EXPERT SYSTEMS AND SOLUTIONS

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Control of Induction Motor

Under the Guidance of Prof.Pramod Agarwal Dr.Sumit Ghatak Choudhri

INTRODUCTION TO VECTOR
Nikola Tesla in 1880 introduced the concept of PolyPhase Induction Machine, from which the world has witnessed continued growth in the use of Induction Machine Three phase induction motors has been mainly preferred for is simplicity, robustness and maintenance free operation But for variable speed drive normally D.C drives are preferred . The main problem with D.C drives is the time to time maintenance of the commutators, brushes and brush holders

Problems with scalar Control

At frequencies higher than the rated value, the constant V/Hz principle also have to be violated because, to avoid insulation break down, the stator voltage must not exceed its rated value

WHAT IS VECTOR CONTROL

Vector control mode is defined as a control technique in which two equivalent control signals are produced to control Flux and Torque in decoupled Manner. both the magnetic field and the torque developed in the motor can be controlled independently; Optimal conditions for torque productions, resulting in the maximum torque per unit ampere, occur in the motor both in the steady state conditions and transient conditions of an operation.

Direct and Indirect

Direct Method hall effect transducers are used to obtain rotor flux Indirect Method no direct measurement is done but a larger computation is used

Typical hardware layout of FOC system

V/F CONTROL
Problems with scalar Control At frequencies higher than the rated value, the constant V/Hz principle also have to be violated because, to avoid insulation break down, the stator voltage must not exceed its rated value

SPACE PHASOR

Clarke Transformation

PARK TRANSFORMATION

PHASOR DIAGRAM OF VECTOR CONTROL

Flux Orientation Methods

Rotor flux orientation It gives a natural decoupling control Stator flux orientation It gives a coupling effect which needs to be compensated by a decoupling compensation current Air gap flux orientation It gives a coupling effect which needs to be compensated by a decoupling compensation current

PWM MERITS AND DEMERITS

MERTS
Relatively simple and robust Power circuit Low Manufacturing Cost Simple Voltage and Current Control techinques

Demerits
Most PWM inverters operate at low and medium switching frequency levels; a reason for this is that such converters need to switch rapidly to minimize loss. Any attempt to increase switching frequencies will also follow in an increase of switching loss and an increase in the generation of electromagnetic interference.

Speed Controller
e (n)

n*

Speed Controller takes speed error as input and output Torque Value Types of Speed Controllers PI Controller PID Controller Fuzzy Controller

PI controller
K P and K i are proportional and integral gain parameters of the PI speed controller

T (n) = T (n-1) * + KP [

re (n)

re(n-1)

] + Ki

re (n)

PID Controller

T (n) = T (n-1) * +KP [ re(n) - re(n-1) ] + K i K d [ re (n) - 2 re(n-1) + re(n-2) ]

re(n)

Fuzzy Logic Controller

Modelling

Modeling

The Concept of Space Vector

BLOCK DIAGRAM OF INDUCTION MOTOR

SPEED SENSORLESS DRIVE

Reduction of Hardware Increased Mechanical robustness Higher reliability Unaffected machine Inertia

INDUCTION MOTOR

DOL STARTER MODEL IN MATLAB

SIMULATED STARTING RESPONSE OF A 1HP MACHINE

V a n ,V b n ,V c n S ta to r V o l ta g e 500 0 -5 0 0 0 .5 20 Ia Ib Ic 0 -2 0 0 .5 4000 Wm 2000 0 0 .5 20 TL TE 0 -2 0 0 .5 0 .5 5 0 .6 0 .6 5 0 .7 0 .7 5 0 .8 0 .8 5 Tim e ---> 0 .9 0 .9 5 1 0 .5 5 0 .6 0 .6 5 0 .7 0 .7 5 To rq u e 0 .8 0 .8 5 0 .9 0 .9 5 1 0 .5 5 0 .6 0 .6 5 0 .7 0 .7 5 Speed 0 .8 0 .8 5 0 .9 0 .9 5 1

0 .5 5

0 .6

0 .6 5

0 .7 0 .7 5 S ta to r C u r r e n ts

0 .8

0 .8 5

0 .9

0 .9 5

REVERSAL and RE-REVERSAL

S ta to r V o l ta g e V an ,V b n ,V c n 500 0 -500 20 Ia Ib Ic 0 -20 1 1.2 1.4 1.6 1.8 2 Speed 2.2 2.4 2.6 2.8 3 1 1.2 1.4 1.6 1.8 2 2.2 S ta to r Cu rre n ts 2.4 2.6 2.8 3

5000 Wm 0 -5000 50 TL TE 0 -50 1 1.2 1.4 1.6 1.8 2 2.2 2.4 Tim e ---> 2.6 2.8 3 1 1.2 1.4 1.6 1.8 2 To rq u e 2.2 2.4 2.6 2.8 3

Load Perturbations
S ta to r V o l ta g e V an ,V b n ,V c n 500 0 -500 5 Ia Ib Ic 0 -5 4000 Wm 2000 0 5 TL TE 0 -5 3 3.2 3.4 3.6 3.8 4 4.2 4.4 Tim e ---> 4.6 4.8 5 3 3.2 3.4 3.6 3.8 4 To r q u e 4.2 4.4 4.6 4.8 5 3 3.2 3.4 3.6 3.8 4 Speed 4.2 4.4 4.6 4.8 5 3 3.2 3.4 3.6 3.8 4 S ta to r Cu r r e n ts 4.2 4.4 4.6 4.8 5

LITERATURE SURVEY
F. Blaschke, The principle of field orientation as applied to the new TRANSVEKTOR closed-loop control for closedrotating field machines, Siemens Review, pp. 217-220, 1972. Review, 217G.Diana, R.G. Harley, An aid for teaching field oriented control applied to Induction Machines, IEEE Trans. on Power Systems, Vol. 4, no.3, pp.1258-1262, Aug 1989 Systems, pp.1258James A. Norris, Vector Control of A.C Motors, in Proc. 1993 IEEE Textile, Fibre and Film Industry Technical Conf., pp. 3/1 3/8. Conf., W.Leonard, Field Oriented for Controlling AC Machine-Principle and Applications, in Proc. 1988 Power MachineElectronics and variable Speed Drives Conf., pp.277-282 Conf., pp.277B.K.Bose, Power Electronics and A.C Drives, New Jersey, Prentice-Hall, 1986 Drives, PrenticeP.C Krause, Analysis of Electrical machinery, New York; McGraw-Hill 1986. machinery, McGrawJ. Murphy and E Turnbull, Power Electronic control of A.C Motors. Oxford,U.K., Pergamon Press, 1988. Power S.Yamamura, AC Motor for High Performance Applications, Analysis and Control, New York, Marcel dekker, Control, 1986 R.Krishnan, Electric Motor Drives Modeling Analysis and Control , Pearson Education, New Delhi, India, 2003 J.W.Finch, Scalar and vector : a simplified treatment of induction motors performance, in Proc. 1998 IEE vector control colloquium, pp2/1- 2/4. colloquium, pp2/1C.C Lee, Fuzzy logic on Control System Part-I, IEEE Trans. on Systems, Manual Cybernetics, vol.20, no.2, PartCybernetics, pp.404pp.404-418, Mar/Apr 1990 C.C Lee, Fuzzy logic on Control System Part-II, IEEE Trans. on Systems, Manual Cybernetics, vol.20, no.2, PartCybernetics, pp.404pp.404-418, Mar/Apr 1990 Hellendoom H. and C. Thomas, Defuzzifications in Fuzzy controllers, Intelligence and Fuzzy Systems, Vol. 1, 28-30 1996. pp. 109-123, 1993. 28109B.N.Singh, Investigations on vector Controlled Induction Motor Drive, Ph.D dissertation, Dept. of Electrical Eng., Indian Institute of Technology, Delhi. India. 1995. S.Ghatak Choudhuri, Analysis and Development of vector Control of Induction Motor Drive, Ph.D dissertation, Dept. of Electrical Eng., Indian Institute of Technology, Delhi. India. 2004.