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Adaptive Vector Control of Induction Motor Drive

Conference Paper · November 2020

DOI: 10.1109/EEAE49144.2020.9278995

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 2020 7th International Conference on Energy Efficiency and Agricultural Engineering (EE&AE)

Adaptive Vector Control of Induction Motor Drive

Nikolay Djagarov Hristo Milushev Milen Bonev

Electrical Department Electrical Department Electrical Department
Nikola Vaptsarov Naval Academy Nikola Vaptsarov Naval Academy Nikola Vaptsarov Naval Academy
Varna, Bulgaria Varna, Bulgaria Varna, Bulgaria
jagarov@ieee.bg h.milushev@nvna.eu m.bonev@nvna.eu

Julia Djagarova Zhivko Grozdev

University Library Electrical Department
Technical University Nikola Vaptsarov Naval Academy
Varna, Bulgaria Varna, Bulgaria
julija_d@abv.bg grozdew@yahoo.com

Abstract—Vector-controlled induction motor drives have
taken a dominant position among electric drives. Their various
regulators using various control methods are developed and
implemented. The article proposes a new adaptive vector
control induction motor drive which uses a standard PI-
controller and adaptive astatic modal stabilizer. Using the
original mathematical model, the modes of operation of the
electric drive are investigated. Simulation results are given.
Process analysis done.
Keywords—induction motor, mathematical model, adaptive
control, adaptive astatic modal stabilizer, transient processes
simulation
I. INTRODUCTION
About half of the electrical energy is consumed by
electric drives. Induction motors take a dominant position
among electric drives due to their advantages [1]: simple and
rugged in construction; cheaper in cost; maintenance free;
independent of the environmental condition; relatively high
torque at the starting process; wide range of speed regulation;
high overload capacity; highly efficient.
To provide optimal induction motor operating conditions
is necessary to ensure optimum operation at all range of
speed and load, it is necessary to regulate both the supply
voltage and frequency of the motor depending on the torque
of the shaft [2]. This method was first proposed in 1925 and
is most widely known as the V/f method. The operation
process of the motor will remain at almost constant
parameters.
Vector control of induction motors has several kinds.
One of the most widely used is those who control the stator
current. The idea behind this method is that the current is
decomposed into two components [3], which can be
regulated independent from each other like a DC motor
control. These components controls the magnetic flux and
the torque.
A similar to the vector control of induction motors
method is the direct torque control (DTC) [4]. The main
difference of this method from the vector control is that there
is no pulse width modulation used in the inverter valves. The
individual switching process of the valves is based on the
difference between the calculated and reference stator flux.
Regarding the used hardware in the vector control it can
be presented into direct, which is a linearizing control, also
know as feedback vector control, or indirect, which is a
dynamic control, also known as feedforward vector control.
Nonlinear control methods are used for complex control
algorithms [5,6,7,8]: control based on an inverse model
without feedback; feedback control based on the state model;
observers assessing immeasurable states; adaptive control
using state observers; generalized feedback control;
sensorless speed control
The vector control of the drive has two control loops:
internal - control of magnetic flux and torque, with an
original state assessment; external - speed control and sample
generation of torque and magnetic flux. Various types of
motor torque control methods are used: linear (PID, PI);
nonlinear (direct self-management, online forecasting
models, fuzzy logic, neural networks). It can use the MRAS
method to calculate arbitrary parameter or variable in a
motor.
A method for rotor speed estimation using MRAS can be
used to enhance the controller characteristics used in
sensorless vector control [9]. The state variables are first
estimated and after that compared with those which are
obtained thanks to the space vector control algorithm.
The separation of control along two independent axes,
implemented in two separate loops with vector control,
allows mathematical transformations and the generation of
control signals to be performed very quickly. This allows
you to execute the engine control algorithm with high speed,
providing higher dynamic characteristics. In addition, a
dynamic engine model is used to calculate many quantities,
such as the rotor angle of rotation and rotor speed. This
means that their influence is taken into account, and the
overall quality of control is better.

978-1-7281-0362-4/20/$31.00 ©2020 IEEE 1 12-14 November 2020, Ruse, Bulgaria

 2020 7th International Conference on Energy Efficiency and Agricultural Engineering (EE&AE)

Fig. 1. Control strategy block scheme

In this paper is proposed an adaptive control of the torque The SVM module controls the switching process of the
and flux linkage. For the control purposes is used an optimal inverter.
adaptive observer in both control loops.
III. MATHEMATICAL MODEL OF INVESTIGATION SYSTEM
II. INVESTIGATED SYSTEM It is necessary to compose up a mathematical model for
The induction motor receives powered through a back-to- the study of processes in the drive under study. The model
back converter (fig.1). The input signals of adaptive vector should be suitable for synthesizing the proposed adaptive
control are two stator currents. Using the mathematical control.
model of the motor in the axes d,q, independent torque and
flux linkage are estimated. The control has two loops (for To create the model, we will use the non-iterative method
torque and flux linkage), in which two identical adaptive proposed in [10,11]. In this method, the flux linkages of
controllers are implemented, representing in parallel the PI electric machines are replaced by currents and the model is
converted into a Cauchy form.
controller and adaptive astatic modal stabilizer.
The closed control loop sets the Mref and Ψref values that The model of the induction motor in matrix form:
are compared to their current values measured from the d  I s   Ass Asr   I s   B ss
motor. To obtain these motor values, the measured stator    .     .U 
phase currents must be converted to the rotating axes d,q dt  I r   Ars Arr   I r  Mj  B rs
thanks to the Clark transf and Park transf blocks.
 H s   B ss
The purpose of the flux speed estimator block is to       .U ; (1)
 H r   B rs
estimate the flux orientation and the rotor speed. It performs
 r  T m  T b ;
the reference independent from each other id and iq which are d 1
respectively for flux and torque control loops. In the classical dt m
field oriented control method, the difference between the set
and moment currents id and iq are fed to the inputs of where: the subscript s refers to the stator variables and
proportional-integral (PI) controllers. In this research, we use parameters, and subscript r – to the rotor; the elements of
a new adaptive regulator, which consists of conventional PI matrices and vectors A and В are in function of the stator and
regulator connected in parallel with OSA regulator. The new rotor active resistance of motor and inductive impedance and
type of regulator is used in both torque and speed control also from the rotor angular speed d , q ,0  k ; U - vector of
loops. The output signals from the controllers are stator voltage,  m - the mechanical time constant of load and
transformed from the rotating axes d,q back into the fixed
coordinate system α,β by the reverse transformation of Park.

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 2020 7th International Conference on Energy Efficiency and Agricultural Engineering (EE&AE)

motor, Tb  k m . 2r - mechanical breaking moment of ship’s modal stabilizer identifies in real time the controlled drive on
the base of estimated parameters and variables of the model.
propeller, Tm - electrical torque of motor; After that the control signal for the torque and flux linkage
control loop is formed by summing the two signals.
i d   hd  b11 0 
I s    ; H s    ; B ss   . The observed system might be presented by a following
i q   hq   0 b22 type of a linear model in the state space described from
For the rectifier modeling is used the method of following differential equations [12,13]:
switching function:
xk 1  A.xk   b.vk 
2S a  Sb  S c  / 3
(8)
ia  ua  ia 
d   1   R   U dc 
ib  . ub  . ib  . 2Sb  S c  S a  / 3  yk   c t .xk  (9)
dt   L   L   L 
ic  uc  ic  2S c  S a  Sb  / 3 (2) vk   uk   zk  x(0)=x0, k=0,1,2,
d 1 R U where: x(k), x(k+1) are an unknown current state vectors in
 I abc  .U abc  .I abc  dc .S
dt L L L two neighbor moments of sample; x(0) is an unknown initial
state vector; u(k) is an input signal; z(k) is a limited input
where: U abc , I abc - the vectors of stator voltages and sequence for identification.
currents; U dc - output voltage of the rectifier; R , L - active
The equations (8) and (9) correspond to the following
and inductive resistance in the rectifier circuit, S - a vector difference equation “input-output”
of the switching functions, whose elements accept values 1
or 0 corresponding to a conductive or non-conductive state of Y z  h1 . z n1  h2 . z n2  ... h1 n z  hn
W z    (10)
the valves; V z  zn  an . z n1  ... a2 . z  a1
After transformation of system (2) into axes d, q : A, b and c are unknown matrices and vectors of the
following type:
d R 1 R R U dc
I  .U s  . I dq  R
P .S - W. I dq (3)
dt dq L L L 0 1 0
 
where: P - Park direct transformation matrix; A   0 0 1  ; b t  0,0,1 ; c t  1,0,0 (11)
 0  k   a1 a2 a3 
W 
0 
.
k The input/output data are shaped in following matrices
and vectors.
The converter`s voltage can be calculated by:
d S .I  y 0  y 3 v0
U dc  dc C (4)    
Y1  y 1 ; Y2   y 4  ; V1   v1  ;
dt C  
where: S dc - DC converter switching function; I C  I R  I I .  y 2  y 5 v2
(12)
The inverter output voltage:
 y0 y1 y2
u a   2  1  1  S1a S 2 a  Y12   y1 y2 y3 .
u   1  1 2  1. S S .U
 y2 y3 y4
 b 3   1b 2b  dc (5)
u c   1  1 2   S1c S 2c 
The vector estimate â is calculated by following
where: S kj - inverter switching functions; k - inverter arm expression:
quantity; i - valve quantity in arm i  1,2 . Y12 .aˆ  Y2  V1 (13)
DC side current: The initial steady state vector x̂ 0 estimation is
I I  S1a .S 2a .ia  S1b .S 2b .ib  S1c .S 2c .ic (6) calculated by the optimal estimator of following type:

The output voltage of inverter expressed into axes ˆ 0 Y 1

x (14)
d ,q,0 : The current state vector is estimated by full optimal
singular adaptive (OSA) observer
I
U dq  P.Uabc  U (7)

ˆ k  1  F.x
x ˆ k   b.vk   g.yk  (15)
IV. INDUCTION MOTOR ADAPTIVE CONTROL
ˆ 0  x
where: x ˆ 0 ; k=0, 1, 2, …,
The main function of adaptive control is real-time
continually identification of the controlled parameters using  
F  A  g.cT (16)
a linear model of low order and the formation of control
signal. In the studied induction motor drive is used a standard g T  g1,g2 ,...gn  (17)
PI-controller and adaptive astatic modal stabilizer (fig.1). On
the inputs of the stabilizer feeds a discrete sample from the The determination of formulate problem with the help of
input and output of a PI-regulator. The adaptive astatic suggested algorithm exists only if matrix Y12 is singular

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 2020 7th International Conference on Energy Efficiency and Agricultural Engineering (EE&AE)

det Y12  0 (18)

The stabilizing signal ustab is calculated by use of astatic
scalar modal stabilizer with scale factor k0 from following
type:
k k   k1 k ,k2 k ,....kn k  (19)

  
Az  A  b k  1.k k  (20)

 
 1  1
k0 k   c T . I n  Az .b k  1 (21)
 

ustabk   k0 k .yref  k k .xk  1 (22)
where: yref is reference signal given from the operator.
Fig. 4. Line AB stator voltage [V]
V. MOTOR OPERATION MODE SIMULATION
Induction electric drives are used to drive various
mechanisms and installations. Electric drive loads have
various static and dynamic characteristics. In addition, these
loads require the implementation of various modes of
operation.
Using the created model, various operating modes were
simulated. Simulated transition modes caused by various
disturbing influences.
The article presents the start-up mode of an induction
electric drive. A part of the obtained results is presented in
the form of oscillograms of changes in the main parameters
of the mode. Fig. 5. Stator current
The oscillograms show curves of changes in the
following variables: DC bus voltage; phase A stator voltage;
line AB stator voltage; stator current; motor torque control
signal; control signals; electromagnetic torque; motor speed.

Fig. 2. DC bus voltage

Fig. 6. Motor torque control signal

Fig. 3. Phase A stator voltage [V]

Fig. 7. Control signals

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 2020 7th International Conference on Energy Efficiency and Agricultural Engineering (EE&AE)
Fig. 8. Electromagnetic torque
Fig. 9. Motor speed [rpm]
Fig. 10. Motor speed [rpm]
VI. CONCLUSION
The development and research of new vector control
methods for induction motor drives continues to be
significant. The need of new type of mechanisms and
installation require new type of control methods. The most
promising developments are related to the use of artificial
intelligence methods for identifying the parameters of an
induction motor and for generating control signals.
The article proposes a new adaptive vector control of an
induction motor drive. In this control, both controllers in the
5 12-14 November 2020, Ruse, Bulgaria
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torque and flux linkage control loops use a parallel-
connected PI controller and a controller that uses the
identification of controlled values with the help of an optimal
singular adaptive observer.
The proposed adaptive control of the electric drive was
implemented in a mathematical model, with the help of
which the operating modes of the electric drive were
investigated. The results show that this control improves the
quality of speed regulation and its efficiency.
The proposed control and mathematical model can be
used in the design and tuning of control devices of induction
motor drives.
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[3] F. Blaschke, Apparatus for field-oriented control or regulation of
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[4] M. Depenbrock, Direct self-control of the flux and rotary moment of
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