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A novel approach of constructing a robust variable-speed drive system using an induction motor is discussed. The inverter is controlled so as to generate the fabricated terminal voltages based on the voltage-decoupled transvector control theory. The operating characteristics of the proposed drive system are compared with conventional PI control to verify the effectiveness under various conditions.
A novel approach of constructing a robust variable-speed drive system using an induction motor is discussed. The inverter is controlled so as to generate the fabricated terminal voltages based on the voltage-decoupled transvector control theory. The operating characteristics of the proposed drive system are compared with conventional PI control to verify the effectiveness under various conditions.
A novel approach of constructing a robust variable-speed drive system using an induction motor is discussed. The inverter is controlled so as to generate the fabricated terminal voltages based on the voltage-decoupled transvector control theory. The operating characteristics of the proposed drive system are compared with conventional PI control to verify the effectiveness under various conditions.
Adaptive Control Akira Kumamoto, Satoshi Tada, and Yoshihisa Hirane ABSTRACT: A novel approach of con- structing a robust variable-speed drive sys- tem using an induction motor supplied from a voltage-source-type PWM inverter is dis- cussed. The inverter is controlled so as to generate the fabricated terminal voltages based on the voltage-decoupled transvector control theory where neither a current feed- back loop nor a current limiter circuit is re- quired. Although the hardware for this de- coupling method becomes simplified, it still has some disadvantages, such as the dis- crepancy between the command currents and actual currents. Incorporated into the drive system described herein is the optimal-speed regulator adopting the exact model-matching method, which fulfills the function of a com- pensator for unfavorable errors. The oper- ating characteristics of the proposed drive system are compared with conventional PI control to verify the effectiveness under var- ious conditions by investigating the transient responses for the step change of the speed command, the load torque, and so forth. Introduction Recent advances in power electronics technology have made various variable-speed drive systems available in the last decade. Among the newly developed methods, the most outstanding scheme is the variable- speed induction motor drive based on trans- vector control theory [1]-[3]. It achieves fast speed response using an economical induc- tion motor. Although an almost linear trans- fer function is obtained by introducing vector control 121, [3], there are still some uncertain factors that disturb the ideal linearization. While transvector control is usually im- plemented with a primary current control, thus far some authors have presented an ap- plied-voltage control method for an induc- tion motor drive [3]-[6], which is the natural extension of a current control in the sense that the direct output of the frequently uti- Presented at the International Conference on In- dustrial Electronics, Control, and Instrumenta- tion, San Francisco. CA, November 18-22. 1985. Aki n Kumamoto, Satoshi Tada, and Yoshihka Hiraneare with the Faculty of Engineering, Kan- sai University. 564 Yamatecho 3-3-35, Suita, Osaka, J apan. Ociober I986 lized PWM inverter is the motor terminal voltage. The voltage-decoupled transvector control method described i n [4] eliminates any current feedback and/or sensing. since motor leakage inductances are usually of small value. The resulting circuit construc- tion, therefore, becomes simplified. This elimination of a current control loop is based on the fact that both actual torque and flux current components follow the cor- responding current commands in the order of the motor time constant. In an actual sit- uation, however, the flux current component may be varied to realize field control. In such a case, the discrepancy between the com- mand and actual currents suggests the ne- cessity of some additional strategy to assure stable operation of the inverter. This paper proposes the utilization of an optimal-speed regulator [7] designed by model reference adaptive control (MRAC) theory [8]. The resulting system exhibits good performance characteristics by adop- tion of the exact model-matching method. together with maintaining a simplified circuit construction of voltage decoupling, which uses only a speed loop. Voltage-Decoupled Transvector Control Control Principle 141. [j] The electrical and mechanical instanta- neous characteristics of an induction motor on the cr-p axis. rotating synchronously with the source angular frequency w, ~, are given by Eqs. (1)-(4). where In an ordinary current-controlled transvec- tor system. Eqs. ( 5 ) and (6) are used to can- cel the mutual interference of current and flux level in the generated torque. Contrary to the current-controlled type, the voltage-decoupling method requires two ad- ditional equations, which are necessary to eliminate the cross term in the input level: The result is a linearized firs-order model, shown in Fig. 1 , which assumes a constant- flux current i l Q. Simulation Exarnple The voltage-decoupled vector control method described so far utilizes only a speed loop. The automatic speed controller (ASR) computes the necessary current commands, and is, and then transforms these values into the applied voltage values considering motor parameters using Eqs. (7) and (8). In order to investigate the effect of the expected current discrepancy. which is unavoidable because of neglecting the leakage induc- tances, a closed-loop ASR incorporating an i ref 0272-1708,86;1000-0025 $01 00 1986 IEEE 25 Optimal-Speed Regulator Design Exact Model-Matching 181 The exact model-matching method assures that the closed-loop transfer function coin- cides with that of the reference model. The controlled plant f(s) and the model t db) are denoted as shown. where P(s), r( s) , pd( s) , and rd(s) are monic polynomials of order n, m, nd. and md. respectively, with ( n, - ?nd) 2 (n - m). [ (SI =~( s) / rc( s) =gr(s) P- ' ( s ) (9) f,(s) =y( s) / u( s) =gdrd(b) Pdi(s) (10) Figure 4 illustrates the block diagram of the exact model-matching control system ob- tained by introducing the input dynamics of riN(s) as shown. where P*( s) and r*(s) are arbitrary stable monic polynomials of order n and m. The control law is given by ~( s ) =(gkds) ~( s ) +hds) ~ ( s ) ) +y(s) r*(s)g +g,V(s)/g (11) where kh(s) and hb(s) satisfy the relation T T' Fig. 1. Ideal first-order model of induction motor. Table Motor Parameters and Control Gains r ~_ _ _ _ _ _ 1 kW, 100 V, 8.4 A, 60 Hz, 4 poles, 1710 rpm Primary resistance Secondary resistance Primary self-inductance Secondary self-inductance Mutual inductance Total inertia Viscous-friction coefficient Rated waxis primary Rated P-axis primary current current Proportional gain Integral gain ~ 0.49 Q 0.45 12 38.8 mH 35.4 mH 35.1 mH 0.024 Nm-sec'lrad 0.001 1 Nm-seclrad 6.83 A 11.54 A 1 0.01 1 .o ! e appropriate PI control is established for the 2 o o o t test motor, with the constants listed in the table. In the case where voltage decoupling is applied, actual currents exhibit a slight ex- cursion from the respective commands. as shown in Fig. 2. which assumes the contin- uous inverter output voltage. The fluctuation of actual cuvents around command currents in this case does not cause serious problems, and the speed response is almost the same as that of the ideal case. The transient responses for a higher speed drive over the base speed of 1710 rpmis shown in Fig. 3. The field current command iri is decreased as an inverse proportion to the actual motor speed of w, over the base speed. Note that comparatively large over- shoot and undershoot can be seen in the ac- tual current level at the beginning of the tran- sient. This means that stable operation of an inverter may be disturbed because of the re- quirement to protect the switching devices. Therefore, some type of proper protection scheme, for example, a current-limiting cir- cuit, is required fof safeguarding, which re- sults in a complexity of system construction. The voltage-decoupling method is an ex- cellent control principle but it still has some disadvantages, as we have seen thus far. Ia the following, the application of an exact model-matching method based on the mod- em control theory of MRAC is studied. _ - - c ,,00] 30 a 15 .I - 1 s -30 I 0 0.5 1.0 1.5 t, sec Fig. 2 . Step response for base-speed command assuming continuous inverter output (PI control). 26 -10 ' : : 30 15 0 - 1 5 - 3 0 ' r ef l 0 0 . 2 0 . 4 0 . 6 0 . 8 t , sec Fig. 3. Step response for high-speed command. with field control assuming continuous inverter output (PI control). Fig. 4. Block diagram of exact model-matching. October I986 The unknown parameters g and 0 in Eq. (17) depend upon the varying controlled plant and are to be adjusted by the adaptive law. The adaptive error e(t), defined by y ( r ) - yln(t)? is given by e(r) =l / P*(P) [gr*(P) ~ ( t ) +err*(P) - y,(t) (18) The basic strategy of adaptation is to in- troduce an error dynamics identifier, whose output c(r) is calculated similar to Eq. (17) except that g and 0 are replaced with their estimates g( t ) and &t). It is guaranteed that an appropriate adaptive law, which realizes t?(t) +&), also assures e(t ) +0. Implemmting Motor Control [7] The induction motor's transfer function is directly written from the block diagram of Fig. 1 to give rl M(S) =%(s)/i;e;(s) =pM'i,,/(L,J(s +D/ J ) ) (19) The reference model rIMD(S) is a closed-loop transfer function obtained by optimal regu- lator theory, and is given by rIMD(s) =Wnz(s)/$'(s) =gd/(s2 +Pdls +PdO) (20) Considering the order of tiM(s) and fIMD(s), the parameters to be estimated here are the two scalars g(t) and /io(?). The adaptive con- trol system is constructed using the straight- forward process described previously, by choosing arbitrary polynomials as P*(s) =s +P,* r*(s) =1, y(s) =1 (21) Figure 5 shows the final drive system in- corporating an optimal adaptive-speed reg- ulator. Simulation Results of Drive System A digital simulation program to investigate thedynamic behavior of the resulting closed- loop control system using an optimal-speed regulator is given. A voltage-source-type PWM operation of an inverter is adopted hereafter. Illustrated in Fig. 6 is the step re- sponse from standstill to the rated speed at the no-load condition. In the early stage of speed build-up, actual motor speed w, does not coincide with the reference speed w, because of the software- limited acceleration torque. However, w, soon follows the reference speed and the sat- isfactory transient characteristics are ob- tained. In the case of the conventional PI 27 UJ:,' 0- 1 4-k Input Fig. 5. Proposed variable-speed drive system of induction motor incorporating MRAC. 30 2 10 .p 0 -lo+ 30 .>-15 -30 a 12 + 0 0.5 1.0 1.5 t , sec Fig. 6. Step response for base speed of proposed system at the no-load condition. controller, a sudden increase in load torque will cause an impact drop in the motor speed. The applied load torque is sensed as a drop of the speed, but is done via the filtering effect of motor inertia. Therefore, speed compensation for load torque change is un- avoidable to some amount of time delay. Thus, it is a commonly accepted method to equip an additional torque compensator or to make a compromise between the responses for speed command and load torque varia- tion. On the contrary, a moderate response is obtained in the proposed system, as shown in Fig. 7. which indicates the smooth return to the speed reference even in the case of the application of the full-load torque from the no-load condition. Another factor to be considered when de- signing the control system is the variation of motor parameters. Increasing R? up to 2.0 times from the initial value as a ramp func- tion of time during 1.5 sec revealed that the drop of the motor speed is limited within a 28 I Control Systems Magorine ~~ ~~ ~ small range and the robustness of the system has been recognized. In the high-speed op- eration over the base speed, the MRAC method exhibits a satisfactory transient re- sponse. The reference model output o,, grad- ually increases according to the second-order property. This avoids the sudden change of i$ necessary for acceleration. Therefore, the variation of the current commands becomes moderate, resulting in a slight discrepancy between the actual and command currents. Conclusion A newly proposed variable-speed drive system utilizing an optimal-speed regulator based on the exact model-matching method is described. The system is investigated un- der various conditions, and is recognized to have satisfactory operating characteristics, especially for the load torque change. pa- rameter variation. and a wide speed range operation. The design process of the control loop is simple enough and the well-designed CAD program can be utilized, which eman- cipates the designer from troublesome rep- etition of control parameter tuning. The application of modem control theory to power electronics technology is becoming an unavoidable process to attain a high-qual- ity control system, and is studied extensively to improve the conventional control meth- ods. Described herein is the trial to realize the robust and simplified controller for an induction motor drive. and almost all of the necessary calculations may be realized by introducing a high-speed microprocessor in an actual system. References [ I ] F. Blaschke. The Principle of Field Ori- entation as Applied to the New Transvector Closed-Loop Control System for Rotating Field Machines. Siemens Review, vol. 31, pp. 217-220, 1972. [2] A. Nabae and R. Kurosawa, A New ln- duction Motor Drive System Having a Con- stant Torque Transfer Function, Trans. [3] S. Sugimoto and E. Ohno. A New Induc- tion Motor Drive System Having a Linear Transfer Function, Trans. IEW. vol. 103B, pp. 31-38, 1983. [4] K. Ohnishi. H. Suzuki. and K. Miyachi. Decoupling Control of Secondary Flux and Secondary Current in Induction Motor Drive with a Controlled Voltage Source and Its Comparison with VoltlHertz Control, Con$ Rec. of IEEEIIAS. pp. 678-685. 1982. IS] M. Terashima, M. Nomura, T. Ashikaga, T. Nakamura. and K. Ohnishi, Fully Digital Controlled Decoupled Control System in In- duction Motor Drive, Cot$ Rec. of ICOX84, pp. 845-850, 1984. [6] B. K. Bose, Scalar Decoupled Control of Induction Motor. EEE Trans. on Indrrs- trial Applications. vol. 1A-20. pp. 216-225, 1984. [7] S. Tada, A. Kumamoto. and Y . Hirane, An Optimal Drive System of a Vector-Con- trolled Induction Motor Using Exact Model Matching, Preprint of IEET (Institute of Electrical Engineers of J apan), SPC-85-49, 1985. [SI K. Ichikawa, Construction of Adaptive Control System Based on an Exact Model Matching Technique, Trans. SICE. vol. 20, IEW. VOI. 98B, pp. 303-309, 1978. pp. 926-931.. 19M. Akira Kumamoto re- ceived the B.S.E.E.. M.S.E.E., and Ph.D. de- grees i n 1968. 1971, and 1983. respectively, from Kyoto University. Kyoto. J apan. Since 1971. he has been engaged in rescarch and development in power electronics at Kansai Uni- versity. Osaka, J apan. His current interest is in the application of control the- ory to power electronics and intelligent flexible automation. He is also interested in knowledge- based engineering. Dr. Kumamoto is currently with the Information Processing Branch, Faculty of Engineering. Kansai University. Satoshi Tada received the u I& = - - was in digital-controlled induction motor drive system research applying model reference adaptive control theory. He has been with Nissin Electric Co., Ltd., Kyoto, J apan, since April 1986. His current interest is in the application of modem control theory to electrical and mechanical power control systems. Yoshihisa Hirane gradu- ated from Hosei Univer- sity in 1956 and received the M.S.E.E. and Ph.D. degrees in 1959 and 1974, respectively, both from the University of Osaka Prefecture, Osaka, J apan. In 1959. he joined Kansai University where he has been working in the field of power electronics as a Professor in the Depart- ment of Electrical Engineering. He worked on sabbatical leave at the University of Bradford, En- gland. from 1976 to 1977. as an Honorary Visiting Research Fellow on thyristor control of electrical machines. He is currently interested in magnetic circuit application of power electronics. October I986 29