874 IEEE Transactions on Energy Conversion, Vol. 14, No.

4, December 1999
A Microcomputer-based Induction Motor Drive
System Using Current and Torque Control
Chih-Yi Huang Tien-Chi Chen*, IEEE Member Ching-Lien Huang, IEEE Member
Institute of Electrical Engineering
Cheng Kung University
Tainan, Taiwan, R.O.C.
Abstract-This paper proposes an induction motor drive with
current and torque control. The current control based on the
current error with the current controller yields hi signal. The
torque control based on the torque error with the torque controller
yields a h, signal. According to the h, signal, the h, signal and
the appropriate voltage vector is selected by using a look-up table
to control the induction motor drive to obtain a rapid speed
response. The torque controller, current controller, and d - q
framc transformare constructed by the hardware which reduce the
running time of the microcomputer to obtain a high performance
drive. Computer simulations and experimental rcsults demonstrate
that the proposed method can obtain a high performance induction
inotor drive. Meanwhile, employing the advantages of the added
zero voltage vector to reduce the inverter switching frequency
greatly increasing the efficiency of the inverter.
Keywords: current and torque control, voltage vector, look-up
table, switching frequency
I Introduction
To deal with the advances of the power electronics and
microprocessors [I], the induction motor used in variable speed
drive and position servo control have become more and more
attractive. In the past, dc motors were extensively used in variable
speed, e.g. industrial robots and numerically controlled machinery
[8], because their flux and torque can be easily controlled.
However, dc motors have certain disadvantages owing to the
existence of the commutator. To overcome these obstacles, the
induction motor has simple and rugged structure, low
maintainability, and economy etc. Therefore, the induction motor
can be controlled like dc motor by using the space vector field-
oriented control approach [2-131. Torque generation is based on
the interaction between the flux and current, in which the
induction motor can be operated at high performance like dc
motor.
In the reccnt years, advanced control strategies for PWM
inverter-fed induction motor drive based on space vector control
have' become more and more popular. To achieve a quick
PE-023-EC-0.12-1998 A paper recommended and approved by the
IEEE Electric Machinety Committee of the IEEE Power Engineering
Society far publication in the IEEE Transactions on Energy
Conversion. Manuscript submitted J anuary 6, 1998; made available
far printing December 17, 1998.
*Institute of Engineering Science
Cheng Kung University
Tainan, Taiwan, R.O.C.
response, the conventional adaptive PWM control method is
preferred. Three-independent current controllers track the current
command that directly influences the drive performance [4, 5 , io, I I ,
131. This method is easy to implement, quick response, current
regular, and insensitive to motor parameter variation. However, some
problems arise regarding the three-independent current controllers: it
is difTicult to avoid an increase of the inverter switching frequency,
torque ripple, and harmonic losses [8-131.
This paper presents a microcomputer-based control with indirect
rotor flux orientation and with current and torque vector control. In
the proposed control scheme, coordinate transformation and stator
voltage sensing are unnecessary to reduce the hardware structure.
The torque generation is based on the interaction between the stator
current and rotor flux command. The torque and current components
can be controlled by selecting the optimum voltage vector switching
table to restrict the errors of the torque and current within the
hysteresis bands, which can reduce the torque and current ripple that
can indirectly regulate the voltage and rotor flux. Therefore,
advantages ofthe added zero voltage vector can reduce the switching
frequency so as to decrease the switching loss. The proposed control
scheme shows a rather simple structure, easy to implement for the
induction motor drive system.
2 Configuration of the control system
Figure 1 depicts the proposed control scheme block diagram
2.1 I ndirect field-oriented control
Part 1 of Fig. 1 presents the indirect field-oriented control of an
induction motor. The electrical dynamics of an induction motor in
the synchronously rotating reference frame (d' and qc axis) can be
expressed as
L .
r,
T P
where
vis, vis
C, jk
4; , &,
R*, R,
de and q' axis stator voltages,
d o and f axis stator currents,
d o and q' axis rotor fluxes,
stator and rotor resistances.
0885-8969/99/$10.00 Q 1998 IEEE
875
RX.3 ...................................
I .............................................................
W
Fig. I The proposed control schemes block diagram.
Ls, L, , L,
r, leakage inductance,
p differential operator,
0, electrical angular velocity,
0, rotor angular velocity,
Os, =we - a, slip angular fxquency.
The generating torque ofthe induction motor is
stator, rotor and mutual inductances,
4
C =- - ( 4~, , C- 4~, i ~) 3p L, (2)
4 4
The two rotor equations corresponding to the third and fourth row
of equation ( I ) can be rewritten as
- R, -Ib L, - o,4: +(- R, +P ) 4: =0
(4)
L, L,
For field-oriented control [4], the instantaneous speed of the rotor
tlux vector is selected to revolve at the synchronous speed, and the
d-axis is aligned. Then, the q*-axis component of the rotor flux
vanishes and the rotor flux is entirely in the de -axis, i.e.,
and
6 w =p@ w =o
( 5)
( 6)
Substituting equations ( 5) and ( 6) into equations (3). (4) and (2)
b; , =4, =constant
where 4, denotes the rotor flux.
yields
* R,L, .<.
U --
!$Lr lor
s l -
( 7)
where subscript * represents command. From equation (9), if rotor
flux 4; is kept constant for the constant torque operation, the
electromagnetic torque c* can be linearly varied by adjusting ;;;.
Therefore, the induction machine is controlled like a separately
excited dc machine by using the field-oriented control method. The
rotor flux command 4; relies on the rotor speed U,. Below the
rated speed, 4; must be kept at the constant rated value. The
machine is operated in the constant-torque region. Beyond the rated
value, 4; is gradually decreased to obtain the field weakening,
such that the machine is operated in the constant-power region.
For implementation of indirect field-oriented control method, it is
876
necessary to take equations (7), (8) and (9) into consideration. The
torque component of stator current command i;?' is computed by
using equation (9). The torque command Te' is derived fromthe
speed controller. The flux component of stator current command
jj,: for the desired rotor flux is computed by using equation (8).
For normal operation, as in a dc machine, the current command
ii,: remains constant and the torque is varied by the i:,:
component. The slip angular velocity command m:., is determined
by using equation (7).
2.2 Generation of the stator current command
)
Pan 2 of Fig. I indicates the generation of the stator current
command. The stator current command i: can be expressed as
The phase angle 8' between and the fixed as-axis can be
expressed as
8' =l (m, +o: ,)dl + =0: t 6' ; (11)
where 0.' =m,-l( j'' / , :j can accelerate the transient response of the
system, w, denotes rotor speed which is measured from the
encoder.
Three phases stator currents of induction motor ins , i,, and
i , can be measured by the current sensor and is converted to the d-
and q- components in slationary reference frame, iis and i:s, as
(12)
1s '
10s =G
The synthesis of the actual stator currents is can be expressed as
is =,/m (14)
2.3 The developed torque
The indirect vector control method depends on the generation of
unit vector signals from the rotor flux command 4:. The d' and
q* axis stator fluxes in the stationary reference, #; * and &; , , can
be computed by the rotor flux command 4: as
and
&<=4; coso' (15)
4; ; =#,' sin 0' (16)
(15) and (16), the developed torque can be Prom (I Z), (13),
expressed as
For the microprocessor implementation, equation ( I 1) can use the
following simple equation to estimate the angular position
8' ( k +1) at (he next sampling instant
for k = l , 2, 3, ...... (18)
where T is the controller's sampling time. The stator flux in (15)
and (16) and the developed torque in (17) can be expressed in the
following forms
o * ( k t l ) = o ' ( k ) + o , T
#iv(k +I) =4; cos(O' (k +1)) (19)
q$*( k+l ) = (:sin(6"(k+l)) (20)
and
3PL,
~ : ( k + I) =-(&,'(k+ I ) i i , ( k + 1) - (; ,' (k t ~) i ; , ( k + 1)) (21)
4L
1.4 Voltage vectors and PWM control
In the paper, the voltage source inverter (VSI) is employed for
,induction motor drive. Figure 2 reveals the diagram of the VSI.
Define the space-voltage vector of output phase voltages of the VSI
in the stationary frame as
I
Qi Qi
, v.
v,
I I I
Fig. 2 The diagramof the VSI
where v,, vb,, v,, are the phase voltages of the VSI. According
to Fig. 2, the VSI operates on only two states of each phase at every
instant. The IGBT controlled the phase voltages V , ,Vbs and
V , , (22) is expressed as
in which vd is the convelter output voltage's dc value. These three
bits (3, ,s, ,,ye ) respectively in a digital way denote the states of
the IGBT of the VSI; " I " indicates the upper-IGBT to be on and the
lower-IGBT off; "0" indicates the upper-1GBT to be off and the
lower-IGBT on. For instance v,(l,o,o) means Q~, Q~, Q~ on and
Q,, Q,,Q, off. Equation (23) depicts that the VSI has space-voltage
vectors of 2' =8 states which are given by
2
3
v, =v,,(O,O,O) =0, v , =v , ( O, O, l ) =- v de' ( +' ' ) "
2
3
v, =vs(l,l,O) =- ~ ~ ~ e ' " ' ~ ' " , vi =v , ( O, O, O) =0
Equation (24) indicates that these space-voltage vectors in the
stationaty d" - q' frame, where v, , v2 ,..., v6 are nonzero-
voltage vectors, have the same value vd, but a phase 2 ~ 1 3
different fromone another. vo and V 7 are the same vector; their
output voltage is zero, the so-called zero-voltage vector.
2.5 Torque and current control
Kefcrring to part 3 of Fig. I , the speed controller generate torque
command c* is compared to the developed torque in equation
(2 I ) that yields the torque error, c' - T, . When the torque error is
inputted, the torque controller yields the h, signal. The torque
controller is a three-level hysteresis comparator whose output signal
h, is determined by the torque error that is defined as
h, =1, for e* - 2 A T
h, =- I , for c' - cS- A T
h, =O, for c*-c=O (25)
where AT denotes the preset torque band. In equation (25),
11, =0 represents r, =r,*, i. e., when the developed torque r,
increases and reaches the torque command r*, it is better to use
the zero voltage vectors v,(O,O,O) or v,(1,1,1) to decrease
T. . Signal h, =1 implies that r, ST^* -AT, i. e., when the
developed torque r, decreases and reaches the lower hysteresis
limit ?; ' - AT. it is better to use the non-zero voltage vectors to
increase T , , By using this technique, the developed torque can
track the torque command and the torque error is limited within
A T .
The stator current command, i: , in (10) is compared to the
actual stator currents is in (14) that yields the current error signal,
;:- i s. The signal is inputted to the current controller and yields
the b, signal. The current controller is a two-level hysteresis
comparator whose output signal h, is determined by the torque
error that is dcfined as
(26)
where A i denotes the preset current band. In equation (26),
hi =0 implies i , k i,; +&{2, i. e., when the actual stator
current i,, increases and reaches the upper hysteresis
limit i, 2 i; +~i i 2 , it is better to select the appropriate non-zero
voltage vector to decrease is. On the other hand, hi =1
represents j , 5 i: - ~ i i 2 , i. e., when the actual stator current i,
decreases and reaches the lower hysteresis limit i, 2 i: - Aj 1 2 , it is
better to use the anothcr appropriate non-zero voltage vector to
increase i,, . By using this technique, the developed torque can
track the torque command and the torque error is limited within
Ai .
Selecting the appropriate non-zero voltage vector relies not only
on the current error i: - i , 7, but also on the phase angle e' in (18).
'The phase angle 8' can be divided into six areas in a circle as
following
COL 2--, for N=1,2,3,4,5,6 (27)
According to (25), (26) and (27), the switching table of voltage
vector is listed in Table I . The switching table is implemented by a
h, =l , for i ;-i ,,kAi /2
h, =0, for i: - i , 5 -Ai l 2
( N - l ) z N7T
3 3
877
ROM as shown in Fig. 1. The torque error re* - T, and the current
error i; - i , are digitized by the three-level hysteresis comparator
and the two-level hysteresis comparator, respectively. A 2-bit
signal h, , a I-bit signal h, , and a 3-bit signale: are developed.
The hardware of the two-level hysteresis cor
I
r v
18..
Fig. 3 The hardware of the proposed control scheme
the three-level hysteresis comparator and a ROM is shown in Fig.
3. The torque error T** -T, and the current error i : -i, are
digitized by three-level hysteresis comparator and, A 2-bit signal 00,
Oland 10 denote h, =0, h, =1 and h, =-1, respectively. A
I-bit signal 0 and I denote hi =0 and h, =1 I respectively. A
3-bit signal 000, 001, 010, 011, 100 and 101 denote
e,', b ' ; , 6; ~ 6; ~ 6'; and 0;'. respectively. For instance, in thc
0,. area, if the developed torque T, decreases and reaches the
lower limit of the three-level hysteresis comparator, i. e.,
r, s c' - AT9 and the actual stator current i, increases and
reaches the upper limit of the two-level hysteresis comparator, i.
e., i, 2 i; +~ i 1 2 , then h, =1 and h, =O. In this case, the vector
v6(l ,l ,0) ischosen, theoutput of ROM is S,=I ,S,=],S,=O,
then Q,, Q,, Q, and Q,, Qa, Qs of the VSI are turned on and off,
respectively.
Table 1 The voltage vector switching table for the proposed
controller.
878
3 Computer simulations
This section presents a computer simulation for the proposed
control scheme. To demonstrate the performance of the proposed
control scheme, some simulations of the proposed control scheme
are compared to those of the conventional adaptive PWM control
method. In general, in the conventional adaptive PWM control of
field-oriented control induction motor drive, the current commands
in the synchronously rotating frame, denoted by i and iJ8, must
be transformed into three phase domain to yield the reference
current commands, denoted by j : s , j;, and i :*, using the
coordinate translator and sinlcos generator. The actual stator
currents of the induction motor, in, i as, i,, are generated fromthe
PWM inverter by comparing the current commands with three
independent two-level hysteresis comparators. Under the simulation,
a dc link voltage of IOOV all fed the proposed control schemes
inverler and the conventional adaptive PWM control method. The
dead band of the current controller in both the proposed control
scheme and the conventional adaptive PWM control scheme are 0.3
A. The proportional and integral gains of speed controller, K, and
K, , in these control scheme are 2.5 and 0.8, respectively. The
parameters ofthe test induction motor are& =1.1 n, R, =1.3 Cl,
L8 =0,14S H, L,=O.l45 H, Lm ~0. 136 H, ~=0.00068
K ~ . and number of poles =2. Figures 4 to 6 summarize the
cornputer simulation results.
For a speed command of 600 rpm, the speed response of the
proposed control scheme and the conventional adaptive PWM
control method are shown in Figs. 4(a) and 4(b), respectively. Figs.
4(a) and 4(b) indicate that the speed response of the proposed
control scheme is faster than that ofthe conventional scheme. Figs.
5(a) and S(b) reveal simulation results of line current of one phase
and developed torque for the proposed control scheme and the
conventional adaptive PWM control method, respectively. One
can see that the current and the torque ripple of the proposed control
scheme are smaller than those of the conventional adaptive PWM
control method. It can be said that the proposed control scheme can
achieve current and torque control.
Figs. 6(a) and 6(b) reveal the voltage vector distribution and
the switching number of the proposed control scheme and the
conventional adaptive PWM control method, respectively. One can
see that the zero voltage vector is distributed more uniformly in the
proposed control scheme. Moreover, to reduce the inverter
switching frequency, zero voltage vectors are considered to add.
The proposed control scheme can achieve the switching number
with approximately 30% more reduction than the conventional
adaptive PWM control method.
4 Experimental results
4s
The proposed approach in part 1 and 2 of Fig. 1 and part 3 is
implemented by a 80586 personal computer and the circuit shown
in Fig. 3, respectively. Fig. 3 depicts the motor speed encoder
which generates the pulse train of 1000 pulseslrev, is converted
into voltage signal by using the F N 9400 to reflect the motor
speed. Comparators (UI-U4) are applied to construct the proposed
torque controller and a comparator (U5) is employed to construct a
current controller. The output bits of the torque controller, current
hysterisis controller and angular position control bits are created
digital words, which access the address of the ROM (2716) to
select the appropriate voltage vector according to the voltage
vector switching table. Operation amplifiers (U6-U7) are
employed to construct a three-phase line current into d- and g-
component, denoted by i : and i in the stationary reference
frame, respectively. The induction motors parameters
areRs=l . l n, R,=1.3Cl , L,=O.145 H, L,=O.145 H,
Lm=0.136 H, J -0.00068 ~ g . m * , rated power =1 HP and
number of poles =2. The dead band of the current controllers of
the proposed control scheme is set to 0.3 A. The proportional and
integral gains of the proposed control schemes speed controller
are set to K, =2.5 and K, ~0.8.
Some experimental results of the proposed control scheme are
given as follows. Figs. 7(a) and (b) reveal the speed response for a
speed command of 600rpm of the proposed control scheme and thc
conventional adaptive PWM control method, respectively. One can
find that the proposed control scheme is faster than that of the
conventional scheme. The experimental result is similar to the
simulation result in Fig. 4.
q,,
0 -
0 0.2 0.4
TIME [sec]
(a)
II
0 -
U 0.2 0.4
TIME [ s ec ]
(b)
Fig. 4 Speed response for a command of600 rpm. (a) The proposed
control scheme. (b) Conventional adaptive PWM control method.
879
0 100 200
TIME [ms]
0 100 200
TIME [ms]
TIME [ms]
(a)
3 E 10 o~
3
0
w
z -10
A I I
0 100 200
TIME [ms]
i:I__.
P I
0
0 100 200
TIME [ms]
(b)
Pig. 5 Line current and developed torque of the induction motor.
(a) The proposed control scheme. (b) Conventional adaptive
PWM control method.
Fig.
0 100 200
TIME [ms]
(a)
0 -
0 100 200
TIME [ms]
? 100
0 100 200
TIME [ms]
(b)
6 The voltage vector distribution and the switching number. (a)
The proposed conuol scheme. (b) Conventional adaptive PWM
control method.
ss0
Time
. . . . , , .. .
. . . . .
. . .
: : : j
Time
(b)
Fig. 7 Experimental result of speed response. (a) The proposed
control scheme. (b) Conventional adaptive PWM control
method. (speed scale=200 rpddi v, time scale=100 mddiv).
5 Conclusions
A microprocessor-based VSI-fed induction motor drive with
torque control loop, current control loop, and speed control loop is
presented herein. With the torque control loop and current control
loop, the induction motor can obtain a rapid speed response. With
the PWM control, the stator current is nearly a pure sinusoidal
wave with low harmonics.
Simulation results indicate that speed response, the ripple of
current and torque, PWM voltage, and voltage vector distribution
of the proposed control scheme are better than those of the
conventional adaptive PWM control method. Moreover, to reduce
the inverter switching frequency, it employs the advantages of
adding the zero voltage vector. According to the experimental
results. the proposed control schemes current controller, torque
controller, and d - q frame are constructed by the hardware
where the purpose is to reduce the running time of the
microprocessor. Moreover, coordinate transformation and voltage
sensing arc not required to reduce the hardware structure for the
proposed control scheme. The simulation and experimental results
indicate that the proposed control scheme has a highly dynamic
servo performance.
6 References
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Tien-Chi Chen received the B.S.E.E. degree from National
Taiwan Institute of Technology, Taipei, Taiwan, in 1983, the
M.S.E.E. degree from the National Taiwan University, Taipei,
Taiwan, in 1985, and the Ph.D. degree in electrical engineering
from the National Cheng Kung University, Tainan, Taiwan, in
1989. He has been with Department of Engineering Science at
National Cheng Kung University. His areas of research are control
of motor drive, neural network and fuzzy control system, and
power electronics. Dr. Chen is a member of the IEEE.
Chih-Yi. Huang received the B.S.E.E. degree fromthe National
Taipei Institute of Technology, Taipei, Taiwan, in 1980, the M.S.
degree fromInstitute of Engineering Science at National Cheng
Kung University, Tainan, Taiwan, in 1993. Since 1994, he attends
the Ph.D. program in the Institute of Electrical Engineering at
National Cheng Kung University. His major interests are control of
servo drive and power electronics.
Ching-Lien Huang received the B.S.E.E. degree fromNational
Cheng Kung University, Tainan, Taiwan. In 1957, the M.S.E.E.
degree from Osaka University, J apan, in 1973. He has been
working in Department of Electrical Engineering at National
Cheng Kung University since 1964. His areas of reach are control
of motor drive and high voltage engineering.