10th International Symposium Topical Problems in the Field of Electrical and Power Engineering Prnu, Estonia, January 10-15,

2011

Simulation Study of Inverter-Fed Motor Drives

Mikhail Egorov Tallinn University of Technology mikhail.egorov@ttu.ee

Abstract
The paper presents models developed to study modulation systems of inverters that supply the induction motor drives. A modelling technique and simulation results are proposed. The benefits of the discontinuous space vector modulation algorithms for the six-step, pulse-width, and continuous space vector control methods are described.

asynchronous motor drives. This problem is significant because the control method governs the voltage and current harmonics, torque ripple, acoustic noise emitted from the motor as well as electromagnetic interference. To this end, the new models of the motor drive inverter control systems developed are described in this paper. Several techniques are known in the drive control practice: low commutation simple six-step modulation, high commutation pulse-width modulation (PWM) and progressive space vector modulation (SVM). The six-step modulation algorithm generates significant harmonic distortion as its alternating current (ac) waveforms are the low frequency rectangles. Here, the reference sinusoidal voltage is approximated by the six discrete voltage levels available at direct current (dc) supply. Implementation of this type of modulation is relatively simple and does not require high switching speed, which makes it suitable for converters. Though the six-step inverters have found occasional use in motor drives, simulation of this technique is important for understanding open-loop voltagefrequency control [8]. Intensive switching PWM techniques are very valuable for drive performance. Simulation of this control method is beneficial to study voltage and current harmonics, torque ripple, acoustic noise emitted from an induction motor, and also electromagnetic interference [9]-[11]. An SVM method is the most advanced computationintensive control approach for generating a fundamental sine wave providing a higher voltage to the motor and lower switching losses than both the six-step and PWM methods. This is known today as the best among all the power converter control techniques in the field of variable drive applications. Several SVM algorithms have been reported in [12]-[15]. The models proposed in this paper help to analyze and compare different modulation techniques from the ripple and switching loss point of view. Advantages and disadvantages of different modulation methods are illustrated by the simulation results of the inverter performance in ac drive applications. The developed models can be effectively applied in the development and study of open-loop and closed loop motor drives. 165

Keywords
Power electronics, electric drive, modelling, simulation, Simulink, modulation

1. Introduction
As the complexity of the motor drive circuits and systems increases, the role of simulation as an analysis and verification tool has expanded significantly. It has become a cost-efficient way to design many complex circuits in this way. Both large- and small-signal simulations are performed on the drive motors, power converters, and control circuits to better predict and verify projects [1]. Several simulation toolkits are propagated such as Simulink, Multisim, Spice and PSim [2], [3]. Among them, Matlab is in high demand in the motor drive study [4]. This high-level 4th generation programming language and interactive environment enables users to perform intensive calculation-based tasks very fast. The toolbox allows matrix manipulation, functions and data plotting, algorithm implementation, creation of the user interfaces, and interfacing with programs in other languages. It has been widely adopted for over 25 years in the academic community, industry and research centers. The toolkit provides the users with a large collection of toolboxes and modules for a variety of applications in many fields of interest. Its interactive graphical superstructure Simulink [5] was added to Matlab to make the modeling and simulation of various systems as easy as connecting predefined and designed building blocks. Simulink contains many block sets that are used in different applications, such as the communication block, signal-processing block, etc [6], [7]. The objective of this study was to develop and study Simulink models of the control blocks of inverters that supply and adjust induction motors of

2. Modelling and Experimentation

Arrangements
To perform numerical simulation, a set of models was developed where a controlled induction motor drive was investigated in the Matlab/Simulink toolbox. The models designed in the simulation environment were accomplished with an induction motor, loading device, and independent bridgeconnected IGBT simulators (Fig. 1). The control circuits which are focused in the paper are enveloped by the bold contours in Fig. 1. Simulation was executed for the voltage/frequency control mode of an induction motor drive using the six-step, PWM and SVM continuous and discontinuous techniques.
Supply

dc link, the Simulink dc voltage source was used. For voltage and current measuring and tracing, the Simulink voltage and current measurement blocks and scopes were connected. The Simulink series RLC branches were used to reach the dc link and load neutral points. To obtain sufficient resolution, the modulating period was presented by the six sectors, each divided into 20 sampling periods Tc. Therefore, the sampling frequency was 120 fm (max 6 kHz). All the schemes assume digital implementation therefore calculations were performed at the beginning of each sampling period, based on the value of the reference voltage and speed at that instant. In this way, the reference was updated at every sampling interval Tc. To test the proposed models, an experimental workplace was organized at the Department of Electrical Drives and Power Electronics of Tallinn University of Technology. It unites two electric drives ACS800 series, the testing drive and the loading one. Each drive has the same structure, consisting of an induction motor, power converter, remote console, as well as the cabinet, housing, measuring, and cabling equipment. The motor shafts of the drives were mechanically coupled to provide their joint rotation. Both power converters include the line-side active rectifier and the motor-side inverter connected via the dc link. The tested motor M33AA 132S has the following characteristics: rated power 5.5 kW, voltage 400 V, current 11 A, speed 1460 r/min, torque 36 Nm, and the moment of inertia 0.038 kgm2. The loading motor M33AA 160L has the rated power 15 kW, voltage 400 V, current 29 A, speed 1460 r/min, torque 98 Nm, and the moment of inertia 0.102 kgm2. The power converters ACS800 enable two modes of operation: voltage / frequency (U/f) control and direct torque control (DTC) with direct and indirect measuring of the motor speed, torque, and current. Their technical data are as follows: input voltage 400 V, output voltage 0 to 415 V, output frequency from 8 to 300 Hz, and output power 15 kW with the speed and torque scalar and vector control, flux and mechanical braking, acceleration and deceleration ramps. During the verification stage of research the differences of the transient and steady-state characteristics between the tested and the simulated drive were studied. Both the half-speed, half-rated running (18 Nm) and the rated speed nominal loading (36 Nm) operations were compared. In this way, the model correctness and adequacy were confirmed.

Power converter

Load

Controls

Gate circuits
References Inputs Feedbacks from sensors

Controller

Fig. 1. Generalized block diagram of a motor drive A model of a squirrel cage induction motor M33AA 132S of ABB series was used for simulation. To measure its torque, currents and speed of rotation, the Simulink machine measurement block was used. To develop the control algorithms, the three-phase bridge inverter shown in Fig. 2 consisting of the three-leg IGBTs VT1 and VT4, VT2 and VT5, and VT3 and VT6 with the freewheeling diodes was studied.
+ C L1 Ud C VT4 L2 VD4 VT5 VD5 L3 VT6 VD6 VT1 VD1 VT2 VD2 VT3 VD3 N M

Fig. 2. Three-phase bridge inverter To this aim, the Simulink universal bridge block was used built on the Semikron SKM 145 GB 124 DN transistor simulators. The switches were examined in eight different combinations designated by the binary variables 100, 110, 010, 011, 001, 101, 111, and 000, which indicate whether the switch is under the positive (1) or negative (0) supply, thus defining all possible switching states. During the modulating period 1 / = 1 / (2fm), a phase voltage sequentially changed its values depending on which of the switches were on-state. Here, is an angular motor speed, fm is the modulating frequency (max 50 Hz), and Ud is the dc supply voltage. To simulate a 166

3. Six-Step Control Model

To generate the six-step control signals, six Simulink pulse generators were connected directly to the IGBT gates (Fig. 3). Thus, switching of the three inverter legs supplied by the dc voltage is phaseshifted by 120 and each phase L1, L2, L3 is kept under the current during half a modulating period

and open in another half-period. In this way, specific phase is alternately switched from the positive pole to the negative one being sequentially in series with the remaining two parallel-connected phases. The traces of the gate signals, the phase-to-ground, phase-to-neutral and line-to-line voltages and the phase current are shown in Fig. 4 for the full-loaded drive running with nominal speed.

Fig. 5. PWM control system

Fig. 3. Six-step control system

Fig. 6. Simulation results of PWM control

5. SVM Control Model

Fig. 4. Simulation results of six-step control An SVM controller model was designed on the basis of the Simulink embedded Matlab function block to compose and study both continuous and discontinuous SVM algorithms (Fig. 7). Here, the switching sequence of pulses is searched in each sampling interval, the time durations of which are computed in real on the basis of the value of the reference voltage and speed at the beginning of each sampling period. Three inputs of the function block carry the reference amplitude, speed and clock signals. The traces for the continuous SVM are practically the same as for the PWM-fed drive. For the discontinuous SVM, the gate signals, the phaseto-neutral and line-to-line voltages as well as the phase current are shown in Fig. 8 for the full-loaded drive running with nominal speed. Some additional current distortion was registered here in contrast to the continuous SVM as a result of non-linear inverter adjustment. 167

4. PWM Control Model

A model developed to simulate the PWM controller is presented in Fig. 5. It includes three sine-wave generators accompanied by speed-amplitude and modulating index reference blocks, a carrier generator, three comparators and gate drivers. In this way, the symmetrical triangle double-sided wave of the carrier frequency is compared with the modulating wave thereby generating the control pulses. The control output represents the chain of constant magnitude pulses, the duration of which is modulated to obtain the sinusoidal waveform. The traces of the gate signals, the phase-to-ground, phase-to-neutral and line-to-line voltages and the phase current are shown in Fig. 6 for the full-loaded drive running with nominal speed.

Fig. 7. SVM control system

6. Conclusion
Three models of the motor drive control systems were developed in the Matlab/Simulink environment and studied using the proposed models: low commutation simple six-step modulation, high commutation PWM, and progressive space vector modulation SVM. Studies focused on the impact of the modulation method on the voltage and current harmonics, torque ripple, acoustic noise emitted from the motor and electromagnetic interference was studied. Advantages and drawbacks of different control methods were illustrated in the steady-state and dynamic modes of the converter performance in ac drive applications. Simulation revealed an improvement in the switching performance of the motor drive converter from the discontinuous SVM operation when compared to the six-step modulation, PWM and continuous SVM techniques.

References
[1] M. P. Kazmierkowski and H. Tunia, Automatic

Acknowledgements
This paper is supported by Project DAR8130 II Doctoral School of Energy and Geotechnology. Also, the author expresses gratitude to his supervisor Professor Valery Vodovozov for essential contribution to this work.

Fig. 8. Simulation results of SVM control

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