Vector Control

of
Induction Motor Drives

1
 Vector Control of IM
 The Vector control of an induction motor is an
independent or decoupled control of flux and torque of the
motor through a coordinated change in supply voltage
and frequency;
 Flux level control is essential to avoid saturation and
minimization of core losses under various steady state
operating conditions;
 There are three distinct flux linkage levels in an induction
motor namely stator flux linkage, airgap flux linkage and
rotor flux linkage;
 Their amplitudes do not differ much under steady state
but the difference becomes significant during transients
 This is due to large leakage component between different
flux phasors. 2
Vector Control of IM (Basic Scheme)

Control Machine
e* s* e
i qs
i qs i qs i a* ia s
i qs
qe - de qs - ds a-b-c qs - ds

i b* ib Machine
Model in
ie*ds s*
i ds s
i ds e qe - de
i c* ic i ds
qs - ds a-b-c qs - ds qe - de

cosθe senθe cosθe senθe

3
 Classification
 The vector control can be classified on the basis of
different flux phasors as:
 Rotor flux oriented control : gives a natural
decoupling control
 Stator flux oriented control: gives a coupling
effect which needs to be compensated by a
decoupling compensation current
 Air gap flux oriented control: gives a
coupling effect which needs to be
compensated by a decoupling compensation
current 4
 Classification ……. Contd.
o These control schemes can be further classified on
the basis of flux measurement methods:
 Direct or feed-back method [Blaschke 1972] : It
uses sensors for flux measurement
 Indirect or feed-forward method [Hasse 1969] :
It uses rotor position measurement for
calculation of flux.

5
Flux Oriented (Vector) Control
of
Induction Motor Drives

6
 Flux orientation of IM
 The vector control is based on the synchronization of
voltage or current vector with reference flux;
 These reference fluxes can be any of the Rotor flux
Stator flux or Air gap flux ;
 If the control is synchronized to rotor flux phasor it is
known as rotor flux oriented vector control;
 The rotor flux orientation technique is considered to
be robust because the motor parameters used, do not
change with operating condition.

7
 Rotor Flux Oriented Control
=
The electromagnetic torque Tem
2 2 Lr
( λdr iqs − λqre idse )
3 P Lm e e

If λqre = 0 the synchronously rotating reference frame aligns

with the axis of the rotor flux and hence the developed torque
3 P Lm e e
Tem = λdr iqs iqs q - axis
2 2 Lr
The Phasor diagram
shows the rotor flux
orientation and currents ids
is

In this mode the Induction λeds

Motor is controlled similar
d - axis
to a DC Motor 8
 Stator Flux Oriented Control
=
The electromagnetic torque Tem
2 2 Lr
( λdr iqs − λqre idse )
3 P Lm e e

this equation can be written as Tem = Lm I m ( iss irs* )

P
3
As we know λs = e
Ls is − Lmir therefore, Tem =
e e

3
( iqs λds − ids λqs )
P e e e e

If the d axis of the excitation reference frame is aligned with

P e e
the stator flux vectorλ =
then λ
s
s
0=e
and Tem
qs λds iqs
3
Accordingly the reference values shall change but the control
scheme shall remain same as the rotor flux oriented control.

9
Air gap Flux Oriented Control
The stator flux differs from air gap flux by only the
leakage in the stator, hence λ=
e
s λme + Lls ise
Resolving the stator flux in d-q components and

substituting the values in the equation Tem = ( iqse λdse − idse λqse )
P
3
λme e
we get Tem =
3
( iqs λdm − ids λqm ) which yields ir =
P e e e e e

Lm
− is and

Lr e
λre
= λm − Llr ise
Lm
If the excitation reference frame is oriented such that the d axis
P e e
then λqm
is aligned with the air gap flux vectorλms = e
0=
and Tem λdmiqs
3
Accordingly the reference values shall change but the control
scheme shall remain same as the rotor flux oriented control.
10
 Direct Vector Control
of
Induction Motor Drives

11
 Voltage Control
T* I q* V q* Vα ∗

Park T-1
controller Clark T-1 Rectifier
∗
Iq PI Vβ
I d* V d*
va* vb* vc*
controller Id θ*
Clark &
Controller

λ r* Park VSI
Speed

T
Rotor Flux
λr & Torque
Calculator
0

λd λq
w Motor

ω*
12
 Current Control
I q* Iα∗

Park T-1
controller Rectifier
T *
Iβ∗ Clark T-1
Id*
controller Ia* Ib* Ic*

θe*
Speed λr* VSI
Controller
T
Rotor Flux
λr & Torque
Calculator
0

λd λq
w Motor

ω* 13
Rotor Flux & Torque Calculator
λsds λsqs

is a λr
is b Rotor Flux
Calculator
is c θ*e
θ*e
s
i αs i
a-b-c ds
αs - βs
3 P Lm
T = λr iqs
λr 2 2 Lr
s
i βs i qs
Torque Tem
αs - βs qe - de Calculator

14
Rotor Flux Calculator Block
λsqs Lr
Lm

+ λsqr
ias isqs
λr
a-b-c Rectangular
Llr
-
ibs

ics isds λsdr

qs - ds
Llr θ *e
- Polar
+

λsds Lr
Lm

15
 Direct Vector Controlled VSI
Equations for Rotor Flux & Torque Calculation
The rotor flux and torque calculator uses following
Lr s
equations=:λdr
s
λds − Llr idss and
Lm
Lr s
λ =λqs − Llr iqss ; therefore λr θ e* =
s
qr ⇒ λdrs + jλqrs
Lm
The currents iαs s iβs s are obtained from ias ibs ics using
abc to αβ transform (i.e. Clark Transform)
The torque T=λr iqs kT where kT is torque constant
of the motor; the currents ids and iqs are obtained
using αβ to dq transform (i.e park transform). 16
Indirect Vector Control
of
Induction Motor Drives

17
 Indirect Voltage Control
Iq* Vq* Vα∗

Park T-1
∗ Clark T-1 Rectifier
Controller PI Vβ
T* Vd*
Id* va* vb* vc*
Speed
Controller
Iq Id θr*
λ* Park &
VSI
Clark
∫
0
wsl

ω* w Motor

18
 Indirect Current Control

Iq* Iα∗
T* Rectifier
Park Clark T-1
Controller T-1
* Iβ∗
Id Ia* Ib* Ic*
wsl θr*
Speed
Controller λr* VSI
∫

w
Motor
ω*
19
Controller Block for indirect control

λ *
τr Id*
p + (1/τr)
Lm

T* 1 I q*
λ ∗ KT

wsl

20
 Indirect Vector Controlled VSI
Equations for Rotor Flux & Torque Calculation
Rotor voltage equation in synchronously rotating reference frame
d e d e
λ qr + rr i e qr + (ω
=e − ω r ) λ e
dr 0 and λ dr + r i e
r dr − ( ω
=e − ω r ) λ e
qr 0
dt dt
The rotor flux linkages : λqre = Lr iqre + Lmiqse and λdre = Lr idre + Lmidse ;
substituting for rotor currents in terms of rotor flux linkages we get
d e r L d e r L
λ qr + r λ e qr − m rr i e qs =
+ sωe λ e dr 0 and λ dr + r λ e dr − m rr i e ds =
− sωe λ e qr 0
dt Lr Lr dt Lr Lr
For rotor flux field oriented control let λ e qr = 0 Then the rotor flux and the slip frequency
d e Lm e
are given by τr λ dr + λ e dr = Lmi e ds and ωsl = sωe = i qs respectively;
dt τ r λ dr
e

Since the electromagnetic torque Tem = ( λdr iqs − λqre idse )

3 P Lm e e
2 2 Lr
3 P Lm e e
=
For rotor flux oriented control i.e λqre 0=
it becomes Tem λdr iqs
2 2 Lr 21
Flux Vector and Speed Estimation
for Vector Controlled IMD

22
 Flux Vector Estimation
 This method uses voltage and current sensing in place of
search coil for flux sensing;
 The Fluxes are computed using sensed voltage and currents;
 The d-q components of current can be calculated as:
isqs = (1/3){2ia-ib-ic}=ia and isds=(1/√3){ic-ib}= -(1/√3){ia+2ib}
 The d-q component of voltages can be calculated as:
vsqs = (1/3){2va-vb-vc}= (1/3){vab+vac} and
vsds=(1/√3){vc-vb}= -(1/√3) vbc
 Now the d-q components of Stator flux can be calculated as:
λsds = ∫(vsds-Rsisds)dt and λsqs = ∫(vsqs-Rsisqs)dt
Therefore λs = √ (λsds)2+(λsqs)2 23
 Flux Vector Estimation
 Further, the d-q components of air gap flux can be calculated
as:
λsdm = λsds-Llsisds = Lm(isds+isdr) and
λsqm = λsqs-Llsisqs = Lm(isqs+isqr)
 The rotor flux components shall be
λsdr = Lmisds+Lrisdr and λsqr = Lmisqs+Lrisqr
Therefore λr = √ (λsqr)2+(λsdr)2
The flux angle can be represented as
cos θe= λsdr / λr and sin θe= λsqr / λr
 The torque shall be represented by
T = (3P/4)(Lm/Lr)(λsdrisqs-λsqrisds) 24
 Speed Estimation in VCIMD
 The rotor speed (ωr) is estimated from the estimated synchronous speed
(ωs) and the estimated slip speed (ωsl) of the three-phase induction
motor
ωr = ωs - ωsl
 The synchronous speed (ωs) is estimated from the computed rotor fluxes
in the two phase stationary reference frame (SRF) as:
ωs = {φdr pφqr - φqr p φdr }/ φr2
 where, φdr is d axis component of the rotor flux vector in the SRF and
φqr is q axis component of the rotor flux vector in the SRF.
 The slip speed is estimated as ωsl = K1{- φqr idss + φdr iqss }
where K1 = Lm / {τr φr2 }; Lm is magnetizing inductance and τr is rotor
time constant

25
 Speed Estimation in VCIMD
 The rotor flux component along the d and the q axes are computed as
φdr = {φds – Ls’idss}Lrr/Lm ; φqr = {φqs – Ls’iqss}Lrr/Lm
Ls’ = Lss – (Lm2/Lrr)
 Where, φds is stator flux component along the direct axis of the SRF. φqs
is stator flux component along the quadrature axis of the SRF. Lrr is
rotor self inductance = Llr + Lm .
 The two-phase stator flux d-q components (φdqs) in SRF can be
computed as
φds = ∫ {vdss - idss Rs}dt and φqs = ∫ {vqss - iqss Rs}dt
where vdss, vqss, idss and iqss, and vas, vbs and vcs may be calculated as
discussed earlier

26
Vector Control Topologies
of
Induction Motor Drives

27
Direct Current Controlled VSI

I q* Iα∗
controller Park Rectifier
T *
Iβ∗ Clark T-1
Id* T-1

Ia* Ib* Ic*

λr* cos θe*

Speed sin θe* VSI
Controller
λr
0
Rotor Flux
& Torque
T Estimator

w
Motor
ω*
28
Indirect Current Controlled VSI

Iq* Iα∗
T* Rectifier
Park Clark T-1
Controller T-1
* Iβ∗
Id Ia* Ib* Ic*
wsl θr*
Speed
Controller λr* VSI
∫

w
Motor
ω*
29
Indirect Current Controlled Cycloconverter

Iq* Iα∗
T* Park Clark T-1
Controller T-1
* Iβ∗
Id Ia* Ib* Ic*
wsl θr* Cycloconverter
Speed
Controller λr*
∫

w
Motor
ω*
30
Indirect Current Controlled Matrix Converter

Iq* Iα∗ Ia*

Duty Cycle
Control
T* Park -1 Ib*
Controller Clark T
T-1 Ic*
* Iβ∗
Id
wsl θr*
Speed Matrix Converter
Controller λr*
∫

w
Motor
ω*

31
 Direct Voltage Controlled VSI
T* I q* V q* Vα ∗

Park T-1
controller Clark T-1 Rectifier
∗
*
Iq PI Vβ
Id
V d*
va* vb* vc*
Id θ*
Controller

Clark & VSI

λr
Speed

*
Park

T Rotor Flux
& Torque
0 Estimator
λr
w
Motor
ω*

32
Indirect Voltage Controlled VSI

Iq* Vq* Vα∗

Park T-1
∗ Clark T-1 Rectifier
Controller PI Vβ
T* Vd*
Id* va* vb* vc*
Speed
Controller
Iq Id θr*
λ* Park &
VSI
Clark
∫
0
wsl

ω* w Motor

33
Indirect Voltage Controlled Cycloconverter
Iq* Vq* Vα∗

Park T-1
Clark T-1
* Controller PI Vβ∗
*
T Vd
Id* va* vb* vc*
Speed
Controller
Iq Id θr* Cycloconverter
λ* Park &
Clark
∫
0
wsl

ω* w Motor

34
Indirect Voltage Controlled Matrix Converter

Iq* * Vα∗ va*

Duty Cycle
Vq

Control
vb*

Park T-1
-1
Clark T
Controller PI Vβ∗ vc*
T* Vd*
Id*
Speed
Controller
Iq Id θr* Matrix Converter
λ* Park &
Clark
∫
0
wsl

ω* w Motor

35
Direct Vector Controlled CSI fed IMD
Iq*
Rectifier
T* Vector Idc*=√(Id*2+Iq*2)
Control Converter
Controller θ =tan (Iq /Id )
* -1 * *

Id*
λr * θ∗ Idc* Idc

Inverter
Control
θe* Inverter
0 λr
Rotor Flux &
Speed T Torque Estimator
Controller

w Motor

ω*
36
Indirect Vector Controlled CSI fed IMD

I q*
Rectifier
T* Vector
Idc*=√(Id*2+Iq*2)
Control Converter
θ =tan (Iq /Id )
* -1 * *
Controller Id*

θ∗
λr* d Idc* Idc
ωsl dt

Inverter
0
Control
Inverter
Speed
Controller

w Motor

ω*
37
Modeling of Vector Controlled
Induction Motor Drive (VCIMD)

38
 Modeling of VCIM Drive
 The modeling of vector controlled induction motor
drive consists of following:
 Modeling of Speed Controllers
 Modeling of Vector Controller
 Modeling of PWM Current Controller
 Modeling of VSI
 Modeling of Induction Motor

39
 Modeling of Speed Controller
 A PI controller is normally used as a closed loop speed
controller;
 The output of the PI controller at kth instant will be :
T(k) = T(k-1) + KP{ωe(k) – ωe(k-1)} + KIωe(k)
where KP and KI are the proportional and integral gains
of the PI controller.
 The output of the speed controller (T) after application
of limit, is considered reference torque (T*);
 The speed error at kth instant of time is given as :
ωe(k) =ω*r(k)-ωr(k) where ω*r(k) is reference speed
ωr(k) is rotor speed and ωe(k) is speed error 40
 Modeling of Speed Controller
 Other than PI controller, Sliding mode (SM), fuzzy
pre-compensated PI (FPPI) and hybrid fuzzy PI
controllers etc., can also be used depending upon
accuracy and range of control;
 The modeling of such controllers has already been
discussed;

41
 Modeling of Vector Controller
 The vector controller comprises of three stages
wherein flux component of current vector (ids*), torque
component of the current vector (iqs*) and the slip
speed (ωsl*) are calculated as;
ids* = imr* + τr dimr*/ dt
iqs* = T* /(K imr* )
ωsl*=iqs*/(τr imr*)
where K= (3/2)(P/2)[M/(1+ σr)] and P, M and σr are
the number of poles, mutual inductance and rotor
leakage factor respectively;

42
Modeling of Clark Inverse Transform
 The conversion of the synchronous speed rotating
frame vector controlled currents (ids*, iqs*) to stationary
frame three phase currents (ias*, ibs*, ics*) is made as :
i*as = i*ds cos θr – i*qs sin θr
i*bs = i*ds cos (θr - 2 π /3) – i*q sin (θr - 2 π /3)
i*cs = - (i*as + i*bs)
where θr refers to the flux angle and it is defined as
the integral of the synchronous speed (obtained
from addition of rotor speed and the slip speed)
 Mathematically, the computation is stated as:
θr = ∫ (ωsl* + ωr) dt 43
Modeling of PWM Current Controller
 The error between the reference currents and the sensed
winding currents is fed to the PWM current controller
 PWM Current Controller:
In phase ‘a’
Current error is passed through PI controller and
limited to a specified value
If the Current Error (ia* - ia) > Triangular Carrier
Then Sa=1
If the Current Error (ia* - ia) < Triangular Carrier
Then Sa=0
Similarly Sb and Sc Switching signals are obtained for phases
‘b’ and ‘c’

44
 Modeling of VSI
 Voltage Source Inverter (VSI):
vas = (Vdc/3)(2 Sa– Sb – Sc)
vbs = (Vdc/3)(2 Sb– Sa – Sc)
vcs = (Vdc/3)(2 Sc– Sa – Sb)
Where Sa, Sb and Sc are switching functions (which are either
one or zero). vas, vbs, vcs and Vdc are phase and DC link
voltages, respectively.
 Forcing function (Vd and Vq) : From these voltages the
forcing functions (stator) are computed as
vqss = (vbs-vcs)(1/3)1/2
vdss = vas
45
 Modeling of Induction Motor
 Three-phase induction motor is modeled using the d-q stationary
reference frame.
 The voltage-current relationship in stationary reference frame of an
induction motor in terms of the d-q variables is expressed as:
[v]=[R][ i ] + [L] p[i] + ωr[G][i]
 On simplification, the current derivative vector can be expressed as:
p[i]= [L]-1{[v] – [R][i] – ωr [G] [ i] } where p is differential operator
(d/dt) and ωr is the rotor speed in electrical rad/sec.
 The Current and voltage vectors are given as
[i]= [ iqss idss iqrs idrs ]t and [v]= [vqss vdss vqrs vdrs ]t
 where vqss, vdss are the forcing functions across stator windings. vqrs and
vdrs are zero in case of cage rotor. [L], [R] and [G] are inductance,
resistance and the rotational inductance matrices. d, q, s and r refer to
the direct axis, quadrature axis, stator and rotor quantities respectively 46
 Modeling of Induction Motor
 The torque balance equation is stated as :
pωr=(P/2) (Te – TL)/J
 where TL is load torque on motor including friction and windage losses.
Te is the developed electromagnetic torque by the motor as :
Te= (3/2)(P/2)Lm (iqssidrs – idssiqrs)

47
Simulation Results of Vector Controlled IMD

For 1 hp Motor using MATLAB/ Simulink/ Power System Blockset Environment

For 5 hp Motor using MATLAB/ Simulink/ Power System Blockset Environment 48

Speed: Y: 1000 rpm/div Current: Y: 2.263A/div
Time: X: 1.0 secs/div
Load Application Response of VCIMD using
FPPI speed Controller

Speed: Y: 1000 rpm/div Current: Y: 2.263A/div

Time: X: 1.0 secs/div
Load Removal Response of VCIMD using
FPPI speed Controller

49
Speed Y : 1000rpm/div Current: Y: 1.838 A/div
Time: X: 1.0secs/divFig.
Starting response of VCIMD using PI speed
controller

Speed Y : 1000rpm/div Current: Y: 1.838 A/div

Time: X: 1.0secs/div
Starting response of VCIMD using FPPI speed
controller.

50
 Numerical Example - 1
Q. A variable frequency cage motor drive consists of a 3-phase,
7.5kW, 415V (line), 50Hz, Y-connected, 4-pole cage
induction motor having the following parameters: Rs = 1 Ω,
Rr =0.77 Ω, Xlr= Xls= 1.5 Ω, Xm= 35Ω, J = 0.1384 kg-m2­. Its
full load pf is 0.85 and efficiency is 0.88. Its full load speed is
1455 rpm. The motor is controlled with constant flux below
base speed and constant rated voltage above base speed. The
speed of the motor is controlled using indirect vector control
scheme through a three-phase PWM VSC fed PWM VSI with
an almost unity power factor at ac mains of 415V, 50 Hz and
dc bus voltage of 650V. Calculate the supply rms current,
supply active power, average dc link current, reference d-q
components of stator current, rms stator current at starting if
starting torque is required 1.5 times the rated torque. Neglect
core and friction and windage losses. 51
 Numerical Example – 1 Contd…

Solution:
ωm rated 2* π=
= =
*1455 / 60 152.36 rad/sec, rated / ωm rated
Trated P= =
7500 /152.36 49.22 Nm;
ωs =
2* π * N s / 60 157.08 rad/sec, slip s=0.03 at rated speed 1455 rpm,
from the approximate equivalent circuit of the induction motor,
=
the magnetizing current (rms value) I m =V/X m (=
415 / 3 ) 35 =
6.846 A, therefore I D = 2 I m 9.682 A;
since the torque required at starting is 1.5 times tha rated i.e. Tstart =1.5 Trated =73.83Nm and by the formula
=T ( 3 2 )( P 2 ) ( L2m LR ) I D I Q where L2m I D=
/ LR X m2 / ωe ( X lr +=
X m ) 1.034; Substituting the values, we get

IQ 23.79 A; therefore the stator rms current shall be Is = (I 2

D + I Q2 ) 2 = 18.16 A;
the motor power input shall be losses only i.e. Pin =3Is2 ( Rs + Rr ) =
1752.08W ,
while neglecting the core and F&W losses,
the power input to the motor shall flow through the DC bus, therefore, DC bus power = 1752.08W
⇒ Average dc link current Idc =Pin /Vdc = 2.695A; and from AC mains the same power shall flow,
⇒ Supply active power = 1752.08W = 3VL I rms
⇒ Supply rms current I rms =2.437A;
⇒ reference d-q currents I d =
9.682 A and I q =
23.79 A;
⇒ rms stator current Is = 18.16 A
(Refer Fitzgerald and Kingsley, 6th edition, P.605) 52
 References
1. Andrzej M. Trzynadlowski, “The Field Orientation Principle in Control of
Induction Motors” Kluwer Academic Publishers, Boston, 1994.
2. I. Boldea and S.A. Nasar, “Electric Drives,” CRC Press, 1998
3. B.K. Bose, “Modern Power electronics and AC drives,” Pearson Education
India, 2002.
4. I. Boldea and S.A. Nasar, “Vector Control of AC Drives,” CRC Press, 1992.

53