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Syllabus for

Academic year
ENM075 - Electric drives 2
Syllabus adopted 2014-02-21 by Head of Programme (or corresponding)
Owner: MPEPO
7,5 Credits
Grading: TH - Five, Four, Three, Not passed
Education cycle: Second-cycle
Major subject: Electrical Engineering

Teaching language: English
Open for exchange students
Block schedule: A

Course module   Credit distribution   Examination dates
Sp1 Sp2 Sp3 Sp4 Summer course No Sp
0107 Examination 7,5 c Grading: TH   7,5 c   16 Mar 2016 am EKL,  04 Apr 2016 pm EKL,  19 Aug 2016 pm M

In programs



Tekniklektor  Stefan Lundberg


EEK615   Electric drives-2

  Go to Course Homepage


In order to be eligible for a second cycle course the applicant needs to fulfil the general and specific entry requirements of the programme that owns the course. (If the second cycle course is owned by a first cycle programme, second cycle entry requirements apply.)
Exemption from the eligibility requirement: Applicants enrolled in a programme at Chalmers where the course is included in the study programme are exempted from fulfilling these requirements.

Course specific prerequisites

ENM055 - Electric drives I


The aim of this course is that the students should develop and demonstrate the ability to design high-performance electrical drives. In addition the students should be able to construct such a drive in the computer environment Matlab/Simulink after the course and also develop the ability to interpret and evaluate the performance of the drive constructed. Moreover a goal is to derive dynamic equations as well as equation set-ups appropriate for simulations, from the physical construction of the electrical machines. Both induction machines as well as permanent magnet synchronous machines are to be treated for both sensored as well as sensorless (speed and position sensorless) operation. High-performance electric drive systems are used in allot of different applications and some examples are: Electric and hybrid vehicles, robots, renewable energy production (wind turbines, wave power, photovoltaic installations,...), electric servo controls, industrial doors, conveyer belts, industrial weaving machines,...

Learning outcomes (after completion of the course the student should be able to)

  • construct/develop a field-oriented control system of an induction and a PMSM machine and to judge the performance of the current and speed controller using a linear power amplifier.

  • present currents, voltages and fluxes in 3- and 2-phase stationary systems as well as in the rotating 2-phase system, and to be able to move between these representation systems.

  • describe how a three-phase converter operates and to determine the switching pattern that is created by the converter and the impact that this pattern has on the machine.

  • describe how a Volt/Hz control operates.

  • implement and judge the performance of the current model flux estimator in direct and indirect field orientation as well as to implement and evaluate active damping, feed-forward and anti-windup of the regulator.

  • describe the voltage model flux estimator and evaluate its performance.

  • perform a practical experiment in order to determine the equivalent circuit parameters of an induction machine as well as to acquire relevant quantities during a start-up.

  • set up and perform a simulation of the starting process of an induction machine and evaluate/ judge the validity of the simulated results with respect to the measured ones.

  • use the state-space representation for simulation of electric machines and be able to derive the state-space equations from the standard equation set-up describing an electric machine.

  • design speed, current and position controllers of electric machines, based on bandwidth requirements of their performance and the parameters of the machine and supplying power electronic converter.

  • design a controller that can prevent windup of the controllers and use field weakening of the machines.


Lectures and tutorials:
Mathematical transformations: Transformation of voltages, fluxes and currents between the physical 3-phase system and a fictive 2-phase system. Transformation of currents, voltages and fluxes between a stationary and rotating coordinate system.
Models of electric machines: Starting from the physical descriptions of the machine the equations describing electric machines are derived. Induction machines as well as permanent synchronous machines.
State-space modelling: Implementation of machine equations into a set-up that is suitable for computer implementation.
Controllers: Design of current, speed and position controllers using the Loop-shaping method. Design of anti-windup feature of the controllers.
Power electronic converter: Realisation of control reference values into PWM-switched voltage patterns applied to an electric machine.
V/Hz control: Control structures suitable when the dynamic requirement of the drive is not high.
Field-oriented control: Realisation of a dynamic high-performance controller for an electric machine utilising the field-oriented control idea. Both using indirect and direct field-oriented control.
Flux observers: Voltage and current model flux observer.
Sensorless control: Sensorless control means speed- and position sensorless control, structure for eliminating the need of these sensors.
Field weakening: Usage of the field weakening method to increase the speed of the machine above the nominal one.
Digital implementation: Implementation of the controllers in a computer.

Laboratory assignment (compulsory):
The parameters of the induction machine to be evaluated in the project work is determined in a practical 4-hour lab.

Project (compulsory):
One compulsory project work is to be performed. It deals with the design and evaluation of high-performance drives for induction and PMSM-machines.


The course comprises of ca 18 lectures (2 x 45 min) , 9 tutorials (2 x 45 min) , 1 laboratory assignment (4h), a project work on the design of field-oriented control of IM and PMSM drives (52 h).


Compendium: Control of Electrical Drives, Lennart Harnefors, KTH 2002.


Written examination. Grades: Fail, 3, 4 or 5. Approved laboratory and project work.

Page manager Published: Mon 28 Nov 2016.