EE595S: Class Lecture Notes Chapter 14: Induction Motor Drives

EE595S: Class Lecture Notes Chapter 14: Induction Motor Drives
S.D. Sudhoff Fall 2005
Overview of Strategies
Volts-Per-Hertz Control Constant Slip Control Field-Oriented Control
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EE595S Electric Drive Systems
Volts-Per-Hertz Control
History Advantages Disadvantages
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Basic Idea
Machine will operate close to synchronous speed, thus speed controlled with frequency We must avoid saturation
On Avoiding Saturation
vas = rsias + pas Vs = e s (14.2-1) (14.2-2)
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Elementary Volts Per Hertz Control
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Example System
50 Hp Machine Rated for 1800 rpm, 460 V l-l rms, P=4, 60 Hz rs=72.5 m; rr=41.3 m LM=30.1 mH; Lls=Llr=1.32 mH
2 rm TL = Tb 0.1S (rm ) + 0.9 bm
(14.2-3)
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Performance Characteristics
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Comments on Steady-State Performance
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Problem 1: Resistance At Low Speed Solution: Set Voltage So Slope is Invarient
Te =
2 P X 3 e M 2 b b 2 2
~ 2 rr s Vas
2 e 2 e ( r X + sr X ) 2 rs rr ) + + s ( X M X ss X rr r ss s rr b b
(4.9-19)
2 2 rs2 ,est + e Lss,est Vs = Vb 2 2 rs2 ,est + b Lss,est
(14.2-4)
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Further Improvement Current Feedback
Lets approximate torque as

Te = Ktv (e r ) T Ktv = e r =
r
(14.2-5) (14.2-6)
Using (14.2-4) we have
P 2 3 L2 r V M r b 2 Ktv = 2 2 2 (rs2 + b rr Lss )
(14.2-7)
This is not a function of synchronous speed

Fall 2005 EE595S Electric Drive Systems 10
Next, consider torque. We have
Te = 3P e e e (dsiqs e qsids ) 22
e e vqs rsiqs
(14.2-8)
For steady-state conditions

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e ds =
Thus
e e vds rsids e qs = e
(14.2-9) (14.2-10) (14.2-11) (14.2-12)

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Te =
Where
Is =
3 P 1 e* e 2 (vqsiqs 2rs I s ) 2 2 e
1 e2 e2 iqs + ids 2
Equating (14.2-7) and (14.2-11)
e =
* + *2 + 3P (v e*i e 2r I 2 ) / K r r qs qs s s tv
2
* + max(0, *2 + r r corr )
(14.2-13)
Or
e =
2
(14.2-14)
Where
corr = H ( s) corr LPF e*i e 2r I 2 ) / K = 3 P ( v corr qs qs s s tv
Fall 2005 EE595S Electric Drive Systems
(14.2-15) (14.2-16)
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Performance of Compensated Volts-Per-Hertz Control
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Start-Up Performance of Compensated Volts Per Hertz Control
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Constant Slip Control

Basic Idea
Definition of Slip Frequency s = e r Our Strategy (14.3-1)
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Derivation of Constant Slip Control

Consider Our Expression for Electromagnetic Torque
P 2 I 2r 3 L s M s r 2 Te = ) 2 + (s Lrr )2 (rr
* | (r 2 + ( L 2) 2 | Te ) r ,est s rr ,est
(14.3-2)
Solving for the Current Yields

Is = ,est 3P | s | L2 M ,est rrr
(14.3-3)
The Plan
Avoiding Saturation
Before Proceeding Consider the Steady-State Equivalent Circuit
+ LM ( I as + I ar ) ar = Llr I ar je LM ~ ~ I I = ar as + rr /s je Lrr ~ ~ ~ ~
(14.3-4) (14.3-5) (14.3-7)

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Thus 'r = I s LM
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rr
2 L2 + r 2 s rr r
Avoiding Saturation
Taking the Magnitude rr ' =I L r s M 2 2 2 Combing (14.3-7) and (14.3-2) Thus 2 P s,set r ,max Te,thresh = 3 2 rr,est So For Large Torque Commands s =
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+ rr s Lrr
(14.3-7)
P s 'r2 Te = 3 2 rr
(14.3-8) (14.3-9) (14.3-10)
* 2Te rr ,est
3P2 r ,max
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Constant Slip Control
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Selection of Slip Frequency

Control for Maximum Torque Per Amp
From (14.3-1)
Te
2 Is
P 3 s, set L2 M rr 2 = ) 2 + ( s, set Lr )2 (rr
(14.3-11)
Optimizing with Respect to Slip Frequency

,est rr s,set = ,est Lrr
(14.3-12)
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Maximum Torque Per Amp Control
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Maximum Efficiency Control

To Optimize Efficiency Note That
So 2 2 2 3I s e LM s rr Pin = 3rs I s + 2 2
+ ( s Lrr ) rr
~ Pin = 3I s Re(Vas )
(14.3-13) (14.3-14)
Comparison to (14.3-14) to (14.3-2) 2 2 Pin = 3rs I s + P eTe (14.3-15) Now 2 = P out P rTe (14.3-16)

So 2 + 2T 3 P P = r I in out s s P e s Finally
rs s rs L2 2 rr rr Ploss = Te + + s 2 2 P Lm rr s Lm
(14.3-17)
(14.3-18)
Minimizing Yields ,est rr 1 s,set = L 2

rr ,est
(14.3-19)
Lm,est rs,est +1 2 ,est ,est rr Lrr
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Comparison of Constant Slip Controls

Maximum Efficiency
Maximum Torque Per Amp
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Speed Control with Constant Slip Control
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Transient Performance of Constant Slip Controlled Drive
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14.4 Field-Oriented Control

Objective
Challenges
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The Basic Idea
Te = 2 BiNLr sin
Torque Production in Induction Motor
Now
3P idr dr iqr ) Te = (qr 22 3P Te = || iqdr | sin | qdr 22
(14.4-2) (14.4-3)
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The Plan
Objective Observation
In Steady-State, This is Always True
1 e i = (e r )e qr dr rr 1 e = (e r )e idr qr rr
(14.4-4) (14.4-5) (14.4-6)
e qdr e = qr e iqr e + dr e idr e iqdr
Thus
The Plan (Continued)

But.. We need flux and current to be perpendicular all the time. To do this ..
e qr = 0
e = 0 idr
(14.4-7) (14.4-8)
Achieving (14.4-7)
By choice of e
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The Plan (Continued)

Achieving (14.4-8)
All we need to do is to keep d-axis stator current constant. Proof:
Consider
e idr e + (e r ) qr e + pdr 0 = rr
(14.4-9)
The q-axis rotor flux linkage is zero (by choice of reference frame)
idr e + pdr e 0 = rr
(14.4-10)
Substitution of d-axis rotor flux linkage equation into (14.4-10)
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Thus the d-axis rotor current goes to zero

EE595S Electric Drive Systems 36
r e LM e e = r idr pidr pi Lrr Lrr ds
(14.4-11)
Some Observations
Since the d-axis rotor current is zero
e e ds = Lssids
e e = LM ids dr
(14.4-12) (14.4-13)
Combining these results with our flux linkage equation

Te =
3P e e iqr dr 22
(14.4-14)
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Some Observations
Since the q-axis rotor flux linkage is zero
LM e e iqr = iqs Lrr
(14.4-15)
Thus
Te = 3 P LM e e iqs dr 2 2 Lrr
(14.4-16)
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Generic Rotor Flux-Oriented Control
Note: e must be selected so as to keep q-axis rotor flux equal to zero.

Some Minor Details

Determination of position of synchronous reference frame Determination of the rotor flux
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Aside Types of Field Oriented Control

Orientations
Stator Magnetizing (Air-Gap) Rotor
Methods
Direct Indirect
Modifications
Robust
Direct Field Oriented Control

Basic Idea
Measure the flux directly (more or less)
Consider
e cos e qr = e sin e dr s sin e qr s cos e dr
(14.5-1)
We need to set q-axis rotor flux to zero. Thus
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s s jdr )+ e = angle(qr 2
(14.5-2)
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Direct Field-Oriented Control

As a Side Effect
e = (qr s ) 2 + (dr s ) 2 dr
(14.5-3)
The problem: We can measure the rotor flux linkages. We can measure the stator flux linkages.
Estimation of Rotor Flux Linkages

Consider
s + i s ) s = LM (iqs qm qr
(14.5-4) (14.5-5) (14.5-6)
Thus
s = iqr
s s LM iqs qm
LM
Recall
s = L is + L (i s + is ) qr lr qr M qs qr
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Estimation of Rotor Flux Linkages

So
L s s s = rr qm iqs Llr qr LM
(14.5-7) (14.5-8)
L s L i s s = rr dm dr lr ds LM
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Rotor Flux Estimator
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Direct Rotor Field-Oriented Control
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Robust Direct Field-Oriented Control

Sensitivity of Rotor Flux Estimator
,est s Lrr s e = ,est iqds qdr qd ,m Llr LM ,est
(14.6-1)
Sensitivity of Q-Axis Current Calculation
e* = iqs * Te
3 P LM ,est 2 2 Lrr ,est
(14.6-2)
e dr
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Sensitivity of the D-Axis Current Injection
e* = ids * e dr
LM ,est
(14.6-3)
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Flux Control Loop

Since we have a flux estimator, consider
It can be shown that
e dr e* dr =
s +1
LM ,est LM s +1
(14.6-5)
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Torque Control Loop

Torque Estimation
Recall 3P s s s is ) T = e 2 2 (dsiqs qs ds Now s = L i s + s qds ls qds qdm So 3P s s s is ) Te = 2 2 (dmiqs qm ds Which Suggests 3 P s s s s Te = 2 2 (dmiqs qmids )
(14.6-6) (14.6-7) (14.6-8) (14.6-9)

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Torque Control Loop

Now that we can estimate torque, how about
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Torque Control Loop

Analysis of Torque Control Loop
Define 3 P LM ,est e* Kt ,est = 2 2 L dr
rr ,est 3PL e dr Kt = 2 2 LM rr
(14.6-10) (14.6-12)
Now, assuming the control works e* Te = Kt iqs (14.6-11) This, assumption, coupled with our torque control loop yields T t s +1 = e (14.6-13) * K
Te
t t ,est s + 1
Kt
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Performance of Robust Direct Field Oriented Control
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Performance of Constant Slip Drive
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Performance of Volts-Per-Hertz Drive
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Indirect Field Oriented Control

Consider
iqr e + (e r )dr e + pqr e 0 = rrr Since the q-axis rotor flux is zero
(14.7-1) (14.7-2)
e = r rr
e iqr e dr
e iqs e ide
Which may be expressed

rr e = r + Lrr
(14.7-3)
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Thought
We know what the electrical frequency will be if we have field orientation (i.e. field orientation causes (14.7-1)) Does it work backward ? Will using (14.7-1) cause field-orientation ? The answer: Yes !
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Indirect Field Orientation

Proof
Consider the rotor voltage equations e + (e r )dr e + pqr e 0 = rriqr (14.7-5)
e (e r )qr e + pdr e 0 = rridr (14.7-6) Now substitute in our expression for electrical frequency e* iqs e rr e e + 0 r i p = + r qr qr (14.7-7) L e* dr
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rr ide e* i r e + pdr e idr e r qs qr 0 = rr i e* Lrr de
(14.7-8)
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Continuing On
Now put in terms of q-axis rotor flux and d-axis rotor current (and stator currents) This yields
e* qr e LM iqs + 0 = rr Lrr
rr Lrr
e* iqs e* ids
[L i
e rr dr
e* e + LM ids + pqr
(14.7-9) (14.7-10)
e* i r qs e* e + p Lrr idr e + LM ids e r 0 = rridr qr e* ids Lrr
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Now, keeping the d-axis stator current fixed we have e*

iqs e e rr e rr = pqr qr idr * e Lrr ids e* i r r qs e + r e e = r idr pidr qr e* Lrr ) 2 ids ( Lrr
(14.7-11) (14.7-12)
Comments
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Thus, our control becomes
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Advantages of Indirect Field Oriented Control over Direct Field Oriented Control
Disadvantages of Indirect Field Oriented Control over Direct Field Oriented Control
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Performance of Detuned Indirect Field Oriented Control

Overestimate magnetizing inductance by 25% (we started to saturate machine) Underestimate rotor resistance by 25% (rotor resistance increased with temperature)
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Performance of Detuned Field Oriented Control
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EE595S: Class Lecture Notes Chapter 14: Induction Motor Drives

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EE595S: Class Lecture Notes Chapter 14: Induction Motor Drives

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EE595S: Class Lecture Notes Chapter 14: Induction Motor Drives

S.D. Sudhoff Fall 2005

EE595S Electric Drive Systems

EE595S Electric Drive Systems

EE595S Electric Drive Systems

EE595S Electric Drive Systems

EE595S Electric Drive Systems

EE595S Electric Drive Systems

EE595S Electric Drive Systems

2 2 rs2 ,est + e Lss,est Vs = Vb 2 2 rs2 ,est + b Lss,est

EE595S Electric Drive Systems

Using (14.2-4) we have

P 2 3 L2 r V M r b 2 Ktv = 2 2 2 (rs2 + b rr Lss )

This is not a function of synchronous speed

For steady-state conditions

(14.2-9) (14.2-10) (14.2-11) (14.2-12)

EE595S Electric Drive Systems

EE595S Electric Drive Systems

EE595S Electric Drive Systems

EE595S Electric Drive Systems

Constant Slip Control

EE595S Electric Drive Systems

Derivation of Constant Slip Control

Solving for the Current Yields

(14.3-4) (14.3-5) (14.3-7)

(14.3-8) (14.3-9) (14.3-10)

Constant Slip Control

EE595S Electric Drive Systems

Selection of Slip Frequency

P 3 s, set L2 M rr 2 = ) 2 + ( s, set Lr )2 (rr

Optimizing with Respect to Slip Frequency

EE595S Electric Drive Systems

Maximum Torque Per Amp Control

EE595S Electric Drive Systems

Maximum Efficiency Control

Maximum Efficiency Control

Minimizing Yields ,est rr 1 s,set = L 2

Lm,est rs,est +1 2 ,est ,est rr Lrr

EE595S Electric Drive Systems

Maximum Efficiency Control

EE595S Electric Drive Systems

Comparison of Constant Slip Controls

Maximum Torque Per Amp

EE595S Electric Drive Systems

Speed Control with Constant Slip Control

EE595S Electric Drive Systems

Transient Performance of Constant Slip Controlled Drive

EE595S Electric Drive Systems

EE595S Electric Drive Systems

14.4 Field-Oriented Control

EE595S Electric Drive Systems

The Basic Idea

Torque Production in Induction Motor

(14.4-4) (14.4-5) (14.4-6)

e qdr e = qr e iqr e + dr e idr e iqdr

The Plan (Continued)

EE595S Electric Drive Systems

The Plan (Continued)

Substitution of d-axis rotor flux linkage equation into (14.4-10)

Thus the d-axis rotor current goes to zero

r e LM e e = r idr pidr pi Lrr Lrr ds

Combining these results with our flux linkage equation

EE595S Electric Drive Systems

,est s Lrr s e = ,est iqds qdr qd ,m Llr LM ,est