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Julio Viola, Flavio Quizhpi, Jos e Restrepo, Juan Pablo Pes antez, Marco Miguel S anchez BOL UNIVERSIDAD SIMON IVAR, UNIVERSIDAD POLITECNICA SALESIANA Valle de Sartenejas, Baruta, Edo. Miranda, Caracas, Venezuela Calle Vieja y Elia Liut, Cuenca, Azuay, Ecuador Phone: +58 (212) 906-4012 Email: jcviola@usb.ve URL: http://www.usb.ve
Acknowledgments
The authors want to thank to Prometeo Project of SENESCYT (Ecuador) and Universidad Polit ecnica Salesiana for the nancial support to this research work.
Keywords
<<Induction motor>>, <<Direct torque and ux control >>, <<Multiphase drive>>.
Abstract
In this work the design and control of a four-phase induction machine (4P-IM) is addressed. The 4PIM is controlled using a four-phase voltage source inverter (4P-VSI) with a generalization of the classic direct torque control (DTC) scheme. An analysis of the available valid switching states and voltage space vectors is developed and a switching table is obtained. Finally, the systems fault tolerant characteristics are briey considered for operation with gate suppression in one IGBT. In this case, operation is still possible with the use of switching strategy that employs the remaining space vectors available during the fault.
Introduction
The use of four wires for electric transmission is not new and has been proposed before as a solution to improve efciency of traditional three wire lines [1]. The main idea behind the concept of four-phase (4P) electric transmission is to obtain higher reliability and transmission capacity by adding just one phase to a three-phase (3P) system. More complex solutions to achieve similar results are based on sixphase (6P) and twelve-phase (12P) systems [2]. Conversion from 3P to 4P systems have been addressed using double Scott and double LeBlanc congurations [3] and more recently in [4] a novel transformer topology allows to convert from 3P to 4P systems using just one four-leg core transformer. There are few works, however, addressing the analysis of the structure of four-phase electronics converters which would be the natural option for connecting to four-phase systems. In [5] it is proposed the use of a 4P-VSI as a converter from a three-phase system to a four-phase system. In [6] a 4P-VSI is analyzed but the fourth leg is used as neutral return connection when unbalanced load currents are considered. Other works presented the use of 4P-VSI applied to switched reluctance machines (SRM) [7], [8], although in these applications the topology for the VSI is different as the SRM have typically open-ended windings, requiring the midpoint of each converters leg to be open. The authors have previously proposed the design and operation of a 4P-IM, where its performance is analyzed when connected to a 4P system obtained from a 3P system, using to this aim a double Scott transformer conguration [9]. In a scenario where power transmission would be made with 4P voltage system a 4P-IM would be feed by a 4P-4P reducer transformer which is by far less complex and less expensive than any transformer conguration to convert from 3P to 4P. In that work, also, a 4P-VSI driving the 4P-IM with an open loop V/f algorithm was presented as an option to operate the machine, showing promising results.
B b wr stator rotor a C c A
air gap
(a)
(b)
Figure 1: (a) Schematic circuit for the 4P-IM, (b) Experimental stator currents obtained for the 4P-IM.
The present study proposes a generalization for the classic DTC scheme [10], originally developed for three-phase induction machines (3P-IM), which is rst implemented and simulated in MATLAB and later experimentally tested. Also the operation of the proposed DTC scheme when a fault condition occurs in the 4P-VSI is briey discussed.
If the system is balanced the instantaneous sum of the four voltage signals equals to zero. In Fig. 1(b) experimental stator currents are shown when the 4P-IM is started with a 4P voltage system which was obtained using the double Scott transformer connection [9].
(5)
SA
SB
SC
SD +
VCC
SA SB SC SD
vAB
A B
vBC vDA
C
vCD
D
1 VDC 0
1 VDC
1 VDC
1 VDC
1 VDC 0
1 VDC
1 VDC
1 VDC
1 VDC 0
1 VDC
1 VDC
1 VDC
1 VDC 0
1 VDC
1 VDC
1 VDC
Table I: Valid switching states for the 4P-VSI and the resulting phase-phase and phase-neutral voltages
SS SS0 SS1 SS2 SS3 SS4 SS5 SS6 SS7 SS8 SS9 SS10 SS11 SS12 SS13 SS14 SS15 SA 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 SB 0 0 1 1 0 0 1 1 0 0 1 1 0 0 1 1 SC 0 0 0 0 1 1 1 1 0 0 0 0 1 1 1 1 SD 0 0 0 0 0 0 0 0 1 1 1 1 1 1 1 1 vAB 0 VDC VDC 0 0 VDC VDC 0 0 VDC VDC 0 0 VCC VCC 0 vBC 0 0 VDC VDC VDC VDC 0 0 0 0 VDC VCC VCC VCC 0 0 vCD 0 0 0 0 VDC VDC VDC VDC VDC VDC VDC VCC 0 0 0 0 vDA 0 VDC 0 VDC 0 VDC 0 VDC VDC 0 VDC 0 VCC 0 VCC 0 vAN 0
3 4 VDC 1 4 VDC 1 2 VDC 1 4 VDC 1 2 VDC
vBN 0 1 4 VDC
3 4 VDC 1 2 VDC
vCN 0
1 4 VDC 1 4 VDC 1 2 VDC 3 V 4 DC 1 2 VDC 1 2 1 4
1 4 VDC 1 2 VDC
1 2 VDC 1 4 VDC
VDC VDC
3 4 VCC 1 4 VCC 0
where the factors e ji are complex quantities meeting e ji = 1i = cos i + j sin i (6) Each term in the right hand of ( 5) can be seen as a vector in the direction of the axis associated to the corresponding stator winding vs (t ) = vAN (t ) + vBN (t ) + vCN (t ) + vDN (t ) (7) Fig. 4(a) shows the resulting 8 active voltage space vectors and the null vector obtained for the 16 valid switching states. Using the values for the phase-to-neutral voltages shown in Table I and (7) it can be noted that space vectors V0 , V2 , V4 and V6 have a magnitude of VDC and space vectors V1 ,V3 ,V5 y V7 have a magnitude of 2VDC . As can be seen some vectors can be obtained with more than one SS, being this redundancy useful to implement control algorithms with reduced switching characteristics.
B
(0,1,1,0) (1,1,0,0) (0,1,0,0) (1,1,1,0)
B V3 V2 V1 V1 V3 Ys
A
V3 S3
V2 S2 S1
V1
(0,0,1,0) (0,1,1,1)
S4
(0,0,0,0) (1,1,1,1) (1,0,1,0) (0,1,0,1)
(1,0,0,0) (1,1,0,1)
V5
V7 V0 A
V4 VNULL S5 S6 V5
(0,0,1,1)
V0 S0
V4
S7 V6 D
(0,0,0,1) (1,0,1,1)
V7
(1,0,0,1)
V5
V6 D
V7
(a)
(b)
Figure 4: (a) Voltage space vectors for the 4P-VSI and angular sectors, (b) Example of available voltage space vectors.
0.1
0.2
0.3
0.4
0.6
0.7
0.8
0.9
150
100
50
0 0
0.5
1.5
time (s)
2.5
B
(1,1,0,0) (1,1,1,0)
V2 S2 S1
V1
C VNULL
(1,1,1,1) (1,0,1,0)
(1,0,0,0) (1,1,0,1)
V0 S0
S7 S6 V6 D
(1,0,1,1)
V7
(1,0,0,1)
Figure 8: Voltage space vectors for the 4P-VSI when a fault in SA is simulated.
Fault tolerance
The operation of the 4P-IM with a trigger suppression in one IGBT in the 4P-VSI is evaluated by simulations. The test consisted in xing the upper switch of the inverter leg A to state 1 forcing the corresponding lower switch to be permanently in state 0. As a consequence of the faulty device the available voltage space vectors are reduced due to the fact that vector V0 is now applied all the time. In Fig. 8 the remaining voltage vectors are shown, noting that vector VNULL can be obtained by applying vector V4 . In this scenario the switching strategy is modied to use the voltage space vectors V2 , V6 and VNULL to obtain an oscillating stator ux magnitude along the B D axis, which resembles the operation principle of a single-phase motor. In Fig. 9 the rotor speed evolution is shown when a 100 rad/s reference is set and a fault in switch SA is simulated at t = 1.5 s. After a transient of about 1.5 s the rotor speed reach the speed reference at t = 3 s. For the same conditions the oscillating stator ux magnitude along the B D axis is shown in Fig. 10. Other strategies proposed for 3P-IM with DTC under fault conditions can be adapted to the 4P-IM. In [11], for example, the operation of a single DC link dual three-phase inverter with faulty devices is presented, being this method suitable to be generalized for a dual four-phase inverter driving a 4P-IM.
Conclusion
The use of 4P voltage systems has been reported as a potential evolution to current 3P systems to obtain more transmission capacity and efciency. The use of 4P-IM controlled by a 4P-VSI, however, is barely developed across the current literature. The work presented the generalization of the DTC scheme for a 4P-IM showing that the method leads to a stable and predictable performance of the machine. Also an
150
100
50
0 0
0.5
1.0
1.5
time (s)
2.0
2.5
3.0
Figure 9: Rotor speed evolution for a 100 rad/s speed reference and a simulated fault at t = 1.5 s.
2 1.5 1 0.5
Y (Wb)
sy
1.6
1.7
1.8
Figure 10: Evolution of stator ux magnitude along the B D axis when a fault is simulated at t = 1.5 s.
adaptation is proposed for the DTC algorithm when a faulty device is simulated showing that the 4P-IM can be operated in this condition until the damaged switch can be replaced. Future works will include the analysis of other methods to deal with fault conditions and experimental results for these schemes.
References
[1] G. Mazzanti and S. Quaia, Four-phase ac connections: An alternative possibility for the expansion of transmission grids, Power Delivery, IEEE Transactions on, vol. 25, pp. 1010 1018, april 2010. [2] T. Landers, R. Richeda, E. Krizanskas, J. Stewart, and R. Brown, High phase order economics: constructing a new transmission line, IEEE Transactions on Power Delivery, vol. 13, pp. 1521 1526, Oct. 1998. [3] M. J. Heathcote, The J & P Transformer Book: A Practical Technology of the Power Transformer. Linacre House, Jordan Hill, Oxford OX2 8DP: Elsevier, 12th ed., 1998. [4] L. Guangye and Y. Yihan, Three-phase-to-four-phase transformer for four-phase powertransmission systems, IEEE Transactions on Power Delivery, vol. 17, pp. 1018 1022, Oct. 2002. [5] Z. Zhu, Y. Chen, and R. Wang, Research on the symmetrical four-phase voltage produced by the three-phase four-bridge inverter, in IEEE Power Electronics Specialists Conference, 2008. PESC 2008, pp. 1912 1915, June 2008. [6] P. C. Loh and D. Holmes, A multidimensional variable band ux modulator for four-phase-leg voltage source inverters, IEEE Transactions on Power Electronics, vol. 18, pp. 628 635, Mar. 2003. [7] Y. Dessouky, B. Williams, and J. Fletcher, A novel power converter with voltage-boosting capacitors for a four-phase SRM drive, IEEE Transactions on Industrial Electronics, vol. 45, pp. 815 823, Oct. 1998. [8] S. Wang, Q. Zhan, Z. Ma, and L. Zhou, Implementation of a 50-kW four-phase switched reluctance motor drive system for hybrid electric vehicle, IEEE Transactions on Magnetics, vol. 41, pp. 501 504, Jan. 2005. [9] J. Viola, F. Quizhpi, and G. Parra, Vector analysis of a four-phase induction machine, in IEEE 4th Latin American Symposium on Circuits and Systems, 2013. LASCAS 2013, pp. 1 4, Feb. 2013. [10] I. Takahashi and T. Noguchi, A new quick-response and high-efciency control strategy of an induction motor, IEEE Transactions on Industry Applications, vol. IA-22, pp. 820 827, Sept. 1986. [11] J. Restrepo, A. Berzoy, A. Ginart, J. Aller, R. Harley, and T. Habetler, Switching strategies for fault tolerant operation of single DC-link dual converters, IEEE Transactions on Power Electronics, vol. 27, no. 2, pp. 509518, 2012.