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Ia
Ia+Ib Is =
Ia+Ib+Ic
Ic
Ib
Industrial Drive
Systems Division
VECTOR CONTROL
Industrial Drive
Systems Division
TORQUE
[T I] Equation 1
Industrial Drive
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Dynamic Response
Industrial Drive
Systems Division
DC Motor
In a DC Motor, there are two separate windings, field and
armature.
If in the field winding, builds up magnetic flux along the
d-axis of the motor
To generate torque, current I is injected into the armature
winding, q-axis. Brushes keep the axis perpendicular to
the d-axis, along an axis known as the quadrature or q-
axis.
field n
d-axis
m.m.f.
Field Coil
q-axis
Armature Coil
Industrial Drive
Systems Division
DC Motor
The armature rotates so that the part of the
winding carrying current moves away from
the d-axis.
This causes the commutator to switch
current to the part of the armature winding
moving towards the d-axis.
field n
d-axis
m.m.f.
Field Coil
q-axis
Figure 1 Armature Coil
Industrial Drive
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DC Motor Functional Block
If
If
I T
Figure 2
Industrial Drive
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AC Motor
Both the magnetic field and the m.m.f. are rotating relative
to the stator reference frame.
Industrial Drive
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AC Motor
To understand the theory by which the control of the flux and torque
producing current occurs it is best to consider what is happening at
a frozen "snapshot" in time.
The three windings of the AC induction motor are supplied from an
IGBT transistor bridge and at any one time will have currentso of
magnitude Ia, Ib and Ic flowing in them, phase shifted by 120 from
one another.
Ia
Ib
Ic
Industrial Drive
Systems Division
AC Motor
Although current is a scalar (non vector) quantity the resultant of
the 3 phase currents is a vector (Is) in space.
(Is) comprises the flux and torque producing elements and both its
position and magnitude can be varied by controlling the individual
phase currents Ia,Ib & Ic.
Ia
Ia+Ib
Is =
Ia+Ib+Ic
Ic
Ib
Industrial Drive
Systems Division
AC Motor
As the real time model of the machine predicts the flux position, (Is)
can be resolved into fixed components relative to the flux.
These components are (Id) the direct component of current which
produces the flux, and (Iq) the perpendicular component of current
that produces the torque. By controlling the three phase currents (Id)
or (Iq) can be controlled independently.
Ib Is
Iq
field axis
Id
stator axis
Ia
Industrial Drive
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AC Motor
Industrial Drive
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AC Motor
Industrial Drive
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Inside the AC Motor
Ia
C Id
Ib Iq Id
T
Figure 4
F
The inputs to the a.c. machine (Ia and Ib) result in the outputs
(magnetic field and torque).
Functional block C represents a transformation from stator co-
ordinates to field-orientated co-ordinates which takes place
inside the machine.
Industrial Drive
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Inside the AC Motor
Ia
C Id
Ib Iq Id
T
F Figure 4
Industrial Drive
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Vector Control
Ia
C Id
Ib Iq Id
T
Figure 4
F
Id* Ia
C-1 C Id
Iq* Ib Iq Id
T
Controller Machine
Figure 5
The inputs Id* and Iq* are reference values for Id and Iq.
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Vector Control
Id * Id
Id*
Figure 6
T
Iq * Iq
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Motor Currents
Industrial Drive
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Vector Motor Currents
Iq Industrial Drive
Systems Division
Terminal Volts
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Slip
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Rotor Time Constant
The Slip frequency is given by the value of the rotor time constant.
It is important to get it correct in order to ensure the correct split of
the motor current into the torque component and the magnetizing
component.
If the slip frequency is zero, then 100% of the motor current goes to
magnetize the rotor, and none produces torque.
Industrial Drive
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Motor Setup
Industrial Drive
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Motor Setup
Industrial Drive
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Vector Algorithm
Field
Weakening Id Loop Saw Tooth Gain
n Torque Scale
Iq Loop C-1 ib* P
Torque
iq*
Demand I
Rotor flux
Tr Slip angle ‘rho’
calc.
Filter Tr
imr id ia
iq ib
Encoder
Industrial Drive
Systems Division