GeoPlex experimental setup: generator and converter

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