Direct drive wave energy conversion systems have been identified as a potentially major contributor to the world’s energy demands, forecasting shares of up to 25 % of the energy mix. Anders Hagnestål conducts research at the Royal Institute of Technology where a novel linear transverse flux permanent magnet generator is developed. This concept machine is particularly well-suited for the pertaining operating conditions in marine environments, producing large forces at low speeds with outstandingly low resistive losses. However, it exhibits severe magnetic saturation and draws unsymmetrical phase currents at nominal operation. In addition, it possesses a low power factor. All in all, this places stern requirements on the power electronic system and control algorithms. The aim of this thesis has been to design a functioning power conditioning system that connects the machine to the electric grid. For this purpose, a three-phase two-level voltage source converter is proposed to be back-to-back connected with two-level single-phase voltage source converters (active rectifiers) interfacing each and every machine phase. It is shown that the intermediate DC link can be maintained at a constant voltage with restricted ripple while feeding power at unity power factor to the grid by appropriately sizing the DC capacitor and adopting a feedback linearization control scheme. The phase currents can be controlled effectively by means of a cascaded gain-scheduled PID controller. By including a low-pass filter the iron losses in the machine may be suppressed even at lower switching frequencies. A constrained cost optimization indicates that the converter consequently can reach 99.1 % efficiency. Finally, with this thesis as a background, it is suggested that the thermal stresses on the selected semiconductor modules and the iron losses of the machine are evaluated to further improve the design. If higher efficiency of the active rectifiers is strived for, more complex converter topologies could be considered. / Direktdrivna vågenergiomvandlingssystem har utpekats som en potentiellt starkt bidragande resurs för att tillgodose världens efterfrågan på energi med andelar på uppemot 25 % av energimixen förutspådda. Anders Hagnestål bedriver forskning och utveckling av en ny typ av linjär permanentmagnetiserad transversalflödesmaskin vid Kungliga Tekniska Högskolan. Konceptmaskinen är särskilt väl lämpad för de rådande marina förhållandena genom att kunna producera stora krafter vid låga hastigheter med utomordentligt låga resistiva förluster. Maskinen går emellertid i kraftig magnetisk mättnad och drar asymmetriska strömmar vid nominell drift. Dessutom är effektfaktorn låg i jämförelse med standardmaskiner. Alltsomallt inför detta hårda krav på det effektelektroniska systemet och kontrollalgoritmerna. Målet med detta examensarbete har varit att designa ett funktionellt effektkonditioneringssystem som sammanfogar maskinen med det angränsande elektriska nätet. För att åstadkomma detta föreslås att en tvånivås-trefasomriktare kopplas rygg-mot-rygg till tvånivås-enfasomvandlare (aktiva likriktare) som i sin tur är kopplade till varje maskinfas. Med den här konfigurationen visas det att spänningen på den mellanliggande DC-länken kan hållas konstant med begränsat rippel, alltmedan effekt tillförs nätet vid effektfaktor ett genom att dimensionera DC-kondensatorn på rätt sätt och använda en kontrollag baserad på exakt linjärisering. Maskinens fasströmmar kan kontrolleras effektivt med hjälp av en kaskadkopplad PID-regulator med schemalagda förstärkningsfaktorer. Genom att inkludera ett lågpassfilter förväntas det att järnförlusterna i maskinen kan begränsas även vid lägre switchfrekvenser. Genom att lösa ett kostnadsoptimeringsproblem visas det att den resulterande aktiva likriktaren kan uppnå en verkningsgrad på 99.1 %. Slutligen, med det här examensarbetet som grund, föreslås det att den termiska stressen på de valda halvledarkomponentsmodulerna och järnförlusterna i maskinen utvärderas för att ytterligare förbättra designen. Om högre verkningsgrad eftersträvas hos de aktiva likriktarna kan mer komplicerade omvandlartopologier övervägas.

Stability and sustainability of operation of interconnected power converter systems has been an important focus of study in the field of power electronics and power systems. With ever-increasing application of electrical machines by means of electrification of vehicles, airplanes and shipboards, detailed study of the relating dynamics is very important to ensure the proper implementation and stable behavior of the overall system. In this work, the application of the black box approach study of the power converters has been expanded to the electrical machines. Using this modeling method, it is possible of have accurate behavior of electrical and mechanical terminals of the machine without the detailed information about the internal structure of the machine, material characteristics or topology of the machine. Instead, accurate model of electrical and mechanical terminals of the machine are achieved by measuring specific frequency responses of the machine to distinguish dynamic relation of the various electrical and mechanical quantities of the machine. The directly measured frequency responses, are coupled with the dynamics of the source and load in the electrical and mechanical terminals of the machine thus in order to decoupled the described couplings a mathematical process is used that results in decoupling of the controller and drive on the electrical side and the dynamics of the mechanical load and mechanical shaft at the mechanical terminal of the machine. Resulting model is the linear time invariant representation of the electrical machine at a specific operating point. Additionally, this work represents the application of this modeling method for accurate measurement of internal parameters of the machine such as inductances and mechanical inertia and characterization of the mechanical shaft coupler. Resulting unterminated model of the machine is a very important matter of information for system integrators and electrical and mechanical designs related to the application of the machine, to ensure the stable and sustainable operation of the machine. This work for the first time, represents the experimental implementation of this terminal behavioral modeling method for studying electrical machines as well as describes some of the practical limitations of this methodology. By incorporating and integrating a combination of commercially available devices such as frequency response analyzer, Hardware-In-The-Loop (HIL), Power-Hardware-In-The-Loop (PHIL), a test setup has been developed that is capable of control, operate and study arbitrary frame small-signal related measurements required for terminal behavioral study of the electrical machines. Resulting model of the machine that has been extracted from this modeling method is then used to compare in time domain with the real machine in the case of transient change in the mechanical load on the shaft to discover the validity of this modeling procedure. / Master of Science / According to the data from the International Energy Agency, around half of the electricity used globally is consumed by electric motors. Moreover, the growth in the electrical vehicle industry will increase their application even further, hence the development of high-fidelity models of electric machines for real-time emulation, system-level analyses, and stability studies still stands out as an important and needed research focus. New modeling concepts that go beyond the standard industry practice can be used at the design and integration stage to ensure the stable behavior of the overall system. Furthermore, convenient testing and identification pressures can help ensure the long-term operation of the system. Aligned with this trend, this thesis is studying permanent magnet synchronous machines (PMSM) using small-signal terminal-behavioral three-port networks. Having such a behavioral model of the machine available provides many opportunities for system integrators, and even enables an in-situ system observation and stability assessment at both the machine's electrical and mechanical interfaces. This capability can undoubtedly be of high importance in practice, as it is offering new insights into dynamic interactions of the electro-mechanical systems, the governor or turbine control design in ships, aircrafts, electrical vehicles, and even large synchronous machines in power plants. A so-called characterization testbed has been built that combines Hardware-In-The-Loop (HIL) and Power-Hardware-In-The-Loop (PHIL) environments, with sensor-interface boards that are used to properly scale measured signals for machine control. The Frequency-Response-Analyzer is used to sweep the proper electrical or mechanical terminal of the machine by perturbing the proper control signal within the machine controller running in PHIL and reading d-q currents, voltages, torque, and speed variables whose dynamic ratios are then obtained without the need for interrupting the normal operation of the electrical machine. The capability of acquiring such a detailed model of the machine while the machine is in operation is an important benefit of this modeling method, in comparison to the conventional identification methods widely applied in the industry. The resulting model is a linearized time invariant representation of the electrical machine at a specific operating point of interest, and can be used by system integrators to ensure the stability of the system using well known stability assessment methodologies. Furthermore, this modeling strategy has been experimentally verified for the first time on electrical machines, and the resulting model has been compared with the transient behavior of the machine in the presence of a step change in the mechanical load of the machine.

The unconventional improvements in the power electronics field have been the primary reason for massive deployment of renewable energy sources in the electrical power grid over the past several decades. This needed trend, together with the increasing penetration of micro-, and nano- grids, is bringing significant improvements in system controllability, performance, and energy availability, but is fundamentally changing the nature of electronically-interfaced sources and loads, altering their conventionally mild aggregate dynamics, and inflicting low- and high- frequency dynamic interactions that never before existed at this magnitude. This problem is not restricted only to the grid; modern electronic power distribution systems built for airplanes, ships, electric vehicles, data-centers, and homes, comprise dozens, even hundreds of power electronics converters, produced by different manufacturers, who provide very limited details on converters' dynamic behavior - distinctiveness that has the highest impact on how two converters, or converter and a system interact. Consequently, substantial dispersion of power electronics into the future grid will significantly depend on engineers' capability to understand how to model and dynamically control power flow and subsystem interactions. It is therefore essential to continue developing innovative methods that allow easier system-level modeling, continuous monitoring of dynamic interactions, and advanced control concepts of power electronics converters and systems. The dissertation will start with a "black box" approach to modeling of three-phase power electronics converters, introducing a method to remove source and load dynamics from in-situ measured terminated frequency responses. It will be then shown how converter, itself, can perform an online stability assessment knowing its own unterminated dynamics, and being able to measure all terminal immittances. The dissertation will further advance into an approach to control power electronics converters based on the electro-mechanical duality with synchronous machines, and end with selected examples of system-level operation, where small-signal instability in multi-source power systems can be mitigated using this concept. / Ph. D. / The modern technological advancements and ever-increasing needs for a sustainable future silently demand a serious revision of the conventional practice in electricity production, distribution, and utilization. These technologies are already challenging the limits of the biggest and most complex system ever built by humankind - the electrical grid. One practical solution to this problem is much higher dispersion of electronic power conversion systems capable of decoupling dynamics between system sources, distribution, and loads, while improving system controllability, reliability, and efficiency. Such a trend is already happening, and there has been an increased immersion of power electronics converters in electric cars, ships, airplanes, and the grid, in an effort to replace their traditional thermal, mechanical, hydraulic, and pneumatic systems. The goals have been to reduce the size, weight, and operational costs while increasing efficiency and reliability. In all these applications, a majority of energy sources and loads are interfaced to the power system through power electronics converters ranging in power from few watts to hundreds of megawatts. However, massive dispersion of power electronics into the future grid will significantly depend on engineers’ capability to understand how to model and dynamically control power flow and subsystem interactions. It is important to continue researching innovative methods that allow easier system-level modeling, continuous monitoring of interactions, and advanced control concepts of power electronics converters and systems. This dissertation hence addresses modeling of power electronics converters using their behavioral models, and shows how these models can assist the stability assessment of the system converters operate in. Additionally, dissertation presents an alternative way to control power electronics converters to behave as synchronous machines, and how this concept can be used to mitigate some stability problems.

Afin de rendre les machines synchrones à aimants permanents plus attractives pour l'aéronautique (actionneurs de commande de vol, systèmes de freinage, train d'atterrissage ...), il peut être intéressant de réduire le nombre de modules d'électronique de puissance utilisés en les mutualisant. De nombreuses études ont été réalisées pour des systèmes composés de plusieurs machines asynchrones et principalement en traction ferroviaire, mais peu concernent les machines synchrones. Après avoir étudié différentes structures envisageables, les travaux développés lors de cette thèse présentent une étude originale d'un système composé de deux machines synchrones à aimants permanents connectées en parallèle sur un onduleur unique mutualisé. Ces machines ont des caractéristiques identiques ou proches et doivent être pilotées à la même vitesse. La structure de commande retenue lors de cette thèse est de type maître-esclave: seule une des deux machines est autopilotée (la machine maître), l'autre (la machine esclave) fonctionnant en boucle ouverte. Afin d'assurer la stabilité d'un tel système, le synchronisme des deux moteurs doit toujours être respecté. Une stratégie de commande, qui choisit quel est le moteur maître, en prenant en compte la variation des paramètres internes et externes du système, est alors instaurée. Dans ces conditions, les évolutions théoriques des différentes variables sont déterminées. Pour valider ces résultats, un processus expérimental est mis en place. Les nombreux résultats obtenus en simulation et expérimentalement permettent alors de confirmer les résultats théoriques: que ce soient les paramètres mécaniques ou électriques qui varient, la stabilité du système est toujours garantie. Le cas supplémentaire où les deux machines déplacent une charge mécanique commune avec une liaison mécanique rigide entre les deux machines, est finalement développé. Une autre stratégie de commande, dont la structure et les résultats sont également présentés dans cette thèse, est alors nécessaire. / To make permanent magnet synchronous machines more attractive for aerospace (flight control actuators, braking systems, landing gear ...), it may be advantageous to reduce the number of power electronic modules used in the pooling. Many studies have been performed for systems composed of several machines and asynchronous traction primarily, but little concern synchronous machines. After considering various possible structures, this Ph.D. thesis presents an original study of a system consisting of two permanent magnet synchronous machines connected in parallel on a single shared inverter. These machines have characteristics identical or similar and must be driven at the same speed. The control structure chosen in this Ph.D. thesis is a master-slave : only one machine, called master machine is self-piloted, the other (the slave machine) operating in open loop. To ensure the stability of such a system, the timing of the two engines should always be respected. A control strategy, which selects which is the master motor, taking into account the variation of internal and external parameters of the system is then introduced. Under these conditions, the theoretical developments of the different variables are determined. To validate these results, an experimental process is established. The numerous results obtained in simulation and experiments are then used to confirm the theoretical results : whatever the mechanical or electrical parameters variation, system stability is always guaranteed. The additional case, when both machines move a mechanical load with a common rigid mechanical connection between two machines, is finally developed. Another required control strategy, the structure and the results are also presented in this Ph.D. thesis.

La problématique de recherche abordée dans ce mémoire de thèse découle de l’étude approfondie d’une association convertisseur-machine dédiée aux modes traction et recharge d’un véhicule électrique. Il s’agit d’un onduleur triphasé constitué de trois onduleurs monophasés connectés à une machine triphasée à phases indépendantes.Dans le chapitre II, une étude comparative entre deux solutions industrielles montre que l’architecture étudiée offre des caractéristiques compétitives notamment en termes de rendement global du convertisseur, performances mécaniques, et surface de silicium nécessaire.Par ailleurs, outre la possibilité de mutualiser les trois fonctions du véhicule que sont la traction, la recharge (rapide ou lente) et l’assistance du réseau électrique, cette topologie offre plusieurs atouts : des possibilités variées d’alimentation et donc un potentiel intéressant de reconfiguration en marche dégradée. La thématique abordée dans les chapitres III et IV est donc centrée sur l’optimisation des stratégies de contrôle de cette structure vis-à-vis de deux types de défauts : les imperfections intrinsèques du système d’une part et les défaillances accidentelles d’autre part.Dans un premier temps, un travail approfondi sur les méthodes de modulation de largeur d’impulsion a permis de synthétiser une stratégie offrant une faible sensibilité vis-à-vis des imperfections de la commande et de la non-linéarité du convertisseur. Dans un second temps, il a été montré qu’en cas de défaillance d’un composant à semi-conducteur, il était obligatoire de recourir à la reconfiguration matérielle de la topologie. L’architecture permettant la continuité de service a été étudiée du point de vue de sa commande. Son analyse nous a amenés à proposer une structure de contrôle basée sur des solutions automatiques simples et efficaces. Finalement, le principe du fonctionnement en marche dégradée a été étendu au fonctionnement normal dans le but d’en améliorer le rendement sur cycle. / This Ph.D. thesis focuses on a novel combination of a frequency converter and an electric machine specially dedicated to traction drive and battery recharging modes of an electric vehicle (EV). This power architecture is composed of a six legs voltage inverter connected to a three-phase open-end winding machine. Chapter II details a quantitative comparison between two industrial power architectures and concludes that the SOFRACI powertrain is a competitive solution in terms of power converter efficiency, drive mechanical performances, and required silicon area.This architecture offers the attractive possibility of combining three important functions: traction and braking, battery charging and connecting the energy storage to a smart grid. In addition, this topology offers several advantages such as various motor feeding possibilities and a high degree of reconfiguration in degraded operating mode. The third and fourth chapters of this thesis concern the optimization of control strategies with regard to two types of faults: firstly the inherent imperfections in the converter itself (non modeled non-linearity and ineffective synchronization of control values) and secondly accidental failures. In the first case, an analysis of the pulse width modulation (PWM) methods enables the creation of a PWM strategy with a very low sensitivity to PWM uncertainties and the non-linear behavior of the power converter.In the second case, in the event of a faulty semiconductor device, it is shown that a hardware reconfiguration is required to enable an emergency traction mode. The sustainability of the traction mode is then examined with respect to the control strategy. This analysis leads to an innovative control structure based on basic and easy to implement solutions. Finally, the degraded mode operation principles have been extended to normal mode operation for the purpose of enhancing the cycle efficiency.

Este trabalho apresenta uma estratégia de controle coordenado para potência reativa e tensão terminal de um grupo moto gerador (GMG) para uso em um sistema de geração distribuída (GD). A partir da construção de uma superfície fuzzy, baseada no comportamento do erro e da derivada do erro de uma malha de controle, foi realizada a sintonia de controladores fuzzy PD+I para potências ativa e reativa e tensão terminal. O controlador coordenado fuzzy PD+I ajusta automaticamente a tensão nos terminais da máquina e a potência reativa fornecidas à rede de distribuição. A estratégia coordenada é dada através de um parâmetro que regula a malha de potência reativa a partir do erro de tensão terminal, priorizando o ajuste da tensão e ponderando a malha de controle de potência reativa. Para avaliar o desempenho do sistema de controle, a GD é conectada a uma rede de distribuição e submetida a eventos como entrada e saída de cargas locais. O conjunto de cargas locais é composto por um motor de indução, uma carga RLC e um retificador trifásico não controlado. Sete cenários foram simulados para avaliar a estratégia de controle em diferentes regimes de operação do GMG. Resultados para tensão terminal, fator de potência e fluxo de potências entre o sistema, as cargas e a rede, ilustram a eficiência da estratégia de controle apresentada. A estratégia de controle coordenado para potência reativa e tensão terminal se mostrou capaz de melhorar os índices de fator de potência controlando o fluxo de potência do barramento em que a GD estava conectada, sem prejudicar a tensão terminal do gerador, mantendo a GD em limites seguros de operação. / This work presents a coordinated control strategy to terminal voltage and reactive power for a diesel generation set used as a distributed gerenation system (DG). From desired control actions, a fuzzy surface was designed for fuzzy PD+I controllers. Fuzzy PD+I controllers automatically adjust the terminal voltage and the reactive power delivered to the grid. The coordinated control strategy weighs the control action for the reactive power through a variable parameter, prioritizing the terminal voltage adjustment. To illustrate the system control performance, the DG is connected to a grid dynamic model and the system is subjected to connection and disconnection of loads at the local bus. The local loads set was composed of an induction machine, a RLC load and an uncontrolled three-phase rectifier. Seven scenarios were simulated to evaluate the control strategy in different DG regime of operation. Results for terminal voltage, power factor and reactive power among the DG, the local loads and the grid, illustrates the control strategy efficiency improved the power factor by regulating the reactive power injected at the bus, maintaining the DG terminal voltage in safe operation limits.

Ce travail de thèse traite de la détection des défauts mécaniques des roulements à billes par analyse de grandeurs mécaniques et électriques dans des machines synchrones à aimants permanents haute vitesse. Le domaine applicatif de ce travail concerne l'aéronautique. Généralement, pour surveiller l'état des roulements à billes dans un actionneur électrique, des mesures vibratoires sont réalisées. Elles permettent, en exploitant le spectre du signal vibratoire, de mettre facilement en évidence la détérioration du roulement. Cette méthode de surveillance est cependant relativement couteuse en termes d'instrumentation et le placement d'un capteur vibratoire dans des équipements à fort degré d'intégration est parfois difficile. Nous proposons dans ce mémoire d'utiliser d'autres grandeurs physiques prélevées sur le système pour réaliser la surveillance de ces défauts. Il peut s'agir de grandeurs mécaniques (vitesse, position par exemple) et de grandeurs électriques (courant statorique, courant onduleur par exemple). L'utilisation de données déjà disponibles dans l'équipement pour les besoins de la commande permet ainsi de supprimer le système d'acquisition vibratoire. A partir d'enregistrements temporels de données réalisées au cours de campagnes d'essais, nous proposons des méthodologies de traitement du signal permettant d'extraire automatiquement des informations sensibles au défaut à surveiller. L'idée finale est de construire des indicateurs de l'état de santé des roulements permettant de prendre « juste à temps » des décisions fiables relatives à la maintenance ou à la sécurisation de l'équipement. Pour construire ces indicateurs, les signatures spécifiques aux défauts de roulements sont étudiées de manière théorique et expérimentale, pour l'ensemble des grandeurs prélevées. Leurs propriétés sont mises en évidence, permettant ainsi de définir les bandes fréquentielles les plus contributives au diagnostic. L'extraction de ces signatures est réalisée dans le domaine fréquentiel selon plusieurs méthodes. Deux types d'indicateurs automatiques différents sont proposés. Le premier est construit directement à partir du spectre d'amplitude des grandeurs par extraction de l'amplitude des harmoniques dans des bandes fréquentielles particulières. Le second intègre une dimension statistique dans l'analyse en exploitant le caractère aléatoire de certains harmoniques pour détecter la présence du défaut. Des critères de comparaison sont définis et utilisés pour étudier les performances des indicateurs proposés pour deux campagnes d'essais avec des roulements artificiellement dégradés, pour différentes vitesses de fonctionnement et pour différents paramètres de réglage des indicateurs. / This Ph.D. thesis deals with detection of mechanical bearings faults by analysis of mechanical and electrical signals in high speed permanent magnet synchronous machine. The application domain of this work concerns aeronautics. Generally, to monitor the ball bearings status in electrical actuator, the vibration measurements are used. They allow, by extracting the vibration spectrum, to easily detect the deterioration of the bearing. This monitoring method is relatively expensive in terms of instrumentation and placing a vibration sensor in equipment with a high integration degree can be difficult. We propose in this paper to use other physical quantities taken from the system to perform the monitoring of these defects. It may be mechanical quantities (for example speed, position) and electrical quantities (for example stator current, power inverter). From time recording of data carried out during test campaigns, we propose signal processing methodologies to automatically extract information sensitive to the monitored fault. The final idea is to construct indicators of bearings health and make decisions relating to maintenance or equipment security. To construct these indicators, specific bearing defects signatures are studied theoretically and experimentally, for all collected variables. The extraction of these signatures is carried out in frequency domain. Two different types of automatic indicators are proposed. The first is constructed directly from the amplitude spectrum by extraction of the harmonic amplitude of the spectrum in particular frequency bands. The second includes a statistical dimension analysis by exploiting the random nature of some harmonics to detect fault presence. Criteria of comparison are defined and used to study the proposed indicators performances for two trial campaigns with artificially degraded bearings, for different speed functioning and for different regulation of indicators parameters.

Le problème de la commande sans capteur mécanique de la machine synchrone à aimants permanents (MSAP) est un problème très étudié dans le domaine de l'automatique et de l'électrotechnique. Le travail présenté s'intéresse au problème particulier de la commande sans capteur à basse vitesse des MSAP à pôles lisses. L'objectif est de proposer une méthode permettant de contrôler en position un actionneur électromécanique utilisé dans un contexte aéronautique (ici pour des ailerons). Une étude théorique des deux familles de machines, saillantes et non saillantes, a permis de montrer une différence d'observabilité des modèles de la MSAP selon la vitesse de la machine, avec en particulier une perte d'observabiltié à basse vitesse pour les machines à pôles lisses. Pour pallier cette perte, de nouveaux modèles sont développés, qui prennent en compte des vibrations de la machine, sollicitée par une injection de signaux. Une nouvelle analyse, appliquée à ces modèles, permet de garantir l'observabilité de la machine sur toute la gamme de vitesse, y compris à l'arrêt. Nous avons donc proposé une approche d'observation de la position et de la vitesse basée sur ces nouveaux modèles avec une injection bien choisie. Contrairement aux méthodes classiques basées sur la saillance, cette approche est applicable à tous les types de machine. Elle a été validée sur plusieurs bancs d'essais par l'application d'un observateur de Kalman étendu. De nombreux tests ont été réalisés sur un benchmark dédié aux applications industrielles. Les résultats ont montré les performances, la robustesse et les limites des observateurs proposés. Nous nous sommes également intéressés à l'asservissement en vitesse sans capteur mécanique de la machine, pour lequel nous avons proposé deux méthodes de synthèse d'observateurs. La première est basée sur la synthèse d'un observateur LPV robuste par approche polytopique. La seconde utilise un observateur à modes de glissement d'ordre deux à gains adaptatifs. La faisabilité expérimentale de ces deux observateurs a été démontrée. / The issue of sensorless control of permanent magnet synchronous machine (PMSM) has been well studied in the field of automation and electrical engineering. In the following work, we were interested in the peculiar problem of low-speed sensorless control of surface PMSM. The objective is to o er a new method for the position control of an industrial electro-mechanical actuator, considering an aeronautical context (a flap actuator). First, modeling and observability analyses of surface (non-salient) PMSM and interior (salient) PMSM have been studied. A loss of observability can be especially found at low speed for models of non-salient machines. To overcome this loss, we have developped new models, that take into account vibrations caused by a signal injection. A theoretical observability study of these latter models shows that observability is now guaranteed for the whole speed range, including standstill. We thus proposed an estimation method of the position and speed of the PMSM, based on these models, with a dedicated injection signal. Unlike sallient-based methods that are only valid for sailent machines, our approach can be used with all types of PMSM. An Extended Kalman Filter is used to observe the position, speed and eventually the load torque. The proposed approach was validated on a dedicated test bench. Many simulation and experimental tests were performed on an industrial-oriented benchmark. Results showed the performances, robustness and limitations of the proposed observers. We have also studied speed sensorless control of the machine. Indeed, two observer syntheses have been presented. The first one is based on robust synthesis of an LPV observer using a polytopic approach. The second method is an adaptative-gain second-order sliding mode observer. Experimental feasibility of the two methods has been demonstrated.

Elektrische Maschinen werden heutzutage auf mannigfaltigen Gebieten eingesetzt. Sie verrichten ihre Aufgaben in leistungsstarken Industrieantrieben für Erzmühlen oder Stahlwalzen, als Synchrongeneratoren zur Elektroenergieerzeugung, in Fertigungsanlagen wie Backstraßen oder Fließbänder oder auch im Verkehr, in Zügen oder verstärkt nun auch in Automobilen. Sie erleichtern uns aber auch den Alltag an Stellen, wo sie oft gar nicht wahrgenommen werden. Sie ermöglichen nützliche Helferlein im Auto mithilfe von Servomotoren – Scheibenwischer, Fensterheber oder Seitenspiegelverstellung sind nur ausgewählte Beispiele. Aber auch Fensterrollläden, Klimaanlagen oder Fahrstühle benötigen elektrische Antriebe. Darüber hinaus verstecken sich sie sich als Klein- und Kleinstmaschinen in medizinischen Geräten wie dem Zahnarztbohrer oder in Pflegeprodukten des täglichen Bedarfs von der Haarschneidemaschine, über den Nasenhaartrimmer und Föhn bis hin zur elektrischen Zahnbürste. Da Elektromotoren also in immer mehr Geräten stecken, müssen auch immer größere Stückzahlen gefertigt werden, die am besten nichts kosten. Es besteht somit die große Herausforderung all die Bedürfnisse ressourcenschonend und kostengünstig zu bedienen. Aus diesem Gedanken heraus entstand am Lehrstuhl die Idee, Wicklungen elektrischer Kleinmaschinen zu drucken. Dies geschieht mithilfe der Siebdrucktechnik, wie es schon heute bei RFID-Chips die Regel ist. Es handelt sich also um ein erprobtes Verfahren, das eine günstige Fertigung großer Stückzahlen erlaubt. Erste Erfahrungen wurden bereits gesammelt, hier sei auf [10], [11] und [12] verwiesen. Im Rahmen dieser Diplomarbeit sollen diese Grundlagen nun ausgebaut, gefestigt, sowie erweitert werden. Um einen Eindruck und Überblick zu gewinnen, wird im Folgenden eine Reihe elektrischer Kleinmaschinen entworfen. Hierbei sollen Probleme ausfindig gemacht, Lösungen eruiert und Abweichungen zum konventionellen Entwurf aufgezeigt werden. Im Rahmen dessen werden Berechnungsvorschriften für siebgedruckte Wicklungen abgeleitet und diese schließlich zur Berechnung einer Maschinenreihe mit verschiedenen Außendurchmessern und Längen genutzt. Am Ende der Arbeit sollen ausgewählte Motoren aus der berechneten Reihe stehen, an denen Messungen stattfinden um die verwendeten Algorithmen zu verifizieren.

Στη παρούσα διπλωματική εργασία γίνεται ανάλυση και μοντελοποίηση ενός φωτοβολταϊκού συστήματος συνδεδεμένο στο δίκτυο, που αποτελείται από μια φωτοβολταϊκή συστοιχία, έναν μετατροπέα συνεχούς τάσης σε συνεχή που ανυψώνει την τάση και παράλληλα είναι ανιχνευτής του σημείου μέγιστης ισχύος, ώστε να είναι μέγιστη η παραγόμενη ισχύς του συστήματος και έναν αντιστροφέα. Στην συνέχεια γίνεται ανάλυση και μοντελοποίηση ενός αιολικού συστήματος μεταβλητών στροφών που χρησιμοποιεί μια σύγχρονη μηχανή μόνιμου μαγνήτη (PMSG) και ένα σύστημα δύο μετατροπέων, πλήρους κλίμακας, πλάτη με πλάτη και συνδέεται επίσης στο δίκτυο. Μετά από αυτά θα αναλυθεί και θα μοντελοποιηθεί η σύνδεση αυτών των δυο συστημάτων μαζί στο δίκτυο κατανεμημένης παραγωγής σε κοινό κόμβο εναλλασσόμενης τάσης και σε κοινό κόμβο συνεχούς τάσης αντίστοιχα. Σε όλα αυτά θα προσπαθήσουμε να εφαρμόσουμε μια στρατηγική ελέγχου, ώστε να ελέγξουμε κατάλληλα τα συστήματα με σκοπό να επιτύχουμε την μέγιστη παραγωγή ισχύος. Τέλος, θα υλοποιήσουμε τα παραπάνω συστήματα σε περιβάλλον Matlab/Simulink και θα τα προσομοιώσουμε για διάφορες μεταβολές στην ακτινοβολία και την ταχύτητα του ανέμου. Ούτως ώστε να δούμε πως συμπεριφέρεται η δεδομένη στρατηγική ελέγχου που εφαρμόσαμε και να μπορέσουμε να εξάγουμε κάποια συμπεράσματα. Στο πρώτο Κεφάλαιο θα γίνει αναφορά στις ανανεώσιμες πηγές ενέργειας, στα πλεονεκτήματα και τα μειονεκτήματα που αυτές εμφανίζουν. Πιο συγκεκριμένα θα δοθεί έμφαση στην ηλιακή και την αιολική ενέργεια, στα πλεονεκτήματα και τα μειονεκτήματα αυτών καθώς και κάποια σύντομα ιστορικά στοιχεία σχετικά με αυτές. Ακόμη, θα αναλυθούν τα βασικά χαρακτηριστικά των φωτοβολταϊκών συστοιχιών και των ανεμογεννητριών στα οποία στηρίζεται η λειτουργία των συστημάτων που μελετώνται. Στο δεύτερο Κεφάλαιο θα γίνει η ανάλυση των φωτοβολταϊκών συστημάτων και των δομικών μονάδων τους. Αρχικά θα γίνει αναφορά στα αυτόνομα και διασυνδεδεμένα φωτοβολταϊκά συστήματα. Στην συνέχεια θα δοθεί το ισοδύναμο μοντέλο του φωτοβολταϊκού κυττάρου με σκοπό να αναλυθεί η I-V χαρακτηριστική του και να οριστεί ο συντελεστής πληρώσεως και η απόδοση του φωτοβολταϊκού κυττάρου. Έπειτα θα ασχοληθούμε με τον μετατροπέα συνεχούς τάσης σε συνεχή, θα αναλυθεί εν συντομία η λειτουργία του και θα εξαχθεί το μοντέλο του. Αυτός ο μετατροπέας παράλληλα επιτελεί και την λειτουργία ανίχνευσης του σημείου μέγιστης ισχύος, οπότε θα αναλυθούν και οι μέθοδοι εύρεσης αυτού. Ακόμη, θα ασχοληθούμε με τους αντιστροφείς και τις τεχνολογίες αυτών στα φωτοβολταϊκά συστήματα και θα αναφερθεί ο τρόπος ελέγχου τους. Θα μεταφερθούμε στο στρεφόμενο σύστημα d–q δύο καθέτων αξόνων, μέσω του μετασχηματισμού Park, που μας προσφέρει απλούστευση των εξισώσεων και ευκολία στον έλεγχο. Έτσι τελικά θα μοντελοποιηθεί το φωτοβολταϊκό σύστημα και θα ελεγχθεί. Στο τρίτο Κεφάλαιο θα γίνει αντίστοιχα ανάλυση των αιολικών συστημάτων και των δομικών μονάδων τους. Θα παρουσιαστεί η σύγχρονη μηχανή μόνιμου μαγνήτη, τα βασικά στοιχεία για αυτήν και το μαθηματικό της μοντέλο. Έπειτα, θα ασχοληθούμε με την αναλυτική μαθηματική περιγραφή της μετατροπής της κινητικής ενέργειας σε μηχανική. Θα γίνει ανάλυση των μεθόδων μηχανικού ελέγχου ώστε να είναι μέγιστη η παραγόμενη ισχύς. Ακόμη θα εξαχθεί το συνολικό μαθηματικό μοντέλο για το αιολικό σύστημα και ο έλεγχός του. Στο τέταρτο Κεφάλαιο, θα αναφερθούμε στην κεντρικοποιημένη και την αποκεντρωμένη παραγωγή, θα αναλυθούν τα πλεονεκτήματα και τα μειονεκτήματα αυτών και θα εισαχθεί η έννοια του μικροδικτύου και κατηγοριοποιήσεις αυτού. Έπειτα θα εξαχθούν τα μαθηματικά μοντέλα για τις αντίστοιχες τοπολογίες της διασύνδεσης των συστημάτων στο δίκτυο, για την πρώτη σε κοινό κόμβο εναλλασσόμενης τάσης και για τη δεύτερη σε κοινό κόμβο συνεχούς τάσης. Τέλος θα γίνει έλεγχος αυτών. Στο πέμπτο και τελευταίο Κεφάλαιο θα παραθέσουμε τα τεχνικά χαρακτηριστικά του συστήματος που χρησιμοποιήσαμε στην προσομοίωση, καθώς και τα αριθμητικά κέρδη των ελεγκτών. Τέλος, ακολουθούν τα αποτελέσματα της προσομοίωσης μαζί με ένα σύντομο σχολιασμό και μερικά συμπεράσματα. / The thesis that follows concerns the analysis and modeling of a photovoltaic system that is constituted by a PV array, a DC voltage converter that raises the voltage and simultaneously detect the maximum power point (MPP), so the power output of the system be maximum, and an inverter. Subsequently, the analysis and modeling of a variable speed wind system that uses a permanent magnet synchronous machine (PMSG) and a network of two converters, full scale, back to back that is also connected to the network. After these, will be analyzed and modeled the connection of these two systems together in a network of distributed generation common AC voltage node and common DC voltage node respectively. It will be attempted the implement of a control strategy to control the appropriate systems in order to achieve maximum power production. Finally, we will implement these systems in a Matlab/Simulink environment and simulate them for different changes in radiation and wind speed in order to see how the applied control strategy behaves and extract some conclusions. In chapter 1, becomes a more general report in the renewable sources of energy, to the advantages and disadvantages of them. Specifically, we will focus on the solar and wind energy, advantages and disadvantages and some brief historical information about them. Also, will analyze the main characteristics of the photovoltaic array and wind turbines. In chapter 2 will be analyzed the photovoltaic systems and their structural units. Firstly we will refer to the autonomous and grid-connected PV systems. Then will be given the equivalent model of the photovoltaic cell in order to analyze their characteristics and to determine the fill factor and the efficiency of the photovoltaic cell. Then we will deal with the dc/dc converter we briefly analyze the operation and will extract the model. This converter also performs the function of detecting the MPP so will also be analyzed the methods of finding it. We will refer to the inverters and their technologies in photovoltaic systems and it will be described their control. We will be transferred to the rotating system d-q of two perpendicular axes through the transformation Park which offers simplified equations and ease of control. So eventually the solar system will be modeled and controlled. In chapter 3 will be relevant analysis of the wind systems and their structural units. It will be presented a permanent magnet synchronous machine, its basics and its mathematical model. Then we will deal with the detailed mathematical description of the conversion of kinetic energy into mechanical. We analyze the mechanical control methods to be maximal power output. Also, the overall mathematical model of the wind system and its control will be extracted. In chapter 4, we will refer to the centralized and decentralized production, we will analyze the advantages and disadvantages and introduce the concept of microgrid and its categorizations. Then we will draw the mathematical models for the respective topologies of interconnection systems to the network, the first case is that of common AC voltage node and the second common DC voltage node. Finally they will be controlled. In chapter 5 will be described the technical characteristics of the system used in the simulation and numerical gains of controllers. Finally, the simulation results along with a brief commentary and a few conclusions are given.