Palestine Polytechnic University

Workshop
Matlab/Simulink in Drives
and Power electronics
Lecture 6 : Induction Motor Inverter Control

Ghislain REMY Jean DEPREZ

18-21 May 2009 Workshop Matlab/Simulink in Drives and Power electronics – Lecture 6 1 / 18
 Palestine Polytechnic University

Workshop Programe
• 8 lectures will be presented based on Matlab/Simulink :
– 1 Introduction to Matlab
– 2 Introduction to Simulink
– 3 DC-Motor Control design
– 4 DC-Motor Chopper design SimPowerSystems
– 5 Introduction to Stateflow/Statechart
– 6 Induction Motor Inverter Control
– 7 Synchronous Motor Modeling
– 8 Synchronous Motor Control
• Two system applications (four quadrants electric drives of
mechanical systems) will be used as "conducted lines" during
the workshop.

18-21 May 2009 Workshop Matlab/Simulink in Drives and Power electronics – Lecture 6 2 / 18
 Palestine Polytechnic University

Summary
• Short presentation of induction motor
• Model of Induction Motor using SimPowerSystems
• Scalar Control principle
• Vector Control principle
• Some examples of control architectures in Simulink

18-21 May 2009 Workshop Matlab/Simulink in Drives and Power electronics – Lecture 6 3 / 18
 Palestine Polytechnic University

Introduction
• Variable speed control of AC electrical machines makes use of
forced-commutated electronic switches such as IGBTs,
MOSFETs, and GTOs.
• Asynchronous machines fed by pulse width modulation
(PWM) voltage sourced converters (VSC) are nowadays
gradually replacing the DC motors and thyristor bridges. With
PWM, combined with modern control techniques such as
field-oriented control or direct torque control, you can obtain
the same flexibility in speed and torque control as with DC
machines.
• This lecture shows how to build an AC drive controlling an
asynchronous machine

18-21 May 2009 Workshop Matlab/Simulink in Drives and Power electronics – Lecture 6 4 / 18
 Palestine Polytechnic University

• SimPowerSystems a specialized library containing 13 models

of DC and AC drives. These “ready to use” models will enable
you to simulate electric drive systems without the need to
build those complex systems yourself.
• The Machines library contains four of the most commonly
used three-phase machines and especially the asynchronous
machine.
• Combined with linear and nonlinear elements such as
transformers, lines, loads, breakers, etc., they can combined
with power electronic devices to simulate drives.

18-21 May 2009 Workshop Matlab/Simulink in Drives and Power electronics – Lecture 6 5 / 18
 Palestine Polytechnic University

Power Electronics
• In Lecture 4, we have seen that the Power Electronics library
contains blocks allowing you to simulate diodes, thyristors,
GTO, MOSFETs, and IGBT devices. three-phase bridge.
• For example, an IGBT inverter bridge
needs six IGBTs and six anti-parallel diodes.
• To facilitate implementation of bridges,
the Universal Bridge block automatically
performs these interconnections for you.

18-21 May 2009 Workshop Matlab/Simulink in Drives and Power electronics – Lecture 6 6 / 18
 Palestine Polytechnic University

Model of Induction Machine

• In the Library Machines:
– The Asynchronous Machine block operates in either
generator or motor mode.
The mode of operation is dictated by the sign of the mechanical
torque:
• If Tm is positive, the machine acts as a motor.
• If Tm is negative, the machine acts as a generator.
– The electrical part of the machine is represented by
a fourth-order state-space model and the mechanical part by a
second-order system.
– All electrical variables and parameters are referred to the stator.
All stator and rotor quantities are in the arbitrary two-axis reference
frame (dq frame).

18-21 May 2009 Workshop Matlab/Simulink in Drives and Power electronics – Lecture 6 7 / 18
 Palestine Polytechnic University

Model of Induction Motor (SimPowerSystems)

The subscripts used

are defined as follows:

18-21 May 2009 Workshop Matlab/Simulink in Drives and Power electronics – Lecture 6 8 / 18
 Palestine Polytechnic University

Effect of Saturation in the Induction Machine

• The power_asm_sat demo illustrates the effect of saturation

18-21 May 2009 Workshop Matlab/Simulink in Drives and Power electronics – Lecture 6 9 / 18
 Palestine Polytechnic University

PWM Control of an Induction Motor

Type 2 level
Mode of operation Un-synchronized
Carrier frequency 18*60Hz (1080 Hz)
Internal generation of selected
modulating signals
Modulation index m 0.9
Output voltage frequency 60 Hz
Output voltage phase 0 degrees
Sample time 10e-6 s

Power electronic device IGBT/Diodes

Snubber Rs 1e5 Ω
Cs inf
Ron 1e-3 Ω
Forward voltages
Vf 0 V
Vfd 0 V
Tail
Tf 1e-6 s
Tt 1e-6 s
18-21 May 2009 Workshop Matlab/Simulink in Drives and Power electronics – Lecture 6 10 / 18
 Palestine Polytechnic University

Example 1: Induction Machine in Motor Mode

• The power_pwm demo illustrates the use of the
Asynchronous Machine block in motor mode. It consists of an
asynchronous machine in an open-loop speed control system.
– The machine's rotor is short-circuited, and the stator is fed by a PWM
inverter, built with Simulink blocks and interfaced to the Asynchronous
Machine block through the Controlled Voltage Source block. The
inverter uses sinusoidal pulse-width modulation. The base frequency
of the sinusoidal reference wave is set at 60 Hz and the triangular
carrier wave's frequency is set at 1980 Hz.
– The 3 HP machine is connected to a constant load of nominal value
(11.9 N.m). It is started and reaches the set point speed of 1.0 pu
at t = 0.9 second.
– The parameters of the machine are those found in the SI Units dialog
box above. Tsimulate a smoothing an inductor is placed between the
inverter and the machine.
18-21 May 2009 Workshop Matlab/Simulink in Drives and Power electronics – Lecture 6 11 / 18
 Palestine Polytechnic University

power_pwm: 3-Phase Asynchronous Machine

18-21 May 2009 Workshop Matlab/Simulink in Drives and Power electronics – Lecture 6 12 / 18
 Palestine Polytechnic University

What Control type for Induction Motor?

• Classical technique :
– Six-Step Induction 3HP Motor Drive
– Space Vector PWM Induction 3HP Motor
– Field-Oriented Control Induction 200 HP Motor Drive
– Direct Torque Control (DTC) Induction 200 HP Motor Drive

18-21 May 2009 Workshop Matlab/Simulink in Drives and Power electronics – Lecture 6 13 / 18
 Palestine Polytechnic University

Six-Step
• ac1_example: Six-Step Induction 3HP Motor Drive

18-21 May 2009 Workshop Matlab/Simulink in Drives and Power electronics – Lecture 6 14 / 18
 Palestine Polytechnic University

Space Vector PWM

• ac2_example: Space Vector PWM Induction 3HP Motor

Blue : Detailed Converter,

Red : Average-Value Converter
18-21 May 2009 Workshop Matlab/Simulink in Drives and Power electronics – Lecture 6 15 / 18
 Palestine Polytechnic University

Field Oriented Controller

• ac3_example: Field-Oriented Control Induction 200 HP
Motor Drive

Blue : Detailed Converter,

Red : Average-Value Converter
18-21 May 2009 Workshop Matlab/Simulink in Drives and Power electronics – Lecture 6 16 / 18
 Palestine Polytechnic University

Direct torque and flux control (DTC)

• ac4_example: DTC Induction 200 HP Motor Drive

18-21 May 2009 Workshop Matlab/Simulink in Drives and Power electronics – Lecture 6 17 / 18
 Palestine Polytechnic University

Solving Algebraic Loops

• Example of a Self-Resetting Integrators
•It is a self-resetting integrator by feeding the
integrator's output, subtracted from 1, back into
the integrator's reset port.
• In so doing, the model creates an algebraic loop:
To compute the integrator block's output,
Simulink software needs to know the value of the
block's reset signal, and vice versa.
Because the two values are mutually dependent, Simulink software cannot
determine either. It therefore signals an error if you try to simulate or
update this model.

• Solution : State output

– Or, adding a delay
In the feedback loop
18-21 May 2009 Workshop Matlab/Simulink in Drives and Power electronics – Lecture 6 18 / 18