The 30th Annual Conference o the IEEE Industrial Eleetronlcs Society, November 2 6,2004, Busan, Korea f

SIMPLIFIED SVPWM-DTC OF 3-PHASE INDUCTION MOTOR USING THE CONCEPT OF IMAGINARY SWITCHING TIMES
Arbind h "
Member EEE

B.G. Fernandes'
Department of Electrical Engineering, Indian Institute of Techology Bombay, Powai, Mumbai-400 076, India

K. Chattejee

*&mail:;-

Abstrach T i paper presents a new space vector pulse width hs modulation based direct torque control technique for threephase indudion motor drive using concept of imaginary switching times. The eRective time i s determined using imaginary time vector there by the lengthy procedure of ushg reference voltage vector is eliminated. Also the sector identification and angle determination are not used. Simulation studies have been carried out for the proposed ih method and results are compared wt basic DTC. Results show that the torque, current and flux waveform are superior to that of conventional direct torque control technique. Though the results of the proposed method are at par to those of DTC with conventional space vector pulse width modulation, there is a sigalficant reduction in execution time due to elimination of look-up table and gimpliclty b algorithm.

1 .

INTRODUCTION

Sensorless Control of induction motor drive has received wide attention in the industry in last one decade [l]. This is due to the various advantages associated with induction motor such as less maintenance, simple and rugged construction and simultaneously the development of less expensive and fast DSP controllers. The progress of sensorless drives can bc considered to have begun around three decade ago by Blascbke [ ] This concept, now Z. called as field-oriented control (FOC), is well established and accepted by the industry. But this method has some disadvantages like dependent on machine parameters, complexity due to reference h e transformations, need of current controllers etc. Therefore, there was a need for a new strategy that can produce high performance similar to FOC with reduced complexity. Direct torque control (DTC)by Takahashi [3] for low and medium power application and direct self-control by Depenbrack [4] for high power application are the two strategies increasingly being used in the industry. These are considered to be next generation motor control technology's [SI.In DTC, torque and flux are controlled independently by selecting the optimum voltage space vector for the entire switching period and the errors are maintained with in the hysteresis band. For the small hysteresis band, frequency of operation of PWM inverter could be very high. The switching ficquency always varies according to the width

of hysteresis band. Though DTC has high dynamic performance, it has few drawbacks such as: Vibrations and acoustic noise due to torque ripple. Harmonics and power loss due to current and flux ripple. Variation in switching ftequency of the PWM inverter. Effects of torque and flux hysteresis band amplitudes on the performance of induction motor are studied in [6] while i s analytical investigation is given in [7]. Torque t ripple can be minimized using the method proposed in [SI but flux and current ripples are further deteriorated. Flux and current waveforms can be improved by the method proposed in [SI-[ll] called space vector pulse width modulation (SVPWM). Also, new hybrid techniques have been reported [12]-[17], But these have either increased the complexity in the control algorithm or used the reference h e transformations, One of the basic aim, the simplicity of DTC is lost in these techniques. M n ay other schemes of DTC presented in the literature are highly complex and does not qualify the definition of DTC [lX]. In [19], modified control strategy for the flux and torque ripple reduction is presented with 012-210 sequence in fust sector for reduced switching fkquency. But sector and angle identification of the reference voltage vector are essentially required. In this paper a new simplified direct torque control technique i s presented. Effective t m is ie determined using the concept of imaginary switching times. It further avoids the requirement of reference voltage vector, sector identification and angle determination. Also it does not require any reference W e transformations. In this control strategy error between reference and estimated flux vectors is utilized to find the d-q axes imaginary switching times. This axis times can be converted in to respective three imaginary switching times. These are the times responsible for generating the actual voltage vector for the next switching cycle that fulfills the requirement of demanded torque and flux. This simplifies the switching technique and also retains the concept of SVPWM, Either of the switching sequences (conventional or clamping) can be implemented by simply changing the offset time. Simulation studies

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have been carried out for the proposed method and results are compared with the basic DTC [3].

*
Tz = -Tss 'sb

*
--Tss vsc
vDC

or Tz = Tsb

- Tsc

(4)

LI.

PRINCIPLES

A. Concept o imaginav switching times f

This concept is discussed in [20-211. For our purpose of easier understanding, this idea is summarizedbelow: If the reference voltage vector is lying in the first sector as shown in Fig. 1, it can be best constructed by its two
nearest voltage
( VoorV,) i some sequence for a specified time. Total n

are defined as the three imaginary switching times. The value of these times could be negative as it depends on the reference stator phase voltages V ,Ysb & V,, , ,

derived

- _

-vectors V, , V,

and zero voltage vectors

from the reference voltage vector v~*. B. Proposed Simplified SVPWM-DTC

time, during which the active voltage vectors are applied, is known as the 'effective time'. Power transfer from inverter to motor takes place during this duration only. These times are calculated by comparing the volts.second of reference voltage vector with the applied voltage vectors i.e.

The reference flux command can either be derived h m the reference speed or it can be controlled separately while the position of the reference flux space vector can be
derived fiom the torque error and actual rotor speed. Torque error is proportional to slip speed as explained in [3] and adding it w t actual rotor speed gives the ih synchronous speed of the reference flux space vector. The actual stator flux space vector is derived &om the motor model itself. The error between these two stator flux vectors generates the fictitious imaginary time reference vector. The d q components of imaginary time vector are determined by the procedure as follows: Sao t t r voltage equation can be written its:

- = Rsi, + dry, v, dt
v g (000)

Under the condition of negligible stator resistance, it can be simplified a : A Fs FsAt or s =

v,

(1 11) Fig. 1 Construction of reference voltage vector

A vSdj A vsq kd j v , )At + = +

Comparing real and imaginary parts of ( 5 ) gives:

(5)

TI = Tss.a

Sirt(60' -a)

Sin6Oo
Tz = T, .a , Sin60
Sin(a) (7) where At is the sampling time T, . Therefore imaginary switching times in d-q stationary reference h e are calculated as follows:
0

_are the duration for which V1, V2 &

ory are applied,

7
=

a is the angle of

vs* d-axis and with

1= ; . . 2 VDc 1

If equations (1) & (2) are simplified in terms of instantaneous phase values corresponding to its reference
voltage vector, these are given by:

r, =-T,
V,
and

Av q s T = Ysq - v s q , At(= T,) x V, vm

(9)

and

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sampling interval, actual stator flux vector

Iv, is corrected

by the error and it tries to attain the reference flux space

This is shown graphically in Fig.2 while the schematic of

the proposed method is shown in Fig.3. Therefore a new concept of imaginary time vector is introduced given by equation (10) that i s directly responsible for calculating the actual switching instants of the inverter. In any case, magnitude of imaginary time vector can not be more than the sampling timeT,, Components of imaginary time vector can be converted into three-phase using simply two-to-three phase transformation tbat gives imaginary switching times T', ,Tsb & T,,

vector interval.

-* vs.

I vs'I

Flm error is minimized in each sampling While the speed of the reference stator flux

takes care of torque demand because it is the

addition of slip speed derived from torque error and actual rotor speed. The d-q components of imaginary time vector are determined using equations (S) & (9) and adding compensation time equivalent to stator resistance voltage drop. This method ehmiMt&Sthe requirement of sector or angle identification which M e r reduces the complexity.

From

imaginary

switching times, actual times are determined as explained in Appendix I [20-211. These times are determined in each sampling interval and accordingly the switching instants for the PWM inverter are generated. Hence torque and flux errors are compensated in each sampling interval. This improves torque and flux waveforms. Afier each
Q-axis

TIT

SIMULATION RESULTS

Simulation studies have been carried out for the proposed

and conventional methods of direct torque control using MATLAB/SIMULINK software. Ode1 E l r s method ue' with sampling time of 1 0 . is used for a futed step size of 0ps

Fig. 2 Generationof Imaginary time vector fiom flux error

Fig. 3 Proposed simplified SWWM-DTC

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nl

0.1

0.2

0.3
"e (SW

0.4

0.5

0.6

-0

0.1

0.2

0.3
"e (*)

0.4

0.5

0.6

Fig. 4 Proposed Method

(Change h load torque)

Fig.5 Basic DTC

U)

g -101 0.37

0.47

o.n

am

0.77

0.87

0.97

Fig.6 Proposed Method

(Change i reference speed) n

Fig.7 Basic DTC

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20 p. Fig. 4(a) - (d) and Fig. 6(a)-(d) show simulated results of the proposed method for the reference flux of 1.0 Wb, while Fig. 5(a)-(d) and Fig. 7(a)-(d) show corresponding results using the conventional method under identical test condition. The parameters of induction motor med for the study are given i Appendix 11. n Comparing the waveforms, it is evident that using proposed method superior performance could be obtained with respect to conventional switching table technique of direct torque control. The PI controller parameters used for simulation are given in Appendix III

IV

CONCLUSION

A new method for the determination of position vector of the reference stator flux is proposed. In this method calculations for voltage space vector, angle and sector determination are also eliminated. Though identical results can be obtained using conventional SVPWM- DTC method, the proposed method requires less memory and computation time. Concept of imaginary time vector is introduced that simplifies the calculations. Hence a very simple control strategy i s developed for sensorless control of induction motor drive.

APPENDIX I ActuaI PWM signals are generated as follows: T,, and T, are determined from respective d q axes flux errors as explained and converted into T, Taband T, by 2 to 3 phase transformation. Maximum and minimum values from these three times are determined. i.e. T-=Ma p m Tsbr T d T-=Mh (Ta, T d Tabt T!+Tz=T--TT-=T,-(T--T& T&sd=~+Vzm44) Tga=Tot~sa-T.$2 Tgl,=Tom-Tb$2

Figure 8 heration of sign&

APPENDIX III
For PI controller parameter which converts speed error into reference electromagnetic torque, Kp=20 and K = r 0.055, the second PI controller parameter which converts torque error into slip speed, K p =12 and K = 0.55. r

Tgc=TotrssTcd2
From Tga,T* and TP, three voltages V,,V, and V are , generated. These voltages are compared wt symmetrical ih triangular carrier wave of frequency ln,. T i generates hs the pulses for the upper switches of the inverter arm as shown the Figure 8. This sequence is 0-1-2-7-7-2-1-0 as generated in the conventional SVPWM by sector and angle identification for sector I. For reducing the switching frequency of the PWM inverter, 0-1-2-2-1-0 switching sequence can also be generated simply by selecting
= T1. -2

REFERENCES
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APPENDIX I1
Parameters of 1.5 kW, 1460 rpm, 4-pole, 3-phase induction motor used for simulation studies: Rs =7.83 R R = 7.55 R r Lm = 0.4535 H Ls = 0.4751H Lr = 0.4751 H J = 0.06 kg-m

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