Modeling and Control of Electric Drives Presentation 1

Modeling and Control of Electrical Drives
Control the torque, speed or position

Cascade control structure
Motor
Example of current control in cascade control structure
converter
speed
controller
position
controller

+
e*
1/s
+
+

current
controller
T*
u*
e
u
k
T

Current controlled converters in DC Drives - Hysteresis-based
i
ref

+

V
dc

i
a

i
ref

v
a

+

V
a

i
err

i
err

q
q
High bandwidth, simple implementation,
insensitive to parameter variations

Variable switching frequency depending on
operating conditions
+
_
Current controlled converters in AC Drives - Hysteresis-based
3-phase
AC Motor
+
+
+
i*
a

i*
b

i*
c

Converter
For isolated neutral load, i
a
+ i
b
+ i
c
= 0
control is not totally independent

Instantaneous error for isolated neutral load can reach
double the band
i
d

i
q

i
s

Ah Ah
Ah Ah
For isolated neutral load, i
a
+ i
b
+ i
c
= 0
control is not totally independent

Instantaneous error for isolated neutral load can reach
double the band
powergui
Continuous
Universal Bridge 1
g
A
B
C
+
-
To Workspace1
iaref
Subsystem
c1
c2
c3
ina
inb
inc
p1
p2
p3
p4
p5
p6
Sine Wave 2
Sine Wave 1
Sine Wave
Series RLC Branch 3
Series RLC Branch 2
Series RLC Branch 1
Scope
DC Voltage Source
Current Measurement 3
i
+
-
i
+
-
i
+
-
Ah = 0.3 A
Sinusoidal reference current, 30Hz
Vdc = 600V
10O, 50mH load
0.005 0.01 0.015 0.02 0.025 0.03
-10
-5
0
5
10
Actual and reference currents
Current error
-0.5 -0.4 -0.3 -0.2 -0.1 0 0.1 0.2 0.3 0.4 0.5
-0.5
-0.4
-0.3
-0.2
-0.1
0
0.1
0.2
0.3
0.4
0.5
4 6 8 10 12 14 16
x 10
-3
4
5
6
7
8
9
10
-10 -5 0 5 10
-10
-5
0
5
10
Actual current locus
0.04 0.042 0.044 0.046 0.048 0.05 0.052 0.054 0.056 0.058 0.06
-0.5
0
0.5
0.04 0.042 0.044 0.046 0.048 0.05 0.052 0.054 0.056 0.058 0.06
-0.5
0
0.5
0.04 0.042 0.044 0.046 0.048 0.05 0.052 0.054 0.056 0.058 0.06
-0.5
0
0.5
0.6A
0.6A
0.6A
Current error
v
tri

V
dc

q
v
c

q
V
dc

Pulse width
modulator
v
c

V
dc

Pulse width
modulator
v
c

i
ref

PI
+

q
Current controlled converters in DC Drives - PI-based
Motor
+
+
+
i*
a

i*
b

i*
c

Converter
PWM
PWM
PWM
PWM
PWM
PWM
Sinusoidal PWM
PI
PI
PI
Interactions between phases only require 2 controllers
Tracking error
Interactions between phases only require 2 controllers
Tracking error
Perform the control in synchronous frame
- the current will appear as DC
Perform the 3-phase to 2-phase transformation
- only two controllers (instead of 3) are used
Motor
i*
a

i*
b

i*
c

Converter
PWM
+
+
+
PWM
PWM
PI
PI
PI
Current controlled converters in AC Drives - PI-based
Motor
i*
a

i*
b

i*
c

Converter
3-2
3-2
SVM
2-3
PI
PI
i
d
*

i
q
*

PI
controller
dqabc
abcdq
SVM
or SPWM
VSI

IM
v
a
*
v
b
*
v
c
*
i
d

i
q

+
+

PI
controller
Synch speed
estimator
e
s

e
s

0 0.001 0.002 0.003 0.004 0.005 0.006 0.007 0.008 0.009 0.01
-4
-2
0
2
4
0 0.001 0.002 0.003 0.004 0.005 0.006 0.007 0.008 0.009 0.01
-4
-2
0
2
4
0 0.002 0.004 0.006 0.008 0.01 0.012 0.014 0.016 0.018 0.02
0
1
2
3
4
0 0.002 0.004 0.006 0.008 0.01 0.012 0.014 0.016 0.018 0.02
0
1
2
3
4
Stationary - i
a

Stationary - i
d

Rotating - i
a
Rotating - i
d

Modeling of the Power Converters: DC drives with Controlled rectifier
firing
circuit
controlled
rectifier
o
+

V
a

v
c

v
a
(s) v
c
(s)
DC motor
The relation between v
c
and v
a
is determined by the firing circuit

?
It is desirable to have a linear relation between v
c
and v
a
Cosine-wave crossing control
V
m

v
s
v
c
0 t 2t
3t 4t
Input voltage
Cosine wave compared with v
c
Results of comparison trigger SCRs

Output voltage

Cosine-wave crossing control
V
m

v
s
v
c
0 t 2t
3t 4t
o
o
V
s
cos(et) V
s
cos(o) = v
c

|
|
.
|
\
|
= o

s
c 1
v
v
cos
( ) o
t
= cos
V 2
V
m
a
|
|
.
|
\
|
|
|
.
|
\
|
t
=

s
c
1
m
a
v
v
cos cos
V 2
V
s
c m
a
v
v V 2
V
t
=
A linear relation between v
c
and V
a

V
a
is the average voltage over one period of the waveform
- sampled data system

Delays depending on when the control signal changes normally taken as half
of sampling period
V
a
is the average voltage over one period of the waveform
- sampled data system

Delays depending on when the control signal changes normally taken as half
of sampling period
s
2
T
H
Ke ) s ( G

=
v
c
(s) V
a
(s)
s
m
V
V 2
K
t
=
Single phase, 50Hz
T=10ms
s
m , L L
V
V 3
K
t
=

Three phase, 50Hz
T=3.33ms
Simplified if control bandwidth is reduced to much lower than the
sampling frequency

firing
circuit
current
controller
controlled
rectifier
o
+

V
a

v
c

i
ref

To control the current current-controlled converter
Torque can be controlled
Only operates in Q1 and Q4 (single converter topology)
powergui
Continuous
Voltage Measurement4
v
+
-
v
+
-
v
+
-
v
+
-
Voltage Measurement
v
+
-
Universal Bridge
g
A
B
C
+
-
acos
To Workspace2
ir
To Workspace1
ia
To Workspace
v
Synchronized
6-Pulse Generator
alpha_deg
AB
BC
CA
Block
pulses
Step
Signal
Generator
Series RLC Branch
Scope 3
Scope 2
Scope 1
Scope
Saturation PID Controller 1
PID
Mux
Mux
-K-
i
+
-
Current Measurement
i
+
-
Controlled Voltage Source
s
-
+
Constant 1
7
AC Voltage Source 2
AC Voltage Source 1
AC Voltage Source
Input 3-phase, 240V, 50Hz
Closed loop current control with
PI controller
Input 3-phase, 240V, 50Hz
Closed loop current control with
PI controller
0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8
-500
0
500
1000
0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8
0
5
10
15
Voltage
Current
0.22 0.23 0.24 0.25 0.26 0.27 0.28
-500
0
500
1000
0.22 0.23 0.24 0.25 0.26 0.27 0.28
0
5
10
15
Modeling of the Power Converters: DC drives with SM Converters
v
c

+

V
a

v
tri

V
dc

q
Switching signals obtained by comparing
control signal with triangular wave
V
a
(s) v
c
(s)
DC motor
We want to establish a relation between v
c
and V
a

?
AVERAGE voltage
dt q
T
1
d
tri
T t
t
tri
}
+
=
tri
on
T
t
=
V
dc
0

T
tri

t
on

0
1
=
0
1
q
V
c
> V
tri

V
c
< V
tri

v
c

dc
dT
0
dc
tri
a
dV dt V
T
1
V
tri
= =
}
-V
tri

V
tri

-V
tri

v
c

d
v
c

0.5

For v
c
= -V
tri
d = 0

0.5
V
tri

V
tri

v
c

d
v
c

-V
tri

-V
tri

For v
c
= -V
tri
d = 0
For v
c
= 0 d = 0.5
For v
c
= V
tri
d = 1

0.5
v
c

d
-V
tri

-V
tri

c
tri
v
V 2
1
5 . 0 d + =
V
tri

V
tri

v
c

For v
c
= -V
tri
d = 0
For v
c
= 0 d = 0.5
For v
c
= V
tri
d = 1
Thus relation between v
c
and V
a
is obtained as:
c
tri
dc
dc a
v
V 2
V
V 5 . 0 V + =
Introducing perturbation in v
c
and V
a
and separating DC and AC components:
c
tri
dc
dc a
v
V 2
V
V 5 . 0 V + =
c
tri
dc
a
v
~
V 2
V
v
~
=
DC:
AC:
Taking Laplace Transform on the AC, the transfer function is obtained as:
tri
dc
c
a
V 2
V
) s ( v
) s ( v
=
v
a
(s) v
c
(s)
DC motor
tri
dc
V 2
V
2v
tri

v
c

v
c

v
tri

+

V
dc

q
-V
dc

q
V
dc

+ V
AB

v
AB
V
dc
-V
dc
c
tri
dc
AB B A
v
V
V
V V V = =
tri
c
A B
V 2
v
5 . 0 d 1 d = =
c
tri
dc
dc B
v
V 2
V
V 5 . 0 V =
v
B
V
dc
0

tri
c
A
V 2
v
5 . 0 d + =
c
tri
dc
dc A
v
V 2
V
V 5 . 0 V + =
v
A
V
dc
0

Bipolar switching scheme
tri
dc
c
a
V
V
) s ( v
) s ( v
=
v
a
(s) v
c
(s)
DC motor
tri
dc
V
V
Bipolar switching scheme
+

V
dc

v
c

v
tri

q
a

V
dc

-v
c

v
tri

q
b

Leg a
Leg b
The same average value weve seen for bipolar !
V
tri

v
c

-v
c

tri
c
A
V 2
v
5 . 0 d + =
c
tri
dc
dc A
v
V 2
V
V 5 . 0 V + =
v
A

tri
c
B
V 2
v
5 . 0 d

+ =
c
tri
dc
dc B
v
V 2
V
V 5 . 0 V =
v
B

c
tri
dc
AB B A
v
V
V
V V V = =
v
AB

Unipolar switching scheme
tri
dc
c
a
V
V
) s ( v
) s ( v
=
v
a
(s) v
c
(s)
DC motor
tri
dc
V
V
Unipolar switching scheme
DC motor separately excited or permanent magnet
Extract the dc and ac components by introducing small
perturbations in V
t
, i
a
, e
a,
T
e
, T
L
and e
m

a
a
a a a t
e
dt
di
L R i v + + =
T
e
= k
t
i
a
e
e
= k
t
e
dt
d
J T T
m
l e
e
+ =
a
a
a a a t
e
~
dt
i
~
d
L R i
~
v
~
+ + =
) i
~
( k T
~
a E e
=
)
~
( k e
~
E e
e =
dt
)
~
( d
J
~
B T
~
T
~
L e
e
+ e + =
ac components
a a a t
E R I V + =
a E e
I k T =
e =
E e
k E
) ( B T T
L e
e + =
dc components
Perform Laplace Transformation on ac components
a
a
a a a t
e
~
dt
i
~
d
L R i
~
v
~
+ + =
) i
~
( k T
~
a E e
=
)
~
( k e
~
E e
e =
dt
)
~
( d
J
~
B T
~
T
~
L e
e
+ e + =
V
t
(s) = I
a
(s)R
a
+ L
a
sIa + E
a
(s)
T
e
(s) = k
E
I
a
(s)
E
a
(s) = k
E
e(s)
T
e
(s) = T
L
(s) + Be(s) + sJe(s)
T
k
a a
sL R
1
+
) s ( T
l
) s ( T
e
sJ B
1
+
E
k
) s ( I
a
) s ( e ) s ( V
a
+
-
-
+
T
c
v
tri
+

V
dc

q

q

+

k
t
Torque
controller

T
k
a a
sL R
1
+
) s ( T
l
) s ( T
e
sJ B
1
+
E
k
) s ( I
a
) s ( e
) s ( V
a
+
-
-
+
Torque
controller
Converter
peak , tri
dc
V
V ) s ( T
e
-
+
DC motor
Design procedure in cascade control structure
Inner loop (current or torque loop) the fastest largest
bandwidth
The outer most loop (position loop) the slowest
smallest bandwidth
Design starts from torque loop proceed towards outer
loops
Closed-loop speed control an example
OBJECTIVES:
Fast response large bandwidth
Minimum overshoot
good phase margin (>65
o
)
Zero steady state error very large DC gain
BODE PLOTS
Obtain linear small signal model
METHOD
Design controllers based on linear small signal model
Perform large signal simulation for controllers verification
Ra = 2 O La = 5.2 mH
J = 152 x 10
6
kg.m
2
B = 1 x10
4
kg.m
2
/sec
k
t
= 0.1 Nm/A k
e
= 0.1 V/(rad/s)
V
d
= 60 V V
tri
= 5 V
f
s
= 33 kHz
PI controllers Switching signals from comparison of
v
c
and triangular waveform
Bode Diagram
Frequency (rad/sec)
-50
0
50
100
150
From: Input Point To: Output Point
M
a
g
n
i
t
u
d
e

(
d
B
)
10
-2
10
-1
10
0
10
1
10
2
10
3
10
4
10
5
-90
-45
0
45
90
P
h
a
s
e

(
d
e
g
)
compensated
compensated
k
pT
= 90

k
iT
= 18000

Torque controller design
Open-loop gain
Speed controller design
1
Speed
controller
sJ B
1
+
e*
T* T
e

+
Torque loop
Bode Diagram
Frequency (Hz)
-50
0
50
100
150
From: Input Point To: Output Point
M
a
g
n
i
t
u
d
e

(
d
B
)
10
-2
10
-1
10
0
10
1
10
2
10
3
10
4
-180
-135
-90
-45
0
P
h
a
s
e

(
d
e
g
)
Open-loop gain
compensated
k
ps
= 0.2

k
is
= 0.14

compensated
Speed controller design
Large Signal Simulation results
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45
-40
-20
0
20
40
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45
-2
-1
0
1
2
Speed
Torque
Modeling of the Power Converters: IM drives
INDUCTION MOTOR DRIVES
Scalar Control Vector Control
Const. V/Hz
i
s
=f(e
r
)
FOC
DTC
Rotor Flux Stator Flux
Circular
Flux
Hexagon
Flux
DTC
SVM
Control of induction machine based on steady-state model (per phase SS
equivalent circuit):
R
r
/s
+

V
s

R
s

L
ls
L
lr

+

E
ag

I
s
I
r

I
m
L
m
e
r
s

T
rated
Pull out Torque
(T
max
)

T
e
e
s
s
m
e
rated
e
rotor
T
L

T
e

Intersection point (T
e
=T
L
)
determines the steady
state speed
Given a load Te characteristic, the steady-state speed can be changed
by altering the Te of the motor:
Pole changing
Synchronous speed change with no.
of poles
Discrete step change in speed
Variable voltage (amplitude), frequency
fixed
E.g. using transformer or triac
Slip becomes high as voltage reduced
low efficiency
Variable voltage (amplitude), variable
frequency (Constant V/Hz)
Using power electronics converter
Operated at low slip frequency
Variable voltage, fixed frequency
0 20 40 60 80 100 120 140 160
0
100
200
300
400
500
600
T
o
r
q
u
e
w (rad/s)
Lower speed slip higher
Low efficiency at low speed
e.g. 3phase squirrel cage IM
V = 460 V R
s
= 0.25 O
R
r
=0.2 O L
r
= L
s
= 0.5/(2*pi*50)
L
m
=30/(2*pi*50)
f = 50Hz p = 4
Constant V/Hz
Approximates constant air-gap flux when E
ag
is large
E
ag
= k f |
ag
f
V
f
E
ag
~ =
ag
|
= constant
Speed is adjusted by varying f - maintaining V/f constant to avoid flux
saturation
To maintain V/Hz constant
+
V
_

+
E
ag
_

0 20 40 60 80 100 120 140 160
0
100
200
300
400
500
600
700
800
900
T
o
r
q
u
e
50Hz
30Hz
10Hz
Constant V/Hz
V
rated

f
rated

V
s
f

Constant V/Hz
VSI
Rectifier
3-phase
supply
IM
Pulse
Width
Modulator
e
s
*
+
Ramp
f
C
V
Constant V/Hz
To Workspace1
speed
To Workspace
torque
Subsystem
In1Out 1
Step Slider
Gain 1
0.41147
Scope
Rate Limiter
Induction Machine
Va
Vb
Vc
isd
isq
ird
speed
Vd
irq
Vq
Te Constant V /Hz
In1
Out1
Out2
Out3
Constant V/Hz
Simulink blocks for Constant V/Hz Control
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
-100
0
100
200
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
-200
0
200
400
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
-100
0
100
200
Constant V/Hz
Speed
Torque
Stator phase current
Problems with open-loop constant V/f
At low speed, voltage drop across stator impedance is significant compared to
airgap voltage - poor torque capability at low speed
Solution:
1. Boost voltage at low speed
2. Maintain I
m
constant constant u
ag
0 20 40 60 80 100 120 140 160
0
100
200
300
400
500
600
700
T
o
r
q
u
e
50Hz
30Hz
10Hz
A low speed, flux falls below the
rated value
With compensation (I
s,rated
R
s
)
0 20 40 60 80 100 120 140 160
0
100
200
300
400
500
600
700
T
o
r
q
u
e
Torque deteriorate at low
frequency hence
compensation commonly
performed at low
frequency

In order to truly
compensate need to
measure stator current
seldom performed
With voltage boost at low frequency
V
rated

f
rated

Linear offset
Non-linear offset varies with I
s
Boost
Poor speed regulation
Solution:
1. Compesate slip
2. Closed-loop control

Problems with open-loop constant V/f
VSI
Rectifier
3-phase
supply
IM
Pulse
Width
Modulator
V
boost

Slip speed
calculator
e
s
*
+
+
+
+
V
V
dc
I
dc

Ramp
f
C
A better solution : maintain u
ag
constant. How?
u
ag
, constant E
ag
/f , constant I
m
, constant (rated)

maintain at rated
Controlled to maintain I
m
at rated

R
r
/s
+

V
s

R
s

L
ls
L
lr

+

E
ag

I
s
I
r

I
m
L
m
0 20 40 60 80 100 120 140 160
0
100
200
300
400
500
600
700
800
900
T
o
r
q
u
e
50Hz
30Hz
10Hz
Constant air-gap flux
s
r
m lr
r
lr
m
I
s
R
) L L ( j
s
R
L j
I
+ + e
+ e
=
, I
1 T
1
j
1 T j
I
I
s
R
L
1
j
s
R
L j
I
s
r
r
r
slip
r slip
m
s
r
r
r
r
r
r
m
+
|
|
.
|
\
|
o +
o
e
+ e
=
+
|
|
.
|
\
|
o +
o
e
+ e
=
, I
1 T j
1 T
1
j
I
m
r slip
r
r
r
slip
s
+ e
+
|
|
.
|
\
|
o +
o
e
=
Current is controlled using current-
controlled VSI

Dependent on rotor parameters
sensitive to parameter variation
VSI
Rectifier
3-phase
supply
IM
e*
+
+ |I
s
|
e
slip

C
Current
controller
e
s

PI
+
e
r

-
THANK YOU

Modeling and Control of Electric Drives Presentation 1

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Modeling and Control of Electric Drives Presentation 1

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Modeling and Control of Electrical Drives

Control the torque, speed or position

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