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Simulating An AC Motor Drive
Simulating An AC Motor Drive
Introduction
DynamicBraking
ModulationTechniques
Open-LoopVolts/HertzControl
Closed-LoopSpeedControlwithSlipCompensation
Flux-OrientedControl
DirectTorqueControl
Example:ACMotorDrive
Introduction
Inthissection,youwilllearnhowtousetheACdrive modelsoftheElectricDrives
library.First,wewillspecifythetypesofmotors,converters,andcontrollersusedinthe
sixACdrivemodelsofthelibrarydesignatedAC1toAC6.TheAC1,AC2,AC3,and
AC4modelsarebasedonthethree-phaseinductionmotor.Thismotorhasa
three-phasewindingatthestatorandawoundrotororasquirrel-cagerotor.The
squirrel-cagerotorconsistsofslotsofconductingbarsembeddedintherotoriron.The
conductingbarsareshort-circuitedtogetherateachendoftherotorbyconducting
rings.TheAC5modelisbasedonawoundrotorsynchronousmotor,andtheAC6
modelusesapermanentmagnetsynchronousmotor.Themodelsofthesethreetypes
ofmotorsareavailableintheMachineslibrary.TheseACmotorsarefedbyavariable
ACvoltageandfrequencyproducedbyaninverter.Thetypeofinverterusedinthesix
ACdrivemodelsisavoltagesourceinverter(VSI)inthesensethatthisinverterisfedby
aconstantDCvoltage.Thisconstantvoltageisprovidedbyanuncontrolleddiode
rectifierandacapacitor(capacitiveDCbusvoltage).
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Dynamic Braking
WhentheDCbusisprovidedbyadioderectifier,thedrivedoesn'thaveabidirectional
powerflowcapabilityandthereforecannotperformregenerativebraking.IntheAC1,
AC2,AC3,AC4,andAC6models,abrakingresistorinserieswithachopperensures
thebrakingofthemotor-loadsystem.Thisbrakingschemeiscalleddynamicbraking.It
isplacedinparallelwiththeDCbusinordertopreventitsvoltagefromincreasingwhen
themotordecelerates.Withdynamicbraking,thekineticenergyofthemotor-load
systemisconvertedintoheatdissipatedinthebrakingresistor.
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Modulation Techniques
TheVSIinvertersusedintheACdrivemodelsofthelibraryarebasedontwotypesof
modulation,hysteresismodulationandspacevectorpulsewidthmodulation(PWM).
Thehysteresismodulationisafeedbackcurrentcont rolmethodwherethemotorcurrent
tracksthereferencecurrentwithinahysteresisband.Thefollowingfigureshowsthe
operationprincipleofthehysteresismodulation.Thecontrollergeneratesthesinusoidal
referencecurrentofdesiredmagnitudeandfrequencythatiscomparedwiththeactual
motorlinecurrent.Ifthecurrentexceedstheupperlimitofthehysteresisband,the
upperswitchoftheinverterarmisturnedoffandthelowerswitchisturnedon.Asa
result,thecurrentstartstodecay.Ifthecurrentcrossesthelowerlimitofthehysteresis
band,thelowerswitchoftheinverterarmisturnedoffandtheupperswitchisturnedon.
Asaresult,thecurrentgetsbackintothehysteresisband.Hence,theactualcurrentis
forcedtotrackthereferencecurrentwithinthehysteresisband.
Operation Principle of Hysteresis Modulation
Thefollowingfigureshowsthehysteresiscurrentcontrolmodulationscheme,consisting
ofthreehysteresiscomparators,oneforeachphase.Thistypeofclosed-loopPWMis
usedinAC3andAC5models.
Typical Hysteresis Current Controller
Thespacevectormodulationtechniquediffersfromthehysteresismodulationinthat
therearenotseparatecomparatorsusedforeachofthethreephases.Instead,a
referencevoltagespacevectorVSisproducedasawhole,sampledatafixedfrequency,
andthenconstructedthroughadequatetimingofadjacentnonzeroinvertervoltage
spacevectorsV1toV 6andthezerovoltagespacevectorsV0,V 7.Asimplifieddiagram
ofaVSIinverterisshownbelow.Inthisdiagram,theconductionstateofthethreelegs
oftheinverterisrepresentedbythreelogicvariables,SA,SB,andSC.Alogical1
meansthattheupperswitchisconductingandlogical0meansthatthelowerswitchis
conducting.
Simplified Diagram of a VSI PWM Inverter
TheswitchingofSA,SB,SCresultsineightstatesfortheinverter.Theswitchingstates
andthecorrespondingphasetoneutralvoltagesaresummarizedinInverterSpace
VoltageVectors .Thesixactivevectorsareanangleof60degreesapartanddescribea
hexagonboundary.Thetwozerovectorsareattheorigin.
ForthelocationoftheVSvectorshowninInverterSpaceVectorVoltages,asan
example,thewaytogeneratetheinverteroutputistousetheadjacentvectorsV1and
V2onapart-timebasistosatisfytheaverageoutputdemand.ThevoltageVScanbe
resolvedas
0 1 1 1 Freewheeling
1 1 0 0 Active
2 1 1 0 Active
3 0 1 0 Active
4 0 1 1 Active
5 0 0 1 Active
6 1 0 1 Active
7 0 0 0 Freewheeling
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where
therefore
SincethemotorisfedwithavariableACsourcevoltageandfrequency,itisimportantto
maintainthevolts/Hzconstantintheconstanttorqueregionifmagneticsaturationisto
beavoided.Atypicalvolts/Hzcharacteristicisshownbelow.Noticethatthestraightline
hasasmallvoltageboostinordertocompensateforresistancedropatlowfrequency.
Open-loopvolts/Hzcontrolisusedwithlow-dynamicsapplicationssuchaspumpsor
fanswhereasmallvariationofmotorspeedwithloadistolerable.TheAC1modelis
basedonanopen-loopvolts/Hzcontroller.
Volts/Hz Characteristics with Compensation at Low Frequency
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Flux-Oriented Control
TheconstructionofaDCmachineissuchthatthefieldfluxisperpendiculartothe
armatureflux.Beingorthogonal,thesetwofluxesproducenonetinteractiononone
another.AdjustingthefieldcurrentcanthereforecontroltheDCmachineflux,andthe
torquecanbecontrolledindependentlyoffluxbyadjustingthearmaturecurrent.AnAC
machineisnotsosimplebecauseoftheinteractionsbetweenthestatorandtherotor
fields,whoseorientationsarenotheldat90degreesbutvarywiththeoperating
conditions.YoucanobtainDCmachine-likeperformanceinholdingafixedand
orthogonalorientationbetweenthefieldandarmaturefieldsinanACmachineby
orientingthestatorcurrentwithrespecttotherotorfluxsoastoattainindependently
controlledfluxandtorque.Suchacontrolschemeiscalledflux-orientedcontrolorvector
control.Vectorcontrolisapplicabletobothinductionandsynchronousmotors.Wewill
seenowhowitappliestoinductionmotors.
Consideringthed-qmodeloftheinductionmachineinthereferenceframerotatingat
synchronousspeed ,
where
Thefield-orientedcontrolimpliesthatthe componentofthestatorcurrentwouldbe
alignedwiththerotorfieldandthe componentwouldbeperpendicularto .This
canbeaccomplishedbychoosing tobethespeedoftherotorfluxandlockingthe
phaseofthereferenceframesystemsuchthattherotorfluxisalignedpreciselywiththe
daxis,resultingin
and
whichimpliesthat
andthat
Italsofollowsthat
TheanalogywithDCmachineperformanceisnowclear.Theelectrictorqueis
proportionaltothe component,whereastherelationbetweentheflux andthe
componentisgivenbyafirst-orderlineartransferfunctionwithatimeconstant / .
Youcannotdirectlymeasuretherotorfluxorientationinasquirrel-cagerotorinduction
machine.Itcanonlybeestimatedfromterminalmeasurements.Analternativewayisto
usethesliprelationderivedabovetoestimatethefluxpositionrelativetotherotor,as
shown.Thelattercontrolschemeiscalledindirectfield-orientedcontrolandisusedin
theAC3model.
Rotor Flux Position Obtained from the Slip and Rotor Positions
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1
1 0
-1
1
-1 0
-1
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Amplitude 460V
Frequency 60Hz
Motor Nominal
Values
Power 200hp
Speed 1800
rpm
Voltage 460V
WewillthussettheACsourcevoltageamplitudeandfrequencyvaluesto460V
and60Hz,respectively.
2. SettheACsourcephase-to-phasermsvoltagevalueto460V,andthefrequency
to60Hz.NametheACsource 460 V 60 Hz .
Inordertorepresentareal-lifethree-phasesource,youmustspecifycorrect
sourceresistance RandinductanceLvalues.Theproceduretodeterminethese
valueshasbeendiscussedaboveinthestep-by-stepexampleConnectingthe
DC3ModeltoaVoltageSource.Followingthisprocedure,youdeterminea
resistancevalueof0.0056andaninductancevalueof0.15mH.
3. SettheACsourceresistancevalueto0.0056andtheinductanceto0.15mH.
(4-5)
TheconstantKshouldbeimposedsothatatnominalspeed,themotordevelops
nominaltorque.ThistorquecanbedeterminedusingEquation4-4.Usingthis
equationwefindanominalvalueof790N.m.Finally,Equation4-5givesusaK
valueof0.022.
3. SettheconstantvalueKto0.022.
4. ConnecttheinputandoutputoftheFanblocktotheMotoroutputvectorand
Mec_TinputoftheAC4block,respectively.Yourschematicshouldnowlooklike
thefollowing:
Building the Example Circuit
0 0
0.02 600
0.25 0
0.5 -600
0.75 0
Notethatallmodelinput-outputdescriptionscanbefoundinthecorresponding
referencenotes.AllmotorvariablevaluescanbereadviatheMotorvector.TheConv.
vectorcontainsallconverterrelateddata.TheCtrlvectorincludesallreferencesignals
andothercontrolvalues.
Aswedidforthefanblock,wewillusetheMachineMeasurementDemuxblocktoread
themotorvariables.FortheConv.andCtrlvectors,wewilluseSelectorblocksofthe
SimulinkSignalRoutinglibrary.
ThecontentsoftheConv.vectorcanbeeasilydeterminedbyaddingaMultimeterblock
tothemodel.TheDCbusvoltage,namedUDC: AC4/Rectifier_3ph ,isthe10th
signalofoutputvectorConv.
Multimeter Window
Followingtheinput-outputdescriptionofthereferencenotes,thetorquereferencesignal
isthethirdsignalofoutputvectorCtrl.
1. Buildthesubsystembelowinordertoextractalltheneededvisualization
signals.Namethesubsystem Signal Selector .
Signal Selector Subsystem
IntheMachineMeasurementDemuxblock,selectthefollowingsignals:stator
currents(ia,ib,ic),statorfluxes,rotorspeed,andelectromagnetictorque.The
rad2rpmblockshownabovecontainstheconstant30/ inordertoconvertthe
rotorspeedissuedbytheMachineMeasurementDemuxblockfromrad/sto
rpm.AReal-ImagtoComplexblockandaComplextoMagnitude-Angleblock
areusedtocomputethemagnitudeofthefluxvector.
2. Copyascopetoyourmodel.Itwillbeusedtodisplaytheoutputsignalsofthe
SignalSelectorblock.Openthe Scope Parameters dialogbox.Onthe
General tab,setthenumberofaxesto 5,setthesimulationtimerangeto
auto,anduseadecimationof25.CleartheLimit Data Points to last check
boxontheData historytab.ConnectthefiveoutputsoftheSignalSelector
blocktotheinputsofthescope.
Beforesimulatingyourcircuit,youmustfirstsetthecorrectAC4internalparameters.
Younowsetthehighpowerdriveparameters,whicharethoseofa200hpdrive.Todo
this,youusethe LoadbuttonoftheuserinterfaceasspecifiedintheDCexample:
1. Opentheuserinterfacebydouble-clickingtheAC4block.Theinterfaceisshown
below:
AC4 User Interface
2. Toloadthe200hpparameters,clicktheLoadbutton.
3. Selectthe ac4_200hp.mat fileandclick Load.
The200hpparametersarenowloaded.
Aresistanceof3.3 willdissipate200hpat700V.
Thedefaultregulationmodeisspeedregulation.Inordertohavetorque
regulation,youmustchangetheregulationmodeinthe Controllersectionofthe
userinterface.
2. IntheControllersectionoftheuserinterface,select Torque regulation for
theRegulation type field.Click OKtoapplythechangesandclosethedialog
box.
Thecircuitisnowreadyforsimulation.
Simulation Results
Thesimulationresultsareshownbelow.
Simulation Results
Observethemotor'sfasttorqueresponsetothetorquesetpointchanges.From0.02s
to0.25s,thefanspeedincreasesbecauseofthe600N.maccelerationtorque
producedbytheinductionmotor.Att=0.25s,theelectromagnetictorquejumpsdown
to0N.mandthespeeddecreasesbecauseoftheloadtorqueopposedbythefan.Att
=0.5s,themotortorquedevelopsa-600N.mtorqueandallowsbrakingofthefan.
Duringbrakingmode,powerissentbacktotheDCbusandthebusvoltageincreases.
Asplanned,thebrakingchopperlimitstheDCbusvoltageto700V.Att=0.75s,the
electromagnetictorquejumpsbackto0N.mandthespeedsettlesaround-10rpmand
decreasestoward0rpm.Noticethatthefluxstaysaround0.8Wbthroughoutthe
simulation.Thefluxandtorqueoscillationamplitudesareslightlyhigherthan0.02Wb
and10N.mrespectivelyasspecifiedintheuserinterface.Thisisduetothecombined
effectsofthe15sDTCcontrollersamplingtime,thehysteresiscontrol,andthe
switchingfrequencylimitation.
Itisinterestingtovisualizetherotatingfluxproducedbythestator.Todoso,useaXY
scopefromtheSinkslibrary.
1. OpentheSinkslibrary.
2. CopyanXYscopeinsidetheSignalSelectorblockof ac_example .
3. Connectthescopeasshown.
4. Runanewsimulation.
Adding a XY Graph to Visualize the Rotating Statoric Flux
ThefollowingfigureshowsthesimulationresultsoftheXYscope.Therotatingfieldis
clearlyvisible.Itsmodulusisabout0.8Wbanditsbandwidthisslightlybiggerthan0.2
Wb.
Rotating Statoric Flux
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SimulatingaDCMotorDrive MechanicalModels