Академический Документы
Профессиональный Документы
Культура Документы
2008
ABSTRACT
AC induction motors of different power ratings and sizes can be utilized in
applications ranging from consumer to automotive goods. A few of these applications
from the multitude of possible scenarios demand for high speeds while high torque at
low speeds only. A common everyday example with these mechanical requirements
is of the motor installed in a washing machine. This requirement can be addressed
through Field Oriented Control or the FOC of an Induction machine.
The objective of this Application Note is developing and implementing an efficient
Field Oriented Control (FOC) algorithm that could be implanted on Renesas SH7125
microcontroller to control the speed and torque of three phase asynchronous motors
more effectively and efficiently.
FOC: Field Oriented Control principles applied to an asynchronous motor are based
on the decoupling between the current components used for generating magnetizing
flux and torque. The decoupling allows the induction motor to be controlled as a
simple DC motor. The field oriented control implies the translation of coordinates
from the fixed reference stator frame to the rotating synchronous frame. This
translation makes possible the decoupling of the stator current into two components,
which are responsible for the magnetizing flux and the torque generation.
Hamid KHAN
CONTENTS
Introduction ................................................................................................................. 5
1. Background .......................................................................................................... 6
1.1. AC Induction motor ........................................................................................ 6
1.1.1. Induction Machine Electrical Equations .................................................... 7
1.2. Three Phase Induction Motor ......................................................................... 7
2. Vector Control of Induction Machines ................................................................... 8
2.1. Introduction .................................................................................................... 8
2.2. FOC ............................................................................................................... 8
2.2.1. FOC Theory ............................................................................................. 9
2.3. The FOC Algorithm ...................................................................................... 11
3. MATLAB simulation of FOC ................................................................................ 12
3.1. Introduction .................................................................................................. 12
3.2. System Overview ......................................................................................... 12
3.3. Block FOC .................................................................................................... 12
3.3.1. Flux Estimator ........................................................................................ 13
3.3.2. Calculation ........................................................................................ 13
3.3.3. Park Transformation ............................................................................... 13
3.3.4. Inverse Park Transformation .................................................................. 13
3.3.5.
Calculation ........................................................................................ 13
3.3.6. Flux PI .................................................................................................... 13
3.3.7. Current Regulator ................................................................................... 13
3.4. SIMULINK model of FOC ............................................................................. 15
3.4.1. SIMULINK Block FOC ............................................................................ 16
3.5. SIMULINK sub FOC bocks .......................................................................... 16
3.6. FOC Simulation Results ............................................................................... 18
4. FOC Speed Regulator ........................................................................................ 20
4.1. Introduction .................................................................................................. 20
4.2. MATLAB simulation of FOC Speed Regulator ............................................. 20
4.2.1. Speed Controller .................................................................................... 20
4.2.1.1. Flux Table ............................................................................................ 21
4.3. FOC Speed Regulator Simulation Results ................................................... 22
Conclusion ................................................................................................................ 24
Reference.................................................................................................................. 25
Hamid KHAN
LIST OF FIGURES
Figure 1 : Classification of Electrical Motors................................................................ 6
Figure 2 : Phasor Diagram describing FOC Scheme .................................................. 9
Figure 3 : Complete Schematic Diagram................................................................... 12
Figure 4 : Block FOC ................................................................................................. 12
Figure 5 : Operational Principle of Hysterysis Modulation ......................................... 14
Figure 6 : Typical Hysterysis Current Controller ........................................................ 14
Figure 7 : Current Controller Bandwidth Hysterysis ................................................... 15
Figure 8 : Simulink Model of FOC ............................................................................. 15
Figure 9 : Block FOC ................................................................................................. 16
Figure 10 : Flux Estimator ......................................................................................... 16
Figure 11 : Flux Orientation Calculation .................................................................... 17
Figure 12 : Flux PI ..................................................................................................... 17
Figure 13 : i Calculation .......................................................................................... 17
Figure 14 : Current Regulator .................................................................................... 17
Figure 15 :Result FOC 1 ........................................................................................... 18
Figure 16 :Result FOC 2 ........................................................................................... 18
Figure 17 :Result FOC 3 ........................................................................................... 19
Figure 18 : FOC with Speed Controller ..................................................................... 20
Figure 12 : Speed Controller Block............................................................................ 21
Figure 21 : Result Speed Regualation 1 .................................................................... 22
Figure 22 : Result Speed Regualation 2 .................................................................... 22
Figure 23 : Result Speed Regualation 3 .................................................................... 23
Figure 24 : Result Speed Regualation 3 .................................................................... 23
Hamid KHAN
Introduction
AC Induction motors offering desirable operational characteristics such as
robustness, reliability and ease of control; are extensively used in various
applications ranging from industrial motion control systems to home appliances.
Until a few years ago the AC motor could either be plugged directly into the mains
supply or controlled by means of the well-known scalar V/f method. When power is
supplied to an induction motor at the recommended specifications, it runs at its rated
speed. With this method, even simple speed variation is impossible and its system
integration is highly dependent on the motor design (starting torque vs. maximum
torque, torque vs. inertia, number of pole pairs). However many applications need
variable speed operation. The scalar V/f method is able to provide speed variation
but does not handle transient condition control and is valid only during steady state.
This method is most suitable for applications without position control requirements or
the need for high accuracy of speed control and leads to over-currents and overheating, which necessitate a drive which is then oversized and no longer cost
effective.
The last few years have seen rapid growth in the field of electrical drives. This
growth can be attributed mainly to the advantages offered by semiconductors in both
power and signal electronics; hence giving rise to powerful microcontrollers and
DSPs. These technological improvements have allowed the development of very
effective AC drive controls marked with lower power dissipation hardware and
increasingly accurate control structures. Using three phase current and voltage
sensing has made the electrical drive controllers even more accurate.
This application note describes the efficient scheme of vector control - the Field
Oriented Control (FOC). On application of this control structure to an AC machine,
with a speed/position sensor coupled to the shaft, the AC machine acquires every
advantage of a DC machine control structure i.e. a very accurate steady state and
transient control along with higher dynamic performance.
Hamid KHAN
1 Background
Electric Motors
AC
Asynchronous
DC
Synchronous
Brushless DC
Induction
Sinewave
Hysteresis
Squirrel Cage
Wound Motor
Step
Reluctance
Figure 1: Classification of Motors
1.1
AC induction motor
The AC induction motor is a rotating electric machine designed to operate from a 3phase source of alternating voltage. Asynchronous motors are based on the
induction principle. The extreme simplicity and ruggedness of the squirrel cage
construction are outstanding advantages of this type of induction motor which make
it by far the most commonly used type of motor. In these types of induction motors
aluminium conductors or bars are cast into slots in the outer periphery of the rotor.
These conductors or bars are shorted together at both ends of the rotor by cast
aluminium end rings. For variable speed drives, the source is normally an inverter
that uses power switches to produce approximately sinusoidal voltages and currents
controllable in terms of frequency and magnitude.
Like most motors, an AC induction motor has a fixed outer portion, called the stator
and a rotor that spins inside, with a well-optimized air gap between the two. All
electrical motors except a three phase induction motor use magnetic field rotation to
spin their rotors. In a three phase AC induction motors the rotating magnetic field is
generated in the stator by virtue of the nature of the supply.
In an AC induction motor, one set of electromagnets is formed by virtue of the AC
supply connected to the stator windings. As per the Lenzs law the alternating nature
of the supply voltage induces an Electromagnetic Force (EMF) in the rotor (just as
voltage is induced in the secondary transformer), thus generating another set of
electromagnets; hence the name induction motors. Interaction between the
magnetic fields produced by these two electromagnets a revolving force or torque is
generated, causing the motor to rotate in its own direction.
Hamid KHAN
= +
0 = +
+ ( )
0 = +
( )
( )
2
Where
= +
= +
= +
= +
90% of the three-phase AC Induction motors are squirrel cage motors because of
their lower cost and higher capability of starting heavier loads in comparison with
wound-rotor motors. Induction motors with power ratings ranging from one-third to
hundred horsepower can be commonly found.
The wound-rotor motor is a variation of the squirrel cage induction motor. While the
stator construction is same as that in the squirrel cage type motor, the rotor has a set
of windings on the rotor which are not short circuited, but are terminated to a set of
slip rings. These are helpful in adding external resistors and contactors.
Hamid KHAN
2.2 FOC
FOC involves controlling the components of the motor stator currents, represented
by a vector, in a rotating reference frame (with a d-q coordinate system). In a special
reference frame, the expression for the electromagnetic torque of the smooth-air-gap
machine is similar to the expression of torque in a separately excited DC machine. In
the case of induction machines, the control is normally performed in a reference
frame aligned to the rotor flux space vector. To perform the alignment on a reference
frame revolving with the rotor flux requires information about the modulus and the
space angle (position) of the rotor flux space vector.
Hamid KHAN
In order to estimate the rotor flux vector either of the below mentioned strategies can
be adopted:
DFOC (Direct Field Oriented Control) In this strategy rotor flux vector is either measured by means of a flux sensor
mounted in the air-gap or by using the voltage equations starting from the
electrical machine parameters.
IFOC (Indirect Field Oriented Control)In this strategy rotor flux vector is estimated using the field oriented control
equations (current model) requiring a rotor speed measurement.
dr = r
qr = 0
q-axis
iqs
is
d-axis
r
ids
sl
f = r + sl
Stator Reference
=0
Hamid KHAN
And =
Hence the flux equation gets reduced to:
r =
Lm
(ids )
1 + Tr s
( )
( )
2
To monitor the three-phase stator currents and speed, the motor must be equipped
with sensors and a speed feedback device such as a tachometer respectively.
Hamid KHAN
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Hamid KHAN
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r*
Gate
Signal
s
FOC
ASIM
iabc
Fig
Figure
3: Complete Schematic Diagram
PI
Flux Controller
ds
Inverse Park
Transformation
abc
Current
Regulator
dq
Calculation
Gate
Signal
i qs
i abc
Park
Transformation
i ds
Flux Estimator
Calculation
Hamid KHAN
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r =
Lm
(ids )
1 + Tr s
3.3.2 Calculation
This block is used to find the phase angle of the rotor flux rotating field using the
following equations.
= + From which it can be established that,
=
+
= +
Therefore,
= ( + ) With =
3.3.5 Calculation
This block uses the calculated rotor flux and the torque reference to compute the
stator current quadrature component required to produce the electromagnetic torque
on the motor's shaft.
3.3.6 Flux PI
This block compares the estimated rotor flux and the reference rotor flux as the input
to a Proportional Integrator which calculates the flux to be applied to the motor which
in turn is used to compute the stator current direct component required to produce
the required rotor flux in the machine.
Hamid KHAN
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Figure 6 details the hysteresis current control modulation scheme, consisting of three
hysteresis comparators, one for each phase.
Hamid KHAN
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The green colour represents the already existing SIMULINK models of the
hardware used to implement the FOC scheme namely the motor and the
inverter.
Blocks in orange represent probes used for current acquisition and to
observe the electromagnetic Torque.
The blue block is the software i.e. the FOC algorithm to be implanted in the
microprocessor.
The reference values of torque and flux are in red.
The file paramfoc.m contains all the machine and control parameters used in the
FOC block, namely:
Machine Parameters:
Lm - Mutual Inductance
Rs - Stator Winding Resistance
Lls - Stator Leakage Inductance
Rr - Rotor Winding Resistance
Llr - Rotor Leakage Inductance
Hamid KHAN
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FOC Parameters:
kp - Proportional Gain (flux PI)
ki Integral Gain (flux PI)
csat - Flux output limits
h - hysteresis band of the Current Regulator
freq_max - Maxing Switching frequency
fc - low pass - filter cut-off frequency used in Flux PI block to filter the
estimated flux
Tfc - sampling time of the FOC block which must be a multiple of the
simulation time step.
These machine and control parameters can be modified for different machines to
achieve desirable performance.
In addition to the different blocks discussed above which make up the complete FOC
block, other blocks have also been used to discretize it. The switching control
block is used to limit the inverter commutation frequency to a maximum value
specified by the user.
Hamid KHAN
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Before being compared to its reference value the estimated flux value is filtered by
passing it through a low pass filter.
( )
to calculate i*qs.
Hamid KHAN
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Torque (N-m)
1) For Ts=1s
Time (seconds)
Figure 15: Result FOC 1
An error of 2% is observed.
Torque (N-m)
2) For Ts=10s
Time (seconds)
Figure 16: Result FOC 2
Hamid KHAN
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Torque (N-m)
3) For Ts=100s
Time (seconds)
Figure 17: Result FOC 3
For this case the error ranges from -50% to +13%, but for most of the time it
oscillates between -25% to -5%.
Hamid KHAN
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Hamid KHAN
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The speed controller block contains Speed PI block and the Flux table block. The
Speed PI block is an ordinary PI regulator with the speed error signal calculated from
the comparison of the Speed Reference value and the actual speed as its input. The
torque reference value is its output which is then provided to the FOC block as input.
4.2.1.1 Flux Table
The Flux Table contains the flux values corresponding to different speeds, which is
based on the fact that at low speed high torque is required and at high speed low
torque is required. Since torque is proportional to the machine flux, so at high speed
a fraction of the nominal machine flux is used while at very low speed the machine is
magnetized at the nominal flux to induce high torque.
Hamid KHAN
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Speed (rpm)
1) Simulation result # 1
Time (seconds)
Figure 20: Result Speed Regulation 1
Speed (rpm)
2) Simulation result # 2
22
Speed (rpm)
Time (seconds)
Figure 22: Result Speed Regulation 3
Speed (rpm)
4) Simulation Result # 4
Time (seconds)
Figure 23:
2 Result Speed Regulation 4
Hamid KHAN
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CONCLUSION
The simulation results validate FOC as a very powerful machine torque control
scheme with exceptional dynamics. Not only is the reference torque attained in less
than 8m seconds; a good torque control for both sampling times of the order of 1s
and 10s are also achieved. The degraded performance for a sampling time of
100s order can be justified as the rotor time constant is no longer very small in
comparison to the sampling time.
The results obtained for the Speed Regulator; the speed regulators minimal error
margin of 1%, under both loaded and unloaded condition, for a sampling time as
large as 100s bears further testimony to the capability of vector control technique.
The low speed error can be attributed to the machine shaft inertia which filters out
any sharp impact on the speed caused by an oscillating torque.
By redefining the maximum torque and acceleration limit parameters the rise time
could also be modified easily.
This application note elaborates how by using the developed SIMULINK model of the
FOC Speed Regulator can be adapted to the various application requirements by
simply modifying the control parameters in the MATLAB file paramspeed.m.
Hamid KHAN
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REFERENCE
1.
2.
3.
4.
5.
6.
Hamid KHAN
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