PrefaceThis thesis is submitted to the Faculty of Engineering & Science at Aalborg University as part of the requirements for the degree of Ph.D. The research in energy optimal control of induction motors started for my part in August 1995. The first two years and three months with a research project financed by The Danish Energy Agency, entitled "Energy Optimal Control Strategies for Electro Motors -low-cost sensorless PWM-VSI based induction motor control", journal no. 1253/95-0001. The project was followed by Design Engineer Erik Just Petersen from ABB Motors A/S, and by Manager of Control Engineering Paul Thøgersen from Danfoss Drives A/S. The results from this project, which focused on small drives, were in February 1998 published in a separate report. After that it was decided to extend the research with one year to investigate medium-size drives and permanent magnet motor drives. The last year was financed by the Danfoss Professor Program at Aalborg University and followed by Manager of Control Engineering Paul Thøgersen, Danfoss Drives A/S. The two research projects were supervised by Professor Frede Blåbjerg and Associate Professor John K. Pedersen, both from Institute of Energy Technology at Aalborg University.The main purpose with a project like this it to promote technologies with a more efficient use of electrical energy. It is my hope that this thesis can be to help and inspiration for engineers who work with research and development of electrical drives, and to people who study efficient use of electrical energy in general.Apart from this thesis and the report mentioned above, results from the project have been published in a number of papers and articles listed in the end of the thesis.I would like to thank the Danfoss Professor Program for the financial support that enabled me to submit this thesis, and my supervisors Paul Thøgersen, Frede Blåbjerg and John K. Pedersen for help and good advises. I also want to thank Trine Lendrup Jacobsen for helping with the time-consuming efficiency measurements, and Pawe Grabowski for his assistance with programming the motor drive. I am thankful to Jens Birk, Danfoss Drives A/S, for his help during my stays at Danfoss Drives, and to Jukka Salonen, ABB Motors in Finland, for providing me with motor data.
February 2000, Flemming Abrahamsen
SummaryThis thesis deals with energy optimal control of small and medium-size variable speed induction motor drives for especially Heating, Ventilation and Air-Condition (HVAC) applications. Optimized efficiency is achieved by adapting the magnetization level in the motor to the load, and the basic purpose is demonstrate how this can be done for low-cost PWM-VSI drives without bringing the robustness of the drive below an acceptable level.Four drives are investigated with respect to energy optimal control: 2.2 kW standard and high-efficiency motor drives, 22 kW and 90 kW standard motor drives. The method has been to make extensive efficiency measurements within the specified operating area with optimized efficiency and with ...