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A Novel Control Strategy of Linear Induction Motor Drives Based On Dynamic Maximum Force Production
A Novel Control Strategy of Linear Induction Motor Drives Based On Dynamic Maximum Force Production
A Novel Control Strategy of Linear Induction Motor Drives Based On Dynamic Maximum Force Production
Abstract—Linear induction motor (LIM) drives have been Where P is number of poles, τ is secondary time constant,
investigated vastly for the past several decades. Attractive ∗
features, such as simple structure and easy maintenance, have i is q-axis current reference, ids∗ is d-axis current reference,
qs
made this family of machines utilized broadly in military,
and kt is the torque constant. However, due to existence of
transportation, and aerospace, to name a few. Up to nowadays,
vector control is a dominant control strategy for LIM based on end effects [1] and magnetic asymmetry effects [2],
the assumption that this family of machines portray inherent conventional field oriented control can not provide its expected
similarities with their rotary counterparts. However, due to functionality for LIM. Figure 1 represents the end effects in
existence of end effects and magnetic asymmetry effects, LIM. Therefore, equations (1) and (3) have been modified to
conventional vector control can not provide its expected accommodate the end effects [3]. Nevertheless, the above
functionality for LIM. Therefore, a novel control strategy, modifications did not solve the problems of magnetic
dynamic maximum force control, is invented and presented in asymmetry effects. In addition, the complexity has been
this paper. Compared with conventional vector control, the increased significantly. It can be observed from (1) to (3) that
excitation frequencies are calculated through field reconstruction both current amplitude and excitation frequency have to be
(FR) in the proposed control method. In addition, the amplitude regulated to produce desired electromagnetic torque. In
of phase current is regulated indirectly through controlling the
addition, excitation frequency calculation is coupled with speed
square of current amplitude. As a result, at any instant,
control due to second term on the right hand side of equation
maximum force production is guaranteed. The dynamic
maximum force control has been validated by simulation study.
(1). In order to guarantee superior transient performance, [4]
has proposed maximum force/ampere control. In this method,
Keywords-linear induction motor drives; field reconstruction; excitation frequency calculation is separated from speed
maximum force; control using field reconstruction method [4]. The field
reconstruction method is a powerful tool, which allows effcient
computation of extensive field-based motor drive applications.
I. INTRODUCTION
In addition, the linear speed is regulated using hysteresis
Linear induction motor (LIM) drives have been investigated control. Both simulation studies and experimental results have
vastly for the past several decades due to their attractive verified the fast transient performance and steady state speed
features, such as simple structure and easy maintenance. control effect. Meanwhile, the steady state ohmic loss of
Recently, vector control is a dominant control strategy for LIM maximum force/ampere control is a little higher. To solve the
based on the assumption that this family of machines portray challenges mentioned in indirect field oriented control and
inherent similarities with their rotary counterparts. In a maximum force/ampere control is the major motivation to
conventional rotor indirect field oriented control, both d-axis develop the dynamic maximum force control. Machine under
current and q-axis current are regulated such that the excitation investigation is a single sided, three phase, 4 pole LIM. Figure
frequency ω e can be calculated analytically based on the 2 illustrates the cross sectional view of LIM. Detailed
information is given in Appendix A.
following equation:
∗ End Effect
P i qs
ωe = ωr + (1)
2 τ ⋅ ids∗
The resulted phase current amplitude and electromagnetic
torque are expressed as follows:
It has been observed in [1] that both thrust and normal force 0.06
are proportional to square of phase current amplitude.
Therefore, below base speed thrust can be expressed as: 0.04
Ft = c i
Normal Flux Density (T)
2
f s (4)
0.02
Where Fl is the load force, M is the total mass of the LIM -0.06
0 50 100 150 200
• Time (msec)
system, B is the viscous friction coefficient, v is the
acceleration speed, and v is linear speed. Equation (4) can be Figure 5. Normal flux density in the middle of airgap at standstill using FR
further transformed as:
Ft = c f ε (6)
99
⎧1 if ε >0
⎪
Sgn(ε ) = ⎨ 0 if ε = 0 (7)
⎪− 1 if ε < 0
⎩
⎧ f _ in(motoring ) if Sgn(ε ) = 1
⎪
f _ outk = ⎨ f _ out k −1 if Sgn(ε ) = 0 (8)
⎪ f _ in( generating ) Sgn(ε ) = −1
⎩ if
Figure 6. Normal flux density in the middle of airgap at standstill from testbed III. SIMULATION RESULTS
The complete functionality of dynamic maximum force For motor drive applications, the bandwidth of current
control is illustrated in figure 7. As can be seen, linear speed is controller is typically around 1 kHz. Therefore, the PI
regulated by a PI controller. Due to the current limit (4 A of controller in the dynamic maximum force control is designed
amplitude) of LIM, a saturation block is added to the system. such that the bandwidth is about 100 Hz, and damping factor is
Due to the non-linearity of the saturation block, the design of 1. Figure 8-10 depict performance of step linear speed response.
PI controller has to be very careful. The output of saturation Figure 8 represents the linear speed response. It is notable that
block is ε . Therefore, instantaneous value of phase current the speed controller has satisfactory transient performance with
0% overshoot during acceleration and deceleration. In addition,
amplitude can be calculated through ε . Using interpolation, the steady state speed regulation of linear speed is very good.
relationship between linear speed and optimum excitation Figure 9 illustrates the reference of excitation frequency. As
frequency is characterized into two lookup tables in the block can be seen, depending on the linear speed, the excitation
diagram. The block ‘frequency selector’ selects appropriate frequency varies correspondingly. According to [1], negative
excitation frequency based on operation mode using ‘Sign’ frequency in the figure means regenerative braking mode.
function. The functionalities of ‘Sign’ function and ‘frequency
selector’ are expressed as follows:
v∗ + ε ε
−
v Sgn(ε )
100
0.6 0.4
Vr Vr
0.5 Vm 0.3 Vm
0.2
Linear Speed (m/sec)
0 -0.3
-0.1 -0.4
0 0.1 0.2 0.3 0.4 0.5 0.6 0 0.2 0.4 0.6 0.8 1
Time (sec) Time (sec)
Figure 8. Step response of linear speed Figure 11. Linear speed response of sinusoidal reference
30 30
20 20
Excitation Frequency (Hz)
0 0
-10 -10
-20 -20
0 0.1 0.2 0.3 0.4 0.5 0.6 0 0.2 0.4 0.6 0.8 1
Time (sec) Time (sec)
Figure 9. Excitation frequency Figure 12. Excitation frequency of sinusoidal linear speed reference
5 4
Reference Reference
Prediction 3 Prediction
2
Phase Current (A)
0 0
-1
-2
-3
-5 -4
0 0.1 0.2 0.3 0.4 0.5 0.6 0 0.2 0.4 0.6 0.8 1
Time (sec) Time (sec)
Figure 10. Phase current regulation Figure 13. Phase current response of sinusoidal linear speed reference
Figure 10 shows the reference of phase current and
prediction using current hysteresis control. One can observe IV. CONCLUSION
the current control functions properly. In addition, the ohmic The challenges and issues of conventional indirect field
loss in the steady state is minimized. oriented control for linear induction motor drives have been
Figure 11-13 depict another set of results corresponding addressed. A novel control strategy, dynamic maximum
to sinusoidal linear speed reference. The frequency of the force control has been invented and introduced based the
reference is 2 Hz. It is notable from figure 11 that there are field reconstruction technique. The control performance has
amplitude deviation and phase shift between reference and been verified by simulation results. Compared to the
response. This is because the linear PI controller is only valid maximum force/ampere control, the transient control effect
for DC reference. In addition, the control effect is dominant of linear speed is satisfactory. The steady state ohmic loss is
by the pole of mechanical plant. Figure 12 and 13 illustrate reduced significantly.
the prediction of excitation frequency and phase current.
101
REFERENCES
[1] H. Yu, R. Jayabalan, M. Krishnamurthy, and B. Fahimi, “Analysis of
High Speed Characteristics for Linear Induction Machines,” VPPC
2006, Windsor, England, UK, 2006.
[2] H. Yu, B. Fahimi, “An investigation on asymmetry effects in linear
induction machines”, APEC 2007, Anaheim, California, 2007.
[3] J. Duncan, “Linear Induction Motor-Equivalent Circuit Model,” Proc.
Inst. Elec. Eng., pt. B, vol. 130, no. 1, 1983.
[4] Haidong Yu, “High Grade Control of Linear Induction Motor
Drives,” Ph.D. dissertation, University of Texas at Arlington,
supervising professor: Dr. Babak Fahimi.
APPENDIX A
No. Parameter Description
102