5
s6
6
iDC
DC
Figu e 3: Back- o-back con e e .
do he ick by pe iodically s o ing he ene gy in induc o s and capaci o s be o e eleasing i in he
desi ed o m; in a gi en pe iod he con e e goes h ough a se ies o opological ci cui changes
by means o con olled swi ches ( o ins ance IGBT swi ches).
The back- o-back con e e consis s o wo con e e s, namely, machine-side con e e and
g id-side con e e , ha a e connec ed ”back- o-back”. Be ween he wo con e e s a dc-link
capaci o is placed, as ene gy s o age, in o de o keep he ol age a ia ions (o ipple) in he
dc-link ol age small. Wi h he machine-side con e e i is possible o con ol he o que o he
speed o he DFIM and also he powe ac o a he s a o e minals, while he main objec i e o
he g id-side con e e is o keep he dc-link ol age cons an .
Figu e 3 shows he back- o-back con e e selec ed o his sys em. I di e s om he ypical
opology in he g id-side con e e ; in his case he dc-link ol age is con olled by a single-phase
boos ec i ie ins ead o a h ee-phase ec i ie . The machine-side con e e is a h ee-phase dc/ac
in e e . The whole con e e has an ac single inpu and i s ou pu s a e h ee-phase PWM (pulse
wid h modula ion) ol ages which eed he o o windings o he elec ical machine. This sys em
can be spli in wo pa s: a dynamical subsys em ( he ull b idge ec i ie , con aining he s o age
elemen s) and an s a ic subsys em ( he in e e , which om he ene gy poin o iew, ac s like a
3
ans o me ).
A single-phase ac ol age sou ce ip o ides he ene gy in he di ec ope a ion mode, Lis
he induc ance, Cis he capaci o o he dc-link, akes in o accoun all he esis ance losses
(induc o , sou ce and swi ches), skand k(k= 1,2,3,5,6). Swi ch s a es ake alues in {−1,1}
and -swi ches a e complemen a y o s-swi ches: k= ¯sk=−sk. Addi ionally, s2= ¯s1=−s1.
One o he p incipal equi emen s is ha he B2B con e e has o allow a bidi ec ional powe
low, since, dpending on he ope a ional speci ica ions, he DFIM can ex ac ene gy h ough he
o o . This ea u e is achie ed using IGBT swi ches ins ead o diodes and hy is o s, which ha e
a low cos and an easies implemen a ion in he expe imen al se up [7].
The back- o-back con e e is depic ed in Figu e 4 and has he ollowing pa s:
•A ull-b idge boos con e e (depic ed in Figu e 4) wi h IGBT swi ches (Siemens BSM 25GD
100D) and pa ame e s: = 0.1Ω, L= 1mH, C= 4500µF. The swi ching equency o he
con e e is 20 KHz and a synch onous cen e ed-pulse single-upda e pulse-wid h modula ion
s a egy is used o map he con olle ’s ou pu o he IGBT ga e signals.
•A 3-phase DC/AC in e e wi h a se o IGBT swi ches (1200 V, 100 A). The swi ching
equency o he in e e is 20 KHz and a synch onous cen e ed-pulse single-upda e pulse-
wid h modula ion s a egy is used o map he con olle ’s ou pu o he IGBT ga e signals.
•The analog ci cui y o he senso s: he AC main sou ce, PMW and DC bus ol ages and
cu en s a e sensed wi h isola ion ampli ie s. All he signals om he senso s pass h ough
he co esponding gain condi ioning s ages o adap hei alues o A/D con e e s.
•Con ol ha dwa e and DSP implemen a ion: he con ol algo i hm can be implemen ed using
he Analog De ices DSP-21116 and DSP-21992 p ocesso s. The p ocessing co e o his de ice
uns a 100MHz and has a 32bi loa ing-poin uni . The sampling a e o he A/D channels
has been selec ed a 20KHz, he same as he swi ching equency o he ull-b idge sys em.
•The nominal RMS AC mains ol age is Vs= 48.9V RMS and i s nominal equency is 50 Hz.
4 In e connec ion and Con ol
The con ol algo i hm is coded in o a compu e unning wi h RTLinux (Real Time Linux), using
RTiC-Lab (Real Time Con ols Labo a o y) [5].
The con ol ha dwa e se up consis s o :
•PC compu e : Pen ium IV, 1.8 GHz, 512MB RAM.
•A/D ca d: 3 PCI-DAS 4020/12 modules. Ul a High-Speed PCI-bus Compa ible, 4-Channel,
12-Bi Analog Inpu Boa d wi h wo Analog Ou pu Channels and 24 Digi al I/O Channels.
•PWM ca d: NuDAQ PCI-8133. 3-Channel quad a u e encode coun e s o a PCI PnP-bus
and a 12-Bi PWM wa e o m gene a o s.
Figu e 5 shows he signal connec ion scheme be ween he sys em and he con ol ha dwa e 1.
Re e ences
[1] H. Akagi and H. Sa o. Con ol and pe o mance o a doubly- ed induc ion machine in ended
o a lywheel ene gy s o age sys em. IEEE T ans. Powe Elec on., 17(1):109–116, 2002.
1The p ocessing ha dwa e o ano he plan [3], called Join Sys em (JS), which sha es some elemen s wi h ou s
(FW), is also displayed
4

Induc o Capaci o
IGBT
ull-b idge
Inpu
(AC sou ce) Ou pu
(Load)
Figu e 4: Expe imen al se up: ull-b idge ec i ie , DSP ca d, senso s, da a acquisi ion.
[2] C. Ba lle, A. D`o ia-Ce ezo, and R. O ega. Powe Flow Con ol o a Doubly–Fed Induc ion
Machine Coupled o a Flywheel. Eu opean Jou nal o Con ol, 11(3):209–221, 2005.
[3] P. Ca a ozzolo. Nonlinea con ol s a egies o an isola ed mo ion sys em wi h a double- ed
induc ion gene a o . PhD hesis, Uni e si a Poli `ecnica de Ca alunya, 2003.
[4] R. E ickson. Fundamen als o Powe Elec onics. Kluwe , 1997.
[5] E. Hil on. Manual o he Real Time Con ols Labo a o y, RTiC-Lab, 2000.
[6] B. Hop enspe ge , D. A kinson, and R. Lakin. S a o - lux-o ien ed con ol o a doubly- ed
induc ion machine wi h and wi hou posi ion encode . In IEE P oc. Elec ic Powe Applica-
ions, olume 147-4, pages 241–250, 2000.
[7] S. Hui, H. Chung, and S. Yip. A bidi ec ional ac-dc powe con e e wi h powe ac o
co ec ion. IEEE T ansac ions on Powe Elec onics, 15(5):942–949, Sep embe 2000.
[8] R. Pe˜na, J. C. Cla e, and G. M. Ashe . Doubly ed induc ion gene a o using back- o-back
pwm con e e s and i s applica ion o a iable speed wind-ene gy gene a ion. In IEEE P oc.
Elec ic Powe Applica ions, olume 143-5, pages 231–241, 1996.
[9] R. Pe˜na, J. C. Cla e, and G. M. Ashe . A doubly ed induc ion gene a o using back- o-back
pwm con e e s supplying an isola ed load om a a iable speed wind u bine. In IEEE P oc.
Elec ic Powe Applica ions, olume 143-5, pages 380–387, 1996.
[10] S. Pe esada, A. Tilli, and A. Tonelli. Indi ec S a o Flux-O ien ed Ou pu Feedback Con ol
o a Doubly Fed Induc ion Machine. IEEE T ans. Con ol Sys ems Technology, 11(6):875–888,
2003.
5
F/V
sw
1:1
SERVO AMPLIFIER
Ad anced Mo ion Con ol
Th ee Phase In e e
C
B
A
3
3
3
3
#SD
P omax 1 P omax 2
AD215BY
Isola ion Ampli ie
P omax 2
PCI DAS 4020/12
PCI8133
1:13
P o ec ion
Sys em
(Salic ú)
Vbus
+
Vbus
-
6N137
Op ocouple s
Pen ium 4; 1,8 GHz; 512 MB RAM
74HC244
Bu e Non-In e ing
AD215BY Isola ion Ampli ie
B ake
DFIM
Gene a o
Ro o S a o
Induc ion
Mo o 3ph
1:13,4
AD215BY Isola ion Ampli ie
2
2
2
2
2
2
3
1A-250mV
1000 pm
1V
DL10050
1000 pm
1V
DL10050
Jeulin 188 019
Jeulin 188 016
12
Hall Senso EH050
Hall Senso EH050
1A-250mV
ADC - 12BNCs
DAC
Boa d Channel Signal
0
0
0
0
1
1
1
1
2
2
2
2
0
1
2
3
0
1
2
3
0
1
2
3
I6
I5
I4
I3
I2
I1
DFIM speed
3ph speed
V4
V3
V2
V1
DIO
Encode 360
pulses/ e ol.
Encode 100
pulses/ e ol.
da a1
da a2
da a3
da a4
da a5
da a6
da a7
da a8
da a9
da a10
da a11
da a12
#PWME
A , B
74HC14 In e e
no A no B
A , B
2
2
A , B
74HC14 In e e
no A no B
A , B
2
2
22 2
80% de 46V 75% de 42V
DC Mo o
PWMs
U+ (16)
V+ (17)
W+(18)
U- (34)
V- (35)
W-(36)
nB2(24)
nA2(23)
A2(5)
B2(6)
2
nB1(21)
nA1(20)
A1(2)
B1(3)
B idge
O
+ 5V
PCIDAS4020
Ramp B aking DC Mo o
V5
I1
I3
I2
W1I6
V1
V2
K1
V3
V4
I4
I6
I5
K2
Selec 12 DAQs
A , B
74HC14 In e e
no A no B
A , B
2
2
22
nB3( )
nA3( )
A3( )
B3( )
S a o
Encode 360
pulses/ e ol.
1A-250mV
2
2
Hall Senso EH050
DFIM FW 1 FW 2
Ro o S a o
JS
FW
B eake
POWERBOX 100V-10A
FW
JS
T ans o me
1 / 6,75
LOADS
1:120
AD215BY Isola ion Ampli ie
2
Open=FW
Close=JS
FW
JS
JS & FW
FW
JS
JS & FW
Ea h leak
1:??
V5
F/V Con e so
0-10V
F/V 0-10V o -5V+5V
V ec
F equency
measu emen
Idc JS
FW
JS
Idc JS
Pinza o
Salida Se o
FW
JS
FW
JS
W,A,V
1V à 100mV
1A à 250mV
1W à 10mV
YOKOGAWA
WT-1600
3-Phase Digi al
Powe Me e
Phase R
Phase S
Phase T
Phase R
Phase S
Phase T
T a o
220V (50Hz)
220V (50Hz)
PB- ead-0,1,2
PA-w i e- 1
3
3
3
3
P omax
OENA (34)
GND (15)
+ 5V
P omax 3
P omax
3
3
SD
Vin+A
Vin-A
Vin+B
Vin-B
Rese
Faul A
Faul B
GND
SD
Vin+A
Vin-A
Vin+B
Vin-B
Rese
Faul A
Faul B
GND
SD
Vin+A
Vin-A
Vin+B
Vin-B
Rese
Faul A
Faul B
GND
1 2 3 4 5 6
+5V
GND
+15V
GND
-15V
+12V
GND
U V W
330 Ohm 330 Ohm 330 Ohm
Uc
+5V
+12V
6
IGBT
In: 3x400V
Ou : 3x0 a 440V
3xSw
220VAC
24Vdc
B eake
Ea h leak
VARIAC
Figu e 5: Expe imen al se up: In e connec ion scheme.
6
[11] S. Pe esada, A. Tilli, and A. Tonelli. Powe con ol o a doubly ed induc ion machine ia
ou pu eedback. Con ol Enginee ing P ac ice, 12:41–57, 2004.
[12] A. Pe e sson. Analisys, modeling and con ol o doubly- ed induc ion gene a o s o wind
u bines. PhD hesis, Chalme s Uni e si y o Technology, Sweden, 2005.
[13] J. Sloo weg, H. Polinde , and W. Kling. Dynamic modelling o a wind u bine wi h doubly
ed induc ion gene a o . In IEEE Powe Enginee ing Socie y Summe Mee ing 2001, pages
644–649, 2001.
[14] A. Tapia, G. Tapia, J. X. Os olaza, and J. R. S´aenz. Modeling and con ol o a wind u bine
d i en doubly ed induc ion gene a o . IEEE T ans. Ene gy Con e sion, 18:194–204, 2003.
[15] L. Xu and W. Cheng. To que and eac i e powe con ol o a doubly ed induc ion machine
by posi ion senso less scheme. IEEE T ans. Indus y Applica ions, 31(3):636–642, 1995.
7