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PWM VECTOR SPACE CONTROL OF AC MOTOR

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 PWM VECTOR SPACE CONTROL OF AC MOTOR
Labib Daloub Mustaf Rasim Abuzaid Rajeb Ibsaim
Aljabal Algharbi Uinversity Aljabal Algharbi Uinversity Azzawia University
E-mail: ldaloub@hotmail.com E-mail: elias_1989@yahoo.com E-mail: absaim2000@yahoo.com

Abstract which is quite similar to the control of a separately excited

A field-oriented indirect AC induction motor drive with dc motor. The H-infinity ( H  ) controller was also used
PI speed controller is presented for vector space control with indirect vector controlled induction motor [3].
while the design includes measured speed and stator
currents. The measured parameters were used as feedback The H  controller is a frequency-domain optimal control
in an indirect vector control system achieving the speed based on state-state formulation for minimizing the speed
control. The speed control loop uses a proportional- error relating to the speed command (sensitivity function),
integral (PI) controller to produce the Quadrature –axis as well as the so-called complementary sensitivity
current reference which controls the motor torque. The function. Having obtained perturbation information on
motor flux is controlled by the direct axis current the mechanical parameters, the aim is to design speed and
reference. Moreover, a current regulator is used to position controllers to drive the induction motor in better
generate pulse width modulated (PWM) control signal. dynamic behaviors [4]. The proportional plus integral (PI)
This control pulses enter directly to an IGBT universal type controller is still preferred in most industrial
bridge inverter. The output of the IGBT inverter is fed to applications. However, the proportional and integral
the induction motor. To demonstrate the effectiveness of coefficients must be differently tuned to achieve good
the proposed PI controller in speed feedback, the dynamics in different operational environments.
simulation motor speed and torque were presented to Moreover, there are many literatures concerning fault
confirm the functionality of the proposed control method. tolerant control of induction motors [5], mostly focused
Digital simulation results proves that good response of the on the failure of inverter and motor windings. Some
control system due to the step change in speed and load literatures address sensor faults of an induction motor
torque. drive system. There are different control methods of
induction motors from a high performance indirect vector
Keywords – PI Controller, Dynamic Response, Steady control to a simple volt/hertz control with different
State, Step Change. dependency on the speed, current and voltage sensors.
Other applications of vector control of induction motor
fed by PWM inverter with output LC filter [6]. The
1. INTRODUCTION variable structure control strategy using the sliding-mode
Traditionally, DC motors have been used in many were the focus of many studies and research for the
applications for adjustable-speed drive systems, but control of AC servo drive system. The sliding-mode
requires frequent maintenance of commutators and control can offer many good properties such as good
brushes, while their use is limited to unhazardous areas. performance against un-modeled dynamics, insensitivity
Squirrel cage AC induction motors are preferable in most to parameter variations, external disturbance rejection and
industrial applications owing to their robust construction, fast dynamic response [7]. In this paper, a variable
cheapness and easy to maintain. Many schemes have been frequency vector controlled induction motor drive of PI
proposed for the control of induction motor drives among speed control is used. The (PI) controller used of speed
which the field-oriented control [1]. Vector control is control system due to its simplicity and stability is used in
accepted as one of the most effective methods. The vector this paper. The parameters of the PI controller were
control strategy is formulated at steady-state operating designed by the trial and error method. The performance
conditions [2] where the stator current phasor in the two- of the PI controller often gives good dynamic responses
axis synchronously rotating reference frames has two for small changes of load torque and moment of inertia.
components: the magnetizing current and torque- 2. Induction Motor Drive Model
producing current. By keeping the magnetizing current The induction motor drive under study is three-phase
component at a constant rated value, the motor torque is squirrel -cage 50 Hp, 460 volt, 37.3 KVA, 60 Hz fed by
linearly proportional to the torque-producing component, universal IGBT Inverter Diode Bridge.
The input of IGBT inverter is DC source 780 volt. Figure
1 illustrates the single line diagram of the induction motor
with vector control. In general, the mechanical equation of
an induction motor can be written as:
.
J  m + B m + TL = Te (1)
Where; J and B are the inertia constant and friction
coefficient of the induction motor system; TL is the
external load; m is the rotor mechanical speed in
angular frequency; Te denotes the generated torque.

The mechanical speed is related to the electrical speed by

m = 2r / p where p is number of poles. Equation 1
can be rewritten as the electrical torque become:

3 p Lm e e Fig 1: Block diagram of the complete vector controlled

Te = ( dr iqs −  qre idse ) (2) induction motor drive fed by IGBT inverter
4 Lr
3. Vector Control Design
Where:  qre ,  dre are the rotor-flux linkages refereed Vector control of a variable frequency applied to
induction motor drive to damping speed and
to the synchronously rotating reference frame; electromagnetic torque. The input of vector control is
iqse , idse are the stator currents. measured rotor speed feedback, measured stator currents
Iabc and the reference step speed. The output of the vector
The rotor flux equations in the stationary frame are: control is control signals (gate pulses) to the IGBT
universal inverter bridge (Fig1 & Fig2) shows the
. Simulink of vector control applied to induction motor
Lm 1
 dr = ids − r qr −  dr drive.
Tr Tr (3)
. L 1 3.1. Flux Calculation:
 qr = m iqs − r dr −  qr From Fig 2, the flux is calculated as:
Tr Tr
L I
r = m d
1 + Tr S
Where: r is the rotor electrical speed and Tr = Lr / Rr
Lr
is the rotor time constant Tr =
Rr
The instantaneous rotor speed r can be calculated by:
Where;
1 . .
L  r : Rotor flux
r = [ dr  qr −  qr  dr − m ( dr iqs −  qr ids )] (4)
r2
Tr Lm : Equivalent series core-loss magnetizing
Where; inductance =34.7 mH
 =  +
2
r
2
dr
2
qr
Rr : Rotor resistance =0.228 ohm
Lr : Rotor reactance =35.5 mH
The following information was obtained from the Tr : Time constant =0.1557 Sec.
induction motor data sheet:
3.2. Electrical Angle (theta) Calculation:
- Squired-cage I.M as 50 Hp,460v,60 Hz
The electrical angle (Ѳ) can be calculated using rotor
- The stator resistance and inductance are frequency and mechanical rotor speed as:
Rs = 0.087, L1s = 0.8mH
- The rotor resistance and inductance are  =  (r + m )
R = 0.087, L1s = 0.8mH
- The mutual inductance Lm = 34.7mH
 basically an instantaneous feedback current control
method of PWM where the actual current ( I abc )
*
continually tracks the command current ( I abc ) within a
hysteresis band. The output of current regulator is pulses
control signal go directly to IGBT inverter.
3.6. PI Speed Controller
The PI control is designed for speed feedback and speed
*
input reference to produce electrical torque ( Te ). The
speed PI controller is used with the gain as:
K p = 13, K i = 26, torque limit = 300 N .m .
Fig 2: Simulink of variable frequency vector controlled
4. Digital Simulation Results
induction motor
The simulation result is taking under two conditions, a
constant 120 rad/s reference speed and zero input torque.
Where; The second condition is a step change in reference speed
Lm I q from (120-160) rad/s and (0-200) N.m. step change in
r : Rotor frequency (rad/s) as it is r =
Tr  r load input torque. The speed PI controller is used with
gain K p = 13, K i = 26, torque limit = 300 N .m .
m : Rotor mechanical speed (rad/s).
3.3. Quadrature and Direct Current Calculated 4.1. Constant Speed and Constant Zero torque:
* * After applied vector control of variable frequency on
( I q , I d ): induction motor drive (Discrete simulation) by using 120
* *
The synchronously frame ( I q , I d ) are be calculated by: rad/s constant reference speed and zero torque, the rotor

4 LrTe Te
I q* = = 0.341 *
3 pLm r r
*r
I d* =
Lm
Where;
*r : Reference flux=0.96
p : No. of poles =4

3.4. Conversion Synchronously Rotating to Stationary

Frame: Fig 3: Rotor speed response due to input 120 rad/s
The relation between the synchronously rotating reference constant speed reference and zero constant torque
frame and the stationary reference frame is performed by
the reverse Park’s transformation:

 xa   sin( e ) cos( e ) 
 x  = sin( − 2 / 3) cos( − 2 / 3)   xd  (5)
 b  e e   xq 
 xc  sin( e + 2 / 3) cos( e + 2 / 3)  

Where;  e is the angle position between the d-axis of the

synchronously rotating and the stationary reference
frames.

3.5. Current Regulators Fig 4: Electromagnetic torque Te response due to input

The block of current regulator consists of a three 120 rad/s constant speed reference and zero constant
hysteresis-band current PWM control units, which is torque
speed response in rad/s due to input 120 rad/s constant
speed reference and zero constant torque are shown in
(Fig.3 and Fig.4).The electromagnetic torque Te response
in N.m. is due to input 120 rad/s constant speed reference
and zero constant torque. Moreover, the phase current
response Iabc in Amps is due to input 120 rad/s constant
speed reference and zero constant torque. These are
shown in (Fig.5).

4.1. Step Speed and Step Torque:

After applied vector control of variable frequency on
induction motor drive (Discrete simulation) by using Fig 6: Electromagnetic torque Te response due to input (120-
(120- 160) rad/s step change in reference speed and also, 160) rad/s step change in speed and step change torque
(0-200) N.m. step change in input load torque, the
electromagnetic torque Te response due to input (120-160
) rad/s step change in speed and step change torque are
shown in (Fig. 6 & Fig. 7). The line voltage Vab response
due to input (120-160) rad/s step change in speed and
torque. The phase current Iabc response due to input (120-
160) rad/s step change in speed and step change in torque.
These are shown in (Fig. 8). Fig. 9 & Fig. 10 illustrates
the Quadrature Current (Iq) and Direct Current (Id)
response due to input (120-160) rad/s step change in speed
and step change torque. Moreover the rotor speed
response due to input (120-160) rad/s step change in speed
and step change torque are illustrated in (Fig.11).
Fig 7: Line voltage Vab response due to input (120-160)
5. Discussion rad/s step change in speed and step change in load torque
The responses of stator currents as in (Fig. 5), shows that
in the initial state, the current signal is present in a high
rate (transient state) and later decreased to the steady state
without additional increase due to no torque increment in
case of constant speed and zero torque input. But when
there is step change in speed and torque, the stator current
signals start with high values (130 Amp to 1 Sec.),
followed by a decreased up to 30 Amp in 2 sec. and
second increase to 120 Amp due to increase in load torque.
Furthermore, the electromagnetic torque is decreased
during (1-2) Sec and increase again to 200 N.m. due to
input torque step change (Fig. 6), with no increase in
electromagnetic torque in the case of constant speed and Fig 8: Phase current Iabc response due to input (120-160)
zero input torque. rad/s step change in speed and step change in load torque

Fig 5: Phases currents response Iabc due to input 120 rad/s Fig 9: Quadrature current Iq response due to input (120-
constant speed reference and zero constant torque 160) rad/s step change in speed and step in torque
 [2] Labib M. Daloub, Nasser Shtawa and Ali M. Yousef
"Design of Robust Control Stabilizer for Multi-
Machine Power system", WORLD ENGINEERING
CONGRESS (WEC2007), Aug 2007, Penang,
Malaysia.
[3] Kao, Y., T., and Liu, C. H., “ Analysis and design of
microprocessor-based vector controlled induction
motor drives”, IEEE Trans. On Industrial Electronics,
Vol. 39, No. 1, pp. 46-54, 1992.
[4] Yeong- Hwa Chang and et al “ Modeling and QFT-
Based Design of Vector Control Induction Motors”,
Journal of the Chinese Institute of Engineers, Vol. 24,
No. 4, pp. 473-485, 2001.
[5] F. Tahami, A. Shojaei and D. Ahmadi Khatir “ A
Fig 10: Direct current Id response due to input (120-160)
Diversity Based Reconfigurable Method for Fault
rad/s step change in speed and step change in load torque
Tolerant Control of Induction Motors”, International
Symposium on Power Electronics, Electrical Drives,
Automation and Motion, IEEE , pp. 12-17, 2006.
[6] Janne Salomaki and Jorma Luomi “ Vector Control of
an Induction Motor Fed by a PWM Inverter with
output LC filter”, Helsinky University of Technology,
Power Elctronics Lab.,P.O. Box 3000, FIN-02015
HUT, Finland, 2006.
[7] Juan Sagarduy, Jesper Kristensson, Soren Kling &
Johan Rees Softstarters or variable-speed drives, or
both? ABB Corporate Research and crew control
Vasteras, Sweden, April, 2010.

Fig 11: Rotor speed response due to input (120-160) rad/s

step change in speed and step change in load torque

6. CONCLUSION
The variable frequency vector controlled induction motor
drives were presented. Robust performance of the
proposed controller was achieved due to constant
speed/torque and step changes of speed command or load
torque with variations of control system parameters. By
discrete simulation example, it has been shown that the
proposed PI speed vector control scheme performance
reasonably well in practice and that the speed tracking
objective is achieved constant and stable under
uncertainties in the parameters and load torque. The
performance of the investigated induction motor drive
system with the proposed controller were presented as
electromagnetic torque, rotor speed, stator phase currents
and quadrature axis current.

7. REFERENCES
[1] Rotating Electrical Machines, "Guide for the Selection
and Application of Energy Efficient Motors including
Variable Speed Applications", IEC 60034-31, Part 31,
2009.

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