Literature on Variable Frequency Drives, Power Electronics and related subjects
The purpose of this blog is to provide useful information about Variable frequency drives (VFD) and power drive systems that you might appreciate when working in this field (specifying, selecting, purchasing, operating, servicing/retrofitting, researching or developing tasks). The blog intentionally eliminates complex mathematical formulas and apparatus, detailed circuit diagrams etc. In some posts we include references to sources with more detailed information. This post Literature on variable frequency drives provides a summary of some additional resources to study.
Some of you might need to go deeper into a specific topics. For those readers we prepare this post a list of excellent books, journals and papers to relevant topics. The ambition is not to create a complete reference list. Such task would be extremely time demanding, would result in a very long list and the work would never be finished as new titles are being published. Instead, we just share sources that we found useful and can therefore recommend them to you as well.
This post will be continuously updated as we come across new relevant books, papers or other great sources. Therefore, you might want to revisit this post some time in the future and check out what is new here.
Power electronics
[1] A. Kloss, A Basic Guide to Power Electronics, John Wiley & Sons, 1984, ISBN 0 471 90432 5. (original in German language as Leistungselektronik ohne Ballast, Franzis-Verlag GmbH, 1980)
– Excellent book about power electronics and electronic circuits
– Heavily illustrated with detailed diagrams and figures
– A bit older… Focus on three-phase systems with diode- and thyristor-based power converters. However, many principles applicable also for modern converters with IGCT, IGBT or IEGT semiconductors.
– Valuable information of converter protection, interaction with supply, thermal considerations and cooling concept
[2] B. K. Bose, Power Electronics and Motor Drives: Advances and Trends, Academic Press, 2006.
[3] P. K. Steimer, H. E. Gruning, J. Werninger, and S. Linder, “IGCT – a new emerging technology for high power low cost inverters,” IEEE Industry Applications Magazine, Vol. 5, No. 4, pp. 12-18, 1999.
[4] H. M. Stillman, “IGCT – Megawatt Power Switches for Medium Voltage Applications”, ABB Review no. 3/97, pp. 12-17, 1997
[5] H. N. Hickok and M. R. Wickiser, “The Gate-Turn-Off Thyristor: A breakthrough for the retrofit of existing induction motors from fixed to adjustable speed”, IEEE Trans. on Industry Applications, Vol. 25, No. 3, May/June 1989, pp.523 – 532
(literature on variable frequency drives)
Variable frequency drives / AC drives / Adjustable speed drives
[1] B. Wu, M. Narimani, High-Power Converters and AC Drives, John Wiley & Sons / IEEE Press, Second edition, 2017, ISBN 978-1-119-15603-1.
[2] B. Wu, High-Power Converters and AC Drives, New Jersey: John Wiley & Sons, IEEE Press, 2006.
[3] A. Rauber, P. den Bakker, “Adjustable speed drive system comparison VSI and LCI for high power applications”, PCIC North America, Cincinnati, 2018
[4] J. Rodriguez, S. Bernet, P. K. Steimer, I. E. Lizama, A Survey on Neutral-Point-Clamped Inverters, IEEE Trans. on Industrial Electronics, Vol. 57, No. 7, pp. 2219 – 2230, July 2010.
[5] M. Malinowski, K. Gopakumar, J. Rodriguez, M. A. Perez, A Survey on Cascaded Multilevel Inverters, IEEE Trans. on Industrial Electronics, Vol. 57, No. 7, pp. 2197 – 2206, July 2010.
[6] J. Rodriguez, J.-S. Lai and F. Z. Peng, “Multilevel inverters: A survey of topologies, controls and applications,” IEEE Trans. on Industrial Electronics, vol. 49, no. 4, pp. 724 – 738, 2002.
[7] R. Bhatia, H. U. Krattiger, A. Bonanini, D. Schafer, J. T. Inge, and G. H. Syndor, “Adjustable speed drive with a single 100-MW synchronous motor,” ABB Review, No. 6, pp. 14-20, 1998.
[8] G. Sydnor, R. Bhatia, H. Krattiger, J. Mylius, D. Schäfer, and E. Carpenter, “Fifteen years of operation at NASA’s National Transsonic Facility with the world’s largest adjustable speed drive”, IET Int. Conference on Power Electronics, Machines and Drives, PEMD 2012
[9] S. Bernet, “Recent development of high power converters for industry and traction applications,” IEEE Trans. on Power Electronics, Vol. 15, No. 6, pp. 1102-1117, 2000.
[10] S. Malik and D. Kluge, “ACS1000 world’s first standard AC drive for medium-voltage applications,” ABB Review, No. 2, pp. 4-11, 1998.
[11] J. K. Steinke, “Use of an LC filter to achieve a motor friendly performance of the PWM voltage source inverter,” IEEE Trans. on Energy Conversion, Vol. 14, No. 3, pp. 649-654, 1999.
[12] R. Hanna and S. Prabhu, “Medium-voltage adjustable-speed drives-users’ and manufacturers’ experiences,” IEEE Trans. on Industry Applications, vol. 33, no. 6, pp. 1407-1415, Nov/Dec 1997.
[13] F. Kieferndorf, M. Basler, L. A. Serpa, J.-H. Fabian, A. Coccia and G. A. Scheuer, “A new medium voltage drive system based on ANPC-5L technology,” in IEEE Int. Conference on Industrial Technology, Vina del Mar (Chile), 2010.
[14] A. Lesnicar and R. Marquardt, “An innovative modular multilevel converter topology suitable for a wide power range,” in IEEE Bologna Power Tech Conference Proceedings, Bologna, 2003
(literature on variable frequency drives)
Control / Motor control
[1] P. Vas, Sensorless vector and direct torque control, Aberdeen, UK: Oxford University Press, 1998.
[2] T. Orlowska-Kowalska, F. Blaabjerg, J. Rodriguez, Advanced and Intelligent Control in Power Electronics and Drives, Springer, 2014, ISBN 978-3-319-03401-0.
[3] D. Casadei, G. Serra, A. Tani, L. Zarri, “Direct torque control for induction machines: a technology status review”, 2013
[4] T. J. Besselmann, S. Van de moortel, S. Almer, P. Jörg and H. J. Ferreau, “Model predictive control in the multi-megawatt range,” IEEE Trans. on Industrial Electronics, vol. 63, no. 7, pp. 4641-4648, 2016.
[5] C. Gutscher, N. Oikonomou, P. Karamanakos, F. D. Kieferndorf and T. Geyer, “Model predictive pulse pattern control for the five-level active neutral-point-clamped inverter,” IEEE Trans. on Industry Applications, vol. 49, no. 6, pp. 2583-2592, 2013.
[6] T. Wymann and P. Jörg, “Power loss ride-through in a variable speed drive system,” in PCIC Europe, Amsterdam, 2014.
[7] T. J. Besselmann, A. Cortinovis, S. Van de moortel, A.-M. Ditlefsen, M. Mercangöz, H. Fretheim, P. Jörg, E. Lunde, T. Knutsen and T. O. Stava, “Increasing the robustness of large electric driven compressor systems during voltage dips”, IEEE Trans. on Industry Applications, Vol. 54, No. 2, March/April 2018
[8] H. Sarén and O. Pyrhönen, “Active vibration suppression using DTC drive and automatic parameter identification of a two mass system,” in European Power Electronics (EPE), Toulouse, 2003.
(literature on variable frequency drives)
High-speed drives and motors
[1] J. Pyrhönen, J. Nerg, P. Kurronen, U. Lauber, “High-speed, 8 MW, solid-rotor induction motor for gas compression”, 18th International Conference on Electrical Machines, ICEM 2008
– Four different designs of solid rotor for high-speed motors
– Pros and cons of each solution (manufacturing process, efficiency/losses, power factor, torque quality, mechanical stability etc)
– Mentioned ABB VFD ACS1000 is probably a typo; from voltage and current rating we assume that ACS5000 is meant
[2] L. Durantay, A. Gelin, E. Thibaut, Y. Vidalenc, “Integrated moto-compressor versus conventional solution”, in PCIC Europe, EUR19_15, 2019
– Stand point and outlook of high speed integrated moto-compressors
– Suitable VFD – interesting direction of VSI type w/o sine filter (common practice of other manufacturers)
[3] K. Peter, J. Böcker, “Operating electrical high speed drive with pulse patterns of specific harmonic content”, IEEE Energy Conversion Congress, 2015
– Pulse pattern method as inverter modulation scheme in high-speed applications
– Harmonic elimination methods to minimize the total harmonic distortion (THD) of motor current
[4] V. Guennegues, B. Gollentz, F. Meibody-Tabar, S. Rael, L. Leclere, “A converter topology for high speed motor drive applications”, in 13th European Conference on Power Electronics and Applications, Barcelona, 8-10 September 2009
(literature on variable frequency drives)
Motor retrofits with VFD
[1] J.R.G. Schofield, “A 3.3 kV variable frequency converter for retrofitting to existing motors”, IEE Seminar Advances in Induction Motor Control, 2000
– 3-level VFD with integral output sine filter for motor retrofits
– brief check list (cooling, bearing currents etc)
[2] B. Schmitt and R. Sommer, “Retrofit of fixed speed induction motors with medium voltage drive converters using NPC three-level inverter high-voltage IGBT based topology,” in Symposium on Industrial Electronics, 2001. Proceedings. ISIE 2001. IEEE International , 2001.
– Existing direct on-line motor retrofitted with 3-level VSI converter with output sine filter
[3] J. K. Steinke, R. Vuolle, H. Prenner, and J. Järvinen, “New variable speed drive with proven motor friendly performance for medium voltage motors”, IEEE Int. Electric Machines and Drives Conference, IEMDC’99, 1999
– 3-level medium voltage NPC converter with integral output sine filter
– Matching existing motors incl. those designed for DOL operation (retrofits)
[4] Z. Peroutka, “Requirements for insulation system of motors fed by modern voltage source converters”, in IEEE Power Electronics Specialists Conference, Aachen, 2004
– A very clear explanation of voltage surges at motor terminals and due to inverter operation
– Relationships between voltage rise time, motor cable length and transient overvoltages
– Comparison of simulation results and experimental measurements with excellent concordance
[5] J. N. Poole, W. J. Frey, “Retrofit of a recovery boiler ID fan with a dual channel high reliability LCI drive”, Pulp and Paper Industry Technical Conference, 1998
– Motor retrofit with load-commutated inverter
(literature on variable frequency drives)
Testing of variable speed drive systems (VSDS/ASDS)
[1] D. Buzzini and M. Zago, “Testing large ASDS,” in PCIC Europe, Prague, 2012.
– Testing of large drive systems (multi-megawatt): Back to back test and string test
[2] I. Bonfanti, R. Nicolini, P. Zanotti, M. Intertaglia, and C. Monti, “Functional tests on 1-MW adjustable speed drive”, IEEE Int. Conference on Electric Machines and Drives, 1997
(literature on variable frequency drives)
Torsional vibration and damping control
[1] API 684 Rotordynamic Tutorial, Lateral critical speeds, unbalance response, stability, train torsionals and rotor balancing, second ed., Washington: API Publishing Services, 2005.
– Most relevant rotordynamics tutorial for Oil & Gas industry; the VFDs and their effects shall be deeper discussed in the next revision of the standard
[2] T. Holopainen, J. Niiranen, P. Jörg and D. Andreo, “Electric motors and drives in torsional vibration analysis and design,” in Proceedings of the Forty-Second Turbomachinery Symposium, Houston, Texas, 2013.
[3] P. Rotondo, D. Andreo, S. Falomi, P. Jörg, A. Lenzi, T. Hattenbach, D. Fioravanti and S. De Franciscis, “Combined torsional and electromechanical analysis of an LNG compression train with variable speed drive system,” in Proceedings of the thirty-eighth Turbomachinery Symposium, 2009.
[4] S. Del Puglia, S. De Franciscis, S. Van de moortel, P. Jörg, T. Hattenbach, D. Sgro, L. Antonelli and S. Falomi, “Torsional interaction optimization in a LNG train with a load commutated inverter,” in 8th IFToMM International Conference on Rotordynamics, Seoul, Korea, 2010.
[5] M. Tallfors, Parameter estimation and model based control design of drive train systems, Stockholm: Kungliga Tekniska Högskolan (KTH), 2005.
[6] K. Tanaka, A. Adachi, N. Takahashi and Y. Fukushima, “Torsional-lateral coupled vibration of centrifugal compressor system at interharmonic frequencies related to control loop frequencies in voltage source inverter,” in 38th Turbomachinery Symposium, Houston, TX, 2009.
[7] S. E. Saarakkala and M. Hinkkanen, “State-space speed control of two-mass mechanical systems: Analytical tuning and experimental evaluation,” IEEE Trans. on Industry Applications, vol. 50, no. 5, pp. 3428-3437, September/October 2014.
[8] V. Hütten, C. Beer, T. Krause, V. A. Ganesan and S. Demmig, “VSDS motor inverter design concept for compressor trains avoiding interharmonics in operating speed range and verification,” in Proceedings of the Forty-Second Turbomachinery Symposium, Houston, Texas, 2013.
[9] K. Szabat and T. Orlowska-Kowalska, “Vibration suppression in a two-mass drive system using PI speed controller and additional feedbacks – Comparative study,” IEEE Trans. on Industrial Electronics, vol. 54, no. 2, pp. 1193 – 1206, April 2007.
[10] F. C. Nelson, “Rotor dynamics without equations,” vol. 10, no. 3, pp. 2 – 10, 2007.
– Good start into rotordynamics for electrical engineers
– Easy to understand explanations without heavy mathematics
[11] A. Muszynska, Rotordynamics, Boca Raton, Florida: CRC Press, Taylor & Francis group, 2005.
[12] A. Tabesh and R. Iravani, “Frequency response analysis of torsional dynamics,” IEEE Trans. on Power System, vol. 19, no. 3, pp. 1430 – 1437, 2004.
[13] A. Tabesh and R. Iravani, “On the application of the complex torque coefficients method to the analysis of torsional dynamics,” IEEE Trans. on Energy Conversion, vol. 20, no. 2, pp. 268 – 275, June 2005.
(literature on variable frequency drives)
VFD isolation transformers (rectifier duty transformers, converter duty transformers)
[1] S. P. Kennedy, “Design and application of semiconductor rectifier transformers”, IEEE Trans. on Industry Applications, Vol. 38, No. 4, July/August 2002, pp. 927-933
[2] X. Liang, W. Jackson, R. Laughy, “Transformer winding connections for practical industrial applications”, PCIC 2007
See also our series on VFD transformers: https://mb-drive-services.com/category/vfd_transformers/
Energy efficiency
[1] F. Gyllensten, A. Castagnini, “Saving energy with VSD systems”, Hydrocarbon Engineering, February 2019
[2] M. Sirovy, Z. Peroutka, J. Molnar, J. Michalik, M. Byrtus, “Variable speed pumping in thermal and nuclear power plants: Frequency converter versus hydrodynamic coupling”, IEEE PEDS, Singapore, 5 – 8 December 2011
[3] M. Sirovy, Z. Peroutka, J. Michalik, M. Byrtus, “Medium Voltage Fan Save: Energy efficient fan systems in power engineering, Part 1”, IECON, 25-28 Oct. 2012, Montreal, Canada
[4] F. Endrejat, B. van Blerk, “Large medium voltage drives – efficiency, energy savings and availability”, PCIC Europe, Oslo, Norway, June 2010
[5] Y. Suh, J. Steinke, P. Steimer, “Efficiency comparison of voltage source and current source drive systems for medium voltage applications”, IEEE Trans. on Industrial Electronics, Vol. 54, No. 5, October 2007, pp. 2521-2531
See also our series on Energy efficiency: https://mb-drive-services.com/category/energyefficiency/
Special applications
[1] G. Sydnor, R. Bhatia, H. Krattiger, J. Mylius, D. Schäfer, and E. Carpenter, “Fifteen years of operation at NASA’s National Transsonic Facility with the world’s largest adjustable speed drive”, IET Int. Conference on Power Electronics, Machines and Drives, PEMD 2012
– 101 MW supersonic wind tunnel (single drive)
[2] P. Koralewicz, V. Gevorgian, R. Wallen, W. van der Merwe, and P. Jörg, “Advanced grid simulator for multi-megawatt power converter testing and certification”, IEEE Trans. on Energy Conversion, ECCE 2016
– Controllable grid interface (CGI) / Grid simulator to test grid-connected power electronic converters
(literature on variable frequency drives)
Conferences
1. European Power Electronics (EPE) conference, http://www.epe-association.org/epe/index.php
2. International Conference on Electrical Machines (ICEM), https://icem2020.se/
3. Conference of the Industrial Electronics Society (IECON), https://www.iecon2020.org/
4. International Conference on Power Electronics and Drive Systems (PEDS), https://ieee-peds.org/
5. Petroleum and Chemical Industry Committee (PCIC Europe), https://www.pcic-europe.com/
References
[1] IEEE Xplore digital library, https://ieeexplore.ieee.org/Xplore/home.jsp
More literature?
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We wish you a pleasant reading.
