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Keywords
Motor Control , Voltage-Oriented Vector Control , Stator Flux Estimator
Abstract
This paper deals with the performance improvement of the Voltage-Oriented Vector Control(VOC) of
induction motor which presents the merits of constant stator flux control, simple calculation and easy
implementation. In this method, the d-axis of synchronous reference frame is oriented in the direction
of the stator voltage vector, and then a control strategy specific for the induction motor is obtained.
Based on the previous work, much progress has been made recently to get better dynamic performance,
including the improved system structure and a novel stator flux estimator. Simulation and
experimental results show that by knowing only a few parameters of the induction motor such as Rs
and J, the flux and torque can be controlled independently, and a simple as well as high-performance
speed control can be achieved while avoiding the complex coordinate transformation in traditional
vector control methods.
Introduction
The modern area of the high performance AC drives dates back to the early 1970s with the invention
of the vector control technique. The core idea of vector control is to decouple the control of induction
motors flux and torque by coordinate transformations, and to control not only the amplitudes of
current and flux but also their phase angle. For high performance applications, the method of
field-oriented vector control (FOC) is widely used nowadays [1,2]. In this method, by orienting the daxis of reference frame in the direction of rotor or stator flux, independent control of the flux and
torque is achievable. However, the field-oriented vector control becomes more and more complicated
in order to get higher performance by parameter identification, sensorless drives, etc[3,4]
The voltage-oriented vector control has been proposed by Yongdong Li first in 1985 [5,6], it is
relatively simple as compared to FOC. Recently, some important performance improvement has been
accomplished. In the following section, the principle of VOC will be recalled first.
1) Symmetrical armatures
2) Constant air-gap
3) Sinusoidal induction repartition
4) Saturation, hysterisis and eddy effects negligible.
Then, we have the following Park equations under the synchronous rotating reference coordinate:
Vsd = Rs I sd + sd ' s sq
(1)
Vsq = R s I sq + sq '+ s sd
(2)
0 = Rr I rd + rd ' rq
(3)
0 = Rr I rq + rq '+ rd
(4)
Tem = P ( I sq sd I sd sq )
(5)
Where, s and are the synchronous and slip angular speed respectively; Vsd Vsq I sd
I sq sd sq are the d-axis and q-axis values of stator voltagecurrent and flux; I rd I rq rd
rq are the d-axis and q-axis values of rotor current and flux; Tem is the electromagnetic torque, and
P is the number of pole pairs; Rs Rr are the resistance of stator and rotor respectively.
In the field-oriented control method, the d-axis of the synchronous rotating frame is oriented in
the direction of flux, while in the proposed control the reference frame is fixed to the direction of
stator voltage vector as shown in Fig.1. In this condition, the stator voltage can be described as:
Vsd = 3Vs , V sq = 0 , Vs represents the RMS value of the stator voltage.
Sb
Vs
Sa
Sc
As we know, to have good control of motors, it is essential to keep the flux constant, which can
be expressed as
sd 2 + sq 2 = const
The idea is to make use of the time derival of this expression: sd ' sd + sq ' sq = 0 ; By
introducing this relation in equation (1) and equation (2), we obtain:
-2-
(6)
Furthermore, by making use of rd ' rd + rq ' rq = 0 , the same process applied to rotor
equations (3) and (4) gives us:
I rd rd + I rd rq = 0
(7)
By substituting all rotor variables with stator variables in (7), then we obtain:
2
I sd sd + I sq sq =
3( sref + Ls I s )
Ls (1 + )
Vsd = 3Vs =
3Rs ( sref + Ls I s )
(8)
Ls (1 + ) sd
Where = 1 Lm 2 / Ls Lr , sref is the RMS value of the stator flux reference, I s is the RMS
2
II.
System configuration
Fig.2 shows the configuration of the former control system in [7,8], where the dynamic flux
control represents the equation (8). We can see that its structure is much simpler than the traditional
vector control systems, and only some commonly used variables such as stator currents, rotor speed
, voltage and current of DC bus need to be measured. Without any complex coordinate
transformations, a closed-loop control of speed is realized. However, former simulation and
experimental results showed that this system is a little bit slow at dynamic processes because the slip
frequency is obtained by the steady state torque equation Tem = K . Fig.3 shows an improved
system configuration, in which the closed torque control loop is added to improve the speed of
dynamic response. The torque is estimated by:
Tem = P ( sd I sq sq I sd )
(9)
As we know, in dynamic state, the relationship between electromagnetic torque and slip speed are
very complex, thus to give the reference value of via a PI regulator is reasonable as shown in
Fig.3. Since Tem should be obtained through flux estimation, which is also a key factor in the
dynamic flux control of the system, in next section of this paper, a stator flux estimator will be
introduced.
-3-
Ic
PWM
Uc
IM
I NVERTER
u
PWM CONTROL
FLUX
ESTI MATO
R
Vs
sd
DYNAMI C FLUX
CONTROL
sref
Is
PWM
IM
Uc
I NVERTER
PWM CONTROL
s
Vs
FLUX and
TORQUE
ESTI MATOR
sd
Tem
DYNAMI C FLUX
CONTROL
sref
Tem*
Is
III.
In a practical control system described in previous figures, the stator current and voltage can be
easily measured, thus a novel and simple stator flux estimator without coordinate transformations is
developed.
By considering only fundamental component, the output voltage of PWM inverter Vs will be
proportional to DC bus voltage U c :
(10)
Where k is a constant related to PWM mode, for example, in the case of SPWM, the expression
is k =
2 2
, k1 =
And if the losses in the PWM inverter are assumed negligible, the invariance of power gives us:
(11)
I sd = U c I c / Vsd = I c / k1
Is
(12)
Is =
Then,
1
[(i s 2 + i s 3 ) 2 + (i s 2 i s 3 ) 2 ] 2
3
2
I sq = 3I s I sd
(13)
(14)
From (1), (2), (10), (12), we get the stator flux estimator below:
sd ' = k1U c Rs I c / k1 + s sq
(15)
sq ' = R s I sq s sd
(16)
This estimator is very simple to be implemented; Furthermore, it is accurate enough in the whole
speed range operation of the voltage-oriented control system, which was already proved by the
simulation and experimental results. On the other hand, the only parameter used in the estimator is the
resistance of stator. Rotor parameters which are easily affected by temperature variation are
completely avoided.
IV.
The simulation in Fig.4 shows that the proposed control strategy can keep the stator flux constant
during the transient processes of speed reversal. The dotted line is corresponding to the system shown
in Fig.2, and the real line is for the improved system shown in Fig.3.
1000
speed (rpm)
500
-500
-1000
0.0
0.5
1.0
1.5
2.0
2.5
3.0
time (s)
arotor speed
0.7
0.6
0.5
0.4
0.3
0.2
0.1
0.0
0.0
0.5
1.0
1.5
2.0
2.5
3.0
time (s)
0.6
0.5
0.4
0.3
0.2
0.1
0.0
0.0
0.5
1.0
1.5
2.0
2.5
3.0
time (s)
1.2
1.0
0.8
0.6
0.4
0.2
0.0
0.0
0.5
1.0
1.5
2.0
2.5
3.0
time (s)
1.0
0.5
0.0
-0.5
-1.0
-1.5
0.0
0.5
1.0
1.5
2.0
2.5
3.0
time (s)
-6-
10
torque (N*m)
-5
-10
0.0
0.5
1.0
1.5
2.0
2.5
3.0
time (s)
300
speed (rpm)
200
100
0
-100
-200
-300
0
5000
10000
15000
time (ms)
torque (N*m)
4
2
0
-2
-4
-6
-8
0
5000
10000
15000
time (ms)
Isa (A)
-2
-4
-6
0
2000
4000
6000
8000
10000
12000
14000
16000
time (ms)
is 2
0.9
0.8
0.7
0.6
0.5
0.4
0.3
0.2
0.1
0.0
0
5000
10000
15000
time (ms)
1.2
1.0
0.8
0.6
0.4
0.2
0.0
-0.2
0
5000
10000
time (ms)
-8-
15000
1.5
1.0
0.5
0.0
-0.5
-1.0
-1.5
0
5000
10000
15000
time (ms)
From the figures above, it can be seen that this method can give very satisfactory performance of
flux, torque and speed control. Experiments show a more quick speed regulation than the initial
system without torque loop. And as expected in theoretical derivation, the stator flux almost doesnt
change in transient process even when the motor is suddenly loaded or during speed reversal, thus we
obtained a very high performance IM control system.
V.
Conclusion
A dynamic flux control strategy of PWM-fed induction motor has been presented and the
dynamic performance improved. And a novel flux estimator for this method is presented and proved
very robust. The whole control strategy is implemented on the experimental platform based on DSP;
the experimental results are in agreement with the theoretical studies and simulation, confirming the
validity of this control method of IM and the proposed improvement.
References
[1] J. Holtz, Sensorless control of induction motor drives, Proc. IEEE, vol. 90, no. 8, pp. 13591394, Aug.
2002.
[2]F.Z.Peng; Speed and flux sensorless field oriented control of induction motors for electric vehicles in Proc.
IEEE APEC00 Conf. vol. 1, pp.133 139, Feb. 2000.
[3]Mouna, B.H.; Lassaad, S. Direct Stator Field Oriented Control of Speed Sensorless Induction Motor in Proc.
IEEE ICIT06 Conf. vol.1 pp. 961 966, Dec. 2006.
[4] M. Comanescu and L. Xu, "An improved flux observer based on PLL frequency estimator for sensorless
vector control of induction motors"
IEEE Trans. Industrial Electronics, vol. 53, no. 1, pp. 50- 56, Feb. 2006.
[5] B.de Fornel, M. David, J.C. Hapiot, Y.D. Li, Position control of an asynchronous machines fed by PWM
inverter, 1st European Conference on Power Electronics and Applications, Brussel 1985.
[6] Y.D. LI, Etude comparative des lois de commande des machines asynchrones alimentes par onduleur de
tension MLI-Ralisation dune commande numrique de positionnement, Thse de Doctorat lINPT Toulouse
-9-
1987.
[7] Yongdong Li, de Fornel B, David M, New approach for flux PWM-fed induction drive, 3rd conference on
power electronics and electrical drives, London, 1988.
[8] Y.D. Li, B.de Fornel, M.David, Voltage-oriented control of induction motor: observer and dynamic control
of stator flux, CJPEC, Beijing, Oct. 1992.
[9] Yifan Wang, The study of voltage-oriented vector control system for induction motor, Bachelor Degree
thesis of Tsinghua University, 1996.
[10] Juanjuan Sun, The study of voltage-oriented vector control system for induction motor: performance
improvement, Master Degree thesis of Tsinghua University, 2001.
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