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Pulse Width
Modulation
Space Vector
Pulse Width
Modulation
V3(010)
V2(110)
V*
V2(110)
V0(000)
V4(011)
V1(100)
V7(111)
V5(001)
V*
V0(000)
V7(111)
(T1/Tz)*V1
(T2/Tz)*V2
V1(100)
V6(101)
(1)
Fig. 2 Determination of
Switching times
Space Vector
Pulse Width
Modulation
(continued)
Comparison
of SPWM and
Space Vector
PWM
V1
To/2
T1
V2
V7
U
U
UB
VB
WB
(a)
UB
VB
WB
(b)
T2
To/2
Tz
in Fig. 4.
In Fig. 5, U is the
U1
phase-to-center
voltage containing
U
the triple order
harmonics that are
generated
by
space
vector
PWM, and U1 is
the
sinusoidal
reference voltage.
But the triple order
harmonics are not
appeared in the
phase-to-phase voltage as well. This leads
to the higher modulation index compared to
the SPWM.
Sinusoidal
PWM
Vmax = Vdc/3
: Space Vector PWM
Where, Vdc is DC-Link voltage.
This means that Space Vector PWM can produce about 15 percent higher than Sinusoidal
PWM in output voltage.
0.00
3
0.16
T
SIN-PWM
SIN-PWM
0.12
0.00
2
0.08
SPACE VECTOR
PWM
0.00
1
0.2
0.4
0.6
0.8
1.0 1.15
0.04
SPACE VECTOR
PWM
0
0.2
0.4
0.6
m
(a)rms harmonic current
0.8
1.0 1.15
m
(b) torque harmonics
Volts/Herts
Control
Sensorless
Vector
Control
3 Phase
AC Input
Vo
IM
V*
+
+
V*
V/F
Vo
W*
W*
dynamic response and accurate speed or torque control, and open loop control is
unsatisfactory. Hence it is necessary to operate the motor in a closed loop mode, when the
dynamic operation of the induction machine drive system has an important effect on the overall
performance of the system.
Vector control techniques have made possible the application of induction motors for highperformance applications where traditionally only dc drives were applied. The vector control
scheme enables the control of the induction motor in the same way as a separately excited dc
motor. As in the dc motor, torque control of the induction motor is achieved by controlling the
torque current component ( i * ds ) and flux current component ( i * qs ) independently as shown
in Fig. 8.
i *ds
Wr *
+
_
Wr
cos *e
Slip
calculator
2 phase-to-3
phase
transformer
Co-ordinate
changer
i *qs
PI speed
regulator
Flux Angle
Calculator
sin *e
Inverter
Speed sensor
+ Wr
+
W * sl
IM
Sensorless
Vector
Control
(continued)
The above vector control schemes in Fig. 8 require a speed sensor for
closed loop operation. The speed sensor has several disadvantages
from the standpoint of drive cost, reliability, and noise immunity.
Wr *
+
i *qs
PI speed
regulator
i *ds
Wr
Decoupling
Compensator
idq +
2 phase-to-3
phase
transformer
Co-ordinate
changer
cos *e
Inverter
IM
sin *e
* s
+
PI Flux
Regulator
| s |
V ss
Flux and Speed
Estimator
iss
In Fig. 9, without speed sensor, the motor speed Wr and the flux s
are directly estimated by using terminal voltage, phase current, and
motor parameters including stator resistance, rotor resistance and
total leakage inductance. These parameters also can be obtained by
several of tuning method such as conventional DC and Locked-rotor
test, or Auto-tuning.
Next sections present the sensorless flux vector methods classified to
rotor or stator flux vector control.
Sensorless
Vector
Control
(continued)
T *e
i er qs
N
4/3P
dr
*
Flux
regulator
er
i ds
Coordinate
transform
&
CRPWM
IM
= s r
^
dr =| s r |
Rotor Flux
estimator
V ss
iss
Fig. 10 Block diagram of rotor flux oriented system with rotor flux
estimator.
The rotor flux is estimated by first calculating the stator flux as given
by
^
s = (vs Rs is )dt
^
r =
Lr
(s Ls is )
Lm
^
where
and
L
= 1 m is the total leakage factor.
Ls Lr
Sensorless
Vector
Control
(continued)
iqs
N
4/3P
es ds
i es ds
i es dq
ids
Decoupler
Coordinate
transform
&
CRPWM
IM
= s s
*ds
Flux
regulator
ds =| s s |
Rotor Flux
estimator
s = (vs Rs is )dt
^
s =
(1 + Tr p ) Ls iqs
Tr ( ds Ls ids )
V ss
i ss