EE595S: Class Lecture Notes Chapter 14: Induction Motor Drives

EE595S: Class Lecture Notes
Chapter 14: Induction Motor Drives

S.D. Sudhoff
Fall 2005
Fall 2005 EE595S Electric Drive Systems 2
Overview of Strategies
Volts-Per-Hertz Control
Constant Slip Control
Field-Oriented Control
History
Advantages
Disadvantages
Basic Idea
Machine will operate close to synchronous
speed, thus speed controlled with frequency
We must avoid saturation
On Avoiding Saturation
(14.2-1)
(14.2-2)
as as s as
p i r v + =
s e s
V =
Elementary Volts Per
Hertz Control
Example System
50 Hp Machine
Rated for 1800 rpm, 460 V l-l rms, P=4, 60 Hz
r
s
=72.5 m; r
r
=41.3 m
L
M
=30.1 mH; L
ls
=L
lr
=1.32 mH
(14.2-3)
+ =
2
9 . 0 ) ( 1 . 0
bm
rm
rm b L
S T T

Performance
Characteristics
Comments on Steady-State Performance
Problem 1: Resistance At Low Speed
Solution: Set Voltage So Slope is Invarient
(4.9-19)
(14.2-4)
2
,
2 2
,
2
,
2 2
,
est ss
b
est s
est ss e est s
b s
L r
L r
V V
+
+
=
2
2
2
2
2
2
2
) ( ) (
~
2
3
rr s ss r
b
e
rr ss M
b
e
r s
as r
b
M
b
e
e
X sr X r X X X s r r
V s r
X P
T
+

Further Improvement Current Feedback
Lets approximate torque as
(14.2-5)
(14.2-6)
Using (14.2-4) we have
(14.2-7)
This is not a function of synchronous speed
) (
r e tv e
K T =
e r
r
e
tv
T
K

=
) (
2
3
2 2 2 2
2 2
ss
b
s r
b
r M
tv
L r r
V r L
P
K
+
=
Next, consider torque. We have
(14.2-8)
For steady-state conditions
(14.2-9)
(14.2-10)
Thus
(14.2-11)
Where
(14.2-12)
) (
2 2
3
e
ds
e
qs
e
qs
e
ds
e
i i
P
T =
e
e
qs s
e
qs
e
ds
i r v

=
e
e
ds
s
e
ds
e
qs
i r v

=
) 2 (
1
2 2
3
2 *
s s
e
qs
e
qs
e
e
I r i v
P
T =
2 2
2
1
e
ds
e
qs s
i i I + =
Equating (14.2-7) and (14.2-11)
(14.2-13)
Or
(14.2-14)
Where
(14.2-15)
(14.2-16)
2
/ ) 2 ( 3
2 * 2 * *
tv s s
e
qs
e
qs r r
e
K I r i v P + +
=

2
) , 0 max(
2 * *
corr r r
e
+ +
=

corr corr
s H
LPF
) ( =
tv s s
e
qs
e
qs corr
K I r i v P / ) 2 ( 3
2 *
=
Performance of Compensated Volts-Per-Hertz
Control
Start-Up Performance of Compensated Volts Per
Hertz Control
Basic Idea
Definition of Slip Frequency
(14.3-1)
Our Strategy
r e s
=
Derivation of Constant Slip Control
Consider Our Expression for
Electromagnetic Torque
(14.3-2)
Solving for the Current Yields
(14.3-3)
The Plan
2 2
2 2
) ( ) (
2
3
rr s r
r s M s
e
L r
r I L
P
T
est rr est M s
est rr s est r e
s
r L P
L r T
I
,
2
,
2
,
2
,
*
| | 3
) ) ( ( | | 2

Avoiding Saturation
Before Proceeding
Consider the Steady-State Equivalent
Circuit
(14.3-4)
(14.3-5)
Thus
(14.3-7)
)
~ ~
(
~ ~
ar as M ar lr ar
I I L I L

+ +
=
s r L j
L j
I I
r rr e
M e
as ar
/
~ ~

2 2 2
'
r rr s
r
M s r
r L
r
L I

Avoiding Saturation
Taking the Magnitude
(14.3-7)
Combing (14.3-7) and (14.3-2)
(14.3-8)
Thus
(14.3-9)
So For Large Torque Commands
(14.3-10)
2 2 2
'
r rr s
r
M s r
r L
r
L I
r
r s
r
e
P
T
=
2 '
2
3

est r
r set s
thresh e
r
P
T
,
2
max , ,
,
2
3
=

2
max ,
,
*
3
2
r
est r e
s
P
r T

=
Selection of Slip Frequency
Control for Maximum Torque Per Amp
From (14.3-1)
(14.3-11)
Optimizing with Respect to Slip Frequency
(14.3-12)
2
,
2
2
,
2
) ( ) (
2
3
r set s r
r M set s
s
e
L r
r L
P
I
T
est rr
est r
set s
L
r
,
,
,

=
Maximum Torque Per Amp Control
Maximum Efficiency Control
To Optimize Efficiency Note That
(14.3-13)
So
(14.3-14)
Comparison to (14.3-14) to (14.3-2)
(14.3-15)
Now
(14.3-16)
)
~
Re( 3
as s in
V I P =
2 2
2 2
2
) (
3
3
rr s r
r s M e s
s s in
L r
r L I
I r P

+ =

e e s s in
T
P
I r P
2
3
2
+ =
e r out
T
P
P
2
=
So
(14.3-17)
Finally
(14.3-18)
Minimizing Yields
(14.3-19)
s e s s out in
T
P
I r P P
2
3
2
+ =
=
s
m r
rr s s
m s
s r
e loss
L r
L r
L
r r
T
P
P
2
2
2
2
1
1
,
,
2
,
2
,
,
,
,
+
=
est r
est s
est rr
est m
est rr
est r
set s
r
r
L
L
L
r

Comparison of Constant Slip Controls
Maximum Efficiency
Maximum Torque Per Amp
Speed Control with Constant Slip
Control
Transient Performance of Constant
Slip Controlled Drive
14.4 Field-Oriented Control
Objective
Challenges
The Basic Idea
sin 2BiNLr T
e
=
Torque Production in Induction
Motor
Now
(14.4-2)
(14.4-3)
) (
2 2
3
qr dr dr qr e
i i
P
T

=
sin | || |
2 2
3
qdr qdr e
i
P
T

=
The Plan
Objective
Observation
In Steady-State, This is Always True
(14.4-4)
(14.4-5)
(14.4-6)
Thus
e
dr
r e
r
e
qr
r
i ) (
1

=
e
qr r e
r
e
dr
r
i ) (
1

=
e
dr
e
dr
e
qr
e
qr
e
qdr
e
qdr
i i i

+

=

The Plan (Continued)
But.. We need flux and current to be
perpendicular all the time. To do this ..
(14.4-7)
(14.4-8)
Achieving (14.4-7)
By choice of
e
0 =
e
qr
0 =
e
dr
i
The Plan (Continued)
Achieving (14.4-8)
All we need to do is to keep d-axis stator
current constant. Proof:
Consider
(14.4-9)
The q-axis rotor flux linkage is zero (by choice of
reference frame)
(14.4-10)
Substitution of d-axis rotor flux linkage equation
into (14.4-10)
(14.4-11)
Thus the d-axis rotor current goes to zero
e
dr
e
qr r e
e
dr
r
p i r

+
+

= ) ( 0
e
dr
e
dr
r
p i r
+

= 0
e
ds
rr
M
e
dr
rr
r
e
dr
pi
L
L
i
L
r
i p
=
Some Observations
Since the d-axis rotor current is zero
(14.4-12)
(14.4-13)
Combining these results with our flux linkage
equation
(14.4-14)
e
ds
ss
e
ds
i L =
e
ds
M
e
dr
i L =
e
qr
e
dr
e
i
P
T

=
2 2
3
Some Observations
Since the q-axis rotor flux linkage is zero
(14.4-15)
Thus
(14.4-16)
e
qs
rr
M
e
qr
i
L
L
i =
e
qs
e
dr
rr
M
e
i
L
L P
T
=
2 2
3
Generic Rotor Flux-Oriented Control
Note:
e
must be selected so as to keep q-axis rotor
flux equal to zero.
Some Minor Details
Determination of position of synchronous
reference frame
Determination of the rotor flux
Aside Types of Field Oriented
Control
Orientations
Stator
Magnetizing (Air-Gap)
Rotor
Methods
Direct
Indirect
Modifications
Robust
Direct Field Oriented Control
Basic Idea
Measure the flux directly (more or less)
Consider
(14.5-1)
We need to set q-axis rotor flux to zero.
Thus
(14.5-2)
s
dr
s
qr
e e
e e
e
dr
e
qr
cos sin
sin cos
2
) (

+
=
s
dr
s
qr e
j angle
Direct Field-Oriented Control
As a Side Effect
(14.5-3)
The problem: We can measure the rotor flux
linkages. We can measure the stator flux
linkages.
2 2
) ( ) (
s
dr
s
qr
e
dr

+

Estimation of Rotor Flux Linkages
Consider
(14.5-4)
Thus
(14.5-5)
Recall
(14.5-6)
) (
s
qr
s
qs M
s
qm
i i L

+ =
M
s
qs M
s
qm
s
qr
L
i L
i

) (
s
qr
s
qs M
s
qr lr
s
qr
i i L i L

+ +

Estimation of Rotor Flux Linkages
So
(14.5-7)
(14.5-8)
s
qs lr
s
qm
M
rr
s
qr
i L
L
L

s
ds
lr
s
dm
M
rr
s
dr
i L
L
L

Rotor Flux Estimator
Direct Rotor Field-Oriented Control
Robust Direct Field-Oriented Control
Sensitivity of Rotor Flux Estimator
(14.6-1)
Sensitivity of Q-Axis Current Calculation
(14.6-2)
s
qds
est lr
s
m qd
est M
est rr e
qdr
i L
L
L

,
,
,
,

e
dr
est rr
est M
e
e
qs
L
L
P
T
i
2 2
3
,
,
*
*
Robust Direct Field-Oriented Control
Sensitivity of the D-Axis Current Injection
(14.6-3)
est M
e
dr
e
ds
L
i
,
*
*

=
Flux Control Loop
Since we have a flux estimator, consider
It can be shown that
(14.6-5)
1
1
,
*
+
+
=
s
L
L
s
M
est M
e
dr
e
dr

Torque Control Loop
Torque Estimation
Recall
(14.6-6)
Now
(14.6-7)
So
(14.6-8)
Which Suggests
(14.6-9)
) (
2 2
3
s
ds
s
qs
s
qs
s
ds
e
i i
P
T =
s
qdm
s
qds
ls
s
qds
i L + =
) (
2 2
3
s
ds
s
qm
s
qs
s
dm
e
i i
P
T =
) (
2 2
3
s
ds
s
qm
s
qs
s
dm
e
i i
P
T

=
Torque Control Loop
Now that we can estimate torque, how about
Torque Control Loop
Analysis of Torque Control Loop
Define
(14.6-10)
(14.6-12)
Now, assuming the control works
(14.6-11)
This, assumption, coupled with our torque
control loop yields
(14.6-13)
*
,
,
,
2 2
3
e
dr
est rr
est M
est t
L
L
P
K
=
e
dr
rr
M
t
L
L P
K
=
2 2
3
* e
qs t e
i K T =
1
1
,
*
+
+
=
s
K
K
s
T
T
t
est t
t
t
e
e

Robust Direct Field-Oriented
Control
Performance of Robust Direct Field
Oriented Control
Performance of Constant Slip Drive
Performance of Volts-Per-Hertz
Drive
Indirect Field Oriented Control
Consider
(14.7-1)
Since the q-axis rotor flux is zero
(14.7-2)
Which may be expressed
(14.7-3)
e
qr
e
dr
r e
e
qr rr
p i r

+
+

= ) ( 0
e
dr
e
qr
r r e
i
r
=
e
de
e
qs
rr
r
r e
i
i
L
r
+ =
Thought
We know what the electrical frequency will be
if we have field orientation (i.e. field
orientation causes (14.7-1))
Does it work backward ? Will using (14.7-1)
cause field-orientation ?
The answer: Yes !
Indirect Field Orientation
Proof
Consider the rotor voltage equations
(14.7-5)
(14.7-6)
Now substitute in our expression for electrical
frequency
(14.7-7)
(14.7-8)
e
qr
e
dr
r e
e
qr r
p i r

+
+

= ) ( 0
e
dr
e
qr r e
e
dr
r
p i r

+

= ) ( 0
e
qr
e
dr
e
de
e
qs
rr
r
e
qr r
p
i
i
L
r
i r

+
+

=
*
*
0
e
dr
e
qr
e
de
e
qs
rr
r
e
dr
r
p
i
i
L
r
i r

+

=
*
*
0
Continuing On
Now put in terms of q-axis rotor flux and d-axis
rotor current (and stator currents)
This yields
(14.7-9)
(14.7-10)
[ ]
e
qr
e
ds M
e
dr rr
e
ds
e
qs
rr
r
rr
e
qs M
e
qr
r
p i L i L
i
i
L
r
L
i L
r
+ +

=
*
*
* *
0
[ ]
*
*
*
0
e
ds M
e
dr rr
e
qr
e
ds
e
qs
rr
r e
dr r
i L i L p
i
i
L
r
i r +

+

=
Now, keeping the d-axis stator current fixed
we have
(14.7-11)
(14.7-12)
Comments
e
dr
e
ds
e
qs
r
e
qr
rr
r
e
qr
i
i
i
r
L
r
p

*
*

e
qr
e
ds
e
qs
rr
r
e
dr
rr
r
e
dr
i
i
L
r
i
L
r
i p
*
*
2
) (
Thus, our control becomes
Advantages of Indirect Field Oriented
Control over Direct Field Oriented Control
Disadvantages of Indirect Field Oriented
Control over Direct Field Oriented Control
Performance of Detuned
Overestimate magnetizing inductance by
25% (we started to saturate machine)
Underestimate rotor resistance by 25%
(rotor resistance increased with
temperature)
Performance of Detuned Field
Oriented Control

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EE595S: Class Lecture Notes

Chapter 14: Induction Motor Drives

Fall 2005 EE595S Electric Drive Systems 7

Fall 2005 EE595S Electric Drive Systems 10

Fall 2005 EE595S Electric Drive Systems 20

Fall 2005 EE595S Electric Drive Systems 26

Fall 2005 EE595S Electric Drive Systems 44

Fall 2005 EE595S Electric Drive Systems 45

Fall 2005 EE595S Electric Drive Systems 51

Fall 2005 EE595S Electric Drive Systems 54

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