University of Utah
Department of Electrical and Computer Engineering
ECE 5670/6670 Control of Electric Motors Spring 2023
Syllabus
This syllabus is intended to serve as an outline and guide for the course. Adjustments may be made with reasonable notice communicated to students through announcements on Canvas.
Instructor: Professor Marc Bodson
Office: MEB 3230
E-mail: messaging on Canvas or marc.bodson@utah.edu
Course web pages: Canvas and http://www.ece.utah.edu/~bodson/drives/
1. Introduction
Electric actuators are at the core of many industrial applications, including manufacturing, process control, and transportation. New developments in power electronics and computing technology have made it possible to control a variety of motors, including AC motors, while achieving fast and precise tracking of commands. Advanced features of computer-controlled systems, such as adaptation and efficiency optimization are also becoming increasingly common.
2. Course objectives
The objectives of the course are to:
· provide an understanding of the operation of the motors, of their state-space models, and of the use of these models for computations, simulations and control system design.
· give a working knowledge of methods used for the control of DC and AC motors, including open-loop and closed-loop methods and the selection of the controller parameters.
3. Course contents
Introduction to electric motors: Basics of electromagnetic energy conversion and derivation of electric motor models. Linear and switching amplifiers, pulse-width modulation. Power electronic devices, topologies of electrical drives, and quadrants of operation. Optical encoders, resolvers, and other position sensors.
Control of brush DC motors: Construction and operation of brush DC motors. Model of a permanent-magnet brush DC motor. Steady-state characteristics and torque limits. Dynamic response under voltage and current command. PID control laws for speed and position regulation. Switching and time-optimal control algorithms. Separately excited and series DC motors. Field weakening.
Control of synchronous motors: Construction and operation of synchronous motors. Model of a two-phase permanent-magnet synchronous motor. Static and dynamic characteristics. Open-loop control, stepping and microstepping. Closed-loop quadrature control. DQ transformation and DQ model. Closed-loop control in the DQ frame of reference. Torque optimization and field weakening. Hybrid stepper motors and reluctance motors.
Brushless DC motors and three-phase synchronous motors: Construction of brushless DC motors. Modeling and characteristics of three-phase permanent magnet synchronous motors. Sinusoidal commutation and quadrature control. Six-step commutation. Sensorless control. Three-phase to two-phase transformation. Equivalent two-phase model. Control of three-phase synchronous motors using the DQ transformation.
Control of induction motors: Construction and operation of induction motors. Model of a two-phase induction motor. Steady-state characteristics, equivalent circuit, and torque curves under voltage and current commands. Open-loop control with constant V/f. Closed-loop slip control. Models in rotating frames of reference. DQ transformation for induction motors and field-oriented control. Modelling of three-phase motors and equivalent two-phase model. Control of three-phase induction motors.
4. Prerequisites
A basic course on control system design (ECE 3510, ME EN 5200/6200, CH EN 4203, or equivalent) is required. Students may take the prerequisite class concurrently or study the material on their own. The textbook Foundations of Control Engineering written by the instructor is available at https://my.ece.utah.edu/~bodson/ifs/index.html together with some complementary material. The pdf of the book is also available as control.pdf under the Files section in Canvas.
5. Textbook
The textbook Control of Electric Motors written by the instructor is offered for download as a pdf file on Canvas (named drives.pdf), with the condition that students keep the file for their personal use and do not make it available to anyone else.
6. Software
Students should download and install the software MATLAB/SIMULINK on their personal computers. A free license is available at https://software.utah.edu/mathworks.php/. Alternatively, students may access the computers in the Analog Lab of the ECE Teaching Labs (MEB 2365). Users need to have a Windows account of the CADE Lab, which is a computer lab operated by the College of Engineering. Accounts can be created and managed on the web page:
https://webhandin.eng.utah.edu/cade/.
7. Course content
The course content will be divided into approximately 25 lectures (the last two lectures of the semester are cancelled to give students extra time for their final project). The material will consist of:
In some cases, practical information will be presented in the videos that is not included in the textbook but illustrates its concepts.
Reading assignments will be announced on Canvas at the beginning of every week. Students should watch the videos and read the sections of the textbook during the same week to fully benefit from the course.
8. Grading
Grades will be based homeworks, software labs, a project (as described in a document uploaded on Canvas), and class participation assignments. The homeworks and labs will count together for 70% of the grade (with individual weights determined by points), the project for 25%, and class participation for 5%.
The closing date for assignments will generally be set to 3 days after the due date. Submission is possible between the due date and the closing date with no penalty. After the closing date, work can only be submitted by contacting the instructor and will not be permitted except in limited circumstances.
9. Office hours
The instructor will be available for questions through email, Canvas messages and Canvas discussions. On-line meetings may also be arranged by the instructor, and students are encouraged to ask for meetings as needed.
10. College guidelines
Please check: https://www.coe.utah.edu/semester-guidelines.
11. University policies
1. The Americans with Disabilities Act. The University of Utah seeks to provide equal access to its programs, services, and activities for people with disabilities. If you will need accommodations in this class, reasonable prior notice needs to be given to the Center for Disability & Access, 162 Olpin Union Building, (801) 581-5020. CDS will work with you and the instructor to make arrangements for accommodations. All written information in this course can be made available in an alternative format with prior notification to the Center for Disability & Access.
2. University Safety Statement. The University of Utah values the safety of all campus community members. To report suspicious activity or to request a courtesy escort, call campus police at 801-585-COPS (801-585-2677). You will receive important emergency alerts and safety messages regarding campus safety via text message. For more information regarding safety and to view available training resources, including helpful videos, visit http://safeu.utah.edu.
3. Addressing Sexual Misconduct. Title IX makes it clear that violence and harassment based on sex and gender (which Includes sexual orientation and gender identity/expression) is a civil rights offense subject to the same kinds of accountability and the same kinds of support applied to offenses against other protected categories such as race, national origin, color, religion, age, status as a person with a disability, veteran’s status or genetic information. If you or someone you know has been harassed or assaulted, you are encouraged to report it to the Title IX Coordinator in the Office of Equal Opportunity and Affirmative Action, 135 Park Building, 801-581-8365, or the Office of the Dean of Students, 270 Union Building, 801-581-7066. For support and confidential consultation, contact the Center for Student Wellness, 426 SSB, 801-581-7776. To report to the police, contact the Department of Public Safety, 801-585-2677(COPS).
4. Other important information:
a. Student code: http://regulations.utah.edu/academics/6-400.php
b. Accommodation policy (see Section Q): http://regulations.utah.edu/academics/6-100.php