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Syllabus for

Academic year
ENM076 - Electric drive systems
Elektriska drivsystem
Syllabus adopted 2019-02-07 by Head of Programme (or corresponding)
Owner: MPEPO
7,5 Credits
Grading: TH - Pass with distinction (5), Pass with credit (4), Pass (3), Fail
Education cycle: Second-cycle
Major subject: Electrical Engineering

Teaching language: English
Application code: 21117
Open for exchange students: Yes
Block schedule: A+

Module   Credit distribution   Examination dates
Sp1 Sp2 Sp3 Sp4 Summer course No Sp
0118 Examination 4,5c Grading: TH   4,5c    
0218 Laboratory 3,0c Grading: UG   3,0c    

In programs



Stefan Lundberg

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General entry requirements for Master's level (second cycle)
Applicants enrolled in a programme at Chalmers where the course is included in the study programme are exempted from fulfilling the requirements above.

Specific entry requirements

English 6 (or by other approved means with the equivalent proficiency level)
Applicants enrolled in a programme at Chalmers where the course is included in the study programme are exempted from fulfilling the requirements above.

Course specific prerequisites

Electric drives I (ENM055) or Electrical machines - design and analysis (ENM056)


The aim of this course is that the students should develop and demonstrate the ability to design high-performance electrical drive systems. The students should be able to implement such drive systems in the computer environment Matlab/Simulink and develop the ability to interpret and evaluate the performance of the implemented systems. Both sensored as well as sensorless (speed and position sensorless) operation of electric drive systems are treated in the course. Moreover, the course also covers the derivation of dynamic models of the machines as well as structuring the models so they are appropriate for the simulation environment and for the controller design. 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)

  • design current, speed and position controllers of electric machines, based on bandwidth requirements of their performance, the parameters of the machine together with the load and the supplying power electronic converter.
  • construct/develop a control system of a DC-machine and to judge the performance of the current and speed controller using a linear power amplifier.
  • construct/develop a field-oriented control system of an induction machine and a PM synchronous machine and to judge the performance of the current and speed controllers.
  • implement and evaluate active damping, feed-forward and anti-windup of the regulators.
  • 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.
  • derive, implement and judge the performance of the current model flux estimator in direct and indirect field orientation.
  • derive the base equations of the voltage model flux estimator and evaluate the performance of the voltage model.
  • derive the base equations for estimating the rotor position with signal injection for a salient PM synchronous machine and evaluate its performance.
  • 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.
  • 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.
  • design a field weakening controller for the machines.
  • implement the developed control system on a drive system with a dSPACE real time control system and evaluate the drive system performance.
  • describe how a Volt/Hz control operates.
  • choose the relevant (environmental friendly) drive system for a given application with given specifications.


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.
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. The covered control structures for eliminating the need of these sensors are the voltage model flux observer and signal injection for the PM synchronous machine.
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 weakening: Usage of the field weakening method to increase the speed of the machine above the nominal speed.
Digital implementation: Implementation of the controllers on a dSPACE real time control system.

Project (compulsory):
The compulsory project covers the design, implementation and evaluation of high-performance drives for DC-machines, induction machines and PM synchronous machines. The project is divided into subtask, one per week, where each task covers the theory covered in lectures and tutorials for that week.


The course comprises of around 20 lectures (2 x 45 min), 9 tutorials (2 x 45 min) and a compulsory project covering the design, implementation and evaluation of high-performance drive systems for DC-machines, induction machines and PM synchronous machines (16 x 2 h + 11 x 2 h).


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

Examination including compulsory elements

The compulsory project is reported as course element laboratory with grades Fail or Pass.
The written examination with grades Fail, 3, 4, 5 is reported as course element examination.
When both the exam and the project are approved, the exam grade will be the final grade of the course.

Published: Mon 28 Nov 2016.