EE595S: Class Lecture Notes

Chapter 14: Induction Motor Drives

S.D. Sudhoff

Fall 2005
 Overview of Strategies

• Volts-Per-Hertz Control
• Constant Slip Control
• Field-Oriented Control

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 Volts-Per-Hertz Control

• History

• Advantages

• Disadvantages

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 Volts-Per-Hertz Control

• Basic Idea
¾Machine will operate close to synchronous
speed, thus speed controlled with frequency
¾We must avoid saturation
• On Avoiding Saturation
¾ vas = rsias + pλas (14.2-1)
¾ Vs = ωeΛ s (14.2-2)

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 Volts-Per-Hertz Control

• Elementary Volts Per

Hertz Control

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 Volts-Per-Hertz Control

• Example System
¾50 Hp Machine
¾Rated for 1800 rpm, 460 V l-l rms, P=4, 60 Hz
¾rs=72.5 mΩ; rr’=41.3 mΩ
¾LM=30.1 mH; Lls=Llr=1.32 mH
⎛ ⎛ ω ⎞
2⎞
¾ TL = Tb ⎜ 0.1S (ωrm ) + 0.9⎜⎜ rm ⎟⎟ ⎟ (14.2-3)
⎜ ⎝ ωbm ⎠ ⎟
⎝ ⎠

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 Volts-Per-Hertz Control

• Performance
Characteristics

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 Volts-Per-Hertz Control

• Comments on Steady-State Performance

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 Volts-Per-Hertz Control

• Problem 1: Resistance At Low Speed

• Solution: Set Voltage So Slope is Invarient

⎛ P ⎞ω ⎛ X ⎞ ~ 2
2
3⎜ ⎟ e ⎜ M ⎟rr′ s Vas
⎝ 2 ⎠ ωb ⎜⎝ ωb ⎟
¾ Te = ⎡ 2 2
⎠
⎤ ⎛ ω ⎞2
(4.9-19)
⎛ ωe ⎞
⎢rs rr′ + s⎜ ⎟ ( X M − X ss X rr
2 ′ )⎥ + ⎜⎜ e ⎟⎟ (rr′ X ss + srs X rr
′ )2
⎜ ⎟
⎢
⎣ ⎝ ωb ⎠ ⎥ ⎝ ωb ⎠
⎦

rs2,est + ωe2 L2ss,est

¾ Vs = Vb (14.2-4)
rs2,est + ωb2 L2ss,est

Fall 2005 EE595S Electric Drive Systems 9

 Volts-Per-Hertz Control

• Further Improvement – Current Feedback

¾Let’s approximate torque as
• Te = Ktv (ωe − ωr ) (14.2-5)
∂T
• Ktv = − e (14.2-6)
∂ωr ω =ω
r e

¾Using (14.2-4) we have

⎛P⎞
3 ⎜ ⎟ L2M rr′Vb2
Ktv = ⎝ ⎠
2
• (14.2-7)
rr′2 (rs2 + ωb2 L2ss )

• This is not a function of synchronous speed

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 Volts-Per-Hertz Control

¾Next, consider torque. We have

3P e e
• Te = (λdsiqs − λeqsids
e
) (14.2-8)
22
¾For steady-state conditions
e e
vqs − rsiqs
• λeds = (14.2-9)
ωe
e e
vds − rsids
• λqs = −
e (14.2-10)
ωe
¾Thus
3 P 1 e* e
• Te = (vqsiqs − 2rs I s2 ) (14.2-11)
2 2 ωe
¾Where
1 e2 e2
• Is = iqs + ids (14.2-12)
2
Fall 2005 EE595S Electric Drive Systems 11
 Volts-Per-Hertz Control

¾Equating (14.2-7) and (14.2-11)

ωr* + ωr*2 + 3P(vqs
e*i e − 2r I 2 ) / K
qs s s tv
• ωe = (14.2-13)
2
¾Or
ωr* + max(0, ωr*2 + Χ corr )
• ωe = (14.2-14)
2
¾Where
• Χcorr = H
LPF
( s) χcorr (14.2-15)
χ = 3 P ( v e*i e − 2r I 2 ) / K
• corr qs qs s s tv (14.2-16)

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 Volts-Per-Hertz Control

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 Volts-Per-Hertz Control

• Performance of Compensated Volts-Per-Hertz

Control

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 Volts-Per-Hertz Control

• Start-Up Performance of Compensated Volts Per

Hertz Control

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 Overview of Strategies

• Volts-Per-Hertz Control
• Constant Slip Control
• Field-Oriented Control

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 Constant Slip Control

• Basic Idea
¾Definition of Slip Frequency
¾ ωs = ωe − ωr (14.3-1)
¾Our Strategy

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 Derivation of Constant Slip Control

• Consider Our Expression for

Electromagnetic Torque
3 ⎛⎜ ⎞⎟ωs L2M I s2rr′
P
Te = ⎝ ⎠
2
• (14.3-2)
(rr′ ) 2 + (ωs Lrr
′ )2
• Solving for the Current Yields
2 | Te* | (rr′2,est + (ωs Lrr
′ ,est ) 2 )
• Is = (14.3-3)
3P | ωs | L2M ,est rrr
′ ,est

• The Plan
Fall 2005 EE595S Electric Drive Systems 18
 Avoiding Saturation

• Before Proceeding …

• Consider the Steady-State Equivalent

Circuit
~ ~ ~ ~
′ + LM ( I as + I ar
¾ λar = Llr I ar ′ ) (14.3-4)
jωe LM
¾ I~ar
′ = − I~as (14.3-5)
′ + rr′ / s
jωe Lrr
¾Thus
rr′
¾ λ'r = I s LM (14.3-7)
ωs2 Lrr
′2 + rr′2
Fall 2005 EE595S Electric Drive Systems 19
 Avoiding Saturation
¾Taking the Magnitude
rr′
¾ r s M 2 2 2
λ' =I L
(14.3-7)
′ + rr′
ωs Lrr
¾Combing (14.3-7) and (14.3-2)
P ωs λ'r2
¾ Te = 3 (14.3-8)
2 rr′
¾Thus 2
P ωs,set λr ,max
¾ Te,thresh = 3 2 rr′,est (14.3-9)
¾So For Large Torque Commands
2Te*rr′,est
¾ ωs = (14.3-10)
3Pλ2r ,max

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 Constant Slip Control

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 Selection of Slip Frequency

• Control for Maximum Torque Per Amp

¾From (14.3-1)
⎛P⎞
3 ⎜ ⎟ω s, set L2M rr′
= ⎝ ⎠
Te 2
¾ I s2 (rr′ ) 2 + (ω s, set Lr′ ) 2
(14.3-11)

¾Optimizing with Respect to Slip Frequency

rr′,est
¾ ωs,set =
′ ,est
Lrr
(14.3-12)

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 Maximum Torque Per Amp Control

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 Maximum Efficiency Control

• To Optimize Efficiency Note That

~
¾ Pin = 3I s Re(Vas ) (14.3-13)
¾So
2 2
2 3I s ωe LM ω s rr′
¾ Pin = 3rs I s + 2 (14.3-14)
2
rr′ + (ω s Lrr
′ )
¾Comparison to (14.3-14) to (14.3-2)
2
¾ Pin = 3rs I s + P ωeTe
2
(14.3-15)
¾Now
2
¾ out P ωrTe
P = (14.3-16)

Fall 2005 EE595S Electric Drive Systems 24

 Maximum Efficiency Control

¾So
− = 2 + 2T ω
¾ in out s s P e s
P P 3r I (14.3-17)
¾Finally
2 ⎡ rr′ rs ω s rs L2rr ⎤
¾ Ploss = Te ⎢
2
+ + ωs ⎥ (14.3-18)
P ⎣⎢ω s Lm rr′ Lm
2
⎥⎦
¾Minimizing Yields
rr′,est 1
¾ ωs,set = L′ 2
(14.3-19)
rr ,est Lm,est rs,est
+1
′ ,est rr′,est
2
Lrr

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 Maximum Efficiency Control

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Comparison of Constant Slip Controls

• Maximum Efficiency

• Maximum Torque Per Amp

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 Speed Control with Constant Slip
Control

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 Transient Performance of Constant
Slip Controlled Drive

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 Overview of Strategies

• Volts-Per-Hertz Control
• Constant Slip Control
• Field-Oriented Control

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 14.4 Field-Oriented Control

• Objective

• Challenges

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 The Basic Idea

Te = −2 BiNLr sin θ

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 Torque Production in Induction
Motor

• Now
3P
¾ Te = (λqr ′ − λdr
′ idr ′ iqr
′ ) (14.4-2)
22
3P
¾ Te = − | λqdr ′ | sin θ
′ || iqdr (14.4-3)
22

Fall 2005 EE595S Electric Drive Systems 33

 The Plan

• Objective

• Observation
¾In Steady-State, This is Always True
e 1
i
• qr = − (ωe − ωr )λedr (14.4-4)
rr′
e 1
• idr = (ωe − ωr )λeqr (14.4-5)
rr′
e
• λ ′ qdr ′e iqr
′e = λqr ′e idr
′e + λdr ′e
⋅ iqdr (14.4-6)
¾Thus
Fall 2005 EE595S Electric Drive Systems 34
 The Plan (Continued)

• But.. We need flux and current to be

perpendicular all the time. To do this ..
e
λ ′
¾ qr = 0 (14.4-7)
¾ ′e = 0
idr (14.4-8)
• Achieving (14.4-7)
¾By choice of θe

Fall 2005 EE595S Electric Drive Systems 35

 The Plan (Continued)

• Achieving (14.4-8)
¾All we need to do is to keep d-axis stator
current constant. Proof:
• Consider
e ′e
′e + (ωe − ωr )λ ′ qr
™ 0 = rr′idr + pλdr (14.4-9)
• The q-axis rotor flux linkage is zero (by choice of
reference frame)
™ 0 = rr′ idr ′e
′e + pλdr (14.4-10)
• Substitution of d-axis rotor flux linkage equation
into (14.4-10)
r ′ e LM e
™ ′e = − r idr
pidr ′ − pi (14.4-11)
Lrr Lrr ds
• Thus the d-axis rotor current goes to zero
Fall 2005 EE595S Electric Drive Systems 36
 Some Observations

• Since the d-axis rotor current is zero

e e
¾ λds = Lssids (14.4-12)
′e = LM ids
¾ λdr e
(14.4-13)
• Combining these results with our flux linkage
equation
3P e e
¾ Te = − ′ iqr
λdr ′ (14.4-14)
22

Fall 2005 EE595S Electric Drive Systems 37

 Some Observations

• Since the q-axis rotor flux linkage is zero

e LM e
¾ ′
iqr = − iqs (14.4-15)
Lrr

• Thus
3 P LM e e
¾ Te = ′ iqs
λdr (14.4-16)
2 2 Lrr

Fall 2005 EE595S Electric Drive Systems 38

Generic Rotor Flux-Oriented Control

Note: θe must be selected so as to keep q-axis rotor

flux equal to zero.

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 Some “Minor” Details

• Determination of position of synchronous

reference frame
• Determination of the rotor flux

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 Aside Types of Field Oriented
Control
• Orientations
¾Stator
¾Magnetizing (Air-Gap)
¾Rotor
• Methods
¾Direct
¾Indirect
• Modifications
¾Robust
Fall 2005 EE595S Electric Drive Systems 41
 Direct Field Oriented Control

• Basic Idea
¾Measure the flux directly (more or less)
• Consider
⎡λ ′ e ⎤ ⎡cos θ − sin θ e ⎤ ⎡λqr
′s ⎤
¾ ⎢ qr ⎥ = ⎢ e
⎥ ⎢ ⎥ (14.5-1)
⎢λ ′e ⎥ ⎣ sin θ e cos θ e ⎦ ⎢λ ′ ⎥
s
⎣ dr ⎦ ⎣ dr ⎦
• We need to set q-axis rotor flux to zero.
Thus
s s π
¾ θe = angle(λqr
′ − jλdr
′ )+ (14.5-2)
2

Fall 2005 EE595S Electric Drive Systems 42

 Direct Field-Oriented Control

• As a Side Effect
¾ ′e = (λqr
λdr ′s ) 2 + (λdr
′s ) 2 (14.5-3)

• The problem: We can measure the rotor flux

linkages. We can measure the stator flux
linkages.
Fall 2005 EE595S Electric Drive Systems 43
 Estimation of Rotor Flux Linkages

• Consider
¾ λqm
′s = LM (iqs
s + i′ s )
qr (14.5-4)
• Thus
′s − LM iqs
λqm s
¾ ′s =
iqr (14.5-5)
LM
• Recall
λ ′s = L i′s + L (i s + i′s )
¾ qr lr qr M qs qr (14.5-6)

Fall 2005 EE595S Electric Drive Systems 44

 Estimation of Rotor Flux Linkages

• So
L′ s
¾ ′s = rr λqm
λqr s
′ iqs
− Llr (14.5-7)
LM
L ′
¾ λdr
′s = rr λdm
s − L′ i s
lr ds (14.5-8)
LM

Fall 2005 EE595S Electric Drive Systems 45

 Rotor Flux Estimator

Fall 2005 EE595S Electric Drive Systems 46

 Direct Rotor Field-Oriented Control

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Robust Direct Field-Oriented Control

• Sensitivity of Rotor Flux Estimator

e ′ ,est s
Lrr s
¾ ˆ ′ =
λqdr
LM ,est
′ ,est iqds
λqd ,m − Llr (14.6-1)

• Sensitivity of Q-Axis Current Calculation

Te*
¾ e* =
iqs (14.6-2)
3 P LM ,est
′e
λˆdr
2 2 Lrr ,est

Fall 2005 EE595S Electric Drive Systems 48

Robust Direct Field-Oriented Control

• Sensitivity of the D-Axis Current Injection

λedr*
¾ e* =
ids
LM ,est
(14.6-3)

Fall 2005 EE595S Electric Drive Systems 49

 Flux Control Loop

• Since we have a flux estimator, consider

• It can be shown that

′e
λdr τλ s +1
¾ = (14.6-5)
′e*
λdr τλ
LM ,est
s +1
LM

Fall 2005 EE595S Electric Drive Systems 50

 Torque Control Loop

• Torque Estimation
¾Recall
3P s s s is )
¾ e 2 2 (λdsiqs − λqs
T = ds (14.6-6)
¾Now
λ s = L i s + λs
¾ qds ls qds qdm (14.6-7)
¾So
3P s s
¾ Te = 2 2 (λdmiqs − λqm
s is )
ds (14.6-8)
¾Which Suggests
3 P s  s s  s
¾ Te = 2 2 (λdmiqs − λqmids )
ˆ (14.6-9)
Fall 2005 EE595S Electric Drive Systems 51
 Torque Control Loop

• Now that we can estimate torque, how about

Fall 2005 EE595S Electric Drive Systems 52

 Torque Control Loop

• Analysis of Torque Control Loop

¾Define
3 P LM ,est e*
¾ Kt ,est = 2 2 L′ λdr ′ (14.6-10)
rr ,est
3PL
¾ Kt = 2 2 LM′ λdr
′e (14.6-12)
rr
¾Now, assuming the control works
¾ Te = Kt iqs
e*
(14.6-11)
¾This, assumption, coupled with our torque
control loop yields
T τ s +1
¾ e* = K t (14.6-13)
Te τ t t ,est s + 1
Kt
Fall 2005 EE595S Electric Drive Systems 53
 Robust Direct Field-Oriented
Control

Fall 2005 EE595S Electric Drive Systems 54

 Performance of Robust Direct Field
Oriented Control

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 Performance of Constant Slip Drive

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 Performance of Volts-Per-Hertz
Drive

Fall 2005 EE595S Electric Drive Systems 57

 Indirect Field Oriented Control

• Consider
¾ 0 = rrr′ iqr
′e + (ωe − ωr )λdr
′e + pλqr
′e (14.7-1)
¾Since the q-axis rotor flux is zero
′e
iqr
¾ ωe = ωr − rr′ (14.7-2)
′e
λdr
¾Which may be expressed
e
rr′ iqs
¾ ωe = ω r +
′
Lrr e (14.7-3)
ide

Fall 2005 EE595S Electric Drive Systems 58

 Indirect Field Oriented Control

• Thought
¾We know what the electrical frequency will be
if we have field orientation (i.e. field
orientation causes (14.7-1))
¾Does it work backward ? Will using (14.7-1)
cause field-orientation ?
¾The answer: Yes !

Fall 2005 EE595S Electric Drive Systems 59

 Indirect Field Orientation

• Proof
¾Consider the rotor voltage equations
¾ 0 = rr′iqr
′e + (ωe − ωr )λdr
′e + pλqr
′e (14.7-5)
′e − (ωe − ωr )λqr
¾ 0 = rr′idr ′e + pλdr ′e (14.7-6)
¾Now substitute in our expression for electrical
frequency e*
rr′ iqs e
¾ 0 = r ′ i
r qr′ e + λ ′ + p λ ′
qr
e
(14.7-7)
L′ e* dr
rr ide
e*
r ′ i
¾ ′e − r qs λqr
0 = rr′ idr ′e + pλdr
′e (14.7-8)
′ i e*
Lrr
de
Fall 2005 EE595S Electric Drive Systems 60
 Indirect Field Orientation

• Continuing On …
¾Now put in terms of q-axis rotor flux and d-axis
rotor current (and stator currents)
¾This yields
[L′ i′ ]
⎡ λqr e* ⎤
′e − LM iqs rr′
e*
iqs
¾ 0 = rr′ ⎢ ⎥+ + LM ids + pλqr
′e
e e*
⎢
⎣
′
Lrr ⎥
⎦
′
Lrr e*
ids
rr dr (14.7-9)

[ ]
e*
′ i
¾ 0 = rr′idr
r
′e − r
′ ids
Lrr
qs
e*
λ ′e + p Lrr
qr ′ idr
′e + LM ids
e*
(14.7-10)

Fall 2005 EE595S Electric Drive Systems 61

 Indirect Field Orientation

• Now, keeping the d-axis stator current fixed

we have e*
rr′ e iqs e
¾ ′ =−
pλqre ′ − rr′
λqr ′
idr (14.7-11)
Lrr′ e
ids*

e*
r ′ r ′ i
¾ ′e = − r idr
pidr ′e + r qs
′e
λqr (14.7-12)
′
Lrr ′ ) 2 ids
( Lrr e*

• Comments

Fall 2005 EE595S Electric Drive Systems 62

 Indirect Field Oriented Control

• Thus, our control becomes

Fall 2005 EE595S Electric Drive Systems 63

 Indirect Field Oriented Control

• Advantages of Indirect Field Oriented

Control over Direct Field Oriented Control

• Disadvantages of Indirect Field Oriented

Control over Direct Field Oriented Control

Fall 2005 EE595S Electric Drive Systems 64

 Performance of Detuned
Indirect Field Oriented Control
• Overestimate magnetizing inductance by
25% (we started to saturate machine)
• Underestimate rotor resistance by 25%
(rotor resistance increased with
temperature)

Fall 2005 EE595S Electric Drive Systems 65

 Performance of Detuned Field
Oriented Control

Fall 2005 EE595S Electric Drive Systems 66