Field-Oriented Control of

Induction Machine
Dr. Nik Rumzi Nik Idris

Department of Energy Conversion,
Faculty of Electrical Engineering,
Universiti Teknologi Malaysia
IM is superior to DC machine with respect to
size, weight, inertia, cost, speed
Why FOC ?
DC motor is superior to IM with respect to ease
of control
High performance with simple control due de-coupling
component of torque and flux
FOC transforms the dynamics of IM to become
similar to the DC motors decoupling the
torque and flux components
Basic Principles DC machine
Current in
Current out
|
a
|
f
By keeping flux constant,
torque can be controlled
by controlling armature
current
T
e
= k I
f
I
a
Basic Principles of IM
a
b
b
c
c
Stator current produce stator
flux
|
s
|
r
Interaction between stator
and rotor fluxes produces
torque
Space angle between stator
and rotor fluxes varies with
load, and speed
Stator flux induces rotor
current produces rotor
flux
FOC of IM drive
Torque equation :
s s e
i
2
p
2
3
T =
s r
r
m
e
i
L
L
2
p
2
3
T =
In d-q axis :
) i i (
L
L
2
p
2
3
T
sd rq sq rd
r
m
e
=
FOC of IM drive
In d-q axis :
) i i (
L
L
2
p
2
3
T
sd rq sq rd
r
m
e
=
Choose a frame such that:
r rd
r
=

0
r
rq
=

FOC of IM drive
Choose a frame such that:
r rd
r
=

0
r
rq
=

FOC of IM drive
) i i (
L
L
2
p
2
3
T
sd rq sq rd
r
m
e
=
Choose a frame such that:
r rd
r
=

0
r
rq
=

q
s

d
s

s
i
r
+
sq
i
rq
+
sd
i
rd
+
As seen by stator reference frame:
FOC of IM drive
r
sq r
r
m
e
i
L
L
2
p
2
3
T

=
s
i
Choose a frame such that:
r rd
r
=

0
r
rq
=

q
s

d
s

r
+
d
+r

q
+r

r
sd
i
+
r
sq
i
+
) i i (
L
L
2
p
2
3
T
sd rq sq rd
r
m
e
=
Rotating reference frame:
FOC of IM drive
To implement rotor flux FOC need to know rotor flux position:
(i) Indirect FOC
g
r r g
g
r g
s
r
r m g
r
r
r
) ( j
dt
d
i
L
R L
L
R
0 e e +

+ =
( )
r slip
r
r
sq
r
sd
r
r m
r
r
r
) ( j
dt
d
ji i
L
R L
L
R
0 e +

+ + =

Synchronous speed obtain by adding slip speed and rotor speed
Rotor voltage equation:
g
r r g
g
r g
r r
) ( j
dt
d
i R 0 e e +

+ =
g
s m
g
r r
g
r
i L i L + =
Rotor flux equation:
FOC of IM drive - indirect
dt
d
i
L
R L
L
R
0
r
r
sd
r
r m
r
r
r

+ =

d component
r slip
r
sq
r
r m
) ( i
L
R L
0 e + =

q component
( )
r slip
r
r
sq
r
sd
r
r m
r
r
r
) ( j
dt
d
ji i
L
R L
L
R
0 e +

+ + =

FOC of IM drive - indirect
dt
d
i
L
R L
L
R
0
r
r
sd
r
r m
r
r
r

+ =

d component
r slip
r
sq
r
r m
) ( i
L
R L
0 e + =

q component
( )
r slip
r
r
sq
r
sd
r
r m
r
r
r
) ( j
dt
d
ji i
L
R L
L
R
0 e +

+ + =

m
*
r
sd
L
* i
r

=

r
sq
r
*
r
r m
slip
i
L
R L
) (

= e
m
r
r
*
e
sq
L
L
p 3
T 4
* i
r

FOC of IM drive - indirect

T*
+*
2/3
1/s
i
+r
sq
*
i
+r
sd
*
i
sq
*
i
sd
*
i
a
*
i
b
*
i
c
*
CC
VSI
e
slip

e
r

+
+
Rotating frame
Stationary frame
m
*
r
sd
L
* i
r

=

m
r
r
*
e
sq
L
L
p 3
T 4
* i
r

r
sq
r
*
r
r m
slip
i
L
R L
) (

= e
e
ju+

FOC of IM drive
g
r r
r
s
r
r m
r
r
r
j
dt
d
i
L
R L
L
R
0 e

+ =
(ii) Direct FOC
Rotor flux can be estimated by:
Rotor flux estimated from motors terminal variables
s r
r
m
e
i
L
L
2
p
2
3
T =
Express in stationary frame
FOC of IM drive
g
r r
r
s
r
r m
r
r
r
j
dt
d
i
L
R L
L
R
0 e

+ =
(ii) Direct FOC
) j ( j
dt
) j ( d
i ) ji i (
L
R L
) j (
L
R
0
rq rd r
rq rd
sq sd
r
r m
rq rd
r
r
+ e
+
+ + + =
}
|
|
.
|

\
|
e + = dt i
L
R L
L
R
rq r sd
r
r m
rd
r
r
rd }
|
|
.
|

\
|
e = dt i
L
R L
L
R
rd r sq
r
r m
rq
r
r
rq
d
q
rd
rq

= u
+
2
rq
2
rd r
+ =
FOC of IM drive - direct
T*
+
r
*
2/3
i
sq
*
i
sd
*
i
a
*
i
b
*
i
c
*
CC
VSI
TC
FC
i
+r
sq
*
i
+r
sd
*
e
ju+

u
+
T
e
+
r
s r
r
m
e
i
L
L
2
p
2
3
T =
g
r r
r
s
r
r m
r
r
r
j
dt
d
i
L
R L
L
R
0 e

+ =
Rotating frame
Stationary frame