Sensorless torsional mode damping system and method
A torsional mode damping controller system is connected to a converter that drives an electrical machine mechanically connected to a train. The controller system includes an input interface configured to receive measured data related to variables of the converter or the electrical machine, and a controller connected to the input interface. The controller calculates at least one dynamic torque component along a section of a shaft of the train based on the data from the input interface, generates control data for the converter for damping a torsional oscillation in the mechanical drive train based on the at least one dynamic torque component, and sends the control data to the converter for modulating an active power exchanged between the converter and the electrical machine.
1. A torsional mode damping controller system connected to a converter that drives an electrical machine mechanically connected to a train, the controller system comprising:
an input interface configured to receive measured data related to variables of the converter or the electrical machine; and
a controller connected to the input interface and configured to:
calculate at least one dynamic torque component along a section of a shaft of the train based on the data from the input interface using a mechanical model comprising at least one of an inertia value, a damping value, and a stiffness value;
generate control data for the converter for damping a torsional oscillation in the mechanical drive train based on the at least one dynamic torque component; and
send the control data to the converter for modulating an active power exchanged between the converter and the electrical machine.
2. The controller system of claim 1 , wherein the generated control data is configured to modify a rectifier delay angle of a rectifier that is part of the converter.
3. The controller system of claim 1 , wherein the generated control data is configured to modify an inverter delay angle of an inverter that is part of the converter.
4. The controller system of claim 1 , wherein the received data is indicative of a current and a voltage provided by the converter to the electrical machine.
5. The controller system of claim 1 , wherein the received data is indicative of a direct current (DC) link current between a rectifier and an inverter of the converter.
6. The controller system of claim 1 , wherein the received data is indicative of an angular position, speed, acceleration or torque of the electrical machine and the generated control data is configured to modify an inverter delay angle of an inverter or a rectifier delay angle of a rectifier that is part of the converter.
7. The controller system of claim 1 , wherein the controller is further configured to:
receive feedback data indicative of an angular position, speed, acceleration or torque of the electrical machine; and
determine the control data for the converter for damping the torsional oscillation based on the received data indicative of electrical variables of the converter and the feeback data indicative of the angular position, speed, acceleration or torque of the mechanical drive train.
8. A system for driving an electrical machine mechanically connected to a train, the system comprising:
a rectifier configured to receive an alternative current from a power source and to transform the alternative current into a direct current;
a direct current link connected to the rectifier and configured to transmit the direct current;
an inverter connected to the direct current link and configured to change a received direct current into an alternative current;
an input interface configured to receive measured data related to electrical variables of the direct current link or the inverter; and
a controller connected to the input interface and configured to:
calculate at least one dynamic torque component along a section of a shaft of the drive train based on the data from the input interface using a mechanical model comprising at least one of an inertia value, a damping value, and a stiffness value;
generate control data for the rectifier and/or inverter for damping a torsional oscillation in the mechanical drive train based on the at least one dynamic torque component; and
send the control data to the rectifier and/or inverter for modulating an active power exchanged between the inverter and the electrical machine.
9. The system of claim 8 , wherein the generated control data is configured to modify a rectifier delay angle of a rectifier that is part of the converter.
10. The system of claim 8 , wherein the generated control data is configured to modify an inverter delay angle of an inverter that is part of the converter.
11. The system of claim 8 , wherein the received data is indicative of a current and a voltage provided by the converter to the electrical machine.
12. A method for damping a torsional vibration in an electrical machine mechanically connected to a drive train, the method comprising:
receiving measured data related to electrical variables of a converter that drives the motor;
calculating at least a dynamic torque component along a section of a shaft of the train based on the received data;
generating control data for the converter for damping the torsional vibration based on the at least one dynamic torque component using a mechanical model which comprises at least one of an inertia value, a damping value, and a stiffness value; and
sending the control data to the converter for modulating an active power exchanged between the converter and the electrical machine.
13. The method of claim 12 , wherein the generated control data is configured to modify a rectifier delay angle of a rectifier that is part of the converter.
14. The method of claim 12 , wherein the generated control data is configured to modify an inverter delay angle of an inverter that is part of the converter.
15. The method of claim 12 , wherein the received data is indicative of a current and a voltage provided by the converter to the electrical machine.
16. A torsional mode damping controller system connected to a converter that drives an electrical machine mechanically connected to a train, the controller system comprising:
an input interface configured to receive measured data related to mechanical variables of a turbo-machinery of the train; and
a controller connected to the input interface and configured to:
calculate at least one dynamic torque component along a section of a shaft of the train based on the mechanical variables of the turbo-machinery using a mechanical model which comprises at least one of an inertia value, a damping value, and a stiffness value;
generate control data for the converter for damping a torsional oscillation in the mechanical drive train based on the at least one dynamic torque component; and
send the control data to the converter for modulating an active power exchanged between the converter and the electrical machine.
17. The damping controller system of claim 16 , wherein the generated control data is configured to modify a rectifier delay angle of a rectifier that is part of the converter.
18. The damping controller system of claim 16 , wherein the generated control data is configured to modify an inverter delay angle of an inverter that is part of the converter.
19. The damping controller system of claim 16 , wherein the received data is indicative of a current and a voltage provided by the converter to the electrical machine.
20. The damping controller system of claim 16 , wherein the received data is indicative of a direct current (DC) link current between a rectifier and an inverter of the converter.