Vector Control of Induction

Machines

us dq 2 3 αβ is
αβ 3 IM 2 dq

θ θ
 Introduction
• The traditional way to control the
speed of induction motors is the
V/Hz-control
• Low dynamic performance
• In applications like servo drives and
rolling mills quick torque response is
required.
• Desire to replace dc drives led to
vector control
• Braunschweig, Leonhard, Blaschke,
Hasse,
 What is vector control?
• Vector control implies that an ac
motor is forced to behave
dynamically as a dc motor by the
use of feedback control.
• Always consider the stator
frequency to be a variable
quantity.
• Think in synchronous
coordinates.
 Basic blocks of a vector
controlled drive

us dq 2 3 αβ is
αβ 3 IM 2 dq

θ θ
 Addition of a block for
calculation of the
transformation angle

us dq 2 3 αβ is
αβ 3 IM 2 dq

θ θr θ

T ra n s fo r m a tio n
a n g le
c a lc u la tio n
The current is controlled in the
d- and q-directions

iref
s  i
ref
sd  ji ref
sq

magnetization

torque
production
 Vector controller

isref C u rre n t us dq 2 3 αβ is
αβ 3 IM 2
+ c o n tro lle r dq
-
θ θr θ

T ra n s fo rm a tio n
a n g le
c a lc u la tio n
Stator and rotor of an induction machine
Magnetization current from the stator
The flux
The rotation

ω1

ωr
View from the rotor

ω2
Induced voltage and current

e = v × B dl
B
ω2

v
v
Torque production

ω2
Ampere-turn balance

ω2
 Rotor flux orientation
• Difficult to find the transformation
angle since the direction of the flux
must be known
• Flux measurement is required
• Flux sensors (and fitting) are
expensive and unreliable
• Rotor position measurement does
not tell the flux position
• The solution is flux estimation
Rotor flux orientation using
measured flux
Original method suggested by
Blaschke
•Requires flux sensors
•Flux coordinates: aligned with
the
rotor flux linkage   r 
  arctan  
  r 
Rotor flux orientation
q β

d
*
ψr   s 
 j
ρ y e
f
y  
s r
 y s
α   s

 r 
 From Chapter 4
iss R s Lsl L rl i s
r

+ ims
s
R ′r
u Lm
s
+
jω r ψ rs

d ss
 uss  R s iss (stator)
dt

d rs
 j r  rs  R r irs (rotor)
dt
 Transformation to flux
coordinates

d f
j j j j
e  j   s e  us e  R s is e
s
& f f f

dt

d rf j 
e  j & rf e j   j r  rf e j   R r irf e j 
dt
 d sf
 usf  j1 sf  R s isf
dt

d f
  j 2  r  R r ir
r f f

dt

 2  1   r
The flux coordinate system is ”synchronous” only
at steady-state. During transients the speed of
the rotor flux and the stator voltage may differ
considerably.
 The rotor equation (5.9)
d f
  j 2  r  R r ir
r f f

dt
1 f Lm f
i  r 
r
f
is
Lr Lr
d f
R r f Lm R r f
r
  j 2  r   r 
f
is
dt Lr Lr
Split into real and imaginary
parts
d f
 0
f
rq
rq
0
dt

d f
R r f Lm R r f
   rd 
rd
isd
dt Lr Lr
Lm R r f
0   2  
f
rd isq
Lr
Rotor flux dynamics are
slow
Lr
Tr 
Rr

ψ f
rd0 L if
m sd0
 Torque control
3 Lm

T  p  Im   r  is
2 Lr
f * f

3 Lm
T  p   rd isq
f f

2 Lr

ref
i ref
sd  r
Lm
 Rotor flux orientation using
estimated flux
• The rotor flux vector cannot be
measured, only the airgap flux.
• Flux sensors reduce the reliability
• Flux sensors increase the cost
• Therefore, it is better to estimate the
rotor flux.
The "current model" in the stator
reference frame
(Direct Field Orientation)
d s
r
 j r  r  R r ir
s s

dt
1 s Lm s
ir   r 
s
is
Lr Lr

d r 
ˆ s
1  Lm s
    jr ˆ r 
s
is
dt  Tr  Tr
 The current model

T ref C u rre n t IM
usf f uss
c o n tro l s d riv e
ψ rdref

isf ρ̂ ωr iss

ρ̂ C u rre n t
f m odel
s
 The "current model" in
synchronous coordinates
(Indirect Field Orientation)
f
Lm Rr f Lm i
0  2   f
isq  2  sq

Tr 
rd f
Lr rd

1 isq
 f
rd0 L if
m sd0  2  
Tr isd
Transformation angle

   1 d t

1 isq
1   r   2   r  
Tr isd
 Remarks on indirect field
orientation
• Does not directly involve flux
estimation (superscript f dropped)
• Not ”flux coordinates” but
”synchronous coordinates”
• Since the slip relation is used instead
of flux estimation, the method is
called indirect field orientation
Indirect field orientation based
on the current model

T ref C u rre n t IM
usf sy uss
c o n tro l s d riv e
ψ rdref
θ
f
i s ωr iss
s lip
re la tio n

θ
sy
s
 Feedforward rotor flux
orientation
ref
1 i
1  r   sq
ref
Tr i sd

•Significantly reduced noise in the

transformation angle
•Fast current control is assumed
(ref.value=measured value)
•No state feedback => completely linear
 The voltage model
•The current model needs accurate values of
the rotor time constant and rotor speed
•The trend is to remove sensors for cost and
reliability reasons
•Simulate the stator voltage equation instead of
the rotor voltage equation

dˆ s
 us  Rs is
s s s

dt
  s  Ls is  Lm ir
Solve for the rotor current and insert in

 r  Lr ir  Lm is
Lr
 s
r
Lm
  s  Ls is   Lm is
s s s
Multiplication by Lm /Lr
yields Lm s  L  s 2
 r   s   Ls 
s
is
m
Lr  Lr 
2
L
Lsσ m
L
Lr Solve for  s
r

Lr
ˆ 
s
r  ˆ s  L is 
s s

Lm
Direct field orientation using
the voltage model

T ref C u rre n t IM
usf f uss
c o n tro l s d riv e
ψ rdref

isf ρ̂ iss
ψˆ rdf
V o lta g e
f m odel
s ρ̂
 Stator flux orientation
"Direct self-control" (DSC) schemes first suggested
by Depenbrock, Takahashi, and Noguchi in the
1980s.
dˆ s
 us
s s
1 nominal
dt
At low frequencies the current
model can be used together with:
Lm s
ˆ s
s ˆ r  L is
s

Lr
 Field weakening

isdref

F ie ld w e a k e n in g ra n g e
= > R e d u c e d to rq u e
M a x im u m
to rq u e ra n g e

ω r max ω rref
 Current control

s R L
i

u s + + e s
 s
di
L  u  R i  e
s s s

dt
d
L  i e   u e  R i e  e e
j j j j

dt
 d i j j  j j j
L e + i jω e   u e  R i e  e e
 dt 
 di 
L + i jω   u  R i  e
 dt 
 di
L  u   R + j L  i  e
dt
d id
L  ud  R id   L iq  ed
dt
d iq
L  uq  R iq   L id  eq
dt
 Transfer function and block
diagram of a three-phase load
1
G (s) 
 s  j  L  R
e

-
+
u G (s)
i
Review of methods for current
control

• Hysteresis control
• Stator frame PI control
• Synchronous frame PI
control
 Hysteresis control
(Tolerance band control)
• Measure each line current and
subtract from the reference. The
result is fed to a comparator with
hysteresis.
• Pulse width modulation is achieved
directly by the current control
• The switching frequency is chosen by
means of the width of the tolerance
band.
• No tuning is required.
• Very quick response
 Drawbacks of hysteresis
control
• The switching frequency is not
constant.
• The actual tolerance band is twice
the chosen one.
• Sometimes a series of fast switchings
occur.
• Suitable for analog implementation.
Digital implementation requires a
very high sampling frequency.
 Stator frame PI control
• Two controllers: one for the real axis
and one for the imaginary axis
• Cannot achieve zero steady-state
error
• Tracking a sinusoid means that
steady-state is never reached in a
true sense
• Integral action is useless except at
zero frequency
 Synchronous frame PI
control
• In a synchronous reference frame the
current is a dc quantity at steady-
state.
• Zero steay state error is possible.
• Coordinate transformations
necessary
• Easily implemented on a DSP
• Usually the best choice!
Design of synchronous frame
PI controllers
di
L  u   R + j L  i  e
dt
Remove cross-coupling

u  u  j L i
di
L  u  R i  e
dt
 1
G ( s ) 
sLR

e G ′( s )

-
+ u′ +
iref F (s) G (s) i
- +

jω L
Desired closed-loop system
 ki
Gc ( s )  F (s)  k p 
s  s

 tr  ln(9)

F ( s )G ( s )
Gc ( s ) 
1  F ( s )G ( s )
 Choice of controller
parameters
  R
F ( s )   G ( s )    s L  R    L+
-1

s s s

kp   L

ki   R
 Speed control
• Applications: pumps and fans in the
process industry, paper and steel
mills, robotics and packaging,
electric vehicles
• Very different dynamic requirements
• Most drives have low to medium high
requirements on dynamics. These
drives are considered here.
• Cascade control is sufficient
 Block diagram of a speed-
controlled drive system

Electric
Inverter motor
+ Speed + Current ωm
εω controller i ref − ε I controller u ref
ω
ref
−
m
i
The mechanical system

d m
Te  Tl  J  b m
dt
T
− l
1/ ( J s + b )
Te + ωm
 The speed controller
• The task of the speed controller is to
provide a reference value for the
torque (or current) which makes the
mechanical system respond to the
speed reference with a specified rise
time.

 tr  ln(9)
 Block diagram with speed
controller
Speed
Inner loop
controller − Tl
+
Fω ⋅ cT 1/ cT 1/ ( J s + b ) ω
ω
ref
− εω
ref
i
sq
Te + m
m

1
cT 
3 Lm ref
p   rd
2 Lr
 1

ref
m  m  F 
J sb
 m

1
F   Go
J sb
Go 
Gc  
Go  1 s  

Go 
s
 Choice of controller
parameters
1 
F  
J sb s

  b
F   J s  b   { J 
s P { s
I
 Realistic choice of
bandwidth
• Care must be taken that the
bandwidth of the speed controller is
not unnecessarily high.
• In fact this should be decided during
the first steps in the design process
of a drive system
• The bandwidth is directly connected
to the current rating of the inverter.
 A change in the speed
reference

iqp     J

How large steps should be foreseen?

  max  Cmax mbase

With iqp  I nom and      max

I nom  Cmax mbase  J

I nom
 
Cmax mbase J

Check if the current controller

is sufficiently fast.