Dinámicas De Control

Dynamics and Control of Electrical Drives

Piotr Wach

Dynamics and Control of
Electrical Drives

ABC

Author
Prof. Piotr Wach
Politechnika Opolska
Institute of Electromechanical Systems and Applied Informatics
Mikołajczyka 5 str.
45-271 Opole
Poland
E-mail: p.wach@po.opole.pl

ISBN 978-3-642-20221-6

e-ISBN 978-3-642-20222-3

DOI 10.1007/978-3-642-20222-3
Library ofCongress Control Number: 2011925364
c 2011 Springer-Verlag Berlin Heidelberg
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To my dear wife Irena

Acknowledgments

The author would like to express warm gratitude to all who contributed in variousways so that this book finally has been completed in its form.
Firstly, I would like to express remembrance and pay tribute to Prof. Arkadiusz
Puchała (Academy of Mining and Metallurgy in Cracow), who was my principal
tutor and supervisor of my Ph.D. thesis. However, our contacts terminated early,
when he died quite young in 1973.
Then I would like to thank warmly my colleagues from theInstitute of Electromechanical Systems and Applied Informatics, who encouraged me and created
favorable conditions and nice, friendly atmosphere to work and research: Prof.
Krystyna Macek-Kamińska – Director of the Institute, Prof. Marian Łukaniszyn –
our present Faculty Dean as well as Prof. Jerzy Hickiewicz and Prof. Sławomir
Szymaniec – partners in several research undertakings.
Then I wouldlike to thank Dr. Krzysztof Tomczewski, Dr. Ryszard Beniak,
Dr. Andrzej Witkowski, Dr. Krzysztof Wróbel my former Ph.D students, work
with whom gave me a lot of experience, exchange of ideas and excellent opportunity to discuss.
Finally I would like to thank my dear son Szymon Wach for his very good –
I am sure, translation of the book into English and Mr Eugeniusz Głowienkowski
for preparationof those technical drawings that were not produced automatically
by MAPLE™, as an outcome of computer simulations.

Piotr Wach

Notation Index

a = 2π / 3
&r
a = v = &&
δA, δAm , δAe
A
A2 , A3
B
C
D

ek

- phase shift between 3-phase symmetrical sine curves
- acceleration vector
- virtual work, its mechanical and electrical component
- vector potential of a magnetic field- skew symmetric matrices: 2- and 3- dimentional
respectively
- magnetic induction vector
- electrical capacity
- viscous damping factor
- electromotive force (EMF) induced in k-th winding

E
f k (K)

- total energy of a system
- analytical notation of holonomic constraints function

F, Fi

- vector of external forces, i-th component of this
vector
- frequency of voltage(current): feeding line, stator,
rotor
- acceleration vector of earth gravitation force
- number of branches of electric network
- number of holonomic constraints
- electric current as a derivative of electrical charge

fL , fs , fr

g
g
h

&
i =Q
i f , ia

- excitation current, armature current

I

- symbolic value of sinusoidal current

I
i s = [is1 is 2 is 3 ]T

- matrix of...