Electric Drives Note

Electric Drives Principles:
From Basics to Advanced Vector Control and

Encoder-less Operation
April 24-25, 2004
Day 2 Advanced: Dynamic Operation and Control of AC Drives (8:00AM 5:00PM)
1. Representation in Phase Quantities
2. Dynamic Analysis by d-q Representation
3. Vector Control
4. Voltage Space-Vector PWM
5. Encoder-less Direct Torque Control
6. Vector Control of PMAC Drives
7. Switched-Reluctance Motor Drives
8. Synchronous-Reluctance Motor Drives

Reference Book:
Textbook Advanced Electric Drives: Analysis, Control and Modeling using
Simulink by Ned Mohan, year 2001, published by MNPERE. (See
www.MNPERE.com for details.)
Copyright, Ned Mohan, 2001 Reference: Advanced Electric Drives
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1-1
Chapter 1
Introduction to Advanced Electric
Drives
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1-2
Graduate Course in Electric Drives
Objectives:
Basics to Advanced Topics in 2 Semesters
Seamless Continuation of the First Course
Topics: Dynamic Modeling and Control
Approach/Tools
dq-Windings based Analysis
Design Examples Using Simulink
Verification in the Hardware Lab using dSPACE
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1-3
Topics (Lectures)
1. Introduction to Advanced Electric Drive Systems (2)
2. Induction Machine Equations in Phase Quantities: Assisted
by Space Vectors (5)
3. Dynamic Analysis of Ind. Mach. in terms of dq-Windings (7)
4. Vector Control of IM Drives: A Qual. Examination (4)
5. Mathematical Description of Vector Control (5)
6. Detuning Effects in Induction Motor Vector Control (3)
7. Space Vector PWM (SV-PWM) Inverters (3)
8. Direct Torque Control (DTC) and Encoder-Less Operation
of Induction Motor Drives (5)
9. Vector Control of Perm-Magnet Syn. Motor Drives (3)
10. Switched-Reluctance Motor (SRM) Drives (3)
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1-4
Continuation of Topics Discussed
in the First Course
Switch-Mode Converters Average Representation
Magnetics Transformers
Feedback Controller Design
Space Vector Representation for AC Machines
Basic Calculations for Electromagnetic Torque
PMAC Drives Space Vector Based Steady State
Operation
Induction Motor Drives Space Vector based
Steady State Analysis
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1-5
Design Examples
Induction Machine Initially Operating in Steady
state
Load Torque Disturbance at t=0.1 s
Control Objective is to keep Speed Constant
(design speed loop with a bandwidth of 25 rad/s and a
phase margin of 60 degrees)
Permanent Magnet AC (PMAC) Drives
Switched-Reluctance Motor (SRM) Drives
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1-6
TEST INDUCTION MOTOR
Nameplate Data:
Power: 3 HP/2.4 kW
Voltage: 460 V (L-L, rms)
Frequency: 60 Hz
Phases: 3
Full Load Current: 4 A
Full-Load Speed: 1750 RPM
Full-Load Efficiency: 88.5 %
Power Factor: 80.0 %
Number of Poles: 4
Per-Phase Motor Circuit Parameters:
2
1.77 , 1.34 , 5.25 (at 60 Hz)
4.57 (at 60 Hz), 139.0 (at 60 Hz)
Full-Load Slip = 1.72 %, 0.025
s r s
r m
eq
R R X
X X
J kg m
= = =
= =
=
A
A
2-1 Copyright, Ned Mohan, 2001 Reference: Advanced Electric Drives
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Chapter 2
Induction Machine Equations in
Phase Quantities: Assisted by Space
Vectors
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c axis
a axis
b axis
i
c
i
b
i
a
magnetic
axis of phase a
i
a
=0
4
3
2
1
7
6
5
4
3
2
1
7
6
5
=
(a) (b)
Figure 2-1 Stator windings.
Sinusoidally-Distributed Stator Windings
(1) ( ) sin
2
s
s
N
n =
0
(2) ( ) i cos
s
a a
g
N
H
p
=
A
( )
(4) ( ) ( ) i cos
o s
a o a a
g
N
B H
p
= =
A
( ) ( )
(3) i cos
s
a g a a
N
F H
p
= = A
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Figure 2-2 Three-phase windings.
a
' a
b
' b
c
' c
a
i
b
i
c
i
axis a
axis b
axis c
/ j4 3
e

/ j2 3
e

j0
e
b
b
i
a
i
c
i
c
a
(a)
(b)
Three-Phase Sinusoidally-Distributed Windings
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n
b
c
a
i
a
a ax is
i
a
i
a
A
r
leakage
magnetizing
(a)
(b)
Figure 2-3 Single-phase magnetizing inductance and leakage
inductance.
Single-Phase Magnetizing Inductance
,1 m phase
L

,
,
,1
,
(1)
a leakage
a a
s self
a a a
i only
a
L L
s m phase
magnetizing
L
i i i
= = +
A

, ,1
(2)
s self s m phase
L L L

= +
A
2
,1
(3) ( )
o s
m phase
g
r N
L
p
=
A
A
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n
b
c
a
i
a
b
Figure 2-4 Mutual inductance .
Stator Mutual Inductance
mutual
L
0,
,
(1)
b
mutual
a
i i rotor open
b c
L
i
=
=
,1
1
(3)
2
mutual m phase
L L

=
, ,
(2) cos(120 )
o
b duetoi a magnetizing duetoi
a a
=
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a axis
b axis
c axis
m
i
a
i
b
i
c
i
A
i
C
i
B
A axis
B axis
C axis
m
( ) a
i
a
i
b
i
c
+
+
+
v
a
v
b
v
c
R
s
+
+
v
A
= 0
v
B
= 0
v
C
= 0
R
r
i
A
i
B
i
C
Stator circuit Rotor circuit
( ) b
+
Figure 2-5 Rotor circuit represented by three-phase windings.
(b)
Equivalent Windings in A Squirrel-Cage Rotor
,1
3
(2)
2
m m phase
L L

=
2
3
(3) ( )
2
o s
m
g
r N
L
p
=
A
A
(4)
s s m
L L L = +
A
(1) ( ) ( ) ( ) 0
A B C
i t i t i t + + =
(1) ( ) ( ) ( ) 0
a b c
i t i t i t + + =
,1
3
(2)
2
m m phase
L L

=
(3)
r r m
L L L = +
A
,1
(4) cos
aA m phase m
L L
=
Stator
Rotor
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( )
s
F t
JJG
( )
s
F
t
( )
a
F t
JJG
( )
b
F t
JJG
( )
c
F t
JJG
axis c
axis b
axis a
c
i =
b
i =
a
i = +
( )
a
F t
JJG
( )
b
F t
JJG
( )
c
F t
JJG
axis c
axis b
axis a
(a)
(b)
Figure 2-6 Space vector representation of mmf.
Review of Space Vectors
( ) ( ) ( ) ( )
a a a a
s a b c
F t F t F t F t = + +
G G G G
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Figure 2-7 Physical interpretation of stator current space vector.
a
' a
b
' b
c
' c
a
i
b
i
c
i
axis a
axis b
axis c
/ j4 3
e

/ j 2 3
e

j0
e
s
I
at time t
magnetic axis of
hypothetical winding
with current
s
I
axis a
(a) (b)
s
i
G
Physical Interpretation of Current Space Vector
( )
0 2 / 3 4 / 3
(1) ( ) ( ) ( ) ( ) ( )
j t
i a j j j
s
s a b c s
i t i t e i t e i t e I t e

= + + =
G
(2) ( ) ( / ) ( )
a a
s s s
F t N p i t =
G
G
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( )
0 2 / 3 4 / 3
( ) ( ) ( ) ( ) ( )
j t
v a j j j
s
s a b c s
v t v t e v t e v t e V t e

= + + =
G
( )
0 2 / 3 4 / 3
( ) ( ) ( ) ( ) ( )
j t
a j j j
s
s a b c s
t t e t e t e t e

= + + =
G
Voltage and Flux-Linkage Space Vectors
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Figure 2-8 Relationship between space vector and phasor in sinusoidal steady state.
a j
s s
i I e

=
G
@ t 0 =
(b)
axis a

ref
a a
I I =
(a)
Relationship between space vector and phasor in
sinusoidal steady state
0
3
2
a
s a
t
i I
=
=
G
3

2
s a
I I =
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i
a
i
b
i
c
+
v
c
+
v
b
+ v
a
a
t ( )
b
t ( )
c
t ( )
a axis
c axis
b axis
e
j0
e
j4 3 /
e
j2 3 /
G
G
K
G
i
s s,i
s s,i
B
F
s
s
,
,
at time t ' '
Figure 2-9 All stator space vectors are collinear (Rotor open-circuited).
All stator space vectors are collinear (Rotor open-circuited)
,
due to leakage flux due to magnetizing flux
( ) ( ) ( ) ( )
a a a a
s s m s s s
s i
s
t L i t L i t L i t = + =
A
G
G G G

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a axis
b axis
c axis
m
i
A
i
C
i
B
A axis
B axis
C axis
m
,
,
,
, B
r r i
r
F
r r i
r
i
G
G
K
G
at time t ' '
Figure 2-10 All rotor space vectors are collinear (Stator open-circuited).
a axis
b axis
c axis
m
i
A
i
C
i
B
A axis
B axis
C axis
m
,
,
,
, B
r r i
r
F
r r i
r
i
G
G
K
G
at time t ' '
Figure 2-10 All rotor space vectors are collinear (Stator open-circuited).
All rotor space vectors are collinear (Stator open-circuited)
,
due to leakage flux due to magnetizing flux
( ) ( ) ( ) ( )
A A A A
r r m r r r
r i
r
t L i t L i t L i t = + =
A
G
G G G

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Making the case for dq-axis analysis
(3) ( ) ( ) ( )
j a a A
m
s s s m r
t L i t L i t e

= +
G
G G
(2) ( ) ( )
j a A
m
r r
i t i t e

=
G G
a axis
b axis
c axis
m
i
a
i
b
i
c
i
A
i
C
i
B
A axis
B axis
C axis
m
( ) a
i
a
i
b
i
c
+
+
+
v
a
v
b
v
c
R
s
+
+
v
A
= 0
v
B
= 0
v
C
= 0
R
r
i
A
i
B
i
C
Stator circuit Rotor circuit
( ) b
+
Figure 2-5 Rotor circuit represented by three-phase windings.
(b)
(1) ( ) ( )
a a a
s s s m r
t L i t L i = +
G
G G
(4) ( ) ( ) ( )
a a a
s s s
s
d
v t R i t t
dt
= +
G
G
G
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Chapter 3
Dynamic Analysis of Induction
Machines in Terms of dq-
Windings
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Representation of Stator MMF by Equivalent dq Windings
2 / 3 4 / 3
(2) ( ) ( ) ( ) ( )
a j j
s a b c
i t i t i t e i t e

= + +
,
(3) ( ) ( )
a a
s
s s
N
F t i t
p
=
, ,
( )
3/ 2
(4)
d
s s
sd sq s
N N
i ji i
p p
+ =
,
( )
2
(5)
3
d
sd sq s
i ji i + =
,
2
,1
,1
(1) winding magnetizing inductance =( 3/ 2)
(3/ 2)
(using Eq. 2-12)
m phase
m phase
m
dq L
L
L
=
=
axis a
axis b
axis c
s
i
,
a
i
b
i
c
i
at t
axis a
axis b
axis c
s
i
,
at t
axis d
axis q
sd
i
sq
i
axis a
axis b
axis c
s
i
,
at t
axis d
axis q
projection
projection
sq
2
i
3
=
projection
projection
sd
2
i
3
=
(a)
(b) (c)
3
2
s
N
Figure 3-1 Representation of stator mmf by equivalent dq winding currents.
da
da

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Representation of Rotor MMF by Equivalent dq Windings
2 / 3 4 / 3
( ) ( ) ( ) ( )
A j j
r A B C
i t i t i t e i t e

= + +
,
( )
( )
/
A
A
r
r
s
F t
i t
N p
=
,
,
Figure 3-2 Representation of rotor mmf by equivalent dq winding currents.
A
i
dA
rq
i
a axis
d
d axis
q axis
B axis A axis
m
da
r
i
,

rd
i
projection
2
projection
3
rq
i =
projection
2
projection
3
rd
i =
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a axis
stator
A axis
rotor
d axis
m
i
sd
i
sq
q axis
at t
i
rq
i
rd
m
,
i
s
,
i
r
3
2
i
sd
3
2
i
sq
3
2
i
rq 3
2
i
rd
d
da
dA
3
2
s
N
3
2
s
N
3
2
s
N
Figure 3-3 Stator and rotor mmf representation by
equivalent dq winding currents.
a axis
a axis
stator
A axis
A axis
rotor
d axis
d axis
m
i
sd
i
sd
i
sq
i
sq
q axis
q axis
at t at t
i
rq
i
rq
i
rd
i
rd
m
,
i
s
,
i
s
,
i
r
,
i
r
3
2
i
sd
3
2
i
sd
3
2
i
sq
3
2
i
sq
3
2
i
rq
3
2
i
rq 3
2
i
rd
3
2
i
rd
d
da
dA
3
2
s
N
3
2
s
N
3
2
s
N
Figure 3-3 Stator and rotor representation by equivalent dq winding currents. The
dq winding voltages are defined as positive at the dotted terminals.
Note that the relative positions of the stator and the rotor current
space vectors are not actual, rather only for definition purposes.
Mutual Inductance between dq Windings on the Stator
and the Rotor
sd s sd m rd
L i L i = +
sq s sq m rq
L i L i = +
rd r rd m sd
L i L i = +
rq r rq m sq
L i L i = +
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Figure 3-4 Transformation of phase quantities into dq winding quantities.
[ ]
abc dq s
T

a
i
b
i
c
i
sd
i
sq
i
(a) stator
[ ]
ABC dq r
T

A
i
B
i
C
i
rd
i
rq
i
(b) rotor
da
dA
Figure 3-4 Transformation of phase quantities into dq winding quantities.

[ ]
abc dq s
T

a
i
b
i
c
i
sd
i
sq
i
(a) stator
[ ]
ABC dq r
T

A
i
B
i
C
i
rd
i
rq
i
(b) rotor
da
dA
[ ]
abc dq s
T

a
i
b
i
c
i
sd
i
sq
i
(a) stator
[ ]
ABC dq r
T

A
i
B
i
C
i
rd
i
rq
i
(b) rotor
da
dA
[ ]
2 4
( )
cos( ) cos( ) cos( )
( )
2
3 3
( )
( )
2 4 3
sin( ) sin( ) sin( )
( )
3 3
a
da da da
sd
b
sq
da da da
c
T
s abc dq
i t
i t
i t
i t
i t

(
(

(
(
(
= (
(
(
(
(

(

_
| |
2 4
( )
cos( ) cos( ) cos( )
( )
2
3 3
( )
( )
2 4 3
sin( ) sin( ) sin( )
( )
3 3
A
dA dA dA
rd
B
rq
dA dA dA
C
T
r
ABC dq
i t
i t
i t
i t
i t

(
(

(
(
(
= (
(
(
(
(

(

_
Mathematical Relationship between dq and phase Winding
Variables
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-axis a
-axis d
-axis
-axis
da
-
-
-
-
s
,
sd
i
sq
i
s
i

s
i

- axis q
Figure 3-5 Stator and equivalent windings. dq
d
(1)
s s s s
d
v R i
dt

= +
(2)
s s s s
d
v R i
dt

= +
_ _ _
(4)
s s s s
d
v R i
dt

= +
,
,
,
_ _
(6) ; etc.
j
da
s s dq
v v e

=
, ,
_
(5) ; etc.
s dq sd sq
v v jv = +
,
Derivation of Stator Voltages in dq Windings
_
(3) ; etc.
s s s
v v jv

= +
,
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_ _ _ _
(2)
s dq s s dq s dq d s dq
d
v R i j
dt
= + +
, ,
,
,
(3)
sd s sd sd d sq
d
v R i
dt
= +
(4)
sq s sq sq d sd
d
v R i
dt
= + +
[M ]
rotate
0 1
(5)
1 0
sd sd sd sd
s d
sq sq sq sq
v i
d
R
v i
dt

( ( ( (
(
= + +
( ( ( (
(

_
Derivation of Stator Voltages in dq Windings (continued)
_ _ _
(1)
s s s s
d
v R i
dt

= +
,
,
,
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-axis a
-axis d
-axis
-axis
da
-
-
-
-
r
,
rd
i
rq
i
r
i

r
i

- axis q
Figure 3-6 Rotor and equivalent windings. dq
d
-axis A
dA
Derivation of Rotor Voltages in dq Windings

(1)
rd r rd rd dA rq
d
v R i
dt
= +
(2)
rq r rq rq dA rd
d
v R i
dt
= + +
(3)
dA d m
=
(4) ( / 2)
m mech
p =
[M ]
rotate
0 1
(5)
1 0
rd rd rd rd
r dA
rq rq rq rq
v i
d
R
v i
dt

( ( ( (
(
= + +
( ( ( (
(

_
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[M ]
rotate
0 1
1 0
sd sd sd sd
s d
sq sq sq sq
v i
d
R
v i
dt

( ( ( (
(
=
( ( ( (
(

_
[M ]
rotate
0 1
1 0
rd rd rd rd
r dA
rq rq rq rq
v i
d
R
v i
dt

( ( ( (
(
=
( ( ( (
(

_
Obtaining Flux Linkages: Voltages as Inputs
| |
_ _ _ rotate _
[ ] [ ] [ ] M [ ]
s dq s dq s s dq d s dq
d
v R i
dt
=
| |
_ _ _ rotate _
[ ] [ ] [ ] M [ ]
r dq r dq r r dq dA r dq
d
v R i
dt
=
_ s dq
v
_ r dq
v
_ s dq
_ r dq
rotate
[M ]
rotate
[M ]
1
s
1
s
s
R
r
R
dA
_ s dq
d
dt

_ r dq
d
dt

1
[ ] M

Eq. 3-62
dq
i
_ s dq
i
_ r dq
i
Figure 3-7 Calculating winding flux linkages and currents. dq
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a axis
d axis
q axis
rq
i
rd
i
sq
i
d
d
add
subtract
due to and
sq rq
i i
due to
rq
i
leakage flux
-
- -
Figure 3-8 Torque on the rotor -axis. d
a axis
d axis
q axis
rq
i
rd
i
sq
i
d
d
add
subtract
due to and
sq rq
i i
due to
rq
i
leakage flux
-
- -
a axis
d axis
q axis
rq
i
rd
i
sq
i
d
d
add
subtract
due to and
sq rq
i i
due to
rq
i
leakage flux
-
- -
Figure 3-8 Torque on the rotor -axis. d
Electromagnetic Torque on the Rotor d-Axis
0
3/ 2
(1) ( )
s r
rq sq rq
g m
mmf
N L
B i i
p L
| |
= +
|
|
\ .
/
_
,
3/ 2
(2)
2
s
d rotor rq rd
N p
T r B i
p
| |
=
|
|
\ .
/
2
0
,
3/ 2
(3) ( )
2
s r
d rotor sq rq rd
g m
N p L
T r i i i
p L
| |
| |
= +
|
|
|
|
\ .
\ .
/
/
2
0
,
3
(4) ( )
2 2
s r
d rotor sq rq rd
g m
L
m
N p L
T r i i i
p L
| |
| |
|
= +
|
|
\ .
\ .
/
/
_
,
(5) ( )
2 2
d rotor m sq r rq rd rq rd
rq
p p
T L i L i i i
= + =
_
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rq
i
rd
i
q
add
subtract
due to and
sd rd
i i
due to
rd
i
leakage flux
q axis
d axis
a axis
sd
i
q
-
-
-
Figure 3-9 Torque on the rotor -axis. q
rq
i
rd
i
q
add
subtract
due to and
sd rd
i i
due to
rd
i
leakage flux
q axis
d axis
a axis
sd
i
q
-
-
-
rq
i
rd
i
q
add
subtract
due to and
sd rd
i i
due to
rd
i
leakage flux
q axis
d axis
a axis
sd
i
q
-
-
-
Figure 3-9 Torque on the rotor -axis. q
Electromagnetic Torque on the Rotor q-Axis
,
( )
2 2
q rotor m sq r rq rq rd rq
rd
p p
T L i L i i i
= + =
_
, ,
(1)
em d rotor q rotor
T T T = +
(2) ( )
2
em rq rd rd rq
p
T i i =
(3) ( )
2
em m sq rd sd rq
p
T L i i i i =
(4)
em L
mech
eq
T T d
dt J

=
Net Electromagnetic Torque
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Equivalent d and q Axis Equivalent Circuits
( )
sd s sd d sq s sd m sd rd
d d
v R i L i L i i
dt dt
= + + +
/
( )
sq s sq d sd s sq m sq rq
d d
v R i L i L i i
dt dt
= + + + +
/
0
( )
rd r rd dA rq r rd m sd rd
d d
v R i L i L i i
dt dt

=
= + + +
/
0
( )
rq r rq dA rd r rq m sq rq
d d
v R i L i L i i
dt dt

=
= + + + +
/
s
R
+
+
+
+

s
R
s
L
/
s
L
/
r
L
/
r
L
/
m
L
m
L
sd
v
sq
v
d sd

d sq

sd
i
sq
i
dA rq

dA rd

rd
v
rq
v
+
sd
d
dt

sq
d
dt

+
rd
d
dt

rq
d
dt

(a) -axis d
(b) -axis q
1 2
1 2
1 2
1 2
1
2
1
2
Figure 3-5 -winding equivalent circuits. dq
rd
i
rq
i
r
R
r
R
Figure 3-10 dq-winding equivalent circuits.
www.MNPERE.com
Figure 3-11 Per-phase equivalent circuit in steady state.
+
(at )
a
V
+
s
j L
/
ma
I
ma
E
ra
I
a
I
s
R
r
j L
/
r
R
s
( )
m m
j L jX =
A
I
Per-Phase Equivalent Circuit
_ _ _
(1)
s dq s s dq syn s dq
v R i j = +
,
,
,
_ _
(4) 0
r
dq sy r n r dq
R
i j
s
= +
,
,
_ _ _ _ _
(2) ( )
s dq s s dq syn s s dq syn m s dq r dq
v R i j L i j L i i = + + +
/
, , , ,
,
_ _ _ _
(5) 0 ( )
r
r dq syn r r dq syn m s dq r dq
R
i j L i j L i i
s
= + + +
/
, , , ,
(3) ( )
a s a syn s a syn m a A
V R I j L I j L I I = + + +
/
(6) 0 ( )
r
a syn r A syn m a A
R
I j L I j L I I
s
= + + +
/
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Obtaining Currents from Flux Linkages
[ ]
sd s m sd
rd m r rd
L
L L i
L L i
( ( (
=
( ( (

_
[ ]
sq sq
s m
m r rq rq
L
i
L L
L L i
( (
(
=
( (
(
( (

_
[ ]
0 0
0 0
0 0
0 0
sd sd
s m
sq sq
s m
m r rd rd
m r rq rq
M
i
L L
i
L L
L L i
L L i
( (
(
( (
(
( (
(
=
( (
(
( (
(
(
( (

_
1
[ ]
sd sd
sq sq
rd rd
rq rq
i
i
M
i
i
( (
( (
( (
=
( (
( (
( (

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Induction Motor Model
_ s dq
v
_ r dq
v
_ s dq
_ r dq
rotate
[M ]
rotate
[M ]
1
s
1
s
s
R
r
R
dA
_ s dq
d
dt

_ r dq
d
dt

1
[ ] M

Eq. 3-62
dq
i
_ s dq
i
_ r dq
i
em
T
L
T
Eq. 3-47
1
eq
sJ
mech
2
p
Figure 3-12 Induction motor model in terms of windings. dq

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Calculation of Steady State Initial Conditions Using Phasors
3

(0)
2
j
i
a a i s a
I
s
I I i I e

= =
,
2 2 3
(0) (0) - = cos( )

3 3 2
sd s i
I
s
i projection of i on d axis I
| |
=
|
\ .
,
2 2 3
(0) (0) - = sin( )

3 3 2
sq s i
I
s
i projection of i on q axis I
| |
=
|
\ .
,
www.MNPERE.com
(1)
sd s sd syn sq
v R i =
(2)
sq s sq syn sd
v R i = +
(3) 0
r rd syn rq
R i s =
(4) 0
r rq syn rd
R i s = +
[ ]
0
0
0
0
0
0
s syn s syn m
sd
sd
syn s s syn m sq
sq
syn m r syn r rd
rq
syn m syn r r
A
R L L
i
v
L R L i
v
s L R s L i
i
s L s L R

(
(
(
(
(
(
(
(
(
=
(
(
(

(
(
(
(
( (

_
| |
1
0
0
sd
sd
sq
sq
rd
rq
i
v
i
v
A
i
i
(
(
(
(
(
(
=
(
(
(
(
( (

Calculation of Steady State Initial Conditions
Using Voltage Equations
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Simlink-based dq-Axis Simulation of Induction Motor
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Simulation Results
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Chapter 4
Vector Control of Induction-
Motor Drives: A Qualitative
Examination
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DC Motor Drive
a
S
S N
a
N
em
T
f
P
P
U
+
a
e
a
v
a
L
a
R
a
i
+
a
i
0
0
t
em T a
T k i =
em
T
t
T
em
= k
T
i
a
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Brushless DC Motor Drive
( )
r
B t
JJG
( )
s
i t
JG
o
90
N
S
axis a
m
s
I
0
0
t
em T s
T k I =
em
T
t

em T S
T k I =
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Vector-Controlled Induction
Motor Drive
axis a
'( )
r
i t
JJG
'( )
r
F t
JJJG
( )
r
B t
JJG
( )
r
F t
JJG
( )
ms
B t
JJJJG
( )
lr
B t
JJJG
r
( )
s
v t
JJG
speed feedback
current
feedback
Tacho
IM
P
P
U
( ) perpendicuar to ( ) and ( )
r r r
B t F t F t
G G G
'

(keeping constant)
em T r r
T k I B =
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Analogy to a Current-Excited
Transformer With a Shorted
Secondary
,
2
m i
,
1
m i
1
i
l 2
N:N
shown explicitly
2
R
short
net = 0
2
v 0 = 2
R
2
i
0
t
1
i
+ -
2 2
(0 ) = (0 ) = 0
1 2
+ + +
m,i m,i 2
(0 ) = (0 ) + (0 )
A
+ +
m
2 1
2
L
i (0 ) = i (0 )
L
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Analogy to a Current-Excited
Transformer With a Shorted
Secondary
2 1
2
(0 ) (0 )
m
L
i i
L
+ +
=
2
2 2
( ) (0 )
t
i t i e
+
=
2
2
2
L
R
=
mi ,
2

mi ,
1
i
1
i
1
i
2
N
1
N
2
net =0
R
2
A
2
= +
mi mi , ,
1 2 2
A
0
t
t =
+
0
short
R shown licitly
2
exp
( ) a
i
2
+
+
L
m
L
A
2
+
e
2
N
d
dt
L
di
dt
A
A
2
2
2
=
N
d
dt
L
di
dt
mi
m
,
2 2
=
Note
d
dt
mi
:
,
1
0 =
t >0
( ) b
0
0
i
2
i
1
t
t
L
L
i
m
2
1
0
+
d i
( ) c
Figure 4-5 Analogy of A Current-Excited Transformer
with a Short-Circuited Secondary;
0
1 2
N N =
2 2 m
L L L = +
A
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R
1
R
2
i
2
i
2
0
0
t
t
i
m
i
1
i
1
L
A
1
L
A
2
L
m
N N N
1 2
= =
Figure 4-6 Equivalent-Circuit Representation of the Current-Excited
Transformer with a Short-Circuited Secondary.
Using the Transformer Equivalent Circuit
2 1 1
2 2
(0 ) (0 ) (0 )
m m
m
L L
i i i
L L L
+ + +
= =
+
A
2 2
1 1
2 2
(0 ) (0 ) (0 )
m
m
L L
i i i
L L L
+ + +
= =
+
A A
A
2
2 2
( ) (0 )
t
i t i e
+
=
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d- and q- Axis Winding
Representation
sd s
2
i = the projection of i (t) vector along the d-axis
3
G
sq s
2
i = the projection of i (t) vector along the q-axis
3
G

a axis
stator
A axis
rotor
d axis
m
i
sd
i
sq
q axis
at t
i
rq
i
rd
m
G
i
s
G
i
r
3
2
i
sd
3
2
i
sq
3
2
i
rq 3
2
i
rd
d
da
dA
3
2
s
N
3
2
s
N
3
2
s
N
a axis
a axis
stator
A axis
A axis
rotor
d axis
d axis
m
i
sd
i
sd
i
sq
i
sq
q axis
q axis
at t at t
i
rq
i
rq
i
rd
i
rd
m
G
i
s
G
i
s
G
i
r
G
i
r
3
2
i
sd
3
2
i
sd
3
2
i
sq
3
2
i
sq
3
2
i
rq
3
2
i
rq 3
2
i
rd
3
2
i
rd
d
da
dA
3
2
s
N
3
2
s
N
3
2
s
N
Figure 3-3 Stator and rotor representation by equivalent dq winding currents. The
dq winding voltages are defined as positive at the dotted terminals.
Note that the relative positions of the stator and the rotor current
space vectors are not actual, rather only for definition purposes.
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Initial Flux Buildup Prior to
axis q
axis d
sq
i 0 =
sd
i
t 0
,
sd
m i
s
i
JG
r
B
JJG
t 0
=
sd
i
- - -
a m,rated b c m,rated
1

i (0 ) = I and i (0 ) = i (0 ) = - I
2
-
sd ms,rated m,rated m,rated
2 2 3 3

i (0 ) = I = ( I ) = I
3 3 2 2
sq
i = 0
-
t = 0
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Step Change in Torque at
m
0 =
+
= t 0
r
B
JJG
sd
i
net = 0
axis a
slip
lr
,
r
m i
,
sq
m i
slip
sq
i
sq
i
sd
i
0
t

m
= 0
i
sd
unchanged
Step-change in i
sq

q,net
= 0
sq r
+ + +
m,i m,i r
(0 ) = (0 ) + (0 )
A
m
em r sq
r
L
T B , i
L
-
t = 0
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Flux Densities at
+
t = 0
r
B
JJG
t 0
+
=
r
lr
B
JJJG
ms
B
JJJJG
axis a
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Transformer Analogy Voltage
Needed to Prevent the Decay of
Secondary Current
+
2
i
( ) ( )
2 2 2
v R i 0 u t
+

=
2
R
m
i
m
L
l 2
L
l1
L
( )
1
i u t
1
R
t 0 >
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Currents and Fluxes at Sometime
Later t > 0, Blocked Rotor
m
0 =
t 0 >
r
B
JJG
sd
i
net = 0
axis a
slip
lr
,
r
m i
,
sq
m i
sq
i
slip
sq
i
axis d
axis q
r m r sq
slip
r
R , (L /L )i

B

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Vector-Controlled Condition
With a Rotor Speed
m
t 0 >
r
B
JJG
sd
i
net = 0
axis a
syn
lr
,
r
m i
,
sq
m i
sq
i
syn
sq
i
axis d
axis q
m
syn m slip
= +
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Torque, Speed, and Position
Control
(measured)
/ d dt
encoder
Motor
PPU
regulated
current
to
abc
dq
to

dq
abc
*
a
i
*
b
i
*
c
i
a
i
b
i
c
i
sd
i
sq
i
em
T
r
B
r
B
calculations
m
(measured)
m
m
em
T
(measured)
(calculated)
P PI PI

+ +
+
PI
m
(measured)
*
r
B
r
B
m
r
B (calculated)
*
sd
i
*
sq
i
*
m
*
m
*
em
T
(measured)
m
motor mathematical model

syn m slip
(t) = (t) + (t)
r
t
B syn
0
(t) = 0 + () d

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Figure 4-14 (a) Block diagram representation of hysteresis current control;
(b) current waveform.
T
1
k
*
s
I
*
em
T
*
( )
a
i t
*
( )
b
i t
*
( )
c
i t
( )
A
q t
phase a
( )
a
i t
d
V
+
( )
m
t
+
(a)
(b)
reference current
actual current
t 0
. From Eq 10 6
using Eqs. 10-11 and 10-12
Power-Processing Unit (PPU)
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Chapter 5
Mathematical Description of Vector
Control
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a axis
stator
A axis
rotor
d axis
m
i
sd
i
sq
q axis
at t
i
rq
i
rd
m
G
i
s
G
i
r
3
2
i
sd
3
2
i
sq
3
2
i
rq 3
2
i
rd
d
da
dA
3
2
s
N
3
2
s
N
3
2
s
N
a axis
a axis
stator
A axis
A axis
rotor
d axis
d axis
m
i
sd
i
sd
i
sq
i
sq
q axis
q axis
at t at t
i
rq
i
rq
i
rd
i
rd
m
G
i
s
G
i
s
G
i
r
G
i
r
3
2
i
sd
3
2
i
sd
3
2
i
sq
3
2
i
sq
3
2
i
rq
3
2
i
rq 3
2
i
rd
3
2
i
rd
d
da
dA
3
2
s
N
3
2
s
N
3
2
s
N
Figure 5-1 Stator and rotor mmf representation by equivalent dq winding currents.
The d-axis is aligned with
r
G
.
Motor Model with the d-Axis Aligned with the Rotor
Flux Linkage Axis
( ) 0
rq
t =
m
rq sq
r
L
i i
L
=
( ) 0
rq
d
t
dt
=
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s
R
+
+
+
+

s
R
s
L
A
s
L
A r
L
A
r
L
A
m
L
m
L
sd
v
sq
v
d sd

d sq

sd
i
sq
i
dA rd

0
rd
v =
0
rq
v =
+
sd
d
dt

sq
d
dt

+
+
rd
d
dt

0
rq
d
dt
=
(a) -axis d
(b) -axis q
rd
i
rq
i
r
R
r
R
rq
i
Figure 5-2 Dynamic circuits with the d-axis aligned with
r
G
.
Dynamic Circuits with the d-Axis Aligned with the
Rotor Flux Linkage Axis
Calculation of
:
dA
rq
m
dA r sq
rd r rd
i
L
R i

= =
Calculation of Torque
2 2
m
em rd rq rd sq
r
L p p
T i i
L

= =

:
em
T
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r
L
A
m
L
sd
i
+
rd
d
dt

rd
i
r
R
Figure 5-3 The d-axis circuit simplified with a current excitation.
D-Axis Rotor Flux Dynamics
(1) ( ) ( )
m
rd sd
r r
sL
i s i s
R sL
=
+
(2)
rd r rd m sd
L i L i = +
(3) ( ) ( )
(1 )
m
rd sd
r
L
s i s
s
=
+
(4)
rd m
rd sd
r r
L d
i
dt

+ =
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Motor Model
0
( ) 0 ( )
t
da d
t d = +

r
Figure 5-4 Motor model with d-axis aligned with .
G
rd
rd
1
m
r
L
s +
r
D
N
N/D
1/ s
da
em
T
m
mech
dA
m
L
sq
i
sd
i
2
m
r
L p
L
2
p
rd
+
+
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Simulation with d-Axis Aligned with the Rotor Flux Linkage
(line-fed machine; achieving vector control is not an objective)
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Figure 5-6 Results of Example 5-1.
Simulation Results match that of Example 3-3
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Vector-Controlled Induction Motor with a CR-PWM Inverter
Figure 5-7 Vector-controlled induction motor with a CR-PWM Inverter.
em
T
i
sd
*
i
sq
*
i
a
*
i
b
*
i
c
*
Current
Regulated
PPU
Motor
( )
mech
measured
mech
model
Motor
of Fig.49
sd
i
sq
i
i
a
i
b
i
c
Encoder
Transformations
Transformations
d
dt
Eq. 107
Eq. 103
Motor Model
(Fig. 5-4)
abc
to
dq
dq
to
abc
rd
da
da

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Speed and Position Loops for Vector Control
Figure 5-8 Vector controlled induction motor drive with a current-regulated PPU.
(measured)
/ d dt
Motor
PPU
regulated
current
to
abc
dq
to

dq
abc
*
a
i
*
b
i
*
c
i
a
i
b
i
c
i
sd
i
sq
i
em
T
rd
da
Fig. 5-4
mech
mech
(measured)
mech
mech
em
T
(calculated)
P PI PI

+ +
+
PI
mech
*
rd
*
rd
mech
rd
(calculated)
*
sd
i
*
sq
i
*
mech
*
mech
*
em
T
(measured)
da
mech
Estimated Motor Model

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Design of Speed Loop
rd m sd
L i =
2
*
2
m
em sd sq
r
k
L p
T i i
L
=
mech
k
( )
sq
i s
i
p
k
k
s
+
1
eq
sJ
*
mech
em
T
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Simulation of CR-PWM Vector Controlled Drive
using Simulink
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Figure 5-11 Simulation results of Example 5-2.
Simulation Results of a Vector Controlled
Induction Motor Drive
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Calculation of Stator Voltages in Vector Control
2
(1) 1
m
s r
L
L L
=
(2)
m
sd s sd rd
r
L
L i
L
= +
(3)
sq s sq
L i =
,
(5)
m
sq s sq s sq d rd d s sd
r
v
sq v
sq comp
L d
v R i L i L i
dt L

= + + +

Figure 5-12 Vector control with applied voltages.
i
sd
*
i
sq
*
PI
PI
+
+
+
+
+
+
i
sd
i
sq
i
a
i
c
i
b
v
a
*
v
b
*
v
c
*
Motor
v
sd
*
v
sq
*
Transformations
Motor
Model
i
sd
i
sq
Encoder
mech
( ) mech measured
Transformations
Modulated
Space
Vector
PPU
rd
em
T
da
da
, sd comp
v
, sq comp
v
sd
v
sq
v
,
(4)
m
sd s sd s sd rd d s sq
r
v
sd v
sd comp
L d d
v R i L i L i
dt L dt

= + +

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Figure 5-13 Design of the current-loop controller.
( )
sd
i s
( )
sd
v s
*
( )
sd
i s
PI
1
s s
R s L +
Design of the Current-Loop Controller
(1)
sd s sd s sd
d
v R i L i
dt
= +
(2)
sq s sq s sq
d
v R i L i
dt
= +
1
(3) ( ) ( )
sd sd
s s
i s v s
R s L

=
+
1
(4) ( ) ( )
sq sq
s s
i s v s
R s L

=
+
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Simulation of Vector Controlled Drive with supplied Voltages
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Simulation Results of Vector Controlled Drive with supplied
Voltages
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Chapter 6
Detuning Effects in Induction Motor
Vector Control
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sd
i
0
sq
i =
r
G
-axis a
-axis d
-axis q
0 t

=
-
Figure 6-1 windings at 0 . dq t =
Initial conditions
0 t

=
*
sd sd
i i =
,
0
da da est
= =
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-axis d
-axis
est
d
-axis a
-axis q
-axis
est
q
_ s dq
i
G
sd
i
*
sd
i
*
sq
i
sq
i
sd
i
*
sd
i
*
sq
i
sq
i
, da est
da
0 t >
Figure 6-2 windings at 0; drawn for 1. dq t k
> <
-axis d
-axis
est
d
-axis a
-axis q
-axis
est
q
_ s dq
i
G
sd
i
*
sd
i
*
sq
i
sq
i
sd
i
*
sd
i
*
sq
i
sq
i
, da est
da
0 t >
-axis d
-axis
est
d
-axis a
-axis q
-axis
est
q
_ s dq
i
G
sd
i
*
sd
i
*
sq
i
sq
i
sd
i
*
sd
i
*
sq
i
sq
i
, da est
da
0 t >
> <
Effect of Detuning due to Incorrect Rotor Time Constant
,
(1)
r
r est
k
=
( )
( ) , ,
,
_
_ _
(3)
j
j d d est d est
da da est
err
s dq
s dq s dq
i i e i e

= =
G G G
,
(4)
err da da est
=
, * *
_
(2)
d est
sd sq
s dq
i i ji = +
G
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* *
(3) cos sin
sd sd err sq err
i i i = +
* *
(4) cos sin
sq sq err sd err
i i i =
-axis d
-axis
est
d
-axis a
-axis q
-axis
est
q
_ s dq
i
G
sd
i
*
sd
i
*
sq
i
sq
i
sd
i
*
sd
i
*
sq
i
sq
i
, da est
da
0 t >
> <
-axis d
-axis
est
d
-axis a
-axis q
-axis
est
q
_ s dq
i
G
sd
i
*
sd
i
*
sq
i
sq
i
sd
i
*
sd
i
*
sq
i
sq
i
, da est
da
0 t >
-axis d
-axis
est
d
-axis a
-axis q
-axis
est
q
_ s dq
i
G
sd
i
*
sd
i
*
sq
i
sq
i
sd
i
*
sd
i
*
sq
i
sq
i
, da est
da
0 t >
> <
Effect of Detuning due to Incorrect Rotor Time Constant
(continued)
( )
( ) , ,
,
_
_ _
(1)
j
j d d est d est
da da est
err
s dq
s dq s dq
i i e i e

= =
G G G
, err da da est
=
, * *
_
(2)
d est
sd sq
s dq
i i ji = +
G
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Estimated Motor Model (Rotor Blocked)
*
sd
i
*
sq
i
dq
to
abc
CR-
PWM
Inv.
*
a
i
*
b
i
*
c
i
a
i
b
i
c
i
abc
to
dq
sd
i
sq
i
1
m
r
L
s +
m
L
r
D
N
N
D
dA
1
s
dA
rd
, rd est
,
1
m
r est
L
s +
, r est
, dA est
, dA est
abc
to
dq
m
L
N
D
, dA est
N
D
1
s
*
, sd est sd
i i =
*
, sq est sq
i i =
(ideal)
Estimated Motor Model
(Rotor Flux and Slip Estimator)
Actual Motor Model
Figure 6-3 Actual and the estimated motor models (blocked-rotor).
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Simulation of Vector Control with Estimated Motor Parameters
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Effect of Detuning in Dynamic and Steady States
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-axis d
-axis
est
d
-axis a
-axis q
-axis
est
q
_ s dq
i
G
sd
i
*
sd
i
sq
i
*
sq
i
da
, da est
0 t >
> <
, i est
s
i
s
Calculations of Steady State Errors

1
sq
dA
r sd
i
i
=
*
,
*
1
,
sq
dA est
sd
i
i
r est
=
*
*
,
,
1 1
sq sq
r est r sd
sd
dA
dA est
i i
i
i
2 2
2 2 * *
_
sd sq sd sq s dq
i i i i I + = + =
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-axis d
-axis
est
d
-axis a
-axis q
-axis
est
q
_ s dq
i
G
sd
i
*
sd
i
sq
i
*
sq
i
da
, da est
0 t >
> <
, i est
s
i
s
Calculations of Steady State Errors

(continued)
*
*
sq
sd
i
m
i
=
2
* 2 2
1
1
sd
sd
i m
i k m
+
=
+
* *
sq
sd
sq sd
i
i
k
i i
=
1 1
tan ( ) tan ( )
err
m k m

=
, err i est i
s s
=
2
* 2
1
1 ( )
em
em
T m
k
T k m
+
=
+
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Chapter 7
Space-Vector Pulse-Width-
Modulated (SV-PWM) Inverters
Advantages
Full Utilization of the DC Bus Voltage
Same simplicity as the Carrier-Modulated PWM
Applicable in Vector Control, DTC and V/f Control
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Synthesis of Stator Voltage Space Vector
Figure 7-1 Switch-mode inverter.
a
q
b
q
c
q
+
d
V
a
b
c
N
+

a
v
b
v
+
c
v
+
a
i
b
i
c
i
0 2 / 3 4 / 3
(1) ( ) ( ) ( ) ( )
a j j j
s a b c
v t v t e v t e v t e

= + +
G
(2) ; ;
a aN N b bN N c cN N
v v v v v v v v v = + = + = +
0 2 / 3 4 / 3
(3) 0
j j j
e e e

+ + =
0 2 / 3 4 / 3
(4) ( )
a j j j
s aN bN cN
v t v e v e v e

= + +
G
0 2 / 3 4 / 3
(5) ( ) ( )
a j j j
s d a b c
v t V q e q e q e

= + +
G
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0 7
Figure 7-2 Basic voltage vectors ( and not shown). v v
G G
-axis a
s
v
G
1
(001) v
G
3
(011) v
G
2
(010) v
G
6
(110) v
G
4
(100) v
G
5
(101) v
G
sector 1
sector 2
sector 3
sector 4
sector 5
sector 6
Basic Voltage Vectors
0
0
1
2 / 3
2
/ 3
3
4 / 3
4
5 / 3
5
6
7
(000) 0
(001)
(010)
(011)
(100)
(101)
(110)
(111) 0
a
s
a j
s d
a j
s d
a j
s d
a j
s d
a j
s d
a j
s d
a
s
v v
v v V e
v v V e
v v V e
v v V e
v v V e
v v V e
v v
= =
= =
= =
= =
= =
= =
= =
= =
G G
G G
G G
G G
G G
G G
G G
G G
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Synthesis of Voltage Vector in Sector 1
0
1
j
d
v V e =
G
/ 3
3
j
d
v V e

=
G
j
s
s s
v V e

=
G
s
1
xv
G
3
yv
G
Figure 7-3 Voltage vector in sector 1.
1 3
1
(1) [ 0]
a
s s s s
s
v xT v yT v zT
T
= + +
G G G
1 3
(2)
a
s
v xv yv = +
G G G
(3) 1 x y z + + =
0 / 3
(4)
j j j
s
s d d
V e xV e yV e

= +
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Synthesis using Carrier-Modulated PWM
0 7
Figure 7-4 Waveforms in sector 1; . z z z = +
s
T
/ 2
s
T
7
z
0
/ 2 z
0
/ 2 z
/ 2 y
/ 2 y
/ 2 x / 2 x
aN
v
bN
v
cN
v
0
0
0
d
V
d
V
d
V
0
, control a
v
tri
v
, control b
v
, control c
v
,
,
,
/ 2
/ 2
/ 2
control a
a k
d
tri
control b
b k
d
tri
control c
c k
d
tri
v
v v
V
V
v
v v
V
V
v
v v
V
V
=
max( , , ) min( , , )
2
a b c a b c
k
v v v v v v
v
+
=
( ) ( ) ( ) 0
a b c
v t v t v t + + =
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Synthesis of Space Vector using Carrier-Modulated
PWM in Simulink
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Control Waveforms for Carrier Pulse-Width-Modulation
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Limit on the Amplitude of the Stator Voltage
Space Vector
,max
,max
(4) ( ) 3 0.707
2 2
phase
d
LL d
V
V
V rms V = = =
,max
3
(5) ( ) 0.612
2 2
LL d d
V rms V V = =
(sinusoidal PWM)
0
30
,max
s
V
d
V
d
V
Figure 7-7 Limit on amplitude .

s
V
,max ,max
(1) ( )
j t
a syn
s s
v t V e

=
G
0
,max
60 3
(2) cos( )
2 2
s d d
V V V = =
,max ,max
2

(3)
3
3
d
phase s
V
V V = =
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Chapter 8
Direct Torque Control (DTC) and
Encoder-less Operation of
Induction Motors
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DTC System Overview
Measured Inputs: Stator Voltages
and Currents
Estimated Outputs: 1) Torque, 2)
Mechanical Speed, 3) Stator Flux
Amplitude and 4) its angle
+
d
V
a
q
b
q
c
q
a
i
b
i
c
i
IM
PI
+ +
*
mech
mech
*
em
T
*
em
T
s

Estimator
Selection
of
s
v
Figure 8-1 Block diagram of DTC.

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Principle of DTC Operation
Figure 8-2 Changing the position of stator flux-linkage vector.
s
( )
s
t
( )
s
t T
s
v T
i
( ) ( )
r r
t t T

-axis a
Rotor -axis A
A
r
2

sin
2
m
em s r sr
L p
T
L
=
sr s r
=
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2
2 3
2
em
slip r
r
T
R
p

=

m r slip
=
(2/ )
mech m
p =
( ) ( ) ( )
t
j
s
s s s s s s
t T
t t T v R i d e

= + =
( )
j
r
r
r s s s r
m
L
L i e
L

= =

( ) ( )
r r
r r
t t T d
dt T

= =
Im( )
2
conj
em s s
p
T i =

2
1
m
s r
L
L L
=
Calculation of Stator Flux:
Calculation of Rotor Flux:
where
Estimating Torque:
Estimating Mechanical Speed:
s s s s
d
v R i
dt
= +


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Inverter Basic Vectors and Sectors
a-axis
1
(001) v
3
(011) v
2
(010) v
6
(110) v
4
(100) v
5
(101) v
b-axis
c-axis
1
2
3
4
5
6
Figure 8-3 Inverter basic vectors and sectors.
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Stator Voltage Vector Selection in Sector 1
sector 1
s
1
v
3
v
2
v
4
v
5
v
6
v
Figure 8-4 Stator voltage vector selection in sector 1.

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Selection of the Stator Voltage Space Vector
sector 1
s
1
v
3
v
2
v
4
v
5
v
6
v

sector 1
s
1
v
3
v
2
v
4
v
5
v
6
v
sector 1
s
1
v
3
v
2
v
4
v
5
v
6
v

Effect of Voltage Vector on the Stator
Flux-Linkage Vector in Sector 1.
increase
decrease
decrease decrease
decrease
increase
increase increase
s
v
3
v
2
v
4
v
5
v
em
T
a-axis
1
(001) v
3
(011) v
2
(010) v
6
(110) v
4
(100) v
5
(101) v
b-axis
c-axis
1
2 3
4
5
6
Figure 8-3 Inverter basic vectors and sectors.
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Effect of Zero Stator Voltage Space Vector
s
( ) ( )
s s
t t T

-axis a
Rotor -axis at t- t A
A
r
Rotor -axis at t A
( )
r
t T
( )
r
t
m

sin ( )
sr s r

( )
em s r
T k
0
s

0
A
r

A
r m r m
= +
( )
em m
T k
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DTC in Simulink
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Fig. 2 Torque Waveforms.
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Fig. 3 Speed Waveforms.
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Fig. 4 Stator Flux.
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Fig. 5 Stator and Rotor Fluxes.
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Chapter 9
Vector Control of Permanent-
Magnet Synchronous-Motor Drives
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Non-Salient Permanent-Magnet Synchronous Motor
sd s sd fd
L i = +
sq s sq
L i =
axis c
axis a
axis b
N
S
b
i
a
i
c
i
m
( ) a
axis c
axis a
axis b
N
S
b
i
a
i
c
i
m
r
B
,
' a
a
-axis q
( ) b
-axis d
Figure 9-1 Permanent-magnet synchronous machine (shown with =2). p
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sd s sd sd m sq
d
v R i
dt
= +
sq s sq sq m sd
d
v R i
dt
= + +
2
m mech
p
=
( )
2
em sd sq sq sd
p
T i i = [( ) ]
2 2
em s sd fd sq s sq sd fd sq
p p
T L i i L i i i = + =
em L
mech
eq
T T d
dt J

=
Non-Salient Permanent-Magnet Synchronous Motor
(Continued)
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sd s sd m s sq
v R i L i =
Per-Phase Steady Stead Equivalent Circuit
sq s sq m s sd m fd
v R i L i = + +
3/ 2
s s s m s s m fd
e
fs
v R i j L i j = + +
,
, ,
,
_
2
3
a s a m s a m fd
E
fa
V R I j L I j = + +
_
2
3
fa fd m E m
k
E
E k = =
_
2
3
E fd
k =
s
R
a
V
m m
L
m s
L
m ls
L
( )
fa fa E m
E E k =
+
a
I
+
Figure 9-2 Per-phase equivalent circuit in steady state ( in elect. rad/s)
m

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Controller in the dq Reference Frame
comp
d
( )
sd s sd s sd m s sq
d
v R i L i L i
dt
= + +
_
comp
q
( )
sq s sq s sq m s sd fd
d
v R i L i L i
dt
= + + +
_
2
2
, ,
3

( )
2
sd sq dq rated a rated
i i I I + =
Figure 9-3 Controller in the dq reference frame.
a
i
b
i
c
i
Motor
+

+
*
sq
i
*
sd
i
( )
2
m mech
p
=
sensor
position
abc
to
dq
+

+
+
( )
m s sd fd
L i +
m s sq
L i
*
sd
v
*
sq
v
Inverter
PWM
i
p
k
k
s
+
m
sq
i
sd
i
decoupling
terms
1
s
to
abc
dq
*
a
v
i
p
k
k
s
+
*
b
v
*
c
v
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Vector Control of a Permanent-Magnet Synchronous-
Motor Drive
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Simulation Results
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Salient-Pole Synchronous Machine
sd md s
L L L = +
/
sq mq s
L L L = +
/
fd md fd
L L L = +
/
rd md rd
L L L = +
/
rq mq rq
L L L = +
/
sd sd sd md rd md fd
L i L i L i = + +
sq sq sq mq rq
L i L i = +
rd rd rd md sd md fd
L i L i L i = + +
rq rq sq mq sq
L i L i = +
fd fd d md sd md rd
L i L i L i = + +
-axis a
-axis d
-axis b
-axis q
-axis c
-axis a
-axis d
-axis q
sq
i
rq
i
rd
i
sd
i
fd
i
( ) a
( ) b
Figure 9-6 Salient-pole machine.
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sd s sd sd m sq
d
v R i
dt
= +
sq s sq sq m sd
d
v R i
dt
= + +

( 0)
rd rd rd rd
d
v R i
dt

=
= +
( 0)
rq rq rq rq
d
v R i
dt

=
= +
fd fd fd fd
d
v R i
dt
= +
Winding Voltages
+
( ) -axis a d
( ) -axis b q
sd
v
sq
v
sq
i
sd
i
rq
i
rd
i
fd
i
rd
v
rq
v
fd
v
s
R
m sq

s
L
/ rd
L
/
rd
R
md
L
s
R
m sd

s
L
/
rq
L
/
rq
R
mq
L
f
L
/ fd
R
Figure 9-7 Equivalent circuits for a salient-pole machine.
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field+damper in d-axis saliency
[ ( ) ( ) ]
2
em md fd rd sq sd sq sd sq rq sd
mq
p
T L i i i L L i i L i i = + +
_ _
Electromagnetic Torque
( )
2
em sd sq sq sd
p
T i i =
sd sd sd md rd md fd
L i L i L i = + +
sq sq sq mq rq
L i L i = +
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Space Vector Diagram in Steady State
sd sd sd md fd
L i L i = +
sq sq sq
L i =
sd s sd m sq sq
v R i L i =
sq s sq m sd sd m md fd
v R i L i L i = + +
sd sq s sd s sq m sd sd m md fd m sq sq
v jv R i jR i j L i j L i L i + = + + +
2
3
sd sq s
v jv v + =
,
2
3
sd sq s
i ji i + =
,
Figure 9-8 Space vector and phasor diagrams.
-axis d
-axis q
sd
v
2/ 3
s
v
,
2/ 3
s
i
,
sq
v
a
V
a
I
Re
Im
( ) a
( ) b
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Chapter 10
Switched-Reluctance Motor (SRM)
Drives
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mech
o
0
mech
=
d
a
a
d
c
c
b
b
Figure 10-1 Cross-section of a four-phase 8/6 switched reluctance machine.
Cross-Section of a Switched-Reluctance Machine
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mech
o
0
mech
al
=
=
b
a
a
b
c c
d
d
mech
o
0
mech
=
b
a
a
b
c c
d
d
un
(a) (b)
Figure 10-2 Aligned position for phase a; (b) Unaligned position for phase a.
Aligned and Unaligned Positions for Phase-a
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unaligned position
aligned position
(V-sec)
a
(A)
a
i
Figure 10-3 Typical flux-linkage characteristics of an SRM.
Typical Flux-Linkage Characteristics
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Figure 10-4 Calculation of torque.
a
a
i
1
I
1
0
1
2
1
1 mech
+
Calculation of Torque
mech em mech
W T =
1 2
(1 2 1)
elec
W area =
2 1
(0 2 0) (0 1 0)
storage
W area area =
mech elec storage
W W W =
1 2 2 1
1 2 1 2
(0 1 2 0)
2
(1 2 1) { (0 2 0) (0 1 0)}
{ (1 2 1) (0 1 0)} (0 2 0)
(0 1 2 0)
em
area
T area area area
area area area
area

=
= +
=
(0 1 2 0)
em
mech
area
T

=
constant
em
mech
i
a
W
T

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Figure 10-5 Performance assuming idealized current waveform.
( )
a
i A
( sec)
a
V

,
( )
em a
T
Nm
( )
a
e V
(deg)
mech
un
un
al
al
Waveforms Assuming Ideal Current Waveforms

a a a
v Ri e = +
( , )
a a a mech
d
e i
dt
=
a a
a a mech
a mech
i
mech a
d d
e i
i dt dt

= +

a a
a mech mech
mech mech
i i
a a
mech
d
e
dt

= =


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(A)
a
i
(V-sec)
a
,
(Nm)
em a
T
on
un
on
un
on
un
off
al
off
al
off
al
off
al
on
un
em
T
, em a
T
, em b
T
, em c
T , em d
T
(Nm)
Figure 10-6 Performance with a power-processing unit.
Performance with a Power Processing Unit
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Figure 10-7 Flux-linkage trajectory during motoring.
0
em
W
a
i
a
f
W
unaligned
position
aligned
position
off
Role of Magnetic Saturation

em
em f
W
EnergyConversion Factor
W W
=
+
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Dc1
Sc1
P
h
a
s
e

a
Dd1
Dc2
Sa1
Sc2
P
h
a
s
e

d
Sd1
P
h
a
s
e

b
Sa2
P
h
a
s
e

c
Db2
Da1 Db1
Da2
Sd2 Sb2
Dd2
Sb1
dc
V
+
Figure 10-8 Power converter for a four-phase switched reluctance drive.

Power Processing Unit
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+

i
( , ) i
mech
iR
Figure 10-9 Estimation of rotor position.
Determining Rotor Position for Encoder-less
Operation
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position
s
*
mech
ref
I
PI
current
controller
power
converter
gate
signals
a
mech
Figure 10-10 Control block diagram for motoring.

Control in Motoring Mode

Electric Drives Note

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Electric Drives Note

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Electric Drives Principles:

From Basics to Advanced Vector Control and

3-3 Copyright, Ned Mohan, 2001 Reference: Advanced Electric Drives

Figure 3-4 Transformation of phase quantities into dq winding quantities.

Derivation of Rotor Voltages in dq Windings

Figure 3-12 Induction motor model in terms of windings. dq

(0) (0) - = cos( )

(0) (0) - = sin( )

motor mathematical model

5-9 Copyright, Ned Mohan, 2001 Reference: Advanced Electric Drives

Estimated Motor Model

Calculations of Steady State Errors

Calculations of Steady State Errors

Figure 7-7 Limit on amplitude .

Figure 8-1 Block diagram of DTC.

8-5 Copyright, Ned Mohan, 2001 Reference: Advanced Electric Drives

Figure 8-4 Stator voltage vector selection in sector 1.

Figure 8-4 Stator voltage vector selection in sector 1.

Figure 8-4 Stator voltage vector selection in sector 1.

9-5 Copyright, Ned Mohan, 2001 Reference: Advanced Electric Drives

10-6 Copyright, Ned Mohan, 2001 Reference: Advanced Electric Drives

Waveforms Assuming Ideal Current Waveforms

10-7 Copyright, Ned Mohan, 2001 Reference: Advanced Electric Drives

Role of Magnetic Saturation

Figure 10-8 Power converter for a four-phase switched reluctance drive.

Figure 10-10 Control block diagram for motoring.

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