Rotor Parameter Tuning of Vector Controlled Induction Motor Drive

Melvin Koshy
Department of Electrical Engineering College of Engineering, Trivandrum Email: melvinkoshy@yahoo.com

Shajilal A.S.
Professor Department of Electrical Engineering College of Engineering, Trivandrum

AbstractThe indirect eld-oriented-controlled induction motor is gaining much attention for its excellent decoupled operation, wide eld-weakening range, reliable low-speed operation, and relative ease of implementation. A successful implementation of the eld-oriented control requires an accurate calculation of the slip frequency, which depends largely on the accuracy of the motor parameters, especially on the rotor time constant. Rotor time constant varies with temperature, frequency, and the level of saturation of the machine. Hence, an adaptation or estimation of the rotor time constant is necessary for a correct eld-oriented operation. Closed-loop observers or open-loop estimators can be employed for the measurement of rotor parameters and hence tuning of the rotor time constant. Tuning of rotor time constant can help the drive achieve precise ux and torque control. The performance of an induction motor under the vector control method and rotor time constant updating scheme based on model reference adaptive control (MRAC) has been studied and conrmed by simulation using MATLAB R /SIMULINK R . Keywords - Induction Motor Drive, Vector Control, Rotor parameter tuning, Slip Gain Constant

The Field Oriented Control (FOC) and the Direct Torque Control (DTC) are two types of drives employed for high dynamic performance applications. Direct Torque Control was introduced in Japan by Takahashi (1984) and Depenbrock (1985). Vector controlled induction motors was introduced in 1970 and are employed in high performance drives where precise speed control and good static as well as dynamic response is required [1]-[3]. Modern control methods use state space techniques and power electronic devices which contribute to stabilising the drives and improvement in their transient responses [4]-[6]. The block diagram of Vector Controlled induction motor is as shown in Fig. 1. The vector control scheme comprises position encoder, torque and ux control loops, vector rotator and unit vector generator which in-turn controls the switching states of the inverter at the motor front-end.

I. I NTRODUCTION Industrial loads require operation at wide range of speeds. Such loads are generally termed as variable speed drives. These drives demand precise adjustment of speed in a stepless manner over the complete speed range required. The loads may be constant torque or a function of speed. These loads are driven by hydraulic, pneumatic or electric motors. An industrial drive has some special features when driven by electric motors. Induction machines have provided the most common form of electromechanical drive for industrial, commercial and domestic applications that can operate at essentially constant speed. Induction machines have simpler and more rugged structure, higher maintainability, robust and immune to heavy loading and economy than dc motors. The possible forms of drive motors are dc drives and ac drives. DC motors are versatile for the purpose of speed control but they suffer from the disadvantage imposed by the commutator. On the other hand, ac drives are viable competitors with the advent of thyristor power converter technology. The main features of ac drives are small size and robustness, simplicity and low maintenance cost. The evolution of ac variable speed drive technology has been partly driven by the desire to emulate the performance of dc drives such as fast torque response and speed accuracy, while utilizing the advantage offered by standard ac motor.

Fig. 1. Block diagram of indirect vector controlled induction motor drive

II. I NDUCTION MOTOR MODEL The main objective of vector control is to control the induction motor as a separately excited dc motor achieving decoupled control of torque and ux. The per-phase equivalent circuit of an induction motor is valid only in steady-state condition. In an adjustable speed drive like the vector controlled drive, the machine normally constitutes an element within a feedback loop and hence its transient behaviour has to be taken into consideration [7]-[8].

The induction motor can be considered to be a transformer with short circuited and moving secondary. The coupling coefcients between the stator and rotor phases change continuously in the course of rotation of rotor [8]. Hence the machine model can be described by differential equations with timevarying mutual inductances. The time-varying inductances are to be eliminated so as to obtain the dynamic model of the induction motor [9], [10], [11]. The time-varying inductance that occur due to an electric circuits in relative motion and electric circuits with varying magnetic elds can be eliminated by transforming the rotor variables associated with ctitious stator windings. For transient studies of adjustable speed drives, the machine as well as its converter is modelled on a stationary reference frame [6], [7], [9]. The voltage and current equations in terms of the parameters of the induction motor are described by (1) - (5) d [ ] dt = [La,b,c,ar ,br ,cr (r )] . [i] [V ] = [r] . [i] + [r] = Diag [rs , rs , rs , rr , rr , rr ] [V ] = [Va , Vb , Vc , Var , Vbr , Vcr ] [i] = [ia , ib , ic , iar , ibr , icr ]
T T

Using the equations hitherto, the transient model of an induction motor can be expressed in terms of stator and rotor time constants as (14) and (15) s r ds + (1 + jb s ) s = s Vs + Kr r dt (14)

dr + (1 + j (b r ) s ) r = r Vr + Ks s (15) dt where , Ks and Kr are constants involving stator, rotor and mutual inductances and are given by (16) =1 Lm 2 ; Ls Lr Ks = Lm ; Ls Kr = Lm Lr (16)

The structural diagram corresponding to the stator and rotor space-phase equations is as shown in Fig. 2

(1) (2) (3) (4) (5)

Dening a rotation of complex variable b in the stator, the corresponding rotation in rotor is b r . The unique coordinate system at speed b can be dened. The stator, rotor equations are given according to (6) - (9) Vs = rs is + Vr = rr ir + ds + jb s dt (6) (7) (8) (9)

Fig. 2. Structural diagram with stator and rotor ux as variables in random speed coordinates

The mechanical speed of the rotor in terms of the load constants can be computed by (17) Te = J dr + Br + TL dt (17)

dr + j (b r ) r dt s = Ls is + Lm ir

r = Ls ir + Lm is

The electromagnetic torque developed by the induction motor can be expressed by (10) 3 pRe (js is ) (10) 2 The phasors can be decomposed along two orthogonal axes d q [8] moving at speed b and the corresponding relation between the orthogonal axes are given by (11) and (12) Te = Vs = Vd + jVq ; is = id + jiq ; s = d + jq (11)
Fig. 3. Implementation of dynamic equations in SIMULINK for transient model of induction motor

Vr = Vdr + jVqr ; ir = idr + jiqr ; r = dr + jqr (12) The conversion from three phase a b c axes to two-phase orthogonal d q axes is governed by Parks transformation given by (13) Vd Va (13) Vq = [P (b )] Vb V0 Vc

III. V ECTOR C ONTROL D EVELOPMENT Vector control implies independent (decoupled) control of ux-current and torque/current components of the stator current through a coordinated change in supply voltage amplitude,

phase and frequency. As the ux variation tends to be slow, especially with current control, constancy of ux should produce a fast torque/current response and nally fast speed response. Flux level control is essential to avoid magnetic saturation and heavy core loss and reduce core loss at light loads through ux weakening [3], [10], [12]. A. Rotor Flux Orientation The input command variables in vector control are the reference ux and torque. Consequently, the motor is a two input system. The value of reference ux is either constant or it depends on speed or on torque, according to an a priori condition depending on application. General current decoupling implies determination of reference current spacephasor based on reference ux and torque [7]. The reference torque may be the output of a position or speed closed-loop control drive. Vector control can be performed with respect to airgap ux a , stator ux s or rotor ux r phasors by attaching the reference system d-axis to the respective ux linkage space-phasor direction and by keeping its amplitude under surveillance. The general ux orientation is as shown in Fig. 4.

Fig. 5. Current decoupling network in rotor ux orientation

C. Current Controllers Vector control can be realised using AC/DC current controllers. AC current controllers presupposes high switching frequency to produce adequate phase current waveform and lead to a kind of closed-loop control PWM in the inverter [8], [9]. Open-loop PWM producing close to sinusoidal phase voltages works well even at lower switching frequencies to produce acceptable phase current waveform due to the low-pass lter action of the induction machine. DC current controllers are load and frequency dependent [7]. The block diagram of vector control with synchronous (dc) current controllers is as shown in Fig. 6.

Fig. 4. General ux orientation axes

B. Current Decoupling The current network is a feedforward (indirect) method to produce ux orientation. It presumes knowledge of machine parameters and online computation effort commensurable to current decoupling network. Hence, indirect vector control is adequate with rotor ux orientation [7], [8]. For general current decoupling, the governing equation is given by (18) se = iq (1 + sr )
m aLm

Fig. 6. Indirect vector control with dc current controllers

; =1

id r

Lm aLr

(18)

The motor currents are forced to follow id and iq in any ux orientation. For rotor ux orientation, the equations are given by (19) - (20). The current decoupling network in rotor ux orientation is as shown in Fig. 5. r id = (1 + sr ) (19) Lm 3 Lm Te = p r iq (20) 2 Lr

IV. V ECTOR C ONTROL S IMULATION The model of an indirect vector controlled induction motor drive has been implemented in SIMULINK. The speed from the induction motor is fed back and compared with the reference (command) speed, which generates the error [11]. The error is fed to a speed PI controller. The controller output and the ux command, r derives the parameters for the decoupling network. The actual motor currents are converted to d q axes quantities and oriented with rotor ux. The actual and reference signals are compared and fed to controllers which generates inverter switching signals. The different systems viz. induction motor with load model, feedback system with calculation of ids and iqs , speed PI controller, decoupling and ux orientation block, controller signal and inverter blocks have been implemented in SIMULINK. The complete model of indirect vector controlled induction motor drive implemented in SIMULINK is as shown in Fig. 7

(a) Fig. 7. SIMULINK model of indirect vector controlled induction motor drive

(b)

Fig. 9. (a) Plot of stator ux at no load (b) Plot of locus of stator ux at no load

A. Start-up with No Load The performance of developed vector controlled induction motor drive is evaluated by applying a step input of amplitude 1000 rpm after 0.5 s as speed reference while the rotor ux reference set at 0.8 W b. Maximum step size of 0.1 ms is used in the simulation. The obtained speed response is as shown in Fig. 8(a) and the corresponding torque developed is as shown in Fig. 8(b).

B. Dynamic Behaviour The transient performance of the developed model has been tested by applying a step load torque of 10 N m at 1 s on the mechanical dynamics. The rotor ux reference is maintained at 0.8 W b. The developed electromagnetic torque tracks immediately after the step command as shown in Fig. 10(a). This demonstrates that the vector controlled drive possess high dynamic performance in response to changes in reference torque. Fig. 10(b) shows the stator ux magnitude, emphasizing the decoupled action of torque and ux control. It is observed that the variation of motor torque does not inuence ux. Thus, vector controlled system assures independent ux and torque control.

(a)

(b)

Fig. 8. (a) Plot of reference speed and actual speed at no-load (b) Plot of torque developed at no-load

The equation of electromagnetic torque developed at no load, running with single inertia and negligible friction is given by (10) dr (21) Te = J dt From Fig. 8, the estimated electromagnetic torque remains at zero at period before 0.5 s, so the rotor does not rotate. At t = 0.5 s, a speed command of 1000 rpm is applied and hence the developed electromagnetic torque increases cater to the command speed. This causes the rotor to accelerate at a rate dictated by the rotor inertia. From the torque response, the acceleration is given by (22) dr Te 2 = = = 20 rad/s2 dt J 0.1 (22)

(a)

(b)

Fig. 10. (a) Plot of reference and actual torque (b) Plot of locus of stator ux on load

C. Effect of Parameter Detuning The current decoupling network in rotor ux orientation depends heavily on motor parameters Lm , Lm /Lr , r which in the end, depend on magnetic saturation level (Lm , r ) and rotor temperature (r ). With open loop ux control at steady state condition, the effect of Lm cancels the variation of Lm /Lr . Hence, the drive performance can be related to purely slip gain constant Ks which is proportional to the rotor time constant, r . The variation in rotor resistance affects r and causes misalignment of ids , iqs pair with the rotor ux axis r . The misalignment causes a component in orthogonal axis to vary hence resulting in overuxing or underuxing [6], [9]. The effect of torque and ux has been studied for variation of slip gain over an interval of 0.5 to 1.5. The ratio

Fig. 9(a) shows that the stator ux magnitude response has risen to its nal value of 0.88 W b which is higher than the command rotor ux reference. Fig. 3(b) depicts the locus of stator d q axes uxes which traces a circular trajectory implying they are orthogonal.

of actual torque to the command torque will aberrate from unity as shown in Fig. 11(a). Correspondingly, the ratio of actual ux to the command ux is as depicted in Fig. 11(b)

(a)

(b)

Fig. 13. (a) Reference and adaptive model of MRAC modelled in SIMULINK (b) SIMULINK model of MRAC VCIM

(a)

(b)

Fig. 11. (a) Plot of actual and reference torque ratio of VCIM (b) Plot of actual and reference ux ratio of VCIM

V. S LIP G AIN T UNING In order to vitiate the problem rotor resistance variation during operation of the motor, it is imperative to tune slip gain constant which is dependent on rotor resistance. Various tuning methods have been suggested in literature and requires adequate computation time by DSPs [6], [10]. The fact that rotor resistance variation with respect to temperature is quite slow permits adequate computation time required by the DSPs. The model reference adaptive control (MRAC) is a powerful method and widely acceptable for slip gain tuning. The block diagram of MRAC is as shown in Fig. 12.

(a)

(b)

Fig. 14. (a) Plot of actual and reference torque ratio of MRAC tuned VCIM (b) Plot of actual and reference ux ratio of MRAC tuned VCIM

are minimal and is unaltered over the range of rotor resistance variation. [7], [9]. VI. C ONCLUSION Vector control allows the independent and decoupled control of torque and stator ux. The implementation of the vector controlled IM drive has been described and justied by simulation. As observed in the simulation results, the main merits of vector control are fast torque and speed response, torque control at low frequency and dynamic speed accuracy. Closed loop speed control with open loop ux control has also been achieved using PI controllers. It has also been validated that conventional vector control is sensitive to rotor parameters variation which are detuned during operation due to temperature and saturation. The simulation results show that the error in torque and ux due to parameter variations can be combated by adopting an appropriate tuning mechanism. In this respect, model reference adaptive control has been proved a feasible and tangible solution to detuning effects of vector controlled induction motor drive, imparting good dynamic response without deviating from the reference values. Using the proposed approach, rotor time constant errors inuencing eld orientation in conventional indirect eld oriented control can be obliterated. There are more challenges in vector controlled AC drives, the foremost being the accuracy of adaptation algorithms for parameter estimation [6], [9], [11]. The accuracy of stator ux estimation decreases as the rotor speed reduces in the low speed range. Advanced observers such as extended Kalman lters, sliding mode observers and MRAC-fuzzy logic techniques can be implemented to vitiate the parameter inuence and hence improve the performance of vector controlled drives.

Fig. 12. Block diagram of slip gain tuning by model reference adaptive control

In MRAC, the reference model output signal X that satises tuned vector control is usually a function of i ds and i and machine inductances. The adaptive model is estimated qs by the machine feedback voltages and currents. The reference model output is compared with the adaptive model and the resulting error generates slip gain through a PI compensator [7]. Thus slip gain tuning will occur when X matches with X . The model reference adaptive control with torque as variable, implemented in SIMULINK is as shown in Fig. 13(a). The vector controlled induction motor drive with MRAC implemented in SIMULINK is as shown in Fig. 13(b). The mathematical model of vector control incorporating the MRAC has been checked for rotor time constant variation between 0.5 and 1. The variation of torque and ux with respect to the command values are as shown in Fig. 14. From Fig. 14, it is inferred that the actual torque and ux follows the command values in tuned vector control. The errors

APPENDIX

R EFERENCES
[1] Hamid A. Toliyat, M. S. Arefeen, K. M. Rahman, D. Figoli, Rotor time constant updating scheme for a rotor ux-oriented induction motor drive, IEEE Trans. Ind. Applicat., vol. 44, no. 2, pp. 850-858, April 2008. [2] S. N. Vukosavic, M. R. Stojici, On-line tuning of the rotor time constant for vector controlled induction motor in position control applications, IEEE Trans. Ind. Electron., vol. 40, pp. 130-138, Feb. 1993. [3] R. Krishnan, F. C. Duran, Study of parameter sensitivity in high performance inverter fed induction motor drive systems, IEEE Trans. Ind. Appicat., vol. IA-23, pp. 623-635, July/Aug. 1987. [4] R. Bojoi, , P. Guglielmi, G. Pellegrino, Sensorless eld-oriented control of three-phase induction motor drives for low-cost applications, IEEE Transactions on Power Electronics, vol. 14, no. 5, pp. 475- 482, September 1999. [5] A. Makouf, M. E. H. Benbouzid, D. Diallo, N. E. Bouguechal, A practical scheme for induction motor speed sensorless eld-oriented control, IEEE Transactions On Energy Conversion, vol. 19, no. 1, pp.230-232, March 2004. [6] Hamid A. Toliyat, Emil Levi, Mona Raina,A Review of RFO Induction Motor Parameter Estimation Techniques,IEEE Transactions on Energy Conversion, vol. 18, no. 2, pp. 271-283, June 2003. [7] Ion Boldea, S. A. Nasar, Electric Drives, CRC Press, Taylor and Francis, 2006. [8] Paul C. Krause, O. Wasynczuk, S. D. Sudhoff, Analysis of Electric Machinery, IEEE Inc., ISBN 0-7803-1101-9, 1995. [9] Bimal K. Bose, Modern Power Electronics and AC Drives, Pearson Education, 2007. [10] Bimal K. Bose, Power Electronics and Motor Drives: Advances and Trends, Academic Press, 2006. [11] Andrzej M. Trzynadlowski, Control of Induction Motor Drives, Academic Press, 2001. [12] Ion Boldea, S. A. Nasar, Induction Machine Handbook, CRC Press, Taylor and Francis, 2007.

The parameters of induction machine and load are as follows [7] Power Rating Rated Voltage No. of Poles Frequency Stator Resistance Rotor Resistance Stator Leakage Reactance Rotor Leakage Reactance Mutual Inductance Viscous damping coefcient Friction coefcient 6300 W 400 V 4 50 Hz 0.30 0.25 0.0415 H 0.0412 H 0.0403 H 0.1 kgm2 0.2 kg/s