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NOMENCLATURE
Components of stator current vector in the
rotor flux oriented frame.
Magnetizing current.
Components of stator voltage vector in the
rotor flux oriented frame.
Electromagnetic torque.
Rotor flux.
Angular speed of motor.
Rotational speed.
Amplitudes of maximum stator current and
maximum stator voltage.
ZSdlim, iSqlim Limits of stator current components.
VSdlim, VSqlim Limits of stator voltage components.
$Rnom, $Rapt Nominal value and optimal value of rotor
flux.
Maximum torque (depends on speed).
Maximum mechanical power.
Saturated mutual inductance.
Leakage inductances of stator and rotor
winding.
Resistances of stator and rotor winding.
Number of pole pairs.
Manuscript received March 23, 1994; revised January 6, 1995.
H. Grotstollen is with the Department of Electrical Engineering, University
of Paderbom, D-33095, Paderbom, Germany.
J. Wiesing was with the Department of Electrical Engineering, University
of Paderbom, D-33095, Paderbom, Germany. He is now with LUST Antriebstechnik, D-3563 1 Lahnau, Germany.
IEEE Log Number 9412497.
I. INTRODUCTION
GROTSTOLEN AND WIESING TORQUE CAPABILITY AND CONTROL OF A SATURATED INDUCTION MOTOR
375
In this paper, all aspects concerning operation of an induction motor in a speed region limited only by mechanical
stress are considered together and based on this a rotor flux
oriented control strategy is presented refemng to [ l l ] and
[12]: In Section 11, the torque capability of the saturated
motor is determined for the whole speed range considering
constant limits of current and voltage. At the same time,
control strategies are obtained which allow the utilization of
the maximum attainable torque at all speeds. The possibility
and the suitability of optimizing the efficiency at partial load
is discussed in Section JD.In Section IV, all basic knowledge
derived earlier is implemented in a rotor flux oriented control
scheme which is applied in combination with a voltage source
PWM inverter. Phenomena which can disturb the control are
explained and countermeasures are suggested. In Section V,
the performance of the new control scheme is verified by
experimental results obtained with a 3-kW spindle drive, for
which the maximum speed is more than five times the rated
speed.
11. TORQUE
CAPABILITY OF THE
INVERTER-FED INDUCTION MOTOR
316
701
TABLE I
DATAOF INVESTIGATEDSPINDLE
DRIVE
1
Unit
Inverter:
Motor:
.
5
2.5
7.5
10
12.5
15
17.5
20
Parameter
dc link voltage
maximum phase voltage (amplitude) usmax
maximum current (amplitude) ismax
rated power (data sheet)
rated current (amplitude) isnom
maximum speed R
M
~
~
~
stator resistance Rs
rotor resistance RR
stray inductances Ls,, = L R ~
mutual inductance (nominal) Lmnom
inertia (load included)
100
300 v
173 V
38 A
3 kW
21 A
SO00 r/min
0.212 R
0.221 R
1.24 mH
30.1 mH
0.04 kgm2
(3)
$R
= Lm * i S d .
(4)
L , = L,(im)
L,
+ Lae-aam
. - Lpe-Pim .
(5)
+ i z q = ;2
and (3) through (6), the flux and the torque are calculated
that appear when the decomposition of the current into its
d- and q-components is varied. Since the voltage equations
do not need to be considered, unique results are achieved
which are independent of speed. In Fig. 3, the torque of the
investigated drive is plotted as a function of the flux. This
is because the flux magnitude will be used as reference for
the suggested flux oriented control scheme. Curves with and
without considering saturation are given to demonstrate the
magnitude of the error which is made when saturation is
ignored. In particular it becomes obvious that under conditions
of saturation an accurate setting of flux is required when
maximum torque must be achieved. Evidently the error which
is made by neglecting saturation depends on the current limit
is investigated.
and will be smaller when the case is = isnom
In the following text, the torque curve of Fig. 3 is referred
to as the current limit curve and the area below this curve
in which the permitted current is not exceeded is called the
permitted operating area.
In the next step the torque is investigated by considering
only the voltage limit established by
vzd
+ vgq =
= const.
(8)
Flux and torque of the motor that would appear when the
maximum voltage is applied are calculated for varying de-
GROTSTOLLEN AND WIESING: TORQUE CAPABILITY AND CONTROL OF A SATURATED INDUCTION MOTOR
311
378
When efficiency optimization is applied without any limitation, large changes of the required torque will require large
corresponding flux changes. These changes progress slowly
because the flux control is slow by nature and the voltage
is at its limit. For this reason efficiency optimization by flux
variation should be limited to the region where the torque and
the current are high and where it is important to minimize the
copper losses.
"
0.'02
O.b4
0.b6
0.'08
0::
0.'12
0.'1\4'
,0.5
Jn.
GROTSTOLLEN AND WIESING: TORQUE CAPABILlTY AND CONTROL OF A SATURATED INDUCTION MOTOR
319
isqlim
is
380
42.0
gow
7.0
ni
S O
280
v
/'
.ow
10
0.0--
s
h
-7.0-"
-14.0--
140
-21.0::
2
8
.
0
:
:
00
-35.0..
-15M
-7.0
1:O
2'0
3'0
4:O
5'0
42.0-
Time (s)
(a)
0.7
01
~~
00
1'0
2'0
3'0
Time (s)
4'0
5'0
(b)
>
0).
V. EXPERIMENTAL RESULTS
To demonstrate the operation and the performance of the
new control scheme, the spindle drive was investigated with
an inertial load.
7.0
.350i
-420
+
0.0015
Time (s)
(b)
GROTSTOLLEN AND WIESING: TORQUE CAPABILITY AND CONTROL OF A SATURATED INDUCTION MOTOR
[4]
[5]
[6]
0.0
012
006
018
0.24
03
Time (s)
[7]
(a)
[8]
[9]
[lo]
0 07
00
006
012
018
Time (s)
024
03
[ll]
[ 121
(b)
Fig. 10. Dynamic response of voltage control at acceleration started from
n~ = 100 r/min. (a) Voltage error not limited. (b) Voltage error limited to
5 v.
[ 131
381
Horst Grotstolen (M95) received the 1ng.grad. from Staatliche Ingenieurschule, Duisburg,
Germany, in 1960, the Dip1.-Ing. from RheinischWestfaelische Technische Hochschule, Aachen,
Germany, in 1965, and the doctorate degrees
in electrical engineering from the Technische
Universitaet, Berlin, Germany, in 1972.
He habilitated at the Universitaet ErlangenNuemberg, Germany, in 1982. From 1965 to 1970,
he joined AEG, where he developed electrical
servo drives in the Frankfurt Research Center, and
investigated drive problems in the Department of Industrial Equipment in
1970. From 1973 to 1981, he was the Chair for Electrical Drives and Chief
Engineer, University of Erlangen-Nuemberg, where he was teaching the
subjects of electrical machines and power electronics. His area of research
was servo drives with permanent magnet synchronous motors. Since 1981, he
has been a professor in the Department of Electrical Engineering, University
of Paderborn, Germany. His current research interests are in the digital control
of ac drives and in switch mode power supplies.