Field-Oriented Control of

Induction Machine
Dr. Nik Rumzi Nik Idris
Department of Energy Conversion,
Faculty of Electrical Engineering,
Universiti Teknologi Malaysia

Why FOC ?
IM is superior to DC machine with respect to size,
weight, inertia, cost, speed

DC motor is superior to IM with respect to ease

of control
High performance with simple control due de-coupling
component of torque and flux

FOC transforms the dynamics of IM to become

similar to the DC motors decoupling the
torque and flux components
2

Basic Principles DC machine

By keeping flux constant,
torque can be controlled
by controlling armature
current

a
Te = k I f I a

Current in
Current out
3

Basic Principles of IM
s
c

Stator current produce stator

flux

Stator flux induces rotor

current produces rotor
flux

Interaction between stator

and rotor fluxes produces
torque
Space angle between stator
and rotor fluxes varies with
load, and speed
4

FOC of IM drive
Torque equation :

3p
Te
s is
22

In d-q axis :

3 p Lm
Te
r is
2 2 Lr

3 p Lm
Te
( rd i sq rq i sd )
2 2 Lr
5

FOC of IM drive
In d-q axis :

3 p Lm
Te
( rd i sq rq i sd )
2 2 Lr

Choose a frame such that:

r
rd

rqr 0

FOC of IM drive

Choose a frame such that:

r
rd

rqr 0

FOC of IM drive
Choose a frame such that:

rdr r

rqr 0
qs

As seen by stator reference frame:

3 p Lm
Te
( rd i sq rq i sd )
2 2 Lr

is

isq

rq

isd

rd

ds
8

FOC of IM drive
Choose a frame such that:

rdr r

rqr 0
qs

Rotating reference frame:

qr

is
3 p Lm
r
Te
(r rdisq
i sq rq i sd )

2 2 Lr

r
r
isq

dr

r
isd

ds
9

FOC of IM drive
To implement rotor flux FOC need to know rotor flux position:
(i)

Indirect FOC

Synchronous speed obtain by adding slip speed and rotor speed

Rotor voltage equation:

Rotor flux equation:

d rg
0R i
j(g r ) rg
dt

rg L r i rg L m isg

g
r r

R r g L m R r g d rg
0
r
is
j(g r ) rg
Lr
Lr
dt

Rr
L R r
d r
r
r m r i sd
ji sq

j(slip ) r
Lr
Lr
dt
10

FOC of IM drive - indirect

q component

d component

Rr
L R r d r
r m r i sd

Lr
Lr
dt

L mR r r
i sq (slip ) r
Lr

Rr
L R r
d r
r
r m r i sd
ji sq

j(slip ) r
Lr
Lr
dt
11

FOC of IM drive - indirect

Rr
L m R r r
d r
r
0
r
i sd ji sq
j(slip ) r
Lr
Lr
dt

q component

d component

Rr
L R r d r
r m r i sd

Lr
Lr
dt
*
r

i *
Lm
r
sd

L mR r r
i sq (slip ) r
Lr

L R r
(slip ) m* r isq
rL r

4Te* L r
i *
3p r L m
r
sq

12

FOC of IM drive - indirect

T*

r
isd
*

r
isq
*

*r
Lm

4Te* L r
3p r L m

(slip )

irsq*

sd

ej

ia *

isq*
isd*

2/3

ib*
ic *

CC
VSI

L mR r r
isq
*rL r

1/s
slip
+

Rotating frame

r
+

Stationary frame
13

FOC of IM drive
(ii)

Direct FOC

Rotor flux estimated from motors terminal variables

Rotor flux can be estimated by:

Rr
L R
d
r m r is r j r r
Lr
Lr
dt

Te

Express in stationary frame

3 p Lm
r is
2 2 Lr

14

FOC of IM drive
(ii)
0

Direct FOC

Rr
L R
d
r m r is r j r r
Lr
Lr
dt

d( rd j rq )
Rr
L R
( rd j rq ) m r (isd jisq )i
jr ( rd j rq )
Lr
Lr
dt
q

rd

Rr

L mR r

rd
isd r rq dt
Lr
Lr

tan

rq
rd

rq

Rr

L R

rq m r isq r rd dt
Lr
Lr

r 2rd 2rq
15

FOC of IM drive - direct

T*

TC

r*

FC

irsd*

ia *

isq*

irsq*

ej

ib*

2/3

isd*

ic *

CC
VSI

r
Te

Rr
L R
d r
r m r is
jr rg
Lr
Lr
dt

Te

Rotating frame

Stationary frame

3 p Lm
r is
2 2 Lr

16