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MODELAREA I SIMULAREA CONVERTOARELOR ELECTRONICE DE PUTERE N CONTROLUL ENERGIEI UNEI LINII DE DISTRIBUIE DE CC ALIMENTAT DE LA UN GENERATOR SINCRON AUTONOM I CUPLAT LA REEAUA TRIFAZAT
Coninut
1. Introducere 2. Control prin modulaia n lime a pulsului (MLP) i filtrare activ (FA) 3. Controlul vectorial al generatoarelor sincrone 4. Principii de modelare i structuri de simulare 5. Condiii de simulare i rezultate experimentale 6. Concluzii
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1. Introducere
Actualitatea liniilor locale de distribuie de c.c.
Tot mai multe surse de energie regenerabile (SER) produc energie de curent continuu (CC) Procentul global al consumatorilor de energie de CC este n cretere. Muli consumatori pot fi direct alimentai n CC fr a fi necesar transformarea acestei energii n CA de frecven i tensiune constant. Motoarele de c.a. de acionare n loc s fie alimentate fiecare separat de la un convertor de frecven cu circuit intermediar (CI) de CC este mult mai eficient s fie toate conectate printr-un invertor propriu la o singur linie comun de CC Progresul tehnologic n domeniul dispozitivelor semiconductoare la fabricarea componentelor electronicii de putere i soluiile recente n domeniul convertoarelor statice, au creat noi posibiliti n transmisia i distribuirea energiei de CC Liniile de transport de energie de CC prezint anumite avantaje comparativ cu cele de CA Pe piaa energiei electrice se provocate cercetrile n domeniul liniilor de transport i de distribuie a energiei de CC.
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Other AC Loads
RIC-VSF Bidirectional PWM Converter
DC-DC Chopper
PWM -VSI
PWM -VSI
PWM -VSI
PWM -VSI
Other DC loads
PM Synchronous M otor
PM Synchronous M otor
AC power grid
RIC
uRST
Synchronisation
Speed Control
TURBINE
Synchronisation Field Control SG
IRST
Ref RST
i s = Is e j
VA
iRST
2 3
usabc
Is
is
LINE INVERTER DRIVER Commutation logic SG VECTOR CONTROL PWM logic
isabc
CSI iabc VSI i abc
2 3
us
Ref Id
PWM logic
uVSF ABC
La
i VSF ABC
i
RIC ABC
DC to DC CONVERTER CONTROL
LRIC d
RIC-VSF
SG-VSF
DC id
CSR id
CSR ud
Cf
i fC
RIC
RIC ud
RIC id
ufc
C d OC
udC
VS-DC line
VS i dl
VSF id
DC ud
CS-DC link
generator sincron
IM
i dC
N
ACM i dI
CSR DC uLdI = ud ud
DC to DC CONVERTER
SM i dI1
IM i dI 1
LCSR d
motor de inducie
PM-SM
SM r1
i
PMSM 1 LOAD
SM s1
SM s1
IM r1
u s1
i IM s1
IM 1
LOAD
[ Fig. 1. ICCC 2008 Sinaia] Generator sincron controlat vectorial alimentnd o line de distribuie de c.c., care este conectat la reeaua de c.a. prin intermediul unui ansamblu de convertoare RIC, cu filtrarea activ a curentului reelei i a generatorului , pentru alimentarea acionrilor de CA cu motoare de inducie i sincrone cu MP controlate vectorial Reee Electrice Inteligente
DC Distribution Line
generator sincron
RAV
Energy Source
i sd = 0
Ref i ed
DC-to-DC Chopper
SG Ve ctor Control
Ref us
Ref s
Ref i ms
fsRef
fs
Frequency Controller
Ref Ref i sq = i eq
us
is
RAV
ie
electrical angle
Zp
r
SG
Turbine
Controlul vectorial SG autonom cu filtrarea activ a curentului funcionnd cu factor de putere unitar (maxim) i alimentnd o linie de distribuie de CC conectat la reeaua public de CA.
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Principiul reglrii vectoriale a generatorului sincron Dup acest concept curentul de excitaie este descompus in dou componente orientate dup cmp, la fel ca i curentul din indus (statoric). n structura de reglare vectorial se genereaz variabilele de control ale generatorului sincron n coordonate orientate dup fluxul statoric (d-q) pentru curentul statoric- (isd and isq) i de asemenea pentru curentul de excitaie (ied and ieq). Din punc de vedere magnetic numai componentele d au caracter reactiv. La anularea reaciei longitudinale a indusului orientat dup cmp (isd= 0), generatorul sincron funcioneaz cu factor de putere unitar (in regim stabilizat) sau aproape de aceast valoare (in regim tranzitoriu).
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ds
cos = 1
isd = 0
d
Rotor oriented longitudinal axis
Armature reaction
ds =0 dt
Stator-field oriented quadrature-axis
me
mss s s = Lm i ms m
ss
is
ie
j2fs s
im
i eq
Armature terminal voltage
i ms = ied
qs
Rs i s
us
(1+ s )isq
KMs = KM /(1+s)
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Voltage Controller
Ref s
DC Distribution Line
i eC
Ref ed ,q
M ODULE
Ref e
Ref e
PWM logic
DC-to-DC Choppe r
ie
ucr
fsN = fsRef
Frequency Controller
Ref me
Ref i sd = 0
Ref sq
) = IsN
i sd
CooT
i sq
direct [D( s)]
PhT-CooT re ve rs e [DA( s) ] -1
Ref sa,b,c
PWM logic
i sd ,q
Energy Source
s
s
VA
i sa,b,c
sd ,q
sC
RAV
us
M ODULE
usd ,q
Electrical Angle
usa,b,c
r
ue
fs = fm
1/2
r
Rotor Speed
SG
Turbine
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AC power grid
Structura de simulare
Linia de distribuie de c.c. cuplat la reeaua de CA printr-un ansamblu de convertor bi-direcional RIC (redresor-invertor) cu filtrarea activ a curentului, alimentnd o acionare cu motor de inducie IM i una cu motor sincron cu magnet permanent PM-SM ambele cuplate cu cte un PWM-VSI
Synchronisation
Synchronisation
uRST
La
iRST
La iVSR = iABC ABC
uVSR ABC
R I i ABC
PWM-VSF
Current Model
LINE-SIDE FILTER CONTROL
R-I CONVERTER
Voltage Model
Current Model
Voltage Model
ifC
2 3
Cf
ufC
idR
LdR
uLd
R ud I
Ref IRST
idC
idI
udC
Cd
DC-link
to SM
SM idI
from SM from IM
IM idI
to IM
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i dR
Structura de simulare
IM - VSI PWM logic
SM dI
i dI
IM i dI
i dC
u dC
Acionare cu motor de inducie IM cu orientare dup cmp alimentat de la un invertor PWM-VSI comandat cu MLP cu reacie de curent i acionare cu motor sincron cu magnet permanent PM-SM controlat vectorial, ambele conectate la aceeai linie de distribuie de CC.
Current Controllers
Current Model
IM PWM -VSI
Voltage Model
Ref i abc
IM i abc
IM u abc
Reverse PhT
rRef
Ref
Reverse PhT
Direct PhT
u sdq
Ref sdq
i sdq
IM r
IM me
IM mL
Load
Current Controllers
SM PWM -VSI
SM Rotor Position
Ref abc
SM i abc
SM u abc
SM Speed Reference
rRef
PM Synchronous Motor Vector Control
u sdq
i sdq
rSM
SM me
SM mL
Load
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AC powe r grid
RIC u La
i RST
Schema bloc de sintez pentru simulare Linie de distribuie de CC alimentat de la un generator sincron VC-SG controlat vectorial, conectat la reeaua de CA cu un ansamblu de convertor bi-direcional RIC (redresor-invertor) cu filtru activ de curent PWM-VSF, alimentnd acionri cu motor de inducie IM i motor sincron cu magnet permanent PM-SM i cuplate cu un invertor PWM-VSI
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u RST
u VSF ABC
RIC
i VSF ABC
ACTIVE FILTER CONTROL
PWM logic
RIC
RIC id
RIC u Cf
IM
IM i sabc
LdRIC- Cd
u
IM PWM-VSI
IM i dI SM i dI
IM sabc
VS-DC-LINK FILTER
PWM logic
u dC
VS id
ACM i dI
VSF id
PWM logic
SM PWM-VSI
SM i sabc
DC id
u VSF = u dC d
SM u sabc
PM SM
Commutation logic
CSR id
CSR id
fs
LdCSR CS DC LINK FILTER
CSR ud
us
Is
Commutation logic
SG-SIDE CSR
CSR u abc
SG i sabc
SG VECTOR CONTROL
CSR i abc
VSF i abc
PWM logic
SG-SIDE PWM-VSF
s
IsRef
VECTOR ANALYSER
u
DRIVING TURBINE
SG sabc
SG i sabc
u VSF abc
Ref ue
mT
Ref mT
ue
SG
ie
SG-EX DC CHOPPER
DC u e = u Cd
DC ie
Model de generator
[Fig. 3. INES 2008 Cruising on Carabian Sea] Sea 18 Reee Electrice Inteligente
Model de motor
[Fig. 4. INES 2008 Cruising on Carabian Sea] Sea
5. Condiii de simulare
Simulrile au fost efectuate mediul de software MATLAB-Simulink. Toate mainile electrice (motoare i generatorul) au fost simulate bazate pe model matematic de motor (cu intrare n tensiuni, cu ieire n cureni i variabile de stare fluxuri). Generatorul sincron cu control vectorial orientat dup fluxul statoric este reglat n frecven i tensiune, alimentnd linia de CC a fost simulat cu model de motor funcionnd cu conversia inversat a energiei. Linia de c.c. alimenteaz mai multe sisteme de acionare cu motoare de c.a. reglat vectorial (IM i PM-SM) alimentate de la invertoare PWM-VSI n regim de funcionare de consumiator de energie i de frnare cu recuperare de energie n regim tranzitoriu i stabilizat punnd n eviden interaciunea lor.
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The SG speed (w) , electromagnetic torque (me) and the turbine driving torque (mT).
22 Reee Electrice Inteligente [ Fig. 3. ICCC 2008 Sinaia]
The IM speed (w), electromagnetic (me) and the reactive load (mL) torque.
23 Reee Electrice Inteligente [ Fig. 4. ICCC 2008 Sinaia]
Currents in a phase of the SG (isa), CSR rectifier (iaCSR) and SG-VSF filter (iaVSF) at starting.
24 Reee Electrice Inteligente [ Fig. 5. ICCC 2008 Sinaia]
AC Grid-side Currents
The AC grid current in phase R (iR), AC grid-side current of RIC rectifierinverter (iARIC) and PWM-VSF filter (iAVSF) in phase A.
25 Reee Electrice Inteligente [ Fig. 6. ICCC 2008 Sinaia]
DC Line-side Currents
The DC-line side RIC rectifier-inverter current (idRIC) and voltage (udRIC).
26 Reee Electrice Inteligente [ Fig. 7. ICCC 2008 Sinaia]
w[ra /s d ]
t (s)
m m , m (N )
-2
T e
-4
m
-6 0 0.5 1
T
1.5 2 2.5 3 3.5 4 4.5 5
t (s)
SG speed (w), electromagnetic torque (me) and turbine driving torque (mT)
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[ Fig. 6. SPEEDAM 2008 Ischia]
w[ra /s d ]
0 -200 0
40
0.5
1.5
2.5
3.5
4.5
t (s) m m , m (N )
m t (s)
e
20 0
L
2 2.5 3 3.5 4 4.5 5
t (s)
w[ra /s d ]
t (s)
40
m , m (N ) m
m t (s)
e
20 0
-20 -40
m
0 0.5 1 1.5
L
2 2.5 3 3.5 4 4.5 5
t (s)
PM-SM speed (n), electromagnetic torque (me) and its reactive load torque (mL)
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psi psi
0 0.5
1.5
2.5
3.5
4.5
t(s)
5 0 -5 0 0.5 1
sl sl ds qs
sdls
,i
u( )i ( ) i V, A
1.5
sqls
2.5
3.5
4.5
t(s)
5
0 2.5
2.501
2.502
2.503
2.504
2.505
2.506
2.507
2.508
2.509
2.51
t(s)
Synchronous generator stator- and exciting-flux (psis and psie), stator-field-oriented armature current components (isdls and isdls) and the excitation voltage (ue ) and current (ie)
31 Reee Electrice Inteligente [ Fig. 9. SPEEDAM 2008 Ischia]
u (V )
s a
0 -500 5 0 -5 0 0.02 0.04 0.06 0.08 0.1 0.12 0.14 0.16 0.18 0.2 0 0.02 0.04 0.06 0.08 0.1 0.12 0.14 0.16 0.18 0.2
s a
a
(A )
CR S
(A )
5 0 -5
2 0 -2 0 0.02 0.04 0.06 0.08 0.1 0.12 0.14 0.16 0.18 0.2
0.02
0.04
0.06
0.08
0.1
0.12
0.14
0.16
0.18
0.2
VF S
(A )
t (s)
Voltage (usa), and currents in phase a of the SG (isa), CSR (iaCSR) and SG-VSF (iaVSF) at starting.
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[ Fig. 10. SPEEDAM 2008 Ischia]
i ( ) A
0 -20 20
R
0
0.5
1.5
t (s)
2.5
3.5
4.5
( ) A
R IC
0 -20 10
0.5
1.5
t (s)
2.5
3.5
4.5
( ) A
VF S
0 -10
0.5
1.5
2.5
3.5
4.5
t (s)
AC grid voltage (uR) and current (iR) in phase R, AC grid-side current of the RIC (iARIC ) and PWM-VSF current (iAVSF ) in phase A
33 Reee Electrice Inteligente [ Fig. 11. SPEEDAM 2008 Ischia]
i ( ) A
R I C
( ) A
20
( ) i A
VF S
t (s)
AC grid voltage (uR) and current (iR) in phase R, AC grid-side current of the RIC (iARIC ) and PWM-VSF current (iAVSF ) in phase A.
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[ Fig. 12. SPEEDAM 2008 Ischia]
0 -500 2.4 20 2.45 2.5 2.55 2.6 2.65 2.7 2.75 2.8
i ( ) A
0 -20 2.4 2.45 2.5 2.55 2.6 2.65 2.7 2.75 2.8
( ) A
20 0
R I C
( ) A
-20 2.4 10
0
2.45
2.5
2.55
2.6
2.65
2.7
2.75
2.8
VF S
-10 2.4
2.45
2.5
2.55
2.6
2.65
2.7
2.75
2.8
t (s)
AC grid voltage (uR) and current (iR) in phase R, AC grid-side current of the RIC (iARIC ) and PWM-VSF current (iAVSF ) in phase A.
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[ Fig. 13. SPEEDAM 2008 Ischia]
(V )
R IC
t (s)
20
R IC
(A )
t (s)
The DC-line side RIC rectifier-inverter current (idRIC) and voltage (udRIC).
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[ Fig. 14. SPEEDAM 2008 Ischia]
d C
(V ) u
50
(A )
t (s)
0
d C
-50
0.5
1.5
2.5
3.5
4.5
t (s)
Concluzii (1/3)
Referitor la simulare
Circuitele electronice de putere ale convertoarelor nu se modeleaz dup conceptul de simulare a circuitelor, ci dup o metod similar teoriei cvadripolilor. Aceasta nseamn c fiecare bloc de simulare are 2 intrri i 2 ieiri, cte una pentru cureni, respectiv pentru tensiuni pe ambele pri ale cvadripolului. Sunt 2 tipuri de blocuri de simulare, bazate pe modelul direct sau modelul invers, n concordan cu sensul de calcul al curenilor i tensiunilor fa de sensul de transfer al energiei, considernd partea de CA, respectiv de CC.
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Concluzii (2/3 - a)
Referitor la legtura ntre modelare, simulare i implementare
Software-ul MATLAB/Simulink integreaz calculul matematic, vizualizarea grafic i un limbaj de programare puternic pentru a furniza utilizatorului un mediu flexibil pentru aplicaii n domeniul tehnic; este o unealt interactiv pentru modelare, simulare, prototyping i analiz dinamic de sistem. MATLAB/Simulink-ul permite o implementare uoar i rapid a structurii de control datorit corelrii dintre mediul de simulare i placa controler a dSPACE-ului. Placa de controler DS1104 din dSPACE este un echipament ideal pentru implementarea structurilor de comand i reglare ale convertoarelor electronice de putere, motoarelor de acionare i generatoarelor pentru producerea energiei electrice. Ea integreaz n calitate de procesor slave TMS320F240 al firmei TI, folosit pentru generarea semnalului PWM pentru invertor, redresor sau filtru activ.
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Concluzii (2/3 - b)
Concluzii (3/3)
Referitor la cercetrile viitoare
n filtrul curentului reelei poate fi implementat identificarea i controlul numeric al factorului de putere unitar. Identificarea on-line al factorului de putere poate fi efectuat cu procedur vectorial pe baza Teoriei Fazorilor Spaiali, folosind dou Analizoare de Vector convenionale pentru curenii i tensiunile din reeaua de c.a., respectiv un bloc de Transformare de Coordonate. Structurile de control vectorial ale acionrilor de c.a. cu identificarea fluxului statoric au fost deja implementate. Cercetarea este acum dirijat pentru implementarea controlului vectorial al generatorului sincron i a filtrelor active.
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Bibliografie (1/6)
bi-directional power electronic converters in a DC energy distribution line with AC grid- and motor-side active filtering, Proc. of EPE 2007, Aalborg
Imecs Maria, Szab Cs., Incze I. I.: Modelling and simulation of controlled (Denmark), CD-ROM, ISBN: 9789075815108/ IEEE Catalog No. 07EX1656C. Imecs, M., Incze, I. I., Szab, Cs., Control of the energy flow in a dc distribution line, autonomous synchronous generator and ac grid by means of power electronic converters: modeling and simulation, ICCC 2008, 9th International Carpathian Control Conference ICCC 2008, Sinaia, Romania, May 26-28, 2008, Volume ISBN 978-973-746-897-0, pp. 255-258. Imecs, M., Szab, Cs., Incze, I. I., Modelling and Simulation of a Vector Controlled Synchronous Generator Supplying a DC Energy Distribution Line Coupled to the AC Grid, 19th International Symposium on Power
Electronics, Electrical Drives, Automation and Motion, SPEEDAM 2008, Ischia, Italy, June 11-13, 2008, CD-ROM, pp. 538-543, IEEE Catalog Number
CFP 0848 A-CDR, ISBN: 978-1-4244-1664-6, Library of Congress: 2007936381. Imecs M., Incze, I. I., Szab, Cs.: Stator-field oriented control of the synchronous generator: numerical simulation, Proc. of the 12th IEEE INES 2008, Miami, Florida (USA), CD-ROM, ISBN: 978-1-4244-2083-4, IEEE Catalog Number: CFP08IES-CDR, Library of Congress: 2008900450.
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Bibliografie (2/6)
Imecs M., Incze, I. I., Szabo, Cs.. Ecological power system with local distribution DC-line for AC-drive consumers. IFAC Workshop ICPS07, ClujNapoca, 2007, ISBN: 978-973-713-180-5, pp. 71-76. Imecs, M., Szab, Cs., Incze, I. I., Stator-field-oriented control of the variable-excited synchronous motor: numerical simulation, The 7th
International Symposium of Hungarian Researchers on Computational Intelligence HUCI 06, Budapest, Hungary, 2006, ISBN 963 7154 54 X, pp.
95-106. Imecs M., Szab Cs., Incze I. I.: Active power filtering of line and motor currents for AC drives, modelling and simulation, Workshop TEQREP, Ed. R. Mgureanu, University Politehnica Bucharest, Printech Press (Romania), 2004, pp. 41- 48. Imecs M., Incze, I. I.,Szab, Cs.: New topology for sine-wave current filtering of induction motor drives fed by tandem frequency converter, Acta Electrotehnica, Vol. 44, No 3, 2004, Cluj (Romania), ISSN 1224-297, pp. 145-150.
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Bibliografie (3/6)
Imecs M., Trzynadlowski A. M., Incze I. I., Szab Cs.: Vector control structures of the tandem converter fed induction motor, IEEE Transactions on Power Electronics, March 2005, Vol. 20, Nr. 2, ITPEE8, pp. 493-501. Imecs M., Trzynadlowski A. M., Patriciu N., Radian-Kreiszer M.:
About performances of current controlled SVM-VSI and tandem inverter used in induction motor drives, Proc. of SPEEDAM 2000,
Ischia (Italy), 2000, pp. C-4-7-C-4-12. Imecs M., Incze I. I., Szab Cs.: Control strategies of induction motor fed by a tandem DC link frequency converter, Proc. of the 9th EPE, Graz (Austria), 2001, pp. L1b-7 & CD-ROM.
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Bibliografie (4/6)
Kelemen ., Imecs M.: Vector Control of AC Drives, Vol. 2: Vector Control of Synchronous Machine Drives, Ecriture Publisher, Budapest (Hungary), 1993, ISBN 963 593 140 9. Kelemen ., Imecs M.: Procedure and Driving Device for Unitary Automatic
Romanian) Nr. 104278/30.10.1989. Kelemen ., Imecs M.: Vector control system for frequency and voltage of synchronous generators, Proc. of ICEM 90, Cambridge, Massachusetts (USA), 1990. Kelemen ., Imecs M.: Analogy between DC- and synchronous machine for field-oriented control, Proc. of BICEM 87, Beijing (China) 1987. Kelemen, ., Imecs, M., Sisteme de reglare cu orientare dup cmp ale mainilor de curent alternativ (in Romanian), IPCN Press, Cluj-Napoca, 1987 and Romanian Academy Press, Bucharest, Romania, 1989.
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Vector Control of the Active and Reactive Power of Synchronous Generators by Means of Frequency and Voltage Regulation, Patent of Invention (in
Bibliografie (5/6)
Trzynadlowski A. M., Imecs M., Patriciu N.: Modeling and simulation of Proceedings of ELECTRIMACS, Lisboa (Portugal), 1999, Volume I/3, pp. 4752. Trzynadlowski, A. M., Patriciu, N., Baabjerg, F., Pedersen, J. K.: A hybrid, current-source/voltage-source power inverter circuit, IEEE Trans. on Power Electronics, Vol. 16, No. 6, Nov, 2001, pp. 866-871. Trzynadlowski A. M., Blaabjerg F., Pedersen J. K., Patriciu A., Patriciu N.: A tandem inverter for high performance AC drives, Conf. Rec. IEEE-IAS Annual Meeting, St. Louis, Missouri (USA), 1998, pp. 500-505. Szab Cs., Imecs M., Incze I. I.: Synchronous motor drive with controlled stator-field-oriented longitudinal armature reaction, The 33rd IECON 2007, Taipei (Taiwan), CD-ROM, IEEE Cat. No. 07CH37855D, ISBN: 1-4244-0783-4, ISSN: 1553-572X and Conference Digest p. 105. Szab Cs., Imecs M., Incze I. I.: Synchronous motor drive with controlled stator-field-oriented longitudinal armature reaction, The 33rd IECON 2007, Taipei (Taiwan), CD-ROM, IEEE Cat. No. 07CH37855D, ISBN: 1-4244-0783-4, ISSN: 1553-572X and Conference Digest p. 105.
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Bibliografie (6/6)
Unity power factor rectifiers and active power filters for industrial applications. Proc. of the 11th CNAE, Galai (Romania), 2002, pp. 3642. Akagi, H.: New trends in active filters for power conditioning, IEEE Trans. on Industrial Applications, Vol. 32, No. 6, 1996, pp. 13121322. Soares V., Verdelho P., Marques G. D.: An instantaneous active and reactive current component method for active filters, IEEE Transactions on Power Electronics, Vol. 15, No. 4, July 2000, pp. 660-669. Krishnan R.: Electric Motor Drives Modeling, Analysis, and Control, Prentice Hall, Upper Saddle River, New Jersey 07458 (USA), 2001. Kopylov I. P.: Mathematical Models of Electrical Machines, Mir Publishers, Moscow, 1984. Mgureanu, R., Ambrosii, S., Creang, D., Stanciu, C., Rdui V.:
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Recunotin
Aceast lucrare a fost finanat parial de Consiliul Naional de Cercetare tiinific pentru nvmntul Superior din Romnia
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Mulumesc pentru atenie!
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