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Abstrud -This paper proposes a new strategy to estimate the current model and the desirable high speed attributes of the
rotor flux of an induction machine for the direct field oriented voltage model have been proposed[2-81. In this paper,
control. Electrical model of the induction machine presents the generalized analysis method named “observer characteristic
basic idea based on observer structure, which is composed of function method” is proposed to analyze all kinds of the linear
voltage model and current model. But the former has the defects flux observers in unified form. With the observer characteristic
in low speed range, the latter has the defects of sensitivity to function, the estimated rotor flux error involved in the classical
machine parameters. In spite of these shortcomings, the closed methods can be easily clarified. Moreover, the novel rotor flux
loop flux observer based on two models has been a prevalent observer based on this analysis is also presented and the
estimation method for the direct field oriented control. In this effectiveness of the observer has been verified by simulation
paper, generalized analysis method named ‘observer and experimental results.
characteristic function method” is proposed to analyze the kinds
of the linear flux observers in unified form. With the observer 11. FLUX OBSERVERS
characteristic function, the estimated rotor flux error involved in
the classical methods can be easily clarified. Moreover, the novel The analysis of observers for an induction machines can be
rotor flux observer based on this analysis is also presented and simplified considerably by the use of complex vector notation.
the effectiveness of the observer has been verified by the The complex quantities used in the paper are written in the
simulation and experimental results. form, f ” = fi + jy; and the superscripts “ A ” denotes
estimated quantities.
Index tenns: Induction Machines, Field Oriented Control, Flux
Observer, Observer Characteristic Function A. Voltage Model Flux Observer [2,4/
I. INTRODUCTION The voltage model utilizes the stator voltages and currents,
but not the rotor speed. It is commonly used to implement
The methods based upon stator voltage and rotor current direct field orientation without measured motor speed feedback
models are the traditional methods to estimate the rotor flux of for low cost drive application. From the stator voltage equation,
an induction machine. And their benefits and drawbacks are the stator flux can be estimated by the integration of the
well known. At high speed, the voltage model provides an following equation,
accurate stator flux estimate because the machine back EMF
dominates the measured terminal voltage. However at low ph: = v: -
speeds, voltage drop across stator resistance in stator voltage
equation becomes significant, causing the accuracy of the flux fiom which the rotor flux is then obtained by
estimate to be sensitive to the estimated stator resistance. Due
to that sensitivity and to inherent signal integration problems at
low excitation fiequency, direct field oriented control systems
based solely upon the voltage model are generally not capable
of achieving high dynamic performance at low and zero speed. B. Current Model Flux Observer[1,2]
Current model can make up the weak points of voltage
model[ 11. But the current model would be expected to have the From induction motor electrical dynamics, the governing
sensitivity to the rotor time constant and magnetizing equation of the open-loop rotor flux observer is (3).
inductance. The voltage model and current model are useful at
nominal and low speed, respectively. Many closed loop flux (3)
observers utilizing the desirable low speed attributes of the
(6)
Atcm : Estimated rotor flux fiom current model
where the A and B are the matrices containing the
information of piant., G is the gain matrix and
I;.;vm : Estimated rotor flux fiom voltage model
g , + j g , ,g , + j g , are complex gain vectors[5].
F(s) : Observer Characteristic Function
E. Reduced orderflux observer [7]
The observer characteristic functions of all linear flux
In full order observer, all the stator currents and the rotor observers can be summarized as Table 1 with some
flux are estimated. But, since the stator currents are already manipulation where c,are the complex numbers to variant
measured, only the rotor flux need to be estimated. Therefore with the rotor speed w, .
many researchers have studied reduced order observers. The
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3
Table 1. Observer CharacteristicFunctions where F ( s ) =
tl I f +
sz K p s K, + *
’.
axis
K~ = K , L , I L ~ , K=, K J ~ I ~ ~
C, .
: complex numbers to variant with rotor angular speed 0, See Appendix
U, =o
4
.
ale = w
b.
real
In the low speed range, all the linear observers using both axis
current model and voltage model assume that the real rotor
flux exists in the neighborhood of estimated rotor flux fiom the
current model because F ( s ) is nearly zero in the low speed
range. Similarly, in the high-speed range, all the linear
observers estimate the rotor flux in the neighborhood of
estimated rotor flux fiom voltage model because F ( s ) is
nearly unity in the high speed range. To estimate the rotor flux
in the mid-speed range, careful attention should be taken. The So, the estimated rotor flux trajectory according to the
best choice is to assume that the rotor flux exists on the line synchronous angular &equency is determined by (12) and
connecting the estimated flux from current model to the
shown in Fig. 4.
estimated flux ii-om voltage model as shown in Fig. 2.
I real axis
I real axis
Fig. 4. The trajectory of estimated rotor flux
Fig. 2. Optimal estimation trajectory
in case of “Improved Gopinath model”
IV. ANALYSIS OF FLUX OBSERVER USING In Fig. 4, it is easily seen that the estimated rotor flux
OBSERVER CHARACTERISTIC FUNCTION
trajectory is far fiom the optimal estimation trajectory shown
in Fig. 2 specially in the mid-speed range. So, the performance
In case of “Improved Gopinath model” proposed by of the “Improved Gopinath model” flux observer is much
Jansen[2], estimated rotor flux can be expressed as (1 1). deteriorated in case of parameter error and measurement error
especially in the mid-fiequency region. Similarly, the other
linear flux observers can be analyzed and also have the similar
problems with “Improved Gopinath model”.
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V. PROPOSED FLUX OBSERVER
i:
0,
.. Current Model
I lAr I
I
I
I
Fig. 7. Closed loop novel flux observer
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Flux error of the proposed model due to the o&et voltage estimated flux error of the proposed flux observer is nearly
and offset current is same as “Improved Gopinath model”. In same as that of “Improved Gopinath model” flux observer in
case of the full order and reduced order flux observers, the flux case of r, and oL, detuning. Considering that the tuning of
error can be analyzed and found as (1 7) and (1 8) respectively. r, and L, are more difficult than that of r, and OL, , the
proposed rotor flux observer is much superior to the
“Improved Gopinath model” in the real application.
Flux error(Wb):bal flux - estimated flux)
The steady state error due to the ofiet voltage is zero only
- c,
,
-:I
. ..
,
Proposed case
Cument model case
0.3
in “Improved Gopinath model” and proposed model, and the
flux error due to the o a e t current exists in all the linear flux
observers. The flux error levels of full order and reduced order 0.2
flux observer can be varied with the selection of the gain
matxice. So in these flux observers (full order and reduced
order flux observer), the necessity of accurately measured 0.1
voltages at low and zero speeds is expected to be significant
limitation for these observers at the implementation of real
0.0
system. 0 20 40 60 80
VII. SIMULATION synchronous speed(radls)
Fig. 9. Flux errors at = 1.4r, & 50% load condition.
In simulation and experiments, 22kW induction machine is Flux ermr(Wb):bal flux - estimated fluxl
used whose parameters are summarized in Table 2. In the
simulation and experiments, transition fiequency between
current model and voltage model is designed to be same, in ...l..-._
..l...-._
..ll.ll...... Proposed case
Current model case
both case “Improved Gopinath model” and proposed model. 0.3
.
......... ..............
.
I . .
.
, I .
.........:.....................................................
........Yi .........;
:
I
,
.
:
.
.
: ; j
0 20 40 60 80
In simulation and experiment, only the result of “Improved
Synchronqus speed(rad/s)
Gopinath model” flux observer compared with that of Fig.10. Flux errors at Lm= 0.7Lm & 50% load condition.
proposed flux observer. That is because similar result will be
Flux e r “ I ) : b l flux - estimated fluxJ
given with the other flux observers and the other flux
observers have the defects of ofhet voltage like the voltage
model as explained in section VI. Improved Gopinath case
. ~ . : : ,
The estimated flux errors (distance between the real flux and
the estimated flux) due to the parameter( r, ,L, ,r, and oL, )
-. 7 -:-
~-...
.
Proposed-
Current model case
and 10. Note that around the transition fiequency, the flux
0 20 40 60 80
error of “Improved Gopinath model” is larger than that of
Synchronous Speed(rad/s)
current model in Fig. 9 and 10. In Fig. 11 and Fig. 12, the Fig. 11. Flux errors at t, = 1.3r, & 50% load condition.
619
Flux Enum):wflux estimated flux/ -
1 P.U + Fig.14 and 15 are obtained under the no load conditions
. . l”vedGopinathcase (im= 0.7Lm),and the Fig.16 and 17 are obtained under the
--
..-... 4- , - r -4
..
........................
. -.- .
Proposed case
Current model case
50% load conditions(,; = 1.4r, ). In Fig.14-17, The flux errors
of the proposed flux observer are much smaller than those of
“Improved Gopinath model” flux observer in steady state (200
......... .......... and 1200 r/min) and even in the transient state (both the
accelerating and decelerating ranges).
0 20 40 60 80 0
synchrp”ous Speed(=W
Fig.12. Flux errors at d, = 1.9015, & 50% load condition.
Gopinath model” like the simulation results. In Fig. 14-17, the Fig.14. Characteristicsof“1mprovedGopinath model”, ( im = 0.7Lm,No load)
properties of dynamic and steady state can be confirmed, Detuned case of “Improved Gopinath model”.
where the speed control is performed under the conditions that Speed reference: 200r/mino1200r/min step changes
speed reference changes between 20Or/min and 120Or/min. Upper: d q regulated currents. Lower: flux errors.
I
. ‘ I
............
b.
1 . .
I o
1.3 Pu
(0.66 wbl
w
9o.M
E
-
-
.
............... * I
0
I I IW d b
Fig.13. Flux error at steady state Fig.15. Characteristicsof Proposed model, ( in= 0.7Lm,Noload)
Upper: Lm = 0.7LI & no load case, Lower: ?, = 1.4r, & 50 % load. Detuned case of proposed model.
Triangular data: detuned case of “Improved Gopinath model”. Speed reference: 2OOr/minol2OOr/minstep changes.
Circular data: detuned case of proposed model. Upper: d q regulated currents. Lower: flux errors.
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IX.CONCLUSION
In this paper, generalized analysis method named “observer
characteristic function method” has been proposed to analyze
all kinds of linear flux observers in an unified form. With the
observer characteristic function, the estimated rotor flux error
involved in the classical methods can be easily clarified.
1 . 1 1 1 1 1 1 1 Moreover, the novel rotor flux observer based on this analysis
is also presented and the effectiveness of the proposed
observer has been verified by simulation and experimental
results.
REFERENCES
Fig.17. Characteristics of Proposed model, ( F, = 1.4r, 50% load) Gain matrices are selected with reference to [5] and [7],
respectively.
Detuned case of proposed model. F(s) of ‘‘Full Order Observer[5J”
Speed reference 200r/mino1200r/min step change.
Upper: d q regulated currents. Lower: flux errors
62 1