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2018 25th International Workshop on Electric Drives: Optimization in Control of Electric Drives (IWED), Moscow, Russia.

Jan 31 – Feb 02, 2018

Comparative Study of Field-Orinted Control Model in


Application for Induction and Synchronous
Reluctance Motors for Life-cycle Analysis
S. Autsou, V. Saroka, D. Karpovich A. Rassõlkin, L. Gevorkov, A. Belahcen
Department of Automation of T. Vaimann, A. Kallaste Department of Electrical
Production Processes and Electrical Department of Electrical Power Engineering and Automation
Engineering, Belarussian State Engineering and Mechatronics, Aalto University
Technological University Tallinn University of Technology Espoo, Finland
Minsk, Belarus Tallinn, Estonia
s.ovtsov@mail.ru anton.rassolkin@ttu.ee

Abstract— This paper investigates the difference between The third stage concerns the end-of-life, reusing and
Field-Oriented Control (FOC) strategies for induction and recycling of the machine and its materials.
synchronous reluctance motors. It illustrates the concept of Considering the increased lifetime of machines today [3]–
model-based control scheme for both types of motors. The
simulation models developed for both types of motors take into
[5] and extensive intermittent use, such long-term gains as
consideration the differences between these motors and allow not lower energy consumption and, as a consequence of that,
only to study the entire system but also to implement them for lower stress and heat emission, can play a significant role in
real-time target machines. Additionally, the paper provides an shortening the return of investment period.
example of operating energy losses calculation methodology Permanent magnet assisted synchronous reluctance machine
based on the motor efficiency and serviceable life of electric (PMSynRM) is one of the promising technologies gaining
motor that can be considered as background for future Life
Cycle Assessment (LCA) for studied types of electrical machines.
popularity due to a number of economic and technical
advantages [6]. Many works have been carried out [7]–[12] in
Keywords— induction motors; permanent magnet motors; the field of PMSynRM rotor design, because it is possible to
computer simulation; MATLAB; machine vector control improve torque characteristics and power factor by increasing
d-q axis inductance difference (Ld-Lq) and inductance ratio
I. INTRODUCTION (Ld/Lq), respectively [13]. Apart of engaging loss minimization
Choosing the most efficient electrical machine for the problem through the machine design, mainly control
device is often considered enough to provide an optimal techniques are proposed to reduce losses during
solution to a problem, further optimization of existing set-up is operation [13]–[17]. The nature of the losses in PMSynRM is
often neglected as having too insignificant impact to justify identical to other ac electrical machines and comprises of
additional investment. The European legislation on the hysteresis and eddy-currents (or iron losses), copper losses,
ecodesign emphasizes the role of the lifecycle of goods from and mechanical and stray load losses [18].
raw material to their final disposal [1]. ISO 14040 defines Life The aim of the paper is to provide a background for the
Cycle Assessment (LCA) as compilation and evaluation of the second phase of LCA and prepare a tool for comparative study
inputs, outputs and the potential environmental impacts of a of different ac motors. Field-oriented control (FOC) was
product system throughout its life cycle. ISO 14044 chosen as a control method for electrical machines, while it
characterizes the LCA performance process. can be easily applied to induction motor (IM), synchronous
The environmental study of electric motor consists from reluctance motor (SynRM) and PMSynRM. FOC operating
three parts. It starts by modelling and construction phase, the features of electrical machines are taken into account and their
motor is assembled from a set of materials. The second stage specific influence on tested ac machines losses are analyzed.
is to assess the impacts of the motor use phase, which are MATLAB/Simulink was chosen as simulation environment as
related to the operating energy losses. These losses are tightly it would be applied for future research in real-time simulation
connected with the cumulative operating time, the actual on the developed hardware-in-the-loop (HIL) system.
working conditions and total lifetime of motors [2]. MATLAB/Simulink SimPower system library models were
used as controlled machines. The machines parameters were
A motor is generally considered to be an energy converter measured from the real IM and SynRM machines (Table 1).
device but not an end use device, therefore, only losses that For the future research the electrical machines models will be
appear inside the motor, should be taken into account. adjusted according to the particular research needs.

This research has been supported by the Estonian Research Council under
grant PUT1260

978-1-5386-1200-2/18/$31.00 ©2018 IEEE


2018 25th International Workshop on Electric Drives: Optimization in Control of Electric Drives (IWED), Moscow, Russia. Jan 31 – Feb 02, 2018

II. FOC CONTROL PRINCIPLES AND MATHEMATICAL dΦ d


MODELS Vd = I d R s + − ωe Φ q , (2)
dt
The main purpose of FOC is to synchronize the magnetic dΦ q
Vq = I q R s + + ωe Φ d , (3)
field of the stator, so it would be capable of controlling the dt
flux and torque components of motor currents separately. It
helps to control the torque in the transitional mode. The where Vd, Vq are the d-q axes voltage components, Id, Iq are the
decoupling is applied to present the machine with alternating d-q axes current components, Ld, Lq are the d-q axes
current as a machine with direct current. It implies separately inductance components, Rs is the stator resistance, ĭd, ĭq are
the control of currents along the d-q axes in the machine. To the d-q axes stator flux, Ȧe is the electrical speed.
implement FOC, the next steps have to be followed:
• Three phase currents should be measured - ia, ib, ic, the III. FOC FOR INDUCTION MOTOR
relation between these measured currents is given by the Structural scheme of the model for the IM includes different
equation: main blocks. First, the blocks of direct and inverse Clarke and
Park transformations (Figs. 1 and 2), which convert current
i a + ib + i c = 0 , (1) vectors from a-b-c axes in d-q axes and vice-versa.

• The next step is to apply Clarke’s transformation to


convert the three phase currents into a fixed two-axis
system. This transformation helps to calculate the values of
iĮ and iȕ from the previously measured ia, ib and calculated
ic variables.

• Then Park’s transformation is applied, where the two-axis


coordinate frame is rotated to align with rotor flux. The Fig. 1. Park and Clarke transformation block.
transformation helps to calculate id, iq currents from iĮ and
iȕ. These currents are transformed into the rotating
coordinate frame. In steady state, they are constant.

• To process error signals, PI controllers are used. The error


signals are formed from the difference between id, iq and
reference values for each. The output of the controllers are
forming Vd, Vq voltage vectors that are sent to the electric
machine.
Fig. 2. Park-1 and Clarke-1 transformation block.
• After processing error signals, the PI controllers calculated
values of Vd, Vq are rotated back to the stationary
coordinate system using the new angle. This calculation The block of direct Park and Clarke transformations (Fig. 1)
provides next quadrature voltage values - VĮ and Vȕ. is described by the equations:

• At last, calculated values of VĮ and Vȕ are converted back (3 cos(ϕ ) + 3 sin(ϕ )) I a


Id = + 3 sin(ϕ ) I b , (4)
to three phase values Va, Vb, Vc with the help of inverse 2
Clarke’s transformation. These values are used to calculate
a new pulse wave modulation (PWM) duty cycle that is (−3 sin(ϕ ) + 3 cos(ϕ )) I a
forming the respective voltage vector. The entire process Iq = + 3 cos(ϕ ) I b , (5)
2
consists of direct and inverse transformations, PI iterations
and finally, the generation of PWM based on calculated
The block of inverse Park and Clarke transformations
values.
(Fig. 2) is described by the equations:
In the developed models, two types of electric motors were
3
simulated. The first one was an IM and the second one a Ia = ( I d cos(ϕ ) − I q sin(ϕ )) , (6)
SynRM. In general, the analytical model of the stator voltage 2
balance for a two-phase d-q system in the steady state is given
by equations: ( 3 sin(ϕ ) − cos(ϕ )) I d + ( 3 cos(ϕ ) + sin(ϕ )) I q
Ib = , (7)
3
2018 25th International Workshop on Electric Drives: Optimization in Control of Electric Drives (IWED), Moscow, Russia. Jan 31 – Feb 02, 2018

I c = −I a − I b , (8) 1 , (11)
K p = Lm ; K i =
Tr
Second, the block for calculating the angle of the rotor
position (Fig. 3). The speed controller (Fig. 5) is described by the following
equation:
Zp
ω= , (12)
Jp + 1

where Zp, is number of pole pairs; J is inertia. Proportional and


integral coefficients for IM speed controller are given by:
Fig. 3. Block for obtaining the electrical angle ij.
1, (13)
K p = Z p ; Ki =
The calculation of the rotor position angle in radians is J
determined by the formula:
IV. FOC FOR SYNCHRONOUS RELUCTANCE MOTOR AND
Lm I q PERMANENT MAGNET ASSISTED SYNCHRONOUS RELUCTANCE
ϕ=³ +ω , (9) MOTOR
Trψ r
The structural scheme of the FOC for SynRM and
PMSynRM also includes a number of main blocks. First, the
where Lm is the magnetizing inductance; Tr is the rotor time
block of direct and inverse Clarke and Park transformations,
constant; ȥr is the flux linkage of the rotor; Ȧ is the rotor
which convert current and voltage vectors from a-b-c axes to
speed.
d-q axes and vice-versa. Blocks for direct and inverse Clarke
The third part includes the controllers of rotor flux linkage
and Park transformations are equivalent to IM blocs (Figs. 1
(Fig. 4) and rotor speed (Fig. 5). The controllers are used for
and 2) are described by analogous equations as for IM (4) -
calculation of currents along the d-q axes.
(8).
The second part consists of rotor speed controllers and
currents in the d-q axes (Fig. 6), based on which the calculated
values of voltages in the d-q axes are obtained.

Fig. 4. Flux controller.

Fig. 6. Speed and currents controllers in the d-q axes.

The speed controller is described by the following equation:


Fig. 5. Speed controller.

Zp
ω= , (14)
The flux linkage controller (Fig. 4) is described by the Jp + β
following equation:
L I where ȕ is the viscous damping. Proportional and integral
ψr = m d , (10) coefficients of the controller are respectively:
Tr p + 1
Zp J ,
Coefficients of the flux linkage controller are: Kp = ; Ki = (15)
β β
2018 25th International Workshop on Electric Drives: Optimization in Control of Electric Drives (IWED), Moscow, Russia. Jan 31 – Feb 02, 2018

The currents in the d-q axes controllers are described by the


following equations:
Ud , (16)
Id =
Ld p + R s

Uq
Iq = , (17)
Lq p + R s

where Ud, Uq are the d-q axes voltage components; Rs is the


stator resistance. Coefficients of the controllers are
respectively:

1 R
K p1 = ; K i1 = s , (18)
Fig. 9. Efficiency of SynRM.
Rs Ld
The graphical dependences show that the efficiency of an
1 R IM under rated load is 89.1%, for a PMSynRM – 98% and for
K p2 = ; K i2 = s , (19) a SynRM – 75%.
Rs Lq The energy losses Eloss of an electric machine can be
estimated by the following equation:
V. SIMULATION RESULTS AND ENERGY LOSS CALCULATION
During the conducted studies, the FOC-control modeling § η ·
Eloss = Pn ¨1 − n ¸ ⋅ 8760 ⋅ Y , (20)
results for IM, SynRM and PMSynRM were obtained. The © 100 ¹
efficiency diagrams Figs. 7-9 present the motor shaft to input
power ratio for studied motors. where Pn is the rated motor power, ηn is the rated motor
efficiency in % and Y is the motor operation time in years.
The energy losses of studied motors, operated for 25 years
in IEC 60034-1 S1 operational mode, will be 179 MWh for
IM, 45.1 MWh for PMSynRM and 564 MWh for SynRM.

TABLE I. MOTORS DATA

Motor Type
Parameter
IM SynRM PMSynRM
Motor size 132 MA 132 MA 132 MA

Rated Power, kW 7.5 10.5 10.5

Rated Current, A 15.3 22 19


Fig. 7. Efficiency of IM. Rated Speed, rpm 1460 1500 1500

cos੮ 0.7 0.69 0.8

Moment of inertia, kgm2 0.048 0.048 0.048

CONCLUSIONS
Electrical motor drives models, based on the real machines
(Table 1), have been developed. The IM used for studies is a
standard industrial motor and the SynRM was particularly
designed for the studies and has an option to add permanent
magnets to rotor and thereby study the same machine as a
PMSynRM. The design of SynRM is based on studied IM
frame. It is worth mentioning that for the same standard frame
size the SynRM and PMSynRM shows better performance and
Fig. 8. Efficiency of PMSynRM. the output power is 40% higher comparing to IM.
2018 25th International Workshop on Electric Drives: Optimization in Control of Electric Drives (IWED), Moscow, Russia. Jan 31 – Feb 02, 2018

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