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Performance Analysis of a Cost Effective 4-Switch 3-Phase Inverter Fed IM Drive

M. Nasir Uddin, T. S. Radwan, and M. A. Rahman
developed control system failed to attract the industry. Thus, the main issue of this paper is to develop a cost effective, simple and efficient high performance IM drive. Most of the reported works [4] on 4S3P inverter for motor drives did not as yet consider the closed loop vector control scheme, which is essential for high performance drives [4]-[8]. Usually, high performance motor drives used in robotics, rolling mills, machine tools, etc. require fast and accurate response, quick recovery of speed from any disturbances and insensitivity to parameter variations. The dynamic behavior of an ac motor can be significantly improved using vector control theory, where motor variables are transformed into an orthogonal set of d-q axes such that speed and torque can be controlled separately [7]. This gives the IM machine the highly desirable dynamic performance capabilities of a separately excited dc machine, while retaining the general advantages of the ac over dc motors. In this paper, a cost effective 4S3P inverter fed IM drive is developed and successfully implemented in real-time for a prototype 1 hp squirrel cage induction motor. The 4 switches make the inverter less costly, less switching losses, less chances of destroying the switches due to lesser interaction among switches, less complexity of control algorithms and interface circuits as compared to the conventional 6S3P inverter. Furthermore, the proposed control approach reduces the computation for real-time implementation. The performance of the proposed drive is investigated both theoretical and experimentally at different operating conditions. A performance comparison of the proposed 4-switch 3-phase inverter fed drive with a conventional 6-switch, 3-phase inverter fed drive is also made in terms of total harmonic distortion (THD) of the stator current and speed response. The proposed inverter fed IM drive is found acceptable considering its cost reduction and other advantageous features mentioned earlier.
AbstractThis paper investigates the performance of a cost effective 4-switch, 3-phase inverter (4S3P) fed induction motor (IM) drive system for high performance industrial drive systems. In the proposed approach, instead of a conventional 6-switch, 3-phase inverter (6S3P) a 4-switch, 3phase inverter is utilized. This reduces the cost of the inverter, the switching losses, and the complexity of the control algorithms and interface circuits to generate 6 PWM logic signals. Furthermore, the proposed control approach reduces the computation for real-time implementation. The complete vector control scheme for the IM drive fed from the proposed 4S3P inverter is implemented in real-time using digital signal processor (DSP) TI TMS320C31 for a prototype 1 hp motor. Theoretical and experimental results of the proposed drive verify the robustness of the drive. A performance comparison of the proposed 4S3P inverter fed drive with a conventional 6S3P inverter fed drive is also made in terms of speed response and total harmonic distortion (THD) of the stator current. The proposed inverter fed IM drive is found acceptable considering its cost reduction and other advantageous features. Index TermsInduction motor, implementation, vector control. inverter, real-time

motor (IM) has been utilized as a workhorse in the industry due to its easy construction, high robustness, and generally satisfactory efficiency [1]. With the invent of high speed power semiconductor devices three-phase inverters play the key role for variable speed ac motor drives. Traditionally, 6switch, 3-phase (6S3P) inverters have been widely utilized for variable speed IM drives. This involves the losses of the six switches as well as the complexity of the control algorithms and interface circuits to generate six PWM logic signals. In the past, researchers mainly concentrated on the development of the efficient control algorithms for high performance variable speed IM drives [1]-[3]. However, the cost, simplicity and flexibility of the overall drive system which become some of the most important factors did not get that much attention to the researchers. That is why, despite extensive research in this area most of the

VER THE YEARS induction

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I. INTRODUCTION

Manuscript received July 22, 2005; revised January 1, 2006. This work was supported in part by the Natural Science and Engineering Research Council (NSERC), Canada. M. N. Uddin is with the Department of Electrical Engineering, Lakehead University, Thunder Bay, ON, Canada (e-mail: muddin@lakeheadu.ca). T. S. Radwan is with the Menoufiya University, Shebin El-Kom, Egypt (e-mail: t_radwan@yahoo.com). M. A. Rahman is with the Faculty of Engineering & Applied Science, Memorial University of Newfoundland, St. Johns, Newfoundland A1B 3X5, Canada (e-mail: rahman@engr.mun.ca). Publisher Item Identifier S 1682-0053(06)0397

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The complete drive system involves the modeling of the IM, inverter and the controller, which are discussed in the following subsections: A. Inverter Model The power circuit of the IM fed from 4S3P voltagesource inverter is shown in Fig. 1(a). The circuit consists of two parts; first part is a front-end rectifier powered from single-phase supply. The output dc voltage is smoothed through a two series connected capacitors. The capacitance value of each capacitor was chosen as 1000 F, because it was also available for experiment. The second part of the

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II. MODELING OF THE DRIVE SYSTEM AND CONTROL APPROACH

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IRANIAN JOURNAL OF ELECTRICAL AND COMPUTER ENGINEERING, VOL. 5, NO. 2, SUMMER-FALL 2006 TABLE I INVERTER MODES OF OPERATION Switching function Sa Sb 0 0 0 1 1 0 1 1 Switch on T4 T2 T2 T3 T1 T4 T1 T3 Output voltage vector Va Vb Vc -Vdc/3 2Vdc/3 -Vdc/3 Vdc Vdc -2Vdc Vdc/3 Vdc/3 -3Vdc/3 Vdc/3 Vdc/3 -2Vdc/3

IM

(a)

e e vqs Rs + pLs pLm e Ls e Lm iqs e e Rs + pLs pLm ids e Lm vds = e Ls e 0 pLm ( e r )Lm Rr + pLr ( e r )Lr iqr e pLm ( e r )Lr Rr + pLr idr ( e r )Lm 0

(5)
Te = 3P e e e e Lm iqs idr ids iqr 22
d r + Bm r + TL dt

(6) (7)

(b) Fig. 1. (a) IM fed from 3P4S inverter; (b) Switching vectors for 4-switch inverter.

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(1) (2) (3) (4)

power circuit is the three-phase four-switch inverter. The maximum obtainable peak value of the line voltages equals Vdc . In the analysis, the inverter switches are considered as ideal switches. The output voltages are defined by the gating signals of the two leg switches and by the two dc link voltages, Vdc The phase voltage equations of the motor can be written as a function of the switching logic of the switches and the dc-link voltage Vdc [5] by
V V a = dc [4 S a 2 S b 1] 3

d r = r (8) dt e e where v qs , vds are q, d -axis stator voltages, respectively; e e e e iqs , ids are q, d -axis stator currents, respectively; iqr , idr are q, d -axis rotor currents, respectively; Rs , Rr are the stator and rotor resistances per phase, respectively; Ls , Lr are the self inductances of the stator and rotor, respectively ; Lm is the mutual inductance, r is the rotor speed, P is the number of poles, p is the differential operator, Te is the electromagnetic developed torque, TL is the load torque, J m is the rotor inertia, Bm is the rotor damping coefficient and r is the rotor position. The motor parameters are given in the Appendix [2].

Vb =
Vc =

V dc [ 2 S a 2 S b + 1] 3

where, Va ,Vb ,Vc are inverter output voltages; Vdc is voltage across the dc link capacitors; S a , Sb are switching function for each phase leg. In matrix form the above equations can be written as
Va V = Vdc b 3 Vc 1 4 2 2 4 S a + Vdc 1 S 3 2 2 2 b

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Vdc [4 S b 2 S a 1] 3

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C. Controller Model Two independent sinusoidal band hysteresis current controllers are used to force the phases a and b currents to follow their commands [9]. These commands are generated from the vector control and speed control loops as shown in Fig. 2. The outputs of the controllers are in the form of four logics. Those logics are used to switch on and off the inverter power switches. In the speed control loop, a conventional PI controller is used to regulate the speed to follow its command speed. The PI controller gains are obtained by trial and error ( k p = 0.3, ki = 0.05) compromising between the settling time and overshoot/undershoot so that all of them can be in acceptable ranges. III. SIMULATION
AND EXPERIMENTAL IMPLEMENTATION

For a balanced capacitor voltages, the four switching combinations lead to four voltage vectors as shown in Fig. 1(b) [5]. Table I shows the different mode of operation and the corresponding output voltage vector of the inverter. B. IM Model The mathematical model of a three-phase, Y-connected induction motor and the load is given by the following equations in the d e -q e synchronously rotating reference frame as [1].

In order to verify the effectiveness of the proposed inverter configuration and its control strategy, first a computer simulation model is developed in MATLAB/Simulink software according to Fig. 2 [10]. Then, the experimental implementation of the control scheme is established according to Fig. 3. The experimental set up incorporates a digital signal processor (DSP) board DS1102 which is based on 32-bit floating point DSP TI TMS320C31. The board is also equipped with a fixed point 16 bit TMS320P14 DSP, which is used as a slave processor [9]. In this work, the slave processor is configured to work

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Te = J m

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NASIR UDDIN et al.: PERFORMANCE ANALYSIS OF A COST EFFECTIVE 4-SWITCH 3-PHASE INVERTER FED IM DRIVE

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IM

Fig. 3. IM control set-up.

as digital input/output subsystem. Two phase currents ia and ib are sensed by Hall-effect current sensors. These currents are fed to the DSP through the signal conditioning circuit. Also the position of the rotor is sensed by an incremental encoder and fed to the encoder interface on the DSP board. The control algorithm is executed by TI C compiler and downloaded to the board through host computer. The outputs of the board are four logic signals, which are fed to the proposed 4-swicth, 3-phase inverter through driver/isolation circuits. The sampling time for experimental implementation was chosen as 100 sec. IV. RESULTS AND DISCUSSIONS Numerous simulation and experimental results are obtained for a prototype 1 hp squirrel cage induction motor. Sample results are presented below.

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Fig. 4 shows the simulation starting responses of the IM drive fed from the proposed 4-switch, 3-phase inverter. Fig. 5 shows the responses of the conventional 6-switch, 3phase inverter based drive at identical operating conditions. Fig. 4 (a) shows that the motor speed follows the command speed accurately without steady-state error. It is evident from Fig. 4(b) that the starting phase current is in the acceptable range. The steady-state 3-phase currents shown in Fig. 4(c) indicate almost balanced operation of the 4switch, 3-phase inverter. These currents are verified by conventional 6-swicth, 3-phase inverter response shown in Fig. 5(a). The harmonic spectrum of a phase current ia for the proposed inverter is shown in Fig. 4(d). The total harmonic distortion (THD) of ia is found 8.09%. Where as, the THD of ia for the conventional inverter is found 10.5% as shown in Fig. 5(b). In order to see the

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Fig. 2. Control scheme of the IM fed from four-switch inverter.

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rad/s

Second (a)

Second (a)

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A A

Second (b)

Harmonic order (b) Fig. 5. Simulation responses of the conventional 6-switch, 3-phase inverter based drive at rated speed and rated load conditions: (a) steadystate 3-phase currents and (b) harmonic spectrum of current ia .

Second (c)

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THD=10.5%

Harmonic order (a)

THD=8.09%

THD=28.08%

performance at different operating point, the harmonic spectra of ia at a speed of 150 rad/s are shown in Figs. 6(a) and 6(b) for the proposed 4S3P and conventional inverters, respectively. It is seen that the THD of the proposed inverter is slightly increased as compared to conventional inverter. It is found that the performance of the proposed inverter based drive is much closer to that of the conventional inverter. Simulated dynamic responses of the proposed drive are shown in Figs. 7(a) and 7(b) for a step change in command speed and a step increase in load, respectively. Figs. 7(a) and 7(b) show that the proposed 4S3P inverter drive is quite capable of handling the dynamic disturbances. The experimental starting responses including speed, steady-state currents ia , ib and ia , ic and the harmonic spectrum of current ia at rated speed are shown in Fig 8. It is to be noted that due to experimental limitation of twochannel Tektronix oscilloscope, experimental currents ia , ib and ic are shown in Figs. 8(b) and 8(c). Fig. 8(a)

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Harmonic order (d) Fig. 4. Simulation starting responses of the proposed 4S3P inverter based drive at rated speed and rated load conditions: (a) speed, (b) current ia , (c) steady-state 3-phase currents, and (d) harmonic spectrum of current ia .

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Harmonic order (b) Fig. 6 Harmonic spectra of current ia at speed of 150 rad/s and rated load for: (a) proposed inverter current and (b) conventional inverter current.

shows that the motor actual speed of the proposed drive is following the command speed without significant steadystate error. Fig. 8(d) shows the experimental current ia . Fig. 8(e) shows the harmonic spectrum of the experimental current ia . These experimental results of Fig. 8 validate the simulation results for the proposed 4S3P inverter drive. The speed robustness of the proposed drive is also verified by another experimental speed response for a step of change of command speed, which is shown in Fig. 9. V. CONCLUSIONS A cost effective 4S3P inverter fed IM drive has been simulated and successfully implemented in real-time using TI TMS320C31 DSP for a prototype 1 hp induction motor. The proposed control approach reduces the cost of the inverter, the switching losses, and the complexity of the

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rad/s

Y-scale: 66.67 rad/s/div

Second (a)

X-scale: 0.5 s/div

(a)
rad/s

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A

Second (b) Fig. 7. Simulation responses of the drive for: (a) step change in speed, (b) step increase in load.

Y-scale: 2 A/div. X-scale: 5 ms/div.

APPENDIX Induction motor parameters: Motor rated power Rated voltage Rated current Rated frequency Pole numbers, P Stator inductance, Ls Rotor inductance, Lr Mutual inductance, Lm Stator resistance, Rs Rotor resistance, Rr Motor inertia, J m Friction coefficient, Bm

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control algorithms and interface circuits as compared to the conventional 6S3P inverter based drive. However, the proposed inverter based drive suffers from slight unbalance in the phase currents which cause relatively higher speed vibrations as compared to the conventional 6S3P inverter fed drive. The vector control scheme is incorporated in the integrated drive system to achieve high performance. The performance of the proposed drive is investigated both theoretically and experimentally at different operating conditions. A performance comparison of the proposed 4S3P inverter fed drive with a conventional 6S3P inverter fed drive is also made in terms of total harmonic distortion (THD) of the stator current and speed response. The proposed 4S3P inverter fed IM drive is found acceptable for high performance industrial variable speed drive applications considering its cost reduction and other advantageous features.

(b)

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Y-scale: 2 A/div. X-scale: 5 ms/div.

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(c)

3-phase, 1 hp 208 V 3.4 A 60 Hz 4 0.3676 H 0.3676 H 0.3489 H 4 1.143 0.03 kg.m2 0.00098 N.m/rad./s

Y-scale: 2 A/div. X-scale: 0.1s./div.

(d)

THD=23.38%

REFERENCES
[1] [2] B. K. Bose, Power Electronics and AC Drives, Englewood Cliffs, NJ: Prentice Hall, 1986. M. N. Uddin, T. S. Radwan, and M. A. Rahman, "Performances of fuzzy logic based indirect vector control for induction motor drive," IEEE Trans. on Industry Applications, vol. 38, no. 5, pp. 1219-1225, Sep./Oct. 2002. Harmonic order (e) Fig. 8 Experimental responses of the drive for: (a) speed, (b) steady-state ia , ib , (c) steady-state ia , ic , (d) ia , and (e) harmonic spectrum of ia .

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Tawfik S. Radwan (Deceased, April 2006) received the B.Sc., M.Sc., and Ph.D. degrees all in electrical engineering from Menoufiya University, Shebin El-Kom, Egypt, in 1986, 1992, and 1996, respectively. In 1986, he became an Instructor with Menoufiya University, and was then an Assistant Lecturer in 1992, Assistant Professor in 1996, and Associate Professor in 2002. From January 1994 to January 1996, he was with the Memorial University of Newfoundland (MUN), St. Johns, NL, Canada, under an academic channel program toward finishing his Ph.D. thesis. During summers of 1997-1999, 2003 and 2005, he was a Visiting Researcher with MUN, during which time he conducted research in the area of motor drives and power electronics. He possesses 18 years of teaching experience. He authored or coauthored over 50 papers. His research interests were in AC motor drives, power electronics and applications of artificial intelligence. Dr. Radwan was awarded the State Prize of Egypt of 2002 for Excellency in research. He died on April 14, 2006.

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M. Nasir Uddin received the B.Sc. and M. Sc. Degrees both in electrical & electronic engineering from Bangladesh University of Engineering and Technology (BUET), Dhaka, Bangladesh, and the Ph.D. degree in electrical engineering from Memorial University of Newfoundland (MUN), Canada in 1993, 1996, and 2000, respectively. Currently, he is an Associate Professor in the Department of Electrical Engineering, Lakehead University, Thunder Bay, ON, Canada, where he is engaged in teaching and research. Concurrently he is serving as a Visiting Associate Professor at North South University, Dhaka, Bangladesh during his sabbatical leave (July-Dec. 2006) from Lakehead University. Previously, he was an Assistant Professor in the Department of Electrical and Computer Engineering, University of South Alabama, Mobile, AL from January 2001 to May 2001, a postdoctoral fellow at MUN from May 2001 to August 2001, an Assistant Professor from 1996 to 1997 and a lecturer from 1994 to 1996 at BUET. He also served as an Instructor from 1999 to 2000 at the College of the North Atlantic, St. Johns, NF, Canada and teaching assistant at Memorial University from September 1997 to August 2000. He possesses 11 years of teaching experience and has authored or coauthored over 60 papers. He is the recipient of the First Prize Paper Award from IEEE/IAS/IACC committee and both 2004 Contributions to Research Award and Contributions to Teaching Award from Lakehead University. He is a registered Professional Engineer in the Province of Ontario, Canada. His research interests include power electronics, electric motor drives and the application of neural network and fuzzy logic to power apparatus. He is a Senior Member of IEEE.

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E. Cerruto, A. Consoli, A. Raciti, and A. Testa, "Fuzzy adaptive vector control of induction motor drives," IEEE Trans. on Power Elect., pp. 1028-1039, vol. 12, no. 6, Nov. 1997. [4] F. Blaabjerg, D. O. Neacsu, and J. K. Pedersen, "Adaptive SVM to compensate DC-link voltage ripple for four-switch, three-phase voltage source inverter," IEEE Trans. on Power Electronics, vol. 14, no. 4, pp.743-751, Jul. 1999. [5] C. B. Jacobina, E. R. C. da Silva, A. M. N Lima, and R. L. A. Ribeiro, "Vector and scalar control of a four switch three-phase inverter," in Proc. IEEE IAS Annual Meeting Conf., pp. 2422-2429, 1995. [6] C. B. Jacobina, M. B. R. Correa, E. R. C. da Silva, and A. M. N. Lima, "Induction motor drive system for low power applications," in Proc. IEEE IAS Annual Meeting Conf., pp. 605-612, New Orleans, US, 1997. [7] R. J. Cruise, C. F. Landy, and M. D. McCulloch, "Evaluation of a reduced topology phase-converter operating a three-phase induction motor," in Proc. IEEE/IEMDC Conf., pp. 466-468, Seattle, US, 1999. [8] R. L. A Ribeiro, C. B. Jacobina, E. R. C. da Silva, and A. M. N. Lima, "AC/AC converter with four switch three-phase structures," in Proc. PESC Conf., pp. 134-139, Baveno, Italy, Jun. 1996. [9] F. Blaschke, "The principle of filed orientation as applied to the new transvector closed-loop control system for rotating-field machines," Siemens Review, vol. 34, no.3, pp. 217- 220, May 1972. [10] MATLAB, Simulink User Guide, Math Works Inc., 1997.

Fig. 9. Experimental speed response of the drive for step change in speed. M. Azizur Rahman received the B.Sc. degree in electrical engineering from Bangladesh University of Engineering and Technology (BUET), Dhaka, the MA.Sc. degree from the University of Toronto, Canada, and the Ph.D. degree from Carleton University, Ottawa, Ontario, Canada, in 1962, 1965 and 1968, respectively. In 1962, he joined the Department of Electrical Engineering, BUET, as a Lecturer. He became an Assistant Professor in 1969, Associate Professor in 1972 and Professor in 1975. In 1976, he joined the Memorial University of Newfoundland, Canada, where he is a Professor and University Research Professor. He has 44 years of teaching experience including about 10 years of full-time and concurrent industrial, utility and consulting experiences at GE, Schenectady, GE Canada, Peterborough, Newfoundland Hydro, Dhaka Electric Supply, Iron Ore Company of Canada, etc. He has published more than 530 papers including ten patents, 130 IEEE Transactions papers, 1 book and 5 book chapters. His current research interests are in machines, power system, digital protection and power electronics. He has been bestowed upon with numerous awards including the GE Centennial Award for Invention Disclosures in 1978, IEEE Outstanding Students Counselor Award in 1980, IEEE Notable Service Award for contributions in IEEE and Engineering Professions in 1987, IEEE Industry Application Societys Outstanding Achievement Award in 1992, the Association of Professional Engineers Merit Award in 1994, the IEEE Canada Outstanding Engineering Educators Medal in 1996, IEEE Third Millennium Medal in 2000, IEEE Power Engineering Society Cyrill Veinott Electromechanical Energy Conversion Award in 2003 and IEEE William E. Newell Award in Power Electronics in 2004. IEEE William E. Newell Power Electronics Award in 2004, Khwarizmi International Award in .2005 and the IEEE Richard H. Kaufmann Award for 2007. He is the recipient of the three First Prize Paper Awards from IEEE/IAS committees. He is a registered Professional Engineer in the Provinces of Newfoundland and Ontario, Canada, a member of the Institution of Electrical Engineers, Japan, a Fellow of IEEE, a Fellow of the Institution of Electrical Engineers, U.K., a Fellow of the Engineering Institute of Canada and a Life Fellow of the Institution of Engineers, Bangladesh.

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