Dynamic modelling of the induction motor Vector control purpose

Mechanical motion
Linear motion For linear motion, the forces acting on a body may usually be simplified to a driving force, Fe, acting on the mass, and an opposing force (or load), Fl, as shown on Figure 1.

Figure 1:

body acted on by two forces.

For translational motion the following may be written:

dv Fe FL = dt M
!n any speed and position control of linear motion, force is the fundamental variable which needs to be controlled. Rotary motion !f the motion is rotary about an a"is instead of translational, a situation as shown in Figure # arises.

Figure #:

body acted on by two tor$ues.

For rotary motion the following may be written:

dw T TL = dt J
!n any speed and position control of rotary motion, tor$ue is the fundamental variable which needs to be controlled. Torque in an electric drive

%lectromagnetic tor$ue produced by a motor is opposed by load tor$ue. &he difference, Tem TL , will accelerate the system.

Figure ':

load acted on by a motor

For motor(load motion the following may be written:

dw Tem TL = dt J
&or$ue is the fundamental variable which needs to be controlled. )ote that under steady state conditions angular speed is constant and Tem = TL .

*+(motor drive performance

,ne of the most essential $ualities of a motor is the ability to generate tor$ue. &he total tor$ue may be described by

Tem = ka f I a
where Ia is the current flowing in the armature and ka becomes a factor describing the physical shape of the winding. *+ machine e$uivalent circuit is shown in Figure -.

Figure -: *+ machine e$uivalent circuit

&o change Tem as a step, the armature current ia is changed as a step by the power( processing unit as shown in Figure ..

Figure .: *+(motor drive performance

%mulation of *+(motor drive performance

!n vector control of induction(motor drives, the stator phase currents ia ( t ) , ib ( t ) and

ic ( t ) are controlled in such a manner that isq ( t ) delivers the desired electromagnetic tor$ue while isd ( t ) maintains the pea/ rotor(flu" density at its rated value. &he
0 references values isq ( t ) and isd ( t ) are generated by the tor$ue, speed, and position 0

control loops. &he total tor$ue may be described by

Tem = kT Br isq

1imulation of induction machine using Matlab and 1imulin/

&raditionally in analysis and design of '(phase induction motors, the 2per(phase e$uivalent circuit3 is shown in Figure 4 has been widely used. !n the circuit, Rs (Rr) is the stator (rotor) resistance and Lm is called the magneti5ing inductance of the motor. )ote that stator (rotor) inductance Ls (Lr) is defined by Ls 6 Lls 7 Lm, Lr 6 Llr 7 Lm (1.1)

where Lls (Lrs) is the stator (rotor) lea/age inductance. lso note that in this e$uivalent circuit, all rotor parameters and variables are not actual $uantities but are $uantities referred to the stator.

Figure 4: +onventional 8er(phase %$uivalent +ircuit !t is also /nown that induction motors do not rotate synchronously to the e"citation fre$uency. t rated load, the speed of induction motors are slightly (about # ( 9: slip in many cases) less than the synchronous speed. !f the e"citation fre$uency in;ected into the stator is wsyn and the actual speed converted into electrical fre$uency unit is wm, slip s is defined by s 6 (wsyn ( wm ) < wsyn 6 wslip < wsyn, (1.#)

and wslip is called the slip fre$uency which is the fre$uency of the actual rotor current. lthough the per(phase e$uivalent circuit is useful in analy5ing and predicting steady( state performance, it is not appropriate to e"plain dynamic performance of the induction motor.

*ynamic model in space vector form

!n an induction motor, the '(phase stator windings are designed to produce sinusoidally distributed mmf in space along the airgap periphery. ssuming uniform airgap and neglecting the effects of slot harmonics, distribution of magnetic flu" will also be sinusoidal. !t is also assumed that the neutral connection of the machine is open so that phase voltages, currents and flu" lin/ages are always balanced and there are no zero phase seq ence component in the system. For such machines, the notation in terms of the space vector is very useful. For a sinusoidal '(phase $uantity of constant rms value, the space vector of the stator voltage, current and flu" lin/age are constant(magnitude vectors rotating at the fre$uency of the sinusoid with respect to the fi!ed (stationary) reference frame. =ith space vector notation, voltage e$uations on the stator and rotor circuits of induction motors are,

v = Ri +

d dt di dL + i dt dt

= Li

v = Ri + L

where the voltages v and currents i are vectors, and where the resistance R and inductance > are matrices. %$. '- describes the electromagnetic system by a set of 4"4

matrices of differential e$uations. &he coupling between stator and rotor is dependent on the rotor(position. Phase transformation !n 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 comple" numbers. =hen induction motors are controlled by a vector drive, control computation is often done in the synchronous frame. 1ince actual stator variables either to be generated or to be measured are all in stationary a(b(c frame, frame transform should be e"ecuted in the control. &he most popular transform is between stationary a(b(c frame $uantities to synchronously rotating d(q $uantities. !f the goal is to create a rotating space vector describing a circle, three phases with sinusoidal currents are not necessary. From analytic geometry it is /nown that the circle may be described by two coordinates in space (! and y). &his may be used in this case, by placing two coils at ?@A and by supplying them with sinusoidal current displaced by ?@A (or B<#). &hese two coils are usually named the d(coil and the q(coil. !n the rotating frame of reference the frame of reference in regard to the phase is named the d(a"is (for direct a"is) and the other a"is is named the q(a"is (for quadrature a"is). &his method reduces the three(phase system to a two(phase system. *oing this, it is possible to model the cross(couplings between the individual coils. further advantage is that in steady(state, the currents flowing in the coils are a *+ current. Csing the rotating frame of reference, the differentials of any state value (d<dt) are 5ero in steady(state and when the differentials are different from 5ero, they give the change from steady(state only. &he rotating frame of reference also has the advantage that the rotor(angle is /nown (it is a state). Transformation of currents, voltages, flux-linkage, etc. =hat remains is to define a method for performing the phase transformations to the rotating frame of reference. &he transformation is done by defining a transformation( matri" for the systems as

f dq = Tabcdq f abc
where f denote currents, voltages, flu"(lin/age, etc. For current case, this is shown in Figure 9.

Figure 9. &ransformation of phase $uantities into dq winding $uantities (current case).

The electromagnetic torque 8roperly the most important tas/ for the induction motor is to produce a tor$ue on the shaft. &he developed tor$ue may be written on the flowing form,

Tem =

p ( rqird rd irq ) #

d-q equivalent circuit &he result from the above is a set of e$uations describing the electromagnetic system in the rotating frame of reference. &he e$uations describing the system may be interpreted as e$uivalent circuits, which may help in understanding the dynamics of the system. Csing this set of e$uations, it is possible to construct an e$uivalent(diagram of the d(, and q(a"is individually. For the rotating frame of reference the resulting e$uivalent diagram for each of the a"is is shown in Figure 1@. .

a) d(a"is

b) q(a"is Figure D. dq(winding e$uivalent circuits. Solving the system !oltages as "n#uts =hat remains is to find a strategy for solving the differential e$uations given in %$. ..... ,ne possibility e"ist: solving for the flu" lin/ages and then calculating the currents. &he flu" lin/age associated with the d(, q(a"is are calculated as

+omputer simulation
!n order to carry out computer simulations, it is necessary to calculate intial values of the state variables, that is, of the flu" lin/ages of the dq windings. &hese can be calculated in terms of the initial values of the dq windings currents. &hese currents allow us to compute the electromagnetic tor$ue in steady state, thus the initial loading of the induction machine. !nitial conditions are computed in "!ample #$% and in the matlab file "&"E1.m (or "&"E#.m). Finally, the 1imulin/ model is shown in Figure ?.

DQ-WINDING REPRESENTATION
Va

Load Torque

Va

Inertia
Vb i_dq Vc i_dq

rad/s --> RPM 1 s -K-

f(u)

Tem

1/Jeq

Wmech

RPM Tem

Vb
Wmech

T orque Eq. 3-47

Eq. 3-48

abc --> dq Vc Entrada trifasica Info Start

ELECRODINAMICS
Plot After Simulation, Double Click to plot results using MAT LAB

Double Click to load parameters and initial conditions

Figure 3-13 Simulation of Example 3-3; File Name EX3_3_1.mdl

%lectromagnetic &or$ue on the Fotor d( "is

= n
weber(vueltas

>a figura #.11 muestra las relaciones de causalidad entre i' (' B' G, y H.

%l flu;o enla5ado por el devanado q del rotor es

rq = Lr irq + Lmisq

%l devanado q tiene una inductancia constante Lm . 8or tanto, la fuer5a magnetomotri5 $ue genera este flu;o enla5ado es

Fisq =

' #)s isq p

r r %l campo magnetico ( (aplicando (dl = ni )

*

( isq =

1 l+

' #)s isq p

>a densidad de campo en el entrehierro debida a isq es

Bisq =

@ ' # ) s isq l+ p

*el mismo modo la densidad de campo en el entrehierro debida a irq es

Birq =

@ ' # ) s Lr irq l+ p Lm

8or lo tanto:

Brq =

@ ' # ) s Lr irq isq + l+ p Lm

nalisis dinamico en terminos de los devanados d$ &he concept of vector control has opened up a new possibility that induction motors can be controlled to achieve dynamic performance as good as that of *+ or brushless *+ motors. !n order to understand and analy5e vector control, the dynamic model of the induction motor is necessary. !t has been found that the dynamic model e$uations developed on a rotating reference frame is easier to describes the characteristics of induction motors. !t is the ob;ective of the article to derive and e"plain induction motor model in relatively simple terms by using the concept of space vectors and d($ variables. !t will be shown that when we choose a synchronous reference frame in which rotor flu" lies on the d(

a"is, dynamic e$uations of the induction motor is simplified and analogous to a *+ motor. representacion en los devanados d$ relaciones matematicas de los devanados d$ tor$ue electromagnetico 8F!)+!8>%1 ,F V%+&,F +,)&F,> 1o far, we have not paid attention to the alignment of the rotating reference frame with respect to the physical coordinate. )oting in %$. '.#D that tor$ue is directly proportional to Iqs if Hqr 6 @, one can choose the rotating d(a"is to be the angle of the rotor flu" lin/age. !n fact, this choice offers a lot of advantages of simplifying control and analysis of the motor. ,ther choices fre$uently used in direct vector control are stator flu" lin/age frame (d(a"is is aligned to the stator flu" lin/age) and airgap flu" lin/age frame, which will be discussed briefly at the end of the section.