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STATOR VOLTAGE CONTROL
1
1
Torque (pu)
Speed (pu)
B=1
B=0.5
B=0.6
B=0.7
B=0.8
B=0.9
B=1
B=voltage in pu
Load
Torque
Constant Voltage Inverter Drive
Note that the source capacitor maintains a constant voltage
Constant Current Inverter Drive:
Speed Control with Rotor Resistance
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The only inconvenience here is of course the loss of power in the
external resistance.
Automatic control can be achieved by using a chopper in the rotor
circuit.
Kramer Drive
Frequency Control of the Drive
Intuitively one can see that the rotor will
rotate at speed slightly lower than the
stator frequency (slip), hence a speed
control is achieved when the stator
frequency is changed.
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If we want to have both speed control and still maintain a high torque, the
maximum torque at base speed (synchronous rated) is given by:
Torque
Speed
Control of =synch
This is equivalent to the DC machine. Tmax-base remains
constant. In this region
the control is done by the Voltage, maintaining the flux at its
maximum.
Then the region called the field weakening as for the DC
machine.
In order to maintain the flux constant, the ratio V/f must be
maintained constant. However, due to losses in the machine,
at low speeds, one must have a boost voltage at low speeds
to compensate for losses.
VECTOR CONTROL of
INDUCTION MOTORS
The production of torque in a d.c. or cage
induction motor is a function of the position or
vector relationship in space of the air-gap
magnetic flux to the rotor current. The flux and
armature current are always ideally positioned
by virtue of the switching action of the
commutator; hence control of the armature
current gives immediate control of the torque, a
feature which makes both the steady state and
transient control of the torque in a d.c. motor
relatively easy.
The torque developed is related to the in-phase component of I2
shown as Iq, and the flux is related to the current Im modified
by the reactive component of I2 to give the component shown as
Id.
The object of vector control, sometimes
referred to as field orientation control, is
to separately control the magnitude of
the two components Id and Iq, such that
the flux is proportional to Id and the
torque is proportional to Iq.
This is referred to as DECOUPLING the
control (we need 2 degrees of freedom).
In the d.c. motor the flux is stationary, with the armature
current fixed in space by the commutator action, but in the
induction motor both the flux and rotor currents rotate
together. We have only 1 degree of freedom in the 3 phase
source currents.
The instantaneous values of the three-phase currents in
the stator determine the angle of the flux in space and
that of the rotor current, so we must have a shaft
encoder (2nd degree of freedom) which measures the
rotor angular mechanical position relative to the
instantaneous stator currents.
To implement vector control the motor parameters must be known and
values put into a highly complex set of mathematical equations developed
from generalized machine theory.
The basic tools used in calculations is the use of Parkers Model which allows to
transform a 3 phase rotating vector system into a 2 phase rotating vector system
(which is the same as of a DC machine with a direct; in line with the flux, and
quadrature axis; perpendicular to it).
The phase command currents (*) are triggering the inverter to produce the real line
currents (a,b,c). An acquisition system must sample the line currents, filter and
condition these quantities and presents them to an ABC to DQ transformation
block. The calculated (c) direct and quadrature quantities must now be positioned in
such a way that the direct axis aligns with the stator axis. Hence the block which
computes this alignment must also receive the absolute position of the rotor using
the rotor angle q. We now obtain the (D-Q) components aligned with the real rotor
position, and feed this into the Model Block.
The components (*DQ) have to be realigned to the stator axis (e), and fed
to an inverse transformation module which calculates the line control
vector currents (ABC*) feeding the inverter, and the loop is closed.
The main difficulty here is that the stator frame reference is used in
calculations of the model, and that I(ds) must be aligned with the rotor
flux. However this rotor flux depends upon the SLIP, and of course
varies in time (this is why it is called Asynchronous!). The trick in the
method is to establish the rotor flux axis at each sample.
INDIRECT VECTOR CONTROL
The flux vectors are computed from the terminal quantities of
the motor (stator currents, voltages and measured air gap
flux). It uses the motor slip frequency to compute the desired
flux vector.
The amount of DECOUPLING is dependant upon the motor
parameters in the indirect method. Without a good knowledge
of the motor parameters an ideal decoupling is not possible.
DIRECT VECTOR CONTROL
determine directly the air gap flux by
measurement, and from there derive the
rotor flux and stator flux linkages.
excellent low-speed
performance
Indirect Vector Control (indirect field
oriented control) or IFOC
In this method the feedback uses the rotor slip.
The first equation tries to make sure that we have a constant flux
(magnitude of ), while controls the torque.
*
ds
i
*
qs
i
The speed is integrated in order to obtain the position and
hence obtain the unit vectors for the transformation
s s
u u sin , cos
If the motor parameters change during operating conditions, the
model is not accurate and the model predictions will not align exactly
the rotor flux with the direct axis, and the control is not adequately
decoupled.
(Indirect field oriented control )