Industrial Drives And Control 1x5s3y
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MAHATMA GANDHI UNIVERSITY
SCHEME AND SYLLABI FOR
M. Tech. DEGREE PROGRAMME IN
ELECTRICAL AND ELECTRONICS ENGINEERING WITH SPECIALIZATION IN
INDUSTRIAL DRIVES AND CONTROL (2011 ISSION ONWARDS)
SCHEME AND SYLLABI FOR M. Tech. DEGREE PROGRAMME IN ELECTRICAL AND ELECTRONICS ENGINEERING WITH SPECIALIZATION IN INDUSTRIAL DRIVES AND CONTROL SEMESTER - I Hrs / Week Sl. No.
Course No.
Evaluation Scheme (Marks)
Subject
Sessional L
T
P TA
CT
Sub Total
ESE
Total
Credits (C)
1
MEEID 101 Advanced Mathematics
3
1
0
25
25
50
100
150
4
2
Analysis of Power Electronic MEEID 102 Systems I
3
1
0
25
25
50
100
150
4
3
MEEID 103 Dynamics of Electrical Machines
3
1
0
25
25
50
100
150
4
4
MEEID 104 Electric Drives
3
1
0
25
25
50
100
150
4
5
MEEID 105 Elective – I
3
0
0
25
25
50
100
150
3
6
MEEID 106 Elective – II
3
0
0
25
25
50
100
150
3
7
MEEID 107
0
0
3
25
25
50
100
150
2
8
MEEID 108 Seminar – I
0
0
2
50
0
50
0
50
1
18
4
5
225
175
400
700
1100
25
Power Electronics Lab
Total
Elective – I (MEEID 105)
Elective – II (MEEID 106)
MEEID 105 - 1
Systems Theory
MEEID 106 - 1
Optimal Control Theory
MEEID 105 -2
Optimization Techniques
MEEID 106 - 2
Stochastic Modeling And Applications
MEEID 105 - 3
Digital Simulation of Power Electronic Systems
MEEID 106 – 3
Advanced Power Semiconductor Devices
MEEID 105 - 4
Estimation Theory
MEEID 106 - 4
Computer Aided Design of Electrical Machines
L – Lecture, T – Tutorial, P – Practical TA – Teacher’s Assessment (Assignments, attendance, group discussion, Quiz, tutorials, seminars, etc.) CT – Class Test (Minimum of two tests to be conducted by the Institute) ESE – End Semester Examination to be conducted by the University Electives: New Electives may be added by the department according to the needs of emerging fields of technology. The name of the elective and its syllabus should be submitted to the University before the course is offered.
1
SEMESTER - II Hrs / Week Sl. No.
Course No.
Evaluation Scheme (Marks)
Subject
Sessional L
T
P TA
CT
Sub Total
ESE
Total
Credits (C)
1
MEEID 201 Advanced Control of AC Drives
3
1
0
25
25
50
100
150
4
2
MEEID 202 Digital Control Systems
3
1
0
25
25
50
100
150
4
3
MEEID 203
3
1
0
25
25
50
100
150
4
3
1
0
25
25
50
100
150
4
4
Analysis of Power Electronic Systems II Special Electrical Machines and MEEID 204 Drives
5
MEEID 205 Elective – III
3
0
0
25
25
50
100
150
3
6
MEEID 206 Elective – IV
3
0
0
25
25
50
100
150
3
7
MEEID 207
0
0
3
25
25
50
100
150
2
8
MEEID 208 Seminar – II
0
0
2
50
0
50
0
50
1
18
4
5
225
175
400
700
1100
25
Electric Drives Laboratory
Total
Elective – III (MEEID 205)
Elective – IV (MEEID 206)
MEEID 205 - 1
Adaptive Control
MEEID 206 - 1
MEEID 205 – 2
Soft Computing techniques
MEEID 206 – 2
MEEID 205 – 3
Robotics and Automation
MEEID 206 – 3
MEEID 205 - 4
Power Quality
MEEID 206 - 4
Embedded Controllers Flexible AC Transmission Systems (FACTS) Power Electronics Applications in Power Systems Digital Signal Processing
L – Lecture, T – Tutorial, P – Practical TA – Teacher’s Assessment (Assignments, attendance, group discussion, Quiz, tutorials, seminars, etc.) CT – Class Test (Minimum of two tests to be conducted by the Institute) ESE – End Semester Examination to be conducted by the University Electives: New Electives may be added by the department according to the needs of emerging fields of technology. The name of the elective and its syllabus should be submitted to the University before the course is offered.
2
SEMESTER - III Hrs / Week Sl. No.
Course No.
Evaluation Scheme (Marks)
Subject
Sessional L
T
P TA*
CT
Sub Total
ESE** Total (Oral)
Credits (C)
1
MEEID 301
1. Industrial Training OR 2. Industrial Training and Mini Project
0
0
20
50
0
50
100
150
10
2
MEEID 302
Master’s Thesis Phase - I
0
0
10
100***
0
100
0
100
5
Total
0
0
30
150
0
150
100
250
15
*
TA- based on technical report submitted together with a presentation at the end of the industrial training.
**
Industrial Training and miniproject evaluation will be conducted at end of the third semester for Industrial Training by a of examiners, with at least one external examiner, constituted by the university.
***
The marks will be awarded by a of examiners constituted by the concerned institute
SEMESTER - IV Hrs / Week Sl. No.
Course No.
Evaluation Scheme (Marks)
Subject L
1
MEEID 401
Thesis Evaluation
2
MEEID 402
Master’s Comprehensive Viva
Credits ESE** (C) (Oral Total & Sub Total Viva)
Sessional
0
Total Grand Total of all Semesters
T
0
P
30
TA*
CT
100
0
100
100
200
100
100
15
300
15
2750
80
*
50%of the marks to be awarded by the project guide and the remaining 50% to be awarded by a of examiners, including project guide, constituted by the department.
**
Thesis evaluation and Viva-voce will be conducted at end of the fourth semester by a of examiners, with at least one external examiner, constituted by the university.
3
MEEID 101
ADVANCED MATHEMATICS
L T P C 3 1 0 4
Module 1: Complex Variables and Partial Differential Equations Cauchy’s integral formula, Poisson’s integral formula, Liovilli’s Theorem, Conformal Transformation, Schwarz-Christoffels transformation, Partial differential equation-Laplace equation in two dimension(Cartesian and polar), Boundary Value Problems, Green’s Theorem. Module 2: Functional Analysis Definition of Vector spaces – examples - somorphism of vector spaces - Linear independence and basis. Dimension of vector space - Fundamentals of Normed linear spaces - Basic concept of linear transformations. Module 3: Random Processes Probability concepts - Variables and distribution function - PDF, Markov Chains – Stochastic Processes – Characteristics - Markov Processes – Correlation - Auto Correlation – Cross Correlations – Response of linear discrete time systems to white noise Module 4: Introduction to Mathematical Programming Non Linear Programming Problems - Unconstrained optimization, optimality criteria, Direct Search Methods: Hooke-Jeeves Pattern Search, Powel’s conjugate direction method. Gradient based methods: steepest descent method - Newton’s method, Constrained optimization: Lagrange multiplier - Kuhn Tucker conditions. References: 1. Erwin Kreyszig, Introductory Functional Analysis with Applications, John Wiley & Sons, 2004. 2. A Papoulis, Probability, Random Variables and Stochastic Processes, 3rd edition, McGraw Hill. 3. Kalyanmoy Deb, Optimization for Engineering Design, PHI-2002. 4. Simmons D M, Non Linear Programming for Operations Research, PHI. 5. Elsgoltis, Differential Equations and Calculus of Variations, MIR publication. 4
6. Ochi M K, Applied Probability and Stochastic Processes, John Wiley & Sons, 1992. 7. D G Luenberger, Optimization by Vector Space Method, John Wiley. 8. B S Grewal, Higher Engineering Mathematics, Khanna Publishers.
5
MEEID 102
ANALYSIS OF POWER ELECTRONIC SYSTEMS I
L T P C 3 1 0 4
Module 1: Overview of Devices Ideal and Real switches, static and dynamic performance, loss calculation and selection of heat sink. Power diodes, Power Transistors, Power MOSFETS, IGBTs, Thyristor, GTOStatic and Dynamic Performance, Driver circuits. Turn on; Turn off and over voltage Snubbers for switching devices. Rectifiers: Uncontrolled rectifiers-Single phase and Three phase- Analysis with R and RL loads, Analysis with capacitive filter- Line current Distortion, THD, DPF, PF, Line voltage distortion - effect of source inductance- Effect of Single Phase Rectifiers on Neutral Currents in a Three Phase Four-Wire System. Controlled Rectifiers-Single phase and Three phase-fully controlled and semi controlled-Analysis with RL, RLE loadsPerformance, Voltage conversion ratio, Effect of source inductance- Power factor – Inversion mode of operation - Dual converters- Circulating and Non circulatingApplications. Module 2: DC Choppers Principle of operation, two quadrant and four quadrant choppers, PWM control- Forced commutation- Voltage and Current commutated choppers -effect of source inductancefilter circuits –multiphase chopper. Module 3: AC voltage controllers and Cycloconverters Single Phase and Three phase AC Voltage Controllers-Principle operation-analysis with R and RL loads, Thyristor Controlled Inductor, Circulating and Noncirculating type cycloconverters- Analysis with R and RL loads. Module 4: Inverters Half Bridge and Full Bridge-Six Steps and Two Levels PWM. Analysis with delta and Y connected RL loads- Harmonics and Voltage control in inverters-Sine triangle modulationUnipolar and Bipolar modulation-Selective harmonic elimination- output filter designResonant inverters-series and parallel. Current source inverter-Single phase and Three phase. Multilevel Inverters-Types. 6
References: 1. Joseph Vithayathil, Principles of Power Electronics, McGrawHill-1994 2. William Shepherd, Li Zhang., Power Converter Circuits, Marcell Dekker, 2004 3. Ned Mohan, Undeland, Robbins, Power Electronics-3rd edn, John Wiley, 2003 4. Philip T Krein, Elements of Power Electronics- Oxford, 1998 5. Issa Batarseh, Power Electronics Circuits, John Wiley, 2004 6. Cyril W Lander, Power Electronics, Third Edition, McGraw-Hill- 1993 7. Daniel W. Hart, Introduction to Power Electronics, Prentice Hall, 1997
7
MEEID 103
DYNAMICS OF ELECTRICAL MACHINES
L T P C 3 1 0 4
Module 1: Introduction – Unified approach to the analysis of electrical machine – basic two-pole machine – Kron’s primitive machine – voltage, power and torque equation –linear transformation from 3-phase to 2-phase - transformation from rotating axes to stationary axes – power invariance – park’s transformation for 3-phase synchronous and induction machines. Module 2: DC machines – application of generalized theory to separately excited, shunt, series and compound machines – sudden short circuit of separately excited generator - separately excited dc motor - steady state and transient analysis – transfer functions of separately excited dc generator & motor. Module 3: Polyphase synchronous machines – generalized machine equations – steady state analysis of salient pole and non salient pole machines – phasor diagrams – power angle characteristics – reactive power – short circuit ratio – transient analysis – sudden 3-phase short circuit at generator terminals – reactance – time constants – transient power angle characteristics. Module 4: Induction machines – 3-phase induction machine- generalized model – voltage equation – steady state analysis – equivalent circuit – torque-slip characteristics – effect of voltage and frequency variations – electric transients in induction machines – speed control of induction motor – introduction to vector control – applications in speed control of induction machine – single phase induction motor – generalized model – voltage and torque equations – steady state analysis. References: 1. PS. Bhimbra, Generalized Theory of Electrical Machines, Khanna Publishers
8
2. Krauss, Wasyncsuk and Sudholf, Analysis of Electrical Machines and Drive Systems, John Wiley 3. A E Fitzgerald, Kingsley, Umans, Electric Machinery, McGraw Hill 4. Adkins and Harley, General Theory of AC Machines 5. Bimal K Bose, Modern Power Electronics & AC Drives, Pearson Education
9
MEEID 104
ELECTRIC DRIVES
L T P C 3 1 0 4
Module 1: Components of electrical Drives – electric machines, power converter, controllers dynamics of electric drive - torque equation - equivalent values of drive parameterscomponents of load torques types of load - four quadrant operation of a motor –– steady state stability – load equalization – classes of motor duty- determination of motor rating Module 2: DC motor drives – dc motors & their performance (shunt, series, compound, permanent magnet motor, universal motor, dc servomotor) – braking – regenerative, dynamic braking, plugging –Transient analysis of separately excited motor – converter control of dc motors – analysis of separately excited & series motor with 1-phase and 3-phase converters – dual converter –analysis of chopper controlled dc drives – converter ratings and closed loop control – transfer function of self, separately excited DC motors – linear transfer function model of power converters – sensing and feeds back elements – current and speed loops, P, PI and PID controllers – response comparison – simulation of converter and chopper fed DC drive Module 3: Induction motor drives – stator voltage control of induction motor – torque-slip characteristics – operation with different types of loads – operation with unbalanced source voltages and single phasing – analysis of induction motor fed from non-sinusoidal voltage supply – stator frequency control – variable frequency operation – V/F control, controlled current and controlled slip operation – effect of harmonics and control of harmonics – PWM inverter drives – multiquadrant drives – rotor resistance control – slip torque characteristic – torque equations, constant torque operation – slip power recovery scheme – torque equation – torque slip characteristics – power factor – methods of improving power factor – limited sub synchronous speed operation – super synchronous speed operation.
10
Module 4: Synchronous motor drives – speed control of synchronous motors – adjustable frequency operation of synchronous motors – principles of synchronous motor control – voltage source inverter drive with open loop control – self controlled synchronous motor with electronic commutation – self controlled synchronous motor drive using load commutated thyristor inverter. References: 1. R. Krishnan, Electrical Motor Drives, PHI-2003 2. G.K.Dubey, Power semiconductor controlled drives, Prentice Hall- 1989 3. G.K.Dubey, Fundamentals of Electrical Drives, Narosa- 1995 4. S.A. Nasar, Boldea , Electrical Drives, Second Edition, CRC Press - 2006 5. M. A. ElSharkawi , Fundamentals of Electrical Drives , Thomson Learning -2000 6. W. Leohnard, Control of Electric Drives,-Springer- 2001 7. Murphy and Turnbull, Power Electronic Control of AC motors, Pergamon Press 8. Vedam Subrahmaniam, Electric Drives, TMH-1994
11
MEEID 105-1
SYSTEMS THEORY
L T P C 3 0 0 3
Module 1: State variable representation of system - concept of state - Equilibrium points – Stability Solution of state equation - eigen values - eigen vectors – modes - modal decomposition eigen value and stability -
State space representation of discrete time systems -
Discretization of continuous time state equation Module 2: Lyapunov stability - definition of stability, asymptotic stability and instability Lyapunov’s second method - Lyapunov’s stability analysis of LTI continuous time and discrete time systems - stability analysis of non linear system - Krasovski’s theorem variable gradient method Module 3: Concepts of controllability and observability - controllability and observability tests for continuous time and discrete time systems - controllability and observability studies based on canonical forms of state model - effect of state on controllability and observability - pole placement by state for continuous and discrete time systems Design of full order and reduced order observer for continuous time and discrete time systems Module 4: Optimal control - formulation of optimal control problem - Minimum time control problem -minimum energy problem - minimum fuel problem - state regulator problem - output regulator problem – tracking problem - choice of performance measure - optimal control based on quadratic performance measure – optimal control system design using second method Lyapunov - solution of reduced Riccatti equation. Robust control systems – introduction - sensitivity analysis of robustness - system with uncertain parameters - design of robust PID controlled systems.
12
References: 1. Thomas Kailath, Linear systems, Prentice Hall Inc 2. K.Ogata, Modern control Engg (Second Edition), Prentice Hall Inc, 1990 3. K.Ogata, Discrete time control systems, P.H.I 4. M.Gopal, Digital Control and State Variable methods, TMH, 1997 5. M.Gopal, Modern Control System Theory 6. C.T.Chen, Linear system theory and design, New York,Holt Rinechart and Winston , 1984 7. Richard.C.Dorf and R.T Bishop, Modern Control System, P.H.I
13
MEEID 106-3
ADVANCED POWER SEMICONDUCTOR DEVICES
L T P C 3 0 0 3
Module 1: Introduction Power switching devices overview – Attributes of an ideal switch, application requirements, circuit symbols; Power handling capability – (SOA); Device selection strategy – On-state and switching losses – EMI due to switching - Power diodes - Types, forward and reverse characteristics, switching characteristics – rating. Shottky Diode Module 2: Current Controlled Devices BJT’s – Construction, Device Physics, static characteristics, switching characteristics; Negative temperature co-efficient and secondary breakdown; Power Darlington Thyristors – Physical and electrical principle underlying operation, Gate and switching characteristics; converter grade and inverter grade and other types; series and parallel operation; comparison of BJT and Thyristor – steady state and dynamic models of BJT & Thyristor. Module 3: Voltage Controlled Devices Power MOSFETs and IGBTs – Principle of voltage controlled devices, construction, types, Device physics, Static and Switching Characteristics- Steady state and dynamic models of MOSFET and IGBTs - Basics of GTO, MCT, FCT, RCT and IGCT. Module 4: Firing and Protection Circuits Necessity of isolation, pulse transformer, optocoupler – Gate drives circuit: SCR, MOSFET,IGBTs and base driving for power BJT. Over voltage, over current and gate protections; Designof snubbers. Thermal Protection:Heat transfer – conduction, convection and radiation; Cooling – liquid cooling, vapour – phasecooling; Guidance for hear sink selection – Thermal resistance and impedance -Electrical analogyof thermal components, heat sink types and design – Mounting types.
References: 1. Kassakian J G et al, Principles of Power Electronics, Addison Wesley, 1991. 22
MEEID 107
POWER ELECTRONICS LABORATORY
L T P C 0 0 3 2
LIST OF EXPERIMENTS: 1. Firing schemes for converters. 2. Single Phase Semi-converter with R-L and R-L-E loads for continuous and discontinuous conduction modes. 3. Single phase full- converter with R-L and R-L-E loads for continuous and discontinuous conduction modes. 4. Three phase full-converter with R-L-E load. 5. Controlled and Uncontrolled rectifier with different types of filters-continuous. and discontinuous modes of operation. 6. Transformer and Inductor design. 7. Voltage and current commutated choppers. 8. MOSFET, IGBT based Choppers. 9. IGBT and MOSFET based inverters. 10. Current source inverter. 11. Single phase AC voltage controller. 12. Transfer function of a DC Motor. 13. Resonant Inverters. 14. Closed loop control of converter fed DC motor Drives. 15. Closed loop control of chopper fed DC motor drives. 16. VSI fed three phase induction motor drive. 17. Three phase synchronous motor and drive. 18. PC based control of power electronic devices. 19. Microcontroller and DSP based control of dc-dc converters. 20. Study of harmonic pollution by power electronics loads. (At least 15 experiments in the list are to be conducted in the laboratory. Additional experiments and simulation assignments can also be given by the department).
26
MEEID 108
SEMINAR – I
L T P C 0 0 2 1
Each student is required to present a technical paper on a subject approved by the department. The paper should be on a recent advancement/trend in the field of Power Electronics, drives, Control etc. He/she shall submit a report of the paper presented to the department.
27
MEEID 201
ADVANCED CONTROL OF AC DRIVES
L T P C 3 1 0 4
Module 1: Modeling Dynamic d-q modeling of induction machines - stator, rotor and synchronously rotating reference frame models, state space equations and dynamic simulation, Space Phasor model – control principle of the induction motor Module 2: Vector Control Vector controlled induction motor drive - Basic principle-Direct Rotor flux oriented vector control - Estimation of rotor flux and torque - Implementation with current source and voltage source inverters Stator flux oriented vector control - Indirect rotor flux oriented vector control scheme implementation– tuning - Dynamic simulation. Parameter sensitivity and compensation of vector controlled induction motors-Selection of Flux level - Flux weakening operation - Speed controller design -Vector control strategies for Synchronous motor Module 3 Doubly-fed machine speed control by rotor rheostat – static kramer drive – phasor diagram, equivalent – speed control – power factor improvement – Static Scherbius drive – Modes of operation - Direct torque control of induction motor – principle – control strategy – space vector modulation – reduction of torque and flux ripple – comparison of DTC and FOC Module 4 Sensor less Control: Principles for speed sensor less control - Sensor less methods for scalar control, Sensor less methods for vector control, Introduction to observer based techniques, Basic principle of DTFC.
28
References 1. R Krishnan, Electric Motor Drives, PHI. 2. D W Novotny and T A Lipo, Vector Control and Dynamics of AC Drives, Oxford University Press, 1996. 3. B K Bose, Modern Power Electronics and AC Drives, Pearson-2002. Leonhard, Control of Electric Drives, Springer-2001. 4. Kazmierkowski, Krishnan, Blaabjerg, Control in Power Electronics-Selected Problems, Academic Press, 2002. 5. John Chiasson, Modeling and High Performance Control of Electric Machines, WileyIEEE Press, 2005. 6. I Boldea, S A Nasar, Electric Drives, 2ndedition, CRC Press, 2006. 7. K Rajashekara, Sensorless Control of AC motors, IEEE Press, 1996. 8. I Boldea, S A Nasar, Vector Control of AC Drives, CRC Press, 1992. 9. J Holtz, Sensorless Control of Induction Motor Drives, Proceedings of the IEEE, August 2002, PP 1359-1394.
29
MEEID 202
DIGITAL CONTROL SYSTEMS
L T P C 3 1 0 4
Module 1: Basic concepts in sampled data systems Discrete time signals-sampling process-effect of sampling-loss of information and noise due to sampling-signal reconstruction-sampling theorem-hold circuits (ZOH,FOH)-z transforms-inverse z transform-difference equations- solution using z transform-system transfer function-poles and zeros-influence of pole location on time response-effect of zeros Module 2: Analysis in z-domain Stability- Jury’s test –Schur Cohn test –bilinear transformation –Routh –Hurwitz method in w plane Discret Equivalents-Via numerical integration – pole – zero matching –hold equivalents Module 3: Digital Controller Design using transform techniques –by emulation –by root locus in the z-plane –by frequency response methods – Direct Design –method of Ragazzini-Design using State –Space approach-Controllability-Observability-Control Law Design. Module 4: Estimator/Observer Design Full and reduced order observers-regulator design –case with reference input –separation principle Case Studies Case Studies References: 1. Gene F Franklin, J David Powell, Michael Workman, Digital control of dynamic systems, Pearson education 2. J R Liegh,Applied Digital Control,Rinchart and Winston Inc,New Delhi 3. Frank L Lewis, Applied optimal control and estimation,Prentice-Hall,Englewood Cliffs, New Jersey,1992 4. Benchamin C Kuo ,Digital Control Systems,2nd Edition, Saunders College Publishing,Philadelphia,1992 5. K Ogata,Discrete – Time control systems, Pearson education, Asia
30
6. C L Philips,H T Nagle, Digital control systems, Prentice-Hall, Englewood Cliffs, New Jersey,1995 7. R G Jacquot ,Modern digital control systems,Marcal Decker,New York 1995 8. M Gopal ,Digital control and state variable methods, Tata McGraw-Hill 2009
31
MEEID 203
ANALYSIS OF POWER ELECTRONIC SYSTEMS – II
L T P C 3 1 0 4
Module 1: PWM Strategies for Inverters Sinusoidal PWM - Regular Sampled PWM- Space Vector Modulation - modulation strategies for multilevel inverters of Diode Clamped Type and Flying Capacitor Type, Microcomputer implementation of PWM inverters.Current Regulated PWM Voltage Source Inverters-Methods of Current Control, Hysteresis Control, Variable Band Hysteresis Control, Fixed Switching Frequency Current Control Methods. Module 2: DC-DC Switch Mode Converters Buck, Boost, Buck-Boost SMPS Topologies. Basic Operation-Waveforms-modes of operation – Output voltage ripple-State space modeling-Simulation and closed loop control system design.Push-Pull and Forward Converter Topologies-Basic operation.WaveformsVoltage Mode Control. Half and Full Bridge Converters. Basic Operation and Waveforms - Fly back Converter, Continous and Discontinuous mode operation, Waveforms. Module 3: Resonant Converters Classification of Resonant Converters, Basic Resonant Circuit Concepts, Load Resonant Converter, Resonant Switch Converter, Zero Voltage Switching - Zero current switching – ZVS Clamped Voltage Topologies, Resonant dc-link inverters Module 4: PWM Rectifiers Single
phase
and
three
phase
converters
-
Basic
topologies
-
Control
principles.Introduction to Matrix Converters-Matrix converter switches and circuit-control strategies-Venturini control method. References: 1. B W Williams, Principles and Elements of Power Electronics, University of Strathclyde Glasgow, 2006 2. Mohan, Undeland, Robbins, Power Electronics -3rd edition, John Wiley and Sons, 2003. 3. William Shepherd, Li Zhang, Power Converter Circuits, Marcel Decker, 2004. 4. Prof. Ramnarayanan, Course Material on Switch Mode Power Conversion, Electrical Department, IISc, Bangalore, 2006. 5. Philip T Krein, Elements of Power Electronics, Oxford, 1998. 32
6. B K Bose, Modern Power Electronics and AC Drives, Pearson Education, 2002. 7. Kazmierkowski, Krishnan, Blaabjerg, Control in Power Electronics, Academic Press,02 8. Issa Batarseh, Power Electronic Circuits, John Wiley, 2004.
33
MEEID 204
SPECIAL ELECTRICAL MACHINES AND DRIVES
L T P C 3 1 0 4
Module 1 Stepper Motors - Constructional features, principle of operation, modes of excitation, single phase stepping motors, torque production in variable Reluctance (VR) stepping motor, Dynamic characteristics, Drive systems and circuit for open loop control, Closed loop control of stepping motor, microprocessor based controller. Module 2 Switched Reluctance Motors - Constructional features, principle of operation. Torque equation, Power controllers, Characteristics and control. Microprocessor based controller.Sensor less control. Synchronous Reluctance Motors-Constructional features: axial and radial air gap Motors.Operating principle, reluctance torque – Phasor diagram, motor characteristics. Module 3 Permanent Magnet Brushless DC Motors - Commutation in DC motors, Difference between mechanical and electronic commutators, Hall sensors, Optical sensors, Multiphase Brushless motor, Square wave permanent magnet brushless motor drives, Torque and emf equation, Torque-speed characteristics, Controllers-Microprocessor based controller. Sensorless control. Module 4 Permanent Magnet Synchronous Motors - Principle of operation, EMF, power input and torque expressions, Phasor diagram, Power controllers, Torque speed characteristics, Self control, Vector control, Current control schemes. Sensor less control. References: 1. Kenjo T, Sugawara A, Stepping Motors and Their Microprocessor Control, Clarendon Press, Oxford, 1994 2. Miller T J E, Switched Reluctance Motor and Their Control, Clarendon Press, Oxford, 1993. 3. Miller T J E, Brushless Permanent Magnet and Reluctance Motor Drives, Clarendon Press, Oxford, 1989. 4. B K Bose, Modern Power Electronics & AC drives, Pearson, 2002. 34
5. Kenjo T, Power Electronics for the Microprocessor Age, Oxford University Press, 1990. 6. Ali Emadi (Ed), Handbook of Automotive Power Electronics and Motor Drives, CRC Press, 2005. 7. R Krishnan, Electric Motor Drives – Modeling, Analysis and Control, PHI, 2003. 8. H A Toliyat, S Campbell, DSP Based Electro Mechanical Motion Control, CRC Press, 2004.
35
MEEID 205-1
ADAPTIVE CONTROL
L T P C 3 0 0 3
Module 1: Introduction Adaptive Control-effects of process variation-Adaptive schemes-Adaptive Control problem- Applications Real-Time Parameter Estimation-Introduction-Least Squares and Regression Models-Estimating-Parameters in Dynamical Systems Module 2: Model-Reference Adaptive Systems Introduction-The MIT Rule-Determination of the Adaptation Gain-Lyapunov TheoryDesign of MRAS Using Lyapunov Theory-Bounded-Input-Bounded-Output StabilityApplications to Adaptive control Module 3: Self-Tuning Regulators Introduction-Pole Placement Dedirect Self-tuning Regulators-Continuous Time Selftuners-Direct Self-tuning Regulators-Disturbances with Known CharacteristicsRelations between MRAS and STR Module 4: Gain Scheduling Introduction-
Principle
and
Design
of
Gain
Scheduling
controllers-Nonlinear
Transformations applications of Gain Scheduling. Practical Issues and ImplementationController and estimator implementation- operational issues. Case Studies References: 1. Karl Jhon Astrom & Bjom Wittenmark, Adaptive Control, Addison Wesley, 1994. Shankar Sastry, Adaptive Control, PHI (Eastern Economy Edition), 1989. 2. Karl Jhon Astrom, Adaptive Control, Pearson Education, 2001. 3. Petros A Ioannou, Jing, Robust Adaptive Control, Prentice-Hall, 1995. 4. Eykhoff P, System Identification: Parameter and State Estimation, 1974. 5. Ljung, System Identification Theory for the , Prentice-Hall, 1987.
36
MEEID 205-2
SOFT COMPUTING TECHNIQUES
L T P C 3 0 0 3
Module 1: System Identification Least Square Method-LSE for non linear load- Validation of simulation model-computer simulation of continuous and discrete system. Module 2: Neural Network Different
architectures-supervised
learning-perceptron-
Adaline-Back
Propagation-
Unsupervised learning-Competitive learning-Kohenon self organizing network-Hebbian learning- Hopfield network- ART network-NNW applications in control, identification and pattern recognition. Module 3: Fuzzy Logic Basic concepts-set theoretic operations-hip function-fuzzy rules-fuzzy reasoningfuzzy inference systems-Mamdani and Sugeno type-defuzzification- fuzzy controllersapplications in electric drives. Module 4: Neuro Fuzzy Modeling - Neuro fuzzy inference system-controllers-Back propagation through recurrent learning- Reinforced learning. Genetic Algorithms-Basic concepts-design issues-modeling hybrid models. References: 1. S Rajasekharan, Vijaya Lakhmi Pai, Neural Network, Fuzzy logic and Genetic Algorithm, PHI, 2002 2. J S R Lang, C T Sun, Mizutani, Neuro Fuzzy and Soft Computing. 3. David E Goldberg, Genetic Algorithms. 4. C T Lin, C S G Lee, Neural Fuzzy Systems. 5. Bort Kosko, Fuzzy Engineering. 6. Simon Haykin, Neural networks. 7. M Ananda Rao, J Sreenivas, Neural Network Algorithm and Applications. 8. B K Bose, Modern Power Electronics & AC drives, Pearson, 2002. 9. Cirstea, Dinu, Mccormick, Neural and Fuzzy Logic Control of Drives and Power systems, Elsevier, 2002.
37
MEEID 205-3
ROBOTICS AND AUTOMATION
L T P C 3 0 0 3
Module 1: Introduction Geometric configuration of robots – Manipulators – Drive systems – Internal and external sensors – End effectors – Control systems – Robot programming languages and applications –Introduction to robotic vision Module 2: Robot Arm Kinematics Direct and inverse kinematics – Rotation matrices – Composite rotation matrices – Euler angle representation – Homogenous transformation – Denavit Hattenberg representation and various arm configurations.
Module 3: Robot Arm Dynamics Lagrange – Euler formulation, t velocities – Kinetic energy – Potential energy and motion equations – Generalized D’Alembert equations of motion.
Module 4: Planning of Manipulator Trajectories General consideration on trajectory planning t interpolation & Cartesian path trajectories.Control of Robot Manipulators-PID control computed, torque technique – Near minimum time control – Variable structurecontrol – Non-linear decoupled control – Resolved motion control and adaptive control.. References: 1. Fu K S, Gonazlez R C and Lee C S G, Robotics (Control, Sensing, Vision and Intelligence), McGraw-Hill, 1987. 2. Wesley, E Sryda, Industrial Robots: Computer Interfacing and Control. PHI, 1985. 3. Asada and Slotine, Robot Analysis and Control, John Wiley and Sons, 1986. 4. Philippe Coiffet, Robot Technology, Vol. II (Modeling and Control), Prentice Hall INC,1981. 5. Saced B Niku, Introduction to Robotics, Analysis, Systems and Applications, Pearson Education, 2002. 6. Groover M P, Mitchell Wesis, Industrial Robotics Technology Programming and Applications, Tata McGraw-Hill, 1986. 7. Sciavicco L, B Siciliano, Modeling & Control of Robot Manipulators, 2nd Edition, Springer Verlag, 2000. 38
8. Gray J O, D G Caldwell (Ed), Advanced Robotics & Intelligent Machines, The Institution of Electrical Engineers, UK, 1996. 9. Craig John J, Introduction to Robotics: Mechanics and Control, Pearson, 1989.
39
MEEID 205-4
POWER QUALITY
L T P C 3 0 0 3
Module 1 Introduction-power quality-voltage quality-overview of power quality phenomenaclassification of power quality issues-power quality measures and standards-THD-TIFDIN-C-message weights-flicker factor-transient phenomena-occurrence of power quality problems-power acceptability curves-IEEE guides, standards and recommended practices. Module 2 Harmonics-individual and total harmonic distortion-RMS value of a harmonic waveformtriplex harmonics-important harmonic introducing devices-SMPS- Three phase power converters-arcing devices-saturable devices-harmonic distortion of fluorescent lampseffect of power system harmonics on power system equipment and loads. Modeling of networks and components under non-sinusoidal conditions-transmission and distribution systems-shunt capacitors-transformers-electric machines-ground systems-loads that cause power quality problems-power quality problems created by drives and its impact on drives Module 3 Power factor improvement-ive Compensation.ive Filtering. Harmonic Resonance Impedance Scan Analysis- Active Power Factor Corrected Single Phase Front End, Control Methods for Single Phase APFC, Three Phase APFC and Control Techniques, PFC Based on Bilateral Single Phase and Three Phase Converter. static var compensatorsSVC and STATCOM Module 4 Active Harmonic Filtering-Shunt Injection Filter for single phase , three-phase three-wire and three-phase four-wire systems . d-q domain control of three phase shunt active filters uninterruptible power supplies-constant voltage transformers- series active power filtering techniques for harmonic cancellation and isolation . Dynamic Voltage Restorers for sag , swell and flicker problems. Grounding and wiring-introduction-NEC grounding requirements-reasons for grounding-typical grounding and wiring problems-solutions to grounding and wiring problems.
40
References: 1. G T Heydt, Electric Power Quality, West LaFayette, Stars in a Circle Publications, 1991. 2. Math H Bollen, Understanding Power Quality Problems, IEEE Press-Standard Publishers, Delhi, 2001. 3. Jose Arillaga and Newille R Watson, Power System Harmonics, John Wiley, 2003. 4. Ali Emadi, Nasiri, Bekiarov, Uninterruptible Power Supplies & Active Filters, CRC Press, 2005. 5. J Arrillaga, Power System Quality Assessment, John Wiley, 2000. 6. J Arrillaga, B C Smith, N R Watson, A R Wood, .Power System Harmonic Analysis. Wiley, 1997. 7. Surya Santoso, H Wayne Beaty, Roger C Dugan, Mark F McGranaghan, Electrical Power System Quality, McGraw Hill, 2002.
41
MEEID 206-1
EMBEDDED CONTROLLERS
L T P C 3 0 0 3
Module 1: C Programming of microcontrollers Review of 8051 assembly language-Introduction to C51 language-keywords-structuressuperloop-timer and interrupt programming-single programs for interfacing LED,LCD display,keyboard and stepper motor control Module 2: PIC processors RISC concepts - PIC processors- overview-18F458 - Architecture – Elementary Assembly Language Programming- Interrupts – Timers – Memory – I/O ports – SPI – I2C bus - A/D converter - USART- PWM – Interfacing. Introduction to FPGA Devices. Module 3: DSP architecture Introduction to DSP architecture- computational building blocks - Address generation unitProgram control and sequencing- Speed issues- Harvard Architecture, Parallelism, Pipelining. Module 4: TMS 320F2407 Architecture- Addressing modes- I/O functionality, Interrupts, ADC, PWM, Event managers- Elementary Assembly Language Programming- Typical applications-buck boost converter, stepper motor control- Software and Hardware Development Tools. References: 1. Mazidi and Mazidi. Embedded system design using 8051 Microcontroller, Pearson2005 Mazidi,PIC Microcontrollers 2. I Scott Mckenzie,8051 Microcontroller programming,Pearson Education 3. Sen M Kuo, Woon .Seng. Gan, Digital signal Processors-Architecture, implementation and applications, Pearson, 2005 4. H.A. Toliyat, S.Campbell, DSP based Electro Mechanical Motion Control, CRC Press2004 5. Avtar Singh and S. Srinivasan, Digital Signal Processing, Thomson- Brooks - 2004 6. Phil Lapsley, Bler, Sholam, E.A.Lee, DSP Processor fundamentals, IEEE Press -1997 7. Wayne Wolf, FPGA based System Design, Pearson - 2004 8. Scott Hauck, The Roles of FPGAs in Reprogrammable Systems, Proceedings of the IEEE, Vol. 86, No. 4, pp. 615-639, April, 1998. 42
MEEID 206-2
FLEXIBLE AC TRANSMISSION SYSTEMS(FACTS)
L T P C 3 0 0 3
Module 1 Reactive power control in electrical power transmission lines - uncompensated line–Shunt
Compensation
and
Series
compensation:
Voltage
Stability-
Improvement of Transient stability, Power Oscillation damping.Introduction to FACTS - Basic Types of FACTS controller- Brief description and definitions of FACTS controllers – Benefits from FACTS technology. Module 2 Variable impedance type Static Var generators – Switching Converter type Var generators Static Var Compensator (SVC) and Static Compensator (STATCOM): Principle of operation, configuration and control – The Regulation Slope- Transient Stability enhancement and Power Oscillation damping Comparison between STATCOM and SVC Module 3 Variable Impedance Type series compensators: Thyristor Switched Series Capacitor (TSSC), Thyristor Controlled Series Capacitor (TCSC) - Sub synchronous characteristicsBasic NGH SSR Damper Static Synchronous Series Compensator (SSSC): Principle of operation, configuration and control. Module 4 Unified Power Flow Controller (UPFC): Principle of operation, Conventional Transmission control capabilities, Comparison of UPFC to Controlled Series Compensators- Control structure. Interline Power Flow Controller (IPFC) – Basic operating Principles and Characteristics Generalized and multifunctional FACTS controllers. References: 1. T J E Miller, “Reactive Power Control in Power Systems” John Wiley, 1982. 2. N G Hingorani and L Gyugyi, “Understanding FACTS”
IEEE Press, 2000.
3. Y.H. Song and A.T. Johns “Flexible ac Transmission Systems (FACTS)” IEEE Press, 1999. 43
4. R. Mohan Mathur and Rajiv K. Varma, “Thyristor based FACTS controllers for Electrical Transmission Systems”, Wiley Interscience, IEEE Press 2002. 5. Padiyar K.R. “Facts Controllers In Power Transmission and Distribution”, New Age International Publishers, June 2007.
44
MEEID 206.3
POWER ELECTRONICS APPLICATIONS IN POWER SYSTEMS SYSTEMS Module 1: Introduction
L T P C 3 0 0 3
Concept and General System Considerations. Power Flow in AC System. Definitions on FACTS .Basic Types of FACTS Controllers. Converters for Static Compensation. MultiPulse Converters and Interface Magnetics. Transformer Connections for 12, 24 and 48 pulse operation. Multi-Level Inverters - Diode Clamped Type, Flying Capacitor and cascade multilevel inverters. Module 2: Static Shunt and Series Compensators SVC and STATCOM, Operation and Control of TSC and TCR, direct and indirect control of STATCOM. Decoupled control strategy - Compensators- Comparison between SVC and STATCOM - transient and dynamic stability enhancement using STATCOM. Static Series Compensators-TSSC, TCSC and SSSC, Operation and Control, External System Control for SeriesCompensators, SSR and its damping - Static Voltage and Phase Angle Regulators, TCVR and TAR, Operation and Control. Module 3: UPFC and IPFC: The Unified Power Flow Controller - operation, comparison with other FACTS devices control of P and Q - dynamic performance - Special Purpose FACTS Controllers -Interline Power Flow Controller - operation and control. Module 4: Power Quality and introduction to custom power devices: Power Quality issues related to distribution systems – custom power devices – Distribution STATCOM – Dynamic Voltage restorer – Unified Power Quality Conditioner – Application of D-STATCOM, DVR and UPQC for improving power quality in distribution systems.Excitation Systems-Need for AVR-brushless alternator - static excitation – Modeling – Stability - Applications ofpower electronics in modern excitation systems. References: 1. N G Hingorani and L Gyugi, Understanding FACTS, IEEE Press, 2000. 2. Y H Song and A T Johns(Ed), Flexible AC Transmission Systems, IEE Press, 2001. 3. Mohan Mathur, Rajiv K Varma, Thyristor Based FACTS Controllers for Electrical Transmission Systems, IEEE Press, 2002. 45
4. Arindom Ghosh and Gerald Ledwich, Power Quality Enhancement Using Custom Power Devices, Kluwer Academic, 2002. 5. Bin W U, High Power Converters and AC drives, John Wiley, 2006. 6. Arriliga and Watson, Computer Modeling of Electrical Power Systems, Wiley, 2001. 7. Olle I Elgerd, Energy Systems Theory, TMH, 1986. 8. C Schauder and H Mehta, Vector Analysis and Control of Advanced Static VAR Compensators, IEE Proceedings-C, Vol.140, Issue 4, 1993. 9. Schaefer RC, Applying static excitation systems, Industry Applications Magazine, IEEE, Volume Issue 6, Nov.-Dec., 1998. 10. N G Hingorani, Introducing Custom Power, IEEE Spectrum, Vol. 32, No.6, pp 41-48, June, 1995.
46
MEEID 206-4
DIGITAL SIGNAL PROCESSING
L T P C 3 0 0 3
Module1: Introduction to FFT: Discrete Fourier transform - Properties –Efficient computation of DFT-FFT algorithmsRadix-2 FFT algorithms-Decimation in time-Decimation in frequency algorithms-Use of FFT algorithms in Linear filtering, convolution and correlation. Module 2: Digital filter design and realization structures Amplitude and phase response of FIR filters- Linear phase filters- Windowing techniques for design of Linear phase FIR filters- Rectangular, Hamming, Kaiser windows-frequency sampling techniques-IIR filters-magnitude response-Phase response-group delay-Design of low Butterworth filters-Bilinear transformation-Pre warping, impulse invariant transformation- Comparison of FIR and IIR digital filters- Basic FIR and IIR filter realization structures- Signal flow graph representations-use of MATLAB. Module 3: Analysis of finite word-length effects Quantization process and errors- Coefficient quantization effects in IIR and FIR filtersA/D conversion noise- Arithmetic round-off errors- Dynamic range scaling- Overflow oscillations and zero input limit cycles in IIR filters Power Spectrum Estimation-Computation of energy density spectrum- auto correlation and power spectrum of random signals, Periodogram- Use of DFT in Power Spectrum Estimation- Non Parametric methods for power spectral estimation: Barlett and Welch methods-Blackman and Tukey method Module 4: Digital signal processors Introduction to DSP architecture- Addressing modes - Address generation unit- Program control and sequencing- Speed issues- Harvard Architecture, Parallelism, Pipelining – Study of TMS 320C54XX processor- Architectural features – Basic programming – addition – subtraction – multiplication – convolution - FFT.
47
References: 1. David Sanjit K Mitra, Digital Signal Processing: Computer-based approach, 3 rdedn, TMH-2006 2. John G. Proakis, and Dimitris G. Manolakis, Digital Signal Processing, 3rd edition, Prentice-Hall of India Pvt. Ltd, New Delhi, 2000 3. Emmanuel C. Ifeachor, Barrie W. Jervis, Digital Signal Processing-A practical Approach, Pearson, 2002 4.
Avtar Singh and S. Srinivasan, Digital Signal Processing, Thomson- 2004
5. Sen. M Kuo, Woon Seng Gan, Digital Signal Processors, Pearson Education-2005 6. Robert.J. Schilling, Sandra L Harris, Digital Signal Processing, Thomson-2005 7. B.P. Lathi, Signal Processing and Linear systems, Oxford-2000
48
MEEID 207
ELECTRIC DRIVES LABORATORY
L T P C 0 0 3 2
Experiments 1. Closed loop control of high frequency of DC – DC converters 2. Closed loop control of BLDC motors. 3. Closed loop control of Switched reluctance motors. 4. Vector control of three phase induction motors. 5. Vector control of three phase synchronous motors. 6. Closed loop control of PMSM. 7. Sensor less control of motors. 8. Use of Microcontrollers, DSP and FPGA for the control motors. (At least 5 experiments in the list are to be conducted in the laboratory. Additional experiments and simulation assignments can also be given by the department)
49
MEEID 208
SEMINAR – II
L T P C 0 0 2 1
Each student is required to present a technical paper on a subject approved by the department. The paper should be on a recent advancement/trend in the field of Power Electronics, drives, Control etc. He/she shall submit a report of the paper presented to the department.
50
MEEID 301
INDUSTRIAL TRAINING AND MINIPROJECT
L T P C 0 0 20 10
The student shall undergo (1) Industrial training of 3 month duration OR (2) Industrial training of one month duration and a Mini Project of two month duration.. Industrial training should be carried out in an industry / company approved by the institution and under the guidance of a staff member in the concerned field. At the end of the training he / she has to submit a report on the work being carried out. He/she should also submit mini project report.
MEEID 302
MASTER’S THESIS PHASE - I
L T P C 0 0 10 5
The thesis (Phase-I) shall consist of research work done by the candidate or a comprehensive and critical review of any recent development in the subject or a detailed report of project work consisting of experimentation/numerical work, design and or development work that the candidate has executed. In Phase-I of the thesis it is expected that the student should decide a topic of thesis, which is useful in the field or practical life. It is expected that students should refer national and international journals, proceedings of national and international seminars. Emphasis should be given to the introduction to the topic, literature review, and scope of the proposed work along with some preliminary work / experimentation carried out on the thesis topic. Student should submit Phase-I thesis report in two copies covering the content discussed above and highlighting the features of work to be carried out in part-I of the thesis. Student should follow standard practice of thesis writing. The candidate will deliver a talk on the topic and the assessment will be made on the basis of the term work and talks there on by a of internal examiners one of which will be the internal guide. These examiners should give suggestions in writing to the student to be incorporated in thesis work Phase-II.
51
MEEID 401
THESIS EVALUATION
L T P C 0 0 30 15
In the fourth semester the student has continue the thesis work and present the report. At the end of successfully finishing the work he / she has to submit a detailed report and has to present for a viva–voce. The work carried out should lead to a publication in a National / International Conference. They should submit the paper before the evaluation of the thesis and specific weightage will be given to accepted papers in reputed conferences.
MEEID 402
MASTER’S COMPREHENSIVE VIVA
A comprehensive viva voce examination will be conducted at the end of the fourth semester by an internal and external examiners appointed by the university to assess the candidates overall knowledge in the specified field of specialization.
52
SCHEME AND SYLLABI FOR
M. Tech. DEGREE PROGRAMME IN
ELECTRICAL AND ELECTRONICS ENGINEERING WITH SPECIALIZATION IN
INDUSTRIAL DRIVES AND CONTROL (2011 ISSION ONWARDS)
SCHEME AND SYLLABI FOR M. Tech. DEGREE PROGRAMME IN ELECTRICAL AND ELECTRONICS ENGINEERING WITH SPECIALIZATION IN INDUSTRIAL DRIVES AND CONTROL SEMESTER - I Hrs / Week Sl. No.
Course No.
Evaluation Scheme (Marks)
Subject
Sessional L
T
P TA
CT
Sub Total
ESE
Total
Credits (C)
1
MEEID 101 Advanced Mathematics
3
1
0
25
25
50
100
150
4
2
Analysis of Power Electronic MEEID 102 Systems I
3
1
0
25
25
50
100
150
4
3
MEEID 103 Dynamics of Electrical Machines
3
1
0
25
25
50
100
150
4
4
MEEID 104 Electric Drives
3
1
0
25
25
50
100
150
4
5
MEEID 105 Elective – I
3
0
0
25
25
50
100
150
3
6
MEEID 106 Elective – II
3
0
0
25
25
50
100
150
3
7
MEEID 107
0
0
3
25
25
50
100
150
2
8
MEEID 108 Seminar – I
0
0
2
50
0
50
0
50
1
18
4
5
225
175
400
700
1100
25
Power Electronics Lab
Total
Elective – I (MEEID 105)
Elective – II (MEEID 106)
MEEID 105 - 1
Systems Theory
MEEID 106 - 1
Optimal Control Theory
MEEID 105 -2
Optimization Techniques
MEEID 106 - 2
Stochastic Modeling And Applications
MEEID 105 - 3
Digital Simulation of Power Electronic Systems
MEEID 106 – 3
Advanced Power Semiconductor Devices
MEEID 105 - 4
Estimation Theory
MEEID 106 - 4
Computer Aided Design of Electrical Machines
L – Lecture, T – Tutorial, P – Practical TA – Teacher’s Assessment (Assignments, attendance, group discussion, Quiz, tutorials, seminars, etc.) CT – Class Test (Minimum of two tests to be conducted by the Institute) ESE – End Semester Examination to be conducted by the University Electives: New Electives may be added by the department according to the needs of emerging fields of technology. The name of the elective and its syllabus should be submitted to the University before the course is offered.
1
SEMESTER - II Hrs / Week Sl. No.
Course No.
Evaluation Scheme (Marks)
Subject
Sessional L
T
P TA
CT
Sub Total
ESE
Total
Credits (C)
1
MEEID 201 Advanced Control of AC Drives
3
1
0
25
25
50
100
150
4
2
MEEID 202 Digital Control Systems
3
1
0
25
25
50
100
150
4
3
MEEID 203
3
1
0
25
25
50
100
150
4
3
1
0
25
25
50
100
150
4
4
Analysis of Power Electronic Systems II Special Electrical Machines and MEEID 204 Drives
5
MEEID 205 Elective – III
3
0
0
25
25
50
100
150
3
6
MEEID 206 Elective – IV
3
0
0
25
25
50
100
150
3
7
MEEID 207
0
0
3
25
25
50
100
150
2
8
MEEID 208 Seminar – II
0
0
2
50
0
50
0
50
1
18
4
5
225
175
400
700
1100
25
Electric Drives Laboratory
Total
Elective – III (MEEID 205)
Elective – IV (MEEID 206)
MEEID 205 - 1
Adaptive Control
MEEID 206 - 1
MEEID 205 – 2
Soft Computing techniques
MEEID 206 – 2
MEEID 205 – 3
Robotics and Automation
MEEID 206 – 3
MEEID 205 - 4
Power Quality
MEEID 206 - 4
Embedded Controllers Flexible AC Transmission Systems (FACTS) Power Electronics Applications in Power Systems Digital Signal Processing
L – Lecture, T – Tutorial, P – Practical TA – Teacher’s Assessment (Assignments, attendance, group discussion, Quiz, tutorials, seminars, etc.) CT – Class Test (Minimum of two tests to be conducted by the Institute) ESE – End Semester Examination to be conducted by the University Electives: New Electives may be added by the department according to the needs of emerging fields of technology. The name of the elective and its syllabus should be submitted to the University before the course is offered.
2
SEMESTER - III Hrs / Week Sl. No.
Course No.
Evaluation Scheme (Marks)
Subject
Sessional L
T
P TA*
CT
Sub Total
ESE** Total (Oral)
Credits (C)
1
MEEID 301
1. Industrial Training OR 2. Industrial Training and Mini Project
0
0
20
50
0
50
100
150
10
2
MEEID 302
Master’s Thesis Phase - I
0
0
10
100***
0
100
0
100
5
Total
0
0
30
150
0
150
100
250
15
*
TA- based on technical report submitted together with a presentation at the end of the industrial training.
**
Industrial Training and miniproject evaluation will be conducted at end of the third semester for Industrial Training by a of examiners, with at least one external examiner, constituted by the university.
***
The marks will be awarded by a of examiners constituted by the concerned institute
SEMESTER - IV Hrs / Week Sl. No.
Course No.
Evaluation Scheme (Marks)
Subject L
1
MEEID 401
Thesis Evaluation
2
MEEID 402
Master’s Comprehensive Viva
Credits ESE** (C) (Oral Total & Sub Total Viva)
Sessional
0
Total Grand Total of all Semesters
T
0
P
30
TA*
CT
100
0
100
100
200
100
100
15
300
15
2750
80
*
50%of the marks to be awarded by the project guide and the remaining 50% to be awarded by a of examiners, including project guide, constituted by the department.
**
Thesis evaluation and Viva-voce will be conducted at end of the fourth semester by a of examiners, with at least one external examiner, constituted by the university.
3
MEEID 101
ADVANCED MATHEMATICS
L T P C 3 1 0 4
Module 1: Complex Variables and Partial Differential Equations Cauchy’s integral formula, Poisson’s integral formula, Liovilli’s Theorem, Conformal Transformation, Schwarz-Christoffels transformation, Partial differential equation-Laplace equation in two dimension(Cartesian and polar), Boundary Value Problems, Green’s Theorem. Module 2: Functional Analysis Definition of Vector spaces – examples - somorphism of vector spaces - Linear independence and basis. Dimension of vector space - Fundamentals of Normed linear spaces - Basic concept of linear transformations. Module 3: Random Processes Probability concepts - Variables and distribution function - PDF, Markov Chains – Stochastic Processes – Characteristics - Markov Processes – Correlation - Auto Correlation – Cross Correlations – Response of linear discrete time systems to white noise Module 4: Introduction to Mathematical Programming Non Linear Programming Problems - Unconstrained optimization, optimality criteria, Direct Search Methods: Hooke-Jeeves Pattern Search, Powel’s conjugate direction method. Gradient based methods: steepest descent method - Newton’s method, Constrained optimization: Lagrange multiplier - Kuhn Tucker conditions. References: 1. Erwin Kreyszig, Introductory Functional Analysis with Applications, John Wiley & Sons, 2004. 2. A Papoulis, Probability, Random Variables and Stochastic Processes, 3rd edition, McGraw Hill. 3. Kalyanmoy Deb, Optimization for Engineering Design, PHI-2002. 4. Simmons D M, Non Linear Programming for Operations Research, PHI. 5. Elsgoltis, Differential Equations and Calculus of Variations, MIR publication. 4
6. Ochi M K, Applied Probability and Stochastic Processes, John Wiley & Sons, 1992. 7. D G Luenberger, Optimization by Vector Space Method, John Wiley. 8. B S Grewal, Higher Engineering Mathematics, Khanna Publishers.
5
MEEID 102
ANALYSIS OF POWER ELECTRONIC SYSTEMS I
L T P C 3 1 0 4
Module 1: Overview of Devices Ideal and Real switches, static and dynamic performance, loss calculation and selection of heat sink. Power diodes, Power Transistors, Power MOSFETS, IGBTs, Thyristor, GTOStatic and Dynamic Performance, Driver circuits. Turn on; Turn off and over voltage Snubbers for switching devices. Rectifiers: Uncontrolled rectifiers-Single phase and Three phase- Analysis with R and RL loads, Analysis with capacitive filter- Line current Distortion, THD, DPF, PF, Line voltage distortion - effect of source inductance- Effect of Single Phase Rectifiers on Neutral Currents in a Three Phase Four-Wire System. Controlled Rectifiers-Single phase and Three phase-fully controlled and semi controlled-Analysis with RL, RLE loadsPerformance, Voltage conversion ratio, Effect of source inductance- Power factor – Inversion mode of operation - Dual converters- Circulating and Non circulatingApplications. Module 2: DC Choppers Principle of operation, two quadrant and four quadrant choppers, PWM control- Forced commutation- Voltage and Current commutated choppers -effect of source inductancefilter circuits –multiphase chopper. Module 3: AC voltage controllers and Cycloconverters Single Phase and Three phase AC Voltage Controllers-Principle operation-analysis with R and RL loads, Thyristor Controlled Inductor, Circulating and Noncirculating type cycloconverters- Analysis with R and RL loads. Module 4: Inverters Half Bridge and Full Bridge-Six Steps and Two Levels PWM. Analysis with delta and Y connected RL loads- Harmonics and Voltage control in inverters-Sine triangle modulationUnipolar and Bipolar modulation-Selective harmonic elimination- output filter designResonant inverters-series and parallel. Current source inverter-Single phase and Three phase. Multilevel Inverters-Types. 6
References: 1. Joseph Vithayathil, Principles of Power Electronics, McGrawHill-1994 2. William Shepherd, Li Zhang., Power Converter Circuits, Marcell Dekker, 2004 3. Ned Mohan, Undeland, Robbins, Power Electronics-3rd edn, John Wiley, 2003 4. Philip T Krein, Elements of Power Electronics- Oxford, 1998 5. Issa Batarseh, Power Electronics Circuits, John Wiley, 2004 6. Cyril W Lander, Power Electronics, Third Edition, McGraw-Hill- 1993 7. Daniel W. Hart, Introduction to Power Electronics, Prentice Hall, 1997
7
MEEID 103
DYNAMICS OF ELECTRICAL MACHINES
L T P C 3 1 0 4
Module 1: Introduction – Unified approach to the analysis of electrical machine – basic two-pole machine – Kron’s primitive machine – voltage, power and torque equation –linear transformation from 3-phase to 2-phase - transformation from rotating axes to stationary axes – power invariance – park’s transformation for 3-phase synchronous and induction machines. Module 2: DC machines – application of generalized theory to separately excited, shunt, series and compound machines – sudden short circuit of separately excited generator - separately excited dc motor - steady state and transient analysis – transfer functions of separately excited dc generator & motor. Module 3: Polyphase synchronous machines – generalized machine equations – steady state analysis of salient pole and non salient pole machines – phasor diagrams – power angle characteristics – reactive power – short circuit ratio – transient analysis – sudden 3-phase short circuit at generator terminals – reactance – time constants – transient power angle characteristics. Module 4: Induction machines – 3-phase induction machine- generalized model – voltage equation – steady state analysis – equivalent circuit – torque-slip characteristics – effect of voltage and frequency variations – electric transients in induction machines – speed control of induction motor – introduction to vector control – applications in speed control of induction machine – single phase induction motor – generalized model – voltage and torque equations – steady state analysis. References: 1. PS. Bhimbra, Generalized Theory of Electrical Machines, Khanna Publishers
8
2. Krauss, Wasyncsuk and Sudholf, Analysis of Electrical Machines and Drive Systems, John Wiley 3. A E Fitzgerald, Kingsley, Umans, Electric Machinery, McGraw Hill 4. Adkins and Harley, General Theory of AC Machines 5. Bimal K Bose, Modern Power Electronics & AC Drives, Pearson Education
9
MEEID 104
ELECTRIC DRIVES
L T P C 3 1 0 4
Module 1: Components of electrical Drives – electric machines, power converter, controllers dynamics of electric drive - torque equation - equivalent values of drive parameterscomponents of load torques types of load - four quadrant operation of a motor –– steady state stability – load equalization – classes of motor duty- determination of motor rating Module 2: DC motor drives – dc motors & their performance (shunt, series, compound, permanent magnet motor, universal motor, dc servomotor) – braking – regenerative, dynamic braking, plugging –Transient analysis of separately excited motor – converter control of dc motors – analysis of separately excited & series motor with 1-phase and 3-phase converters – dual converter –analysis of chopper controlled dc drives – converter ratings and closed loop control – transfer function of self, separately excited DC motors – linear transfer function model of power converters – sensing and feeds back elements – current and speed loops, P, PI and PID controllers – response comparison – simulation of converter and chopper fed DC drive Module 3: Induction motor drives – stator voltage control of induction motor – torque-slip characteristics – operation with different types of loads – operation with unbalanced source voltages and single phasing – analysis of induction motor fed from non-sinusoidal voltage supply – stator frequency control – variable frequency operation – V/F control, controlled current and controlled slip operation – effect of harmonics and control of harmonics – PWM inverter drives – multiquadrant drives – rotor resistance control – slip torque characteristic – torque equations, constant torque operation – slip power recovery scheme – torque equation – torque slip characteristics – power factor – methods of improving power factor – limited sub synchronous speed operation – super synchronous speed operation.
10
Module 4: Synchronous motor drives – speed control of synchronous motors – adjustable frequency operation of synchronous motors – principles of synchronous motor control – voltage source inverter drive with open loop control – self controlled synchronous motor with electronic commutation – self controlled synchronous motor drive using load commutated thyristor inverter. References: 1. R. Krishnan, Electrical Motor Drives, PHI-2003 2. G.K.Dubey, Power semiconductor controlled drives, Prentice Hall- 1989 3. G.K.Dubey, Fundamentals of Electrical Drives, Narosa- 1995 4. S.A. Nasar, Boldea , Electrical Drives, Second Edition, CRC Press - 2006 5. M. A. ElSharkawi , Fundamentals of Electrical Drives , Thomson Learning -2000 6. W. Leohnard, Control of Electric Drives,-Springer- 2001 7. Murphy and Turnbull, Power Electronic Control of AC motors, Pergamon Press 8. Vedam Subrahmaniam, Electric Drives, TMH-1994
11
MEEID 105-1
SYSTEMS THEORY
L T P C 3 0 0 3
Module 1: State variable representation of system - concept of state - Equilibrium points – Stability Solution of state equation - eigen values - eigen vectors – modes - modal decomposition eigen value and stability -
State space representation of discrete time systems -
Discretization of continuous time state equation Module 2: Lyapunov stability - definition of stability, asymptotic stability and instability Lyapunov’s second method - Lyapunov’s stability analysis of LTI continuous time and discrete time systems - stability analysis of non linear system - Krasovski’s theorem variable gradient method Module 3: Concepts of controllability and observability - controllability and observability tests for continuous time and discrete time systems - controllability and observability studies based on canonical forms of state model - effect of state on controllability and observability - pole placement by state for continuous and discrete time systems Design of full order and reduced order observer for continuous time and discrete time systems Module 4: Optimal control - formulation of optimal control problem - Minimum time control problem -minimum energy problem - minimum fuel problem - state regulator problem - output regulator problem – tracking problem - choice of performance measure - optimal control based on quadratic performance measure – optimal control system design using second method Lyapunov - solution of reduced Riccatti equation. Robust control systems – introduction - sensitivity analysis of robustness - system with uncertain parameters - design of robust PID controlled systems.
12
References: 1. Thomas Kailath, Linear systems, Prentice Hall Inc 2. K.Ogata, Modern control Engg (Second Edition), Prentice Hall Inc, 1990 3. K.Ogata, Discrete time control systems, P.H.I 4. M.Gopal, Digital Control and State Variable methods, TMH, 1997 5. M.Gopal, Modern Control System Theory 6. C.T.Chen, Linear system theory and design, New York,Holt Rinechart and Winston , 1984 7. Richard.C.Dorf and R.T Bishop, Modern Control System, P.H.I
13
MEEID 106-3
ADVANCED POWER SEMICONDUCTOR DEVICES
L T P C 3 0 0 3
Module 1: Introduction Power switching devices overview – Attributes of an ideal switch, application requirements, circuit symbols; Power handling capability – (SOA); Device selection strategy – On-state and switching losses – EMI due to switching - Power diodes - Types, forward and reverse characteristics, switching characteristics – rating. Shottky Diode Module 2: Current Controlled Devices BJT’s – Construction, Device Physics, static characteristics, switching characteristics; Negative temperature co-efficient and secondary breakdown; Power Darlington Thyristors – Physical and electrical principle underlying operation, Gate and switching characteristics; converter grade and inverter grade and other types; series and parallel operation; comparison of BJT and Thyristor – steady state and dynamic models of BJT & Thyristor. Module 3: Voltage Controlled Devices Power MOSFETs and IGBTs – Principle of voltage controlled devices, construction, types, Device physics, Static and Switching Characteristics- Steady state and dynamic models of MOSFET and IGBTs - Basics of GTO, MCT, FCT, RCT and IGCT. Module 4: Firing and Protection Circuits Necessity of isolation, pulse transformer, optocoupler – Gate drives circuit: SCR, MOSFET,IGBTs and base driving for power BJT. Over voltage, over current and gate protections; Designof snubbers. Thermal Protection:Heat transfer – conduction, convection and radiation; Cooling – liquid cooling, vapour – phasecooling; Guidance for hear sink selection – Thermal resistance and impedance -Electrical analogyof thermal components, heat sink types and design – Mounting types.
References: 1. Kassakian J G et al, Principles of Power Electronics, Addison Wesley, 1991. 22
MEEID 107
POWER ELECTRONICS LABORATORY
L T P C 0 0 3 2
LIST OF EXPERIMENTS: 1. Firing schemes for converters. 2. Single Phase Semi-converter with R-L and R-L-E loads for continuous and discontinuous conduction modes. 3. Single phase full- converter with R-L and R-L-E loads for continuous and discontinuous conduction modes. 4. Three phase full-converter with R-L-E load. 5. Controlled and Uncontrolled rectifier with different types of filters-continuous. and discontinuous modes of operation. 6. Transformer and Inductor design. 7. Voltage and current commutated choppers. 8. MOSFET, IGBT based Choppers. 9. IGBT and MOSFET based inverters. 10. Current source inverter. 11. Single phase AC voltage controller. 12. Transfer function of a DC Motor. 13. Resonant Inverters. 14. Closed loop control of converter fed DC motor Drives. 15. Closed loop control of chopper fed DC motor drives. 16. VSI fed three phase induction motor drive. 17. Three phase synchronous motor and drive. 18. PC based control of power electronic devices. 19. Microcontroller and DSP based control of dc-dc converters. 20. Study of harmonic pollution by power electronics loads. (At least 15 experiments in the list are to be conducted in the laboratory. Additional experiments and simulation assignments can also be given by the department).
26
MEEID 108
SEMINAR – I
L T P C 0 0 2 1
Each student is required to present a technical paper on a subject approved by the department. The paper should be on a recent advancement/trend in the field of Power Electronics, drives, Control etc. He/she shall submit a report of the paper presented to the department.
27
MEEID 201
ADVANCED CONTROL OF AC DRIVES
L T P C 3 1 0 4
Module 1: Modeling Dynamic d-q modeling of induction machines - stator, rotor and synchronously rotating reference frame models, state space equations and dynamic simulation, Space Phasor model – control principle of the induction motor Module 2: Vector Control Vector controlled induction motor drive - Basic principle-Direct Rotor flux oriented vector control - Estimation of rotor flux and torque - Implementation with current source and voltage source inverters Stator flux oriented vector control - Indirect rotor flux oriented vector control scheme implementation– tuning - Dynamic simulation. Parameter sensitivity and compensation of vector controlled induction motors-Selection of Flux level - Flux weakening operation - Speed controller design -Vector control strategies for Synchronous motor Module 3 Doubly-fed machine speed control by rotor rheostat – static kramer drive – phasor diagram, equivalent – speed control – power factor improvement – Static Scherbius drive – Modes of operation - Direct torque control of induction motor – principle – control strategy – space vector modulation – reduction of torque and flux ripple – comparison of DTC and FOC Module 4 Sensor less Control: Principles for speed sensor less control - Sensor less methods for scalar control, Sensor less methods for vector control, Introduction to observer based techniques, Basic principle of DTFC.
28
References 1. R Krishnan, Electric Motor Drives, PHI. 2. D W Novotny and T A Lipo, Vector Control and Dynamics of AC Drives, Oxford University Press, 1996. 3. B K Bose, Modern Power Electronics and AC Drives, Pearson-2002. Leonhard, Control of Electric Drives, Springer-2001. 4. Kazmierkowski, Krishnan, Blaabjerg, Control in Power Electronics-Selected Problems, Academic Press, 2002. 5. John Chiasson, Modeling and High Performance Control of Electric Machines, WileyIEEE Press, 2005. 6. I Boldea, S A Nasar, Electric Drives, 2ndedition, CRC Press, 2006. 7. K Rajashekara, Sensorless Control of AC motors, IEEE Press, 1996. 8. I Boldea, S A Nasar, Vector Control of AC Drives, CRC Press, 1992. 9. J Holtz, Sensorless Control of Induction Motor Drives, Proceedings of the IEEE, August 2002, PP 1359-1394.
29
MEEID 202
DIGITAL CONTROL SYSTEMS
L T P C 3 1 0 4
Module 1: Basic concepts in sampled data systems Discrete time signals-sampling process-effect of sampling-loss of information and noise due to sampling-signal reconstruction-sampling theorem-hold circuits (ZOH,FOH)-z transforms-inverse z transform-difference equations- solution using z transform-system transfer function-poles and zeros-influence of pole location on time response-effect of zeros Module 2: Analysis in z-domain Stability- Jury’s test –Schur Cohn test –bilinear transformation –Routh –Hurwitz method in w plane Discret Equivalents-Via numerical integration – pole – zero matching –hold equivalents Module 3: Digital Controller Design using transform techniques –by emulation –by root locus in the z-plane –by frequency response methods – Direct Design –method of Ragazzini-Design using State –Space approach-Controllability-Observability-Control Law Design. Module 4: Estimator/Observer Design Full and reduced order observers-regulator design –case with reference input –separation principle Case Studies Case Studies References: 1. Gene F Franklin, J David Powell, Michael Workman, Digital control of dynamic systems, Pearson education 2. J R Liegh,Applied Digital Control,Rinchart and Winston Inc,New Delhi 3. Frank L Lewis, Applied optimal control and estimation,Prentice-Hall,Englewood Cliffs, New Jersey,1992 4. Benchamin C Kuo ,Digital Control Systems,2nd Edition, Saunders College Publishing,Philadelphia,1992 5. K Ogata,Discrete – Time control systems, Pearson education, Asia
30
6. C L Philips,H T Nagle, Digital control systems, Prentice-Hall, Englewood Cliffs, New Jersey,1995 7. R G Jacquot ,Modern digital control systems,Marcal Decker,New York 1995 8. M Gopal ,Digital control and state variable methods, Tata McGraw-Hill 2009
31
MEEID 203
ANALYSIS OF POWER ELECTRONIC SYSTEMS – II
L T P C 3 1 0 4
Module 1: PWM Strategies for Inverters Sinusoidal PWM - Regular Sampled PWM- Space Vector Modulation - modulation strategies for multilevel inverters of Diode Clamped Type and Flying Capacitor Type, Microcomputer implementation of PWM inverters.Current Regulated PWM Voltage Source Inverters-Methods of Current Control, Hysteresis Control, Variable Band Hysteresis Control, Fixed Switching Frequency Current Control Methods. Module 2: DC-DC Switch Mode Converters Buck, Boost, Buck-Boost SMPS Topologies. Basic Operation-Waveforms-modes of operation – Output voltage ripple-State space modeling-Simulation and closed loop control system design.Push-Pull and Forward Converter Topologies-Basic operation.WaveformsVoltage Mode Control. Half and Full Bridge Converters. Basic Operation and Waveforms - Fly back Converter, Continous and Discontinuous mode operation, Waveforms. Module 3: Resonant Converters Classification of Resonant Converters, Basic Resonant Circuit Concepts, Load Resonant Converter, Resonant Switch Converter, Zero Voltage Switching - Zero current switching – ZVS Clamped Voltage Topologies, Resonant dc-link inverters Module 4: PWM Rectifiers Single
phase
and
three
phase
converters
-
Basic
topologies
-
Control
principles.Introduction to Matrix Converters-Matrix converter switches and circuit-control strategies-Venturini control method. References: 1. B W Williams, Principles and Elements of Power Electronics, University of Strathclyde Glasgow, 2006 2. Mohan, Undeland, Robbins, Power Electronics -3rd edition, John Wiley and Sons, 2003. 3. William Shepherd, Li Zhang, Power Converter Circuits, Marcel Decker, 2004. 4. Prof. Ramnarayanan, Course Material on Switch Mode Power Conversion, Electrical Department, IISc, Bangalore, 2006. 5. Philip T Krein, Elements of Power Electronics, Oxford, 1998. 32
6. B K Bose, Modern Power Electronics and AC Drives, Pearson Education, 2002. 7. Kazmierkowski, Krishnan, Blaabjerg, Control in Power Electronics, Academic Press,02 8. Issa Batarseh, Power Electronic Circuits, John Wiley, 2004.
33
MEEID 204
SPECIAL ELECTRICAL MACHINES AND DRIVES
L T P C 3 1 0 4
Module 1 Stepper Motors - Constructional features, principle of operation, modes of excitation, single phase stepping motors, torque production in variable Reluctance (VR) stepping motor, Dynamic characteristics, Drive systems and circuit for open loop control, Closed loop control of stepping motor, microprocessor based controller. Module 2 Switched Reluctance Motors - Constructional features, principle of operation. Torque equation, Power controllers, Characteristics and control. Microprocessor based controller.Sensor less control. Synchronous Reluctance Motors-Constructional features: axial and radial air gap Motors.Operating principle, reluctance torque – Phasor diagram, motor characteristics. Module 3 Permanent Magnet Brushless DC Motors - Commutation in DC motors, Difference between mechanical and electronic commutators, Hall sensors, Optical sensors, Multiphase Brushless motor, Square wave permanent magnet brushless motor drives, Torque and emf equation, Torque-speed characteristics, Controllers-Microprocessor based controller. Sensorless control. Module 4 Permanent Magnet Synchronous Motors - Principle of operation, EMF, power input and torque expressions, Phasor diagram, Power controllers, Torque speed characteristics, Self control, Vector control, Current control schemes. Sensor less control. References: 1. Kenjo T, Sugawara A, Stepping Motors and Their Microprocessor Control, Clarendon Press, Oxford, 1994 2. Miller T J E, Switched Reluctance Motor and Their Control, Clarendon Press, Oxford, 1993. 3. Miller T J E, Brushless Permanent Magnet and Reluctance Motor Drives, Clarendon Press, Oxford, 1989. 4. B K Bose, Modern Power Electronics & AC drives, Pearson, 2002. 34
5. Kenjo T, Power Electronics for the Microprocessor Age, Oxford University Press, 1990. 6. Ali Emadi (Ed), Handbook of Automotive Power Electronics and Motor Drives, CRC Press, 2005. 7. R Krishnan, Electric Motor Drives – Modeling, Analysis and Control, PHI, 2003. 8. H A Toliyat, S Campbell, DSP Based Electro Mechanical Motion Control, CRC Press, 2004.
35
MEEID 205-1
ADAPTIVE CONTROL
L T P C 3 0 0 3
Module 1: Introduction Adaptive Control-effects of process variation-Adaptive schemes-Adaptive Control problem- Applications Real-Time Parameter Estimation-Introduction-Least Squares and Regression Models-Estimating-Parameters in Dynamical Systems Module 2: Model-Reference Adaptive Systems Introduction-The MIT Rule-Determination of the Adaptation Gain-Lyapunov TheoryDesign of MRAS Using Lyapunov Theory-Bounded-Input-Bounded-Output StabilityApplications to Adaptive control Module 3: Self-Tuning Regulators Introduction-Pole Placement Dedirect Self-tuning Regulators-Continuous Time Selftuners-Direct Self-tuning Regulators-Disturbances with Known CharacteristicsRelations between MRAS and STR Module 4: Gain Scheduling Introduction-
Principle
and
Design
of
Gain
Scheduling
controllers-Nonlinear
Transformations applications of Gain Scheduling. Practical Issues and ImplementationController and estimator implementation- operational issues. Case Studies References: 1. Karl Jhon Astrom & Bjom Wittenmark, Adaptive Control, Addison Wesley, 1994. Shankar Sastry, Adaptive Control, PHI (Eastern Economy Edition), 1989. 2. Karl Jhon Astrom, Adaptive Control, Pearson Education, 2001. 3. Petros A Ioannou, Jing, Robust Adaptive Control, Prentice-Hall, 1995. 4. Eykhoff P, System Identification: Parameter and State Estimation, 1974. 5. Ljung, System Identification Theory for the , Prentice-Hall, 1987.
36
MEEID 205-2
SOFT COMPUTING TECHNIQUES
L T P C 3 0 0 3
Module 1: System Identification Least Square Method-LSE for non linear load- Validation of simulation model-computer simulation of continuous and discrete system. Module 2: Neural Network Different
architectures-supervised
learning-perceptron-
Adaline-Back
Propagation-
Unsupervised learning-Competitive learning-Kohenon self organizing network-Hebbian learning- Hopfield network- ART network-NNW applications in control, identification and pattern recognition. Module 3: Fuzzy Logic Basic concepts-set theoretic operations-hip function-fuzzy rules-fuzzy reasoningfuzzy inference systems-Mamdani and Sugeno type-defuzzification- fuzzy controllersapplications in electric drives. Module 4: Neuro Fuzzy Modeling - Neuro fuzzy inference system-controllers-Back propagation through recurrent learning- Reinforced learning. Genetic Algorithms-Basic concepts-design issues-modeling hybrid models. References: 1. S Rajasekharan, Vijaya Lakhmi Pai, Neural Network, Fuzzy logic and Genetic Algorithm, PHI, 2002 2. J S R Lang, C T Sun, Mizutani, Neuro Fuzzy and Soft Computing. 3. David E Goldberg, Genetic Algorithms. 4. C T Lin, C S G Lee, Neural Fuzzy Systems. 5. Bort Kosko, Fuzzy Engineering. 6. Simon Haykin, Neural networks. 7. M Ananda Rao, J Sreenivas, Neural Network Algorithm and Applications. 8. B K Bose, Modern Power Electronics & AC drives, Pearson, 2002. 9. Cirstea, Dinu, Mccormick, Neural and Fuzzy Logic Control of Drives and Power systems, Elsevier, 2002.
37
MEEID 205-3
ROBOTICS AND AUTOMATION
L T P C 3 0 0 3
Module 1: Introduction Geometric configuration of robots – Manipulators – Drive systems – Internal and external sensors – End effectors – Control systems – Robot programming languages and applications –Introduction to robotic vision Module 2: Robot Arm Kinematics Direct and inverse kinematics – Rotation matrices – Composite rotation matrices – Euler angle representation – Homogenous transformation – Denavit Hattenberg representation and various arm configurations.
Module 3: Robot Arm Dynamics Lagrange – Euler formulation, t velocities – Kinetic energy – Potential energy and motion equations – Generalized D’Alembert equations of motion.
Module 4: Planning of Manipulator Trajectories General consideration on trajectory planning t interpolation & Cartesian path trajectories.Control of Robot Manipulators-PID control computed, torque technique – Near minimum time control – Variable structurecontrol – Non-linear decoupled control – Resolved motion control and adaptive control.. References: 1. Fu K S, Gonazlez R C and Lee C S G, Robotics (Control, Sensing, Vision and Intelligence), McGraw-Hill, 1987. 2. Wesley, E Sryda, Industrial Robots: Computer Interfacing and Control. PHI, 1985. 3. Asada and Slotine, Robot Analysis and Control, John Wiley and Sons, 1986. 4. Philippe Coiffet, Robot Technology, Vol. II (Modeling and Control), Prentice Hall INC,1981. 5. Saced B Niku, Introduction to Robotics, Analysis, Systems and Applications, Pearson Education, 2002. 6. Groover M P, Mitchell Wesis, Industrial Robotics Technology Programming and Applications, Tata McGraw-Hill, 1986. 7. Sciavicco L, B Siciliano, Modeling & Control of Robot Manipulators, 2nd Edition, Springer Verlag, 2000. 38
8. Gray J O, D G Caldwell (Ed), Advanced Robotics & Intelligent Machines, The Institution of Electrical Engineers, UK, 1996. 9. Craig John J, Introduction to Robotics: Mechanics and Control, Pearson, 1989.
39
MEEID 205-4
POWER QUALITY
L T P C 3 0 0 3
Module 1 Introduction-power quality-voltage quality-overview of power quality phenomenaclassification of power quality issues-power quality measures and standards-THD-TIFDIN-C-message weights-flicker factor-transient phenomena-occurrence of power quality problems-power acceptability curves-IEEE guides, standards and recommended practices. Module 2 Harmonics-individual and total harmonic distortion-RMS value of a harmonic waveformtriplex harmonics-important harmonic introducing devices-SMPS- Three phase power converters-arcing devices-saturable devices-harmonic distortion of fluorescent lampseffect of power system harmonics on power system equipment and loads. Modeling of networks and components under non-sinusoidal conditions-transmission and distribution systems-shunt capacitors-transformers-electric machines-ground systems-loads that cause power quality problems-power quality problems created by drives and its impact on drives Module 3 Power factor improvement-ive Compensation.ive Filtering. Harmonic Resonance Impedance Scan Analysis- Active Power Factor Corrected Single Phase Front End, Control Methods for Single Phase APFC, Three Phase APFC and Control Techniques, PFC Based on Bilateral Single Phase and Three Phase Converter. static var compensatorsSVC and STATCOM Module 4 Active Harmonic Filtering-Shunt Injection Filter for single phase , three-phase three-wire and three-phase four-wire systems . d-q domain control of three phase shunt active filters uninterruptible power supplies-constant voltage transformers- series active power filtering techniques for harmonic cancellation and isolation . Dynamic Voltage Restorers for sag , swell and flicker problems. Grounding and wiring-introduction-NEC grounding requirements-reasons for grounding-typical grounding and wiring problems-solutions to grounding and wiring problems.
40
References: 1. G T Heydt, Electric Power Quality, West LaFayette, Stars in a Circle Publications, 1991. 2. Math H Bollen, Understanding Power Quality Problems, IEEE Press-Standard Publishers, Delhi, 2001. 3. Jose Arillaga and Newille R Watson, Power System Harmonics, John Wiley, 2003. 4. Ali Emadi, Nasiri, Bekiarov, Uninterruptible Power Supplies & Active Filters, CRC Press, 2005. 5. J Arrillaga, Power System Quality Assessment, John Wiley, 2000. 6. J Arrillaga, B C Smith, N R Watson, A R Wood, .Power System Harmonic Analysis. Wiley, 1997. 7. Surya Santoso, H Wayne Beaty, Roger C Dugan, Mark F McGranaghan, Electrical Power System Quality, McGraw Hill, 2002.
41
MEEID 206-1
EMBEDDED CONTROLLERS
L T P C 3 0 0 3
Module 1: C Programming of microcontrollers Review of 8051 assembly language-Introduction to C51 language-keywords-structuressuperloop-timer and interrupt programming-single programs for interfacing LED,LCD display,keyboard and stepper motor control Module 2: PIC processors RISC concepts - PIC processors- overview-18F458 - Architecture – Elementary Assembly Language Programming- Interrupts – Timers – Memory – I/O ports – SPI – I2C bus - A/D converter - USART- PWM – Interfacing. Introduction to FPGA Devices. Module 3: DSP architecture Introduction to DSP architecture- computational building blocks - Address generation unitProgram control and sequencing- Speed issues- Harvard Architecture, Parallelism, Pipelining. Module 4: TMS 320F2407 Architecture- Addressing modes- I/O functionality, Interrupts, ADC, PWM, Event managers- Elementary Assembly Language Programming- Typical applications-buck boost converter, stepper motor control- Software and Hardware Development Tools. References: 1. Mazidi and Mazidi. Embedded system design using 8051 Microcontroller, Pearson2005 Mazidi,PIC Microcontrollers 2. I Scott Mckenzie,8051 Microcontroller programming,Pearson Education 3. Sen M Kuo, Woon .Seng. Gan, Digital signal Processors-Architecture, implementation and applications, Pearson, 2005 4. H.A. Toliyat, S.Campbell, DSP based Electro Mechanical Motion Control, CRC Press2004 5. Avtar Singh and S. Srinivasan, Digital Signal Processing, Thomson- Brooks - 2004 6. Phil Lapsley, Bler, Sholam, E.A.Lee, DSP Processor fundamentals, IEEE Press -1997 7. Wayne Wolf, FPGA based System Design, Pearson - 2004 8. Scott Hauck, The Roles of FPGAs in Reprogrammable Systems, Proceedings of the IEEE, Vol. 86, No. 4, pp. 615-639, April, 1998. 42
MEEID 206-2
FLEXIBLE AC TRANSMISSION SYSTEMS(FACTS)
L T P C 3 0 0 3
Module 1 Reactive power control in electrical power transmission lines - uncompensated line–Shunt
Compensation
and
Series
compensation:
Voltage
Stability-
Improvement of Transient stability, Power Oscillation damping.Introduction to FACTS - Basic Types of FACTS controller- Brief description and definitions of FACTS controllers – Benefits from FACTS technology. Module 2 Variable impedance type Static Var generators – Switching Converter type Var generators Static Var Compensator (SVC) and Static Compensator (STATCOM): Principle of operation, configuration and control – The Regulation Slope- Transient Stability enhancement and Power Oscillation damping Comparison between STATCOM and SVC Module 3 Variable Impedance Type series compensators: Thyristor Switched Series Capacitor (TSSC), Thyristor Controlled Series Capacitor (TCSC) - Sub synchronous characteristicsBasic NGH SSR Damper Static Synchronous Series Compensator (SSSC): Principle of operation, configuration and control. Module 4 Unified Power Flow Controller (UPFC): Principle of operation, Conventional Transmission control capabilities, Comparison of UPFC to Controlled Series Compensators- Control structure. Interline Power Flow Controller (IPFC) – Basic operating Principles and Characteristics Generalized and multifunctional FACTS controllers. References: 1. T J E Miller, “Reactive Power Control in Power Systems” John Wiley, 1982. 2. N G Hingorani and L Gyugyi, “Understanding FACTS”
IEEE Press, 2000.
3. Y.H. Song and A.T. Johns “Flexible ac Transmission Systems (FACTS)” IEEE Press, 1999. 43
4. R. Mohan Mathur and Rajiv K. Varma, “Thyristor based FACTS controllers for Electrical Transmission Systems”, Wiley Interscience, IEEE Press 2002. 5. Padiyar K.R. “Facts Controllers In Power Transmission and Distribution”, New Age International Publishers, June 2007.
44
MEEID 206.3
POWER ELECTRONICS APPLICATIONS IN POWER SYSTEMS SYSTEMS Module 1: Introduction
L T P C 3 0 0 3
Concept and General System Considerations. Power Flow in AC System. Definitions on FACTS .Basic Types of FACTS Controllers. Converters for Static Compensation. MultiPulse Converters and Interface Magnetics. Transformer Connections for 12, 24 and 48 pulse operation. Multi-Level Inverters - Diode Clamped Type, Flying Capacitor and cascade multilevel inverters. Module 2: Static Shunt and Series Compensators SVC and STATCOM, Operation and Control of TSC and TCR, direct and indirect control of STATCOM. Decoupled control strategy - Compensators- Comparison between SVC and STATCOM - transient and dynamic stability enhancement using STATCOM. Static Series Compensators-TSSC, TCSC and SSSC, Operation and Control, External System Control for SeriesCompensators, SSR and its damping - Static Voltage and Phase Angle Regulators, TCVR and TAR, Operation and Control. Module 3: UPFC and IPFC: The Unified Power Flow Controller - operation, comparison with other FACTS devices control of P and Q - dynamic performance - Special Purpose FACTS Controllers -Interline Power Flow Controller - operation and control. Module 4: Power Quality and introduction to custom power devices: Power Quality issues related to distribution systems – custom power devices – Distribution STATCOM – Dynamic Voltage restorer – Unified Power Quality Conditioner – Application of D-STATCOM, DVR and UPQC for improving power quality in distribution systems.Excitation Systems-Need for AVR-brushless alternator - static excitation – Modeling – Stability - Applications ofpower electronics in modern excitation systems. References: 1. N G Hingorani and L Gyugi, Understanding FACTS, IEEE Press, 2000. 2. Y H Song and A T Johns(Ed), Flexible AC Transmission Systems, IEE Press, 2001. 3. Mohan Mathur, Rajiv K Varma, Thyristor Based FACTS Controllers for Electrical Transmission Systems, IEEE Press, 2002. 45
4. Arindom Ghosh and Gerald Ledwich, Power Quality Enhancement Using Custom Power Devices, Kluwer Academic, 2002. 5. Bin W U, High Power Converters and AC drives, John Wiley, 2006. 6. Arriliga and Watson, Computer Modeling of Electrical Power Systems, Wiley, 2001. 7. Olle I Elgerd, Energy Systems Theory, TMH, 1986. 8. C Schauder and H Mehta, Vector Analysis and Control of Advanced Static VAR Compensators, IEE Proceedings-C, Vol.140, Issue 4, 1993. 9. Schaefer RC, Applying static excitation systems, Industry Applications Magazine, IEEE, Volume Issue 6, Nov.-Dec., 1998. 10. N G Hingorani, Introducing Custom Power, IEEE Spectrum, Vol. 32, No.6, pp 41-48, June, 1995.
46
MEEID 206-4
DIGITAL SIGNAL PROCESSING
L T P C 3 0 0 3
Module1: Introduction to FFT: Discrete Fourier transform - Properties –Efficient computation of DFT-FFT algorithmsRadix-2 FFT algorithms-Decimation in time-Decimation in frequency algorithms-Use of FFT algorithms in Linear filtering, convolution and correlation. Module 2: Digital filter design and realization structures Amplitude and phase response of FIR filters- Linear phase filters- Windowing techniques for design of Linear phase FIR filters- Rectangular, Hamming, Kaiser windows-frequency sampling techniques-IIR filters-magnitude response-Phase response-group delay-Design of low Butterworth filters-Bilinear transformation-Pre warping, impulse invariant transformation- Comparison of FIR and IIR digital filters- Basic FIR and IIR filter realization structures- Signal flow graph representations-use of MATLAB. Module 3: Analysis of finite word-length effects Quantization process and errors- Coefficient quantization effects in IIR and FIR filtersA/D conversion noise- Arithmetic round-off errors- Dynamic range scaling- Overflow oscillations and zero input limit cycles in IIR filters Power Spectrum Estimation-Computation of energy density spectrum- auto correlation and power spectrum of random signals, Periodogram- Use of DFT in Power Spectrum Estimation- Non Parametric methods for power spectral estimation: Barlett and Welch methods-Blackman and Tukey method Module 4: Digital signal processors Introduction to DSP architecture- Addressing modes - Address generation unit- Program control and sequencing- Speed issues- Harvard Architecture, Parallelism, Pipelining – Study of TMS 320C54XX processor- Architectural features – Basic programming – addition – subtraction – multiplication – convolution - FFT.
47
References: 1. David Sanjit K Mitra, Digital Signal Processing: Computer-based approach, 3 rdedn, TMH-2006 2. John G. Proakis, and Dimitris G. Manolakis, Digital Signal Processing, 3rd edition, Prentice-Hall of India Pvt. Ltd, New Delhi, 2000 3. Emmanuel C. Ifeachor, Barrie W. Jervis, Digital Signal Processing-A practical Approach, Pearson, 2002 4.
Avtar Singh and S. Srinivasan, Digital Signal Processing, Thomson- 2004
5. Sen. M Kuo, Woon Seng Gan, Digital Signal Processors, Pearson Education-2005 6. Robert.J. Schilling, Sandra L Harris, Digital Signal Processing, Thomson-2005 7. B.P. Lathi, Signal Processing and Linear systems, Oxford-2000
48
MEEID 207
ELECTRIC DRIVES LABORATORY
L T P C 0 0 3 2
Experiments 1. Closed loop control of high frequency of DC – DC converters 2. Closed loop control of BLDC motors. 3. Closed loop control of Switched reluctance motors. 4. Vector control of three phase induction motors. 5. Vector control of three phase synchronous motors. 6. Closed loop control of PMSM. 7. Sensor less control of motors. 8. Use of Microcontrollers, DSP and FPGA for the control motors. (At least 5 experiments in the list are to be conducted in the laboratory. Additional experiments and simulation assignments can also be given by the department)
49
MEEID 208
SEMINAR – II
L T P C 0 0 2 1
Each student is required to present a technical paper on a subject approved by the department. The paper should be on a recent advancement/trend in the field of Power Electronics, drives, Control etc. He/she shall submit a report of the paper presented to the department.
50
MEEID 301
INDUSTRIAL TRAINING AND MINIPROJECT
L T P C 0 0 20 10
The student shall undergo (1) Industrial training of 3 month duration OR (2) Industrial training of one month duration and a Mini Project of two month duration.. Industrial training should be carried out in an industry / company approved by the institution and under the guidance of a staff member in the concerned field. At the end of the training he / she has to submit a report on the work being carried out. He/she should also submit mini project report.
MEEID 302
MASTER’S THESIS PHASE - I
L T P C 0 0 10 5
The thesis (Phase-I) shall consist of research work done by the candidate or a comprehensive and critical review of any recent development in the subject or a detailed report of project work consisting of experimentation/numerical work, design and or development work that the candidate has executed. In Phase-I of the thesis it is expected that the student should decide a topic of thesis, which is useful in the field or practical life. It is expected that students should refer national and international journals, proceedings of national and international seminars. Emphasis should be given to the introduction to the topic, literature review, and scope of the proposed work along with some preliminary work / experimentation carried out on the thesis topic. Student should submit Phase-I thesis report in two copies covering the content discussed above and highlighting the features of work to be carried out in part-I of the thesis. Student should follow standard practice of thesis writing. The candidate will deliver a talk on the topic and the assessment will be made on the basis of the term work and talks there on by a of internal examiners one of which will be the internal guide. These examiners should give suggestions in writing to the student to be incorporated in thesis work Phase-II.
51
MEEID 401
THESIS EVALUATION
L T P C 0 0 30 15
In the fourth semester the student has continue the thesis work and present the report. At the end of successfully finishing the work he / she has to submit a detailed report and has to present for a viva–voce. The work carried out should lead to a publication in a National / International Conference. They should submit the paper before the evaluation of the thesis and specific weightage will be given to accepted papers in reputed conferences.
MEEID 402
MASTER’S COMPREHENSIVE VIVA
A comprehensive viva voce examination will be conducted at the end of the fourth semester by an internal and external examiners appointed by the university to assess the candidates overall knowledge in the specified field of specialization.
52
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