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Introduction to Vector Control of Induction Machines

Introduction to Vector Control of Induction Machines

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Published by Robert Betz
These notes provide a basic introduction to the theory behind vector control. The approach is to start from the very basics and work up to the vector control equations.
These notes provide a basic introduction to the theory behind vector control. The approach is to start from the very basics and work up to the vector control equations.

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Published by: Robert Betz on Apr 29, 2012
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Introduction to Vector Control of InductionMachines
1R.E. BetzSchool of Electrical Engineering and Computer ScienceUniversity of Newcastle, Australiaemail:
Robert.Betz@newcastle.edu.au
April, 2012
1
First created: July, 1997.Revised on 2012-04-29 15:37:10 +1000 (Sun, 29 Apr 2012) by R.E. BetzSVN Version: 505
 
Contents
List of Figures iiiList of Figures ivList of Tables vList of Tables viPreface vii1 Fundamentals 1-1
1.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-11.2 The Sinusoidal Assumption . . . . . . . . . . . . . . . . . . . . . 1-31.2.1 Winding Interaction with Spatial Flux Density Distribution 1-41.2.2 Winding Interaction with Temporal Flux Density Variation 1-71.3 Flux Linkage to Sinusoidally Distributed Windings . . . . . . . . 1-101.4 Other Important Assumptions . . . . . . . . . . . . . . . . . . . . 1-111.4.1 Properties of Three Phase Sinusoidal Windings . . . . . . 1-121.5 Torque Expressions . . . . . . . . . . . . . . . . . . . . . . . . . . 1-131.5.1 Torque of a Simple Reluctance Machine . . . . . . . . . . 1-141.5.1.1 Slow Rotor Movement . . . . . . . . . . . . . . . 1-161.5.1.2 Instantaneous Rotor Movement . . . . . . . . . . 1-191.5.1.3 Real Movement . . . . . . . . . . . . . . . . . . 1-201.5.2 Linear Torque Model . . . . . . . . . . . . . . . . . . . . . 1-231.5.2.1 Singly Excited System . . . . . . . . . . . . . . . 1-231.5.2.2 Doubly Excited System . . . . . . . . . . . . . . 1-251.5.3 The Ellipse Diagram for co-energy . . . . . . . . . . . . . 1-29
2 The Kron Primitive Machine 2-1
2.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-12.2 Model for the Doubly Fed Machine . . . . . . . . . . . . . . . . . 2-12.2.1 Zero saliency case . . . . . . . . . . . . . . . . . . . . . . 2-32.2.2 One degree of saliency case . . . . . . . . . . . . . . . . . 2-32.2.3 Torque expression . . . . . . . . . . . . . . . . . . . . . . 2-32.3 Commutator Machines . . . . . . . . . . . . . . . . . . . . . . . . 2-42.4 The Primitive Machine Concept . . . . . . . . . . . . . . . . . . . 2-72.4.1 Use of the Primitive Machine - the DC Machine . . . . . 2-112.5 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-13
 
CONTENTS ii3 Frame transformations, DQ and Space Vector Models 3-1
3.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-13.2
dq
Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-13.2.1 Stationary Frame Transformations . . . . . . . . . . . . . 3-23.2.1.1 MMF transformations . . . . . . . . . . . . . . . 3-23.2.1.2 Current Transformations . . . . . . . . . . . . . 3-53.2.1.3 Voltage Transformations . . . . . . . . . . . . . 3-63.2.1.4 Impedance Transformations . . . . . . . . . . . . 3-73.2.1.5 Flux Linkage Transformations . . . . . . . . . . 3-83.2.2 Rotating Frame Transformations . . . . . . . . . . . . . . 3-83.2.3 Example: SYNCREL Linear
dq 
Model . . . . . . . . . . . 3-113.3 Space Vector Model . . . . . . . . . . . . . . . . . . . . . . . . . 3-163.3.1 Current Space Vectors . . . . . . . . . . . . . . . . . . . . 3-163.3.1.1 Stationary Frame Current Vectors . . . . . . . . 3-163.3.1.2 Rotating Frame Current Vectors . . . . . . . . . 3-203.3.2 Flux Linkage Space Vector . . . . . . . . . . . . . . . . . 3-213.3.3 Voltage Space Vector . . . . . . . . . . . . . . . . . . . . . 3-233.3.4 Example: SYNCREL Space Vector Model . . . . . . . . . 3-243.3.5 Space Vector Power Expression . . . . . . . . . . . . . . . 3-253.3.6 Example: Space Vector Expression for SYNCREL Torque 3-263.3.7 Relationship Between Space Vectors and
dq 
Models . . . 3-283.4 Steady State Model . . . . . . . . . . . . . . . . . . . . . . . . . . 3-29
4 Vector Control of Induction Machines 4-1
4.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-14.2 Vector Models for Induction Machines . . . . . . . . . . . . . . . 4-14.2.1 Flux Linkage Expression . . . . . . . . . . . . . . . . . . . 4-14.2.2 Magnetising Current . . . . . . . . . . . . . . . . . . . . . 4-44.2.3 Power and Torque Expressions . . . . . . . . . . . . . . . 4-44.2.4 The Space Vector Model of the Induction Machine . . . . 4-84.3 A Heuristic Explanation of Vector Control . . . . . . . . . . . . . 4-114.4 Special Reference Frames . . . . . . . . . . . . . . . . . . . . . . 4-134.4.1 The Magnetising Flux Linkage Reference Frame . . . . . 4-134.4.2 The Rotor Flux Linkage Reference Frame . . . . . . . . . 4-154.4.3 Stator Flux Linkage Reference Frame . . . . . . . . . . . 4-174.5 Derivation of Rotor Flux Oriented Vector Control . . . . . . . . . 4-184.6 Structure of a Rotor Oriented Vector Drive . . . . . . . . . . . . 4-224.6.1 Indirect Rotor flux Oriented Controller . . . . . . . . . . 4-224.6.2 Direct Rotor Flux Oriented Controller . . . . . . . . . . . 4-234.7 Magnetising Flux Orientation . . . . . . . . . . . . . . . . . . . . 4-24
A Calculation of Inductances for Salient Pole Machines A-1
A.1 Calculation of Inductances . . . . . . . . . . . . . . . . . . . . . . A-1A.1.1 Self Inductances . . . . . . . . . . . . . . . . . . . . . . . A-3A.1.2 Mutual Inductances . . . . . . . . . . . . . . . . . . . . . A-10A.1.3 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . A-13

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