CHAPTER 1

INTRODUCTION

1
 Introduction

Till recently, in applications variable speed operation was required, only DC motors were
used due to the ease, which with one could control them. Separately excited DC motors
were particularly popular in applications where fast torque response was required.
However DC motors have some generic disadvantages like

 requirement of periodic maintenance,

 unstable in explosive or corrosive environments due to sparking problem
 commutation is difficult high currents and voltages, and hence its use is use is
limited to low power, low speed motors

These problems can be overcome by using Induction Motors that have a simple and
rugged structure. Further, they have a lower weight to output power ratio compared to
their DC counterparts.

1.1. Vector Control of Induction Motor

The idea behind the vector control or field oriented control is to control the
Induction Motors in the similar for DC motor control .The flux and torque, in the case of
DC machines, can be controlled independently controlling the field and armature currents
respectively. It is because of this inherent decoupling between the flux and the armature
currents; one is able to achieve very good torque dynamics from DC machines. Unlike
DC machines, there is no inherent decoupling between the flux and the torque producing
components of the stator current in AC machines. Therefore, achieving good torque
dynamics in AC machines is not easy. However, nowadays field orientation control or
vector control techniques have been employed, which result in good torque dynamics of
AC motors.

2
1.2. Sensorless Vector Control of Induction Motor

Today, vector controlled induction motor has been established as the core servo-
drive system for industry applications, and has been widely applied almost in all
industrial fields. However, in some applications, the necessity of the speed sensor for
vector control may become the defect of the ,or make the users hesitate to apply this
excellent drive to their systems. The effort of engineers has solved this difficulty, and the
vector control of induction motor can be now implemented without speed sensor.
Hereafter, this implementation is briefly named as “sensorless control”.

Induction Motor drives without shaft sensor, sensorless drives, are increasingly
applied in many industrial processes involving lower cost and higher performance
specifications. To achieve sensorless control requires either flux measurement using flux
sensors, flux estimation, or speed identification. it is worthy of note that both voltage and
current sensors are required for the implementation of flux estimation and speed
identification.

1.3. Sensorless Vector Control of Induction Motor at Zero Frequency

The sensorless drive at low speed and in the regenerating operation still remains
an unsolved problem . For the stable sensorless control at low speed including zero
frequency, a new control scheme using secondary speed-emf estimation was presented in
this dissertation work, instead of the flux or excitation current. Especially at zero stator
frequency, the secondary speed emf is estimated under fluctuated reference of the
secondary flux to assure the stability of the estimation, and the stable sensorless drive is
realized.

3
 CHAPTER 2

MOTOR CONTROL STRATERGIES

4
Motor control stratergies
2.2.1. Direct field oriented control

In this mode of control the flux measurement can be made using either the hall
sensors or the stator search (sense) coils. If the stator coils are used, then the voltage
sensed from the coils will have to be integrated to obtain the air gap flux linkages. The
measured air flux linkage components are used to calculate the required (rotor, stator or
air gap) flux linkage space phasor magnitude and position . The value of  thus
computed is used to align the arbitrary axis along the flux linkage space phasor to achieve
decoupled control of the torque and flux producing components of the stator current and
space phasor.

The flux sensing devices are placed in the air gap of the machine, which will
determine the air gap flux space phasor. Any other flux space phasor can be calculated as
it has an algebraic relationship with the air gap flux space phasor. The air gap flux sensed
by either hall-effect devices or stator search coils suffer from the disadvantage that a
specially constructed induction motor is required. Further, hall sensors are very sensitive
to temperature and mechanical vibrations and the flux signal is distorted by large slot
harmonics that can not be filtered effectively because their frequency varies with motor
speed. In the case of stator search (sense) coils, they are placed in the wedges close to the
stator slots to sense the rate of change of air flux. The induced voltage in the search coil
is proportional to the rate of change of flux. This induced voltage has to be integrated to
obtain the air gap flux. At low speeds below about 1HZ, the induced voltage will be
significantly low which would give rise to in accurate flux sensing due to presence of
comparable amplitudes of noise and disturbances in a practical system. As an alternative,
indirect flux estimation techniques are preferred as explained in the next sub-section.

5
2.2.2. Indirect field oriented control:
In an Indirect Field Oriented Control (IFOC) a flux estimator is used to estimate the

required flux linkage space phasor magnitude and angular position  a . The shaft position
is usually needed for estimating flux linkage space phasor position. If the shaft transducer

is a position encoder, then the position information  r can be directly used. But if the
shaft transducer is a speed transducer like a tacho, then speed has to be integrated to
obtain the shaft position. In the case of shaft transducer being a position encoder, the
speed feedback is obtained by differentiating the shaft position information.

Indirect sensing of flux space phasors give a more versatile drive system that can
be used with standard commercial motors, but this approach would generally result in a
more complex control system. Since it is generally desirable to have a scheme which is
applicable for all induction motors, the indirect field oriented has emerged as the more
popular method. In the indirect method of field orientation the flux linkage space phasor
is estimated from the motor model as will be discussed in next section. As a consequence
all indirect methods are sensitive to variations in some machine parameter like the stator
or rotor time constants. For example, in the rotor flux oriented control, the indirect rotor
flux estimator is sensitive to the rotor time constant r, of the motor. In the case of stator
flux oriented control, the indirect stator flux estimator is sensitive to the stator time
constant of the motor. In the air gap flux oriented control, the indirect air gap flux
estimator is sensitive to both the stator and the rotor time constants. Therefore, if the
value of the motor parameter varies, the desired decoupled of the flux and the torque
components of the stator current space phasor is not achieved and this leads to
deterioration in the dynamic behavior of the drive system.

2.3 Sensorless Control

Sensorless control is another extension to the FOC algorithm that allows
induction motors to operate without the need for mechanical speed Sensorless control

6
is another extension to the FOC algorithm that allows induction motors to operate
without the need for mechanical speed sensors. These sensors are notoriously prone to
breakage so removing them not only reduces the cost and size of the motor but improves
the drive’s long term accuracy and reliability. This is particularly important if the motor
is being used in a harsh, inaccessible environment such as an oil well.

Instead of physically measuring certain values control engineers can calculate

them from a system’s state variables. This is known as the state space modeling approach
and is a powerful method for analyzing and controlling complex non-linear systems with
multiple inputs and outputs. In high performance sensorless motor drives the two main
control techniques used are open loop estimators and closed loop observers. In early
literature the terms observer and estimator are often used interchangeably however most
recent papers define estimators as devices that use a model to predict the speed using the
phase currents and voltages as state variables. Observers also use a model to estimate
values, however these estimates are improved by an error feedback compensator that
measures the difference between the estimated and actual values. The predicted value of
speed is then used by the FOC to adjust the PWM waveform in exactly the same way as
an actual measured value.

7
 CHAPTER 3
DYANAMIC MODEL OF INDUCTION MOTOR

Dyanamic model of IM

8
 3.1. Introduction

In developing the dynamic model of the induction motor, the following assumptions
will be made without affecting the validity of the model.
 The motor has symmetrical three phase windings.
 The mmf wave is sinusoidally distributed in space.
 The stator and rotor iron have infinite permeability.
 Skin effect and core losses are neglected.
 The motor is operating in the linear region of B-H characteristic.

In order to understand and analyze vector control, the dynamic model of the
induction motor is necessary. It has been found that the dynamic model equations
developed on a rotating reference frame is easier to describe the characteristics of
induction motors. It is the objective of this chapter is to derive and explain induction
motor model in relatively simple terms by using the concept of space vectors and d-q
variables. It will be shown that when we choose a synchronous reference frame in which
rotor flux lies on the d-axis, dynamic equations of the induction motor is simplified and
analogous to a DC motor. Traditionally in analysis and design of induction motors, the
“per-phase equivalent circuit” of induction motors shown in Fig. 3.1 has been widely
used. In the circuit, Rs (Rr) is the stator (rotor) resistance and Lm is called the
magnetizing inductance of the motor. Note that stator (rotor) inductance L s (Lr) is defined
by

Ls = Lls + Lm, Lr = Llr + Lm (3.1)

where Lls(Lrs) is the stator (rotor) leakage inductance. Also note that in this equivalent
circuit, all rotor parameters and variables are not actual quantities but are quantities
referred to the stator . Parameters of the circuit are determined from no-load test and
locked rotor test. It is also known that induction motors do not rotate synchronously to
the excitation frequency. At rated load, the speed of induction motors is slightly (about 2
-7% slip in many cases) less than the synchronous speed. If the excitation frequency

9
injected into the stator is  e and the actual speed converted into electrical frequency unit

is  r , slip s is defined by

s = (  e –  r )/  e =  sl /  e (3.2)

and  sl is called the slip frequency which is the frequency of the actual rotor current. In
the steady-state AC circuit, current and voltage phasors are used and they are denoted by
the underline. In Fig. 3.1, power consumption in the stator is interpreted as Is 2Rs, while
Ir2Rr/s represents both power consumption in the rotor and the mechanical output
(torque). By subtracting rotor loss Ir2Rr from Ir2Rr/s, produced torque (mechanical power
divided by the shaft speed) is given by

Te = ir2Rr (P/2) (1-s) / (swr) = ir2Rr [ P / (2we )], (3.3)

where P is the number of poles. Although the per-phase equivalent circuit is useful in
analyzing and predicting steady-state performance, it is not applicable to explain dynamic
performance of the induction motor.

Fig. 3.1 Conventional Per-phase Equivalent Circuit

3.2. Dynamic Model in Space Vector Form

10
 In an induction motor, the 3-phase stator windings are designed to produce
sinusoidally distributed mmf in space along the airgap periphery. Assuming uniform
airgap and neglecting the effects of slot harmonics, distribution of magnetic flux will also
be sinusoidal. It is also assumed that the neutral connection of the machine is open so that
phase voltages, currents and flux linkages are always balanced and there are no zero
phase sequence component in the system. For such machines, the notation in terms of the
space vector is very useful. For 3-phase induction motors, the space vector Ys s of the
stator voltage, current and flux linkage is defined from its phase quantities by

Ys s = (2/3) ( Ya + k Yb + k 2 Yc ), (3.4)
where k = exp(j 2π/3). The above transform is reversible and each phase quantities can
be calculated from the space vector by,
Ia = Re (Ys ), Ib = Re (k 2Ys ), Ic = Re (kYs ). (3.5)
For a sinusoidal 3-phase quantity of constant rms value, the corresponding space
vector is a constant-magnitude vector rotating at the frequency of the sinusoid with
respect to the fixed (stationary) reference frame. Note that the space vector is at vector
angle 0 when
A-phase signal (Ya) is at its sinusoidal peak value in steady-state. With space vector
notation, voltage equations on the stator and rotor circuits of induction motors are,
vs α = Rs is α + pλsα (3.6)

vr’ = Rr’ir’ + pλr’ = 0 (3.7)

It is very convenient to transform actual rotor variables (V r’, ir’, λr’) from Eq.
3.7 on a rotor reference frame into a new variables ( V rα, irα , λrα ) on a stator reference
frame as in the derivation of conventional steady-state equivalent circuit. The Space
Vector diagram for induction motor is shown in fig 3.2 Let the stator to rotor winding
turn ratio be n and the angular position of the rotor be θr, and define
irα = (1/n) exp(jθr ) ir’, λrα = n exp(j θr ) λr’ (3.8)

11
 VS

Arbitrary axis

is iqs

ids
δ ir Rotor axis
ψ1 ψ
ζ

θa θr

fig.3.2 Space Vector diagram for induction motor Stator axis(α)

Also, by defining referred rotor impedances as Rr = n 2Rr’, etc., we have

vsα = Rs isα + pλsα (3.9)

0 = Rr irs + (p – jωr) λrα (3.10)

Where ωr = pθr, is the speed of the motor in electrical frequency unit and
λsα = Lsisα + Lmir α (3.11)

λrα = Lmisα + Lrirα (3.12)

The above 4 equations (Eq. 3.9 - 3.12) constitute a dynamic model of the induction motor
on a stationary (stator) reference frame in space vector form. These model equations may
be simplified by eliminating flux linkages as

vsα = (Rs + Ls p) isα+ Lm pirα (3.13)

0 = (Rr + Lr (p – jωr)) irα + Lm (p – jωr) isα (3.14)

12
From the equations. 3.13-3.14, the dynamic equivalent circuit model on a stationary
reference frame can be drawn as in Fig. 3.3.

Fig. 3.3.Dynamic Equivalent Circuit on a Stationary Reference Frame

For steady-state operation with excitation frequency ωe, p in Eq. 3.13-3.14 may be
replaced by jωe and after some algebraic manipulation, we get

vsα = (Rs + jωeLs ) isα + Lm pirα (3.15)

0 = (Rr/ s + jωeLr) irα + jωe Lm isα . (3.16)

which exactly describes the conventional steady-state equivalent circuit of Fig. 3.1.

Now, the previous procedure can be generalized so that the dynamic model is
described on an arbitrary reference frame rotating at a speed ωa, where Eq. 3.15 -3.16 is a
special case with ωa,= 0 . To do that, define the new space vector on the arbitrary frame
as

Y a = exp(- j θa )Ys (3.17)

and reconstruct all the model equations in terms of the new space vectors. In the arbitrary
reference frame, Eqs. 3.6-3.8 are modified to

13
 vsa = (Rs + Ls p) is a + Lm pir a + j ωa λs a (3.18)

0 = (Rr + Lr p) ir a + Lm p Is a + j (ωa -ωsl) λr a (3.19)

With new flux linkage equations defined by,

λsa = Ls is a + Lm ir a (3.20)

λra = Lm is a + Lr ira (3.21)

By substituting Eqs. 3.20-3.21 into Eqs. 3.14-3.15, we have

vsa = ((Rs + Ls (p + ωa)) isa + Lm (p + jωa )ir a (3.22)

0 = ((Rr + Lr (p + jωa – jωr) ir a + Lm (p + jωa - jωr)isa (3.23)

where eliminated flux linkage variables are eliminated.

Normalized equivalent circuit on a arbitrarily rotating frame based on Eq. 3.18-

3.23 is shown in Fig. 3.4. Now, depending on a specific choice of ωa, many forms of
dynamic equivalent circuit can be established. Among them, the synchronous frame form
can be obtained by choosing ωa = ωe. This form is very useful in describing the concept
of vector control of induction motors as well as of PM synchronous motors because at
this rotating frame, space vector is not rotating, but fixed and have a constant magnitude
in steady-state. Since space vectors in the synchronous frame will frequently be used,
they are denoted without any superscript indicating the type of frame. Another possible
reference frame used in vector control is the rotor reference frame by choosing ω a = ωo
which is , in fact, the reverse step of Eq. 3.8 with n =1.

14
 Dynamic Equivalent Circuit on an Arbitrary Reference Frame Rotating at ωa.

3. 3. D-Q Equivalent Circuit

In many cases, analysis of induction motors with space vector model is

complicated due to the the fact that we have to deal with variables of complex numbers.
For any space vector Y, define two real quantities Sq and Sd as,
S = Sq + j S d (3.24)
In other words, Sq = Re (S) and Sd = Im (S). Fig. 3.5 illustrates the relationship
between d-q axis and complex plane on a rotating frame with respect to stationary a-b-c
frame. Note that d- and q-axes are defined on a rotating reference frame at the speed of ω a
= pθa with respect to fixed a-b-c frame.

Definition of d-axis and q-axis on an arbitrary reference frame

With the above Eq. 3.22-3.23 can be written the following 4 equations of real variables

vdsa  ( Rs  pLs )idsa  Ls ai qsa  pLmidra  a Lmiqra (3.25)

vqsa  ( Rs  pLs )iqsa  Ls a idsa  pLmiqra  a Lmidra (3.26)

0  ( Rr  pLs )idra   sl Lmiqsa  pLmidsa   sl Lr iqra (2.27)

15
 0  ( Rr  pLs )iqra   sl Lmi dsa  pLmi qsa   sl Lr idra (2.28)

The above 4 equations are expressed in a matrix form as follows:

vdsa   Rs  pLs  Ls a  a Lm   ids 

a
pLm
 a   a
v qs   Ls a Rs  pLs  a Lm pLm   iqs 
  =  pL  sl Lm Rr  pLs  sl Lr  idra  (3.29)
o
    a 
m

o    sl Lm pLm  sl Lr Rr  pL  iqr 

 

where  sl   a   r 3.29a

For future reference, the above matrix equation simplified for popular reference
frames in analysis and design of vector control will be introduced. For stationary
reference frame, by substituting ωa = 0, the above equation is reduced to

vds   Rs  pLs 0 pLm 0  ids 

     i 
v
 qs  =  0 Rs  pLs 0 pL m   qs  (3.30)
0   pL  r Lm Rr  pLs  r Lr  idr 
   m
  

0   r m L pL m  L
r r Rr  pL  iqr 

Some implementation of vector control drive includes calculation in rotor reference

frame (frame is attached to the rotor rotating at ω r ). In this case, we can substitute all ωa
in Eq. (3.29) by ωr, which makes simplified rotor voltage equations. Moreover, for
synchronous frame, we have

16
vdse   Rs  pLs  Lse pLm e Lm  idse 
 e   
vqs  =  Lse Rs  pLs e Lm pLm  iqse 
o   pL (3.31)
 sl Lm Rr  pLs  sl Lr  idre 
   m
 
o    sl Lm pLm  sl Lr Rr  pL  iqre 

As mentioned before, each variable (voltage, current or flux linkage) in the synchronous
frame is stationary and fixed to a constant magnitude in steady-state. Based on Eq. 3.4,
dynamic d-q equivalent circuit is shown in Fig. 3.2.

Rs a Ls Lr (a-r) Rr
isd ird

Lm vqs
vds
dr ss

Fig. 3.4 D-axis equivalent circuit on a arbitrary frame

Rs -a Ls Lr (a-m) Rr
iqs irq

vqr
vqs
qs Lm qr

Fig. 3.5Q-axis equivalent circuit on a arbitrary frame

17
Expression for the Electromagnetic Torque

The electro magnetic torque Te can be expressed in terms of the stator, rotor or air gap
flux linkages as follows:

Lm
 e  32 P2 dr iqs  qr ids  (3.32)
Lr

 e  32 P2 ds iqs  qs ids  (3.33)

 e  32 P2 md iqs  mq ids  (3.34)

3.4. Sensorless vector controller model based on Secondary Speed

Emf on Secondary Speed Emf

3.4.1. Induction Motor Model Based on Secondary Speed Emf

The voltage equation of Induction Motor is rewritten as follows:

stator voltage equation:

vs =R s is +js + p s (3.35)

rotor voltage equation:

0 =R r ir +j sl r + p  r (3.36)

Stator flux equation:

s =L s is +Lmir (3.37)

rotor flux equation:

r =L mis +Lr ir (3.38)

18
Substituting the equations (3. 37) & (3.38) into voltage equations, equations (3.35) &
(3.36) can be written as follows:

vs =(R s  L s ( j  p))is +Lm (j +p) ir (3.39)

0 =(R+Lr ( j sl  p )ir +Lm (p+j sl )is (3.40)

From the equations (3.37) & (3.38) d-axis and d-axis flux linkage equations can be
written as follows:

ds =L s ids +Lm idr (3.41)

qs =L s iqs +Lm iqr (3.42)

dr =L mids +Lr idr (3.43)

qr =L m iqs +Lr iqr (3.44)

Separating the d-axis and q-axis voltages, the voltage equations becomes as follows

vds   Rs  pLs  Lse pLm e Lm  ids 

v    
 qs  =  Lse Rs  pLs e Lm pLm  iqs 
(3.45)
o   pLm  sl Lm R r  pLs  sl Lr  idr 
    
o    sl Lm pLm  sl Lr R r  pL  iqr 

The secondary fluxes d ,q and the corresponding excitation currents i d ,i q are in (3.47)
and (3.48)

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Here

dr  d ,
(3.45)
qr  q

Therefore, the equations (3.41-3.44) becomes

d  ids  idr   i d 

   Lm i   Lr i   Lm  i  (3.46)
 q  qs   qr   q 

i d  ids  Lr idr 

 i   i   i  (3.47)
   
 q qs Lm  qr 

The vectors of the stator voltage vs , stator current is , rotor current ir ,the secondary flux 

and the secondary excitation current i , in (3.44),(3.46) and (3.47) are as follows:

 vds  ids  idr 

Let vs    , is    , ir    (3.48)
 vqs  iqs  iqr 

d  i d 
    , i   
q   i q 

from equations (3.45)-(3.48), the vector representation of the voltage equation using the

secondary excitation current i is obtained in the following equation (3.49)

20
  L2m L2m 
(R s  L p) I  L e J p I  e J  i
vs  

Lr Lr  s (3.49)
0   
  L2m L2m  i 
  Rr ( Lm / Lr ) I
2
{Rr ( Lm / Lr )  p }I   sl
2
J
 Lr Lr 

where L , I , J areas follows

L2m
L  Ls 
Lr
(3.50)
1 0   0 1
I   , J  1 0 
0 1   

Fig3.6 equivalent circuit of the IM

Fig3.6 shows the equivalent circuit of the induction motor based on (3.49). Since the

secondary flux  and the excitation current i are indefinite at the angular frequency

e  0 ,the sensorless algorithm based on  or i can not assure the stable operation in the
low speed region. To solve this problem, the authors propose a new algorithm based on
the
Secondary speed emf er ,is defined as follows

21
 L2m
er   r Ji (3.51)
Lr
 L2m 
 r i q 
edr   Lr 
e    
(3.52)
 qr  L2m
 r id 
 Lr 

The Secondary speed emf er, leads excitation current i by the angle of  / 2 , and

the magnitude is proportional to the rotor speed  r .therefore, the exact estimation of the
secondary peed emf er is leads to the estimation of the secondary flux position and the
rotor speed. From equations (3.49) and (3.50), the voltage equation using the secondary
peed emf er , is obtained in the following equation (3.53)

vs ={(R s  p ) I   J }is +Rr ( Lm / Lr ) 2 (is  i )  er

(3.53)

For the equation (3.53) the space vector diagram is shown the following fig 3.9

fig 3.7 space vector diagram of the IM

22
3.4.2. Estimation of Secondary Speed Emf

The Secondary Speed Emf er is estimated by assuming the error between the actual

excitation current i and its reference i* is small enough, that is

 i *
d
  I 
i i   *    
*
(3.54)

 i q   0 

The fig3.8 shows the Secondary Speed Emf er estimation system. Since the actual

Fig 3.8Speed Emf estimation

position of d-q axis is unknown in the controller, the sensorless algorithm is based on the
estimated position of dc-qc axis. Equation (3.53) for the actual motor is effective even on
the dc-qc axis frame. Since the only difference between the actual motor model is

secondary speed emf erM on the dc-qc axis frame in the controller is defined as follows.

erMd 
erM    (3.55)
 erMq 

23
The motor model is given in (3.56) by replacing the actual secondary speed emf erM in
(3.53)

p isM =vs -(R s I  e J )is +Rr ( Lm / Lr ) 2 (is  i )  erM (3.56)

The model voltage p isM is given in (3.54) can be calculated from the know

values vs , is , i ( i* ) and erM .On the otherhand, the actual voltage p is across the

leakage inductance can be obtained by calculating the current difference between the

detected stator currents is at the two adjusting sampling points.

The estimation error er between the actual emf er in the equation and the model

emf erM in eq (3.53) is represented by using the voltage difference p isM across the

leakage inductance between the actual motor and model as follows

er  er  erM

  p is  p isM (3.57)

From the relation between er and pis in the above equation, the model emf erM can

be estimated in by the following equation by using the estimation gain K

erM   K  pis dt (3.58)

 K d 0
K  
K 
(3.59)
 0
From the (3.56) and (3.58), the transfer function from er to er can be
obtained as follows;

er  ( sI  K ) 1 ser (3.60)

24
  s 
 0  e
 edr   s  K d   dr 
 e      (3.61)
 qr  s  eqr 
 0 
 s  K q 

The time constants for the convergence of the secondary speed emf errors edr and eqr
1 1
In( 3.61) are given by and , respectively
K q K d

3.5. Sensorless Control System Configuration

3-PhAC

AC toDC
isd
- d-controller
Δvd* vd*

2-Ph3-Ph
Decoupling

ids* eiθM

Sinusoidal

Voltage source
network

vq*
+

PWM
Δvq*

Inverter
iqs* +
_ q-controller
Lr iqs
Lm2iφd* ia
3-Ph2-Ph

isq
- isd
ib - ic
sLб
wr*+
IM
+ sL-б
speed controller
-wre +
Model
Model

Rr pLбisMd -
Lr iφd*
pΔLбisMd pLбisMq+
wsl*+
pΔLбisMq 1/s wre +
Flux position Speed
+θM
com emf
Estimato
r

25
 erMd
+
ΔθM

Speed erMq
Estimato
wre

Fig.3.9 Schematic Block Diagram of Sensorless Vector Control System

3.5.1 Estimation of the rotor speed  re :

From the relation in (3.52) speed eqr , the estimated rotor speed  re is obtained in the

following eq (3.62) using the estimated q component erMq in the erM and the exciting
*
current reference i d .

Lr
 re  erMq (3.62)
L2mi*d
From the rotor speed error between the rotor speed reference  r and the estimated rotor
*

speed  re ,the torque ref  is determined through the PI controller. From the relation in
*

eq (5.75) between the motor torque  and the stator current iqs under the condition that

the q-axis component of the excitation current i d equals to zero, the reference of the q-
*
axis current iqs is the determined in (3.64)

  KT iqs (3.63)

1 * L2
iqs*   , KT  m i*d (3.64)
KT Lr

3.5.2 Estimation of slip angular speed:

The voltage equation of the IM is

26
  L2m L2m 
(R s   p ) I   e J p I  e J  i
vs  

Lr Lr   s  (3.65)
0   
  L2m L2m  i 
  Rr ( Lm / Lr ) I
2
{Rr ( Lm / Lr )  p }I   sl
2
J
 Lr Lr 

From the second row of the equation (3.65), one can be written as follows:

1 0 ids  L2m 1 0 L2m 0 1  I 

 Rr ( Lm / Lr ) 2     { R ( L / L ) 2
 p }   0
Lr 0 1  Lr 1 0   0 
r m r sl
0 1  iqs 
(3.66)

Simplifying the above equation, yields:

ids  L2  I  L2  0 
 Rr ( Lm / Lr ) 2    {Rr ( Lm / Lr ) 2  p m }      sl m    0
iqs  Lr  0  Lr  I 

(3.67)

The second row of the equation (3.67), yields

L2m L2
 Rr ( Lm / Lr ) 2 iqs
*
 {Rr ( Lm / Lr ) 2  p }0   sl m i*d  0
Lr Lr
L2m * (3.68)
 Rr ( Lm / Lr ) 2 iqs
*
  sl i d  0
Lr

* *
Replacing the iqs , i d with i d , iqs in the q-axis component in the second row of the
equation (3.68) becomes

L2m L2m *
 Rr ( Lm / L ) i  {Rr ( Lm / Lr )  p }0   sl
r
2 *
qs
2
i d  0 (3.69)
Lr Lr

27
 L2m *
ie.  Rr ( Lm / Lr ) iqs   sl i d  0
2 *
(3.70)
Lr
From the (3.70) slip can be calculated in the equation (3.71)
Rr *
 sl*  iqs (3.71)
Lr i*d
By adding the estimated speed  re to the slip angular speed reference  sl , the angular
*

speed  e is determined as follows:

e   sl*   re (3.72)

On the otherhand, the d-axis component of the estimated speed emf erMd represents the

position estimation error  between the actual position  and estimated position  M as
shown in fig 3.10. By using equations(3.52) and (3.54), the estimation error  can be
obtained in (3.73) under approximation of tan  = 

L2m *
erMd  erMqtan   i d  (3.73)
Lr

Fig 3.10 Estimated axis (dc-qc) and speed emf

From the relation in the equation in (3.73), the position compensation term  M can be

calculated in (3.74) by using the compensation gain K

L
 M   K  r
2 *
erMd dt (3.74)
L i
m d

28
The estimated axis position  M is given in equation (3.75)

 M   e dt   M (3.75)

According to (3.73) & (3.74), the compensation system of the axis position error is
shown in fig 3.11.the transfer function of the position estimation error  is obtained
from fig 3.11 as follows;
s
  (   e / s) (3.76)
s  K

Fig 3.11compensation system of axis position error

1
The time constant for the convergence of the position estimation error  is .
K

Under the constant secondary excitation current i (= I ), the d-axis stator current
* *
reference isd is the constant value I in (3.54) and q-axis stator current reference iqs is
* *
given in (3.64).Using the current control errors between the iqs , ids and the detected

currents iqs , ids , the compensation voltages vd and vq for stator current are calculated
* *

through PI controllers as shown in fig 3.11. These compensation voltages vd and vq
* *

are the compensation terms of voltage drop (R s   p)is across stator resistance and the
leakage inductance.

3.5.3 Calculation of decoupling terms:

29
Replacing vd , vq , I d , I qs with (R s   p)is , I d , I qs in the first row of (3.65), the
* * * *

*
voltage references are vds and vqs obtained as follows;
*

L2m L2m
ie. vs  {(R s   p) I   e J }is  { p I  e J }i (3.77)
Lr Lr

 L2m   L2m 
p 
 vds
*
 (R s   p )   I ds*   e    I qs*   Lr   I*d   e
  
Lr   0 
 *   *   *      *  (3.78)
 vqs  (R s   p )   I qs   e   I ds  s  Lm   0   L2m   I d 
2
p   e 
 Lr   Lr 

L2m *
*
vds  (R s   p ) I ds*  e I qs*  p I d (3.79)
Lr

L2m *
v  (R s   p ) I   I   e
*
qs
*
qs
*
I d
e ds (3.80)
Lr

L2m *
vds*  vds*  e iqs*  p i d (3.81)
Lr
*
vds  vds
*
 vdo (3.82)

L2m *
vd 0  e i  p i d
*
qs (3.83)
Lr
L2m *
v  v  e i 
*
qs
*
ds i d *
ds (3.84)
Lr

vqs*  vqs*  vqo (3.85)

L2m *
vqo   e i  *
i d
ds (3.86)
Lr

where vd 0 , vqo are the decoupling terms

3.6. Sensorless Control at Zero Frequency

30
 Fig3.12. Vector Diagram at Zero Angular Frequency

Fig 3.63 shows the vector diagram based on (3.54) at zero angular frequency of  e , at

zero angular frequency of  e , the secondary speed emf er in (3.51) can be modified by
using slip
equation and the second row of (3.49)

L2m L
er   r Ji  ( m ) 2 Rr (is  i ) (3.87)
Lr Lr
Lm 2
From equation (3.87), the secondary speed emf er and the term ( ) Rr (is  i ) are
Lr
canceled out each other. In this case, the voltage equation (3.52) results in only the
voltage drop across the stator resistance as follows;

er  Rs is (3.88)

Since the term of the secondary speed emf er is not included in equation (3.88),

the estimation of secondary speed emf er is impossible. For the estimation of the

secondary speed emf er at zero angular frequency, the sinusoidal component with the

amplitude I and the angular frequency  d is super imposed to secondary excitation

i*d   I  I sin  d t 

current reference i
*
d as follows ; i  * 
*
 
 i q   0 

(3.89)

31
 Fig.3.13 Vector Diagram under Fluctuating Excitation

Lm 2
in (3.89).since er and ( ) Rr (is  i ) terms are not canceled out, the stable
Lr

estimation of er is possible. Since the motor control is realized at the stator side, the

stator current reference to obtain the fluctuating excitation current i in (3.89) is needed.
*
By substituting (3.89) into the second row in (3.49),the d-axis stator current reference ids
is obtained as follows;
Lr *
isd*  (1  )i d
Rr

 d Lr 2
 i   1  ( ) sin( d t   d ) (3.90)
Rr

1  d Lr
Where,  d  tan ( )
Rr

32
 CHAPTER 4
BLOCK SCHEMATIC OF SENSORLESS VECTOR
CONTROL

33
4.1. Introduction
The purpose this section is to discuss the basic steps involved in the development
of simulation blocks for the Sensorless Vector Control of the induction motor. All the
simulation blocks are developed in MATLAB6.1/SIMULINK.This Schematic of
Sensorless Vector Control of IM Drive System consist of the following basic parts:

a. Induction Motor Drives

b. Three phase to two-phase transformation (a, b, c to α, β)

c. Stator to synchronous reference frame transformation (, d,q)

d. Sensorless vector control algorithm

e. Decoupling Network

f. d-q to a, b, c transformation(Two Phase to three phase transformation)

g. Sine-Triangle PWM of Three Phase Inverters

In the practical implementation of the Sensorless Vector Control of the induction

motor is fed from a voltage source inverter with fast current control loops. This approach
is used in high performance induction motor servo drives for Machine tool, Rotary press,
Storrer, Pressor and Winder applications. Sensorless vector controlled induction motor
has been used widely used from the standpoints of cost, size and reliability.
In field oriented control system, the induction motor behaves like a dc machine
under both steady state and transient conditions. Consequently, similar drive control
strategies can be employed. Below base speed, the magnetizing current of the induction
motor representing the rotor flux magnitude is maintained constant at its maximum

34
possible value to achieve constant torque operation. Above base speed, the flux is
reduced thereby giving the field-weakening region or the constant horse power region of
operation. In Sensorless vector controlled induction motor speed is estimated from the q –
axis component of the secondary speed emf in the synchronous reference frame

A typical Sensorless vector controlled drive system consists of an induction motor,

which is driven by a voltage source inverter, speed controller ,current controller , speed
e.m.f estimator, flux position estimator, speed estimator and Park & Clark
transformations

4.2. Induction Motor Drives

Power electronic devices known as motor drives are used to operate AC motors at
frequencies other than that of the supply. These consist of two main sections, a controller
to set the operating frequency and a three-phase inverter to generate the required
sinusoidal three-phase system from a DC bus voltage. The model of the Induction Motor
is developed as per the equations which is shown in fig 4.1

35
 ids
5
1
vds iqs
6 2 3 4
vqs Te wer

1
va
van vb
v qs v qs
lamda ds lam ds ids Wer
iqs 2/p
2 vc
v ds w lam qs iqs
vbn th
ids
v ds
3 abc--dqs lam dr idr
lamda qs
ids
vcn lam qr iqr
iqs
Stator Fluxes Te
Current s lam qr 1
1 J.s+B
th lam dr
s iqr speed
lam qr
idr Torque

w
lam dr
4
wr
Tl
Rotor fluxes
0 w

Model of the Induction Motor

4.3 Three phase to two-phase transformation (a, b, c to α, β)

The three stator currents isa, isb and isc that are measured, are first transformed to an

equivalent two-phase system (isα and isβ) because the induction motor is represented as
equivalent two-phase machine. The three- phase to two-phase transformation (3Ф-2Ф) is
carried out in the stator reference frame.

This transformation is a general transformation that can be applied to any variable of

the induction motor like the stator voltages, stator currents, flux linkages etc.

i 
 i   1 0 0  a 
    0 1  i
 13   b 
(4.1)
 i   3
 ic 

36
 The block for the three phase to two-phase transformation (a, b, c to α,β) is developed
as per the equation(4.1) which is shown in fig 4.2.

2 1
ian ial

1 1/sqrt(3) 2
ibn Ibet
1/sqrt(3)

3 1/sqrt(3)
icn
1/sqrt(3)/1

Cl arkTF(3Ph-->2Ph)

Fig 4.2 Block diagram for the Three Phase To Two-Phase Transformation (a, b, c to ,)

4.4. Stator to synchronous reference frame transformation (, d,q)

The two-phase stator currents that are in the stator reference frame are
transformed to a synchronous reference frame. The choice of the synchronous
reference frame is dependent on the flux along which the orientation is to be
performed. If the arbitratory is oriented along the rotor flux linkage space phasor,
then the synchronous reference frame would be the rotor flux reference frame and if
the arbitrary axis is to be oriented along the stator flux linkage space phasor, then the
synchronous reference would be the stator flux reference frame etc. If the angle ,
represents the instantaneous position of the synchronous reference frame along which
the arbitrary axis is aligned, then the transformation from the stator to synchronous
reference frame. The inputs to this block are isα , isβ and the rotor flux position . The

outputs of this block are isd and isq.

37
  ids   cos  sin    i 
  i  (4.2)
i
 qs    sin  cos    
The block diagram for the (, d,q) transformation is developed as per the
equation(4.2) which is shown in fig 4.3

3
theta sin 1
ids
sin Ial*cos(th)
cos

1 cos
ial Ibet*sin(th)

2
ibt
2
Ial*sin(th) iqs

Ibet*cos(th)

fig 4.3. PARK TRASFORMATION(2Ph-->2Ph)

4.5. Sensorless vector control algorithm

 Estimation of Secondary Speed Emf:

 The magnitude of the Secondary Speed Emf can be estimated for Sensorless
Vector control is in equation in (4.3)

erM   K  pis dt (4.3)

The block diagram is developed for the Secondary Speed Emf Estimation as per the
equation(4.3) which is shown in the following fig.

38
 1
1 erMd
1
Psigdl i ds Mux K*u Kphi De mux
s
2 i*pde li dqs Integrator1 2
Psigdl i qs Kphi erMq

speed emf esimator

Fig4.4. Secondary Speed Emf Estimation Model

 Estimation of Rotor Speed  re
Rotor speed can be calculated using the following eq (4.4) which simulation block is
shown in the following fig4.5
L
 re  r
erMq
2 * (4.4)
Li m d

Lr/(M^2)
u(1)/u(2) 1
2
Wre
erMq (Lr/(M^2*Iphidref))*erMq
ErMq*Lr/M^2

1
Iphidref S PEED ES TIMATOR

Fig4.5. Estimation of Rotor Speed  re Model

Estimation of slip  sl :
*


Slip angular speed  sl can be calculated using the following eq (4.5) which simulation
*

block is shown in the following fig4.6

Rr
 sl*  *
*
iqs (4.5)
Lr i d

39
 1 Rr/(Lr)
u(1)/u(2) 1
iqsref
Ws
Rr/LR*idsref/Iphdref
Gain
2
Iphiref
SLIP CALCULATION

Fig4.6.Block diagram for Estimation of slip  sl

*

Synchronous speed can be calculated using the following equation (4.6)

e   sl*   re (4.6)

 Estimation of flux position compensation:

The flux position compensation term is estimated using the following equation
Lr
 M   K  erMd dt , which simulation block is in the following fig
L2mi*d

1 -K- 1
u(1)/u(2) 1
erMd s
deltathM
Lr/(M^2*iphdref)1 Fcn Integrator

2
Iphidref

Position Estimator

Fig4.6.1. Model for Estimation of flux position compensation

40
The estimated axis position  M is given in eq (4.7)

 M   e dt   M (4.7)
Lr
where  M   K  erMd dt
L2mi*d

4.6. Speed and Current Controllers

The reference speed ωref’is compared with the estimated speed ωre’ which is
estimated from equation (3.62). The speed error is passed through a zero steady state
error controller like a PI controller to obtain the command value for the quadrature

(i.e. Torque reference  ), in the synchronous

* *
component of the stator current iqs
reference frame.
*
The reference for the direct current ids , of the stator current space phasor in the
case of the vector control can be a constant value up to base speed operation of the motor.
*
For the operation of the motor above the base speed, the ids is decreases in such a manner
*
to maintain the power constant i.e. by weakening the field. The command values ids and

iqs* are compared with the feedback values of the stator currents i ds and iqs in the

synchronous reference frame. The current errors thus obtained are passed through PI
controllers which form the current controllers of the drive system.
In feed back control systems a controller may be introduced to modify the error
signal and to achieve better control action. The introduction of controllers will modify the
transient response and steady state error of the system.

41
 The simulation blocks for the speed and current controllers are shown in
following figs 4.7,4.8&4.9

1
Ki s s
1 sat=70
1/T i 1
speed error
Sum T refl out_1

Kps

speed-controller
Kps

Fig4.7. Model for speed controller

1
Ki
s
1 1/T i sat=120 1
dc- error
Sum vsqrefl Del Vqsref

Kp

P
d-controlle r

Fig4.8. Model for d- controller

42
 1
Ki
s
ki sat 1
1
Sum vsdrefl del Vqsref
qerrr
Kp

KP q_controller

Fig4.9.Model for q- controller

 Calculation of the d-axis stator current reference ids

*

*
The d-axis stator current reference ids is calculated as for the equation (3.90)
which simulation block is shown in fig 4.10

1 Lr/(M^2)
u(1)/u(2) 1
T ref
iqsref
(Lr*T ref)/(Lm^2*Iphidref)
2
Lr/(M^2*iphdref)
Iphi dref

CALCULATION OF Iqsref

*
Fig4.10.Model for ids

*
 Calculation of the i d :

*
The reference magnetizing current i d is calculated as for the equation (3.89)
which simulation block is shown in fig 4.11

wd

Constant si n(u)
1
Product2 Fcn Iphi dref
Product1
Clock
0 5

del Iphi Iph i

CALCULATION O F Iphidre f at ZERO FREQ UENCY

*
Fig4.10.Mdel for i d

43
4.7. Decoupling Network:

It can be noted that under proper vector control, the stator current components ids
and iqs decoupled, and hence the outputs of the current controllers can be used as
command values for the current source inverter. However, in the case of the voltage
source inverter, the stator voltage command values Vds and Vqs are not decoupled.
Hence, decoupling networks are necessary to generate V dsref and Vqsref in the synchronous
reference frame, if a voltage source inverter is used. In the present work, voltage source
inverter is used to drive the induction motor. Therefore, suitable decoupling terms will
have to be incorporated to the outputs of the current controllers. As discussed in the

L2m *
earlier, the d-axis stator circuit loop has a coupling term (  e iqs  p
*
i d )from the
Lr

L2m *
quadrature axis and the q-axis stator circuit loop has a coupling term ( e ids 
*
i d
Lr

)from the direct axis. If the coupling terms are not compensated, then the torque and the
flux components of the stator current will not be decoupled. Therefore, feed forward
terms, Vdo for d-axis voltage compensation and vqo for q-axis voltage compensation,
must be added to the output of the current controllers. Vdo and Vqo are given by :

L2m * L2m *
vd 0   e i  p i d and
*
qs vqo  e i 
*
ds i d respectively
Lr Lr
(4.8)

The feed forward terms, Vdo for d-axis voltage compensation and vqo for q-axis
voltage compensation are estimated based on equaion (4.8) in the sensorless vector
control model simulation block diagram which block diagram is shown fig4.11

44
 6 1
erMd pLiMd
Demux
Mux K*u
7
erM 2
erMq vsref
pLiMq
2
vdsref psigmadlis
Mux K*u

1 vs
vsref (M/Lr)^2*Rr
vqsref
Constant1
3 Product1
ids Mux K*u
4
is
iqs vsref
Rs

Rs1 Mux
K*u Product2
0 Rs 8 Mux K*u
0 iphidref
sigma iphi
Mux 0
5 K*u
we We Cons
Matrix
0 Gain3

zero
SENSORLESS VECTOR CONTROL MODEL

Fig4.11. Model for sensorless vector control model

45
4.8. d-q to a, b, c transformation(Two Phase to three phase

transformation)

The vdsref and vqsref thus obtained in the synchronous reference frame are first
converted into two phase stator reference frame and then to three phase stator
reference using the following transformations .Using the general variable x ,the
transformations are given by

d,q to  ,  transformation:

 x  cos   sin    xd 
x      (4.10)
    sin  cos    xq 

 
1 0 
 xa   
 x    1 3   x 
 b  2 2   x  (4.11)
x  
 c  1  
 3
 2 
2 

The three reference voltages thus obtained after the transformations are used as
reference in pulse width modulator to obtain the switching pattern for the inverter
switches.

46
 The block diagram for d,q to  ,  transformation and  ,  a,b,c are developed
as per the equation s(4.10) &(4.11) whose simulation block diagram is shown in the
fig4.11

3 sin
theta
sin Vdsref*sintheta 1
2
vbtaref
vdsref
cos

cos Vqsref*costheta
1
vqsref

Product4 2
valsref

Product1
Invpark_TF(2-Ph-->2-Ph)

2 1
valsref varef
-.5
2
-.5
vbref
1 .866
vbtsref 3

sqrt(3)/2 vcref

InvclarkTF(2Ph-->3Ph)

Fig4.11.Model for d,q   ,  transformation and  ,  a,b,c

4.9. Sine-Triangle PWM of Three Phase Inverters

Although the basic MOSFET circuitry for an inverter may seem simple,
accurately switching these devices provides a number of challenges for the power
electronics engineer. The most common switching technique is called Pulse Width
Modulation (PWM) which involves applying voltages to the gates of the six MOSFETS

47
at different times for varying durations to produce the desired output waveform. In Figure
4.12, Q1 to Q6 represents the six MOSFETS and a,a’,b,b’,c,c’ represent the respective
control signals. In practice each switching leg may consist of more than two MOSFETs
in order to reduce switching losses by paralleling the on resistance.

Figure 4.12 - Basic Three-Phase Voltage Source Inverter

In the following equations logic values that are equal to 1 when the MOSFET is
on and 0 represent the control signals when it is off. In AC induction motor control when
the upper MOSFET is switched on i.e. a,b,c is 1 the corresponding lower MOSFET is
switched off i.e. a’,b’,c’ = 0. Using complementary signals to drive the upper and lower
MOSFETS prevents vertical conduction providing that the control signals don’t overlap.
From the states of a,b,c the phase voltages connected to the motor winding can be
calculated using the following matrix representation:

(4.12)

Knowing the phase voltage for a given switching state is important for the
technique known as sine triangle Pulse Width Modulation which will be discussed in
detail in section 4.9.

48
 Sinusoidal Pulse Width Modulator

One commonly used PWM scheme is called carrier based modulation. This uses a
carrier frequency usually between 10 to 20 kHz to produce positive and negative pulses
of varying frequency and varying width. The pulse width and spacing is arranged so that
their weighted average produces a sine wave. The sine-triangle PWM model is shown in
fig4.12

49
 Varef Tga
Tga Van 1
1 Varef Van
Tgb Vbn
Vbref Tgb
2
2 Vbref Vbn
Tgc Vcn
3
Vcref Tgc
Three Phase Voltage Source Inverter Vcn
3 Vcref Sintriangle Pulse Width Modulator

Sintriangle Pulse Width Modulated Inverter

Ac
300 1
Cwav e
Fsw
Ac Relay1 Tga
CARRIER WAVE

60*21 1 Varef
Fsw
2
Tgb
Relay2
2 Vbref

3
Tgc
Relay3
3 Vcref

S intriangle Pulse Width Modulator

Fig4.13. model for sine-triangle PWM

Fig4.14.Shows sine-triangle PWM Inverter model

50
 175

Vdc/2 Vao

1 1
Tga Van
Vbo 1/3
2
Tgb
Vzs

2
3 Vbn
Tgc Vco
3
Vcn

Three Phase Voltage S ource Inverter

Fig4.14.1. Model for sine-triangle PWM Inverter

In sine-triangle PWM a triangular carrier waveform of frequency f s establishes the

inverter switching frequency. This is compared with three sinusoidal control voltages that
comprise the three phase system. The output of the comparators produces the switching
scheme used to turn particular inverter MOSFETS on or off. These three control voltages
have the same frequency as the desired output sine wave which, is commonly referred to
as the modulating frequency, fm. The modulation ratio is equal to m f = fm/fs. The value of
mf should be an odd integer and preferably a multiple of three in order to cancel out the
most dominant harmonics as these are responsible for converter losses. One limitation of
the sine triangle method is that it only allows for a limited modulation index, so it doesn’t
fully use the DC bus. The modulation index can be increased by using distorted
waveforms that contain only triplen (multiples of three) harmonics. These form zero
sequence systems where the harmonics cancel out resulting in no iron losses .It is
discussed in detail in the following section.

To obtain balanced 3-phase output voltages from the 3-phase PWM inverter, the
same triangular voltage waveform is compared with three sinusoidal control voltages that
are 1200 out of phase, as shown in the fig 4.15. The comparison of V control with
triangular wave form results in the following logic signals to control the switches in legs
A,B,C.

51
 Vdc
If Va ref > Vtri , Vao =
2
V
else Vao = - dc
2
Vdc
If Vbref > Vtri , Vbo =
2
V
else Vbo = - dc
2
Vdc
If Vcref > Vtri , Vco =
2
V
Else Vao = - dc
2

300

200
3 -P h R e f V o lta g e s

100

-100

-200

-300
0 0.002 0.004 0.006 0.008 0.01 0.012 0.014 0.016 0.018
Time t in sec

Fig 4.15. Reference voltages and carrier wave forms

The common mode voltage is given in (4.19)

1
i.e. Vno   Vao  Vbo  Vco  (4.19)
3
The output phase voltages can be calculated by subtracting the common mode voltage
from the pole voltages.

Van  Vao  Vno (4.20)

52
 Vbn  Vbo  Vno (4.21)

Vcn  Vco  Vno (4.22)

The pole voltages are shown in fig 4.16 ,phase voltage Van is shown in fig 4.17 and line-
line voltage Vab is shown in fig 4.18
200
+Vdc/2
V ao

-Vdc/2
-200
0 0.002 0.004 0.006 0.008 0.01 0.012 0.014 0.016 0.018
200
V bo

-200
0 0.002 0.004 0.006 0.008 0.01 0.012 0.014 0.016 0.018
200
V co

-200
0 0.002 0.004 0.006 0.008 0.01 0.012 0.014 0.016 0.018
time t in sec

Fig4.16. Pole voltages Vao,Vbo and Vco Waveforms

250

200
Van
150
p h a s e v o lt a g e V a n

100

50

-50

-100

-150

-200

-250
0 0.002 0.004 0.006 0.008 0.01 0.012 0.014 0.016 0.018
time t in sec
Fig 4.17 Phase
voltage Van Waveform

53
 400
Vdc
300

200 Vab

100
L-L Voltge Vab
0

-100

-200

-Vdc
-300

-400
0 0.002 0.004 0.006 0.008 0.01 0.012 0.014 0.016 0.018
time in sec

Fig 4.18 line-line voltage Vab Waveform

These 3-phase voltages will now be fed to the induction motor. In the 3- phase
inverters, only the harmonics in the line-to-line voltages are concerned. The harmonics in
the output (Van) of any one of the legs are identical to the harmonics in Vao, where only
the odd harmonics exist as side bands , centered around m f and its multiples, provided mf
is odd.. only considering the harmonics at mf ( the same applies to its odd multiples), the
phase difference between the mf harmonic in Van and Vbn is (120mf)0 . This phase
difference will be equivalent to zero (a multiple of 360 0 ) if mf is odd and a multiple of 3.
As a consequence, the harmonic at mf is suppressed, in the line-to-line voltage Vab . The
same argument applies in the suppression of harmonics at the odd multiples of m f , if mf
is chosen to be an odd multiple of 3 ( where the reason for choosing mf to be odd multiple
of 3 is to keep mf odd and hence, eliminate even harmonics ). Thus some of the
dominating harmonics in the one-leg inverter can be eliminated from the line-to –line
voltage of a 3 – phase inverters.

In the linear modulation (m a  1.0) the fundamental frequency component in

the output voltage varies linearly with the amplitude modulation ratio ‘ma’. The peak
value of fundamental frequency component in one of the inverter legs is

(van)1 = ma  vd/2

54
 For low values of mf (mf  21) to eliminate the even harmonics, a
synchronized PWM (‘mf’ be an integer) should be used and mf should be an odd integer.
Moreover, mf should be a multiple of 3 to cancel out the most dominant harmonics in the
line to line voltage. The reason for using the synchronous PWM inverter is that the
asynchronous PWM (where mf is not an integer) results in sub harmonics (of fundamental
frequency) that are very undesirable in most applications.

55
 CHAPTER 5

SIMULATED RESULTS AND CONCLUSIONS

56
5.1. Description of proposed Scheme

Fig 5.1 shows the simulated schematic simulation block diagram for Sensorless
Vector Control of induction motor drive system, whose specifications and the parameters
of sensorless control scheme are shown in Appendix A.

The system consists of an induction motor which is driven by a voltage source

inverter. The dc-link to the inverter is obtained from the output of ac-dc converter which
is fed from the three phase mains. The inverter switching is controlled by the speed and
current controllers as shown in fig 5.1

The ac-dc converter consists of a three phase bridge rectifier followed by a

capacitor which output is fed to the three phase voltage source inverter. The control
signals for the inverter switches are obtained form the sine triangle modulator block. The
six power switches output are three phase pulse modulated voltages which are fed to the
induction motor. The three phase stator currents i as,ibs and ics are measured(sensed by

using hall effect sensors),are transformed to i , i  in the stationary reference frame , idse , iqse

are calculated from i , i  in the synchronous reference(stator flux reference frame) by using

estimated position  m .

The voltage across the leakage inductance pL is can be obtained by calculating

the current difference between the detected stator currents is at the two adjacent sampling

points. the model voltage across the leakage inductance pL ism can be obtained(eq

(3.54)) from the know values vs , is , i (  i ) and erM .The model secondary speed
*

emf erM can be estimated(eq (3.58)) by using speed emf estimation gain K .

57
From the d-axis component of the secondary speed emf, flux position compensation term
 M in equation (3.74), and q-axis component of the secondary speed emf, rotor speed

 re in equation (3.62), can be estimated.

varefVan
Idsref vqsref varef
vbtsref
delvdsref vbtaref
vbrefVbn
Idsref vdsref vbref
d-controller Idsref Vqsref
valsref valsref vcrefVcn
theta vcref
Tref delvqsref
iqsref Invpark_TF 2lspwmi
InvclarkTF
Iphidref 3Ph....>2Ph
Iqsref
Iqsref IM
ial
we vqsref ids
q_controller Vdsref ids van
ibt
Iphiref vdsref iqs
Iphidref pLiMd
Plis vbn
ref

iqs theta Te
id

idse
h
Ip

.182 VC Decoupl wer

vcn
iqse pLids ids
vds
.00351s+1
we vqs Tl
LPFd
erMd pLiqs iqs
.182
pLiMq
erMq
.00351s+1 IM_Model
speed-controller 1 LPFq iphidref
iqsref s
Ws We MODEL
Iphidef

SLIP
Position Estimator
Speed emf Estimator
erMd wr,Te,Vdqs
deltathM
Iphidref erMd Psigdlids Tload
t
Speed Estimator
2/p Clock t
Iphidref
erMq Psigdliqs
2/p Wre
erMq

Wref softstart
Schematic block diagram of the Sensorless Vector Ccontrol scheme

Fig 5.1 Simulated schematic simulation block diagram for Sensorless Vector
Control of induction motor drive system

58
 The reference speed  ref is compared with the estimated rotor speed  re and the
speed error thus passed through a speed controller ,which is a PI controller and serves the
three purposes-stabilizes the drive and adjusts the damping ratio at desired value, makes
the steady state –error close to zero by integral action, and filters out noise gain .The
output of the PI controller is applied to the limiter which sets a torque producing

component iqsref .From the torque producing component iqsref , slip speed  sl can be

estimated using equation (3.71),which is added to the estimated speed  re to get the

synchronous speed  e ,which sets the inverter frequency. The inverter frequency is
adjusted to make the actual speed equal to the reference speed. The reference for the

direct component idsref of stator current space phasor is estimated by using the equation
(3.90).

The command values idsref and iqsref are compared with the feedback values of the

stator currents idse and iqse , which are in the synchronous frame. The current errors thus
obtained passed through a current controllers, which are the PI controllers, which serves

the same three purposes just described. The decoupling terms vd 0, vq 0 are calculated from

the equations (3.83)&(3.86) and added to the output of the current controllers vds and
*

vqs* to get stator voltage command values vds* , vqs* .

* *
The stator voltage command values vds , vqs are first converted to two phase stator
reference frame then three phase synchronous reference frame .These three reference
voltages are used as reference signals to a sine triangle pulse width modulator to obtain
the switching pattern for the inverter switches. Finally, the output of the sine triangle
pulse width modulated voltage source inverter is fed to the three phase induction motor.

59
5.2. Simulation Results

The fig 5.2 shows the speed response at reference speed W ref = 188.57 rad/sec which

shows that the estimated speed  re is coincident with the speed  r actual.

200
Wref

100

0
0 0.5 1 1.5
200

100
Wre

-100
0 0.5 1 1.5
400

200
Wr

-200
0 0.5 1 1.5
time(sec)

Fig.5.2.Speed response vs time

The voltage response Vds, Vqs are shown in fig 5.3 and locus of the voltages Vds and Vqs
are shown in fig 5.4.The reference voltages to the PWM modulator are shown in fig 5.5.
Stator voltages van, vbn & vcn are shown in fig 5.6.

60
 Vqs,Vds
400

200

V qs
0

-200

-400
1.4 1.41 1.42 1.43 1.44 1.45 1.46 1.47 1.48 1.49 1.5

400

200
V ds

-200

-400
1.4 1.41 1.42 1.43 1.44 1.45 1.46 1.47 1.48 1.49 1.5
time(sec)

fig 5.3 Voltage waveform at steady state

Vds Vs Vqs
400

300

200

100
Vqs

-100

-200

-300

-400
-400 -300 -200 -100 0 100 200 300 400
Vds

fig 5.4 Locus of the voltages Vds and Vqs at steady state

volatage response
400

200
Varef

-200

-400
2 2.05 2.1 2.15 2.2 2.25 2.3 2.35 2.4 2.45 2.5

400

200
Vbref

-200

-400
2 2.05 2.1 2.15 2.2 2.25 2.3 2.35 2.4 2.45 2.5
time(sec)

Fig 5.5 Reference voltages waveforms to the PWM Modulator at steady state

61
 Stator voltages of the motor are as shown in fig 5.6.

200
Van

-200

1.4 1.41 1.42 1.43 1.44 1.45 1.46 1.47 1.48 1.49 1.5

200
Vbn

-200

1.4 1.41 1.42 1.43 1.44 1.45 1.46 1.47 1.48 1.49 1.5

200
Vcn

-200

1.4 1.41 1.42 1.43 1.44 1.45 1.46 1.47 1.48 1.49 1.5
time(sec)

Fig 5.6 Stator voltages of the induction motor at steady state

Simulated results at zero frequency are shown in the following figs

Wr,Wre,Wsl
100

50
Wr

-50
0 0.5 1 1.5 2 2.5 3
0

-20
Wsl

-40

-60
0 0.5 1 1.5 2 2.5 3
60

40
W re

20

0
0 0.5 1 1.5 2 2.5 3
time(sec)

Fig 5.7.Actual motor speed  r , estimated rotor speed  re and slip speed  sl
characteristics at zero Frequency

62
 Wsl,We at zero frequency
0

-10
W sl -20

-30

-40

-50
0 0.5 1 1.5 2 2.5 3

15

10

5
We

-5

-10
0 0.5 1 1.5 2 2.5 3
time(sec)

Fig5.8.The stator angular frequency  e and  sl characteristics at zero Frequency

q-axis current response at zero frequency

10

5
Iq s e

-5

-10
0 0.5 1 1.5 2 2.5 3

-5
Iq s re f

-10

-15
0 0.5 1 1.5 2 2.5 3
time(sec)

Idse,idseref at Zero frequency

10

5
Ids e

-5

-10
0 0.5 1 1.5 2 2.5 3

6.5
Ids eref

5.5

4.5
0 0.5 1 1.5 2 2.5 3
time(sec)

Fig.5.9 dq axis currents characteristics at zero Frequency

63
 erMd,erMq
0

-2

erMd
-4

-6
0 0.5 1 1.5 2 2.5 3

20

erMq -20

-40

-60
0 0.5 1 1.5 2 2.5 3
time(sec)

Fig 5.10.Estimated speed emf characteristics at zero frequency

The fig 5.7 shows that the estimated speed  re is coincident with the actual motor

speed  r . The fig 5.8 shows the stator angular frequency  e is fluctuating around the

zero with the amplitude of 10r/min and the angular frequency of  d  2  2 rad /sec.

The fig 5.10 shows the estimated speed emf erq is also fluctuating with the amplitude of

10 % of the average emf and angular frequency of  d .From these results, the stable
sensorless control at zero frequency is realized.

64
5.3. Conclusions

In this dissertation work for the stable low speed drive, a new sensorles control
scheme, which is based on the secondary speed emf estimation under fluctuating
excitation current is presented. The sensorles vector control scheme of the induction
motor at low speed region including zero stator frequency can be successfully controlled
regardless of the load and even zero frequency is approached without losing stability.
Constant operation at zero frequency is not possible, but stable crossing is very well
possible, even at a reasonably slow rate.

The proposed drive can compete with a speed-sensor equipped drive if

continuous operation at ac excitation and high load is not required. The simulated
characteristics of the sensorles control scheme were verified using a 4-ploe 2.2kW
induction motor. Even at the zero stator angular frequency, the stable sensorless drive is
realized in the speed range of more than 40 r/min.

65
5.4. Further work

All further work is summarized schematically in the following ideas:

 Development of fuzzy controllers to achieve better performance.
 Practical implementation of this sensorless vector control using DSP
controllers (TMS 320 F240, TMS 320 F243).
 Try to find suitable parameter adoption schemes for Vector Control under
various operating conditions.
 Application of modern control techniques for design of optimum speed
and current controllers for reducing EMI and for increasing energy savings
from the mains.

66
 APPENDIX: B

INTRODUCTION TO SIMULINK

67
INTRODUCTION
In this project MATLAB6.1/SIMULINK software is used for sensorless vector control of
induction motor drive. In past, high-level programming languages such as FORTRAN or
C have been used for carrying out simulations. The writing of source code requires much
greater skill and knowledge on the part of the user. For example, proper integrations
routines must be selected and written, even simple mathematical manipulations have to
be programmed. These programs typically produce results, which must be post-processed
to derive visual impressions. This is a two-step process, and typically results in large files
of data, which must be stored before processing.

Computer simulation plays an important role in the design, analysis, and

evaluation of power electronic converters and their controllers. Designing and developing
power electronic circuits without suitable computer simulation is extremely laborious,
error-prone, time-consuming, and expensive. Therefore, it is essential to teach, at the
undergraduate level, power converter modeling and simulation, together with the
dynamic behavior of the converter, using a theoretical framework suited for controller
design and development.

Nowadays, a variety of software tools, such as SPICE, EMTP, SABER,

CASPOC, SIMPLORER, SPECTRE, etc., is available to simulate electrical and
electronic circuits. The most used simulators are SPICE or PSPICE, user-friendly
programs designed to perform analysis of low power analog electronic circuits. Several
power electronics professors have used SPICE to simulate the behavior of power
electronics converters.

SIMULINK is a window-oriented dynamics modeling software package built on

top of the MATLAB numerical workspace. An advantage is that models are entered as
block diagrams with an intuitive graphical interface when the corresponding
mathematical descriptions are available for the target systems. This application is not
difficult to do for basic topologies of dc–dc switching converters. Furthermore, a set of
blocks with signal interconnections could be masked as a subsystem for convenience in
the SIMULINK environment. The parameters of masked subsystems are then entered in

68
dialog windows and can be changed interactively during a simulation. Simulation results
can be viewed during the simulation via a virtual oscilloscope and then exported to the
MATLAB workspace for subsequent off-line analysis. The SIMULINK modeling
environment provides make construction of simple dynamical systems quite easy. This
construction is also true for the design and verification of feedback controllers for
dynamical systems. If the mathematical way of using Kirchhoff’s laws to construct the
corresponding dynamical systems is not favored, the MATLAB environment can also be
used to develop mathematical models from input–output data.

“MATLAB/SIMULINK” software is widely used for the simulation of almost all

types of dynamic systems. This software package is also valuable for teaching and
learning since it provides a series of standard routines and software toolboxes, such as a
control toolbox, system identification blocks, nonlinear control design block set, and
neural networks block set, which enable students to perform system simulation,
identification, and control.

The latest versions of MATLAB/SIMULINK include a “Power System Blockset”

This toolbox features electrical models of power semiconductors and the most commonly
used power devices (machines, transformers, power lines, voltage sources), and allows
simulation of power systems and power electronics. This package is valuable for
imulating well-known topologies several of which are included as demonstrations, but it
tends to generate too many algebraic loops on more complex or novel power topologies.
These algebraic loops are difficult to handle (because they are inherent to the modeling
method) and are time consuming, often preventing simulation convergence.

Furthermore, this toolbox does not easily allow open-loop or closed-loop

simulation of series associations of power rectifiers, nor does it study the steady and the
transient-states in cases of unbalanced or distorted and/or polluted power supply.
Considering the approach of with PSPICE and SIMPLORER, the authors think that a
system-level simulation, considering only the ideal switching and functional behavior of
power semiconductors, would be desirable for MATLAB/SIMULINK. The system-level

69
simulation is fast enough and free of algebraic loops and convergence problems
(SIMULINK has built-in integration methods suited to deal with stiff systems).
Therefore, it could avoid the problems of the “Power System Block set” mentioned
above. Additionally, the system-level derived models to implement in SIMULINK can be
used for closed-loop controller design, since they are switched state-space models. This
advantage is lost when using the “Power System Blockset” or “SIMPLORER.”

Considering the increasing capabilities of “MATLAB/SIMULINK” for the

simulation of dynamic systems, it is advantageous to adapt the ideal models of
semiconductors and simulation methods presented here for this software since only one
software package is needed. The simulation time is short (a few seconds); an excellent
graphical interface is available with parametric identification of the system and the ability
to choose the numerical integration method and toolboxes for closed-loop control. In
addition, the SIMULINK package offers the benefits of a hierarchical structure and uses
“MATLAB” as its mathematical engine. If required, the modeling method here proposed
could be adapted to other programs. Since the goal is to teach nonlinear mathematical
modeling and control and the simulation of power converters, this paper shows, in
Section II, how to write system-level models of power electronics circuits. In Section III,
examples of pulse width modulation (PWM) ac/dc and dc/ac power electronic converters
are given.

The simulation models described are quite suitable to study power electronics
converters in drives or other applications whose simulation times are not too long, since
only the ideal behavior of the power switches is considered. This work was initially
developed for research in the area of new topologies for power electronics. However,
further developments allowed its use as a valuable teaching aid. Therefore, this work
presents a new way to teach undergraduate students the dynamic behavior of power
electronics circuits without cutting down the analytic skills needed to learn and
synthesize power converter controllers. The new method can also be used as verification
of analytical methods, allowing students to check their mathematical work quickly and
use it for power converter behavior and controller development.

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 BIBLOGRAPHY

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