Sensorless Control of a Six-Phase Induction Motors Drive Using FOC in Stator Flux Reference Frame

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1 Wol Acaemy of Science, Engineeing an Technology 9 Sensoless Contol of a Six-Phase Inuction Motos Dive Using FOC in Stato Flux Refeence Fame G. R. Aab Makaeh, J. Soltani, N. R. Abjai, M. Hajian Abstact In this pape, a iect toque contol - space vecto moulation (DTC-SVM) scheme is pesente fo a six-phase spee an voltage sensoless inuction moto (IM) ive. The ecouple toque an stato flux contol is achieve base on IM stato flux fiel oientation. The oto spee is etecte by on-line estimating of the oto angula slip spee an stato vecto flux spee. In aition, a simple metho is intouce to estimate the stato esistance. Moeove in this contol scheme the voltage sensos ae eliminate an actual moto phase voltages ae appoximate by using PWM invete switching times an the c link voltage. Finally, some simulation an expeimental esults ae pesente to veify the effectiveness an capability of the popose contol scheme. Keywos Stato FOC, Multiphase motos, sensoless. I. INTRODUCTION N ecent past, multiphase moto ives have been popose I by seveal authos [-5]. Many iffeent solutions have been suggeste to exploit iffeent avantages, such as []: ) To ecease the single switches cuent stess instea of aopting paallel techniques. ) To smooth the electomagnetic toque pulsations. ) To euce the hamonics content of the DC link cuent. ) To impove the oveall system eliability. Among the iffeent multiphase ive solutions, one of the most inteesting an extensively iscusse in the liteatue is the ual thee-phase IM having two sets of thee-phase winings spatially shifte by electical egees (so calle quasi-six-phase machine). Neutal points of the two winings can be isolate o connecte. The majo eason fo selecting the asymmetical six-phase wining instea of the tue six-phase wining ( o isplacement between any two consecutive phases), elimination of the sixth hamonic fom the toque [], was impotant in the pe-pulse wih-moulation (PWM) ea of VSI contol. A quasi six-phase IM is use in the wok G. R. Aab Makaeh., is with Depatment of Engineeing, Shaheko Univesity, Shaheko, Ian ( aab-gh@eng.sku.ac.i). J. Soltani is with the Depatment of Engineeing, Islamic Aza Univesity Khomeinishah Banch, Khomeinishah, Isfahan, Ian (+9--7; fax: ; jsm@c.iut.ac.i). N. R. Abjai an M. Hajian ae with the Depatment of Electical an Compute Engineeing, Isfahan Univesity of Technology, Isfahan, Ian ( ; fax: ; naviabjai@yahoo.com). escibe hee, with the unelying iea of ealizing a moto ive system with a simple contol, while utilizing a single six-phase SVPWM VSI as the supply. The customay metho to spee/toque contol of an IM is oto flux fiel-oiente contol (FOC). Using FOC, one obseves that, by holing the magnitue of the flux constant, thee is a linea elationship between a contol vaiable an the toque One may note that the oto flux oientation scheme is vey sensitive to IM paametes vaiations an uncetainties especially IM oto esistance an machine magnetization inuctance [7]. The DTC-SVM is base on stato FOC an use fo inepenent contol of IM toque an stato flux Spee sensoless contol methos of IM ives ae common eithe because a spee senso cannot be installe fo safety o envionmental easons o fo eucing both the cost an the size of the whole ive. Theefoe, many stuies ae still being evote to the emoval of the spee senso, while maintaining the pefomance of the system []-[]. In this pape, a simple spee estimato is popose which is applicable fo wie ange of oto spee estimation. In aition, a stato esistance estimato is also intouce fo on-line etecting of this paamete. The popose contol scheme is veifie by both the simulation an expeimental esults. II. DESCRIPTION AND MODEING OF THE DRIVE SYSTEM The moto ive system is supplie fom a two level SVPWM VSI. Each machine has its own set of paametes. Base on Clake's tansfomation escibe by the following matix C, the (α β ), ( x y ) an (zeo sequence) equivalent cicuits of each moto in the stationay efeence fame ae obtaine. α cosφ cos φ cos 5φ cosφ cos 9φ β sinφ sin φ sin 5φ sinφ sin 9φ x cos5φ cosφ cosφ cos φ cos9φ C = y sin 5φ sinφ sinφ sin φ sin 9φ + () whee φ = π / []. 55

2 Wol Acaemy of Science, Engineeing an Technology 9 The stato an oto voltage equations fo each machine ae given as v = ( ), ks Rsi + fo k ks s ks m i + i = α β k () v = ( ) fo k x, y ks Rsi + ks ls i = ks Ri ω i i = + ( + ) + α β m βs ( ) m i + α iαs () = R ( ) iβ ω iα + miαs + ( ) m i + β iβs The toque equations of the machine is given by = ( ) () T e P miαiβs iβiαs whee P is the numbe of pole pais. One may note that the toque pouction cuents ae ( iα s, iβ s ) an ( ixs, iys ) ae non-poucing toque cuents. III. IM STATOR FOC Fig. shows the contol block iagam of a iect toque contolle IM ive in the stato flux fiel oiente efeence fame (FOC) coesponing to this machine. The contol loop consists of thee PI contolles, an the SVPWM is use fo maximum utilization of c link voltage an easy igital implementation. The angle of stato flux vecto is given by θ e β s = actan (5) Diffeentiating fom (5) one can obtain the angula spee of stato flux vecto as ω e = βs α s α s αs s Substituting fo eivative of stato flux components in (), the synchonous spee is witten as ( v ) ( ) β s Rsiβs s v α αs Rsiαs βs = (7) ω e s The phase voltages neee in these equations ae obtaine as follow. Fist the phase to negative point of c link (N) voltages ae obtaine v jn vdct j T s β s () = () whee j = abce,,,,, f. then the phase voltages ae given as f v = js (5 ) v jn v (9) in i= a, i j ω s ω s PI PI T e T e PI Fig. FOC block iagam ω e ω e q v v q Assuming the stato cuents ae measue an stato flux components ae obtaine fom the following flux obseve. Flux obseve: = ( ) αs v αs R siαs () = ( ) βs v βs R siβs IV. ROTOR SPEED ESTIMATOR The IM oto flux linkages in a two axis stationay efeence fame ae obtaine as i = ( ) + α αs s αs m αs m i = ( ) + β βs s βs m βs m α β i i () = + () Consieing the IM oto flux fiel oientation efeence fame [5] = mi = s () m i = qs ω sl = ω sl T The IM electomagnetic geneate toque is obtaine as m m T = ( ) e P = α βs β αs P qs () Combining () an () gives i i i ω sl RT e = (5) P The oto spees can be etecte fom the following equation = () ω ˆ ω ˆ ωe ω sl whee ˆ e is the oto synchonous spee which in fact is the on-line spee of the oto vecto flux ( ); in othe wos ˆ ω e β s αs = actan (7) 55

Wol Acaemy of Science, Engineeing an Technology 9 iˆ s Rˆ s i s Fig. Estimation of IM stato esistance TABE I. IM PARAMETERS Poles R s 9 Ω 7 R.7 Ω s mh 7 7 m mh mh Pn Kw f n 5 Hz V.

using a conventional PI egulato as shown in Fig.. ω s ˆ qs Rˆ s ˆ ω VI. EXPERIMENTA RESUTS Simulation an Expeimental esults ae obtaine fo a sixphase squiel cage IM with paametes shown in Table I.

3 Wol Acaemy of Science, Engineeing an Technology 9 iˆ s Rˆ s i s Fig. Estimation of IM stato esistance TABE I. IM PARAMETERS Poles R s 9 Ω 7 R.7 Ω s mh 7 7 m mh mh Pn Kw f n 5 Hz V. STATOR RESISTANCE ESTIMATOR Using (), yiels Tansfeing i ˆ s m = () i α fom stationay efeence fame (, s oto flux fiel oientation efeence fame (, α β ) to q ), the stato esistance can be etecte by using a conventional PI egulato as shown in Fig.. ω s ˆ qs Rˆ s ˆ ω VI. EXPERIMENTA RESUTS Simulation an Expeimental esults ae obtaine fo a sixphase squiel cage IM with paametes shown in Table I. The oveall system block iagam is shown in Fig.. The expeimental ig is illustate in Fig.. A ual-thee phase IM ive have been constucte to pefom the expeimental tests. The switching fequency of the six-phase IGBT invete has been set at khz. The contol softwae has been implemente on a PC. A Xilinx XC95 CPD is use fo eal time implementation of switching pattens an to sen the ata fom some A/Ds use to measue cuents an c link voltage. The CPD boa communicates with PC via a igital Avantech PCI-75 I/O boa. A secon Xilinx XC95 CPD is use to calculate an sen the spee ata fom an encoe to compute though pinte pot. The cuents ae measue using EM sensos. The contol coe is witten in C. It pefoms close loop spee contol an oto flux contol. The quasi six-phase IM is obtaine by ewining the stato of a thee-phase machines. A SVPWM stategy is use. Simulation an expeimental esults ae shown in Figs. 5-7 an Figs. - espectively. In Figs. 5.a-5.c the esults of spee stat-up test ae shown. The coesponing spee efeence is linealy incease fom zeo to a/s in secons. The spee of the IM tens to its efeence comman in the popose sensoless scheme. The stato flux magnitue achieves to its efeence with a fast ynamics. The components of stato flux ae sinusoial an in quaatue to each othe. Fig.. Dive system block iagam. Fig. Expeimental ig: PC, CPD boas an invete (top), the sixphase IMs (bottom). 555

4 Wol Acaemy of Science, Engineeing an Technology 9 Figs..a-.c show the simulation esults fo the spee contol (spee evesal) test. In this test the IM uns with positive spee (5 a/s), then the spee of the IM is evese linealy in secon fo t [5,]. The amplitues of stato flux is kept constant on.9 Wb. These esults veify the ability of the popose sensoless contol uing spee evesal. It is evient fom Figs..a that the flux of the IM emains unaffecte uing the tansient of the spee. Some futhe tests ae conucte next, to futhe veify ecoupling of the contol of the machine an the capability of the sensoless contol scheme. Figs. 7.a-7.c show the simulation esults fom stato flux contol test. The spee efeences of IM is 5 a/s. In Fig. 7.c the estimate flux tacks the efeence pefectly. Une the same conition the pactical esults ae obtaine which ae shown in Figs. - espectively. It is seen that thee is a goo ageement between simulation an pactical esults Fig. 5.c Simulation esults: Stato cuent α β components. w, w^ (a/s) w w^ w, w^ (a/s) 5-5 w w^, (Wb) Fig. 5.a Simulation esults: Spee an flux magnitue (spee stat up test)., (Wb).... Fig..a Simulation esults: Spee an stato flux magnitue (spee evesal test). vαs, (V) vαs vαs, (V) 5-5 vαs Fig. 5.b Simulation esults: Stato voltage an estimate stato efeence. Fig..b Simulation esults: α component of stato voltage an estimate stato efeence. 55

5 Wol Acaemy of Science, Engineeing an Technology Fig..c Simulation esults: Stato cuent α β components Fig. 7.c Simulation esults: Stato cuent α β components. w, w^ (a/s) w w^ w, w^ (a/s) w w^ , (Wb).... Fig. 7.a Simulation esults: Spee an stato flux magnitue (spee stat up test)., (Wb) Fig..a Expeimental esults: Spee an flux magnitue (spee stat up test). vαs, (V) 5-5 vαs - 9 vαs, (V) - vαs Fig. 7.b Simulation esults: α component of stato voltage an estimate stato efeence Fig..b Expeimental esults: Stato voltage an estimate stato efeence. 557

6 Wol Acaemy of Science, Engineeing an Technology Fig..c Expeimental esults: Stato cuent α β components. - Fig. 9.c Expeimental esults: Stato cuent α β components. 5 w, w^ (a/s) -5 w w^ w, w^ (a/s) w w^, (Wb).... Fig. 9.a Expeimental esults: Spee an stato flux magnitue (spee evesal test)., (Wb).... Fig..a Expeimental esults: Spee an stato flux magnitue (spee stat up test). vαs, (V) 5-5 vαs - vαs, (V) 5-5 vαs - Fig. 9.b Expeimental esults: α component of stato voltage an estimate stato efeence. Fig..b Expeimental esults: α component of stato voltage an estimate stato efeence. 55

7 Wol Acaemy of Science, Engineeing an Technology Fig..c Expeimental esults: Stato cuent α β components. Enegy Systems fo Inustial Gowth, Peth, Austalia, Decembe 99, Vol., pp. -. [] M. Ghanes, J. De eon, A. Glumineau, Cascae an high-gain obseves compaison fo sensoless close-loop inuction moto contol, IET Contol Theoy Appl.,, Vol., No., pp. 5. [] M. Akan, Sensoless spee estimation in inuction moto ives by using the space vecto angula fluctuation signal, IET Elect. Powe Appl.,, Vol., No., pp.. [] Koichio Nagata, Toshiaki Okuyama, Hauo Nemoto, an Toshio Katayama, A Simple Robust Voltage Contol of High Powe Sensoless Inuction Moto Dives With High Stat Toque Deman, IEEE Tans. on In. Appl., Vol., No., Mach/Apil, pp. -. [] Damane Taoé, Fanck Plestan, Alain Glumineau, an Jesus e eon, Sensoless Inuction Moto: High-Oe Sliing-Moe Contolle an Aaptive Inteconnecte Obseve, IEEE Tans. on In. Elect., Vol. 55, No., Nov., pp. -7. [] Hassan K. Khalil, Elias G. Stangas, an Sinisa Jukovic, Spee Obseve an Reuce Nonlinea Moel fo Sensoless Contol of Inuction Motos, IEEE Tans. on Contol Systems Tech., Vol. 7, No., Mach 9, pp [5] S. Doki, Y. Kinpaa, S. Okuma, Unifie intepetation of iniect an iect vecto contol, PCC-Yokohama '9, 99, pp VII. CONCUSION A DTC-SVM scheme has been pesente fo an unsymmetical six-phase IM. The ecouple toque an stato flux is achieve in the IM stato flux fiel oientation efeence fame using conventional PI egulatos. In this contol scheme, the oto spee an stato esistance ae estimate by simple estimation methos. In aition, the stato phase voltages ae estimate by using the SVPWM invete switching times an the c link voltage. Some simulation an expeimental esults has been pesente to suppot the capability of the popose contol scheme. These two esults ae in a close ageement. REFERENCES [] E. evi, S. N. Vukosavic an M. Jones, "Vecto contol schemes fo seies-connecte six-phase two-moto ive systems", IEE Poc.-Elect. Powe Appl., Vol. 5, No., Mach 5. [] M. Jones, S. N. Vukosavic, E. evi an A. Iqbal, "A Six-Phase Seies- Connecte Two-Moto Dive With Decouple Dynamic Contol", IEEE Tans. on In. Appl., Vol., No., July/August 5. [] R. H. Nelson an P. C. Kause, Inuction machine analysis fo abitay isplacement between multiple wining sets, IEEE Tans. Powe App. Syst., vol. PAS-9, no., pp., may/jun. 97. [] Y. Zhao an T. A. ipo, "Space Vecto PWM Contol of Dual Theephase Inuction Machine Using Vecto Space Decomposition", IEEE Tans. on In. Appl., Vol., No. 5, Sep./Oct. 995, pp. -9. [5] R. Bojoi, M. azzai, F. Pofumo an A. Tenconi, Digital fiel oiente contol fo ual thee-phase inuction moto ives, in Poc. IEEE-IAS Annu. Meeting, Pittsbugh, PA,, CD-ROM, Pape P. [] R. Bojoi, M. azzai, F. Pofumo an A. Tenconi, Digital Fiel- Oiente Contol fo Dual Thee-Phase Inuction Moto Dives, IEEE Tans. On INDUSTRY Appl., Vol. 9, No., May/June, pp [7] R. Kishnan an F.C. Doan, Stuy of Paamete Sensitivity in High Pefomance Inveete-Fe Inuction Moto Dive System. IEEE Tans. In. Application, vol., no., 97, pp [] Rau Bojoi, Membe, IEEE, Paolo Guglielmi, Membe, IEEE, an Gian- Maio Pellegino, Sensoless Diect Fiel-Oiente Contol of Thee- Phase Inuction Moto Dives fo ow-cost Applications, IEEE Tans. on In. Appl., Vol., No., Mach/Apil, pp [9] H. Jun, B. R. Duggal, M. Vilathgamuwa, A MRAS-base spee sensoless fiel oiente contol of inuction moto with on-line stato esistance tuning, Intenational Confeence on Powe Electonics an 559

ISSN: [Reddy & Rao* et al., 5(12): December, 2016] Impact Factor: 4.116

ISSN: [Reddy & Rao* et al., 5(12): December, 2016] Impact Factor: 4.116 IJESRT INTERNATIONAL JOURNAL OF ENGINEERING SCIENCES & RESEARCH TECHNOLOGY SIMULATION COMPARISONS OF INDUCTION MOTOR DRIVE WITH ESTIMATOR AND PLL V. Nasi Reddy *, S. Kishnajuna Rao*, S.Nagenda Kuma * Assistant