470 IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS, VOL. 24, NO.

3, MAYlJUNE 1988

The Generalized Theory of Indirect Vector Control

for AC Machines

Abstract-In recent years, numerous papers on ac machine vector 1 1

i:JTw ,
flux rotor stator
control have been published. It is well known that the instantaneous coordinate coordinate coordinate
torque produced by an ac machine is controllable when vector control is
applied. However, the published papers od vector control deal with
induction machines or synchronous machines, separately. A generalized Vector CCFC

+,@LcQ
vector control theory is developed to a generalized ac machine such as a %* Control
salient-pole synchronous machine having three kinds of torque, Le., the
field torque, the reluctance torque, and the induction torque. The theory
can be extended to ac machines producing a voluntarily combined torque
Parameters
among the three. The experimental system consisted of applying the
generalized vector control theory to a non-salient-pole synchronous
machine with damper winding. It was verified experimentally that the CT : Coordinate Transformer
instantaneous torque was controllable, not only in synchronous or CCFC 1 Current-Contro/led Frequency Changer
induction machine operation but also in the transient state transferring PS : Position Sensor
between synchronous machine operation and induction machine opera-
tion without any change of the control circuit. Fig. 1 . Feedforward vector control.

I. INTRODUCTION

T HE INSTANTANEOUS torque of the ac machine is the

vector product of the interlinkage flux vector and the
coordinate
'lux
coordinate
I stator

torque component current vector which is orthogonal to the CCFC 1

flux vector. The torque component current vector and flux

component current vector are decomposed from the current
vector of the ac machine and are controlled independently
where the flux component current vector is parallel to the
interlinkage flux vector. If the amplitude of the interlinkage F D : Flux Detector
flux is kept constant, the machine torque is controlled F C : Flux Golculator
instantaneously by the amplitude of the torque component Fig. 2. Feedback vector control.
current vector. Therefore the ac machine controlled by the
vector control scheme is equivalent to a separately excited dc the feedforward control utilizing the machine parameters 181,
machine. Concerning the flux control method, the vector
1131, [161-r191, [221, 1261, 1271.
control is classified into two schemes, as follows. b) Flux-Feedback Vector Control (Direct Vector Con-
a) Flux-Feedforward Vector Control (Indirect Vector trol): Fig. 2 shows the block diagram of the flux-feedback
Control): Fig. 1 shows the block diagram of the flux- vector control. The amplitude and position of the interlinkage
feedforward vector control. The so-called indirect vector flux vector ?Ilo, 40 are detected or calculated by the flux
control circuit inputs the amplitude of the torque component detector or flux calculator. The magnetizing current reference
current reference vector i f and the amplitude of the interlink- i,* is determined by the direct comparison between the
age flux reference vector 'kt and calculates the current amplitude of the interlinkage flux reference vector 'kt and
reference vector based on the rotor coordinate i;,, utilizing the actual value 'ko. The amplitude of the torque component
machine parameters. The inputs of the coordinate transformer
current reference vector i f and the magnetizing current
are i;) and the rotor position r#+, and the output is the current reference i; are transformed to the current reference vector
reference vector based on the stator coordinate i*. There is no
based on the stator coordinate i* by the coordinate trans-
interlinkage flux feedback loop, but the flux is controlled by
former, using the position of the interlinkage flux vector $0
Paper IPCSD 87-35, approved by the Industrial Drives Committee of the
[11-[41, 161, ~71,191, [io], [121, [141, [201, 1241.
IEEE Industry Applications Society for presentation at the 1986 Industry Nowadays, the flux-feedforward vector control system is
Applications Society Annual Meeting, Denver, CO, September 28-October 3. preferred to the flux-feedback type because it requires no flux
Manuscript released for publication August 25, 1987. detector or flux calculator.
The authors are with the Technological University of Nagaoka, 1603-1
Kamitomioka, Nagaoka, Niigata, 940-21, Japan. The instantaneous torque produced by an ac machine is
IEEE Log Number 8719046. controllable. whether the ac machine is an induction machine

0093-9994/88/0500-O470$01.OO O 1988 IEEE

OGASAWARA et al. : INDIRECT VECTOR CONTROL FOR AC MACHINES 47 1

or a synchronous machine [5], [15], [23]. However, no

generalized flux-feedforward vector control that can oper-
ate as both an induction machine and a synchronous machine
without any change of the control circuit has been reported so
far as the authors know. In this paper, a generalized flux-
feedforward vector control scheme is described, regarding a
salient-pole synchronous machine as a generalized ac ma-
chine.
MODELOF AC MACHINE
11. MATHEMATICAL
Fig. 3 shows a synchronous machine with damper winding,
expressed in d- q axes. The field voltage vector uJ, the Fig. 3. Synchronous machine with damper windings.
armature voltage vector u,, the field current vector 4, the
armature current vector i,, and the damper current vector ik linkage flux which is converted to an equivalent nonsalient-
are expressed, respectively, as follows: pole machine winding having inductance Lax. That is, the
interlinkage flux of the armature winding 4a is equal to the
UJ= [ - UJ 01 ua = [uad u,q] 4' [ - if 01 flux vector produced by the equivalent nonsalient-pole ma-
i k = [ikd ikq]
chine having inductance Lox with the equivalent exciting
ia = [ iad iaq]
current vector io,. Therefore the direction of the equivalent
The voltage-current equation of the nonsalient-pole synchro- exciting current vector io, equals that of the armature
nous machine is given by interlinkage flux vector tpa. The value of the equivalent
inductance Lox can be determined at will. Furthermore, io, is
expressed as
io,= irX+ iaX
+ ikx (4)
where

and ifx, i,, and ikx show the field, armature, and damper
current vectors converted to the equivalent nonsalient-pole
machine winding, respectively. The subscript x denotes the
where variable corresponding to the equivalent nonsalient-pole ma-
chine.
Rf= diag [R, 01 R, = diag [Rod R,,] From (2), the voltage-current equation of the damper circuit
is expressed as

Lj=diag [Lf 01 L,=diag [Lad La,]

Equation (7) is obtained by substituting (4) and (5) in (6) (refer
to Appendix I):

The bold-faced capital letters and small letters denote matrices

and column vectors, respectively. 4f,do,and 4 k are the inter-
linkage flux vectors of the field, armature, and damper
windings, respectively. Note that UJ and 4fvectors have only
d-axis components. The G matrix is an orthogonal matrix . (8)
which is used to rotate a vector 90" counterclockwise (i.e.,
GTG = I ) . From (2), the interlinkage flux vector of the Tko, TkJ, and Tkaare important time constant matrices which
armature winding is determine the transient characteristics of ac machines. Equa-
tion (7) is converted as follows:
4, =MJai,+Laia+ = Loxiox (3)
where iox is an exciting current vector of the armature inter- (9)
472 IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS, VOL. 24, NO. 3, MAYIJUNE 1988

Obviously the parentheses on the right side of (9) indicate a

state variable vector of the synchronous machine x. That is,

X = Tkoiox- Tkfifx- Tkuiax.

Substituting (4)-(6) into (lo), the following equation is
obtained:
(10)
I I II II II -
Fig. 4. Block diagram of synchronous machine.

The following equation is obtained by substituting (5) and

(14) in (9):
From (1 l ) , the damper interlinkage flux vector is an important
vector that determines the state variable vector of the 1
io, - ifx- -Lu(iaT+ iuF)
synchronous machine. Lox
On the other hand, the instantaneous torque of the synchro-
nous machine r is given as follows:

r = i,TG'$,
- (Lud - Laq)iudiuq
= Mfudifiuq
+ (Muqkq ikq iud - Mudkd ikd iuq (12)
where the first term of the right side of (12) is a torque
produced by the field winding (field torque), the second term
is a reluctance torque, and the third term is a torque produced
by the damper winding (induction torque). Substituting (3) in
(12), the following equation is obtained:
Let the amplitude reference of the exciting current vector of
the armature interlinkage flux- and torque-component arma-
ture current vectors be i$x and respectively. The actual
field current 4 can be detected. Therefore the exciting current
vector of the armature interlinkage flux io,, the torque
component armature current vector iuT,and the flux compo-
nent armature current vector iuFare expressed as

r = Loxi,TGiox. (13) iox= iZXe iuT= iZTCe iaF= iuFe (17)

where 8 is an unit vector that is parallel to the exciting
From (3,(9), and (13), therefore, the block diagram shown in current vector of the armature interlinkage flux io,, and ioT, >
Fig. 4 expresses the synchronous machine with damper 0. From (16) and (17), the state variable vector of the machine
winding, which inputs a field current vector if and an arma- x is given by
ture current vector i, and outputs an instantaneous torque T. It
corresponds to a system in which the field current and the 1
armature currents are fed by the current-controlled converters. X=i&Tkoe- TkfGX-- TkuLu(io*,Ge+iuFe). (18)
Lox
111. CONTROL
THEORY Furthermore, (18) is expressed as follows:
A. Control of Instantaneous Torque
The armature current vector i, can be decomposed into the
components iuTand iuF;here iaTis orthogonal to the exciting
current of the armature interlinkage flux io, and iuFis parallel
to it:

i4= iUT+ i , ~ iZTiOx= 0 i,TFGiox= 0 . (14)

--1 TkudLud i , * ~
Lox

TkOq --
1
Lox TkuqLuq iuF
1
L
Substituting (14) in (1 3), the instantaneous torque of the
machine r is expressed as

r = Loxi,TTGiox
= LOxiaTiOx (15)
The state variable vector of the machine x can be calculated by
where iuTand io, are the amplitude of iuTand iox,i.e., iuT= (9) and (18), and the actual field current 4 is detected;
d-, iox = G. Since iuTrelates to the instantaneous therefore the z vector can be considered to be already known.
torque and iaFrelates to the armature interlinkage flux, iuTand The unknown quantities of (19) are the amplitude of the flux-
iuFare called the torque-component armature current vector component armature current iuF in the matrix A and the
and flux-component armature current vector, respectively. direction of the unit vector 8. From (19) and llell = 1 , the
OGASAWARA et 01.: INDIRECT VECTOR CONTROL FOR AC MACHINES
Fig. 5.
following equation is obtained:
where z = [Zd z , ] ~ . The amplitude of the flux component
armature current iaFis determined by the solution of (21). Note
that (21) may result in plural solutions. From (19), unit vector
8 equals A - l z , and it is determined by the solutions of (21).
Therefore the exciting current of the armature interlinkage
flux vector io, having an amplitude of izx, the torque
component armature current vector iaThaving an amplitude of
iZT, and the flux component armature current vector iaFare
determined. The aim of this process is to calculate the
armature current vector io and output the instantaneous torque
7 which is expressed by a product of izx and i&.
B. Control of Field Current
The power factor of synchronous machines can be con-
trolled by the field current. A field current reference 'f* is input
to the field current controller so that the power factor of the
synchronous machine is unity, Le., iaF = 0. From (19), the
following equation is obtained:
1 composed by using a relationship io,- QX - iax= 0.
x+- TkfMf,if*=A*O*,if*=['; 0IT (22)
Lox
where is the field current reference vector, and the unit
vector 8* in this equation is different from 8 in (19). From
iie*ii = 1,
(adaq+ bdb, i X )
473
Control circuit.
The solution of (24) is the field current reference which forces
the power factor to be unity.
C. Control Circuit
Fig. 5 shows the block diagram of the control circuit based
on the above theory. Part I is the instantaneous torque control
circuit described in Section 111-A. Part I1 is the field current
reference calculation circuit described in Section 111-B.Part 111
is the calculation circuit of x and t vectors. It is assumed that
the actual armature current vector is equalized to the reference
vector by a current-controlled converter.
In the control circuit, the saliency of an ac machine is
included in the time constant matrix and inductance matrix. In
the case of induction machines, the control circuit needs only
part IV, because the field current is always zero and the
reference is meaningless. This vector control circuit of
induction machines is based on the interlinkage flux of the
primary winding, as distinct from the conventional vector
control circuit based on the interlinkage flux of the secondary
winding.
In the case of ac machines having no induction torque, the
time constant matrices are zero matrices because the damper
resistance is infinite. However, a similar control circuit is
IV. ANALYSIS
OF NONSALIENT-POLE
AC MACHINES
The generalized vector control described in Section 111 is
applicable to an ac machine having a voluntary combination
among the three kinds of torque, i.e., the field torque, the
reluctance torque, and the induction torque. In this section, a
nonsalient-pole machine is described as an example. (There-
fore it is not necessary to consider the reluctance torque.)
The following is the state equation of the nonsalient-pole
synchronous machine with damper winding, where Tkod =
Tkoq = Tko Tkad = Tkaq = Tka
9
iox- ifx- iax= - p ( Tkoiox- Tkfifx- Tkaier). (25)
Equations (21) and (24) are changed from ad = aq = a, bd =
b, = b:
z i + Z: + b2iX
= (a - biaF)
474 IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS, VOL. 24, NO. 3 , MAYIJUNE 1988

Two solutions of and 7 exist. They are

ioF
t

Fig. 6 . w, - iOTcharacteristic.
Under the normal condition, the minus sign in (28) and the
plus sign in (29) are selected, respectively.
A. Analysis of Induction Machine Operation in Steady
States
At b= 0, the nonsalient-pole synchronous machine with f,,
damper winding produces only the induction torque as the
instantaneous torque and is equivalent to an induction ma-
chine. Putting Lox=La(= Lad= Laq),the equivalent armature
current vector i, equals the actual armature current vector i, ,
--lag-
I
-1eod-

and the state equation is expressed as Fig. 7. Steady-state vector diagram.

iox-ia= -p(Tkoiox- Tkoia). (30) Fig. 7 shows a vector diagram in steady states producing a
For simplification, the machine is assumed to operate at steady constant instantaneous torque T = (L~x/La)iaTxiox. When the
states, i.e., iox= const., iaT= const., and iaF= const. Observ- amplitude of the equivalent field current vector kx becomes
ing these vectors from a coordinate which is rotating smaller than the amplitude of the equivalent torque component
counterclockwise with the angular velocity us,(30) is con- armature current vector iaTx,the synchronous machine cannot
verted as follows (refer to Appendix 11): be operated in synchronous speed any longer, and some slip
arises.
+
ioxe- iaTGe- iaFB = - us(TkoioxGe TkaiaTe- TkaiaFGe). In the following, an analysis of the synchronous machine
rotating with some slip will be executed. For simplification,
(31) the synchronous machine is assumed to output a constant
From (3 l), the following equations are obtained: torque by a constant field current in asynchronous condition
(ifx< iaTx).That is
as TkOiOx= iaT+ u s TkaiaF
iox=const. iaTx=const. ifx= const. (35)
iox= i a F - TkaiaT.
Us (32)
From substituting (35) into (25), and the observation from a
The slip angular velocity usand the flux component armature coordinate rotating at the angular velocity us,the following
current iaF, therefore, are given by equation is obtained, where us is an angular velocity with
1 which the io, vector is rotating (Appendix 11):
us=- {(Tko- Tka)iox J(TkO- TkU)2itx-4Tiai&)
2 TiaiaT io@- Qx - iaTxGe+ iaFxe

(33)
Fig. 6 shows the uS-iaTcharacteristics calculated by (33).
This is equivalent to the slip-torque curve of an induction The terms parallel and orthogonal to io, are summed up,
as
machine fed by constant voltage and constant frequency.
diaFx
B. Analysis of Synchronous Machines in Asynchronous
Operation (Constant Instantaneous Torque Operation) (io,- ioFx+ws~kaiaTx
- T~~-
dt )e
A state equation of the synchronous machine at steady states + (usTkoiox- usTkaiaFx - iaTx)Ge = ifx. (37)
is expressed as
. vx
. - iaTx
lox -
. - iaFx= -p x = 0 (34)
In (37), the first and second terms of the left-side and right-
side term vectors always form a right-angled triangle.
Fig. 8 shows the loci of the flux component armature
where
current iaFxand the slip frequencyf,( = wJ2 T ) , respectively,
iaTx=-La iaT La i,F.
iaFx=- which are solved by the aforementioned method, based on the
Lox Lox flux component armature current direction. In the first and
OGASAWARA el al.: INDIRECT VECTOR CONTROL FOR AC MACHINES
0 k lHzld
20
/A)
Fig. 8. Analytic result.
Fig. 9. Experimental result.
I I
flux c o o r d i n a t e
I
I d-q coordinate
Fig. 10. System configuration.
fourth quadrants the torque due to the field winding acts in the
positive direction; therefore both iaFxand f, are small. In the
second and third quadrants the field torque acts in the negative
direction; therefore both iuFxand f, are large so as to produce
the large torque due to the damper winding. Fig. 9 is a locus of
the flux-component armature current vector ioFobtained by the
experimental control circuit at the same condition as Fig. 8.
From the identity of both loci, the propriety of the aforemen-
tioned analysis is confirmed.
V . SYSTEM AND EXPERIMENTAL
CONFIGURATION RESULTS
Fig. 10 shows the configuration of an experimental system.
The control circuit inputs the torque-component armature
current reference i&, the exciting current reference of the
armature interlinkage flux i&, and the actual field current if,
and it outputs the d, q axis armature current references izd,
ia*, and the field current references ij!, izd, and izq.
Furthermore, they are converted to each phase current
" =const
1";lox
475
5A/div
I
I armature
I .+.*..+
coordinate a
frequency changer
c u r r e n t - con t r ol led
reference by the coordinate converter. The main circuit of the
current-controlled frequency changer is a neutral point
clamped inverter using 12 transistors [ 111. The main circuit of
the current-controlled rectifier is a three-phase thyristor
rectifier using six thyristors. The synchronous machine with
damper winding is a peculiar wound-rotor induction machine
having two sets of three-phase stator windings. A set of stator
windings is used as damper winding, and the other set of stator
windings is used as field winding. This machine is therefore a
nonsdient-pole synchronous machine with damper winding.
Table I shows the machine constants.
The control circuit in Fig. 10 allows control of the
instantaneous torque and operation at unity power factor.
Furthermore, the instantaneous torque control is possible
under induction machine operation (if = 0) and under
asynchronous machine operation (ifx < iuTx).Since the system
shown in Fig. 10 does not have a flux feedback loop, this
vector control system is an indirect vector control system. The
476 IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS, VOL. 24, NO. 3, MAYIJUNE 1988

TABLE I
MACHINE CONSTANTS

Tk,=76.3 ms Tko=19.5 ms

Tkj= 10.2 ms

control circuit can be regarded as a kind of coordinate this paper the generalized indirect vector control is applied to
converter, converting current references from flux coordinate the generalized ac machine, i.e., the salient-pole synchronous
to d-q coordinate. machine with damper winding having field torque, reluctance
Fig. 11 shows the response of the synchronous machine torque, and induction torque. By applying the generalized
operation when the speed reference is changed between k 500 theory to a nonsalient-pole synchronous machine, it is con-
rfmin, when the exciting current reference itx is 10 A, and the firmed experimentally that the instantaneous torque is con-
limited value of the torque component armature current trolled not only at synchronous operation and induction
reference i,*Txis 12 A. At the constant-speed operation in Fig. operation, but also at transient states between the two
11, the armature current is very small; it means that the unity operations, under the same control circuit.
power factor operation is performed. Fig. 12 shows that the
induction machine operation is of the same condition as Fig. APPENDIX
I
11. The speed responses arc identical. The exciting current is OF (7)
DERIVATION
fed by the armature winding as shown in Fig. 12, while in Fig.
Equation (5) gives
11 it is fed by the field winding. In both cases, excellent torque
controllability is obtained. G= Cfbx ia= Cuiax ik= Cik, (38)
Fig. 13 shows the transient response when the field current
is reduced to zero by decreasing the input voltage of the field where
rectifier and retrieved to the original state. The machine varies
Cf=diag [Lox/Mfod01
from synchronous operation to induction operation, and then
returns to synchronous operation. The instantaneous torque is Ca=diag [LOx/Lud LOx/Luql
controlled, even at a transient state varying between synchro-
nous and induction operation, because no speed variation k = diag
c [LOx/Mudkd LOx/Maqkql.
occurs.
Substitution of (4) and (38) into (6) gives
VI. CONCLUSION
Rk CkiQx PLk CkiQx
Although the principle of the torque generation of ac
machines was well known, the vector control had been studied = Rk ckifx + P (Lkck - Mfk cf>ifx
on induction machines or synchronous machines separately. In Rk ck iax +P (Lkc!i-Mak c~)iax. (39)
OGASAWARA el ul.: INDIRECT VECTOR CONTROL FOR AC MACHINES

Iu

Fig 12 Induction machine operation.

IU

Fig. 13. Transient characteristic.

Since QX consists of the d-axis component only,

TkO = ( R k c k ) - I L k c k

=diag [LkdlRkd Lkq/Rkq] =diag [Tkod Tkoq],

Tkf= ( R k C k ) - I ( L k C k - M f k C / )

= diag [ I k d / R k d 01 = diag [ T k f 01,

Fig. 14.

Tko =( R k C k ) ' (LkCk -M a k c a )

APPENDIX
I1
= diag [(LadLkd-M~dkd)/(RkdLad)
TIMEDERIVATIVE
OF VECTORAND ITS COORDINATE

' ( L a q Lkq -Mtqkq)/( Rkq 11 TRANSFORMATION

As shown in Fig. 14, let al denote the vector u as viewed
= diag [ TkOd T k O q l
from the d-q coordinate, and let a2 denote the vector a as
which gives (7). In deriving the above equations, the following viewed from the cr-p coordinate, which rotates at an angular
relation is used: velocity w . Then
al=[ad aq]T @=[a, as]T a2=Cwal
MfkdMudkd -
- L k d - lkd
M/ad cw = [cos w t -sin w t
where [kd denotes the leakage inductance of the d-axis damper
winding. The time derivative pa, viewed from the cr-p coordinate is

.
478 IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS. VOL. 24, NO. 3, MAYIJUNE 1988
given by
cw(pal){ p(c;I a 2 ) }= C, { CJ
= cw 1 ( p a z )+ (PCJ ‘ ) a 2 }
+
=pa2 wGa2.
(40)
If the is set to the Of [22]
the vector a, the vector as viewed from the CY-0coordinate a2
is always in the same direction, and only the amplitude varies.
Therefore, letting the unit vector having the same direction as [23]
the vector a2and the amplitude of the vector II be 8 and a, (40)
is rewritten as [24]
c W ( p a ,=) (pale + waGe.
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Satoshi Ogasawara (AM’87) was born in Kagawa
Prefecture, Japan, on July 27, 1958. He received
the B.S. and M.S. degrees in electrical and elec-
tronic engineering from the Technological Univer-
sity of Nagaoka, Niigata, Japan, in 1981 and 1983,
respectively.
Since 1983 he has been an Assistant Professor at
the Technological University of Nagaoka. He is
engaged in research on ac drive systems.
Mr. Ogasawara is a member of the Institute of
Electrical Engineers of Japan.
Hirofumi Akagi (M’87) was born in Okayama
Prefecture, Japan, on August 19, 1951 He received
the B.S degree from the Nagoya Institute of
Technology, Nagoya, Japan, in 1974 and the M.S.
and Ph.D degrees from the Tokyo Institute of
Technology, Tokyo, Japan, in 1976 and 1979,
respectively, all in electrical engineering.
Since 1984 he has been an Associate Professor at
the Technological University of Nagaoka, Japan.
He is engaged in research on ac motor drives, active
power filters, and hlgh-frequency inverters
Dr. Akagi is a member of the Institute of Electrical Engineers of Japan.
Akira Nabae (M’79) was born in Ehime Prefec-
ture, Japan, on September 13, 1924 He received
the B.S. degree from Tokyo University, Tokyo,
Japan, in 1947, and the Dr Eng degree from
Wasada University, Japan.
He joined Toshiba Corporation in 1951. From
1951 to 1970 he was engaged in the research and
development of rectifier and inverter technology at
Tsurumi Works Engineering Department. From
1970 to 1978 he was involved in research and
development of power electronics, especially ac
drive systems at the Heavy Apparatus Engineering Laboratory Also, from
1972 to 1978 he was a nonoccupied Lecturer of Wasada University, Japan.
Since 1978 he has been a Professor at the Technological University of
Nagaoka, Japan He is now interested in the energy conversion and control
systems
Dr. Nabae is a member of the Institute of Electrical Engineers of Japan He
received the 1985 JIEE Transactions Paper Award.