T-DOF PI Controller Design for a Speed Control of Induction Motor

Transcription

1 Worl Aaemy of Siene, Engineering an Tehnology International Journal of Mehanial an Mehatroni Engineering Vol:1, No:11, 7 T-DOF PI Controller Deign for a Spee Control of Inution Motor Tianhai Sukri, an Satean Tunyarirut International Siene Inex, Mehanial an Mehatroni Engineering Vol:1, No:11, 7 waetorg/publiation/89 Abtrat Thi paper preent eign an implement the T-DOF PI ontroller eign for a pee ontrol of inution motor The voltage oure inverter type pae vetor pule with moulation tehnique i ue the rive ytem Thi heme lea to be able to ajut the pee of the motor ontrol the frequeny an amplitue of the input voltage The ratio of input tator voltage to frequeny houl be kept ontant The T-DOF PI ontroller eign root lou tehnique i alo introue to the ytem for regulate an traking pee repone The experimental reult in teting the 1 watt inution motor from no-loa onition to rate onition how the effetivene of the propoe ontrol heme Keywor PI ontroller, root lou tehnique, pae vetor pule with moulation, inution motor I INTRODUCTION DJUSTABLE pee a rive, motly bae on inution A motor, ontitute the mot ommon appliation of inverter for iniret a-to- power onverion Variou type of a motor rive have been evelope over the year, for the purpoe of ontrol of pee, torque, an poition Depening on the quality of ontrol, the rive ytem an be laifie a low-or high-performane The pae vetor moulation (SVM) tehnique i an avane, omputation intenive PWM metho an poibly the bet among all the PWM tehnique for variable frequeny rive appliation Beaue of it uperior performane harateriti, it ha been fining wieprea appliation in reent year The PWM metho iue o far have only oniere implementation on half brige operate inepenently, giving atifatory PWM performane With a mahine loa, the loa neutral i normally iolate, whih aue interation among the phae Thi interation wa not oniere before in the PWM iuion SVM metho onier thi interation of the phae an optimize the harmoni ontent of the three phae iolate neutral loa [1-3] Manuript reeive Otober 15, 7 The reearh ha been upporte in part Faulty of Engineering, Pathumwan Intitute of Tehnology, Bangkok 133, Thailan Tianhai Sukri i with Leturer at Department of Intrumentation Engineering, Faulty of Engineering, Pathumwan Intitute of Tehnology, Bangkok 133, Thailan Hi reearh interat inlue Control Engineering Satean Tunyarirut i with At Prof Dr at Department of Intrumentation Engineering, Pathumwan Intitute of Tehnology, Thailan Hi reearh interet inlue moern ontrol, intelligent ontrol, Power Eletroni, Eletrial Mahine an Drive ( atean@gmailom) To eign ontroller root lou tehnique [4], ajutment of pee repone an the amping ratio an be one aign ettling time an perent overhoot repetively Therefore, thi tehnique i onvenient an uitable for eign ontroller uner the requirement of the ytem In thi paper preent the eign of the T-DOF PI ontroller root lou tehnique [4] for pee ontrol of inution motor uing pae vetor pule with moulation tehnique II MODEL OF INDUCTION MOTOR FOR SPEED CONTROL In rive operation, the pee ωr an be ontrolle iniretly ontrolling the torque whih, for the normal operating region, i iretly proportional to the voltage to frequeny The torquet e [5] given equation alo P V ωlmrr Te = 3 (1) ωe Rr + ωlmllr T e i evelope torque ( N m) P i pole of inution motor ω e i tator upply frequeny ( ra / ) ωlm Ilr i leakage reatane ( Ω ) R r i rotor reitane ( Ω ) V i input voltage per phae ( Volt ) The mahine torque an pee are relate the following equation ωr J + Bωr = Te TL () t J i moment of inertia B i viou frition T i loa torque ( N m) L From relationhip among equation (1) an (), tranfer funtion of inution motor for pee ontrol i ω K r = (3) V J+ B P 1 ωlmrr K i 3 ω R + ω L e r lm lr International Sholarly an Sientifi Reearh & Innovation 1(11) holarwaetorg/ /89

2 Worl Aaemy of Siene, Engineering an Tehnology International Journal of Mehanial an Mehatroni Engineering Vol:1, No:11, 7 International Siene Inex, Mehanial an Mehatroni Engineering Vol:1, No:11, 7 waetorg/publiation/89 III STRUCTURE OF THE CONTROL SYSTEM The ontrol ytem truture onit of part a hown in Fig 1 The firt part i the inution motor an the eon part i two egree of freeom ontroller Forwar Controller PI Controller ω l Enoer V Fig 1 The ontrol ytem truture Inverter For the part of two egree of freeom ontroller i onit of feebak ontroller an forwar pre-filter ontroller The two egree of freeom i eign uing root lou tehnique [4] The equation of feebak ontroller an forwar ontroller are hown in equation (4) an (5) repetively ( + z ) Kp+ Ki G = = (4) z G f = ( + z ) (5) IV THE ROOT LOCUS TECHNIQUE To eign the ontroller mut be efine the harateriti of tranient repone an teay tate repone that an be explaine a [4] 1) The harateriti of tranient repone an be eribe in form of perent overhoot (PO) ) The harateriti of teay tate repone an be eribe in form of ettling time t The metho to eign for atifying repone at the tranient tate an teay tate an be applie a following tep Step 1 Fining the amping ratio:ζ an uner ampe natural frequeny: ω n oniering the harateriti of tranient repone an teay tate repone from the equation (6) ζπ / 1 ζ ( ± %) PO = 1 e %, t = 4 / ζω = ζω ± jω 1 ζ n n Step Fining the ummation of angle at of the open loop ytem G() Gp() graphial metho or arithmetial metho an then onier the eential angle of ( + z) in orer to the ummation of angle will be being aoring to the ytem onition(7) ( θ z + θ z) + θ p = (k+ 1) π, k =,1,, n (7) Step 3 Fining the gain root lou tehnique n IM (6) K of the ontroller uing the K = 1 K = G ( ) H ( ) (8) Step 4 Subtitution all of the parameter in the equation of ontroller Step 5 Plot the root lou of G() Gp() in orer to onfirm that the root lou pae the efine point Step 6 To obtain the atifying repone inputting tep ignal therefore, aing the fee forwar ontroller a hown in equation (9) z Gf () = ( + z ) V EXPERIMENT RESULTS A Experiment Setup The experimental etup mainly onit of a SPACE DS114 DSP [6-7] ontroller boar, a Pentium IV 15 GHz PC with Winow XP, a three phae inution motor whih ha the etail a follow: 1 watt, /38V, 78/45 A, 5Hz, PF 79 lag an 6 rpm A 3 pule/rev inremental enoer for pee meaurement i ue The DS114 boar i intalle in Pentium IV PC The ontrol program i written in SIMULINK environment ombine with the real-time interfae of the DS114 boar The main ingreient of the oftware ue in the laboratory experiment i bae on MATLAB/Simulink program The ontrol law i eigne in imulink an exeute in real time uing the SPACE DS114 DSP boar One the ontroller ha been built in imulink blok-et, mahine oe are ahieve that run on the DS114 TMS3F4 DSP proeor While the experimental i running, the SPACE DS114 provie a mehanim that allow the uer to hange ontroller parameter online Thu, it i poible for the uer to view the real proe while the experiment i in progre A SPACE Connetor panel (CP114) provie eay ae to all input an output ignal of the DS114 boar All urrent an voltage are meaure uing LEM enor, an both of them are then tranforme to be a voltage ranging from to ± 1 volt whih will be the input of A/D repetively Thi heme enable the uer to ajut the pee of motor the uty yle of the V/F operating in SVM moe[8-11] Fig Experimental Setup (9) International Sholarly an Sientifi Reearh & Innovation 1(11) holarwaetorg/ /89

3 Worl Aaemy of Siene, Engineering an Tehnology International Journal of Mehanial an Mehatroni Engineering Vol:1, No:11, 7 B Deign an Simulation of Control Sytem In thi topi, The PI ontroller eign uing root lou tehnique will be explaine The proe moel whih ahieve experiment the equation (7) i employe to eign the ontroller uner thi onition PO t e t = ( ± %) 5%, 3e, ( ) From the onitional requirement, it i to be: International Siene Inex, Mehanial an Mehatroni Engineering Vol:1, No:11, 7 waetorg/publiation/89 ζ = 691, ω = 193, = 133 ± j14 An then it i obtaine: n θ = 81484, z = 155, z = 885, K = Therefore, the feebak ontroller an fee forwar ontroller are able to be hown a following: G = G f = C Step Repone of Spee To evaluate the performane of the ytem, a erie of meaurement ha been aomplihe The meaurement an be ivie in two group: the firt i a tep hange of the pee referene at ontant loa torque an the eon i a tep hange of the loa torque at ontant pee referene Fig 3~6 a hown performane of ontroller To be tete time repone of pee via the tep hange of pee referene 6 to 1 rpm, 1 to 4 rpm with the loa torque equal to zero an equal to rate repetively Fig 3 Step hange of pee referene 6-1 rpm at zero loa Fig 4 Step hange of pee referene 6-1 rpm at rate loa Fig 5 Step hange of pee referene 1-4 rpm at zero loa Fig 6 Step hange of pee referene 1-4 rpm at rate loa International Sholarly an Sientifi Reearh & Innovation 1(11) holarwaetorg/ /89

4 Worl Aaemy of Siene, Engineering an Tehnology International Journal of Mehanial an Mehatroni Engineering Vol:1, No:11, 7 International Siene Inex, Mehanial an Mehatroni Engineering Vol:1, No:11, 7 waetorg/publiation/89 Fig 7~8 a hown time repone of pee via the tep hange of the loa torque at ontant pee referene 1 an 4 rpm repetively Fig 9~1 a hown teay tate error of pee at referene pee 1 an 4 rpm rate loa repetively It foun that it have tate error le than ±1 rpm From the reult tete the performane of ontroller a tep hange of the pee referene at ontant loa torque a hown in Fig 3~6, it foun that the Rie time(tr)= eon, Peak time(tp) = 3 eon, Settling time(t)=1 eon, Maximum overhoot(mp) = 5 % at zero loa an a tep hange of the loa torque at ontant pee referene a hown in Fig 9~1, it foun that the Settling time(t) = 5 eon From the experimental reult obtaine, the propoe PI ontroller an keep the motor pee to be ontant at the pee ranging from 6 to 4 rpm Fig 7 Step hange of loa torque at ontant pee referene 1 rpm Fig 8 Step hange of loa torque at ontant pee referene 4 rpm 1 1 an urrent uty-yle Van,Ia Fig 9 Steay tate waveform for pee referene 1 rpm at rate loa 4 4 an urrent uty-yle Van,Ia Fig 1 Steay tate waveform for pee referene 4 rpm at rate loa VI CONCLUSION The experimental reult are analyze in teting the 1 watt inution motor from no-loa onition to rate onition; it foun that the pee of the inution motor an be ontrolle at the eire pee without teay-tate error In aition, the motor pee to be ontant when the loa varie ACKNOWLEDGMENT The author gratefully thank the finanial upport from Faulty of Engineering, Pathumwan Intitute of Tehnology, Bangkok 133 REFERENCES [1] Anrzej M Trzynalowki, Introution to Moern Power Eletroni, John Wiley & Son, 1998 [] Bimal KBoe, Moern Power Eletroni an AC Drive, Prentie Hall PTR, International Sholarly an Sientifi Reearh & Innovation 1(11) holarwaetorg/ /89

5 Worl Aaemy of Siene, Engineering an Tehnology International Journal of Mehanial an Mehatroni Engineering Vol:1, No:11, 7 International Siene Inex, Mehanial an Mehatroni Engineering Vol:1, No:11, 7 waetorg/publiation/89 [3] W Leonhar, Control of Eletrial Drive, Springer-Verlag Berlin Heielberg, New York, Tokyo, 1985 [4] Numomran A, -DOF Control Sytem Deigne Root Lou Tehnique, in Pro 15 th KACC ontrol,korea, Otober [5] Bimal K Boe, Moern Power Eletroni an AC Drive, Prenti Hall PTR, [6] DSP Bae Eletri Drive Laboratory Uer Manual : Frequeny Control of AC-Motor Drive, Department of Eletrial an Computer Engineering Univerity of Minneota [7] Introution Getting Starte with SPACE DSP Bae Laboratory of Eletri Drive, Department of Eletrial an Computer Engineering Univerity of Minneota [8] Tunyarirut S, Implementation of a SPACE bae Digital State Feebak Controller for a Spee Control of Woun Rotor Inution Motor, in Conf 5 IEEE Int Conf Inutrial Tehnology, De5, pp [9] Satean Tunyarirut, Sompong Srila an Tianhai Sukri, Fuzzy Logi Control for a Spee Control of Inution Motor uing Spae Vetor Pule With Moulation, Tranation on Engineering, Computing an Tehnology Volume 19 January 7 ISSN , pp [1] Satean Tunyarirut an Sompong Srila Spee Control with Slip Regulation of Inution Motor Drive with Spae Vetor Pule With Moulation Tehnique, Proeeing of the Thir IASTED Aian Conferene Power an Energy Sytem April -4, 7, Phuket, Thailan, ISBN CD: , pp 1-16 [11] Sompong Srila, Satean Tunyarirut an Tianhai Sukri, Implementation of a Salar Controlle Inution Motor Drive SICE- ICASE International Joint Conferene 6, Ot 18-1, 6 in Bexo, Buan, Korea, pp Tianhai Sukri reeive in BEng an MEng in Intrumentation Engineering from King Mongkut Intitute of Tehnology Lakrabang (KMITL),Thailan in 1 an 4, repetively He i with Leturer at Department of Intrumentation Engineering, Faulty of Engineering, Pathumwan Intitute of Tehnology, Bangkok 133, Thailan Hi reearh interet inlue Control ytem, intelligent ontrol At Prof Dr Satean Tunyarirut reeive in BSIE in Eletrial Engineering an MSTehE in Eletrial Tehnology from King Mongkut Intitute of Tehnology North Bangkok(KMITNB), Thailan in 1986 an 1994, repetively In 3 He reeive in BEng in Eletrial Engineering from Rajamangala Intitute of Tehnology Thanyaburi, Thailan an in 7 reeive in DEng in Eletrial Engineering from King Mongkut Intitute of Tehnology Lakrabang Bangkok(KMITL),Thailan, In 1995 he wa aware with the Japan International Cooperation Ageny (JICA) holarhip for training the Inutrial Roboti at Kumamoto National College of Tehnology, Japan Sine 5, he ha been a At Prof at Department of Intrumentation Engineering, Pathumwan Intitute of Tehnology, Thailan Hi reearh interet inlue moern ontrol, intelligent ontrol, Power Eletroni, Eletrial Mahine an Drive International Sholarly an Sientifi Reearh & Innovation 1(11) 7 64 holarwaetorg/ /89