Vector Control of Induction Machine

Anil K Adapa
Department of Electrical Engineering
IISc Banglore

This report presents design aspects of the vector control of induction machine along
with the necessary equations to model the machine in dq-reference frame. Design of the
closed loop control is explained and verified through simulation.

1 Introduction
Variable speed operation of electrical machines enables the power conversion in a controlled way. With
the availability of semiconductor devices the efficiency of power conversion is very high and fast dynamic
response is also possible.
Using field oriented control techniques, the flux and torque of an induction machine can be controlled
in a decoupled manner and hence, fast dynamic performance,similar to that possible with dc machines,
can also be achieved.

2 Voltage Equations in Arbitrary Reference Frame

Two current space phasors is and ir can be defined for the stator and rotor current as follows:

iss (t) = issα (t) + jissβ (t) (1)

irr (t) = irrα (t) + jirrβ (t) (2)

The flux linkages of various coils is
s
ψsα (t) = Ls issα (t) + M irrα (t)cosε(t) − M irrβ (t)sinε(t) (3)
s
ψsβ (t) = Ls issβ (t) + M irrα (t)sinε(t) + M irrβ (t)cosε(t) (4)
where
Ls = lls + M is self inductance of stator coils,
lls = σs M is the leakage inductance of the stator coils,
M is the maximum value of mutual inductance between stator and rotor coils,
ε(t) is the angle between stator a-phase coil and rotor a-phase coil.
dε(t)
If rotor is rotating at a speed of ωr electrical rad/s then ωr = .
dt

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 Combining equations (3) and (4) gives stator flux phasor with respect to stator coordinates,
ψ ss (t) = ψsα
s s
(t) + jψsβ (t) = Ls iss (t) + M irr (t)ejε(t) (5)
Similarly rotor flux phasor with respect to rotor coordinates can be expressed as,
r
ψ rr (t) = ψrα r
(t) + jψrβ (t) = Lr irr (t) + M iss (t)e−jε(t) (6)
where
Lr = llr + M is self inductance of rotor coils,
llr = σr M is the leakage inductance of the rotor coils.

The voltage-current equations for the stator and rotor windings is,

s (t) = R is (t) + d s
vsα s sα ψ (t)
dt sα

s (t) = R is (t) + d s
vsβ s sβ ψ (t)
dt sβ
(7)
r (t) = R ir (t) + d ψ r (t)
vrα r rα
dt rα

r (t) = R is (t) + d r
vrβ r rβ ψ (t)
dt rβ
The above stator and rotor equations can be expressed as space phasors as follows,

s (t) + jv s (t) = R is (t) + L d s d

v ss (t) = vsα sβ s s s is (t) + M [irr ejε(t) ]
dt dt
(8)
r (t) + jv r (t) = R ir (t) + L d ir (t) + M d [is e−jε(t) ]
v rr (t) = vrα r r r
rβ
dt r dt s
The above equations describes the electrical behaviour of the induction machine. For a cage rotor
induction machine v rr (t) = 0. The rotor current irr (t) can be transformed to stator coordinate system
by multiplying with ejε(t)
isr (t) = irr (t)ejε(t) (9)
In fig.1, d and q axes are orthogonal and rotating in space at an angular velocity of ω% . The angle
made by the d-axis with stator a-phase axis is %. Eq. (8) can be transformed into dq reference frame
by multiplying with e−j% .
   
dq s −j% d s −j% d  r jε(t) −j%
v s (t) = vsd (t) + jvsq (t) = Rs is (t)e + Ls is (t) e + M i e e
dt dt r
    (10)
d d
0 = Rr irr (t)ejε e−j% + Lr irr (t) ejε e−j% + M is e−jε(t) ejε e−j%

dt dt s
In the above equation, iss (t)e−j% = idq r
s = isd + jisq and ir (t)e
j(ε−%) = idq = i + ji .
r rd rq
Eq.(10) can be simplified as
   
dq dq d dq dq d dq dq
v s (t) = Rs is (t) + Ls i (t) + jω% is (t) + M i + jω% ir
dt s dt r
    (11)
d dq d dq
0 = Rr idq
r (t) + Lr
dq
i (t) + j(ω% − ωr )ir (t) + M dq
i + j(ω% − ωr )is
dt r dt s

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 Figure 1: Current vectors of the induction machine in steady state.

3 Dynamic Equivalent Model of the Induction Machine

Separating real and imaginary parts of the Eq.(11) one can obtain two equivalent circuits, namely d-axis
dynamic model and q-axis dynamic model of the machine.
d d
vsd = Rs isd + Ls isd + M ird − ω% (Ls isq + M irq )
dt dt
d d
vsq = Rs isq + Ls isq + M irq + ω% (Ls isd + M ird )
dt dt
(12)
d d
0 = Rr ird + Lr ird + M isd − (ω% − ωr )(Lr irq + M isq )
dt dt
d d
0 = Rr irq + Lr irq + M isq + (ω% − ωr )(Lr ird + M isd )
dt dt

Figure 2: (a) d-axis and (b) q-axis dynamic models of the induction machine in arbitrary rotating(dq)
reference frame.

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 d d
vsd = Rs isd + Ls isd + M ird − ω% ψsq
dt dt
d d
vsq = Rs isq + Ls isq + M irq + ω% ψsd
dt dt
(13)
d d
0 = Rr ird + Lr ird + M isd − (ω% − ωr )ψrq
dt dt
d d
0 = Rr irq + Lrirq + M isq + (ω% − ωr )ψrd
dt dt
Torque developed by the machine (with P number of poles) is given by
2P M
md (t) = [ψrd isq − ψrq isd ] (14)
3 2 Lr
From the dynamic model we define three types of fluxes associated with the motor.
Air gap flux, ψ m = M (is + ir ),
Stator flux, ψ s = σs M is + ψ m ,
Rotor flux, ψ r = σr M ir + ψ m .
where stator and rotor currents are expressed in the same reference frame.

4 Rotor Flux Reference Frame

If the arbitrary reference(dq) frame is rotating at synchronous speed with respect to stator, i.e., ω% = ωs
all the current and flux space vectors become dc quantities. Also if the d-axis is aligned with rotor flux
vector (ψ r ) then ψrd = |ψ r | and ψrq = 0.
The expression for the electrical torque can be obtained by describing the interaction between the
rotor currents and the flux wave resulting from stator currents. Since rotor currents can’t be measured
with cage motors, it is appropriate to substitute for the rotor current vector an equivalent quantity
that could be measured with stator based sensing equipment. A good choice is the rotor flux or the
equivalent magnetizing current vector, defined in dq reference frame,

ψrd = M [isd + (1 + σr )ird ] = M imr

(15)
ψrq = M [isq + (1 + σr )irq ] = 0
h i
ψ dq
r
(t) = M i dq
s (t) + (1 + σ )i
r r
dq
(t) = M imr (16)
imr (t) rotates in space at synchronous frequency ωs with respect to stator reference frame. The rotor
current equation is invoked again to eliminate rotor current by using imr .
 
Rr h dq
i d
i − is + M i + j(ω% − ωr )imr = 0 (17)
1 + σr mr dt mr
Defining the rotor time constant, Tr = Lr /Rr = (1 + σr )M/Rr .
 
d
Tr i + j(ω% − ωr )imr + imr = idq (18)
dt mr s

which may split into real and imaginary parts,

dimr
Tr + imr = isd
dt
(19)
d% isq
= ω% = ωr + = ωr + ωslip
dt Tr imr

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Stator voltage-current equation can be written in terms of stator current and rotor magnetising current
as follows
   
dq dq d dq dq M d  dq
 dq

v s (t) = Rs is (t) + Ls i (t) + jω% is (t) + i − is + jω% imr − is (20)
dt s 1 + σr dt mr
    
M d dq M d
Rs idq
s + Ls − i + jω% idq + imr + jω% imr = vsdq (21)
1 + σr dt s s
1 + σr dt
1
Defining the total leakage factor of the motor, σ = 1 − and using the eq.(18) in the
(1 + σs )(1 + σr )
above equation,
d dq d
Rs idq
s + σLs is + jω% σLs idq
s + (1 − σ)Ls imr (t) + jω% (1 − σ)Ls imr = vsdq (22)
dt dt
Separating real and imaginary parts,
 
d vsd d
σTs isd + isd = − (1 − σ)Ts imr − ω% σTs isq
dt Rs dt (23)
d vsq
σTs isq + isq = − [ω% (1 − σ)Ts imr + ω% σTs isd ]
dt Rs
Torque developed is given by eq.(13) can be expressed in terms of magnetizing current as follows,
2P M
md (t) = imr isq (24)
3 2 1 + σr
Load dynamics can be described by the newtons law,
dωm (t)
md (t) − ml (t) = J (25)
dt
where,
ml is the load torque,
J is the moment of inertia of the drive,
ωm istherotor speed in mechanical rad/s,
P
ωr = ωm is the rotor speed in electrical rad/s.
2
Equations (18),(22),(23) and (24) describes the behaviour of the machine and load together.

5 Design of Controller for Vector Control of Induction Machine

Block diagram of the total controller structure is as shown in the fig.3 below.
The current controller is of proportional plus integral (PI) type. The feed forward terms added in
the controller block diagram will cancel the extra coupling terms in the motor, so the current controller
output (or inverter output) is applied across only the stator resistance and leakage reactance. This can
be represented by the block diagram of the fig.4.
The inverter can be modelled as a gain block with some lag and this lag Td is very small compared
to σTs . The current sensor filter will have a very low Tf i compared to switching period or Td . For a
desired bandwidth of ωid(bw) (= 1/Tid(bw) ) (typically 1/10th of 2πfsw ), the controller parameters are as
follows:

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 Figure 3: Control scheme of the vector controlled induction motor drive.

Figure 4: Direct axis current control loop.

ωid(bw) Tid Rs
Tid = σTs + Td + Tf i Kid =
Kf i G

The same procedure can be used for q-axis flux controller and generally two current controllers will
be designed to have the same bandwidth, so Tiq = Tid and Kiq = Kid .

isd 1 1 isq 1 1
= (26) = (27)
i∗sd Kf i 1 + sTid(bw) i∗sq Kf i 1 + sTiq(bw)
The flux loop will have inner d-axis current loop, and typically its bandwidth will be taken as 3-5
times lower than that of the inner current loop. To design the controller, inner loop can be represented
by equivalent first order system. If we cancel the pole of the inner loop with the controller, resultant
system may have much slower response. To improve the transient response, zero of the controller can
be placed in such a way that the total loop will be a second order transfer function with the desired
bandwidth(ωmr(bw) ) and damping factor.
Open loop gain of the control loop shown in fig.5 can be simplified as follows:

Kf (1 + sTf ) 1 1 Kf (1 + sTf ) 1
≈
sTf 1 + sTid(bw) 1 + sTr sTf 1 + s(Tid(bw) + Tr )

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 Figure 5: Rotor flux control loop.

The closed loop transfer function of the flux loop is,

Kf
(1 + sTf )
imr Tf Tt
= (28)
i∗mr
 
2
Tf + Kf Kf
s +s +
Tf Tf Tt

where Tt = Tid(bw) + Tr .
√
For a damping factor of 1/ 2 one can obtain the relation for the controller parameters as follows:
√

2ωmr(bw) Tt − 1 2
Tf = 2 Kf = ωmr(bw) Tf Tt
ωmr(bw) Tt

The speed controller generates required torque command equivalently q-axis current reference for
a fixed imr . So speed controller bandwidth should be less than that of the flux controller. Typically
ωn(bw) can be 3-5 times lower than that of the flux controller bandwidth. The location of zero of thee
controller can be selected by using symmetric optimum method to get maximum possible phase margin.

Figure 6: Speed control loop.

The open loop transfer function of the speed control loop can be approximated as

KN (1 + sTN ) 1/Kf i 1 Kf n KN (1 + sTN ) Kf n 1 1

KT ≈ KT
sTN 1 + sTiq(bw) Js 1 + sTf n sTN Kf i 1 + sTtω Js

If the desired speed loop bandwidth is ωm(bw) . To have atleast 450 phase margin, bandwidth of the
speed loop should satisfy the relation ωm(bw) = 1/aTtω where Ttω = (Tf n + Tiq(bw) ) and a ≥ 2.41. To
get maximum possible phase margin for a particular value of a, zero of the controller should be placed
at ωm(bw) /a. The designed values of the controller parameters are as follows:

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 Kf i J 1
TN = a2 Ttω KN =
Kf n KT aTtω
2P M
where, KT = imr
3 2 1 + σr

6 Simulation Results
Induction machine has been modelled and field oriented speed control technique is tested with sim-
ulation. The machine, inverter and controller details are given in the tabular columns below. Fig.7
and Fig.8 represents the given speed command and the machine speed during start-up, sudden load
changes and speed reversal. The machine is started with zero speed reference command and allowed to
build up the rated flux and then at 0.5s a step command is given to rise its speed to 1500 rpm. After
reaching the rated speed of 1500 rpm at 2s suddenly loaded to the rated value and again at 3.5s total
load has been removed. One can observe the momentary changes in speed during load transients, again
reaching the reference value. At 4s a speed reversal command is given to bring its speed to 750 rpm in
the opposite direction. In fig.8 magnetizing current, q-axis current and one of the phase currents are
given along with the speed.

specification value
Rated power 5.5 kW
Rated line to line voltage 415 V rms
Rated line current 11 A
Frequency 50 Hz
Poles 4
Rated speed 1440 rpm
Stator resistance 1.157 Ω
Rotor resistance 1.157 Ω
Stator leakage inductance 6.198 mH
Rotor leakage inductance 6.198 mH
Magnetizing inductance 139.256 mH
Moment of inertia 0.25 kg-m2
Frictional coefficient 0.0161 ke-m2 /s

Table 1: Machine Specifications and parameters

specification value
DC link voltage, Vdc 800 V
Switching frequency, fsw 5 kHz
Current sensor gain, Kf i 1/11 A/A
Current sensor bandwidth, 1/Tf i 50 kHz
Speed sensor gain, Kf n 1/1500 V/rpm
Speed sensor bandwidth, 1/Tf n 40 Hz

Table 2: Converter and sensor specifications

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 specification value
Current controller gain, Kc 1.0584
Current controller time constant, Tc 10.6 ms
Flux controller gain, Kf 10.0886
Flux controller time constant, Tf 2.2 ms
Speed controller gain, Kn 110.724
Speed controller time constant, Tn 58.9 ms

1500

1000
speed (in rpm)

500

-500

0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5 5.5 6 6.5

time (in s)

Figure 7: Speed reference and actual speed of the motor during start-up, load transients and speed
reversal.

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 1500
1000
500
(in rpm)
speed

0
-500

0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5 5.5 6 6.5

15
imr (in A)

10

0
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5 5.5 6 6.5
10

20
(in A)

0
sq
i

-20
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5 5.5 6 6.5

20

10
(in A)

0
sa
i

-10

-20
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5 5.5 6 6.5
time (in s)

Figure 8: Different electrical quantities of the motor during start-up, load transients and speed reversal.