Systems and methods for reactive power injection based flying start of synchronous machines
A cascaded controller for controlling a kinetic three-phase synchronous machine comprises a current control circuitry and an active power control circuitry operatively coupled with the current controller circuitry. The current control circuitry is configured to regulate a magnitude of inrush stator current for a stator of the kinetic three-phase synchronous machine by producing a first voltage control signal causing a flow of active power in the kinetic three-phase synchronous machine. The active power control circuitry is configured to produce a second voltage control signal to reduce the active power to zero, based on the first voltage control signal. The second voltage control signal controls a phase angle of the inrush stator current such that the stator current vector is oriented to align with a magnet axis of the rotor.
1. A cascaded controller for controlling a kinetic three-phase synchronous machine, comprising:
a current control circuitry configured to regulate a magnitude of inrush stator current for a stator of the kinetic three-phase synchronous machine by producing a first voltage control signal causing a flow of active power in the kinetic three-phase synchronous machine,
wherein the current control circuitry is further configured to:
accept a measure of the inrush stator current; and
produce the first voltage control signal, based on the measure of the inrush stator current, and
wherein a voltage powering the kinetic three-phase synchronous machine is modulated based on the first voltage control signal such that the modulated voltage reduces a first error between the measure of the inrush stator current and a reference value of the inrush stator current, and
wherein the modulated voltage reduces a second error between an estimated value of the active power and a reference value of the active power; and
an active power control circuitry operatively coupled with the current controller circuitry and configured to produce a second voltage control signal to reduce the active power to zero, based on the first voltage control signal,
wherein the second voltage control signal controls a phase angle of the inrush stator current such that a stator current vector of the inrush stator current is oriented to align with a magnet axis of the rotor.
2. The cascaded controller of claim 1 , wherein the estimated value of the active power is computed based on the first voltage control signal of the current control circuitry.
3. The cascaded controller of claim 2 , wherein the active power control circuitry is further configured to receive the estimated value of the active power and generate the second voltage control signal based on the estimated value of the active power.
4. The cascaded controller of claim 3 , further comprising a modulator configured to generate corresponding duty cycles for pulse width modulation (PWM) of the voltage powering the kinetic three-phase synchronous machine, based on a cumulative of the first voltage control signal and the second voltage control signal.
5. The cascaded controller of claim 1 , further comprising a position observer circuitry configured to accept a measure of the inrush stator current and estimate one or more state parameters of a rotor of the kinetic three-phase synchronous machine based on the measure.
6. The cascaded controller of claim 5 , wherein the one or more state parameters of the rotor comprise a mechanical speed of the rotor and a position of the rotor.
7. The cascaded controller of claim 5 , wherein the stator current vector is in three phases, each one of the three phases uniquely defined along one of a-axis, b-axis, and c-axis, and wherein the position observer circuitry comprises:
a converter circuit configured to convert the stator current vector in three phases to an equivalent current in a two-phase stationary reference frame using Clarke transformation, wherein the two-phase stationary reference frame is defined by an α-axis aligned with the a-axis of the three phases of the stator current vector and a ß-axis orthogonal to the α-axis;
a phase extraction circuit configured to determine a phase of the equivalent current in the two-phase stationary reference frame; and
a phase-locked loop circuit configured to estimate the one or more state parameters of the rotor.
8. The cascaded controller of claim 1 , wherein the stator current vector is in three phases, each one of the three phases uniquely defined along one of a-axis, b-axis, and c-axis, and wherein the cascaded controller further comprises a converter circuit configured to:
convert the stator current vector in three phases to an equivalent current in a two-phase stationary reference frame using Clarke transformation, wherein the two-phase stationary reference frame is defined by an α-axis aligned with the a-axis of the three phases of the stator current vector and a ß-axis orthogonal to the α-axis;
convert the equivalent current in the two-phase stationary reference frame to a current in two-phase rotating reference frame using Park transformation, wherein the two-phase rotating reference frame is defined by an i-axis aligned with the stator current vector and a T-axis orthogonal to the i-axis.
9. The cascaded controller of claim 8 , wherein the current control circuitry comprises a first proportional-integral (PI) controller configured to produce the first voltage control signal, based on a first error between a component of the stator current vector along the i-axis and a reference value of the inrush stator current, wherein the first voltage control signal is along the i-axis.
10. The cascaded controller of claim 9 , wherein the active power control circuitry comprises a second PI controller configured to produce the second voltage control signal, based on a second error between an estimated value of the active power and a reference value of the active power, wherein the estimated value of the active power is proportional to the first voltage control signal along the i-axis, and wherein the second voltage control signal is along the t-axis.
11. The cascaded controller of claim 10 , wherein the converter circuit is further configured to transform the first voltage control signal along the i-axis and the second voltage control signal along the t-axis to a cumulative voltage in three phases using inverse Park transformation and inverse Clarke transformation.
12. The cascaded controller of claim 11 , further comprising a modulator configured to generate corresponding duty cycles for pulse width modulation (PWM) of a voltage powering the kinetic three-phase synchronous machine, based on the cumulative voltage in three phases.
13. A control method for controlling a kinetic three-phase synchronous machine, the method comprising:
producing a first voltage control signal causing a flow of active power in the kinetic three-phase synchronous machine to regulate a magnitude of inrush stator current for a stator of the kinetic three-phase synchronous machine; and
producing a second voltage control signal to reduce the active power to zero, based on the first voltage control signal,
wherein the second voltage control signal controls a phase angle of the inrush stator current such that a stator current vector of the inrush stator current is oriented to align with a magnet axis of the rotor,
accepting a measure of the inrush stator current; and
producing the first voltage control signal, based on the measure of the inrush stator current; and
modulating a voltage powering the kinetic three-phase synchronous machine, based on the first voltage control signal such that the modulated voltage reduces i.) a first error between the measure of the inrush stator current and a reference value of the inrush stator current and ii.) a second error between an estimated value of the active power and a reference value of the active power.
14. The control method of claim 13 , further comprising generating corresponding duty cycles for pulse width modulation (PWM) of the voltage powering the kinetic three-phase synchronous machine, based on a cumulative of the first voltage control signal and the second voltage control signal.
15. The control method of claim 13 , wherein the stator current vector is in three phases, each one of the three phases uniquely defined along one of a-axis, b-axis, and c-axis, and wherein the control method further comprises:
converting the stator current vector in three phases to an equivalent current in a two-phase stationary reference frame using Clarke transformation, wherein the two-phase stationary reference frame is defined by an α-axis aligned with the a-axis of the three phases of the stator current vector and a ß-axis orthogonal to the α-axis;
converting the equivalent current in the two-phase stationary reference frame to a current in two-phase rotating reference frame using Park transformation, wherein the two-phase rotating reference frame is defined by an i-axis aligned with the stator current vector and a τ-axis orthogonal to the i-axis.
16. The control method of claim 15 ,
wherein the first voltage control signal is produced based on a first error between a component of the stator current vector along the i-axis and a reference value of the inrush stator current, wherein the first voltage control signal is along the i-axis, and
wherein the second voltage control signal is produced based on a second error between an estimated value of the active power and a reference value of the active power, wherein the estimated value of the active power is proportional to the first voltage control signal along the i-axis, and wherein the second voltage control signal is along the τ-axis.