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Abstract - A new feedback current controller for three-phase achievement is the accurate knowledge of rotor dynamics and
pulse width modulated power inverters is presented. To achieve parameters, which is a difficult task. The use of learning
robustness against load parameter variation, fast dynamical through examples algorithms can be a powerful tool for
response, reduced switching frequency and simple hardware automatic modelling variable speed drives [3]. They can
implementation, a three-level hysteresis sliding mode controller
extract a functional relationship, representative of the drive
is used. The voltage vectors applied to the load are accurately
selected in order to minimise the current error. Controller behaviour, without accessing the rotor variables [4]. Since
structure based on simple analog-digital hardware is shown and this functional relationship is extremely complex it is
experimental results are presented. The results of a desirable to conjugate these algorithms with other
comparative study ilustra1:e the performance of the proposed procedures, such as internal control loops. Provided that is
controller with other known controllers. possible to assume controlled stator currents, in a sufficient
small time scale, the drive mathematical model can be
I. INTRODUCTION simplified and also the learning algorithm.
Variable speed drives (Fig. l), equipped with squirrel-cage For operation and security reasons an internal control loop
induction machines, play a key role in modern industrial for the ac-machine stator currents is usually considered. The
applications. The benefit; of using this type of machine - overall performance of the drive is greatly influenced by the
high reliability and low maintenance - make it widely used power inverter strategy. The adopted strategy plays a key role
through various indwtrial processes, with growing in high-performance ac-motors variable speed drives, which
performance demands. need a fast and accurate control of the motor stator current.
Elaborated control methods [ 1,2] achieve good dynamic
performance. However, an essential condition for this
1
Fig. 1. Schematic: representation of the PWh4 power inverter-fed induction motor variable speed drive system
exactly de\fmed. Eib >0 ; &ic <0 3 l&ibl < l&icl or > I&icl (6)
Sib >0 ; &ic > IEibl> l&icl
TABLE I1
THREE-LEVEL COMPARATORS RESULTS AND CORRESPONDING
OUTPUT VOLTAGE VECTORS
(7)
The ap current errors, defined in (3), and the above The IGBT power inverter load considered for this section
additional condition - I E , ~ ~> Iqc/ - are used as a digital word was a 3-phase inductive load, with L=0,014H, R=lR,
which, via an EPROM look-up table, selects the appropriate E=lOOsin(2nft), where f=37,5Hz.
output voltage vector, by generating the switching pulses S,,
S, and S,. The schematic representation of the proposed Fig. 4 shows the waveforms for the two two-level
methodology is presented in Fig. 3 , where analog amplifiers hysteresis comparators controller [SI and for the proposed
and comparators are used to code the controller EPROM controller, considering a low value of power inverter input dc
inputs. The accuracy of the current generation is voltage - E. For this available voltage the proposed controller
determinated by the width of the hysteresis zone in the is able to keep the system in sliding mode, while the
three-level comparators. controller using a pair of two-level comparators (and
consequently only four output voltage vectors) is not.
IV. SIMULATION AND EXPERIMENTAL RESULTS Thorough the accurate use of all voltage vectors the proposed
methodology needs a lower dc input voltage value, than the
Simulation and experimental results are shown to controller using only four output voltage vectors, to keep the
demonstrate the performances of the proposed control system in sliding mode.
methodology.
0.0 0.4 0.8 1.2 1.6 2.0 2.4 2.8 3.2 3.6 4.0
i - ! I Time [msec]
0.0 0.4 0.6 1.2 1.6 2.0 2.4 2.6 3.2 3.6 4.0
Time [msec]
1.0, ,
Time [ m i e c l
(b)
(b> Fig. 4.2. Simulated waveforms for the proposed controller
Fig. 4.1. Simulated waveforms for the two two-level (a) Output voltage vectors
comparators controller (b) Output currents and their references
(a) Output voltage vectors
(b) Output currents and their references
Error-alfa [pu]
-1,o J ' J
Time [msec]
REFERENCES