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A Study of A Three Phase Induction Motor Performances Controlled by Indirect Vector and Predictive Torque Control
A Study of A Three Phase Induction Motor Performances Controlled by Indirect Vector and Predictive Torque Control
A Study of A Three Phase Induction Motor Performances Controlled by Indirect Vector and Predictive Torque Control
Abstract— This paper compares two methods of a three for controlling torque, the model is called predictive torque
phase induction motor speed control supplied by a two-level control (PTC) [4]. Since PTC uses online optimization, a cost
three-phase inverter, those are indirect vector control (IVC) and function associated with the torque and flux errors is
predictive torque control (PTC). The simulation results of both determined and the voltage vector to minimize the function is
methods show that when given torque and certain reference selected as the best voltage vector. PTC is a control structure
speeds, either by using IVC or PTC the motor will provide
that has many advantages, such as it does not require a
torque response and speed according to the reference given.
Both of these methods can also follow the reversal of motor rotating transformation like field oriented control (FOC)
rotation according to the reference speed dictated. In addition, because it is done in the stator frame and does not require a
the value of the effective stator current using both methods is modulator and PI current controller [4]. In addition PTC has
the same. The steady state torque of PTC is achieved faster than a very flexible structure because it is possible to add
IVC. constraints and other objective functions [5]. But the
disadvantage of this system is it requires more calculations
Keywords— control, induction motor, indirect vector, torque than other control strategies [2].
predictive, compare In this paper, speed control characteristics of an induction
I. INTRODUCTION motor supplied by a two level three legs inverter using
indirect vector control (IVC) and predictive torque control
The speed control methods applied to induction motors (PTC) method are compared. These characteristics are
generally consist of scalar and vector control. The application obtained from simulation result using Matlab / Simulink in
of scalar control is relatively easier in controlling but it has a the form of motor torque, speed and stator current.
bad dynamic response due to coupling effect between the flux
and torque motor as a function of voltage or current and II. VECTOR CONTROL
frequency [1]. However, using the vector control (VC)
In vector control, an induction motor is controlled like a
technique the two components of the stator current can be
separately excited DC motor. In a DC motor the field flux ∅
controlled independently and the flux and torque production
are decoupled, similarly to the DC motor. In a DC machine and armature flux ∅ , are respectively established by field
the field flux is perpendicular to the armature flux, hence current and armature component of current , which are
these two fluxes produce no interaction with each other. By orthogonal in space. Thus, when torque is controlled by ,
controlling the field currents it can therefore control the flux the field flux is not affected, hence giving fast torque
of the machine, and the torque can be controlled response. Similarly, in induction motor vector control, the
independently of flux by controlling the armature current. synchronous reference frame currents and are
In the late 1970s, the Model Predictive Control (MPC) analogous to and , respectively, and is oriented
was developed in the petrochemical industry to solve towards the direction of rotor flux ∅ . Therefore, when torque
optimization problems. MPC uses a mathematical model of is controlled by , the rotor flux is not affected thus giving
process and minimization of objective function to obtain fast DC motor-like torque response [6].
optimal control signal [2]. The main idea of MPC is to choose The basic principle of VC can be explained with the help
action control by repeatedly to solve an optimal control of Fig. 1, where the machine model is represented in a
problem online. It aims to minimize a performance criterion synchronously rotating reference frame. The inverter is
along an upcoming horizon, which may be the subject of removed from the picture, assuming the current gain is one.
constraints on manipulated inputs and outputs, in which This inverter generates the currents , , and as dictated
future characteristics are computed based on a plant model by the command current ∗ , ∗ ,, and ∗ , from the controller.
[3]. When the MPC is applied to an electric motor as a plant Machine phase currents , , and are converted into
∅ (3)
The process carried out in each block from the diagram above
is explained as follows
205
Since
∅ C. Cost Function Minimization
∅ Cost function is the linear quantity of error torque and flux to
get the best voltage vector [4]. The cost function is evaluated
Hence for each prediction and that results in the lowest value
selected for the inverter ignition pulse. Cost function is
∅ ∅ expressed as:
∗
| 1 | ∅∗ ∅ 1 (14)
Thus, by using Euler formula, the rotor flux estimation is
obtained by: is the weighting factor of the stator flux, whose value
∅ ∅ (9) illustrates the relative importance of torque control over flux
control. If the same weight is given for torque and flux, these
factors will correspond to the ratio between the nominal
B. Torque and Flux Prediction
torque and stator flux |∅ |.
Stator flux prediction is given by
(15)
∅ 1 ∅ (10) |∅ |
∅ (11)
Torque prediction is
1 ∅ 1 1 12)
1 1 ∅ (13)
Where:
;
Fig. 4 The induction motor torque using IVC
It is shown that when the motor is given reference torque of
14 N.m, its actual torque can follow the reference torque
precisely. When the direction of reference torque is reversed
at t = 1.5 seconds, the actual torque can well follow the
reference torque. Fig. 5 shows the motor motor steady state
1 torque is achieved at t = 0.013 sec.
206
Fig. 5 Transient to steady state motor torque response
Fig. 8 The induction motor stator current using IVC
amperes.
B. PTC Simulation Result
Fig. 10 shows the torque reference and the torque actual of
the motor using PTC.
Fig. 6 The induction motor speed using IVC
207
at t = 1.5 seconds, the actual torque can well follow the
reference torque. Fig 11 shows the motor steady state torque
is achieved at t = 0.006 sec.
Fig. 15 The steady state value of motor stator currents using PTC
208
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