Contribution to stator flux orientation vector control of an induction machine

A.LOKRITI
Physics department, Electrical Systems and Telecommunication Laboratory. Faculty of Sciences and Technologies. U.C.A.M University Marrakesh, Morocco Lokriti.eepci@gmail.com
Abstract The paper presents a control strategy for induction motors supplied by voltage inverter. The induction machine with control strategy should provide, at the constraining requests, response with high performances in electromagnetic torque and speed. Using the Matlab/Simulink software, we test Indirect and direct field oriented controlled (IFOC, and DFOC). Both of them achieve the goals for dynamic of torque and stator flux, but are both depending on the unpredictable machine parameters variation. Keywords; DFOC, IFOC, IP controller, induction motor.

Y. ZIDANI
Physics department, Electrical Systems and Telecommunication Laboratory. Faculty of Sciences and Technologies. U.C.A.M University Marrakesh, Morocco zidani@yahoo.com

ds , qs

d-q axis stator flux, Stator flux amplitude, Stator resistance, Stator self-inductance, Stator and rotor time constant, Leakage coefficient, d-q reference frame speed, Slip speed, Rotor speed, Number of pole pairs, Total inertia, Friction coefficient, electromagnetic and load torque, Differential (or Laplace) operator, Denotes a reference value,

Rs Ls
T s Tr

I.

INTRODUCTION

Induction machines have been widely used in industrial field as actuators, because they are more rugged, reliable, compact, efficient and inexpensive then DC machines. However, the difficulties in a high performance position tracking control application with the induction machines drive arise, as that latter is complicated, highly coupled, nonlinear, multivariable and uncertain system [1]. The recent advances of both high power switching devices and fast microprocessors have permitted the implementation of field oriented controlled (FOC), also called oriented flux control, which its goal is to decouple flux and torque in the AC machines [2]. So, they are controlled independently, as it's naturally the case in separately exited DC machine [3-4]. The (FOC) techniques draw their basic ideas from the dq model of the induction motor, by orienting the flux with the d-axis and maintaining this oriented flux constant, the torque and the flux can be regulate independently. This paper deals essentially with: Indirect field oriented controlled (IFOC). Direct field oriented controlled (DFOC). IP speed, IP current and PI flux controllers design. II. NOTATIONS

s r
np
J f

Ce , Cr p
*

III.

INDIRECT FIELD ORIENTED CONTROLLED (IFOC)

The main objective of the vector control of induction motor is, as in DC machine, to control the torque and the flux independently. This DC machine-like performance is only possible if the current component i ds is oriented (or aligned) in the direction of flux, and the other current component i qs is established perpendicular to it (field orientation control principle). This means that we can control the stator current i qs without affecting the flux, and similarly, when the flux is controlled by i ds the q-component of the current i qs is not affected [5]. When the asynchronous machine is supplied by a voltage inverter not controlled on current, only the technique of oriented stator flux is simple to establish. The IFOC (oriented stator flux) consists in generating the voltage references starting from the opposite model in flux of the machine [6]. By

ids , iqs
v ds , v qs

d-q axis stator current, d-q axis stator voltage,

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* considering the torque C e (output of the speed controller) and

the flux s* as control instructions, the following equations are given [7]:

i ds =

(1 + T r p )

* s

+ L s T r r i qs p)

L s (1 + T r
i qs = C e* np s*

(1)

(2)

Thus, the references for voltage inverter will be given by:

Ls (Tr p + 1)iqs Tr r = s* Ls ids

(3) Fig. 2 The diagram block of the DFOC. (4) (5) (6) A. V. CONTROLLERS DESIGN.

v ds = Rs i ds + p s*

v qs = Rs iqs + s s*

s = r +
The diagram block of the IFOC is given by figure 1.

IP speed controller The Integral proportional controller IP is primarily different from PI controller, by the fact that it does not present a zero in the closed loop transfer function [7]. Therefore, the delivered reference torque won't present discontinuities while applying speed step or load torque perturbation [13]. The scheme including the rotor speed closed loop and the IP controller is given by figure 3.

Fig. 1 The diagram block of the IFOC. IV. DIRECT FIELD ORIENTED CONTROLLED (DFOC) Fig. 3 Closed loop IP speed controller.

The oriented stator flux technique makes possible the control of the real values of both flow and current. The voltage instructions will be generated using the errors between references and measured or estimated or observed values [7-9]. This technique has more advantages than oriented rotor flux [10], especially in low speed [11-12]. The diagram block of the DFOC with an IP current ( iqs ), and a PI flow ( ds ) controllers is presented on figure 2.

With:

F ( p) =

np Jp + f

(7)

In case of no disturbances ( C r = 0 ), we have:

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 ( p) = * ( p)
Where: 1 =

1
g1K i
J

p2 +

1 p +1 g1K i
and g 1 =

(8)

F1 ( p ) : the transfer function linking the stator voltage to the current.

Ciqs( p) : the term of disturbance at the stator voltage level.

npK p npK p + f

After cancellation of the term qs , we can express q-axis (9) current by:

npK p + f

For a step speed consign, the condition (10) should be respected in order to have an aperiodic response for the above presented system:

i qs = F1 ( p ) v qs + C iqs
Where:

]
Tr Ts
Tr + Ts

(13) (14) (15) (16)

F1 ( p ) =
A = Rs Tr + T s Tr

Ki =

1 4 g11

1 ( A + Bp )
, B = A

(10) and

In this case, the time-constant 2 of the closed loop system and the proportional gain become:

Ciqs = r ( ds .Ls ids ) s ds

In absence of disturbances ( C iqs = 0 ), the current closed loop transfer function is given as follow:

2 = 21
Kp = J 1 f n p 1

(11) (12)

i qs ( p ) i qs ( p )
*

For a response time t pw = 0.3943 ( s ) at 5% of speed, which corresponds to a time-constant equal 2 = 0 . 0832 ( s ) , we found K p = 0.3 and K i = 6. to

B. IP q-axis current controller For the regulation of the q-axis stator current, we decided to use an Integral Proportional (IP) controller instead of Proportional Integral (PI) that was used in [7], for the same reason quoted in the paragraph (V. A), it means delete the zero that can be presented in current closed loop transfer function. The current closed loop scheme including the used IP controller is shown in figure 4.

p + ' p + 1 g '1K i g 1K i K ip B With: ' 1 = and g ' 1 = (18) K ip + A K ip + A For a step consign, the condition (19) should be respected in order to have an aperiodic response for the above presented system.
K ii = 1 4 g 1' ' 1
'

'

(17)

(19)

In this case, the time-constant 2 of the closed loop system and the proportional gain become:

' 2 = 2 ' 1
K ip =
For a response time t pi

(20)
1

B
'

'

1 = 8( ms ) at 5% of current, which

(21)

corresponds to the following value of the time-constant

' 2 = 2 ( ms ) , we found Kip = 31 and K ii = 318 .3346

C. PI d-axis flux controller Figure 5 shows the flux closed loop system including PI controller.

Fig. 4 Closed loop IP q-axis current controller. With:

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p '1 = 5112 and p ' 2 = 95.8 become the roots of the

characteristic equation of the closed loop system, by choosing

K p = 5000

and K i

= 34882 .
'

It's clear seen that the zero of the system transfer function is slightly higher than its dominating pole p 2 . By the made choice, we could obtain a fast response without overrun. VI. SIMULATION RESULTS.

Fig. 5 Closed loop d-axis flux controller. With:

F2 ( p ) : the transfer function linking the flow to the stator

voltage.

In order to valid the quality of the drives, several simulations tests on a (1.5 Kw) induction machine had been performed. All the computations had been carried in a synchronously rotating reference frame. A fourth Range-Kutta integration algorithm was used for the complete non-linear system. The tests were carried during 11 seconds. The first second is reserved to the flux initialization, then different speed references (1500, 0, -1500 rpm) were applied throughout the tests and a load torque ( C r = 8 Nm) was inserted at t = 3 (s).

C ds(p) : the term of disturbance at the stator voltage level.

Thus, the direct component of stator flux is given by the following relation:

A. Indirect field oriented controlled (IFOC)

heads unless they are unavoidable.

ds ( p ) = F 2 ( p ) v ds ( p ) + C ds ( p )
With:

(22)

1 (1 + Tr p ) Tr F2 ( p ) = T + Tr 1 p2 + s p+ TsTr TsTr
and

B. Units Use either SI (MKS) or CGS as primary units. (SI units are encouraged.) English units may be used as secondary units (in parentheses). An exception would be the use of English units as identifiers in trade, such

(23)

Cds ( p ) =

r Tr Rs ( qs Lsiqs ) Ls (1 + Trp )

(24)

The characteristic equation of this system in absence of disturbing term has p1 = 207.687 and p 2 = 6.976 the as roots. To compensate the dominating root p 2 it is necessary to impose:

Fig. 6 q-axis current and its reference

K i Kp

= 6 . 976

(25)

By replacing the parameters by their numerical values, we obtain the flux closed loop transfer function presented in (26):

K ( p + 97. 94 ) ds ( p) = 2 * ds ( p) p + (207 .687+ K ) p + 97. 94 K

p p

(26)
p

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B. Direct field oriented controlled (DFOC)

Fig. 7 d-axis flux and its reference

Fig. 10 q-axis current and its reference

Fig. 8 Electromagnetic torque and its reference

Fig. 11 d-axis flux and its reference

Fig. 9 Rotor speed and its reference

Fig. 12 Electromagnetic torque and its reference

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REFERENCES
[1] A. Merabet, M. Ouhrouche, Rung-Tien Bui, Nonlinear Predictive Control with Disturbance Observer for Induction Motor Drive, Industrial Electronics, 2006 IEEE International Symposium on, vol. 1, pp. 86 91, July 2006. [2] F. Blaschke, Das Verfahren der feldorientierung zur regelung der drefheeld maschine, Ph.D. thesis, TU Braunschsweig, 1974. [3] VAS, P., 1994, Vector Controlof AC Machines. Oxford Science Publications, Oxford. [4] LEHONHARD,W., 1996, ControlofElectricalDrives. Springer, Berlin. [5] BOSE,B.K.,2001,Modern Power Electronics and AC Drives., Prentice Hall, New Jersey. [6] Ba-razzouk A., Estimation par rseau de neurones de la constante de temps rotorique de machines asynchrones Thse de doctorat de luniversit de MONTREAL, juin 1998. [7] Jarray K. Contribution la Commande vectorielle dun actionneur asynchrone avec et sans capteur mcanique : conception, ralisation et valuation de commande numrique par orientation de flux statorique , Thse de doctorat de lUniversit Aix Marseille III, 10juillet 2000, [8] Myoung-Ho Shin; Dong-Seok Hyun; Soon-Bong Cho; Song-Yul Choe; An improved stator flux estimation for speed sensorless stator flux orientation control of induction motors Power Electronics, IEEE Transactions on Volume 15, Issue 2, March 2000 Page(s):312-318. [9] Xu, X. ; Novotny, D.W. Implementation of direct stator flux orientation control on aversatile DSP based system in: , IEEE Transactions on Industry Applications Volume: 27, Issue: 4 Jul/Aug 1991 pp. 694-700. [10] Xu, X.; De Doncker, R.; Novotny, D.W.; A stator flux oriented induction machine drive in Power Electronics Specialists Conference, 1988. PESC '88 Record., 19th Annual IEEE11-14 April 1988 pp. 870 876 vol.2. [11] Xu, X.; de Doncker, R.; Novotny, D.W.Stator flux orientation control of induction machines in the field weakening region in Industry Applications Society Annual Meeting, 1988., Conference Record of the 1988 IEEE Volume , Issue , 2-7 Oct 1988 pp. 437 - 443 vol.1. [12] XU, X ; NOVOTNY D. W. ; Selection of the flux reference for induction machine drives in the field weakening region in IEEE transactions on industry Nov/Dec1992, vol. 28, no6, pp. 1353-1358. [13] T. Jebali; M. Jemli; M. Boussak; M. Gossa; M.B.T. Kamoun, Dspacebased experimental results of indirect field oriented control (IFOC) PWM VSI fed induction motor, in proceedings IEEEICIT04, International Conference on Industrial Technology, Hammamet, 810 december 2004, vol. 2, pp. 569573.

Fig. 13 Rotor speed and its reference

VII. CONCLUSION In this paper, we presented the IFOC and the DFOC stator oriented flux of an induction machine. we choice using the IP controller for the speed and the q-axis current regulation for the fact that it can eliminate the zero in the closed loop transfer function. The simulation results obtaining with the MatlabSimulink software valid our choice. The references expressions and the computation of the current and flux controllers parameters use the machine parameters, especially the stator and rotor time constants. Any possible variation of those latter that can be caused by a temperature increase or variation on voltage frequency, will distort decoupling between flux and torque, and deteriorate the dynamic performances of the IFOC and the DFOC. Actually, we are working on experimental implementation of those techniques on a DSP board, and on-line adaptive time constants.
TABLE I.
INDUCTION MACHINE PARAMETRES

Rated power (P) Voltage (V)

1.5 KW 220/380 V 2 4.29 3.6 0.29 H 0.29 H 0.271 H 0.0248 Kg.m2 812 10-6 N.m.s/rad

Number of pair poles ( n p )

Stator resistance (Rs) Rotor resistance (Rr) Stator self-inductance ( Ls ) Rotor self-inductance ( Lr ) Mutual inductance (M)

Total inertia (J) Friction coefficient (f)

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