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Lecture 3 VTS
Lecture 3 VTS
Lecture 3 VTS
20-06-2008
20-06-2008
Ac supply
f*
f*
) 3 s T = w ms R r' ) 2 + ( x + x ' ) 2 s r ( Rs + s
r2' V (
2 S
Induction motor
20-06-2008
20-06-2008
Controller
Induction Motor
Feedback
Speed Sensor
20-06-2008
The conventional equivalent circuit of an Induction motor is capable of capturing the performance of the motor under steady-state conditions only. The equivalent circuit is used for sinusoidal excitation only.
20-06-2008
The three-phase induction motor is simply converted into an equivalent two-phase machine by considering the POWER INVARIANCE.
q-axis + Vqr _ + Vqs _ + d-axis Stator _ Vds + Rotor
_ Vdr
Derivation of rotor flux state model of the Induction motor (in the arbitrary reference frame)
20-06-2008
' ds = Llsids + Lm (ids + idr ) ' ds = ( Lls + Lm )ids + Lmidr ' ds = Lsids + Lmidr
We have the voltage equations of the d-q model of the induction motor in the arbitrary reference frame as: d d ' ' vds = rs ids + Ls (ids ) wLsiqs wLmiqr + Lm (idr ) (1) dt dt
vqs = rsiqs + Ls
' 0 = rr'idr + L'r
d d ' ' (idr ) (w wr ) L'r iqr (w wr ) Lmiqs + Lm (ids ) (3) dt dt d d ' ' ' 0 = rr'iqr + L'r (iqr ) + (w wr ) L'r idr + (w wr ) Lmids + Lm (iqs ) (4) dt dt
20-06-2008 Dr.S.Srinivas, EED, NIT-Warangal <srsrini12@yahoo.co.in>
= Lmids + L i (5)
' dr ' ' r dr
i =
' dr
'dr Lmids
L'r
(7)
&i =
' qr
'qr Lmiqs
L
' r
(8)
rr' ' rr' d 0 = ' qr ' Lmiqs + ('qr ) + (w wr )'dr (12) Lr Lr dt rr' ' rr' d 0 = ' dr ' Lmids + ('dr ) (w wr )'qr (11) Lr Lr dt
20-06-2008
where
R = rs + r2 rr'
The induction motor voltage equations (1) to (4) have been reduced to ' ' eqns. (13) to (16), which are a set of linear differential equations in ids , iqs , dr & qr Designating these quantities as the states of the induction motor, the rotor-flux state model of the induction motor can be represented in the standard State-Space form as:
20-06-2008 Dr.S.Srinivas, EED, NIT-Warangal <srsrini12@yahoo.co.in>
v dx v v v v = Ax + Bu dt
rr' r
L r L L r 1 (w wr ) 1 (w wr )
r L r r wr
r wr
1 0 L 1 v B= 0 L 0 0 0 0
v x = i ds
'qr
v u = v ds
v qs
where
L = R
L'r r = ' rr
v y =
[i
ds
i qs
v = C x
where
1 0 0 0 0 1 0 0 C=
20-06-2008
vds
ids iqs
'dr
'qr
vqs
Te + TL
m =
J B
Speed dynamics
Now,
Similarly,
d'qr dt +
1
r'
20-06-2008
rr' r
iqs
+ +
r
ids
'dr
*
wsl
+ wsl
3 P Lm ( ) 2 2 L'r
Te
' qr
iqs
rr' r
ids
Dynamics of the electromagnetic torque Te, using the rotor- flux state model of the induction motor
20-06-2008
as-axis Space vectors represented w.r.t the arbitrary reference frame when the d-axis is not aligned along the rotor flux-axis r xis e roto d-a th is ry g itra alon b d iqs Ar ne alig axis x flu
xis
ids
is
iqs
r itra b Ar
'dr
'qr
is -ax yd
ids
'r
y rar bit Ar
q-a
The d-axis of the arbitrary reference frame is aligned along the rotor flux-linkage space vector as-axis
Dr.S.Srinivas, EED, NIT-Warangal <srsrini12@yahoo.co.in>
By aligning the d-axis of the arbitrary reference frame along the rotor-flux linkage space vector, one obtains the decoupling between the Torque producing and Flux producing components of the stator current space vector and as a consequence the drive torque dynamic performance is improved. This technique is hence called the Rotor field Oriented Control or simply Field Oriented Control (FOC).
With the Field Oriented Control (FOC), the dynamic performance of the Induction motor resembles that of an SEDC motor.
20-06-2008 Dr.S.Srinivas, EED, NIT-Warangal <srsrini12@yahoo.co.in>
20-06-2008
(BLASCHE of SIEMENS) In 1972 VECTOR CONTROL or Field Oriented Control of Induction Motor
20-06-2008
Block Diagram of a typical rotor field oriented Induction motor drive system
20-06-2008 Dr.S.Srinivas, EED, NIT-Warangal <srsrini12@yahoo.co.in>
Rotor Field Oriented control of induction motor Dynamic equivalent circuit in the rotor flux frame of reference
axis
bi Ar ry tra q-a xis
is
iqs
r itra b Ar
is -ax yd
i
ids
(t )
i
20-06-2008 Dr.S.Srinivas, EED, NIT-Warangal <srsrini12@yahoo.co.in>
axis
(1)
'qr = 0
20-06-2008
Under the field orientation condition in eqn. (1) earlier Therefore, from eqns. (11) & (12) ' = 0
qr
=
' dr
(1)
' r
d ' ' ' dr + rr'idr = 0 L (Q vdr = 0) (10) dt d ' ( Lm imr ) + rr'idr = 0 (11) dt
Lm d imr ids (imr ) + = (1 + r ) (1 + r ) rr' dt Lm (1 + r ) d (imr ) + imr = ids rr' dt d (imr ) + imr = ids (14) dt
20-06-2008
Lm )iqs = 0 L'r
Lm
iqs
r imr
(18)
20-06-2008
Therefore, the machine dynamic equations under field orientation can be summarized recalling the eqns. (14), (18), (9) as:
axis
xis q-a
r dimr + imr = ids dt
is
iqs d ws = = wr + dt r imr
iqs
is -ax d
dwm 2 Lm = imriqs dt 3 (1 + r )
ids
d P = wr = wm dt 2
axis
0 0 3 2
i a ib 3 ic 2
20-06-2008
imr
and
ids
FLUX ESTIMATOR
iqs
wr
20-06-2008
Indirect Field Oriented Control of Induction motor with feedback scheme NOTE: Here, the d-axis is forced along the rotor flux axis
20-06-2008 Dr.S.Srinivas, EED, NIT-Warangal <srsrini12@yahoo.co.in>
Indirect Field Oriented Control of Induction motor with feed-forward scheme NOTE: Here, the rotor flux axis is forced along the d-axis
20-06-2008 Dr.S.Srinivas, EED, NIT-Warangal <srsrini12@yahoo.co.in>
What is decoupling?
It can be noted that under proper field-orientation, the stator current components ids and iqs are decoupled and therefore the controller output can be used as command values for the CSI. In the case of a VSI, the stator voltage components Vds and Vqs are not decoupled as it is evident from the d-q model of the induction motor.
If these coupling terms are not compensated, then the torque and the flux producing components of the rotor current will not be decoupled. Hence, the feed-forward terms must be added to the outputs of the daxis and the q-axis current controllers.
20-06-2008
From this it is evident that the d-axis stator circuit loop and the q-axis stator circuit loop has coupling terms w and w
qs
ds
w qs
w ds
vds = rs ids + Ls
imr ids (1 + r )
+ Lmiqs = 0
vds = rs ids + Ls
' iqr
Lm d Lm d imr vds = rs ids + Ls ids wLs iqs + (1 + r ) dt (1 + r ) dt d Lm Lm d imr vds = rs ids + Ls 1 ids wLs iqs + (1 + r ) dt (1 + r ) Ls dt
qs = Ls iqs
L2 qs = iqs ( Ls m ) L'r
Let us define
qs = Lsiqs (1
L2 (1 m' ) Ls Lr L2 m ) Ls L'r
and
L'r = Lm (1 + r )
vds = rs ids + Ls
qs = Lsiqs
20-06-2008
' iqr =
Lm iqs L'r
L2 d d ' iqs m iqs + wLs ids + wLmidr ' dt Lr dt
vqs = rs iqs + Ls
vqs = rs iqs + Ls
vqs = rs iqs + Ls
20-06-2008
Recalling the earlier derived equations When operating below base speed in steady-state condition :
drop along q-axis The controller has to see this small drop for taking necessary control action.
Note: The control gain G is to be considered only when iqs and ids are power circuit currents
PWM Modulator
The VSI operates from a constant DC link voltage and generates variable voltage output at variable frequency. The output depends on the PWM scheme adopted to control the inverter. Finally, the performance and cost of the drive determines the choice of PWM strategy for a specific application. The PWM strategies of IM drive influences the structure of the current control loops.
Dr.S.Srinivas, EED, NIT-Warangal <srsrini12@yahoo.co.in>
20-06-2008
Current Control in the synchronous reference frame and PWM generation using SPWM
20-06-2008 Dr.S.Srinivas, EED, NIT-Warangal <srsrini12@yahoo.co.in>
Current Control in the synchronous reference frame and PWM generation using SVPWM
20-06-2008 Dr.S.Srinivas, EED, NIT-Warangal <srsrini12@yahoo.co.in>