1

A Project report on

VECTOR CONTROL OF INDUCTION MACHINE

Submitted for partial fulfillment for the award of

BACHELOR OF TECHNOLOGY
DEGREE IN

ELECTRICAL AND ELECTRONICS ENGINEERING

By MAYANK SRIVASTAVA (0702921052) Under the guidance of Prof. ASHISH THOMBRE

Department of Electrical and Electronics Engineering KRISHNA INSTITUTE OF ENGINEERING AND TECHNOLOGY GHAZIABAD APRIL 2011

CERTIFICATE

This is to certify that the thesis entitled VECTORCONTROL OF INDUCTION MACHINE is a bona fide record of the major project done by MAYANK SRIVASTAVA (Roll No. 0702921052), under my supervision and guidance, in partial fulfillment for the award of Degree of Bachelor of Technology in Electrical and Electronics Engineering from Krishna Institute of Engineering and technology Muradnagar for the year 2011

MR.ASHISH THOMBRE (Guide) Professor Dept. of Electrical and Electronics Engineering

Prof. GAJENDRA SINGH Professor& Head Dept. of Electrical and Electronics Engineering Date: Place:

ACKNOWLEDGEMENT
Its our pleasure to acknowledge assistance of a number of people without their help this project would not have been possible. First and foremost, we would like to express our gratitude to Prof. ASHISH THOMBRE (Project Guide), Prof. of Electrical & Electronics Department, for providing us invaluable encouragement, guidance and support. It is always very difficult to express ones gratitude towards the people from whom one gets the invaluable gift of knowledge. However, we are very thankful to those, because of whom, the hard work done on this project, became a pleasure. We acknowledge to Prof. GAJENDRA SINGH Head of department (HOD), of Electrical & Electronics Department, who very eagerly allotted us such a challenging project. After doing this project we confidently say that this experience has not only enriched us with the knowledge but also has unparsed the maturity of thought and vision.

MAYANK SRIVASTAVA Date : EN Deptt. KIET

ABSTRACT
Scalar control is somewhat simple to implement, but the inherent coupling effect gives sluggish response .Coupling effect means that the both torque and flux are the function of voltage or current and frequency .due to this the system is easily prone to instability of a high order system effect . The foregoing problem can be solve by using vector control. The invention of vector control in the beginning of 1970 s, and the demonstration that an induction motor can be controlled like a separately excited dc motor, brought a new era in high performance control of induction machine. The vector control is also known a decoupling control, orthogonal or transvector control. Vector control is applicable to both induction and synchronous motor drives. Modern sensor less vector control are complex, and the use of powerful microcomputer or DSP is mandatory .Induction motor is used as a variable speed drive in many industrial applications. In this case induction motor is fed by a current controlled inverter system. Pulse width modulation technique is used to derive switching sequence for the inverter system. Closed loop control of induction motor utilizes a proportional integral speed controller. An indirect vector control strategy is employed for current controlled inverter system. The performance analysis of a vector controlled cage induction motor drive is studied. To check the dynamic performance of the drive, the motor is operated in fourquadrant operation. The simulated response of an induction motor will be presented in different modes of operation. The objective of a variable-speed control system for higher productivity is to track the reference speed as fast as possible. Therefore, under the constraints of input voltage and current, a control scheme which yields the maximum, torque over the entire speed range can be usefully applicable to minimum-tim speed control of induction motors. However, most researchers who deal with the speed control of induction motors have not considered the maximum-torque generation scheme.

CONTENTS
Chapter No TITLE List of Abbreviations List of Symbols List of Figures List of Tables 1 1.1 1.2 2 INTRODUCTION Introduction Advantages of using the DSP techniques in motor control Page no.

CLASSIC AC DRIVES Classic AC drives 2.1.1 Equivalent circuits of Induction Machine 2.1.2 Equivalent circuit analysis 2.1.3 Torque speed curve. 2.2 Dynamic model in space vector form 2.2.1 Introduction 2.2.2 Dynamic model 2.2.3. D-Q equivalent circuit 2.1 VECTORCONTROL Vector Control DC Drive Analogy Principles of Vector control Direct or feedback vector control

3 3.1 3.2 3.3 3.4 4

SIMULATION OF VECTOR CONTROL 4.1 High-Level Schematic 4.2 Block diagram of VECTOR CONTROL for induction motor . 4.3 Speed Controller Subsystem 4.4 VECTOR CONTROL Subsystem 4.4.1 Flux PI controller 4.4.2 Calculation of id and iq 4.4.3 Magnetisation vector 4.4.4 Theta Calculations 4.4.5 Flux Calculations 4.4.6 Magnetisation 4.5 Vector controller 4.6 Simulink of hystersis controller . SIMULATION RESULTS 5.1 5.2 Vector control simulation results. Results for variable load torque.
6

CONCLUSION REFERENCES

List of abbreviation
PWM VSI = Pulse Width modulation = Voltage source inverter

S/W = Switch IGBT= Insulated Gate Bipolar Transistor DSP= Digital Signal Processor

List of Symbols

Rs = Stator Resistance Lls = Stator Leakage inductance Ls = stator inductance Lr = rotor inductance Io =Output Current in Amp Ic = Core loss Component of No Load current Im = Magnetising current Lm=magnetizing inductance Vr=The Rotor induced voltage Ir =rotor current
sl = slip

frequency

m = peak value of air gap flux linkage per pole e = Synchronous speed o =Rotor speed Vs s = Stator voltage w.r.t. stationery frame of refrence. = Flux linkage variable Vds= Voltage of d-axis w.r.t. stationery frame of refrence Ids =Current of d-axis w.r.t. stationery frame of refrence Vqs= Voltage of q-axis w.r.t. stationery frame of refrence Iqs = Current of q-axis w.r.t. stationery frame of refrence Ia = armature current If = field current

List of Figures
Figure 2.1 Figure 2.2 Figure 2.3 Figure 2.4 Figure 2.5 Figure 2.6 Figure 2.7 Figure 2.8 Figure 2.9 Figure 2.10 Figure 3.1 Figure 3.2 Figure 3.3 Figure 4.1 Figure 4.2 Figure 4.3 Figure 4.4 Figure 4.5 Figure 4.6 Figure 4.7 Figure 4.8 Figure 4.9 Figure 4.10 Figure 4.11 Mmf distribution in three phase of induction machine. Per phase equivalent circuit of an induction machine. The phasor diagram for the equivalent circuit in Figure 2.2(b). Approximate per phase equivalent circuit. Torque speed curve. Conventional Per-phase Equivalent Circuit. Dynamic Equivalent circuit on stationery reference frame. Dynamic Equivalent circuit on an Arbitary reference frame rotating at a. Definition of q-axis and d-axis on arbitary refrence frame. D-Q Equivalent circuit on Synchronous frame. (a) separately excited dc motor , (b) Vector controlled induction motor. Vector control implementation principle with machine de-qe model. Direct vector control block diagram with rotor flux orientation. High-level schematic. Simulink of vector control of induction motor drive. Simulink model of speed controller subsystem. Simulink model of VECTOR CONTROL subsystem. Simulink model of flux PI controller. id Calculation. iqCalculation. The magnetization vector unit. Electrical angle calculations. Flux linkage calculations. Magnetisation control unit.

Figure 4.12(a) Working principle of hysteresis current controllers.

10

Figure 4.12(b) Switching logic of hysteresis current controllers. Figure 4.13 Figure 5.1 Figure 5.2 Simulink of hystersis controller. Stator currents for below base speed case Speed response for the speeds below base value

Fig ure 5.3(a) Torque response for the speeds below base value Figure 5.3 (b) Torque response showing initial fluctuations Figure.5.4 Figure 5.5 Figure 5.18 d-axis & q - axis component stator current for speed below base value d-axis & q - axis component stator voltage for speed below base value Torque response for the variable torque load.

11

Chapter -1 INTRODUCTON
1.1 General Introduction For many years d.c motors were used extensively in areas where variable speed operation was required since their flux and torque could be controlled independently and easily by the field and armature current. Particularly, the separately excited d.c motor has been used mainly for applications where there was a requirement of fast response and four-quadrant operation with high performance near zero speed. However, due to the existence of the commutator and the brushes d.c motors have certain disadvantage. That is, they required periodic maintenance; they cannot be used in explosive or corrosive environments. These problems can be overcome by the application of a.c motors, because of its simplicity, ruggedness, efficiency, low cost, compactness, and economical and volume manufacturing advantages. Some of the reasons for dealing with AC induction motor drives rather than DC motor drives are: y Commutator and Brushes do not exist in Induction motors, which can result in higher speed operations. Induction motors have comparable and frequently better efficiency than the equivalent dc motor. Power Factor; the power factor of a dc drive operates in the range from 0 to about 0.9 and increases approximately in proportion to the motor speed. However almost all induction motors run at lagging power factor, typically 0.95. A dc motor must be regularly taken out of service to check or replace brushes and at less frequent interval to resurface the commutator. Induction motor is essentially maintenance free, except for the bearings. Protection of an induction motor is simpler than for dc motor. For large dc machines protection of a dc circuit breaker is required which are expensive.Simpler stator thermal protection for induction motors gives comprehensive thermal protection for the entire machine. Ruggedness; Induction motor is more robust than the dc machine. Because of the commutator assembly, a dc machine of the same torque capacity is significantly larger than the equivalent induction machine. Hence Induction machine is superior to d.c machine with respect to size, weight, rotor inertia, efficiency, maximum speed, reliability, cost e.t.c, but because of its highly non-linear dynamic structure with strong dynamic interaction, it requires more complex control schemes than, a separately excited d.c machine.

y y

The induction motor had been considered to be essentially a constant speed motor control of its speed has been possible, but the method and equipment been awkward and its control performance inferior, the principal reason being that the variable-frequency ac
12

power supply was expensive. It is because of the awkward ac power supplies that the induction motor has been limited in its control performance, although the induction motor itself has a very high control capability. Where first used, control of the induction motor was restricted to speed control, which was by means of frequency and/or voltage control. By changing the frequency of the power supply synchronous speed of the induction motor could be changed. By changing the terminal voltage of the induction motor, its speed under load could be changed. If the frequency and voltage were changed proportionally to each other, the magnetic flux density could be kept almost constant, resulting in better control performance. It should be pointed out that control of the electrical motor is actually control of the power supply. The motor can be controlled only through the power supply. If the power supply is controlled properly, the motor responds properly. Controllability of the power supply is more important, because that of the motor is not a limiting factor. For the classical period of induction motor control, controllability of the ac power supply was very inferior to that of the dc power supply. This was only one reason that the dc motor was used predominantly for quick response purposes, inspite of the fact that the dc motor itself was so awkward in its structure and capability. The general dynamic model of the induction machine can be represented by a sixth-order state-space equation, where the inputs to the stator are voltage and frequency and the outputs can be rotor speed, rotor position, electromagnetic torque, stator or rotor flux linkages, magnetizing current or a combination of these. Furthermore the cost of a.c power converters is higher for the variable speed induction motor drive than for the converters, which can supply d.c machines. Until recently the cost of the variable-speed induction motor has been prohibitive and the complexity of control has made its developments in the field power electronics, whereby better and more powerful semiconductor devices are available and where the power devices and circuits are packaged into the modular form, and the existence of powerful and inexpensive microprocessors, which allow the complex control functions of the a.c drive to be performed by utilizing software instead of expensive hardware, means that a.c drives employing induction machines can be considered as economical alternatives to adjustable speed d.c drives. Vector control techniques incorporating fast Ps have made possible the application of induction-motor drives for high performance application where traditionally only d.c drives were applied. In the past such control techniques could have not been possible because of the complex hardware and software required to solve the complex control problem. As for d.c machines, torque control in a.c machines is achieved by controlling the motor currents. However, in contrast to a d.c machine, in an a.c machine, both the phase angle and the modulus of the current has to be controlled, or in other words, the current vector has to be controlled. Furthermore, in d.c machines, the orientation of the field flux and armature mmf is fixed by the commutator and the brushes, while in a.c machines the field flux and the angle of the armature mmf require external control. With vector control of a.c machines, the torque and flux-producing stator current components are decoupled and transient response characteristics are similar to those of a separately excited d.c machine and the system will adapt to any load disturbances and/or reference value variation as fast as a d.c machine. It is the real time-processing properties of silicon, such as the TMS320LF2407 DSP controller also called Wintech TDS2407EA, and the accurate asynchronous motor model that have resulted in the development of a highly reliable drive with highly accurate and variable speed controls. Application of the vector control to the a.c induction drive results in the instance control of a high performance drive. The ability to achieve such control renders the asynchronous drive a high advantageous system for both home appliances and for industrial or automotive applications [15]. Key advantages are the robust nature of the drive, its reliability and efficiency, the cost effectiveness of both the motor and the drive, the high torque and zero speed, the
13

speed variation capacity, the extended speed range, the direct torque and flux control and the excellent dynamic behavior. This thesis describes simulation, complete integration of the software, and the theoretical and practical aspects of the application. 1.2 Advantages of using the DSP techniques in motor control: y y y Cost reduction in control electronics; Improved reliability due to the reduction of the number of components; Standard universal hardware is required and the only changes are to the software, which is the very flexible and can easily modified; Digital transmission requires a minimal amount of cabling and is very tolerant to noise; it eliminates drift and electromagnetic interference problems; Very high accuracy, excellent repeatability, linearity and stability with different setting ranges; Complex, high-speed arithmetic and capability of decision making e.t.c Only a few standard modules are required without any special adjustment; There is the possibility of plug-in memory modules for user programs, parameters and modifications to functions, e.t.c; Powerful system software for on-line measurements, control parameter setting (example: current control parameter setting, speed control parameter setting e.t.c) and testing; Automatic location of hardware faults with the help of system and user software.

y y y y

The control hardware is the TMS320F2812 evaluation Module. The eZdspTM F2812 is a stand-alone card--allowing evaluators to examine the TMS320F2812 digital signal processor (DSP) to determine if it meets their application requirements. Furthermore, the module is an excellent platform to develop and run software for the TMS320F2812 processor. The eZdspTM F2812 is shipped with a TMS320F2812 DSP. The eZdspTM F2812 allows full speed verification of F2812 code. Two expansion connectors are provided for any necessary evaluation circuitry not provided on the as shipped configuration. To simplify code development and shorten debugging time, a C2000 Tools Code Composer driver is provided. In addition, an onboard JTAG connector provides interface to emulators, operating with other debuggers to provide assembly language and C high level language debug.

14

CHAPTER 2 CLASSIC AC DRIVE

2.1 Classic AC drives AC motor control structures generally apply three 120 spatially displaced sinusoidal voltages to the three stator phases. In most of the classic AC drives the generation of the three sine waves is based on motor electromechanical characteristics and on an equivalent model for the motor in its steady state. Furthermore, the control looks like three separate single phase system controls rather than one control of a three phase system. Some major common drawbacks are presented in this chapter [1]: The machine models and characteristics used are valid only in steady state. This causes the control to allow high peak voltage and current transients. These damage not only the drive dynamic performance but also the power conversion efficiency. Additionally, the power components must be oversized to withstand the transient electrical spikes. Great difficulty in controlling the variables with sinusoidal references: PI regulators cannot perform a sinusoidal regulation without damaging the sinusoidal reference, and hysteresis controllers introduce high bandwidth noise into the system that is hard to filter out. No three phase system imbalance management. No consideration of the phase interactions. Finally, the control structure must be dedicated according to motor type (asynchronous or synchronous). The following chapters present the Field Orientated Control of AC drives. This control solution overcomes each of these drawbacks and thus improves the overall effectiveness of the AC drive. Detailed explanations and references to other helpful documents give the reader a good understanding of the control structure and of the immediate benefits of such a solution. Among all types of machines, the induction machine, particularly the cage type, is most commonly used in industry .these machine are most rugged and economical and available in range of FHP to mega watt capacity. Induction machine can be looked as three phase transformer with rotating and short circuited secondary. The most fundamental principle of induction machine is production of rotating and sinusoidally distributed magnetic field in air gap .The three phase sinusoidal current are impressed in the three phase stator windings, which are given as ia = Im cos t ib= Im cos ( ic = Im cos ( ) ) (2.1) (2.2) (2.3)

15

F( ,t)=Fa+Fb+Fc

Fa
Fc Fb b's
Y-Axis

as

as c's

bs

a's

cs

Fig: 2.1

MMF DISTRIBUTION INTHREE PHASE WINDINGS OF STATOR

At spatial angle , the instantaneous mmf expression can be given as :

Fa( )= Nia cos ( ) Fb( )= Nib cos ( -2 /3) Fc( )= Nic cos ( +2 /3) Where N= number of turns in a phase winding. F( ,t)=Fa+Fb+Fc F( ,t)=3/2(NImcos( ))

Y-Axis

X-Axis

(2.4) (2.5) (2.6)

(2.7)

16

2.1.1 Equivalent circuits of Induction Machine :

Fig 2.2 :

Per phase equivalent circuit of an induction machine

A simple per phase equivalent circuit of an induction machine is a very important tool for analysis and performance prediction at steady state condition. Figure 2.2 shows development of a per phase transformer like equivalent circuit .the synchronously rotating air gap flux wave generates a counter emf Vm., which is then converted to slip voltage Vr = nSVm in rotor phase,where n=rotor to stator turns ratio and S = per unit slip .the stator terminal voltage Vs differs from Vm by drops in stator resistance Rs and stator leakage inductance Lls. The excitation current Io consist of two component a core loss component Ic= Vm/Rm and a magnetizing component Im=Vm/Lm e , where Rm = equivalent resistance for core loss and Lm=magnetizing inductance . The Rotor induced voltage Vr causes rotor current Ir at slip frequency sl, which is limited by the rotor resistance Rr and the leakage reactance eLlr . the stator current Is consist of excitation component Io and the rotor reflected current Ir Figure shows the equivalent circuit with respect to the stator ,where Ir is given as

17

Ir = nIr= n2SVm(Rr^'+j =

slLlr')

(2.8)

And parameters Rr and Llr are referred to the stator . at standstill ,S=1, and therefore , Figure 2.2 (b) corresponds to the short circuited transformer equivalent circuit .at synchronous speed,S=0,current Ir=0 and the machine takes excitation current Io only. At any sub synchronous speed, 0<S<1.0,and with a small value of S, the rotor current Ir is principally influenced by the Rr/s parameter . The phasor diagram for the equivalent circuit in figure 2.2(b) is shown in figure 2.3, where all the variables are in rms value The torque expression can be given in the form:

Te = Where

(2.9)

= peak value of air gap flux linkage per pole and Ir = peak value of rotor current

Fig 2.3 :

The phasor diagram for the equivalent circuit in figure 2.2(b)

18

2.1.2 Equivalent circuit analysis: The various power expression can be written from the equivalent circuit of figure as follows:

Input power : Pin =3VsIS COS Stator copper loss : PLs=3IsRs Core loss: Plc=3VM/RM

Power loss across air gap : Pg =3IrRr/S Rotor copper loss : Plr =3IrRr Output power : Po= Pg-Plr = 3IrRr1-s/s Shaft power : Psh = Po Pfw Torque : Te =

Fig 2.4 :

Approximate per phase equivalent circuit

19

2.1.3 Torque speed curve : The torque Te can be calculated as a function of slip s from equation 2.10. Figure 2.5 shows the torque speed curve, where the value of slip is extended beyond the region 0<s<1.0.

(2.10)

Fig 2.5 :

Torque speed curve[21]

20

2.2 Dynamic model in space vector form 2.2.1 Introduction The induction motor, which is the most widely used motor type in the industry, has been favored because of its good self-starting capability, simple and rugged structure, low cost and reliability, etc. Along with variable frequency AC inverters, induction motors are used in many adjustable speed applications which do not require fast dynamic response. The concept of vector control has opened up a new possibility that induction motors can be controlled to achieve dynamic performance as good as that of DC or brushless DC motors. In order to understand and analyze vector control, the dynamic model of the induction motor is necessary. It has been found that the dynamic model equations developed on a rotating reference frame is easier to describe the characteristics of induction motors. It is the objective of the article to derive and explain induction motor model in relatively simple terms by using the concept of space vectors and d-q variables. It will be shown that when we choose a synchronous reference frame in which rotor flux lies on the d-axis, dynamic equations of the induction motor is simplified and analogous to a DC motor. Traditionally in analysis and design of induction motors, the per-phase equivalent circuit of induction motors shown in Fig. 1.1 has been widely used. In the circuit, Rs (Rr) is the stator (rotor) resistance and Lm is called the magnetizing inductance of the motor. Note that stator (rotor) inductance Ls (Lr) is defined by Ls = Lls + Lm, Lr = Llr + Lm (2.11)

Where Lls (Lrs) is the stator (rotor) leakage inductance. Also note that in this equivalent circuit, all rotor parameters and variables are not actual quantities but are quantities referred to the stator [1]. Methods of determining circuit parameters from no-load test and locked rotor test are described in [2]. It is also known that induction motors do not rotate synchronously to the excitation frequency. At rated load, the speed of induction motors are slightly (about 2 - 7% slip in many cases) less than the synchronous speed. If the excitation frequency injected into the stator is [e and the actual speed converted into electrical frequency unit is [o, slip s is defined by s = ([e - [o ) / [e = [r / [e, (2.12) and [r is called the slip frequency which is the frequency of the actual rotor current. In the steadystate AC circuit, current and voltage phasors are used and they are denoted by the underline. In Fig. 1.1, power consumption in the stator is interpreted as Is2Rs, while Ir2Rr/s represents both power consumption in the rotor and the mechanical output (torque). By subtracting rotor loss Ir2Rr from Ir2Rr/s, produced torque (mechanical power divided by the shaft Speed) is given by T = Ir2 Rr (P/2) (1-s) / (s [o) = Ir2 Rr [ P / (2[e )], (2.13)

where P is the number of poles. Although the per-phase equivalent circuit is useful in analyzing and predicting steady-state performance, it is not applicable to explain dynamic performance of the induction motor. In the next section, we will develop dynamic model of induction motors in general frame work and introduce several equivalent circuits as special cases. Throughout the article, all vectors are denoted as boldface and complex conjugates are denoted by @. Vectors on a rotating reference frame are followed by a superscript letter which designates the frame used as in Vs s (Vs in stationary frame). The derivative operator is denoted by p while P is the number of poles For notational convenience, let Y (scalar) or Y (vector) be the representative notation of any

21

voltage, current or flux linkage variable. Real and Imaginary values of a space vector Y is denoted by Re(Y) and Im(Y), respectively. Zero vectors are denoted by 0 regardless of the reference frame used.
LlS=LS-LM LlR = L R-LM

ir
Rr/s
A1 1

RS
1 A1 1 A1 1 A1 A1

is
1 A1

Vs

Lm

Fig. 2.6 Conventional Per-phase Equivalent Circuit 2.2.2 Dynamic model in space vector form: In an induction motor, the 3-phase stator windings are designed to produce sinusoidal distributed mmf in space along the air gap periphery. Assuming uniform air gap and neglecting the effects of slot harmonics, distribution of magnetic flux will also be sinusoidal. It is also assumed that the neutral connection of the machine is open so that phase voltages, currents and flux linkages are always balanced and there is no zero phase sequence component in the system. For such machines, the notation in terms of the space vector[3] is very useful. For 3 phase induction motors, the space vector Ys s of the stator voltage, current and flux linkage is defined from its phase quantities by

1 A1

A1

Ys s = (2/3) ( Ya + Where

Yb + Yc ),

(2.14)

= exp(j 2 /3).

The above transform is reversible and each phase quantities can be calculated from the space vector Ya = Re (Ys s), Ib = Re (
2

Ys s), Ic = Re ( Ys s).

(2.15)

For a sinusoidal 3-phase quantity of constant rms value, the corresponding space vector is a constantmagnitude vector rotating at the frequency of the sinusoid with respect to the fixed (stationary) reference frame. Note that the space vector is at vector angle 0 when A-phase signal (Ya) is at its sinusoidal peak value in steady-state. With space vector notation, voltage equations on the stator and rotor circuits of induction motors are, Vs s = Rs Is s + p s s (2.16)
22

Vr = Rr Ir + p r =0

(2.17)

It is very convenient to transform actual rotor variables (Vr, Ir, r) from Eq. 2.17 on a rotor reference frame into a new variables ( Vr s, Ir s, r s) on a stator reference frame as in the derivation of conventional steady-state equivalent circuit. Let the stator to rotor winding turn ratio be n and the angular position of the rotor be , and define

Ir s = (1/n) exp(j ) Ir ,

r s = n exp(j ) r

(2.18)

Also, by defining referred rotor impedances as Rr = n Rr, etc., we have Vs s = Rs Is s + p s s 0 = Rr Ir s + (p - j o) r s where o = p o, is the speed of the motor in electrical frequency unit and (2.19) (2.20)

s s = Ls Is s + Lm Ir s r s = Lm Is s + Lr Ir s

(2.21) (2.22)

The above 4 equations (Eq. 2.19 - 2.22) constitute a dynamic model of the induction motor on a stationary (stator) reference frame in space vector form. These model equations may be simplified by eliminating flux linkages as

Vs s = (Rs + Ls p) Is s + Lm p Ir s 0 = (Rr + Lr (p - j o)) Irs + Lm (p - j o) Is s.

(2.23) (2.24)

From Eqs. 2.23-2.24, The dynamic equivalent circuit model on a stationary reference frame can be drawn as in Fig.2.7. For steady-state operation with excitation frequency e, p in Eq. 2.23-2.24 may be replaced by j e and after some algebraic manipulation, we get Vs s = (Rs + j e Ls ) Is s + Lm p Ir s 0 = (Rr/ s + j e Lr) Ir s + j e Lm Is s. (2.25) (2.26)

23

which exactly describes the conventional steady-state equivalent circuit of Fig. 1.1. Now, the previous procedure can be generalized so that the dynamic model is described on an arbitrary reference frame rotating at a speed a, where Eq. 2.19 -2.26 is a special case with a,= 0. To do that, define the new space vector on the arbitrary frame as

Y a = exp(- j a ) Y s

(2.27)

and reconstruct all the model equations in terms of the new space vectors. In the arbitrary reference frame, Eqs. 2.19- 2.20 are modified to

Vs a = (Rs + Ls p) Is a + Lm p Ir a + j 0 = (Rr + Lr p) Ir a + Lm p Is a + j (
a

sa

(2.28) (2.29)

- o) r a,

with new flux linkage equations defined by,

s a = Ls Is a + Lm Ir a r a = Lm Is a + Lr Ir a

(2.30) (2.31)

As before, by substituting Eqs. 2.30-2.31 into Eqs. 2.28-2.29, we have

Vsa = (Rs + Ls (p + j a)) Is a + Lm (p + j a ) Ir a 0 = (Rr + Lr (p + j a - j o)) Ir a + Lm (p + j a - j o) Is a

(2.32) (2.33)

where eliminated flux linkage variables are eliminated.

24

LlS=LS-LM

LlR = L R-LM Rr

irs
A1

RS
1 A1 1 A1 1 A1

iss

-j o r

Vss

Lm

1 1 A1 1 A1

A1

Fig:2.7 Dynamic Equivalent circuit on stationery reference frame

LlS =L S-LM

ir
1

RS
1 A1 1 A1 1 A1 A1

is

j( a- o) ra

Vs

Lm

Fig:2.8 Dynamic Equivalent circuit on an Arbitrary reference frame rotating at a

The generalized equivalent circuit on a arbitrarily rotating frame based on Eq. 2.32-2.33 is shown in Fig. 2.2. Now, depending on a specific choice of a, many forms of dynamic equivalent circuit can be established. Among them, the synchronous frame form can be obtained by choosing a = e. This form is very useful in describing the concept of vector control of induction motors as well as of PM synchronous motors because at this rotating frame, space vector is not rotating, but fixed and have a constant magnitude in steady-state. Since space vectors in the synchronous frame will frequently be used, they are denoted without any superscript indicating the type of frame. Another possible reference frame used in vector control is the rotor reference frame by choosing c = o which is , in fact, the reverse step of Eq. 2.18 with n =1. 2.2.3. D-Q EQUIVALENT CIRCUIT: In many cases, analysis of induction motors with space vector model is complicated due to the the fact that we have to deal with variables of complex numbers. For any space vector Y, define two real quantities Sq and Sd as,

Rr
1 A1

j a sa

LlR = L R-LM

1 A1

1 A1

25

S = Sq - j Sd

(2.34)

In other words, Sq = Re (S) and Sd = - Im (S). Fig. 3.1 illustrates the relationship between d-q axis and complex plane on a rotating frame with respect to stationary a-b-c frame. Note that d- and q-axes are defined on a rotating reference frame at the speed of a = p Ua with respect to fixed a-b-c frame.

Fig : 2.9 Definition of q-axis and d-axis on arbitary refrence frame With the above definition, Eq. 2.32-2.33 can be translated into the following 4 equations of real variables expressed in a matrix form.

Vqs a Vds a 0 0

Rs+pLs = - aLs pLm

aLs Rs+pLs ( a- o) Lm pLm (2.35)

pLm - aLm Rr+pLr

aLm pLm ( a- o) Lr Rr+pLr

Iqs a Ids a Iqr a Idr a

-( a- o) Lm Eqn:

- ( a- o)Lr

For future reference, the above matrix equation simplified for popular reference frames in analysis and design of vector control will be introduced. For stationary reference frame, by substituting a = 0, the above equation is reduced to
26

V qss V dss 0 0

Rs+LsP 0 LmP o Lm Eqn:

0 Rs+LsP

LmP 0

0 LmP

Iqss Idss Iqrs Idrs

- o Lm Rr+LrP - o Lr LmP (2.36) o Lr Rr+LrP

Some implementation of vector drive includes calculation in rotor reference frame (frame is attached to the rotor rotating at o ). In this case, we can substitute all a in Eq. 2.35 by o, which makes simplified rotor voltage equations. Moreover, for synchronous frame, we have

Vqs Vqs 0 0

Rs + Ls p - [e Ls Lm p -[e Lm

[e Ls Rs + Ls p [r Lm Lm p

Lm p -[e Lm Rr + Lr p -[r Lr

[e Lm Lm p [r Lr Rr + Lr p

Iqs Ids Iqr Idr

(2.37)

L lS =L S-L M

L lR = L R -L M

iqr
Rr
A1 1

RS
1 A1 1 A1 1 A1 A1

iqs
1 A1

Vqs

Lm

(A) Q-

1 A1

A1

is

27

L lS =L S -L M

L lR = L R -L M

idr
Rr
1

RS
1 A1 1 A1 1 A1 A1

ids

[e ds
Vds
Lm

[e dr

(B) D-

1 A1 1 A1

A1

is

. Fig : 2.10 D-Q Equivalent circuit on Synchronous frame

As mentioned before, each variable (voltage, current or flux linkage) in the synchronous frame is stationary and fixed to a constant magnitude in steady-state. For dynamic simulation of induction motors, Eq. 2.36 or Eq. 2.37 may be used. In this case, one may prefer to use the standard form of differential equation as p X = A X + B U. (2.38)

For Eq. 2.3.4, matrix quantities on the above equation are as follows.

Iqs X Ids Iqs Ids RsLr A= 1/( U=

Iqs Iqs 0 0 [eLsLr-[r Lm2 RsLr -[oLmLs -RsLm B= 1/(

Lr 0 -Lm 0

0 Lr 0 -Lm

-Lm 0 Ls 0

0 -Lm 0 Ls (2.39)

-RrLm -[oLmLr RrLs

[oLmLr -RrLm [eLsLr-[r Lm2 RrLs (2.40)

[rLm2-[eLsLr -RsLm [oLmLs

-[rLsLr+[e Lm2

28

In the above equation, (= Ls Lr Lm. Although both Eq. 2.37 and Eq. 2.38 are frequently used to describe the induction motor on a synchronous frame, we need another set of equations that include flux linkage variables to explain the concept of vector control. By translating Eq. 2.2.28 - 2.2.31 in d-q coordinate on a synchronous frame, we have the following 8 equations. Both stator and rotor voltage equations are,

Vqs = Rs Iqs + p qs + s ds Vds = Rs Ids + p ds - s qs 0 = Rr Iqr + p qr + r dr 0 = Rr Idr + p dr - r qr,

where flux linkage variables are defined by

(2.41) (2.42) (2.43) (2.44)

qs = Ls Iqs + Lm Iqr ds = Ls Ids + Lm Idr qr = Lm Iqs + Lr Iqr dr = Lm Ids + Lr Idr.

(2.45) (2.46) (2.47) (2.48)

It will be shown in the next section that the above equations are very useful in explaining the dynamic structure of the motor and the concept of vector control. When induction motors are controlled by a vector drive, control computation is often done in the synchronous frame. Since actual stator variables either to be generated or to be measured are all in stationary a-b-c frame, frame transform should be executed in the control. The most popular transform is between stationary a-b-c frame quantities to synchronously rotating d-q quantities. Combining Eq. 2.34, Eq. 2.47, and Eq. 2.34, we have Sqs = (2/3) Re{exp(-j a) (Sa + Sb + 2 Sc)} Sds = - (2/3) Im{ exp(-j a) (Sa + Sb + 2 Sc)} Or in a simpler form, Yq Yd 0 = (2/3) cos sin 0.5 cos ( - 2 /3) sin ( - 2 /3) 0.5 cos ( + 2 /3) sin ( + 2 /3) 0.5 Ya Yb Yc (2.51) (2.49) (2.50)

and its inverse transform is given by

29

Ya Yb Yc =

cos

sin

1 1 1

Yq Yd 0 (2.52)

cos ( - 2 /3) sin ( - 2 /3) cos( + 2 /3) sin ( + 2 /3)

In vector control drives, Eq. 2.51 is frequently used to convert measured currents and voltages to d-q quantities while Eq. 2.52 may be used to feed command signals to the amplifier. In many modern drives, Eq. 2.52 can be accomplished in a slightly different mechanism such as the space vector modulation. Regardless of reference frame, instantaneous input power can be expressed, in terms of space vectors, by Pi = (3/2) Re(Vs Is @ ) , (2.53) or in terms of d-q variables as Pi = (3/2) [ Vds Ids + Vqs Iqs ]. (2.54) The reactive power Qi can also be defined as Qi = (3/2) Im(Vs Is @ ) , (2.55) or in terms of d-q variables as Qi = (3/2) [ Vqs Ids - Vds Iqs ]. (2.56) This reactive power can be used in some parameter adaptation methods which automatically corrects the rotor time constant parameter (Tr) during steady-state operation. Now, one simple way of obtaining the output torque is to consider the power associated with speed voltage term on Fig. 2.1 as Po = (3/2) o Im ( r Ir@ ). (2.57) Since torque is the above power divided by the rotor speed, To = (3/4) P Im ( r Ir @ ), (2.58) where P is the number of poles. In terms of d-q variables, Eq. 2.58 is To = (3/4) P { qr Idr - dr Iqr} (2.59)

Although the torque expression on the above is derived from stationary reference frame, it is true for any other reference frames. Many other forms of torque equations are possible[4]. For example, by substituting flux linkage relation of Eq. 2.22 into Eq. 2.58, we have
30

To = (3/4) P Lm Im( Is Ir @ ). (2.60) To = (3/4) P Lm {Iqs Idr - Ids Iqr} (2.61) Again, by using Eq. 2.22, we can eliminate Ir on Eq. 2.60 to get To = (3/4) P (Lm/Lr) Im( Is r @ ). (2.62) To = (3/4) P (Lm/Lr) {Iqs dr - Ids qr} (2.63)

31

CHAPTER 3 VECTORCONTROL
3.1 Vector or VECTORcontrol Scalar control is somewhat simple to implement, but the inherent coupling effect gives sluggish response .coupling effect means that the both torque and flux are the function of voltage or current and frequency .due to this the system is easily prone to instability of a high order system effect .for example if torque is increased by increasing the slip i.e. frequency, the flux tend to decrease. Note that the flux variation is always very sluggish. The flux decrease is then compensated by the sluggish flux control loop feeding in additional voltage. This temporary dipping of flux reduces the torque sensitivity with slip and lengthens the response time. The foregoing problem can be solve by using vector control. The invention of vector control in the beginning of 1970 s, and the demonstration that an induction motor can be controlled like a separately excited dc motor, brought a new era in high performance control of induction machine. The vector control is also known a decoupling control, orthogonal or transvector control. Vector control is applicable to both induction and synchronous motor drives. Modern sensor less vector control are complex, and the use of powerful microcomputer or DSP is mandatory

3.2 DC Drive Analogy: The developed torque equation is given by Te = KtIa If Where, Ia = armature current If = field current The field flux is perpendicular to the armature flux. The torque is controlled by controlling Ia, the field flux is not affected resulting in fast transient response. Since the current If or the corresponding field flux is decoupled from the armature current Ia., the torque sensitivity remains maximum in both transient and steady state operations. This mode of control can be extended to an induction motor also if the machine is considered in a synchronously rotating reference frame where the sinusoidal variable appear as DC quantities. In the below figure the induction motor with inverter and control is shown with two control inputs ids and iqs. The currents ids and iqs are the direct axis component and quadrature axis component, respectively of the stator current, where ids is analogous to the field current if and iqs is analogous to the armature current Ia of a DC machine. Therefore the torque can be expressed as Te = Ktiaif = Ktiqsids (3.2) Dc machine like performance can also be extended to an induction motor if the machine control is considered in a synchronously rotating reference frame (de-qe), where sinusoidal variables appear as dc quantity in steady state. In figure,the induction machine with the inverter and vector control in the front end is shown with two control current inputs ,ids* and iqs*.These currents are the direct axis
32

(3.1)

component and quadrature axis component of stator current ,respectively ,in a synchronously rotating reference frame .with vector control ids is analogous to field current If and iqs is analogous to armature current Ia of a dc machine .therefore the torque equation can be expressed as Te = Kt Or Te = Kt idsiqs (3.4) riqs (3.3)

Where r is absolute peak value of sinusoidal space vector .this dc machine like performance is possible only if the two currents are aligned to perpendicular to each other. And ids is aligned in direction of flux vector .this means that the controlling of one current will not affect the other current .this condition is essential for vector control of ac machine. Ia Ia If If a

Decoupled (a)
iqs

we

ids

33

ids*
VECTOR CONTROL INVERTER IM

iqs*

T =Ktiqsids torqu compon nt (b) Fig 3.1 (a) separately excited dc motor , (b) Vector controlled induction motor fi ld compon nt

3.3 Principles of Vector control: The fundamental of vector control implementation can be explained with the help of following figure. The machine model is represented in a synchronously rotating reference frame .inverter is not shown in the figure considering its gain as unity .the current from the controller are ia*, ib*, ic*,while the current generates from the inverter are ia, ib, ic . The machine terminal phase current are converted to idss and iqss components by the parks transformation equation .These variables are then converted to synchronously rotating reference frame by unit vector components cos e and sin e before apply them to de-qe model . There is generally two method s of vector control .One called the direct or feedback method and the other known as indirect control or feed forward method .The method are different essentially by how the unit vector is generated for the control.

34

Control

Machine

ids*
de-q e t ds-q s

idss*
ds-qs t - -c

ids ids s

- -c t ds-qs ds-qs t de-q e

machi e de-qe model

iqs*

iqss*

iqs*

iqs

iqs

cos

sin
1 A1

cos

sin

ids

machine terminal

Fig 3.2 :

Vector control implementation principle with machine de-qe model

3.4 Direct or feedback vector control : The basic block diagram of the direct vector control method for a PWM voltage fed inverter drive is shown in figure 3.3. the principal vector control parameters , ids* and iqs*,which are dc values in synchronously rotating frame ,are converted to stationary frame with the help of a unit vector generated from flux vector signals drs and qrs . the resulting stationary frame signals are then converted to phase current commands for the inverter .the flux signals drs and qrs are generated from the machine terminal voltages and currents with the help of voltage model estimator . The correct alignment of current ids in the direction of flux and the current iqs perpendicular to it are crucial in vector control. The alignment,with the help of stationery frame rotor flux vectors drs and qrs is achieved .In this figure ,the de-qe frame is rotating at synchronous speed e with the respect to stationery frame ds-qs ,and at any instant ,the angular position of the de axis with the respect to the ds axis is e, from the figure we can write the following equation : drs = r cos e (3.5) (3.6)

qrs = r sin e In other words , Cos e = sin e = drs/ qrs/ r r

(3.7) (3.8)

35

Vd

r*

VR

[r* +

G1

iqs*

iqs *

VOLTAGE MO EL ESTIMATOR

Fig 3.3 : Direct vector control block diagram with rotor flix orientation

d -q to ds-qs

2p as to 3p as

G2

ids*

idss*

ia* ib*
VFI

ic*

[r

MOTOR

36

Chapter 4 SIMULATION OF VECTORCONTROL

4.1 High-Level Schematic:

Fig 4.1

High-level schematic

The high-level schematic shown above is built from six main blocks. The induction motor, the threephase inverter, and the three-phase diode rectifier models are from blocks provided in the SimPowerSystems library. The speed controller, the braking chopper, and the VECTOR CONTROL models are from blocks provided in the Electric Drives library. It is possible to use a simplified version of the drive containing an average-value model of the inverter and allowing faster simulation. 4.2 Block diagram of VECTOR CONTROL of induction drive: The INDUCTION MACHINE is fed by 3-phase inverter. The DC input to the inverter is given by the DC link formed by 3- phase diode rectifier & voltage regulator. Simulink model description for 3phase inverter, 3- phase diode rectifier & voltage regulator is already presented . The reference speed & actual speed is given to speed regulator subsystem which computes reference torque T* and reference flux *. Load torque is applied to IM and actual speed information is taken from the motor shaft. The VECTOR CONTROL subsystem generates gate pulses to drive 3phase inverter.

37

Fig 4.2 Simulink of VECTORcontrol of induction motor drive 4.3 Speed Controller Subsystem : Reference speed with zero initial conditions is compared with the actual speed. Both N & N* are discretised. The reference speed is passed through speed limiter to simulate actual conditions of drive.
|u| F lu x ta b le N* 2 3 MagC 1 N num(z) den(z) Low pas s filter [0] K Ts (z+1) 2(z-1) Integral gain kp Proportional gain
F lux ref erenc e (W b)

1 Flux*

ki

-C -

Ctrl s at.

2 Torque*
Torque ref erenc e (N m )

-C 0

E rror

3 Ctrl

-C -

R ef erenc e

Fig.4.3 Simulink model of speed controller subsystem

38

The error between actual speed & reference speed is processed through the PI controller, to obtain reference torque. This reference torque is checked for its saturation limits, using maximum and minimum values. Low pass filter is used to filter out very low speeds. 4.4 VECTOR CONTROL Subsystem: VECTOR CONTROL subsystem uses two transformations Parks Transformation ABC-DQ and inverse Parks transformation DQ-ABC, one PI controller ,a hysteresis current controller, four different equations to calculate iq*,id*, and flux.. Two subsystems, magnetization and M_vector are used to satisfy actual machine conditions. Actual stator currents taken from input of IM are converted into rotor frame of reference, using Parks transformation . Id & Iq so obtained are used for flux estimation & rotor position calculation respectively. Reference torque obtained by speed controller block along with estimated value of flux, is used to calculate reference q-axis component of current iq* (rotor frame of reference). D-axis component of stator current id* is calculated using reference rotor flux. This reference rotor flux is obtained from PI controller. The difference (error) generated by comparison of estimated flux & actual flux is processed through this flux PI controller.

Phir

Id

a gnetis ati n

Th ta Cal
I

l ati

Phir Th ta wm

-K-

Iabc

wm

C Hys teres is current controller

Iabc* P ls es Iabc P l

i /z

* Cal

l ati

Id* I * Teta

* I *

i * Cal
m_Flux Phir*

l ati

2 Flux*

Flux*

vec t r

_ vect r

I_

Fig.4.4 Simulink model of VECTOR CONTROL subsystem

/z

&

Phir* I *

w it h

w it h i g

 

&

!  

"

Flux_PI

tr l

$ $ # % $ $ #

Tor ue*

Iabc*

Phir

4 21 3

a d2Rpm

Teta

21 4

C-

Id

FP l

/z

Flux Calculation

a gC

Es t_Fl

) (#

tart

/z

 3

 

 





'  5   3

2 Gat

39

The reference values of d-axis & q- axis current components id* & iq*, are then transformed into stator frame of reference, using inverse parks transformation. These reference currents Ia*,Ib* and Ic* are given to hysteresis current controller(HCC) along with actual currents Ia ,Ib and Ic. HCC produces pulses for the operation of inverter. 4.4.1 Flux PI controller
2 Flux* 1 m Flux 1- xp(-(2*pi*fc)*Tv ct) z- xp(-(2*pi*fc)*Tv ct) kp Kp 1/ K Ts ( +1) 2( -1) Ki ki 1 P ir*

Fig4.5. Simulink model of flux PI controller The calculated flux and the reference flux are used to obtain reference rotor flux using PI controller.. The flux controller is used to control the flux dynamics and to reduce the steady-state flux error.

4.4.2 Calculation of id and iq id Calculation is done using equation Id* = reference flux/d-axis inductance
1

1 P ir*

1/ m KF

1 Id*

T* 2 P ir

Mux

(2/ )*(1/p)*( r/ m)*u[1]/(u[2]+1 - *0)

1 Iq*

Id* P ir*/ m m 4.7 mH

Fig.4.7iqCalculation

Fig. 4.6 id Calculation

Iq calculation is done using equation Iq* = (2/3) (1/p) Lr.Te*/(Lm ) The iqs*calculation block uses the calculated rotor flux and the torque reference to compute the stator current quadrature component required to produce the electromagnetic torque on
40

the motor's shaft. The ids*calculation block uses the rotor flux reference to compute the stator current direct component required to produce the rotor flux in the machine. 4.4.3 Magnetisation vector The magnetization vector unit contains the vector used to create the motor initial flux.

11 ] 1

[1

1 ]

ctor

Fig 4.8: The magnetization vector unit 4 .4.4 Theta Calculations

1 z Mux Lm*u 1 /(u 2]*(Lr/R r)+1 -3* ) 1 K Ts(z+1) Mux T ta= El ctrical angl = int g ( w + w r m) w = R fr qu ncy (rad/s) = Lm *Iq / ( Tr * P ir) r otor w R m c anical sp d (rad/s) m= otor 3 w m p 2(z-1) 1 T ta

1 Iq 2 P ir

Fig.4.9 Electrical angle calculation.

41

4.4.5 Flux Calculations

-exp(-(Rr/( r))*T vect) Phir z-exp(-(Rr/( r))*T vect) m m Id

Phir

m *Id / ( +T r .s)

Fig 4.10 Flux linkage calculations The r calculation block is used to estimate the motor's air gap flux. This calculation is based on motor equation synthesis.

4.4.6 Magnetisation

st

Fig. 4.11 Magnetisation control unit The magnetization control unit contains the logic used to switch between the magnetization and normal operation mode.

4.5. Vector controller Vector controller mainly gives pulses to the inverter. Taking direct axis current to be zero, reference currents are calculated from he reference torque value in Torque -current block. Also value of position is converted into electrical rad/sec. These three inputs are required by inverse Park trasformation block, which generates reference stator currents. The hysteresis current controllers compares the actual stator current values to the reference stator currents. Hysteresis current control is a PWM technique, very simple to implement and taking care directly for the current control. The switching logic is realized by three hysteresis controllers, one for each phase. Fig.15.The hysteresis PWM current control, also known as bang bang control, is done in the three phases separately. Each controller determines the switching-state of one inverter half bridge in such a way that the corresponding current is maintained within a hysteresis band
42

87

-C-

vert

!Q

86 87

Est

BA

>=

1 St rt

Fig:4.12 (a) working principle of hysteresis current controllers

Fig:4.12(b) switching logic of hysteresis current controllers The pulses so generated are processed through switching control, where the signal is adjusted as per the requirement of the inverter.This block is shown in figure 4.12(b).

43

4.6 Simulink of hystersis controller

UG H T S E R QQ HP EI H HGF E D
i t , = p w ui
DC Volt

Sin W

Sin W

+ A Source1 B C

A m B C

S p

tb t
Asynchronous Machine S Units

Universal Bridge

Demux Con ert NOT Con ert

abc

Mux Con ert 1 Iabc* Demux Con ert NOT Con ert NOT Con ert

1 Pulses

Scope

Scope1

Fig : 4.13 Simulink of hystersis controller

V ba

f df

eg g d g e dc q ir qp ih

ef

ut s

ts

DC Volt

e Source

Sin W

Tm

_ b

`VXW V

YVXW V

Iabc* Pulses Iabc

VXW V

Hysteresis Current Controller

44

CHAPTER-5 SIMULATION RESULTS

5.1 VECTOR CONTROL SIMULATION RESULTS VECTOR CONTROL simulation is carried out for situations for the speed below base speed. Figure 5.1 shows stator currents when the speed is kept below base speed. With some initial current spike, current settles at the value as per the requirement of the load conditions.
< S tato c u e nt is _a A > 2000 1000 0 1 000

0.5

1.5 < S tato c u e nt is _b A >

0 1 000 2 000 3 000 0 2000 1000 0 1 000 0.5 1 1.5 < S tato c u e nt is _c A > 2 2.5 3

Fig 5.1 Stator currents for below base speed case

Figure 5.2 shows the reference speed generated by the speed controller and the speed response of machine, for speeds below base value. The actual speed settles at the reference value with the delay of 0.5 seconds.

0.5

1.5 im e

2.5

2.5

45

A c tual s peed 1200 1000 800 rpm 600 400 200 0 -200 0 0.5 1 1.5 2 2.5 3

< R eferenc e s peed> 1200 1000 800 rpm 600 400 200 0 0 0.5 1 1.5 Tim e 2 2.5 3

Fig 5.2 Speed response for the speeds below base value

< E le c t ro m a g n e t ic t o rq u e T e (N * m )> 2000

1500

1000

500

0 .2

0 .4

0 .6

0 .8

1 .2

1 .4

1 .6

1 .8

< T o rq u e re fe re n c e (N m )> 2000

1500

1000

500

0 .2

0 .4

0 .6

0 .8

1 T im e

1 .2

1 .4

1 .6

1 .8

Fig 5.3(a) Torque response for the speeds below base value
46

Figure 5.3(a) shows Electromagnetic torque developed and reference torque generated by PI controller. The reference torque generated reaches the desired level with minute delay, whereas electromagnetic torque generated by the machine has torque ripples as shown in figure 5.3(b).

2000 1500 1000 500 0 x = 0 0396 s ec y = 1783 N

1500

1000

500

Fig 5.3 (b) Torque response showing initial fluctuations

Figure 5.4 shows d-axis & q - axis component stator currents for speed below base value. These waveforms do not show any effect of change in the speed command. Same conclusion can be drawn for the d-axis & q - axis component stator voltages .This is shown in the figures 5.5.

0 01

x = 0 0017 y = 1200 N

0 02

0 03

0 04

0 05 e

o q u e e e e n c e (N

0 06

0 07

0 08

0 09

0 1

0 01

0 02

0 03

0 04

0 05

0 06

x = 0 04155 y = 796 3 N

0 07

o que 1311

p p le s o 1067N

0 08 0 09 0 1

E le c o

agne c o que

e (N *

47

< S ta to r c u rre n t is _ q (A )> 3000

2000

1000

-1 0 0 0

0 .5

1 .5

2 .5

< S ta to r c u rre n t is _ d (A )> 2000 1500 1000 500 0 -5 0 0 -1 0 0 0

0 .5

1 .5 Tim e

2 .5

Fig.5.4 d-axis & q - axis component stator current for speed below base value

< S tator voltage vs _q (V )> 1000

500

-500

-1000

0.5

1.5

2.5

< S tator voltage vs _d (V )> 1000

500

-500

-1000

0.5

1.5 Tim e

2.5

Fig 5.5 d-axis & q - axis component stator voltage for speed below base value
48

5.2Results for variable load torque For the variable torque loads, VECTOR CONTROL operation can be evaluated from the graphs in the figure 5.6 The generated electromagnetic torque contains ripples as shown in the figure.

1500

1000

500

500

1200 1000 800 600 400 200 0 0 0 5 1 1 5

Fig 5.18 Torque response for the variable torque load.

2 5 me

o q u e e e e n c e (N m )

3 5

4 5

0 5

1 5

2 5

f e
3 5 4 4 5 5 5

E le c o m a g n e c o q u e

e (N *

49

CONCLUSION
The proposed vector control method is carried out on a model of the vector control built in simulink tool box.VECTOR CONTROL simulation is carried out for situations for the speed below base speed. Figure 5.1 shows stator currents when the speed is kept below base speed. With some initial current spike, current settles at the value as per the requirement of the load conditions. Dc machine like performance can also be extended to an induction motor if the machine control is considered in a synchronously rotating reference frame (de-qe), where sinusoidal variables appear as dc quantity in steady state. In figure, the induction machine with the inverter and vector control in the front end is shown with two control current inputs ,ids* and iqs*.These currents are the direct axis component and quadrature axis component of stator current ,respectively ,in a synchronously rotating reference frame .with vector control ids is analogous to field current If and iqs is analogous to armature current Ia of a dc machine. Therefore this method is also called as decoupled control ,as it decouples the torque component and flux component from each other. Figure 5.2 shows the reference speed generated by the speed controller and the speed response of machine, for speeds below base value. The actual speed settles at the reference value with the delay of 0.5 seconds. Figure 5.3(a) shows Electromagnetic torque developed and reference torque generated by PI controller. The reference torque generated reaches the desired level with minute delay, whereas electromagnetic torque generated by the machine has torque ripples as shown in figure 5.3(b).

50

REFERENCES

[1] A. E. Fitzgerald, et al., "Electric Machinery," 5th Ed., McGraw-Hill, 1990. [2] IEEE Standard 112-1991, "IEEE Standard Test Procedure for Polyphase Induction Motors and Generators,"Institute of Electrical and Electronics Engineers, Inc. [3] G. R. Slemon,"Modelling Induction Machines for Electric Drives," IEEE Trans. on Industry Applications, Vol.25, No. 6, pp. 1126-1131, Nov. 1989. [4] D. W. Novotney, et al.(Editor), "Introduction to Field Orientation and High Performance AC Drives," IEEE IASTutorial Course, 1986. [5] A. M. Trzynadlowski, The Field Orientation Principle in Control of Induction Motors, Kluwer AcademicPublishers, 1994. [6] J. Holtz, "Pulse Width Modulation for Electronic Power Conversion," Proceedings of IEEE, Vol.82, No.8, pp.1194-1214, Aug. 1994. [7] R. DeDonker and D. W. Novotney, The Universal VECTORController, IEEE Trans. IndustryApplications, Vol. 30, No.1, pp.92-100, Jan. 1994. [8] Vector control of AC Drives Arpad Kelemen & Maria Imecs, Ed. G.J. Retter,1987 [9] Dynamic model of induction motor for vector control applications by Dal Y.Ohm, 2004 [10]. Vector control and dynamics of ac drives Oxford Science Publication,1st edition, by D.W. Novotny and T.A Lipo, 1996 [11] A 2D-Hysteresis Current Control for a Three Phase Voltage Source Inverter H.-J. Pfisterer*, Member, IEEE, O. Simon** [12]. M.R.Correa, C.B.Jacobina, E.R.C.Da Silva, A.M.N.Lima, Vector control Strategies for single phase inductiojn machine,IEEE Trans.ind.Electr., vol.51,October.2004,pp 1073-1080. [13]. S. Vaez-Zadeh,Sh.R.harooni,Decoupling vector control of single phase induction motors 35th Annual IEEE PESC 2004, pp.1335-1340. [14]. .R.Correa, C.B.Jacobina, E.R.C.Da Silva, A.M.N.Lima,Rotor Flux oriented control of a single phase induction machine ,IEEE Trans . ind. Electr, vol.47 , AUG. 2000,pp 832-841. [15]. Wintech TDS2407EA from wintech digital instruments.

51

[16].Leonhard, W. 1995. Controlled AC Drives, A Successful Transfer from Ideas to Industrial Practice. CETTI 95. Brazil, pp. 1-12. [17].Okoro, O.I. 2005. Steady and Transient States Thermal Analysis of a 7.5KW Squirrel-cage Induction Machine at Rated-Load Operation., IEEE Transactions on Energy Conversion. 20(4):730-736. [18].MacDonald, M.L. and P.C. Sen. 1979. Control Loop Study of Induction Motor Drive Using D-Q Model. IEEE Transaction on Industrial Electronics and Control Instrumentation. 26(4):237-241. [19].Mulay, S.P. and M.V. Aware. 2008. V/F Control of an Induction Machine Predicting Inverter Machine Interaction. International Journal of Innovation in Energy Systems and Power. 3(1):27-31 [20].Krause, P.C. and C.H. Thomas. 1965. Simulation of Symmetrical Induction Machinery. IEEE Trans. PAS-84, 11:1038-1053.

52