modeling simulation and control of electrical drives edited pdf

IET CONTROL, ROBOTICS AND SENSORS SERIES 118

Modeling, Simulation and
Control of Electrical Drives

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Modeling, Simulation and
Control of Electrical Drives
Edited by
Muhammed Fazlur Rahman and Sanjeet K. Dwivedi

The Institution of Engineering and Technology

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Published by The Institution of Engineering and Technology, London, United Kingdom
The Institution of Engineering and Technology is registered as a Charity in England &
Wales (no. 211014) and Scotland (no. SC038698).
† The Institution of Engineering and Technology 2019
First published 2019
This publication is copyright under the Berne Convention and the Universal Copyright
Convention. All rights reserved. Apart from any fair dealing for the purposes of research
or private study, or criticism or review, as permitted under the Copyright, Designs and
Patents Act 1988, this publication may be reproduced, stored or transmitted, in any
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the case of reprographic reproduction in accordance with the terms of licences issued
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terms should be sent to the publisher at the undermentioned address:
The Institution of Engineering and Technology
Michael Faraday House
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Herts, SG1 2AY, United Kingdom

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The moral rights of the authors to be identified as authors of this work have been
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MATLAB‡ and Simulink‡ are trademarks of The MathWorks, Inc.

British Library Cataloguing in Publication Data
A catalogue record for this product is available from the British Library
ISBN 978-1-78561-587-0 (hardback)
ISBN 978-1-78561-588-7 (PDF)

Typeset in India by MPS Limited
Printed in the UK by CPI Group (UK) Ltd, Croydon

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Contents

About the editors
Preface
Foreword

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xxiii

1 Introduction to electric drives
Muhammed Fazlur Rahman

1

1.1 The role of motor drives in modern industry and energy usage
1.2 Controller hierarchy for electric drives
1.3 Quadrant operation of a drive and typical load torque
1.4 Power switch and integrated control devices for drive systems
1.5 Overview of chapters
List of symbols
Glossary of terms
Further reading

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2 Electric machines, dynamic models and sensors in drive systems
Mohammad Fazlur Rahman, Rukmi Dutta and Dan Xiao

15

2.1 Introduction
2.2 Electric machines and torque–speed (T–w) boundaries
2.3 T–w characteristics within torque–speed boundaries
2.4 Dynamic models of machines and simulation
2.4.1 Dynamic model of DC machines
2.4.2 Dynamics model of synchronous machines in rotor
reference frame [1]
2.4.3 Dynamic model of induction machines in synchronous
reference frame
2.5 Simulation of drive systems
2.5.1 Tuning of an electric drive using a cascaded structure [4]
2.5.2 Voltage reference amplitude limitation
2.5.3 Pulse-width modulation block
2.6 Sensors in drive systems
2.6.1 Current sensors for electric drive systems
2.6.2 Speed sensors for electric drive systems
2.7 Recent developments in PM machines; with reference to
developments of other types: DCM and IM
2.7.1 Developments in winding topologies
2.7.2 Emerging electric machine topologies

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Modeling, simulation and control of electrical drives
2.7.3 Permanent magnet synchronous machines (PMSMs) with
deep flux weakening capability
2.7.4 Control of the PMSM at deep flux weakening
2.8 Summary
List of symbol
Glossary of terms
References

3

Converters for drives
Ramkrishan Maheshwari

63

3.1
3.2

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Introduction
Three-phase two-level inverter
3.2.1 Sinusoidal PWM
3.2.2 Space Vector PWM
3.2.3 Carrier-based implementation of SVPWM
3.3 Three-phase multilevel inverter
3.3.1 Sinusoidal PWM
3.3.2 Space vector PWM
3.3.3 Carrier-based implementation of the three-level
SVPWM [14]
3.3.4 Neutral-point voltage control
3.4 Summary
List of symbols
Glossary of terms
References
4

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DC motor drives
Sanjeev Singh

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4.1
4.2
4.3
4.4

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4.5

Introduction
Modeling of DC motor
Classification of DC motor drives
Converters for DC motor drives
4.4.1 Single-phase controlled AC–DC converters
4.4.2 Three-phase controlled AC–DC converters
4.4.3 Single-phase uncontrolled AC–DC converters
4.4.4 Three-phase uncontrolled AC–DC converters
4.4.5 Choppers
4.4.6 DC–DC converters
Control schemes for DC motor drives
4.5.1 Controlled AC–DC converter-based DC motor drive
4.5.2 Uncontrolled AC–DC converter–chopper-based DC
motor drive
4.5.3 Uncontrolled AC–DC converter-DC–DC converter-based
DC motor drive

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Contents
4.6
4.7
4.8

PI controller design
Power quality control and sensor reduction for DC motor drives
Modeling of controllers and PWM generators
4.8.1 Voltage controller
4.8.2 Reference current generator for power quality control
4.8.3 PWM current controller
4.8.4 PWM signal generator for voltage follower control
4.8.5 PWM signal generation for single switch converters
4.8.6 PWM signal generation for push–pull converter
4.8.7 PWM signal generation for half bridge converter
4.8.8 PWM signal generation for full-bridge converter
4.9 Performance simulation of DC motor drives
4.10 DC series motor control
4.11 Summary
List of symbols
Glossary of terms
References
5 Synchronous motor drives
Sanjeet K. Dwivedi
5.1
5.2
5.3
5.4
5.5

5.6
5.7

Introduction
Classification of synchronous motor drives
Magnet torque and reluctance torque-based classification
Comparison of IPMSM and PMaSynRM
Different control techniques for various synchronous speed motors
Operating principle of vector control technique
Mathematical model of vector-controlled PMSM drive
5.7.1 Modeling of speed controllers
5.7.2 Modeling of reference winding current generation
5.7.3 Modeling of PWM current controller
5.7.4 Modeling of PMSM
5.7.5 Modeling of voltage source inverter
5.8 MATLAB-based model of vector-controlled PMSM drive system
5.8.1 Modeling using power system blockset (PSB) toolbox
5.9 Description of DSP-based vector-controlled PMSM drive
5.9.1 Development of signal conditioning circuits
5.9.2 Development of power circuit of the drive
5.10 DSP-based software implementation of vector-controlled
PMSM drive
5.10.1 Reference speed input
5.10.2 Sensing of rotor position signals
5.10.3 Speed sensing
5.10.4 Speed controller
5.10.5 Reference winding current generation

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Modeling, simulation and control of electrical drives
5.10.6 Switching signal generation for voltage source inverter
5.11 Testing of vector-controlled PMSM drive
5.11.1 Testing of control circuit
5.11.2 Testing of power circuit
5.12 Results and discussion
5.12.1 Starting dynamics of vector-controlled PMSM drive
5.12.2 Load perturbation performance of vector-controlled
PMSM drive
5.12.3 Speed reversal dynamics of vector-controlled PMSM drive
5.12.4 Comparative study among different speed controllers
5.13 Sensor reduction in vector-controlled permanent magnet
synchronous motor drive
5.13.1 Sensor requirements in vector-controlled PMSM drive

system
5.13.2 Review of mechanical sensor reduction techniques
in PMSM drive
5.13.3 Electrical sensor reduction in PMSM drive
5.14 Sensorless vector-controlled PMSM drive
5.14.1 Stator voltage estimation
5.14.2 Winding current estimation
5.14.3 Flux estimation
5.14.4 Position estimation
5.14.5 Speed estimation
5.15 MATLAB-based model of sensorless vector-controlled
PMSM drive
5.15.1 Flux estimator
5.15.2 Position and speed estimation
5.15.3 Speed controller
5.15.4 Reference winding current generation
5.15.5 Current controlled pulse width modulator (CC-PWM)
5.16 DSP-based hardware implementation of sensorless
vector-controlled PMSM drive
5.16.1 Development of signal conditioning circuits
5.16.2 Development of power circuit of the drive
5.17 DSP-based software implementation of sensorless
vector-controlled PMSM drive
5.17.1 Reference speed input
5.17.2 Estimation of stator flux and position of rotor
5.17.3 Speed estimation
5.17.4 Speed controller
5.17.5 Reference winding current generation
5.17.6 Switching signal generation for voltage source inverter
5.18 Testing of sensorless vector-controlled PMSM drive

5.18.1 Testing of control circuit
5.18.2 Testing of power circuit

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Contents
5.19 Results and discussion
5.19.1 Starting dynamics of sensorless PMSM drive
5.19.2 Load perturbation response of sensorless PMSM drive
5.19.3 Speed reversal dynamics of sensorless PMSM drive
5.19.4 Steady-state performance of sensorless PMSM drive
5.20 Summary
List of symbols
Glossary of terms
References
6 PM synchronous machine drives
Thomas M. Jahns
6.1
6.2
6.3

Introduction
PM machine equivalent circuit models
IPM machine torque production characteristics
6.3.1 Basics of torque production in IPM machines
6.3.2 PMSM torque production characteristics in dq current plane
6.3.3 Current limit circle
6.3.4 Impact of magnetic saturation on maximum
torque-per-Amp trajectories
6.4 Vector control of PM machine
6.4.1 Review of basic vector control principles
6.4.2 Application of vector control to SPM and IPM machines
6.4.3 Introduction to self-sensing techniques for vector control
drives
6.5 IPM machine capability curves
6.5.1 Basic principles
6.5.2 PMSM circle diagrams and capability curves
6.5.3 Three cases of PM machine capability curves
6.6 PM machine design space
6.7 Flux-weakening control of PM machines
6.7.1 Introduction to basic principles of flux-weakening control
6.7.2 Feedforward vs. closed-loop flux-weakening control
algorithms
6.7.3 Six-step voltage operation for flux-weakening algorithms
6.8 Summary
List of symbols
Glossary of terms
References
7 Control of PM brushless DC motor drives
Ta Cao Minh

7.1

Introduction
7.1.1 Construction of BLDC motor

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8

Modeling, simulation and control of electrical drives
7.1.2 Operation principle of BLDC motor
7.1.3 Specific features of BLDC motor drives
7.2 Modeling of brushless DC motor
7.2.1 Dynamic model
7.2.2 Block diagram of BLDCM model
7.2.3 Torque-speed characteristic
7.3 Phase-current control of brushless DC motor
7.3.1 Control system configuration

7.3.2 Simulation results
7.4 Torque ripple analysis and reduction techniques
7.5 Pseudo-vector control of BLDC motor
7.5.1 System configuration
7.5.2 Principle of pseudo-vector control
7.5.3 Simulation results and performance comparison
7.6 Control of BLDCM in high-speed region
7.6.1 Operation in high-speed region
7.6.2 Phase-advance approach to expand the speed
range of BLDCM
7.6.3 Pseudo-vector control for high-speed range of BLDCM
7.6.4 Simulation results for high-speed operation using PVC
7.7 Summary
List of symbols
Glossary of terms
References

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Switched reluctance motor drives
Jin-Woo Ahn and Grace Firsta Lukman

275

8.1

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8.2

8.3

8.4

Principle of switched reluctance motor
8.1.1 Operation of SRM
8.1.2 Characteristics of SRM
Design of switched reluctance motor
8.2.1 Selection of pole
8.2.2 Selection of phase number
8.2.3 Dimensions and parameters
Control of switched reluctance motor
8.3.1 Power converter
8.3.2 Switching angle control
8.3.3 Current control
8.3.4 Direct torque control
Modeling of switched reluctance motor
8.4.1 Equivalent circuit
8.4.2 Current waveform representation
8.4.3 Torque waveform representation
8.4.4 SRM control system

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Contents
8.4.5 Example designs of control scheme
Emerging applications
8.5.1 Home appliances
8.5.2 Industrial applications
8.5.3 Electric vehicle application
8.6 Summary
List of symbols
Glossary of terms
References

8.5

9 Direct torque control of AC machines
Rahul Kanchan
9.1
9.2
9.3

Induction motor model
Two-level inverter voltage vector representation
DTC control principle
9.3.1 Flux and torque comparator
9.3.2 Optimum switching vector selection
9.3.3 Motor model
9.4 Flux estimation approaches

9.4.1 Use of low-pass filters
9.4.2 Flux estimation with feedback
9.4.3 Application of hybrid flux estimators
9.4.4 Other methods for estimation of stator flux
9.4.5 Speed-sensorless operation
9.5 Simulation of DTC control
9.6 Performance enhancement of classical DTC scheme
9.6.1 Reduction in torque and flux ripple using alternate
switching tables
9.6.2 DTC-SVM control [11]
9.6.3 Predictive torque control
9.7 Direct torque control of synchronous motors
9.8 Industrial adaptation of DTC schemes
9.9 Summary
List of symbols
Glossary of terms
References
10 Direct torque control of PM synchronous motor drives
Muhammed Fazlur Rahman and Dan Xiao
10.1

Introduction
10.1.1 The PMSM model and RFOC
10.1.2 Current control trajectories for PMSM [8,9]
10.1.3 Field weakening under voltage limit
10.2 DTC for PMSM

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Modeling, simulation and control of electrical drives
10.2.1
10.2.2
10.2.3

Voltage space vector selection [10,11]
Stability criteria for DTC
Torque and flux linkage control of a PMSM by
applying voltage vectors
10.3 DTC with fixed switching frequency and reduced torque
and flux ripple
10.4 Closed-loop flux and torque estimation
10.5 Control trajectories with DTC [10,11]
10.5.1 The MTPA trajectory under DTC
10.5.2 Current and voltage trajectories in the T-ls plane
10.5.3 Performance of PMSM under DTC with trajectory following
10.6 Summary

List of symbols
Glossary of terms
References
11 Matrix converter-driven AC motor drives
Dan Xiao and Muhammed Fazlur Rahman
11.1

Matrix converter
11.1.1 Fundamentals of MC
11.1.2 Implementation of MC
11.1.3 Current commutation strategies
11.1.4 Modulation techniques
11.1.5 IPF compensation for MC
11.2 DTC for MC drive
11.2.1 DTC of MC drives using three hysteresis comparators
11.2.2 An improved DTC for MCs
11.2.3 Experimental results
11.2.4 DTFC for MC-fed PMSM drives by using ISVM
11.3 IMC-driven AC drives
11.3.1 Modulation scheme for IMC
11.3.2 Commutation issue for IMC
11.3.3 Rotor flux-oriented control of induction machine
(IM)-driven by IMC
11.4 Summary
List of symbols
Glossary of term
References
12 An online parameter identification method for AC drives
with induction motors
Dhirendran Munith Kumar, Hiye Krishan Mudaliar,

Maurizio Cirrincione, and Marcello Pucci
12.1

Introduction

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xv

FOC design
12.2.1 Controller tuning
12.3 Description of the test bed
12.4 dSPACE AutoBox
12.4.1 DS1007 PPC processor board
12.4.2 DS5001 digital waveform capture board
12.4.3 DS4002 timing and digital I/O board
12.4.4 DS2004 high-speed A/D board
12.4.5 Hardware scheme and interface with dSPACE: I/O boards
12.5 IGBT inverter

12.6 Induction motor
12.7 Sensors of current, voltage and speed
12.7.1 Encoder configuration
12.7.2 Current sensor configuration
12.7.3 Voltage sensor configuration
12.8 Online estimation of the parameters: method and implementation
12.8.1 Description of the method
12.8.2 Description and realization of the signal processing system
12.8.3 Anti-aliasing filter
12.8.4 Digital processing
12.9 Experimental results
12.10 Summary
Appendix
List of symbols
Glossary of terms
References
Futher References

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12.2

13 Sensorless control of IM drives
Lennart Harnefors
13.1
13.2

Introduction
Essentials of sensorless vector control
13.2.1 IM model and nomenclature
13.2.2 Dynamic model and principle for vector control
13.3 Flux estimation in DFO
13.3.1 Current model
13.3.2 Voltage model

13.3.3 Statically compensated VM
13.3.4 Combination of CM and VM
13.3.5 Reduced-order observer
13.3.6 Speed estimation
13.4 Flux estimation in IFO
13.4.1 Current model
13.4.2 Reduced-order observer

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13.4.3 Voltage model
13.4.4 Statically compensated VM
13.4.5 Speed estimation
13.4.6 Inherently sensorless reduced-order observer
13.4.7 Speed estimation in an inherently sensorless scheme
13.5 Design for complete stability
13.6 Examples
13.6.1 Inherently sensorless reduced-order observer and SCVM
13.6.2 Sensorless CM
13.6.3 Simulations
13.7 Conclusion
List of symbols
Glossary of terms
References

14 Sensorless control of PMSM drives
Gilbert Foo, Zhang Xinan and Muhammed Fazlur Rahman
14.1 Introduction
14.2 Mathematical model of the PMSM
14.3 Open-loop back EMF estimator
14.4 Closed-loop speed-adaptive observer
14.5 Closed-loop speed non-adaptive observer
14.6 HF signal injection
14.7 Current slope measurement method
14.8 Summary
List of symbols
Glossary of terms
References
15 Predictive torque control of induction motor drive
Muhammed Habibullah, Dan Xiao, Muhammed Fazlur Rahman,

and Dylan Dah-Chuan Lu
15.1
15.2

Introduction
Comparison between the PTC and classical control strategies
(FOC and DTC)
15.3 PTC System modelling
15.3.1 State-space representation of three-phase systems
15.3.2 Modelling of the IM
15.3.3 Modelling of the inverter
15.4 Basic structure and working principle of PTC
15.4.1 Estimation
15.4.2 Prediction
15.4.3 Cost function optimisation
15.4.4 Limitations of the FS-PTC

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Contents
15.5

SPVs-based FS-PTC
15.5.1 Selecting prediction vectors
15.5.2 Optimum voltage vector selection
15.5.3 Average switching frequency reduction
15.5.4 Overall control structure of SPVs-based FS-PTC
15.5.5 SPVs-based FS-PTC algorithm
15.6 Computational efficiency improvement in the SPVs-based
FS-PTC
15.7 Performance of an IM drive under FS-PTC
15.7.1 Steady-state behaviour
15.7.2 Transient capability under rated-speed reversal
15.7.3 The average switching frequency
15.7.4 Investigation of robustness against rated-load
torque disturbance
15.7.5 Step rated-torque-transient characteristics
15.7.6 Step rated-speed-transient characteristics
15.8 Summary
List of symbols
Glossary of terms
References
16 Multiphase machine drives
Radu Bojoi and Luca Zarri
16.1

16.2

16.3

16.4

16.5

Introduction
16.1.1 Definition of a multiphase drive
16.1.2 Advantages of multiphase drives
16.1.3 A brief history of multiphase motor drives
16.1.4 Applications
Multiphase electrical machines
16.2.1 VSD approach
16.2.2 Multi-stator approach
16.2.3 Summary on multiphase machines
Multiphase power converters
16.3.1 Modulation strategies for multiphase inverters
16.3.2 Pulse width modulation
16.3.3 Voltage limits
16.3.4 Space vector modulation
16.3.5 Analysis of the output current ripple
Control of multiphase drives
16.4.1 Field-oriented control
16.4.2 Direct torque control
16.4.3 Direct flux vector control
16.4.4 Model predictive control
Summary

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List of symbols
Glossary of terms
References

629
629
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17 Fractional-slot concentrated winding machines and drives
Ayman M. EL-Refaie
17.1 Definition of fractional-slot concentrated windings
17.2 Advantages of using concentrated windings
17.3 Challenges involved in using FSCW
17.4 Three-phase structures that can support FSCW

17.5 Comparison of SL and DL configurations
17.6 Criteria for choosing the optimum slot/pole combination
17.7 How to determine the winding layout
17.8 Calculation of the winding factor
17.8.1 EMF method
17.8.2 Winding function method
17.8.3 Closed-form expressions
17.8.4 Example of winding factor calculation
using three methods
17.9 Design and analysis
17.10 Flux weakening
17.10.1 Same magnet flux linkage constraint
17.10.2 Inductance calculations
17.11 Losses in electrical machines equipped with FSCW
17.11.1 Rotor losses
17.11.2 End losses
17.11.3 AC losses in the windings
17.11.4 Loss reduction
17.12 Fault tolerance
17.13 Comparison of SPM versus IPM
17.14 Axial-flux, tubular, and flux-switching machines
17.15 Induction machines
17.16 Parasitic effects
17.17 Commercial applications and future evolution of research
17.18 Summary
List of symbols
Glossary of terms
References
Index

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659
662
663
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668
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About the editors

Professor Faz Rahman obtained his B.Sc. Honours degree in Electrical Engineering from the Bangladesh University of Engineering and Technology in 1972
and his M.Sc and Ph.D degrees, also in Electrical Engineering, from the University
of Manchester Institute of Science and Technology (UMIST), UK, in 1975 and
1978, respectively. He subsequently worked as a Systems Design Engineer in the
General Electric Projects Co. at Rugby, UK, for two years and at the National
University of Singapore as a Senior Lecturer for eight years. He is currently a
Professor in Energy Systems at the University of New South Wales, Australia. His
research interests are in power electronics, motor drives and design of electrical
machines with permanent magnet excitation. His particular research contributions
lie in the areas of design and control of permanent-magnet synchronous machines,
in the direct torque control and sensorless control techniques of this motor, and in
the development of concentrated-winding PMSMs for traction drive with high field
weakening range. He was elevated to a Fellow of IEEE in 2014 for contributions to
research and industry in these areas.
Dr. Sanjeet Kumar Dwivedi is Fellow of IET (UK), Senior Member of IEEE.
He is working as senior R&D engineer in Drive Intelligence, Technology research
group in Global R&D center of Danfoss Drives A/S, Gra˚sten, Denmark, where he is
contributing for research of new control techniques in power electronics and motor
drives since 2008.
Prior to this, Dr. Sanjeet was an electrical engineer in Larsen & Toubro India
(1991–92) and a faculty member in the Department of Technical Education, MP,

India (1993–2001). He worked as a research associate in power electronics, electrical
machine and drives (PEEMD) research group at the Indian Institute of Technology
Delhi (2002–06) toward his doctoral research. He worked as head of the Electrical
Engineering department and dean academic at Indira Gandhi Engineering College,
Sagar, MP, India (2007–08).
He was an adjunct professor at Curtin University, Perth, Australia (2016–18).
Dr. Sanjeet has authored more than 40 technical papers and holds three international patents. He is a member of the Study Board of Innovation and Business
Faculty at South Denmark University and Editorial Board of International Journal
of Power Electronics (IJPE), associate editor of the Transaction of Industrial
Electronics of the IEEE, technical editor of ASME/IEEE Transaction of Mechatronics, and European leader cum associate editor of IEEE online publication
Industrial Electronics Technology Transfer News (IETTN). He has given invited

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presentations, and organized and chaired special sessions in several IEEE and
European Power Electronics conferences. Previously he worked as associate editor
of IET (United Kingdom) Power Electronics Journal and associate editor of
Korean Journal of Power Electronics (JPE).
Dr. Sanjeet was awarded Gold Medal for his Master of Engineering degree at
the Indian Institute of Technology Roorkee (1999). He is a recipient of Merit
Award from Institution of Engineers (India) IE(I) (2006) for his research publication on permanent magnet machines. He was also awarded with 9th Man on the
Moon Global Innovation Award of Danfoss (2015) and IETE-Bimal Bose Award
(2017) for outstanding contributions in power electronics and drives.

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Preface

The tremendous developments in power electronic switches, sensors and supporting embedded control products during the past 25 years have spurred many new
control techniques and machine designs that are at the heart of modern electric
drives. As a result, electric drive systems are being utilized in new applications that
were once the bastions of other technologies. To mention just one, automotive
traction drives in the form of electric vehicles is opening up a vast new area electric
drive usage, which until now had been the domain of internal combustion engines.
It has been reported that 50% of all electric power was utilized by electric drive
until recently. This figure is poised go up further in future. This trend has been
possible through the intense research and developments in many closely related
areas, contributed by many individuals working on power electronics, motor
design, magnetic materials, non-linear control and observer techniques, sensing
techniques, embedded integrated circuits and so on. The research community
involvement is enormous, as evidenced by the high growth of conference journal
publications, led by many institutions, universities and industries. This book has
tried to embody these recent works in a way that, hopefully, will be useful to new
researchers in electric drive systems in universities and industries, in addition to
those application engineers who may need to keep abreast of the present state-ofthe-art in electric drives. The potential readership is also expected to be senior or
postgraduate students at universities and engineers engaged in developing more
advanced electric drive in the future.
The content of this book was selected with a view to not only describing the
elements and subsystems of electric drive systems but also describing some of the
developments in electric drives in recent years, such as mechanical sensorless
control in order to remove a potentially weak link in a drive system, multiphase
machines in order to improve the reliability of some critical applications, and
concentrated winding machines which are displacing distributed winding machines
where compact design, high power density, wide field-weakening or constant

power-speed range and ease of manufacturing are important. A lot of content has
been devoted to the control of the permanent-magnet synchronous machine, owing
to the growing application of this type machine. Chapters of the book have been
contributed by many renowned researchers/academics from Europe, USA, South
Korea, India, Australasia and senior scientists from industries like ABB and
Danfoss A/S.
We are grateful to my colleagues around the world for their hard work in
writing the chapters and for going through many stages of checking the final

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versions of their chapters and for their perseverance through these processes. This
book would not have been possible without their participation. The team at the IET
and the co-editor have done a tremendous job in keeping the authors meet certain
deadlines and in proofreading the chapters thoroughly. I cannot thank them enough
for pushing all preparations for the book along. We would also like to thank our
respective families (Raihana Rahman and Alka Dwivedi) for their patience and
support throughout our involvement with the book over the past two and a half years.
Faz Rahman
Sydney, Australia
Sanjeet Dwivedi
Graasten, Denmark
April 2019

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Foreword

High-efficiency and high-performance electrical machine drives are widely used
for applications in industrial, commercial, transportation, domestic, aerospace and
military environments. Such applications are particularly important in the recent
years for environmentally clean renewable wind energy generation systems and
electric vehicles that help to solve climate change problems. This book, edited by
Drs. M. Faz Rahman and Sanjeet Dwivedi, is an extremely important contribution
and has appeared in right time. Dr. Rahman is well-known in the world for his
research contributions in power electronics and motor drives. Dr. Dwivedi is an
emerging scientist with tremendous amount of talent and industrial experience.
This book is basically a state-of-the-art comprehensive review of electrical
machines and drives, and covers practically all the aspects of modern technology in
this area. The book has altogether seventeen chapters which are contributed by
well-qualified contributors that include the editors. The dynamic modelling,
simulation and control of all types of machines have been covered that include DC,
induction, permanent magnet synchronous (PMSM) and switched reluctance
machine (SRM) drives that are excited by modern two-level, three-level and matrix
converters. The whole subject has been treated in a balanced way between the
theory and practical applications which are extremely important for the readers.
Both three-phase and multi-phase machines have been considered. All the
advanced control techniques, such as vector control, DTC or direct torque and flux
control (DTFC), and the recently emerging model predictive control (MPC) have
been discussed. However, the classical scalar control methods which are getting
obsolete have been excluded. The sensorless control with estimation of model-based
signals, hardware and software for digital control implementation, and performances
with simulation and experiment have also been included. The organization of the
topics and presentation style are unique and extremely helpful for self-study of this

complex subject. No such book is currently available in this area. Needless to say that
the book is extremely important as a reference for researchers in motor drives and
continuing education of industrial engineers. Selected materials of the book can also
be taught in undergraduate and graduate courses.
Dr. Bimal K. Bose, IEEE Life Fellow
Emeritus Chair Professor of Electrical Engineering
(Formerly Condra Chair of Excellence in Power Electronics)
Member, U.S. National Academy of Engineering
Department of Electrical Engineering and Computer Science
The University of Tennessee, Knoxville
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