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An Observer-Based DTC of Induction Motors Driven by 3-Level Inverter For Improving Low Speed Operation
An Observer-Based DTC of Induction Motors Driven by 3-Level Inverter For Improving Low Speed Operation
Figure 1: Output voltage vectors of 3-level inverter From induction motor equations, neglecting the voltage drop across the stator resistance, relationship between the inverter output voltage vector and the variation of the stator flux can be expressed as A A , = (V, -
Cs R, ) tsp = v , tsp ~ ,
where, Y, : the inverter output voltage vector, t,s,, : sampling period. Equation (1) shows that an applied stator voltage vector produces a stator flux change. The amplitude of the stator flux change is proportional to the product of the applied voltage vector and the sampling period. The vectorial direction of the stator flux change keeps the same as that of the selected voltage vector. The stator and rotor fluxes are written as the following relation
Power Electronics and Variable Speed Drives,18-19 September 2000, ConferencePublication No. 475 Q IEE 2000
170
where,
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Equation. (3) shows that torque is determined by the stator flux magnitude and the stator flux phase angle with respect to the rotor flux. Assumed that the stator flux vector is in the k-th sector, selection of the respective stator voltage vector is described in Figure 1. The selection of yk+I,f,h and vk+,, f is able to increase the angle between the stator flux and the rotor flux. As a result, developed torque can be increased by the application of ?k+?,/h or ? k + ] , f h . It can be seen in Figure 1 that the stator flux is increased by the selection of yk+],f,h, and decreased by c k + r , f , h . If half voltage vector is selected, the lower slope of torque can be obtained.
Upper Torque Band
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Figure 2: Torque slope pattern of 3-level inverter The double torque hysteresis band method as shown in Figure 2 is applied for 3-level inverters. When torque comes down to the negative ,upper hystersis band, appropriate full voltage vector is chosen to increase the torque developed. When the controlled torque reaches the positive lower hysteresis band, the full voltage vector is changed into the respective half voltage. If torque increases over the positive upper torque band, zero voltage vector is applied to decrease torque value. The same rules for voltage vector selection can be applied for the reverse direction operation. The resulted switching look-up table is shown in Table I . Assumed that ds is located in the k-th sector, possible voltage vectors to increase torque are .;(+I,, , i i k + ] , h , c k + l J , and ?k+I,h. Among these voltage vectors, a certain voltage vector should be selected, considering the double torque hysteresis band and the stator flux condition. Meanwhile, only one voltage vector, ?, is selected to reduce the developed torque. The simulation results of the forward and reverse operation are shown in figure 3.
To show effectiveness of 3-level DTC algorithm described above, some simulations have been performed. The parameters of the induction motor used are listed in Table 3. In this case, speed estimation is carried out by an equation-based estimator, which is described in the following equation,
It can be seen in Figure 4 that the DTC switching method above-mentioned causes the stator flux demagnetization phenomenon at the low speed operation. As seen in Figure 1, around the boundary between two sectors, there is no effective voltage vector that can assure an increased stator flux, in which the rotating stator flux vector moves its position from one sector to another sector. Another problem that deteriorates performance of the low speed operation is selection of the zero-voltage vector. At low speed region, the zerovoltage can not effectively assure control of torque reduction because the resultant phase angle reduction is not easily obtained due to the low value of the stator flux frequency. The basic switching method of 3-level DTC has to be modified to overcome these problems at the low speed operation.
171
voltage vector, vk,;, is selected instead of Vk+,,, , the demagnetization problem is resolved. To obtain effectively magnetizing effect around the boundary between two sectors, especially at the low speed region, modified look-up table as shown in Table 2 is used. The transition from conventional look-up table to modified one is taken by detecting a certain level of the drooping magnitude of the stator flux. When the magnitude of the stator flux is drooped below minimum fixed level, the basic look-up table, Table 1, is replaced with the modified look-up table, Table 2.
Figure 4: Low speed performance of the DTC; (from top to bottom)speed, flux magnitide, d-axis flux, and phase current
k-th sector
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Figure 6: Improved performance in low speed ; (from top to bottom)speed, flux magnitude, torque, and switching frequency
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If the stator flux moves into the upper sub-sector, the appropriate voltage vector is determined according to Table 2. This selection is basically same as Table 1, except the reverse voltage vector is chosen instead of the zero voltage vector for torque control. Figure 6 shows the low speed operation of the DTC using the advanced look-up table in the speed region about 1 -%. rated speed. It is shown in this figure that problems of the demagnetization and the zero-voltage vector work out effectively even without the increase of the switching frequency. The performance of the proposed control scheme indicates that it is feasible for the low speed operation.
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Figure 8: Equation-based DTC against stator resistance change( 150[%]); (from top to bottom)speed, flux magnitude, torque, and stator resistance
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variation, whereas the equation-based estimator is easily deteriorated by stator resistance variation. The experimental set-up of the proposed control system is shown in Figure 10. It consists of 7.4[kW]induction motor, power circuit, main controller board DS 1003 containing TMS320C40, I/O board DS400 1, and A/D board DS2001. Experiment is executed with no s 3). load condition and same sampling frequency (120[ p Figure 11 shows speed estimation and phase current responses of the proposed DTC scheme in the forward and reverse operation. Figure 12 shows speed and torque estimation in the low speed operation. Good estimation of the speed is achieved down to about 1% rated speed. Figure I3 shows the stator resistance estimation value in using adaptive scheme.
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Figure 9: Observer-based DTC against stator resistance change (150[%]); (from top to bottom) speed, flux magnitude, torque estimation, stator resistance variation
Figure 11: Observer-based DTC, forward and reverse operation, experimental results; (from top to bottem) speed, phase current
os
15
Figure 12: Observer-based DTC, experimental results ; (from top to bottom) estimated speed, estimated torque
174
demagnetization effect and the application of the zerovoltage vector deteriorate the performance at the low speed operation. To overcome these problems, the advanced look-up table, in which intermediate voltage vectors are used, is proposed. Adaptive observer is employed to obtain good performance even against the machine parameter variation.
REFERENCE
1. G. Buja, D. Casadei, and G. Serra, 1998, IECON98, T50-T64 2. James N. Nash, 1997, IEEE Trans. Ind. Appli., Vol. 33, NO.2, pp. 333-341 3. CG Mei, SK Panda, JX Xu, and KW Lim, 1999, PEDS99, pp. 80-85 4. D. Alfonso, G. Gianluca, M. Ignazio, and P. Aldo, 1999, EPE99 5.H. Kuboda, K. Matsuse, and T. Nagano, 1993, m s .Ind. Appli., Vol. 29, No. 2, pp. 344-348
CONCLUSION
Advanced DTC algorithms for high power 3-level inverters are presented. The torque and flux control method for 3- level inverter is studied. The
IEEE
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