Simulation of Field Oriented Control in Induction Motor Drive System

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1 ELKOMNIKA, Vol. 11, No. 12, Decembe 2013, pp. 7555~7563 e-issn: X 7555 Simulation of Field Oiented Contol in Induction Moto Dive System Xiang Zhao, Huijuan Liu, Jingxiong Zhang, Haijiao Zhang School of Electical Engineeing, Beijing Jiaotong Univesity, No.3 Shang Yuan Cun, Hai Dian Distict Beijing, China, Coesponding autho, Abstact In this pape, a 3-phase induction moto model fo simulation the field oiented contol (FOC) system based on space vecto pulse width modulation (SVPWM) is established in Ansoft/Simploe softwae. he theoy of field oiented contol (FOC) and the pinciple of space vecto pulse width modulation (SVPWM) wee intoduced. he simulation esults ae pesented and analyzed. A Simulink simulation model of field oiented contol system is pesented as a compaison unde the same conditions. he esults indicated that the Simploe model had quick esponse speed, small toque fluctuations and good pefomance both in steady and dynamic states. Futhemoe, the Simploe model can be coupled with the finite element model of the moto to achieve field-cicuit coupling simulation of induction moto s field oiented contol system. Keywods: SVPWM, FOC, induction moto, vecto contol, simploe Copyight 2013 Univesitas Ahmad Dahlan. All ights eseved. 1. Intoduction aditional contol methods of AC moto based on Sinusoidal Pulse Width Modulation (SPWM) ae the methods that apply thee 120º spatially displaced sinusoidal voltages to the thee-phase windings of stato. In most of taditional AC dives, the geneation of the thee sine waves is based on moto electomechanical chaacteistics and equivalent model of the moto s steady state. Futhemoe, the contol looks like thee-phase independent contol athe than a total system contol of the thee phase system [1, 2]. Advanced contol methods of induction moto equie independent contol of magnetic flux and toque as DC-moto. In ode to obtain the sepaation chaacteistics like DC-moto in induction motos, many high pefomance methods have been analyzed like Diect oque Contol (DC) and Field Oiented Contol (FOC) [3]. Due to its popeties like simplicity, high efficiency, extemely ugged, good powe facto, FOC of induction moto is widely used. In addition, with the developments in powe electonic and semiconducto, pulse width modulation technology has been impoved. As a esult that Space Vecto Pulse Width Modulation (SVPWM) vaiable speed dive is becoming populaity because of thei supeio pefomance [4]. he SVPWM is the contol method that basing on the switching of space voltage vectos, an appoximate cicula otay magnetic field can be obtained [5, 6]. SVPWM has the advantages of it 15% highe utilization atio of voltage and less hamonic distotion than SPWM [7, 8]. Most of induction moto FOC system wee established and simulated based on Simulink in published liteatue, but thei algoithms ae based on cicuit not magneetic field. Simploe is pofessional and poweful electo-mechanical system simulation softwae developed by Ansoft Company. A majo advantage of Simploe is that it can be integated with FEA models to simulate the total contol system in taking into account the the complicated lamination geometies and the nonlinea magnetic mateials. heefoe, the Simploe simulation model of Field Oientated Contol (FOC) based on SVPWM in an induction moto is intoduced, and it has thee featues: the thee phase speed and time dependent system is conveted into a two co-odinate time invaiant system, the FOC stategy and effective Pulse Width Modulation patten geneation is established. hanks to these featues, the contol of AC machine has the total advantages of DC machine contol. Futhemoe, by complying a vey Received June 28, 2013; Revised August 15, 2013; Accepted Septembe 2, 2013

2 7556 e-issn: X accuate steady state and tansient contol, this contol method can achive high dynamic pefomance in tems of esponse times and powe convesion. Moeove, a Simulink simulation is pesented as a compaison unde the same conditions. Also the FOC system in this pape can be egaded as a efeence fo futue field-cicuit coupling simulation. 2. Field Oiented Contol In Field Oientated Contol system, the stato cuents ae epesented by a vecto. his contol method is based on pojections which tansfom a thee phase time and speed dependent system into a two co-odinate (d and q co-odinates) time invaiant system. hese pojections lead to a stuctue simila to that of a DC machine contol. Field oientated contolled machines need two constants as input efeences: the toque component (aligned with the q co-odinate) and the flux component (aligned with d co-odinate). As Field Oientated Contol is simply based on pojections the contol stuctue handles instantaneous electical quantities. his makes the contol accuate in evey woking opeation (steady state and tansient) and independent of the limited bandwidth mathematical model Space Veto Definition he thee-phase cuents, voltages and fluxs of induction moto can be analyzed in tems of complex space vectos [9]. With egad to the cuents, the space vecto can be defined as follows. Assuming that i a, i b, i c ae the instantaneous cuents in the stato phases, then the complex stato cuent vecto i s is defined by: i i i i (1) 2 s a b c 2 e and 2 4 e 3 Whee 3 cuent complex space vecto:, epesent the spatial opeatos. Figue 1 shows the stato Figue 1. Stato Cuent Space Vecto and its Component in (a,b,c) 2.2. Coodinate ansfomation hee ae thee coodinate tansfomation in FOC system: clake tansfomation, pak tansfomation and invese pak tansfomation. Clake tansfomation is that tansfoms fom a thee-phase static coodinate system (a,b,c) to a two-phase static coodinate system ( ). Assuming that the axis a and axis in the same diection. Equation (2) gives clake tansfomation. Pak tansfomation is that tansfoms fom a two-phase static coodinate system ( ) to a two-phase otating coodinate system (d-q). If we conside the d axis aligned with the oto flux, fo the cuent vecto, the elationship fom the two coodinate systems is shown in Figue 3. Invese pak tansfomation is that tansfoms fom a two-phase otating coodinate system (d-q) to a two-phase static coodinate system ( ). ELKOMNIKA Vol. 11, No. 12, Decembe 2013:

3 ELKOMNIKA e-issn: X 7557 Equation (3), (4) give pak tansfomation and invese pak epectively. Whee is the oto flux position. Figue 2. Stato Cuent Space Vecto and its Components in ( ) Figue 3. Stato Cuent Space Vecto and its Component in wo Coodinate Systems ia i ib i i c 2 2 id cos sin i i q sin cos i i cos sin id i sin cos iq (2) (3) (4) 2.3 Basic Equation D axis of the above tansfomation otates in synchonous speed 1 of asynchonous moto, has no specific physical concept. Futhemoe, we can define its diection and make it has physical meaning. Defining d axis diection is the diection of the oto flux, called M axis. hen q axis is called axis [10]. he voltage equation of squiel cage induction moto in M- coodinate system is given by Equation (5). he contol equations of induction moto vecto contol system ae given by Equation (6), (7), (8). he equations of the oto flux oientated ae given by Equation (9). usm Rs Lsp 1Ls Lmp 1Lmi sm us 1Ls Rs Lsp 1Lm Lmp i s 0 Lmp 0 R Lp 0 im 0 slm 0 sl R i (5) Lm i p1 sm (6) L n i (7) m e p s L Simulation of Field Oiented Contol in Induction Moto Dive System (Xiang Zhao)

4 7558 e-issn: X i s (8) s Lm Li m s 1 dt ( s ) dt ( ) dt (9) Whee u sm, u s ---contol voltage of applied M- axis espectively, i sm,i s --- stato M- axis cuent, i M, i ---oto M- axis cuent, R s --- stato esistance, R --- oto esistance, L s -- - stato inductance, L --- oto inductance, L m --- mutual inductance, synchonous angula speed, --- oto angula speed, s --- slip angula speed, e --- electomagnetic toque, --- oto flux, --- oto flux position, n p --- pole-pai numbe, --- oto time constant, p --- diffeential opeato Block Diagam he Figue 4 shows the block diagam of oto field oiented contol system. Figue 4. he Block Diagam of Roto Field Oiented Contol System As shown in Figue 4, thee moto phase cuent ae measued and fed the Clake tansfomation module. he outputs of this pojection ae designated i and i.hese two components of the cuent ae the inputs of the pak tansfomation that gives the cuent and sm i in the M- otating coodinate system. he oto angula speed is measued,, i i and sm feed the oto field oiented module. his module can calculate oto flux position by the fomulas mentioned above. Note that both pak tansfomation and invese pak tansfomation need the oto flux position. he oto flux position feed the pak tansfomation and the invese pak tansfomation. hee ae two given values and two closed-loop contolle in the FOC syetem. he two given values ae given oto angula speed and given oto flux. he discepancy between the given oto angula speed and measued oto angula speed feed the speed egulato, the output of the speed egulato is given toque cuent component i s. he discepancy between the given toque cuent component is and the actual toque cuent component i s feed the cuent egulato, the output of the cuent egulato isu. he discepancy between the given flux cuent s i s s ELKOMNIKA Vol. 11, No. 12, Decembe 2013:

5 ELKOMNIKA e-issn: X 7559 component i sm / Lm and actual flux cuent component i sm feed the othe cuent egulato, the output of this cuent egulato isu sm. he outputs of the cutent egulatos ae applied to the invese pak tansfomation module. he outputs of this pojection ae u and u which ae the components of the stato vecto in the static coodinate system. hese ae inputs of the Space Vecto PWM. he outputs of this block ae the signals that dive the invete. About how dive the invete consideations ae made in following paagaphs. he FOC system in this pape is a two-loop system, the speed loop is oute loop and the cuent loop is inne loop ensue that this system is stable. 3. SVPWM Spave Vecto PWM supplies the induction moto with the desied phase voltages. he phase voltage of induction moto is depended on the powe switch state of its coesponding uppe and lowe am of the invete.hee ae eight voltage vectos detemined by eight switch combintions in 3-phase invete. Figue 5 shows the eight voltage vectos and the six sectos. Figue 5. Vectos and Sectos his pape no longe descibe the woking pinciple of SVPWM, because of thee ae many elated liteatue on the woking pinciple of SVPWM [11-13]. By its pinciple, thee ae thee majo steps to geneate SVPWM: judging secto, calculating opeating time, detemining switching point. he thee steps ae discussed espectively in following paagaphs Judging Secto Calulating vaiable P value using Equation (10), (11), and judging secto numbe N accoding to able 1 [14, 15]. B 0 u 3 1 B1 u u B2 u u 2 2 (10) P signb ( ) 2 signb ( ) 4 signb ( ) (11) he sign(x) is sign function. If x>0, sign(x)=1. If x 0, sign(x)=0. able 1. Judging Secto P N Simulation of Field Oiented Contol in Induction Moto Dive System (Xiang Zhao)

6 7560 e-issn: X 3.2. Calculating Opeating ime Calculating opeating time 1, 2 of two adjacent vectos accoding to Equation (12) and able 2. X= u 3 U dc Y u u 2 2 U dc Z u u 2 2 U dc (12) able 2. Value Assignment fo 1, 2 N Z Z X -X -Y Y 2 X Y -Y Z -Z -X o diffeent sectos, the evaluations of 1 and 2 can be deived fom able 2. When >, is switching peiod, calculate the new value of 1 and 2 accoding to Equation (13) (13) 3.3. Detemining Switching Point he switching points ae detmined by Equation (14). o diffeent sectos, the evaluations of com1, com2 and com3 can be deived fom able 3. ( )/ 4 a c b 1 2 b a 1 /2 /2 2 (14) able 3. Detemining Switching Point N com1 a b c c b a com2 b a a b c c com3 c c b a a b XY Plot 1 Simploe1 Cuve Inf o SUM6.VAL SUM7.VAL SUM8.VAL ANSOF Y ime [ms] Figue 6. SVPWM Wavefom ELKOMNIKA Vol. 11, No. 12, Decembe 2013:

7 ELKOMNIKA e-issn: X 7561 he caie is a positive isosceles tiangula wave which the peiod is and the amplitude is /2. Compae the caie with com1, com2 and com3, we can get the symmetic space vecto PWM wavefom as shown in Figue 6. he space vecto PWM wavefom is sadle shape. 4. Simulation and Analysis he whole FOC system simulation model is built, and the paametes of induction moto ae as follows: U N =380V, f=50hz, P N =7.5kW, n N =1430/min, R s =0.7753, R =0.7773, L 1s = H, L 1 = H, L m =0.1303H, p=2, J=0.036kg m 2. he switching fequency is 10kHz. he given angula speed is 100ad/s, the given oto flux is 1Wb, and the moto is staing in no-load condition. In 1 second moment, angula speed changes fom 100 to 150ad/s(ated angula speed); In 1.4 second moment, load toque is changed fom 0 to 50N m(ated toque). he whole time of the simulation is 2s. he all simulation esults ae shown in Figue 7(a)-(d). Y1 [A] m1 XY Plot 3 Name X Y m m ime [ms] m2 (a) hee-phase cuents at 0-0.2s (b) oque at 0-2s IM1 Cuve Info IM1.I1A IM1.I1B IM1.I1C ANSOF IM1.MI [NewtonMete] m1 Name X Y m m XY Plot ime [s] m2 IM1 Cuve Inf o IM1.MI ANSOF IM 1.I1A [A ] Name X Y m m m1 XY Plot 4 m2 IM1 Cuve Inf o IM1.I1A ANSOF IM 1.N [p m ] Name X Y m m m XY Plot 1 m1 IM1 m2 m3 Cuve Inf o IM1.N ANSOF ime [s] (c) A phase cuent at s (d) Rotational speed at 0-2s Figue 7. he Results of Simploe Simulation ime [s] Figue 7(a) is the thee-phase cuents wavefom of the stato windings. In Figue 7(a), the stating cuent maximum amplitude of the moto is about 37.64A, 5.4 times of no-load cuent amplitude. It is a easonable esult. In Figue 7(b), the acceleation toque is about 111 N m, 2.22 times of ated toque. It is an acceptable esult because that maximum toque is usually no moe than 2 times of ated toque fo nomal moto. In Figue 7(c), the no-load cuent amplitude is about 6.71A, 0.3 times of ated cuent. It is a coect esult because that no-load cuent is about times of ated cuent fo nomal moto. In addition, the no-load toque is vey small as shown in Figue 7(b). In 1.4 second, load tuque changes fom 0 to 50N m (ated toque), the speed of the moto dop a little as shown in Figue 7(d). he esults of Simulink simulation ae shown in Figue 8. Figue 8(a) shows the wavefom otational speed at 0-2s, Figue 8(b) shows the wavefom of toque at 0-2s. Simulation of Field Oiented Contol in Induction Moto Dive System (Xiang Zhao)

8 7562 e-issn: X (a) Angula speed at 0-2s (b) oque at 0-2s Figue 8. he Results of Simulink Simulation 4. Conclusion Based on the oto field oiented contol (FOC) of 3-phase induction moto, the simulation models of FOC system using Ansot/Simploe and Matlab/Simulink softwae ae established. he simulation esults show that the FOC system can smoothly wok and still has pefect static and dynamic chaacteistics unde nomal woking condition. It povides a tain of thougth fo the actual design and debugging of induction moto contol system. Compaing the esults of the two simulation models, we can find that thee ae thee advantages of Simploe simulation model. Fistly, the simulation time of Simploe model is much shote than that of Simulink model unde the same conditions, and the simulation time of Simploe model is about 15 minutes, but in Simulink model, that is about 10 hous. Secondly, Simploe softwae has convenient image pocessing functions than Matlab/Simulink softwae. he main advantage of Simploe is that Ansoft/Simploe can povide a diect coupling with the finite element analysis softwae to simulate the total contol system in taking into account the the complicated lamination geometies, and the nonlinea magnetic mateials. Refeences [1] unyasiut S, Silad S, Suksi. Compaison Powe Quality of the Voltage Souce Invete type SVPWM and SPWM echnique fo Induction Moto Dive. SICE Annual Confeence. okyo. 2008; [2] Sutikno, WJ Hwa, A Jidin, NRN Idis. A Simple Appoach of Space-Vecto Pulse Width Modulation Realization Based on Field Pogammable Gate Aay. Electic Powe Components and Systems. 2010; 38(14): [3] Menaa M, ouhami O, Ibtiouen R, Fadel M. Sensoless Diect Vecto Contol of an Induction Moto. Contol Engineeing Pactice. 2008; 16(1): [4] Baskys A, Bleizgys V, Gobis V. SVPWM Method with the Aveaged Pulse Length Vesus Conventional Modulation Method. Poceedings of the 12th Biennial Baltic Electonics Confeence. allinn. 2010; [5] Vinoth Kuma, S Suesh Kuma, Kishoe Reddy. Implementation of Scala Contol echnique in SVPWM Switched hee Level Invete Fed Induction Moto Using DSP Contolle. Intenational Jounal of Powe Electonics and Dive Systems. 2011; 1(2): [6] Saavanan M, Nandakuma R, Veeabalaji G. Effectual SVPWM echniques and Implementation of FPGA Based Induction Moto Dive. Intenational Jounal of Reconfiguable and Embedded Systems. 2012; 1(1): [7] Zhengguan Wang, Jianxun Jin, Youguang Guo, Jianguo Zhu. SVPWM echniques and Applications in HS PMSM Machines Contol. Jounal of Electonic Science and echnology of China. 2008; 6(2): [8] Van de Boeck HW, Skudelny HC, Stanke GV. Analysis and Realization of a Pulsewidth Modulato Based on Voltage Space Vectos. IEEE ansactions on Industy Applications. 1988; 24(1); [9] L Zhang, C Wathanasan, F Hadan. An Efficient Micopocesso-Based Pulse Width Modulato using Space Vecto Modulation Stategy. IEEE Industial Electonics, Contol and Instumentation (IECON). Bologna. 1994; 1: [10] Chunlei Gu, Zhong Chen, Automatic Contol System of Electic Dive and Matlab Simulation. Fist Edition. Beijing. singhua Univesity Pess. 2011: [11] Guijie Yang. Study of Space Vecto Pulse Width Modulation. Poceeding of the CSEE. 2001; 21(5): ELKOMNIKA Vol. 11, No. 12, Decembe 2013:

9 ELKOMNIKA e-issn: X 7563 [12] Shanmei Chen. Simulating Space Vecto Pulse Width Modulation Based on Simulink. Jounal of Electic Automation. 2002; 24(3): [13] Khambadkone AM, Holhz J. Compensated Synchonous PI Cuent Contolle in Ovemodulation Range and Six-step Opeation of Space-Vecto-Modulation-Based Vecto-Contolled Dives. IEEE ansactions on Industial Electonic. 2002; 49(3): [14] Yafei ian, Jiai He, Zhiwu Huang. Simulation and Analysis Based on Space Vecto Pulse Width Modulation Algoithm. Poceedings of the CSU-EPSA. 2004; 16(4): [15] Bo Li, Quntao An, Bingcheng Sun. Space Vecto Pulse Width Modulation Simulation and Implementation. Electic Machines and Contol. 2006; 33(6): Simulation of Field Oiented Contol in Induction Moto Dive System (Xiang Zhao)

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