Vector Control of Induction Click to edit Master subtitle style Motors

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NIT Calicut

Introduction
Scalar control of ac drives produces good steady state performance but poor dynamic response. This manifests itself in the deviation of air gap flux linkages from their set values. This variation occurs in both magnitude and phase.

Vector control (or field oriented control) offers more precise control of ac motors compared to scalar control. They are therefore used in high performance drives where oscillations in air gap 4/16/12 flux linkages are intolerable, e.g. robotic

Introduction (contd)
Why does vector control provide superior dynamic performance of ac motors compared to scalar control ? In scalar control there is an inherent coupling effect because both torque and flux are functions of voltage or current and frequency. This results in sluggish response and is prone to instability because of 5th order harmonics. Vector control decouples these effects. 4/16/12

Introduction (contd)
The object of vector control, sometimes referred to as field orientation control, is to separately control the magnitude of the two components Id and Iq, such that the flux is proportional to Id and the torque is proportional to Iq. This is referred to as DECOUPLING the control (we need 2 degrees of freedom).
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Torque Control of DC Motors

There is a close parallel between torque control of a dc motor and vector control of an ac motor. It is therefore useful to review torque control of a dc motor before studying vector control of an ac motor.

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Torque Control of DC Motors

The field flux f (f) produced by field current If is orthogonal to the armature flux a (a) produced by the armature current Ia. The developed torque Te can be written Te = Kt' I a I f as: Because the vectors are orthogonal, they are decoupled, i.e. the field current only controls the field flux and the armature current only controls the armature flux. 4/16/12

Vector Control of IM
DC motor-like performance can be achieved with an induction motor if the motor control is considered in the synchronously rotating reference frame (de-qe) where the sinusoidal variables appear as dc quantities in steady state. Two control inputs ids and iqs can be used for a vector controlled inverter as shown 4/16/12 on the next slide.

Vector Control of IM

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Principle of Vector Control

The position of rotor flux linkages phasor, r , is known and r is at f from a stationary reference. f is called as field angle.

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Principle of Vector Control

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Principle of Vector Control

In steady state if and iT have only DC components because the relative speed with respect to that of the rotor field is zero. Rotor flux linkages speed = rotor speed + slip speed = synchronous speed Orientation of r makes reference frame synchronous reference frame. So flux and torque producing currents are DC quantities

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Principle of Vector Control

Most important point in the implementation of vector control is the acquisition of instantaneous rotor flux vector position

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Vector control direct & indirect

If the field angle is calculated using terminal voltages and currents or Hall sensors of fluxsensing windings, then it is known as Direct vector control. The filed angle can also be obtained by using rotor position measurement and partial estimation with only machine parameters but not any other variables. This method of field angle estimation leads to Indirect vector control.
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Vector control - Algorithm

o

Obtain the filed angle. Calculate the flux producing component of current if* for required flux-linkage r*. By controlling only this field current, the rotor flux linkages are controlled. From r* and the required Te*, calculate the torqueproducing component of stator current iT*. Controlling this torque producing component when rotor flux linkages phasor is constant gives an independent control of electromagnetic torque. Calculate the stator current phasor magnitude is* as vector sum of if* and iT*. Calculate torque angle from the flux and torque producing components of stator currents as

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Vector control - Algorithm

o

Add T and f to obtain the stator current phasor angle, s By using stator current phasor angle and its magnitude s and is*, the required stator-current commands are found by going through the qdo transformation to abc variables

Synthesize these current using an Inverter and supplied to stator of the induction motor, the commanded rotor flux linkages and torque are produced

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Vector Control of IM

To implement vector control the motor parameters must be known and values put into a highly complex set of mathematical equations developed from generalized machine theory.
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Vector Control of IM

The basic tools used in calculations is the use of Parkers Model which allows to transform a 3 phase rotating vector system into a 2 phase rotating vector system (which is the same as of a DC machine with a direct; in line with the flux, and quadrature axis; perpendicular to it).
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Vector Control of IM
The phase command currents (*) are triggering the inverter to produce the real line currents (a,b,c). An acquisition system must sample the line currents, filter and condition these quantities and presents them to an ABC to DQ transformation block. The calculated (c) direct and quadrature quantities must now be positioned in such a way that the direct axis aligns with the stator axis. Hence the block which computes this alignment must also receive the absolute position of the rotor using the rotor angle q. We now obtain the (D-Q) components aligned with the real rotor position, and feed this into the Model Block.
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Vector Control of IM

The components (*DQ) have to be realigned to the stator axis (e), and fed to an inverse transformation module which calculates the line control vector currents (ABC*) feeding the inverter, and the loop is closed. 4/16/12

Synchronously rotating reference frames model

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Synchronously rotating reference frames model

R +L d ss v sd s dt v sq Lss s = M d dt ( s r ) M Lss s Rs + Lss d dt ( s r ) M M d dt M d dt M s Rr + Lrr d dt ( s r ) Lrr i sd d M i sq dt ( s r ) Lrr ird Rr + Lrr d irq dt M s

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Direct Vector Control

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Indirect vector control

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