Open Source VFD tomwj
open-source-vfd / vfd_math.ipynb
{
"metadata": {
"name": "vfd_math"
},
"nbformat": 3,
"nbformat_minor": 0,
"worksheets": [
{
"cells": [
{
"cell_type": "heading",
"level": 1,
"metadata": {},
"source": [
"Variable Frequency Drive math"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"Calculating signal characteristics and energy losses for Variable Frequency Drive (VFD). Topology: Pulse Width Modulated (PWM), Voltage/Frequncy (V/f) controll"
]
},
{
"cell_type": "code",
"collapsed": false,
"input": [
"%pylab inline"
],
"language": "python",
"metadata": {},
"outputs": [
{
"output_type": "stream",
"stream": "stdout",
"text": [
"\n",
"Welcome to pylab, a matplotlib-based Python environment [backend: module://IPython.zmq.pylab.backend_inline].\n",
"For more information, type 'help(pylab)'.\n"
]
}
],
"prompt_number": 1
},
{
"cell_type": "code",
"collapsed": false,
"input": [
"def phase(x, F, V, P):\n",
" \"Return sinewave function of given properties\"\n",
" return (V*sin((x+radians(P))*F))\n",
"\n",
"def sawTooth(x, F, A):\n",
" \"returns sawtoof function\"\n",
" return (A*(x*F-floor(x*F)))\n",
"def genPWM(sine, saw):\n",
" \"generates pwm\"\n",
" dif=sine-saw\n",
" out=[]\n",
" for i in range(len(dif)):\n",
" if (dif[i]) > 0:\n",
" a=1\n",
" else:\n",
" a=0\n",
" out.append(a)\n",
" \n",
" return asarray(out)"
],
"language": "python",
"metadata": {},
"outputs": [],
"prompt_number": 2
},
{
"cell_type": "code",
"collapsed": false,
"input": [
"freq = 50\n",
"voltage = 230*sqrt(2)\n",
"PWMFreq= 1000\n",
"resoliution= 100.0*PWMFreq #will cause terible aliasing if less than 2x PWMFreq\n",
"x = linspace(0, 2*pi/freq, resoliution)"
],
"language": "python",
"metadata": {},
"outputs": [],
"prompt_number": 101
},
{
"cell_type": "raw",
"metadata": {},
"source": [
"3 phases and sawtoth from wich the pwm will be generated. if ph1>saw then pwm1=1 else pwm1=0 etc."
]
},
{
"cell_type": "code",
"collapsed": false,
"input": [
"plot(x, (phase(x, freq, voltage, 0)))\n",
"plot(x, (phase(x, freq, voltage, 120)))\n",
"plot(x, (phase(x, freq, voltage, -120)))\n",
"plot(x, (sawTooth(x, PWMFreq, 2*voltage)-voltage))\n"
],
"language": "python",
"metadata": {},
"outputs": [
{
"output_type": "pyout",
"prompt_number": 99,
"text": [
"[<matplotlib.lines.Line2D at 0xdcb3ccc>]"
]
},
{
"output_type": "display_data",
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Yzdy4pvs1nNnmTOZsmhvblojA+7XfaWkSB91JTljZ9mvMLWJx+nT66XDHHVqq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\nCg4cOHDgQIWjFBw4cODAgYr/A9f8+AKDkL3rAAAAAElFTkSuQmCC\n"
}
],
"prompt_number": 99
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"pwm output for all 3 phases"
]
},
{
"cell_type": "code",
"collapsed": false,
"input": [
"subplot(3, 1, 1)\n",
"plot(x, (genPWM(phase(x, freq, 1, 0), sawTooth(x, PWMFreq, 2)-1)))\n",
"plot(x, (phase(x, freq, 1, 0)))\n",
"ylim(-1.2, 1.2)\n",
"subplot(3, 1, 2)\n",
"plot(x, (genPWM(phase(x, freq, 1, 120), sawTooth(x, PWMFreq, 2)-1)))\n",
"plot(x, (phase(x, freq, 1, 120)))\n",
"ylim(-1.2, 1.2)\n",
"subplot(3, 1, 3)\n",
"plot(x, (genPWM(phase(x, freq, 1, -120), sawTooth(x, PWMFreq, 2)-1)))\n",
"plot(x, (phase(x, freq, 1, -120)))\n",
"ylim(-1.2, 1.2)"
],
"language": "python",
"metadata": {},
"outputs": [
{
"output_type": "pyout",
"prompt_number": 77,
"text": [
"(-1.2, 1.2)"
]
},
{
"output_type": "display_data",
"png": 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+gojNheC1116jSpUqvPbaa8ydO5dbt24xZ86cAnZ169bl4MGDeHp6GnZCEQKF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\njQsnp91XgFCMQIOGrqbMNQJd+Qwtr6E8DeVvGUYgOGa7HmaFcdHlB8L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}
],
"prompt_number": 77
},
{
"cell_type": "code",
"collapsed": false,
"input": [
"pwm1=genPWM(phase(x, freq, 1, 0), sawTooth(x, PWMFreq, 2)-1)\n",
"dutyCycle=count_nonzero(pwm1)/resoliution\n",
"print 'Duty Cycle: ', dutyCycle\n",
"edges= (pwm1[1:] - pwm1[:-1])\n",
"rel= 800e-6 #rising edge loss\n",
"fel= 500e-6 #falling edge loss\n",
"switchingLoss= (2*rel*edges[(edges>0)].size + 2*fel*edges[(edges<0)].size)*freq #J/s or W for 1 phase\n",
"print 'SwitchingLoss: ', switchingLoss, 'W/ph'\n",
"Amps=5 #current per phase (A)\n",
"ffwdCurrent=2.5 #forword Voltage per transistor (V)\n",
"print 'Powerloss due to current: ', ffwdCurrent*Amps*2*dutyCycle, 'W/ph'\n",
"heat= (dutyCycle*Amps*ffwdCurrent*2 +switchingLoss) *3\n",
"print 'Total heat generated: ', heat, 'W'\n",
"print 'Conditions. motor freqency:', freq, 'Hz. PWM frequncy: ', PWMFreq, 'Hz., Current: ', Amps, 'A/phase'\n",
"#as shown in this example duty cycle is always 50% for each phase, and switching losses increase drasticaly with PWM freaquency "
],
"language": "python",
"metadata": {},
"outputs": [
{
"output_type": "stream",
"stream": "stdout",
"text": [
"Duty Cycle: 0.50136\n",
"SwitchingLoss: 15.91 W/ph\n",
"Powerloss due to current: 12.534 W/ph\n",
"Total heat generated: 85.332 W\n",
"Conditions. motor freqency: 50 Hz. PWM frequncy: 1000 Hz., Current: 5 A/phase\n"
]
}
],
"prompt_number": 102
},
{
"cell_type": "code",
"collapsed": false,
"input": [],
"language": "python",
"metadata": {},
"outputs": []
}
],
"metadata": {}
}
]
}