Modernising Undergraduate Renewable Energy Education:
EU Experience for Jordan
MUREE
Electric Machines Drives
Module and Course Description
May 23, 2015
Module Title:
Electric Machines Drives
CP (ECTS):
6
Acronym:
EMD
Responsible for Module:
Prof. Dr. ‐ Wejdan Abu-Elhaija
Secretary:
N/A
E ‐ mail:
Major field:
Energy
elhaija@psut.edu.jo
1. Module Description
1. Qualification Goals
The course introduces students to the fundamentals of electrical drives; it
starts with a review of fundamentals regarding the electric machines,
Electromagnetic theory and power electronic devices and converters.
The construction, operation, circuit models and performance characteristics
of AC & DC machines are revisited. As well, the course will include a review
for power electronics basic converters, basic theory and device
characteristics and capabilities. Basic inverter system, VSI and modulation
techniques are clarified. Also, the adjustable speed drives of DC machines
are explained with a review of the torque and speed control of DC machines.
The scalar control using the constant V/Hz for induction motor drives based
on steady-state per-phase equivalent circuit is discussed. These include the
slip-compensation, current controlled, open loop and closed loop structures
of constant V/Hz scheme. Furthermore, the dynamic modelling of induction
machine is introduced. Using the dynamic model, the high-performance
induction motor control schemes such as the field-oriented control and the
direct torque control. Finally, the synchronous machine control is presented
with emphasis on the PM machines.
After having followed the course, the candidate shall be able to:

Model and analyze electrical motor drives and their sub systems
(converters, rotating machines and loads)

Choose a suitable rotating machine for an electrical motor drive

Choose a suitable power electronic converter structure for an electrical
motor drive

Choose a suitable control structure and calculate control parameters for
an electrical motor drive.
2. Learning methods and activities
Lectures and compulsory exercises.
The module imparts predominantly the following competence:
Technical 10%
Methodical 50%
Systematical 40%
Social 0%
2 - Electric Machines Drives
Module Title:
Electric Machines Drives
CP (ECTS):
6
Acronym:
EMD
Major field:
Energy
2. Course Contents

Introduction to Electric Drives; Motivation

DC Machines: Operation, Modelling and Speed Control

Review: AC Systems and Three-Phase Circuits

Induction Motor Review

Power Electronics : Basic Theory, Devices , AC Inverter Basics : VSI, PWM

Induction Motor Scalar Control Methods

Dynamic Model of Induction Machines

Field oriented control: Induction Motor

Induction Motor Direct Torque and Flux Control

Synchronous Machines: Steady state

Application-Specific Selection of Machine and Drive Systems
3. Expected outcomes
Students will be expected to develop the following skills/understanding upon
the successful completion of the course. They will be able to:
1. Understand how three-phase voltages of variable frequency and magnitude
can be generated using power electronic circuitry.
2. Understand and analyze the dynamic behavior of AC machines, including
synchronous reluctance machines, permanent magnet machines, and
induction machines.
3. Understand the different control algorithms used to regulate torque, speed,
and/or position in variable speed drives.
4. Compare and contrast the performance of different AC machines in various
variable-speed drive applications.
ABET Student Learning Outcomes:
(a) Ability to apply mathematics, science and engineering principles.
(e) Ability to identify, formulate and solve engineering problems.
(j) Knowledge of contemporary issues.
(k) Ability to use the techniques, skills and modern engineering tools
necessary for engineering practice.
3 - Electric Machines Drives
Module Title:
Electric Machines Drives
CP (ECTS):
6
Acronym:
EMD
Major field:
Energy
4. Condition for Participation
Prerequisites by Course:
1. Electric machines.
2. Power Electronics.
3. Control Systems.
Prerequisites by Topic:
1. Electric Machines Fundamentals and Electromagnetic Field Theory.
2. Power Electronics, Device characteristics and capabilities, Inverter basics,
Speed Drives Basics.
3. Machines control methods theory, Laplace Transform
5. Literature and Script
The most used textbooks for the readings are:
1. Electric Drives: An integrative approach, Ned Mohan
2. Electric Motor Drives, R. Krishnan
3. Introduction to electric machines and drives, T.M. Jahns, T.A. Lipo and
D.W. Novotny.
Other printed and/or electronic scripts as announced in the lectures.
6. Activities Plan
Topic
Typei SWHii
CPiii
P/W/WPiv week
Introduction to Electric Drives;
Motivation
VL
2
4.5
P
1
DC Machines: Operation,
Modelling and Speed Control
VL
4
4.5
P
1-2
Review: AC Systems and ThreePhase Circuits
VL
3
1.5
P
2
Induction Motor Review
VL
1
1.5
P
2
Power Electronics : Basic Theory,
Devices , AC Inverter Basics : VSI,
PWM
VL
7
10.5
P
3-4
Continuous evaluation 1
Induction Motor Scalar Control
Methods
4-5
VL
5
7.5
P
5-6
4 - Electric Machines Drives
Module Title:
Electric Machines Drives
CP (ECTS):
6
Topic
Acronym:
EMD
Typei SWHii
Dynamic Model of Induction
Machines
VL
5
CPiii
Major field:
Energy
P/W/WPiv week
7.5
P
Continuous evaluation 2
6-7
6-7
Field oriented control: Induction
Motor
VL
5
6.0
P
8
Induction Motor Direct Torque
and Flux Control
VL
5
6.0
P
9-10
Continuous evaluation 3
10
Synchronous Machines: Steady
state
VL
6
9.0
P
1112
Application-Specific Selection of
Machine and Drive Systems
VL
3
1.5
P
13
Continuous evaluation 4
14
7. Specific topic information
Topic
Lecturer
Language
Introduction to Electric Drives; Motivation
Wejdan Abu-Elhaija
English
DC Machines: Operation, Modelling and
Speed Control
Wejdan Abu-Elhaija
English
Review: AC Systems and Three-Phase
Circuits
Wejdan Abu-Elhaija
English
Induction Motor Review
Wejdan Abu-Elhaija
English
Power Electronics : Basic Theory, Devices ,
AC Inverter Basics : VSI, PWM
Wejdan Abu-Elhaija
English
Continuous evaluation 1
Wejdan Abu-Elhaija
English
Induction Motor Scalar Control Methods
Wejdan Abu-Elhaija
English
Dynamic Model of Induction Machines
Wejdan Abu-Elhaija
English
Field oriented control: Induction Motor
Wejdan Abu-Elhaija
English
Induction Motor Direct Torque and Flux
Control
Wejdan Abu-Elhaija
English
Continuous evaluation 2
Wejdan Abu-Elhaija
English
Synchronous Machines: Steady state
Wejdan Abu-Elhaija
English
Application-Specific Selection of Machine
and Drive Systems
Wejdan Abu-Elhaija
English
Continuous evaluation 3
Wejdan Abu-Elhaija
English
5 - Electric Machines Drives
Module Title:
Electric Machines Drives
CP (ECTS):
6
Acronym:
EMD
Major field:
Energy
8. Description of Teaching Mode and Effort and Credit Points
Number Length
Student
Hours
Category
Activity
Scheduled
Learning
And
Teaching
Activities
Lecture
40
1:00
46:00
Guided
Independent
Study
Assessment
preparation
and
completion
2
2:00
2:00
Written exams
Guided
Independent
Study
Assessment
preparation
and
completion
4
0:15
1:00
Quizzes
assessments
Guided
Independent
Study
Assessment
preparation
and
completion
1
2:00
2:00
Final exam
Guided
Independent
Independent
study
Study
1
129:00
129:00
Total
Comment
N/A
Reflecting on
lecture notes;
general reading;
solving
problems, exam
revision.
180:00
Total: 180 hours = 6 CP (30 hours = 1 CP = 1 ECTS).
9. Evaluation, Examination and Grades
Continuous Evaluation:
The subject would have four continuous evaluation grades that must be
passed to final overall pass.
Examination:
Equivalent course work according to examination regulations in the case
that continuous evaluation is not follow.
6 - Electric Machines Drives
Module Title:
Electric Machines Drives
CP (ECTS):
6
Acronym:
EMD
Major field:
Energy
Grading:
Grading of the course and assessment methods will be as follows:
Description
Length
Semester
Percentage
Comment
Written
Examination
1:00
1
25
First Exam
Test
Written
Examination
1:00
1
25
Second Exam
Test
Written
Examination
1:00
1
10
Four short
quizzes
Written
Examination
2:00
2
40
Final Exam
Test
Assessment:
The assessment process is continuous with the planning and work load set
out in the Subject Guide. Throughout the course students must do the
exercises and tasks set for each stage.
The grade for the subject will mainly be given for the continuous evaluation
completed by the student throughout the course.
The weighting of these assessment methods will be 90% for each continuous
evaluation and 10% for the general work during the classes.
10. Duration of Course
The course can be performed within one semester.
11. Number of Participants
Courses are limited to 40 students
7 - Electric Machines Drives
Annex. Content Development
Topic 1: Introduction to Electric Drives; Motivation
Specific content:








Definition of electric drives.
Components of electric drives.
Machine Control types.
Drive Systems in renewable energy systems, enabling technologies.
Load profile and characterization, constant power and constant torque
Torque Equation for Rotating System.
Steady-state load and motor.
Torque-speed characteristics (different typical profiles)
Topic 2: DC Machines: Operation, Modelling and Speed Control





Theory of Operation.
State-space Model.
Block diagram and Transfer Function.
Speed Control Methods and Strategy.
Operating Modes.
Topic 3: Review: AC Systems and Three-Phase Circuits






AC System Review
Induction Motor Review
Steady‐ state equivalent circuit.
Power Flow and Torque Equation.
Torque‐ speed characteristics.
Starting and Braking Methods.
Topic 4: Induction Motor Review




Steady state equivalent circuit.
Power flow and torque equation.
Torque speed characteristics.
Starting and braking methods.
Topic 5: Power Electronics: Basic Theory, Devices, AC Inverter Basics: VSI, PWM














Power Switches/Devices
AC-DC Converters
DC-DC Converter
Inverters (DC – AC)
AC/AC Converters
Inverters
Frequency Converters
AC Inverter Basics: VSI, CSI, PWM
Motor-Inverter Interaction and sensing
dv/dt, current ripple
EMI
Wave propagation along Cables
Bearing currents
Harmonics
8 - Electric Machines Drives
Topic 6: Induction Motor Scalar Control Methods



Speed Control Methods, Pole Changing, Variable Voltage, Variable
Frequency.
Constant Volts/Hz Control, Open and Close loop Implementations.
Constant air gap Flux Control.
Topic 7: Dynamic Model of Induction Machines





Space phasors of motor variables.
Three phase to two phase transformation.
Two phase Dynamic Model in Arbitrary Rotating Frame.
Commonly used Induction Motor Models – Stationary, Rotor and
synchronously rotating reference frames.
Revolving reference frame.
Topic 8: Field oriented control: Induction Motor
Topic 9: Induction Motor Direct Torque and Flux Control











Analogy to DC motor.
Principles of Field Orientation Control.
Indirect Rotor Flux
Orientation Control.
Direct Rotor Flux Orientation Control.
Stator and air gap flux orientation.
Machine Control
Switching Control.
Space Vector Pulse Width Modulation (SVPWM).
Direct Torque and Flux Control Rules.
Direct Torque and Flux Control Implementation.
Topic 10: Synchronous Machines: Steady state





Field oriented control of permanent magnet synchronous machines using
space phasors and synchronous reference frame theory.
PMSM, BLDC
Servo Systems
Synchronous Reluctance Machine
Switched Reluctance Machine
Topic 11: Application-Specific Selection of Machine and Drive Systems






Applications of Drives in RE
Wind Power
Solar Thermal Power
Hydro Power
Energy Efficiency
Energy Storage.
9 - Electric Machines Drives
GPE – Glossary
VL – Lecture;
The lecturer, usually a professor, gives presentations and imparts theoretical
technical knowledge. Group size can vary widely and students participate
through listening and asking questions.
UE – Exercise;
Knowledge from lectures is shaped out and detailed by analytical, design, or
experimental examples supervised by an assistant. Medium‐size groups of
students learn to solve problems by working on example tasks and case
studies.
SE – seminar
Small or medium‐size groups of students will learn to work self‐dependently
on selected topics with supervision of a professor or assistant. Discussions,
presentations or written papers may be applied.
IV – integrated course
Various instruction forms take turns in one course without clear
methodological distinction.
ii SWH: Lecture Hours per Semester
(4 SWH is four hours a week in one semester OR two hours a week in two
semesters. Exercises require equivalent time additionally).
iii CP – ECTS:
Credit point according to the European Credit Transfer System
iv P/W/WP:
(P) Pflicht = compulsory ; (W)Wahl = elective; (WP) Wahlpflicht = compulsory
option
Meaning: by choosing the module the corresponding courses are mostly
compulsory;
10 - Electric Machines Drives