International Journal of Advance Engineering and Research Development. Implementation of Vector Oriented Control for Induction Motor Using DS1104

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1 Scientific Jounal of Impact Facto (SJIF): 4.72 Intenational Jounal of Advance Engineeing and Reseach Development Volume 4, Issue 1, Januay e-issn (O): p-issn (P): Implementation of Vecto Oiented Contol fo Induction Moto Using DS1104 M. Nimesh D. Smat 1, Miss. Manisha M. Patel 2 1 Electical Depatment, Vidhyadeep Institute of Engineeing & Technology, Anita 2 Electical Depatment, Mahavi Swami College of Engineeing & Technology, Suat Abstact Induction machines ae univesally used in industy because of thei obustness, eliability, low pice and high efficiency. The ability to contol speed of induction moto is desied in industy. Besides fo contol of the pocessing pocedue, efficient speed contol stategies can educe the opeation cost. Seveal methods can be used to contol the speed of induction moto. It includes scala contol and vecto contol. Howeve, until ecent times, it has been had to contol the toque of the induction moto. The objective of the thesis is to develop Simulink model of Vecto Contol of an Induction Moto by using Simulink/MATLAB to contol moto toque and flux using dspace platfom because it executes the model in eal time application. This eseach pape descibes the implementation of a fieldoiented contol fo a squiel cage induction moto. The contol stuctue is pogammed as a Simulink gaphical model and can be implemented by Real-Time Inteface (RTI) on the DS1104 R&D Contolle Boad. Keywods- dspace, Induction Moto, MATLAB/Simulink, Contol Desk, Vecto Oiented Contol Method. I. INTRODUCTION An induction o asynchonous moto is a type of AC moto whee powe is supplied to the oto by means of electomagnetic induction, athe than a commutato o slip ings as in othe types of moto. In cetain texts, a machine with only amotisseu windings is called an induction machine. The distinguishing featue of an induction moto is that no DC field cuent is equied to un the machine. These motos ae widely used in industial dives, paticulaly polyphase induction motos, because they ae ugged and have no bushes. Thei speed is detemined by the fequency of the supply voltage, so they ae most widely used in constant-speed applications, although vaiable speed vesions, using vaiable fequency dives ae becoming moe common. The most common type is the squiel cage moto, and this tem is sometimes used fo induction motos geneally. Although it is possible to use an induction machine as eithe a moto o a geneato, it has many disadvantages as a geneato and so is aely used in that manne. Fo this eason, induction machines ae usually efeed to as induction motos. [1] Squiel-cage induction motos (IM) ae the wokhose of industies fo vaiable speed applications in a wide powe ange that coves fom factional watt to megawatts. Howeve, the toque and speed contol of these motos is difficult because of thei nonlinea and complex stuctue. In the past five decades, a lot of advanced contol schemes fo IM dive appeaed. Fist, in the 1960 s, the pinciple of speed contol was based on an induction moto model consideed just fo steady state. Theefoe, the so-called Scala Contol Methods cannot achieve best pefomance duing tansients, which is thei majo dawback. Aftewads, in the 1970 s, diffeent contol schemes wee developed based on a dynamic model of the induction moto. Among these contol stategies, the vecto contol which is included in the socalled Field Oiented Contol (FOC) method is mentioned. The pinciple of vecto contol is to contol independently the two Pak components of the moto cuent, esponsible fo poducing the toque and flux espectively. In that way, the induction moto dive opeates like a sepaately excited dc moto dive (whee the toque and the flux ae contolled by two independent othogonal vaiables: the amatue and field cuents, espectively). Since the 1980 s, many eseaches have woked on impovements of the FOC and vecto contol which have become the industy s standad fo IM dives. Moeove, these eseaches led to new contol stategies such as Diect Self-Contol (DSC) o Diect Toque Contol (DTC). The pinciple of DTC is to contol diectly the stato flux and toque of the induction moto by applying the appopiate stato voltage space vecto. With vecto contol, the majo dawback of the scala contol is ovecome because these contol schemes ae based on a model of the induction moto which is consideed valid fo tansient conditions. The objective of this eseach pape is neithe to do an oveview of an induction moto contol method, no to ty to MATLAB fo Enginees - Applications in Powe, Electical Engineeing. Its aim is to pesent a poweful tool to help students to undestand Induction moto contol scheme, the vecto contol using a dspace platfom and MATLAB/Simulink envionment. Fist, the expeimental system is pesented. Then the Induction moto models used theein ae descibed and the detemination of the Induction moto paametes as well as the implementation of the contol method is exposed using DS1104 R&D Contolle Boad. Finally, typical esults ae pesented and the educational expeience is All ights Reseved 132

2 II. INDUCTION MOTOR An induction o asynchonous moto is a type of AC moto whee powe is supplied to the oto by means of electomagnetic induction, athe than a commutato o slip ings as in othe types of moto. In cetain texts, a machine with only amotisseu windings is called an induction machine. The distinguishing featue of an induction moto is that no DC field cuent is equied to un the machine. These motos ae widely used in industial dives, paticulaly polyphase induction motos, because they ae ugged and have no bushes. Thei speed is detemined by the fequency of the supply voltage, so they ae most widely used in constant-speed applications, although vaiable speed vesions, using vaiable fequency dives ae becoming moe common. The most common type is the squiel cage moto, and this tem is sometimes used fo induction motos geneally. Although it is possible to use an induction machine as eithe a moto o a geneato, it has many disadvantages as a geneato and so is aely used in that manne. Fo this eason, induction machines ae usually efeed to as induction motos. [2]- [5] Anothe classification of the contol techniques fo the induction machine depends on how the voltage-tofequency ation is implemented: 1. Scala contol. a) Voltage/fequency (V/f) contol. b) Stato cuent contol and slip fequency contol. These techniques ae implemented though diect measuement of the machine paametes. 2. Vecto Contol. a) Field oientation contol. i. Indiect Method ii. Diect Method b) Diect toque and stato flux vecto contol. III. VECTOR ORIENTED CONTROL (VOC) SCHEME FOR INDUCTION MOTOR The Vecto Contolle Oiented (VOC) is also known as Field Contolle Oiented (FOC) fo induction moto. The main objective of this contol method is to independently contol toque and flux as in sepaately excited DC machines. This is done by choosing a d-q otating efeence fame synchonously with the oto flux space vecto. Once the oientation is coectly achieved, the toque is contolled by the toque poducing cuent which is the q-component of the stato cuent space vecto. At the same time flux is contolled by the flux poducing cuent, which is the d- component of the stato cuent space vecto. Basic Idea of Vecto Oiented Contol: The idea behind vecto oiented contol is to contol an induction moto in the simila way fo dc moto contol. In the so called "scala contol methods" fo induction machines, the machine model is consideed just fo steady state. In "vecto contol methods," the moto model consideed is valid fo tansient conditions. The efeence fame used in the VOC is one whose eal axis coincides with the oto flux vecto. This fame is not static and does not have a constant speed duing tansients. The geat advantage of this "non-inetial" fame is that fo impessed stato cuents, this method allows independent flux and toque contol. Pinciple of VOC: The pinciple of the vecto oiented contol (VOC) is based on an analogy to the sepaately excited dc moto. In this moto flux and toque can be contolled independently. The contol algoithm can be implemented using simple egulatos, e.g. PI - egulatos. In induction moto independent contol of flux and toque is possible in the case of coodinate system is connected with oto flux vecto. A coodinate system d - q is otating with the angula speed equal to oto flux vecto angula speed Ω k = Ω s, which is defined as follows: The otating coodinate system d - q is shown in Figue 1. Figue 1. Vecto diagam of induction moto in stationay α β and d - q All ights Reseved 133

3 The voltage, cuent and flux complex space vecto can be esolved into components d and q. d (3.1) s s dt u u ju (3.2) sk sd sq u u ju, I I ji (3.3) sk sd sq k d q j, (3.4) sk sd sq k d In d - q coodinate system the induction moto model equations can be witten as follows: (3.5) sd usd Rs Isd d ssq dt (3.6) sq usq RsI sq d ssd dt (3.7) 0 R Id d dt 0 R I ( p ) (3.8) q s b m L I L I (3.9) sd s sd M d L I L I (3.10) sq s sq M q L I L I (3.11) d M sd 0 L Iq LM Isq (3.12) m 1 ms LM d p I M dt J 2 L b sq L The equations 3.8 and 3.12 can be easy tansfomed to: L R R d Isd dt L L M (3.13) (3.14) The moto toque can by expess by oto flux magnitude ψ and stato cuent component I sq as follows: ms LM M e pb Isq 2 L (3.15) Equations 3.14 and 3.15 ae used to constuct a block diagam of the induction moto in d - q coodinate system, which is pesented in Figue 2. Figue 2. Block diagam of induction moto in d - q coodinate system. The main featue of the vecto oiented contol (VOC) method is the coodinate tansfomation. The cuent vecto is measued in stationay coodinate α - β. Theefoe, cuent components I sα, I sβ must be tansfomed to the otating system d - q.similaly, the efeence stato voltage vecto components U sαc, U sβc, must be tansfomed fom the system d - q to α - β. These tansfomations equies a oto flux angle s. Depending on calculations of this angle two diffeent kind of field oiented contol methods maybe All ights Reseved 134

4 IV. dspace DS1104 DSP CONTROLER BOARD The dspace contol platfom simplifies the pogamming task using libay block set and intefacing of contol algoithm to un on pocesso and on-chip peipheals. In the hadwae pat open loop simulation has been pesented with eal time simulation implementation. This is achieved by using digital signal pocesso contolle. dspace and MATLAB inteface is being made to achieve pulse geneation.ds 1104 is used fo PWM geneation by SPWM technique. Desciption of DS1104 DSP Contolle boad is given below. DS1104 R&D Contolle Boad The DS1104 R&D Contolle Boad upgades you PC to a poweful development system fo apid contol pototyping ( R&D stands fo eseach & development). Real-Time Inteface (RTI) povides Simulink blocks fo gaphical I/O configuation. The boad can be installed in vitually any PC with a fee 5-V PCI slot. The eal-time hadwae based on PowePC technology and its set of I/O intefaces make the contolle boad an ideal solution fo developing contolles in vaious fields, such as dives, obotics, and aeospace. The boad is used in many univesity laboatoies. Technical Specifications of the DS1104 Boad Main Pocesso Times MPC8240 pocesso with PPC 603e coe, 250 MHz CPU clock 4 geneal pupose times 2 x 16 KB cache 1 sampling ate time 64 bit floating-point pocesso 1 time base counte A/D Convete Memoy Resolution Global memoy, 32 MB DSRAM 1. Multiplexed channels : 16-bit Flash memoy, 8 MB 2. Paallel channels : 12-bit D/A Convete Input voltage ange : ± 10 V Channels : 8 channels Convesion Time Resolution : 16-bit 1. Multiplexed channels : 2 µs Output ange : ± 10 V 2. Paallel channels : 800 ns Settling time: Max. 10 µs Signal-to-noise atio 1. Multiplexed channels : > 80 db 2. Paallel channels : > 65 db Signal-to-noise atio : > 80 db I max : ± 5 ma Digital Incemental Encode Inteface Digital I/O Channels : 2 independent channels Channels : 20-bit paallel I/O Position countes: 24-bit esolution Voltage ange : TTL input/output levels Senso supply voltage : 5V / 0.5A I out;max : ± 5 ma Slave DSP Seial Inteface Texas Inst. TMS320F240 DSP, 16-bit pocc. Single UART with FIFO Clock ate : 20 MHz RS232 / RS485 compatibility Memoy : 32 MB flash memoy Baud Rate : Up to kbd (RS232) I/O channels : 10 PWM o/p, 4 captue i/p Baud Rate : Up to 1 MBd (RS422/RS485) A/D convete voltage ange : V Host Inteface : Requies one 33 MHz / 32-bit 5V PCI slot Output cuent: Max. ±13 ma Figue 3. CLP-1104 Connecto All ights Reseved 135

5 CLP1104 Connecto Panel Using an adapte cable you can link you extenal signals fom the 100-pin I/O connecto on the boad to Sub-D connectos. Figue 3 shows CLP1104 Connecto Panel. The CPL1104 povides easy to use connections between the DS1104 R&D Contolle Boad and devices to be connected to it. Devices can be individually connected, disconnected o intechanged without soldeing via BNC connectos and Sub D connectos. This simplifies system constuction, testing and toubleshooting. Fo the pin assignment and mapping of I/O signals, please efe the efeence [9] How to stat the Code Geneation? 1. Open the Simulink Model. 2. Set the following configuation paametes. a. Sample time b. Simulation type, can be fixed o continuous c. Select the solve type fom listed solves d. Stat and Stop time 3. Set the optimization options. 4. While setting RTW build options you have to mention the boad type. Afte setting all the paametes you have to build the model. Duing build pocess code is geneated fo Simulink block diagam that include RTI blocks fo RCP and HILS. Code geneation begins with a two-step pocess, which is followed by two moe steps wheneve an executable is being compiled. The fou steps (also summaized in the Build Pocess) ae automatically completed when you click the Build button on the Real-Time Wokshop dialog (assuming that Real-Time Wokshop detects no constaints to geneating code fo the model; if it does, it will issue wanings). Real-Time Wokshop analyzes the block diagam and compiles it into an intemediate hieachical epesentation called model.tw. The Taget Language Compile eads model.tw and tanslates it to C code, which it places in a build diectoy in the woking diectoy. The Taget Language Compile constucts a make file fom the appopiate taget make file template, and places the basic diectoy. Gate Dive Cicuit V. HARDWARE IMPLEMENTATION The switches in bidge configuations of invetes need to be povided with isolated gate dive signals. The individual contol signal fo the switches needs to be povided acoss the gate and souce teminals of the paticula switch. The gate contol signals ae low voltage signals efeed to the souce teminal of the switch. Fo MOSFET switches, when gate to souce voltage is moe than theshold voltage fo tun-on, the switch tuns on and when it is less than theshold voltage the switch tuns off. The theshold voltage is geneally of the ode of +5 volts but fo quicke switching the tun-on gate voltage magnitude is kept aound +15 volts wheeas tun-off gate voltage is zeo o little negative (aound -5 volts).[17]-[19] Figue 4. Schematic Diagam of Opto-Couple All ights Reseved 136

6 Opto-couple Intenational Jounal of Advance Engineeing and Reseach Development (IJAERD) Gate-signal isolation fo invete switches is geneally achieved by means of optical-isolato cicuit. Figue 5 shows a typical opto-couple cicuit. The cicuit makes use of a commecially available opto-couple IC 6N-137. Input stage of the IC is a light emitting diode (LED) that emits light when fowad biased. The light output of the LED falls on evese biased junction of an optical diode. The LED and the photo-diode ae suitably positioned inside the opto-couple chip to ensue that the light emitted by the LED falls on the photo-diode junction. The gate contol pulses fo the switch ae applied to the input LED. These gate pulses, geneated by the gate logic cicuit, ae essentially in the digital fom. A high level of the gate signal may be taken as on command and a low level (at gound level) may be taken as off command. Unde this assumption, the cathode of the LED is connected to the gound point of the gate-logic cad and anode is fed with the logic cad output. The cicuit on the output (photo-diode) side is connected to a floating dc powe supply, as shown in Figue 5. When input signal to LED is high, LED conducts and the emitted light falls on the evese biased p-n junction. Iadiation of light causes geneation of significant numbe of electon-hole pais in the depletion egion of the evese biased diode. A signal compaato cicuit senses this condition and outputs a high level signal, which is amplified befoe being output. Thus an isolated and amplified gate signal is obtained and may diectly be connected to the gate teminal of the switch. Fo diving high side MOSFET in any topology, opto-couples can be used with following advantages: They can be used to give a vey high isolation voltage; 2500 to 5000 Volts of isolation is achievable by use of popely cetified opto-couples. Signals fom DC to seveal MHz can be handled by opto-couples. They can be easily intefaced to Micocomputes o othe contolle ICs o any PWM IC. High Speed MOSFET Gate Dives MOSFET can be diven by any cicuit capable of poviding the ight gate voltages & that is fast enough to ensue that the MOSFET spends the absolute minimum amount of time in its linea gate voltage egion. This is impotant, fo it s when the MOSFET is in its linea egion that it acts like a esisto & poduces a lot of heat. Most MOSFET tun on at V, and need a high cuent if you plan to do high speed switching. Figue 5. Thee-Phase Invete Using Thee IRS2110 Devices to Dive Six MOSFETs Theefoe you need a MOSFET dive as an inteface between you logic system and MOSFET. Theefoe you need a MOSFET dive as an inteface between you logic system and MOSFET. The IRS2110 ae high voltage, high speed powe MOSFET dives with independent high-side and low-side efeenced output channels. They povide vey fast switching speeds and low powe All ights Reseved 137

Figue 6. Actual hadwae setup in Laboatoy The floating channel can be used to dive an N-channel powe MOSFET in the high-side configuation which opeates up to 500 V o 600 V.

7 Figue 6. Actual hadwae setup in Laboatoy The floating channel can be used to dive an N-channel powe MOSFET in the high-side configuation which opeates up to 500 V o 600 V. Figue 5, shows the Thee Phase Invete using thee IRS2110 devices to dive six MOSFETs and Figue 6, shows the actual pe phase, gate tigge cicuit, implemented and fabicated in eseach wok. Invete Invete o powe invete is a device that convets the DC souces to AC souces. The conveted AC can be at any equied voltage and fequency with the use of appopiate tansfomes, switching, and contol cicuits. Invetes ae used in a wide ange of applications, fom small switched powe supplies fo a compute to lage electic utility applications to tanspot bulk powe. VI. SIMULATIONS & RESULTS In this pape fo case study, 3HP, 220V, 50 Hz, 3-phase induction moto used fo simulating vecto oiented contol dive. Induction moto paametes ae given in Table 1. S. No. Paametes Values 1 Stato esistance in Ohms Stato inductance in Heny 2.0e-3 3 Roto esistance in Ohms Roto inductance in Heny 2.0e-3 5 Mutual inductance in Heny 69.31e-3 6 Inetia Fiction Facto 0 8 Pais of poles 2 Table 1. Induction moto All ights Reseved 138

8 Simulation Model in MATLAB Intenational Jounal of Advance Engineeing and Reseach Development (IJAERD) Figue 7. Simulation model in MATLAB with RTI Data Simulation Results on dspace Contol Desk Vecto oiented contol is simulated in MATLAB which gives the esult on dspace Contol Desk as shown in figues below fo complete model on otate on 1500 RPM speed and 250 RPM speed. Figue 8. Simulation Results of Complete Model on dspace Contol Desk fo 1500 All ights Reseved 139

9 Figue 9. Simulation Results of Complete Model on dspace Contol Desk fo 250 RPM VII. CONCLUSIONS The essentials of an induction moto wee exploed; the constuction and woking pinciples of its opeation wee explained. An implementation and dynamic modeling of a thee-phase induction moto using MATLAB/Simulink wee pesented in a step-by-step manne. This pape pesented the concept of Vecto Oientated Contol (VOC), a vecto contol method. It was elected to be the motion contol technique because it poduces contolled esults that have a bette dynamic esponse to toque vaiations in a wide speed ange compaed to othe scala methods. It was shown, though MATLAB analysis that field oiented contol is an effective means of diving an Induction moto. A speed pofile with an adequate tansient esponse and steady-state eo was geneated. Futhemoe, the system was stable. The hadwae design of Gate Fiing and Invete Cicuit which wee used to dive an Induction moto was discussed. It illustates how MATLAB/Simulink and dspace ae used in the expeiment. The use of dspace contolles (DS1104), which utilize the Simulink modeling in Pogamming, is the majo advantage ove othe systems in eal-time contol. The typical expeiment designed to do simulation using MATLAB/Simulink and actual measuement using dspace, and to compae simulation with measuement wee pesented. The use of dspace contol system is shotened the system design duation and povided to monito the analog and digital signals, and contol vaiables. VIII. REFERENCES [1] R. Kishnan, "Electic Moto Dives-Modelling, Analysis and Contol", Viginia Tech, Blacksbug, VA, July [2] Rakesh Paekh, "AC Induction Moto Fundamentals", Micochip Technology Inc., [3] Fitzgeald, Kingsley and Umans, "Electic Machiney", McGaw-Hill Book Company, [4] "DS1104 R&D Contolle Boad Featues (Release 4.0)", dspace Incopoation, Ge-man, August [5] J.J. Cathey, "Electic Machines: Analysis and Design Applying MATLAB", McGaw-Hill, [6] Shuhui Li, "Restuctuing Electic Machiney Laboatoy fo an Integative Teaching Appoach at TAMUK", Poceedings of the 2005 NSF FacultyWokshop on Teaching Powe Systems, Olando, Floida, Feb , [7] Matino O Ajangnay, "Optimal PID Contolle Paametes fo Vecto Contol of Induction Motos", Intenational Symposium on Powe Electonics, Electical Dives, Automation and Motion, SPEEDAM [8] DS1104 R&D Contolle Boad, "Hadwae Installation and Configuation", CRC Pess, Release Mach [9] V. Bakhodaian, "Powe MOSFET Basics",Intenational Rectifie, Technical Pape, [10] J. P. Zheng, T. R. Jow and M.S. Ding,"Intoduction to Voltage Souce Invetes", Vesion 2 EE IIT, All ights Reseved 140

10 [11] Macin Zelechowski, "Space Vecto Modulated - Diect Toque Contolled (DTC - SVM) Invete - Fed Induction Moto Dive", Wasaw Univesity of Technology, Wasaw - Poland, [12] V. Ambozic, G.S. Buja, R. Menis, "Band-Constained Technique fo Diect Toque Contol of Induction Moto", IEEE Tansactions on Industial Electonics, Vol. 51, Issue: 4, Aug [13] D. Casadei, F. Pofumo, G. Sea, A. Tani,"FOC and DTC: two viable schemes fo induction motos toque contol", IEEE Tansactions on Powe Electonics, Vol. 17, Issue: 5, Sept. 2002, pp [14] P. Vas, "Sensoless Vecto and Diect Toque Contol", Oxfod Univesity Pess, [15] Chistophe Vesele, Olivie Deblecke and Jacques Loby, "Implementation of Induction Moto Dive Contol Schemes in MATLAB/Simulink/dSPACE Envionment fo Educational Pupose", Univesity of Mons, Vol. 20, pp , [16] Shaifah Hasmuni BT Syed Haun, "The Development of Simulink Model ofvecto Contol of an Induction Machine", Kolej Univesiti Teknikal Kebagsaan Malaysia, Nov [17] Nicano Quijano and kevin Passino, "A Intoduction to Contol Systems Development and Implementation with dspace", The Ohio State Univesity, Columbus, Jan [18] Gaeth Stephen Robets, "Design and Implementation of a Thee-Phase Induction Moto Contol Scheme", Depatment of Infomation Technology and Electical Engineeing, the Univesity of Queensland, Octobe All ights Reseved 141

Sliding Mode Control for Half-Wave Zero Current Switching Quasi-Resonant Buck Converter

Sliding Mode Control for Half-Wave Zero Current Switching Quasi-Resonant Buck Converter Sliding Mode Contol fo Half-Wave Zeo Cuent Switching Quasi-Resonant Buck Convete M. Ahmed, Student membe, IEEE, M. Kuisma, P. Silventoinen Abstact This pape focuses on the pactical implementation of sliding