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Abstract: A general approach to direct torque and flux control of 2. Mathematical Background for Direct
induction motor fed by VSI is presented in the paper. The inverter Torque and Flux Control
switching patterns are generated as a function of the reference
values both of the electromagnetic torque and of the controlled As it is well known, by means of space vectors, an induction
flux. In particular, the proposed control algorithm is independent motor can be mathematically described in terms of complex state
on which kind of flux is controlled, rotor or stator one. The results variables. Thus, denoting with x the state vector, the state space
obtained by means of a real time simulation show that the representation of the mathematical model of an induction motor
proposed control strategy allows to obtain a very fast and accurate can be expressed in the classical form by:
response of the drive.
X = AX+BU (1)
0 I997 IEEE
7803-3773-5/97/$10.00
642
TABLE I
Elements of the matrices A and B according to the choice of the second state variable
a1 1 a12 a2 1 a22 bl b2
-as - ar a r -.ip@r 1 1
-
lms
1- k,kr + jP@r 1 - k,kr -a, 0
Lt (1 - kskr ) L,
'mr
1, stator leakage inductance tude, by fully taking into account the dynamics both of the stator
r,. rotor resistance referred to the stator and rotor circuits. Moreover, by means of the same relations, an
r,. stator resistance algorithm which takes into account the digital behaviour of the
L, air gap inductance power devices of the feeding inverter can be carried out. In fact,
U,. motor speed. with reference to an induction motor fed by VSI with classical
topology, the set of feasible inverter output voltage space vectors
The electromagnetic torque produced by an induction motor, is a discrete one, and, unfortunately, none of its elements is
having m!r stator phases, is given by [ 11: generally exactly equal to the voltage space vector which gives
rise to the imposed values both of the electromagnetictorque and
of the controlled flux. Therefore, an adequate modulation strat-
T = -3 p
2
- } 3 ~ L m~m{i,ymS)
~ , ,Im{ is imr = -
2kS
egy within each sampling interval is required, in order to achieve
the best tracking of the reference values both of the torque and of
the flux. A procedure which allows the analytical determination
where p and m, the pole pairs and the number of stator phases of the switching pattern, starting from the reference values of the
respectively represent. Denoting with Ts the length of the time torque and of the rotor flux, has been described in [8]. Unfortu-
interval occurring between two consecutive switching patterns nately it implies the solution of a nonlinear equation, which
ofthe feeding inverter, with the subscript n the values of all quan- represents a very hard task in terms of computation time. But a
tii:ies at the instant nT, , and assuming constant the velocity of great simplification can be achieved by turning over the way to
the motor in this interval, the solution of (1) at the instant (n+l)T, approaching the problem.
is explicitly given by: In fact, by means of (2), (3) and (4) the values of the torque and
flux at the instant (n+I ) T, can be predicted for all possible voltage
x,+l = exp(AT,)x, + A-'[exp(AT,)- 1]Bu, space vector vk , which can be supplied by the inverter. It yields:
(3)
where I is the identity matrix and where the evaluation of with k ~ { l...,
, 6}
Vk =
exp(AT,) can be performed by means of Sylvester's theorem,
having A two distinct complex eigenvalues A, and 4.It yields: vg = 0
exp(AT,) =
r,
exp(A 1 T,)(A - A 2 I ) - exp(R2 )(A - 11) with V dc bus voltage.
dc
Assuming both torque and flux as linear function of the time
(4)
a1 -a2
643
/
+
read T* #*
computation of
I I1
+ i = 1, ...,6 j = i+l
b--- i = 0,...,6
Ti,n+I<T* Tj,n+l'T*
-
vi for aiTs
vJ. for
qTs
.
T* -q,n+i
a. = aJ -
' l-ai
-
I ?,*+I - q,n+1
I
determination of V h
1 v
no
evaluation of stator current
stator current and of flux deviation
vectors for which
evaluation
the stator current doesn't exceed
the maximum allowable value 1
stator current
exceed the maximum
no 1
within each sampling interval [7], [SI ,the switching pattern can assumed. It is worth to single out that in fig.3 only the values
be step by step correlated with the torque and flux value, at each corresponding to the sampling instants have been plotted. The
samplinginstant. Thus, by means of (2),(3) and (4), amodulation inspection ofthis figure show that the motor torque and flux track
strategy can be set up having the goal to give rise to the minimum very well the reference ones, at low frequency too. But, if also
deviations with respect to the reference values both of the torque the torque and current values within each sampling interval are
and of the flux. The corresponding flowchart is shown in fig.2. considered, the curves of fig.4 are obtained, where a little but
negligible torque ripple appears. Fig.5 shows the stator and the
rotor flux, which are practically not affected by ripple. Stator and
4. Results rotor flux control give almost the same results. In particular, if on
the one hand stator flux control exhibits a little bit smaller
In order to analyse the performances which can be achieved harmonic content of the stator current, on the other hand the
by means ofthe proposed controller, a simulationprogram of the correspondingtorque response is a little bit slower, as shown in
control schema of fig. 1has been carried out. The electromagnetic fig.6. Similar results are obtained if a lower sampling frequency
and the stator current are depicted in fig.3, for the inductionmotor is considered, as it is confirmed by the inspection of figs.7,S and
of Table 11,having 11kWpower rating. Both rotor and stator flux 9, where the results corresponding to 1 kHz sampling frequency
control have been examined. A quadratic load torquelspeed are shown. Again, it is interesting to single out that ifthe proposed
characteristic and a 10 kHz sampling frequency have been controller allows a vehy good control of the motor torque at each
644
1.5 I-
I
c:
v
3.
n
1.2 5
w
3
0
1 I
o " ' ~ ' ~ " ~ ~ ~ " ' " ' ' " ' ' ' ~ 0
0.3 0.32 0.34 0.36 0.38 0.4 0.3 0.32 0.34 0.36 0.38 0.4
TIME (s) TIME (s)
1.5 1 1.5 I I
,-
3
0.75 -i 0.75
c-
*_ v
n
e- E-
:z
L-l
o 2
W
0
cz e!
cz e!
:3 3
cJ -0.75 -0.75
-1.5 -1.5 3
0 0.34 0.35 0.36 0.37
TIME (s)
Fig.3. Electromeagnetic torque and stator current obtained with the proposed controller for the induction motor of Tab.11 and for a 10 kHz sampling
frequency. In (a) the controlled flux is the rotor one while in (b) the controlled flux is the stator one. Only the values at the sampling instants have been plotted.
L I
o ~ ' " " ' ' " ' " ' ' " ' " ' ' ' ( ~ ' ' ' 4 ' ' * ' L a ' L ' * ' c '
0.3 0.32 0.34 0.36 0.38 0.4 0.3 0.32 0.34 0.36 0.38 0.4
TIME (s) TIME (s)
1.5 , I 1.5
-1.5 -1.5
0.:34 0.35 0.36 0.37 0.34 0.35 0.36 0.37
TIME (s) TIME (s)
Fig.4. As in fig.3, but also the values within the sampling interval are plotted.
645
-1m
iIm ROTOR FLUX @.U,) ROTOR FLUX (p U,)
STAT0RFLUXb.u.)
i Im
STATORFLUX(p.u.)
f
Fig.5 , Rotor and stator flux obtained with the proposed controller for the induction motor of Tab.11 and for a 10 kHz sampling frequency. In (a) the controlled
flux is the rotor one while in (b) the controlled flux is the stator one. Also the values within the sampling intervals have been plotted.
646
1.5 I 1.5 I
o ~ " " " " ' " " " " " " " ' ~ o ~ ~ " " " " ' " ' ' " ' ' ' " ' ~
0.3 0.32 0.34 0.36 0.38 0.4 0.3 0.32 0.34 0.36 0.38 0.4
TIME (s) TIME (s)
1.5 I I
-1.5r " " J " " " " I -1.51' " ' I " " I ' " ' 1
0.34 0.35 0.36 0.37 0.34 0.35 0.36 0.37
TIME (s) TIME (s)
Fig.7. Electromeagnetic torque and stator current obtained with the proposed controller for the induction motor of Tab.11 and for a 1 kHz sampling frequency.
In (a) the controlled flux is the rotor one while in (b) the controlled flux is the stator one. Only the values at the sampling instants have been plotted.
1.5 6 1.5 L I
1.2
-
?
1.2
0.9 ,a 0.9
w
3
0.6 0.6
2
0.3 0.3
O N 0
0.3 0.32 0.34 0.36 0.38 0.4 0.3 0.32 0.34 0.36 0.38 0.4
TIME (s) TIME (s)
-
a
c
0.75
i
L
E
-1.51 ' ' ' ' ' ' ' ' I . , ' ' ' 1 -1.51' " " " " " " ' 1
0.34 0.35 0.36 0.37 0.34 0.35 0.36 0.37
TIME (s) (s)
Fig.8. As in fig.3 but also the values within the sampling interval are plotted.
647
(4
I" ROTOR FLUX @.U,)
(b)
1" ROTORFLUX(p.u.)
Fig.9. Rotor and stator flux obtained with the proposed controller for the induction motor of Tab.11 and for a 1 kHz sampling frequency. In (a) the controlled
flux is the rotor one while in (h) the controlled flux is the stator one. Also the values within the sampling intervals have been plotted.
[ 3 ] M. Depembrock, "Direct Self-Control (DSC) of lnverter- [5] I. Takahashi and Y. Ohmori, "High-Performance Direct
Fed Induction Machine", IEEE Trans, on Power Electron- Torque Control of an Induction Motor", IEEE Trans. on
ics, vol. 3, no. 4, Oct. 1988, pp. 420-429. Industry Applications, vol. 25, no. 2, Mar./Apr. 1989, pp.
[4] 1. Takahashi and T. Noguchi, "A New Quick-Response and 257-264.
High Efficiency Control Strategy of an Induction Motor", [6] T.G. Habetler and D.M. Divan, "Control Strategies for
IEEE Trans. on Industry Applications, vol. 22, no. 5, Sept./ Direct Torque Control Using Discrete Pulse Modulation",
Oct. 1986, pp. 820-827. IEEE Trans. on Industry Applications, vol. 27, no. 5 , Sept.1
Oct. 1991, pp. 893-901.
Tab. I1 [7] C. Attaianese and A. Perfetto, "Microprocessor Voltage
Tested motor data Control of lnverter-Fed Asynchronous Motors", Proceed-
ings of the Con$ PESC'93, Seattle (USA), June 1993.
fkW1 11 rs [QI 1.078 [8] C. Attaianese, A. Del Pizzo, 1. Marongiu and A. Perfetto,
"Microprocessor Direct Torque Control of Inverter-Fed
v, [VI 3 80 7: P I 0.898 Asynchronous Motors", Proceedings of the Con$ AMC'94,
Berkeley (USA), March 1994.
J [kgm21 0.1 Is [HI 0.093
[9] C. Attaianese, A. Damiano, I. Marongiu and A. Perfetto, "A
P 2 1: [HI 0.093 Direct Torque Control Algorithm Imposing the Mechanical
Response of Speed Controlled Induction Motor Drives",
0.025 L m [HI 0.236 Proceedings of the IEEE Int. Symp. on Industrial Electron-
ics ISIE'96, Warsaw (Poland), June 1996.
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