Dynamic and Steady State Modelling of Brushless Doubly Fed Induction Machines

G. Boardman, J. G. Zhu, andQ.P. Ha

Faculty of Engineering, University of Technology, Sydney P.O. Box 123 Broadway NSW 2007 Australia Email: joe@eng.uts.edu.au
.4bsfruct - This paper addresses issues of the modelling of the doubly fed twin stator induction machine, using space phasors. Dynamic and steady state models are included both in the voltage and current controiled modes.

phasor. Power winding refers to the stator winding of the power machine and control winding refers to the stator winding of the control machine.
I. INTRODUCTION

Keywords-doubly fed twin stator induction machine, dynamic and steady state modelling, voltage and current controlled modes, speed control. Nomenclature
A.

f
i

'

N P P
9 3 R
T

T
y

w
Z

R
8

Main Variables Frequency (Hz) Instantaneous current (A) rms current (A) Imaginary operator Inductance (H) Mechanical speed (rpm) Differentiation with respect to time Number of pairs of poles Real part of complex quantity Resistance (Q) Instantaneous torque (Nm) Steady state torque (Nm) Instantaneous voltage (V) R M S voltage (V) Angular velocity (rads) Impedance (Q) Flux linkage (Wb) Angle of alignment of rotor 'a' phases

B. Subscript and Superscript Variables C Control machine d Rotor direct axis CC Current controlled D Stator direct axis e Electrical I Leakage m Mechanical Mutual M n Natural Power machine P Rotor quadrature axis 4 Stator quadrature axis Q r Rotor Stator S Voltage controlled VC z Complex conjugate
Bold tower case variable denotes instantaneous space phasor. Bold upper case variable denotes rms space
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About 80% of all electrical motors produced are induction motors, and over 90% of the world's power of electric drive is provided by induction motors. Many applications require a variable speed drive to operate efficiently, often over a narrow speed range. Such applications include fans for ventilation and airconditioning, and water pumps, where typically a speed m g e of 75% to 100% is required. The doubly fed, twin stator, induction machine (DFTSIM) is being investigated as a variable speed drive [1,2]. The DFTSIM being studied consists of two, nominally identical, wound rotor induction machines, shown schematically in Fig. 1. A number of studies have been conducted on the performance modelling of the s brushless doubly fed machine (BDFM) [3-61, which i hnctionally equivalent to the DFTSIM. Perm anent connections can be made between the two rotor windings, under which conditions the DFTSIM is brushless. In this paper, a positive control winding frequency denotes a balanced three phase set which produces a magnetic field that rotates in the same direction as that produced by the power winding voltages. A negative frequency denotes a voltage set that produces rotation in the opposite direction. The DFTSIM can operate in the synchronous imode, in which there is a single frequency of current in the rotor and the rotor speed is a simple function of the stator supply frequencies and numbers of pole pairs, as follows:

The natural, or synchronous, speed, N,,, occurs with dc applied to the control winding.
Power machine
Control machine

Utility supply: Fixed frequency and voltage

c
Variable voltage. variable frequency SUlJPIY

Fig. 1. Arrangement of DFTSIM

This paper revises dynamic and steady state models of the DFTSIM, both in the voltage and current controlled modes, in terms of space phasors and makes comparison with the model for the BDFM.
11. MODELLING

Power machine rotor

Fv

Control machine rotor

icd

A . General Assumptions

The following assumptions are made: (a) Balanced three phase windings are distributed to produce sinusoidal space variation of flux density; (b) Only the fundamental components of voltage and current are considered; (c) The magnetic circuits are linear, i.e. the effects of saturation and hysteresis are neglected; and (d) Zero sequence quantities are not present. B. Dynamic Voltage Equations The DFTSIM is modelled as two cascaded wound rotor induction machines that have, in general, different numbers of pole pairs. The stators are fed from independent supplies. The rotors share a common shaft with their windings connected in reverse sequence to produce contra rotating magnetic fields. To analyse the DFTSIM, a power invariant, per phase, direct quadrature axes (dq) transformation is applied in the rotor reference frame. In this analysis, the rotor a phase is assumed to be aligned with the direct (d) axis and the quadrature (q) axis leads the d axis by d 2 . The two-axis theory of the three phase induction motor is well developed and is used as the starting point for the development of the dynamic equations of the DFTSIM. The dynamic equation of the induction motor, in the rotor reference frame, is written as [7]:
= [zl where

Fig. 2. dq connections for any valid rotor interconnections and with non-aligned rotor a phases spatial displacement between the d and q axes. To produce the contra rotating fields on the rotor, the rotor windings must be connected in reverse sequence. There are six different ways to connect the rotor windings that praduce contra rotating fields on the rotor. Each of the six ways introduces aphase shift of mI3 into the control winding space phasors. The phase shift is the spatial orientation of the control machine rotor field when the power machine rotor field is coincident with the d axis. A further phase shift may be introduced if the two rotors are coupled with their U phases out of . alignment by an angle 8 This is depicted in Fig. 2. For the case shown in Fig. 2, with p =0, the equations relating the currents and voltages in the rotors are

The rotor space phasors are

[.I

[il

i,, = i p d
i,
Vpr

+j i w ,
..
(7)

=icd+JZc9= i p d - j i p q , =vpd

+PPq
9

v c r = vcd + j vc9 = -(vpd

-j

Vw).

(9)

In this case, the control machine space phasors are related to the power machine space phasors as and the space phasors are

i,,

.*
=iPr,

v, =-v Pr

In general, Q, #O, and (1 0) becomes

i, = ipreJQ, v, = - v p , e J p ,

5,

2 ~ C i LMiz i, ). p 2

where
(4)

In the space phasor the operatorj represents the n/2

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Fig.3. Per phase equivalent circuit; voltage controlled

"I
i,
where
R, = R ,

+ RCr,and Lr = L, + L,,

Equation (13) is the general equation for the DFTSIM with any valid rotor interconnection, with an arbitrary angle of rotor alignment and for any input voltage or current. The per phase equivalent circuit, based on (13), is shown in Fig.3, in which 4 and &are the flux linkage space phasors. The total electromagnetic torque is

D. Steady State VoltageEquations

In the steady state, the DFTSIM is assumecl to be synchronized, in which the rotor carries only a single frequency of current. Each machine actsas an induction machine with the angular frequency of rotor current in both ma_+ines given by
0 , = uvn -Pa,.

(16)

The slips are defined as

As an example of the application of the dP factor, consider the case, where the value of the integer n in (12) is n=3 and S O . This corresponds to the rotor fields being coincident on the negative d axis. The resultant equation corresponds with the model obtained for the BDFM in r41. C. Qnamic Current Equations

s = m p -ppw* , a n d s = % ,

(17)

Using rms values (13) becomes, at the power winding frequency

rvvc1 = r ~ , c 1 [ ~ v c l ~

In current controlled mode, the control winding current, i,, is imposed by the controller. This results in the second row of (13) being eliminated, since it is no longer the governing equation for the circuit. The resultant equation is

where

s The per phase equivalent circuit, based on (15), i shown in Fig,4(a).

- 4.14 -

"P

VP

were those of a laboratory DFTSIM set consisting of two, nominally identical, wound rotor induction machines, A/Y connected, 6 pole, 1.5 kW, 15 Nm, 100 V, 50 Hz, 14.8 A. The parameters of the machines, calculated at 50 Hz, are given: ri=0.627 $2, xi=1.20 R, x,=18.0 R, r2=1.29 R, x2=1.73 0, stator to rotor turns ratio=1.06, and J=0.31 kg m2. In all simulations and experiments rated voltage and frequency were applied to the power winding, unless otherwise indicated.

B, Closed loop, voltage controlled. performance

A closed loop, proportional plus integral (PI), controller was implemented in which the controlled variable was the control winding voltage. The control scheme is illustrated in Fig.5.

* er
(a) (c) Fig.4. Per phase equivalent circuits, (a) dynamic, current controlled, (b) steady state, voltage controlled, and (c) steady state, current controlled Equation (1 8) can be represented by the circuit shown in Fig.4(b). Equation (14) gives the instantaneous torque. In terms

Control angle computation

Utility

Voltage or Inverter Control

1
itio

of rms values, the total torque, T,, is

PI Controllex

Fig.5 Space phasor conti61 scheme T h e first term is the torque developed in the power machine and the second is the torque developed in the control machine. The system response was better than in open loop but less than optimal. Fig.6 shows the system response to a commanded speed of 400 rpm, corresponding to a control winding fiequency of -10 Hz. The response was stable but slow. In the open loop it was not possible to synchronize the machine at -10 Hz. After two seconds the speed was stable but greater than commanded. The proportional and integral gains having been set to close a to the limits of stability. Over time, this error w s removed and the speed settled at 400 rpm but the speed of response was slow. In the open loop, the system was uhstable even for a control winding frequency of 5 Hz. In the closed loop the system was stable at 5 Hz,but slow to respond. Fig.7 shows the response to a commanded speed of 600 rpm, corresponding to a control winding frequency of -10 Hz. Again, the error after 2 s was quite pronounced but w s a forced to zero over time. The results obtained for other speeds were varied. The proportional and integral gains that could be used effectively, varied with speed and as a consequence the system was, at times, unstable or, at best, very slow torespond. The greater the variation from the natural speed, the lower the value of gain that could be used.

E. Steady State Current Equations

In steady state, (1 5) becomes
[Vccl =[ZccI[
ICCI,

where

Equation (20) can be represented by the equivalent circuit shown in Fig.4(c).

111. SYSTEM SIMULATION A, Machine Parameters

The-machine parameters used in the simulations

- 4r5--

C. Closed loop, current control, performance

The reduced order of the current controlled model in

(15) suggested it could be more stable than the voltage

o 01

0.

. 0

. 0.

,.I

4.

I1

. I

-100

Th. 1 . 1

Fig.6. Simulation of closed loop response, voltage controlled, reference speed = 400 rpm

controlled model. This proved to be the case. A PI controller was implemented, in which the controlled variable was the control winding current. The control scheme is the same as that illustrated in Fig.5, in which the voltage source inverter was replaced by a cument source inverter. Figs.8 and 9 show the system response!to commanded speeds of 400 and 600 rpm respectively. In both cases it was noted the response was faster and was, in general, more stable than in the voltage controlled mode. In both cases the maximum value of gain that could be used was increased. It can be seen that the speed error in both cases is much reduced compared to the voltage controlled case. This scheme was also prone to instability, caused by the choice of the proportional and integral gains, as i s to be expected with this type of controller.

IV. CONCLUSIONS
. 2 0 0 1 0.1 .

0..

01

0..

1 1

t.4

1.

, 1.1

I .om

TLn. 1. 1

Fig.7. Simulation of closed loop response, voltage controlled, reference speed = 600 rpm

8W.d

- do0

Dynamic and steady state models of the DFTSIM, i n both voltage and current controlled modes, have been developed. The models are valid for any pole pair combination, any possible interconnection of rotor windings and with arbitrary angle of alignment of the two rotors. Two schemes, both involving PI controllers, were simulated. The first involved an ideal voltage source inverter while the second involved an ideal current controlled inverter, connected to the control winding.

REFERENCES

N.Chilakapati, V. S . Ramsden, V. Ramaswamy, and

J. G. Zhu, Investigation of doubly fed twin slator induction motor as a variable speed drive, Proc. Inf.
40

0.2

0.4

0.8

0.0

1.2

1.4

1.8

(.I

400 1

T l i i Is1

Fig.8. Simulation of closed loop response, current controlled, reference speed = 400 rpm
100.
, , , ,

000

lo*,

.ZOO

Con$ Power Electronics Drives and Energy Systems for Industrial Growth PEDES98, pp. 160-165. N.Chilakapati, V. S. Ramsden, V. Ramaswamy, and J. G. Zhu, Comparison of closed-loop speed control schemes for a doubly fed twin stator induction motor drive, Proc. Znf. Power Electron. Motion Control Conj IPEMCtOOO, pp. 786-791. R. Li, A. Wallace and R. SpCe, Dynamic sirnuhition of brushless doubly fed machines, IEEE Tram:. on Energy Conversion, Vol. 6, No. 3, 1991, pp. 445452. R. Li, A. Wallace, R. SpCe, and Y. Wang, TWOaxis model development of cage-rotor brushless doubly fed machines, ZEEE Trans. on Energy Conversion, Vol. 6, No. 3, 1991, pp. 453-460. R. Li, R. S p k , A. Wallace and G. C. Alexander, Synchronous drive performance of brus hless doubly-fed motors, IEEE Trans. on Indusf?y Applications, Vol. 30, No. 4, JulylAVg. 1994, pp. 963-970.
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