A

Presentation
on

VECTOR CONTROL OF INDUCTION MOTOR

by
N.JAYAKUMAR

Why Vector control for induction motor?
INDUCTION MOTOR
(67%)
Other Loads,
e.g., lighting, space
heating, process, etc.
(33%)
Induction motors in the
process industry consume
~67% of all electricity
consumed.
A small increase in
efficiency can realize large
savings
Vector control for induction
motor is efficient and save
considerable amount of energy

CONTROL STATEGIES FOR INDUCTION MOTOR DRIVES
INDUCTION MOTOR DRIVES
Scalar Control
Vector Control
Const.V/Hz
i
s
=f(e
r
) Field Oriented
Direct Torque
Rotor Flux Stator Flux
Circular
Flux
Hexagon
Flux
DTC
SVM
Scalar control of ac drives produces good steady
state performance but poor dynamic response.
This manifests itself in the deviation of air gap
flux linkages from their set values. This variation
occurs in both magnitude and phase.

Vector control (or field oriented control) offers
more precise control of ac motors compared to
scalar control. They are therefore used in high
performance drives where oscillations in air gap
flux linkages are intolerable, e.g. robotic
actuators, centrifuges, servos, etc.
Why does vector control provide
superior dynamic performance of ac
motors compared to scalar control ?

In scalar control there is an inherent
coupling effect because both torque and
flux are functions of voltage or current
and frequency. This results in sluggish
response and is prone to instability
because of 5
th
order harmonics. Vector
control decouples these effects.
Equivalent Circuit of
Induction Motor
The complex d
e
-q
e
equivalent circuit of an
induction motor is shown in the below figure
(neglecting rotor leakage inductance).



Equivalent Circuit of Induction
Motor (contd)
Since the rotor leakage inductance has been
neglected, the rotor flux = , the air gap
flux.

The stator current vector I
s
is the sum of the
i
ds
and i
qs
vectors. Thus, the stator current
magnitude, is related to i
ds
and i
qs
by:





r

s I
2 2
s
ds qs
I i i = +
Phasor Diagrams for Induction
Motor
The steady state phasor (or vector) diagrams for
an induction motor in the d
e
-q
e
(synchronously
rotating) reference frame are shown below:




Phasor Diagrams for Induction
Motor (contd)
The rotor flux vector is aligned
with the d
e
axis and the air gap
voltage is aligned with the q
e

axis. The terminal voltage V
s
slightly
leads the air gap voltage because of
the voltage drop across the stator
impedance. i
qs
contributes real power
across the air gap but i
ds
only
contributes reactive power across the
air gap.
( )
r m
=
m
V
Phasor Diagrams for Induction
Motor (contd)
The first figure shows an increase in the torque
component of current i
qs
and the second figure
shows an increase in the flux component of
current, i
ds
. Because of the orthogonal orientation
of these components, the torque and flux can be
controlled independently. However, it is
necessary to maintain these vector orientations
under all operating conditions.

How can we control the i
qs
and i
ds
components of
the stator current I
s
independently with the
desired orientation ?

Principles of Vector Control
The basic conceptual implementation of
vector control is illustrated in the below
block diagram:







Note: The inverter is omitted from this diagram.
Principles of Vector Control
(contd)
The motor phase currents, i
a
, i
b
and i
c
are
converted to i
ds
s
and i
qs
s
in the stationary
reference frame. These are then converted to
the synchronously rotating reference frame d-
q currents, i
ds
and i
qs
.

In the controller two inverse transforms are
performed:
1) From the synchronous d-q to the
stationary d-q reference frame;
2) From d
*
-q
*
to a
*
, b
*
, c
*
.
Principles of Vector Control
(contd)
There are two approaches to vector control:

1) Direct field oriented current control
- here the rotation angle of the i
qs
e
vector with
respect to the stator flux
qr

s
is being directly
determined (e.g. by measuring air gap flux)

2) Indirect field oriented current control
- here the rotor angle is being measured
indirectly, such as by measuring slip speed.
Direct Vector Control
In direct vector control the field
angle is calculated by using terminal
voltages and current or Hall sensors
or flux sense windings.

A block diagram of a direct vector
control method using a PWM voltage-
fed inverter is shown on the next
slide.
Direct Vector Control
(contd)





Direct Vector Control
(contd)
The principal vector control parameters, i
ds
*
and
i
qs
*
, which are dc values in the synchronously
rotating reference frame, are converted to the
stationary reference frame (using the vector
rotation (VR) block) by using the unit vector
cosu
e
and sinu
e
. These stationary reference
frame control parameters i
ds
s*
and i
qs
s*
are then
changed to the phase current command signals,
i
a
*
, i
b
*
, and i
c
*
which are fed to the PWM
inverter.
Direct Vector Control
(contd)
A flux control loop is used to precisely control the
flux. Torque control is achieved through the
current i
qs
*
which is generated from the speed
control loop (which includes a bipolar limiter that
is not shown). The torque can be negative which
will result in a negative phase orientation for i
qs
in
the phasor diagram.

How do we maintain i
ds
and i
qs
orthogonality? This
is explained in the next slide.
Direct Vector Control
(contd)




Direct Vector Control
(contd)
Here the d
e
-q
e
frame is rotating at
synchronous speed e
e
with respect to the
stationary reference frame d
s
-q
s
, and at any
point in time, the angular position of the d
e

axis with respect to the d
s
axis is u
e
(=e
e
t).

From this phasor diagram we can write:

and cos
s
dr e r
u = sin
s
qr e r
u =
Direct Vector Control
(contd)
Thus,

,

The cosu
e
and sinu
e
signals in correct
phase position are shown below:



cos
s
dr
e
r

=
sin
s
qr
e
r

=
( ) ( )
2 2
s s
dr qr r
= +
Direct Vector Control
(contd)
These unit vector signals, when used
in the vector rotation block, cause i
ds
to maintain orientation along the d
e
-
axis and the i
qs
orientation along the
q
e
-axis.
Summary of Salient Features of
Vector Control
A few of the salient features of vector
control are:
The frequency e
e
of the drive is not
controlled (as in scalar control). The
motor is self-controlled by using the
unit vector to help control the frequency
and phase.
There is no concern about instability
because limiting within the safe limit
automatically limits operation to the
stable region.
s
I
Transient response will be fast because
torque control by i
qs
does not affect
flux.
Vector control allows for speed control
in all four quadrants (without additional
control elements) since negative torque
is directly taken care of in vector
control.
Contd
Flux Vector Estimation
The air gap flux can be directly measured in a
machine using specially fitted search coils or
Hall effect sensors. However, the drift in the
integrator with a search coil is problematic at
very low frequencies. Hall effect sensors tend
to be temperature-sensitive and fragile.

An alternative approach is to measure the
terminal voltage and phase currents of the
machine and use these to estimate the flux.
These techniques are discussed on pp. 363-368
of the Bose text.
Indirect Vector Control
Indirect vector control is similar to
direct vector control except the unit
vector signals (cosu
e
and sinu
e
) are
generated in a feedforward manner.

The phasor diagram on the next slide
can be used to explain the basic
concept of indirect vector control.
Indirect Vector
Control (contd)





Indirect Vector
Control (contd)
The d
s
-q
s
axes are fixed on the stator
and the d
r
-q
r
axes are fixed on the
rotor. The d
e
-q
e
axes are rotating at
synchronous speed and so there is a slip
difference between the rotor speed and
the synchronous speed given by:


Since, , we can write:
e r sl
e e e = +
e e
dt u e =
}
e r sl
u u u = +
Indirect Vector
Control (contd)
In order to ensure decoupling between
the stator flux and the torque, the
torque component of the current, i
qs
,
should be aligned with the q
e
axis and
the stator flux component of current,
i
ds
, should be aligned with the d
e
axis.

We can use the d
e
-axis and q
e
-axis
equivalent circuits of the motor (shown
on the next slide) to derive control
expressions.
Indirect Vector
Control (contd)




Indirect Vector Control
(contd)
The rotor circuit equations may be
written as:



( ) 0
dr
r dr e r qr
d
R i
dt

e e + =
( ) 0
qr
r qr e r dr
d
R i
dt

e e + + =
Indirect Vector
Control (contd)
The rotor flux linkage equations may be
written as:



These equations may be rewritten as:

dr r dr m ds
L i L i = +
qr r qr m qs
L i L i = +
1
m
dr dr ds
r r
L
i i
L L
=
1
m
qr qr qs
r r
L
i i
L L
=
Indirect Vector Control
(contd)
Combining these with the earlier equations
allows us to eliminate the rotor currents which
cannot be directly obtained. The resulting
equations are:






where .
0
dr m r
dr r ds sl qr
r r
d L R
R i
dt L L

e + =
0
qr
m r
qr r qs sl dr
r r
d
L R
R i
dt L L

e + + =
sl e r
e e e =
Indirect Vector
Control (contd)
For decoupling control the total rotor flux needs
to be aligned with the d
e
-axis and so we want:

qr
=0 => d
qr
/dt =0
If we now substitute into the previous equations,
we get:



and

where has been substituted for
dr
.

r

r r
m ds r
r
d L
L i
R dt

+ =
m r
sl qs
r r
L R
i
L
e

=
r

Indirect Vector
Control (contd)
For implementing the indirect vector control
strategy, we need to take these equations into
consideration as well as the equation:


Note:
A constant rotor flux results in the equation:


so that the rotor flux is directly proportional to i
ds

in steady state.
m ds r
L i =
e r sl
u u u = +
Indirect Vector Control
(contd)
An implementation of closed loop indirect vector
control for 4-quadrant operation is shown below:




Indirect Vector
Control (contd)
Features of this implementation:
Diode rectifier front-end with a PWM inverter
with a dynamic brake in the dc link.
Hysteresis-band current control.
Speed control loop generates the torque
component of current, i
qs
*
.
Constant rotor flux is maintained by using the
desired i
ds
*
.
The slip frequency e
sl
*
is generated from the
desired i
qs
*
.

Indirect Vector Control
(contd)
Slip gain K
s
is given by:



e
e
and u
e
are given by:

and
The incremental encoder is necessary for indirect
vector control because the slip signal locates the
rotor pole position with respect to the d
r
axis in a
feedforward manner.
*
*
sl m r
s
qs
r r
L R
K
i
L
e

= =
*
e sl r
e e e = +
e
dt u e =
}
Indirect Vector Control
(contd)
If i
qs
*
<0 for negative torque, phasor i
qs
is
reversed and e
sl
(and u
sl
) will be negative.
The speed control range can be extended into
the field weakening region by incorporating
the dotted line part of the implementation
(see figure below). Note: Closed loop flux
control is now required.


Indirect Vector Control
(contd)
Harmonic content of hysteresis-band
current control is not optimum. Also, at
higher speeds the current controller will
saturate in part of the cycle because of the
high back emf.

Synchronous current control can be used to
overcome these problems.
Indirect Vector Control
(contd)
A dc motor-like electromechanical model can be
derived for an ideal vector-controlled drive
using the following equations:
3
2 2
m
e qs r
r
L P
T i
L

| |
=
|
\ .
r r
m ds r
r
d L
L i
R dt

+ =
2
r
e L
d
T T J
P dt
e
| |
=
|
\ .
Indirect Vector Control
(contd)
A transfer function block diagram is shown
below:






Note: The torque T
e
responds instantly but
the flux has first order delay (with time
constant =L
r
/R
r
).
Indirect Vector Control
(contd)
The physical principle of vector control can be
explained more clearly with the help of the
below d
e
-q
e

equivalent circuits:




Indirect Vector Control (contd)
Since i
ds
and i
qs
are being controlled, we
can ideally ignore the stator-side
parameters. With
qr
=0 under all
conditions, the emf source on the rotor
side d
e
-circuit e
sl

qr
=0. This means that
in steady state i
ds
flows only through the
magnetizing inductance, L
m
, but in the
transient case, is shared by the rotor
circuit whose time constant = L
lr
/R
r
.
Indirect Vector Control
(contd)
A serious issue with respect to indirect vector
control is that of slip gain detuning. This is due
primarily to variation in rotor resistance. This
effect is illustrated below where R
r
=actual
rotor resistance and
= estimated rotor resistance.


r
R
Indirect Vector Control
(contd)
Continuous on-line tuning of K
s
is very
complex and computationally intensive.
However, two methods, one based on
extended Kalman filtering (EKF) for parameter
estimation and a second one based on a
model referencing adaptive controller (MRAC)
approach are good options. The EKF method
will be considered later when studying
sensorless vector control but the MRAC
method is described next.
Indirect Vector Control
(contd)
In the MRAC approach a reference model
output signal X
*
that satisfies the tuned vector
control condition is usually a function of i
ds
*

and i
qs
*
, motor inductances, and operating
frequency. The adaptive model X is estimated
based on motor feedback voltages and
currents as shown in the next slide. X is
compared to X
*
an the resulting error used to
estimate the slip gain through a P-I
compensator. Slip gain tuning is achieved
when X=X
*
.
s
K
Indirect Vector Control
(contd)




Indirect Vector Control
(contd)
Suppose we decide to use torque as the model
parameter X. Thus,


Substituting L
m
i
ds
*
for gives:


The actual torque can be estimated from the stator
frame variables using the equation:
* * *
3
2 2
m
e qs r
r
L P
X T i
L

| |
= =
|
\ .
r

2
* * * *
3
2 2
m
e ds qs
r
L P
X T i i
L
| |
= =
|
\ .
( )
3
2 2
s s s s
e ds qs qs ds
P
X T i i
| |
= =
|
\ .
Stator Flux-Oriented
Vector Control
Until now we have only
considered rotor flux-oriented
vector control. Airgap flux or
stator flux-oriented vector
control is also possible but at a
cost of a coupling effect that
requires decoupling
compensation.
Vector Control of Current-Fed
Inverter Drive
Vector control can also be extended to
current-fed drives as illustrated below:




Vector Control of Current-Fed
Inverter Drive (contd)
Drive operates with regulated rotor flux and the
speed control loop is the outer loop. The speed
loop generates the torque command T
e
*
which is
then divided by K to generate i
qs
*
. The flux loop
generates i
ds
*
.
is used to control the firing angle of the phase
controlled rectifier through a feedback loop. The
inverter frequency is controlled by a phase-
locked loop (PLL) so that the stator current, ,
is maintained at the desired torque angle with
respect to the rotor flux.
s
I
conclusion
Closed loop control of induction motor is
effective with both stator field orientation
and rotor field orientation
direct control and indirect control both
requires efficient closed loop design
Field oriented control is better for smooth
and efficient control of induction motor
drives
Thank you