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Abstract — This paper introduces a control method for an in- II. THEORY
duction motor that is supplied by a PWM voltage source inverter
The principle of the control system is shown in Fig. 1. The
through an LC filter. A full-order observer is used to estimate the
system states, and no additional voltage or current measurements inverter output voltage u A is filtered by an LC filter, and the
are needed for the vector control of the motor. Simulation and induction motor (IM) is fed by the filtered voltage u s . The
experimental results are presented confirming the functionality of inverter current i A , the electrical angular speed ωm of the
the proposed control method. rotor, and the dc link voltage u dc are the only measured
quantities, whereas the stator voltage u s and current i s of the
Index Terms — Vector control, induction motor, LC filter, ob- motor are estimated by an observer (the estimated quantities
server.
being marked by ‘^’). The system is controlled by nested con-
I. INTRODUCTION trol loops in the rotor flux reference frame.
A. Filter and Motor Models
T HE voltage generated by a PWM frequency converter con-
sists of sharp-edged voltage pulses. Sudden alteration of
the voltage causes unwanted effects such as bearing currents
In a reference frame rotating at angular speed ω s , the equa-
tions for the LC filter are
and high voltage stresses in motor insulations. The oscillation
di A R Lf 1
at the switching frequency causes additional losses and acous- = − jω s i A − iA + (u − u s ) (1)
tic noise. These phenomena can be eliminated by adding an dt Lf Lf A
LC filter to the output of the PWM inverter. In addition, the
du s 1
EMI shielding of the motor cable may be avoided if the output = − jω s u s + (i − i ) (2)
voltage of the inverter is nearly sinusoidal. dt Cf A s
The control of an induction motor becomes more difficult if
an LC filter is used. Usually, a very simple scalar control where L f is the inductance and RLf the series resistance of
method (volts-per-hertz control) is chosen. Although better the inductor, and C f is the capacitance of the filter.
control performance is needed in many cases, only few publi- The motor control is based on the inverse-Γ model of the
cations deal with the vector control of an induction motor fed induction motor in the rotor flux reference frame. The stator
via an LC filter. A deadbeat controller has been used to control and rotor voltage equations in this reference frame are
the inductor current and the capacitor voltage [1], the high- dψ
pass filtered stator voltage has been used to correct the voltage u s = Rs i s + s
+ jω sψ (3)
dt s
reference [2], and a multi-loop feedback controller has been
proposed [3]. In these methods, extra current or voltage meas- dψ
urements are needed in addition to the phase current and dc 0 = RR i R + R
+ j (ω s − ω m )ψ (4)
dt R
voltage measurements usual in a frequency converter. A chal-
lenge for the motor drive control design is to keep the number
u dc Lf is
of measurements low in order to obtain cost savings and reli-
ability improvements. IM
In this paper, a method is presented for the vector control of ωm
an induction motor fed by an inverter with an output LC filter. iA
us Cf
A cascade control method is used to control the inverter cur-
rent, the stator voltage, the stator current and the rotor speed. u A,ref
Observer
The system states are estimated by a full-order observer.
û s iˆ s
− + − + − + − +
PI P PI PI
i A,ref u s ,ref i s ,ref ωm,ref
The authors are with Helsinki University of Technology, Power
Electronics Laboratory, P.O. Box 3000, FIN-02015 HUT, Finland (e-mail:
janne.salomaki@hut.fi). Fig. 1. Principle of the control system.
030 2
ψˆ R iˆ s û s
ψ R,ref + isd ,ref i A,ref
+ u s ,ref + + + + + u A,ref
+ +
ωm,ref + + + +
isq ,ref jL′s jC f jL f
ωm iˆ s ω̂s û s iA
respectively, where ψ and ψ are the stator and rotor flux means of a PI controller, and the stator voltage u s is governed
s R
linkages, respectively, Rs and RR are the stator and rotor by a P-type controller in the next control loop. In both control
resistances, respectively, i R is the rotor current, and ω m is the loops, decoupling terms are used to compensate the cross-cou-
electrical angular speed of the rotor. The stator and rotor flux plings caused by the rotating reference frame.
linkages are The motor control is based on vector control and forms two
outermost loops of the cascade control. The stator current is
ψ s = ( Ls′ + LM ) i s + LM i R (5)
controlled by a PI-type controller with cross-coupling compen-
sation, and the rotor speed is governed by a PI-controller. In
ψ R = LM (i s + i R ) (6)
addition, a PI-type rotor flux controller is used.
respectively, where Ls′ denotes the stator transient inductance C. Observability
and LM is the magnetizing inductance. Based on (1)-(6), the The observability of the system can be investigated using
state-space representation of the system can be written as the observability matrix
shown in (7) and (8) at the bottom of this page. The state vec-
tor is x = [i A u s i s ψ R ]T , and the two time constants are M o = [C C A C A 2 C A 3 ]T (9)
defined as τ σ′ = Ls′ /( Rs + RR ) and τ r = LM / RR .
The system is observable if the rank of the observability matrix
B. Cascade Control is equal to the number of states [4]. The observability was
Figure 2 illustrates the proposed cascade control of the sys- checked for various angular speeds of the rotor and the refer-
tem in the rotor flux reference frame. In the LC filter control, ence frame, indicating that the system is observable.
the innermost control loop governs the inverter current i A by
⎡ Rlf 1 ⎤
⎢− − jω s − 0 0 ⎥
⎢ Lf Lf ⎥ ⎡ 1 ⎤
⎢ 1 1 ⎥ ⎢L ⎥
⎢ − jω s − 0 ⎥
Cf Cf ⎢ f ⎥
x = ⎢ ⎥ x + ⎢ 0 ⎥u A (7)
⎢ 1 1 1 ⎛ 1 ⎞ ⎥ ⎢ 0 ⎥
⎢ 0 − − jω s ⎜⎜ − jω m ⎟⎟ ⎥ ⎢ ⎥
⎢ L ′ τ ′
σ L ′
s⎝ r τ ⎠ ⎥
s ⎢⎣ 0 ⎥⎦
⎢ 1 ⎥
⎢ 0 0 RR − − j(ω s − ω m )⎥ B
⎣ τ
r
⎦
A
i A = [1 0 0 0]x (8)
C
030 3
15 0.2
D. Full-Order Observer
10
TABLE I 1
ω (p.u.)
PARAMETERS OF THE MOTOR AND THE LC FILTER
0.5
Motor Parameters
m
Stator resistance Rs 3.67 Ω 0
Rotor resistance R R 1.65 Ω 0 2 4 6 8 10
Stator transient inductance Ls′ 0.0209 H
2
Magnetizing inductance LM 0.264 H
Total moment of inertia J 0.0155 kgm 2
T/TN
1
Rated speed nN 1430 r/min
Rated current I N 5.0 A 0
Rated torque TN 14.6 Nm 0 2 4 6 8 10
1
LC Filter Parameters
ψ (p.u.)
Inductance L f 8.0 mH 0.5
Capacitance C f 9.9 µF
R
Series Resistance RLf 0.1 Ω
0
0 2 4 6 8 10
t (s)
stator current, 15 Hz for the rotor speed, and 3 Hz for the rotor
flux. The poles of the observer were set to (–7.1 ± 11.8) p.u., Fig. 5. Simulation results showing a sequence with speed and load changes.
The first subplot shows the rotor speed (solid) and its reference (dashed). The
−2.7 p.u. and –0.02 p.u., the base value of the angular fre- second subplot shows the electromagnetic torque (solid) and its reference
quency being 2π ⋅ 50 rad/s . The reference value of the inverter (dashed) normalized by the rated torque TN . The third subplot shows the
voltage u A, ref was used in the observer and control instead of rotor flux linkage (solid) and its estimate (dashed).
uA .
Figure 5 shows an example of simulated sequences, con- 500
Voltage (V)
1 500
ω (p.u.)
Voltage (V)
0.5
0
m
0
0 2 4 6 8 10
-500
2 0 0.01 0.02 0.03 0.04 0.05 0.06 0.07 0.08
T/TN
1 10
Current (A)
0
0 2 4 6 8 10 0
1
-5
ψ (p.u.)
0.5 -10
0 0.01 0.02 0.03 0.04 0.05 0.06 0.07 0.08
R
Time (s)
0
0 2 4 6 8 10 Fig. 10. Experimental result showing voltage and current waveforms as the
t (s) rotation speed is 25 Hz and the load torque is 14.6 Nm. The first subplot
shows the inverter output voltage (phase-to-phase) and the stator voltage
Fig. 8. Experimental results showing a sequence with speed and load changes
(phase-to-phase). The second subplot shows the inverter current and the stator
as observer gain is obtained by pole placement and constant motor parameters
current.
are used in observer and control. The first subplot shows the rotor speed
(solid) and its reference (dashed). The second subplot shows the measured
shaft torque (solid) and the electromagnetic torque reference (dashed). The
third subplot shows the rotor flux reference (solid) and the estimated rotor 1
ω (p.u.)
flux (dashed).
0.5
m
0
1 0 2 4 6 8 10
ω (p.u.)
0.5 2
m
T/TN
0 1
0 2 4 6 8 10
0
2 0 2 4 6 8 10
1
T/TN
1
ψ (p.u.)
0 0.5
R
0 2 4 6 8 10
1 0
0 2 4 6 8 10
ψ (p.u.)
t (s)
0.5
R
Fig. 11. Experimental results showing a sequence with speed and load
0 changes as the observer gain is constant. The explanations of the curves are as
0 2 4 6 8 10 in Fig. 8.
t (s)
Fig. 9. Experimental results showing a sequence with speed and load changes experimental results show that the proposed control method
as observer gain is obtained by pole placement and main flux saturation is operates correctly. The observer gain can be selected by means
taken into account. The explanations of the curves are as in Fig. 8.
of pole placement, or a constant gain can be used.
Experiments were also carried out using an observer with a REFERENCES
constant gain k1 = 2π ⋅ 1000 s −1 . The main flux saturation was
[1] M. Kojima, K. Hirabayashi, Y. Kawabata, E.C. Ejiogu, and T.
taken into account in the observer and control. The results are Kawabata, “Novel vector control system using deadbeat controlled
shown in Fig. 11. The performance is nearly equal to that of PWM inverter with output LC filter,” in Conf. Rec. IEEE/IAS Annu.
the more complicated observer. Meeting, vol. 3, Pittsburgh, PA, Oct. 2002, pp. 2102-2109.
[2] A. Nabae, H. Nakano, and Y. Okamura, “A novel control strategy of the
inverter with sinusoidal voltage and current outputs,” in Proc. IEEE
V. CONCLUSIONS PESC’94, vol. 1, Taipei, Taiwan, June 1994, pp. 154-159.
[3] R. Seliga and W. Koczara, “Multiloop feedback control strategy in sine-
When the inverter output voltage is filtered by an LC-filter, wave voltage inverter for an adjustable speed cage induction motor
the vector control of an induction motor can be based on drive system”, in Proc. EPE 2001, Graz, Austria, Aug. 2001, CD-ROM.
nested control loops. The system states can be estimated by a [4] G.F. Franklin, J. D. Powell, and A. Emami-Naeini, Feedback Control of
full-order observer, requiring only the measurements of in- Dynamic Systems, 4th ed., Prentice Hall, Upper Saddle River, NJ, 2002.
[5] J. Niiranen, “Fast and accurate symmetric Euler algorithm for electro-
verter current, dc voltage, and rotor speed. Simulation and mechanical simulations,” in Proc. Electrimacs’99, Lisboa, Portugal,
Sept. 1999, pp. 71-78.
030 6
⎡ R Lf 1 1 ~ ~ ⎤
iˆAd (n + 1) = iˆAd ( n) + Ts ⎢− iˆAd (n) + ωˆ s (n)iˆAq (n) − uˆ sd ( n) + u Ad (n) + k1d iAd (n) − k1q iAq (n) ⎥ (13a)
⎢⎣ L f Lf Lf ⎥⎦
⎡ R Lf 1 1 ~ ~ ⎤
iˆAq (n + 1) = iˆAq (n) + T s ⎢ − iˆAq (n) − ωˆ s (n)iˆAd ( n + 1) − uˆ sq (n) + u Aq ( n) + k1q iAd (n) + k1d iAq ( n) ⎥ (13b)
⎢⎣ L f Lf Lf ⎥⎦
⎡ 1 1 ˆ ~ ~ ⎤
uˆ sd ( n + 1) = uˆ sd (n) + Ts ⎢ iˆAd (n + 1) + ωˆ s (n)uˆ sq ( n) − i sd (n ) + k 2 d i Ad ( n) − k 2 q i Aq ( n)⎥ (13c)
⎢⎣ C f Cf ⎥⎦
⎡ 1 1 ˆ ~ ~ ⎤
uˆ sq (n + 1) = uˆ sq (n) + Ts ⎢ iˆAq (n + 1) − ωˆ s ( n)uˆ sd (n + 1) − i sq (n) + k 2 q i Ad ( n) + k 2 d i Aq (n )⎥ (13d)
⎢⎣ C f Cf ⎥⎦
⎡ 1 1 ˆ 1 ~ ~ ⎤
iˆsd (n + 1) = iˆsd (n) + Ts ⎢ uˆ sd ( n + 1) − i sd (n) + ωˆ s (n)iˆsq ( n) + ψˆ R ( n) + k 3d iAd (n) − k 3q iAq ( n)⎥ (13e)
⎣ L s′ τ σ′ L s′ τ r ⎦
⎡ 1 1 ˆ ω ( n) ~ ~ ⎤
iˆsq (n + 1) = iˆsq (n) + Ts ⎢ uˆ sq (n + 1) − i sq (n) − ωˆ s ( n)iˆsd (n + 1) − m ψˆ R ( n) + k 3q i Ad (n) + k 3d i Aq (n)⎥ (13f)
⎣ s
L ′ τ ′
σ L ′
s ⎦
⎡ 1 ~ ~ ⎤
ψˆ R ( n + 1) = ψˆ R (n) + T s ⎢ R R iˆsd (n + 1) − ψˆ R (n) + k 4 d iAd ( n) − k 4 q iAq (n)⎥ (13g)
⎣ τr ⎦
~ ~
iˆsq (n + 1) R R + k 4 q i Ad ( n) + k 4 d i Aq (n)
ωˆ s (n + 1) = + ω m (n) (13h)
ψˆ R ( n + 1)