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HIGH PERFORMANCE
CONTROL OF AC
DRIVES WITH
MATLAB/SIMULINK
MODELS

HIGH PERFORMANCE
CONTROL OF AC
DRIVES WITH
MATLAB/SIMULINK
MODELS
Haitham Abu-Rub
Texas A&M University at Qatar, Qatar
Atif Iqbal
Qatar University, Qatar and Aligarh Muslim University, India
Jaroslaw Guzinski
Gdansk University of Technology, Poland

This edition first published 2012
Ó 2012 John Wiley & Sons Ltd
Registered office
John Wiley & Sons Ltd, The Atrium, Southern Gate, Chichester, West Sussex, PO19 8SQ, United Kingdom
For details of our global editorial offices, for customer services and for information about how to apply for permission
to reuse the copyright material in this book please see our website at www.wiley.com.
The right of the author to be identified as the author of this work has been asserted in accordance with the Copyright,
Designs and Patents Act 1988.
All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or transmitted, in any
form or by any means, electronic, mechanical, photocopying, recording or otherwise, except as permitted by the
UK Copyright, Designs and Patents Act 1988, without the prior permission of the publisher.
Wiley also publishes its books in a variety of electronic formats. Some content that appears in print may not
be available in electronic books.
Designations used by companies to distinguish their products are often claimed as trademarks. All brand names
and product names used in this book are trade names, service marks, trademarks or registered trademarks of their
respective owners. The publisher is not associated with any product or vendor mentioned in this book. This publication
is designed to provide accurate and authoritative information in regard to the subject matter covered. It is sold on the
understanding that the publisher is not engaged in rendering professional services. If professional advice or other
expert assistance is required, the services of a competent professional should be sought.
MATLAB
Ò
is a trademark of The MathWorks, Inc. and is used with permission. The MathWorks does not warrant the
accuracy of the text or exercises in this book. This book’s use or discussion of MATLAB
Ò
software or related products does not
constitute endorsement or sponsorship by The MathWorks of a particular pedagogical approach or particular use of the
MATLAB
Ò
software.
Library of Congress Cataloging-in-Publication Data
Abu-Rub, Haithem.
High performance control of AC drives with MATLAB/Simulink models / Haitham
Abu Rub, Atif Iqbal, Jaroslaw Guzinski.
p. cm.
Includes bibliographical references and index.
ISBN 978-0-470-97829-0 (hardback)
1. Electric motors, Alternating current–Computer simulation. 2. Electric motors, Alternating
current–Automatic control. 3. MATLAB. 4. SIMULINK. I. Iqbal, Atif. II. Guzinski, Jaroslaw. III. Title.
TK2781.A28 2012
621.46–dc23
2011052004
A catalogue record for this book is available from the British Library.
Print ISBN: 9780470978290
Typeset in 10/12pt Times by Thomson Digital, Noida, India

Dedicated to my parents, my wife Beata, and my children Fatima,
Iman, Omar, and Muhammad.
—Haitham Abu-Rub
Dedicated to my parents, parents in-law, my wife Shadma, and my kids
Abuzar, Noorin, and Abu Baker who have inspired me to write this book.
—Atif Iqbal
Dedicated to my parents, my wife Anna, and my son Jurek.
—Jaroslaw Guzinski

Contents
Acknowledgment xiii
Biographies xv
Preface xvii
1 Introduction to High Performance Drives 1
1.1 Preliminary Remarks 1
1.2 General Overview of High Performance Drives 6
1.3 Challenges and Requirements for Electric Drives for Industrial
Applications 10
1.3.1 Power Quality and LC Resonance Suppression 11
1.3.2 Inverter Switching Frequency 12
1.3.3 Motor Side Challenges 12
1.3.4 High dv/dt and Wave Reflection 12
1.3.5 Use of Inverter Output Filters 13
1.4 Organization of the Book 13
References 16
2 Mathematical and Simulation Models of AC Machines 19
2.1 Preliminary Remarks 19
2.2 DC Motors 19
2.2.1 Separately Excited DC Motor Control 20
2.2.2 Series DC Motor Control 22
2.3 Squirrel Cage Induction Motor 25
2.3.1 Space Vector Representation 25
2.3.2 Clarke Transformation (ABC to ab) 26
2.3.3 Park Transformation (ab to dq) 29
2.3.4 Per Unit Model of Induction Motor 30
2.3.5 Double Fed Induction Generator (DFIG) 32
2.4 Mathematical Model of Permanent Magnet Synchronous Motor 35
2.4.1 Motor Model in dq Rotating Frame 36
2.4.2 Example of Motor Parameters for Simulation 38
2.4.3 PMSM Mode l in Per Unit System 38
2.4.4 PMSM Mode l in a–b (x–y)-Axis 40
2.5 Problems 42
References 42
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