Principle of vector (field oriented) control of an induction

motor drive is :
• to decouple the control of flux, and
• torque of an induction machine

Able to control AC motors:

• steady-state
• transient/dynamic
• achieved by controlling the
machine currents

• simultaneously control :
• frequency current
• amplitude current
• phase of the current
s
Ia1 Is1

Ia2 Is2

1
2
Im1 Im2
• can be used in control of AC motors
• induction (asynchronous) machines
• synchronous machines

• field orientation in synchronous machines is simpler

than in induction machines, since the position of
the flux generated by:
• the rotor winding
• permanent magnets is easy to monitor.

• vector control schemes are derived from an

appropriate dynamic (transient) model of the
machine,
• co-ordinate transformation has to be used in order to correlate
the control system with the real physical world.

• The co-ordinate transformation requires information

on the instantaneous position of the appropriate
flux space vector.

• Stator flux space vector

• Air-gap flux space vector
• Rotor flux space vector
Clarke and Park Transform
To implement the basic principle of FOC, i.e.
• to maintain a desired alignment between the stator flux
and rotor flux.
• It is necessary to control the stator currents that produce
the stator flux.
• An angle closer 90o produces more flux per unit current.

stator,
 r stator, b
rotating

rotor, d
rotor,
rotor, q r
b rotor, a stator, a r
stator, 
Both stator and rotor
rotating or stationary
Clarke and Park Transform

• It is necessary to control the stator currents that produce

the stator flux.

• An angle closer 90o produces more flux per unit current.

Is1 The values of Ia or Im can be

Ia1
Independently controlled by
adjustment of the magnitude
Of the current Is and the angle 
Ia2 Is2

1
2

Im1 Im2
• To control three sinusoidal currents is considerably more
complex but this can be simplified by first using the Clark
transformation on the stator currents.

• The three phase currents are transform into two phase

system with the Clarke transform,

Clark
Transform
• and then translating them into the rotor reference frame
with the Park Transform.

Park
Transform

• The Park transform is used to convert the fixed coordinates into 2-axis
rotating coordinates (Id, Iq). The reference coordinates d (flux) and q
(torque) and the reference frame align the d axis with the rotor flux
position.
 Inverse Park Transforms

Inverse Park
Transform

Two voltages (vd and vq) that have to be applied to the motor windings to
drive the phase currents toward the required values. However, these
values exist on the rotating reference frame. To apply them to the stator
windings, we must jump off of the rotor now, and transform vd and vq
into three stator voltages.
 Inverse Clarke

Inverse Clark
Transform
• Direct vector control method
• The air-gap flux and stator flux can be measured directly,
• while any flux can be estimated from the stator voltage
and current signals.
• The stator, air-gap or rotor flux components can be
directly computed from stator quantities.
• In the indirect vector control method,
• the rotor flux angle information between the stator and rotor fields
using known characteristics of the rotor and integration of the rotor
speed and reference value of the slip frequency

• The location of the rotating reference frame must be

accurately determined.
• the - reference frame is considered to be fixed to the
stator
• the d-q reference frame rotates at a synchronous speed
s
• At any time, the angle, the angle between the stationary
and rotating frame is s
• the d-q reference frame rotates at a synchronous speed
s
• At any time, the angle between the stationary
and rotating frame is s

q
s
xi s is
la
l ax
ica
slip n ic a
cha
ctr

Me
E le

s
r

Stationary axis
s is the sum of the rotor’s angular position r and the slip angle slip

• these angles need to determined in the implementation

of indirect vector control.
• the slip of an IM can be determined from the demanded
rotor current

q
s
is
ax

ax is
al

slip i c a l
tric

n
e cha
c

M
Ele

s
r

Stationary axis
• can be realised by controlling the magnitude of the stator
current space vector and its position with respect to the
chosen flux space vector.

• The rotor flux vector is chosen as the vector with respect to

which stator current space vector is orientated, rotor flux
oriented control of induction machine is obtained.

• This scheme is the most popular one in practical drive

realisations, because of its relative simplicity.
• The stator current space vector can also be orientated with respect to
stator flux space vector to form stator flux oriented control of an
induction machine.

• Another alternative is air-gap flux oriented control and the stator

current space vector is then orientated with respect to the air-gap flux.

• Although there are three types of vector control, the one used in
commercially available drives is the rotor flux oriented control
o Two motor phase currents Ia and Ib are measured and feed to
the Clarke transformation module.

o The outputs are i Sa and iS.

o These two components of the current are the inputs of the Park
transformation that gives the current in the d,q rotating reference
frame.
o The i Sa and iS components are compared to the
references iSdref (the flux reference) and iSqref (the torque
reference). For, synchronous permanent magnet motors,
the rotor flux is fixed i should be set to zero.
Sdref
o IM need a rotor flux creation in order to operate, the flux
reference must not be zero.
o The torque command iSqref could be the output of the
speed regulator when we use a speed FOC.
o The outputs of the current regulators are vSdref and vSqref;
they are applied to the inverse Park transformation.
o The outputs of this projection are vSaref and vSbref which
are the components of the stator vector voltage in the a,b
stationary orthogonal reference frame.
o These are the inputs of the Space Vector PWM.

o The outputs of this block are the signals that drive the
inverter.