Direct Torque Control of Four Switch Three Phase Inverter Fed Induction Motor Sensorless Speed Drive

Transcription

1 Intentionl Jounl of Powe Electonic nd Dive Sytem IJPEDS ol. 5, No., Octobe, pp. 5~65 ISSN: Diect oque Contol of Fou Switch hee Phe Invete Fed Induction Moto Senole Speed Dive M.. Metwlly Deptement of Electicl Engineeing, Menoufiy Univeity, Fculty of Engineeing, Menoufiy, Egypt Aticle Info Aticle hitoy: Received Feb 8, Revied Jul, Accepted Aug 5, eywod: Adptive flux obeve Diect toque nd flux contol Fou witch thee phe invete Induction moto Senole peed contol Stto eitnce identifiction ABSRAC hi ppe peent enole peed contol of induction moto IM uing fou witch thee phe invete FSPI with diect toque nd flux contol DFC. he popoed enole DFC ytem conit of n dptive obeve of oto flux to ccutely etimte tto eitnce nd peed imultneouly, without ffecting dive pefomnce. he witching technique fo DFC of IM uing FSPI in low powe ppliction i bed on the pinciple of imility between FSPI nd SSPI ix witch thee phe invete, whee the αβ pln i divided into 6 ecto nd the fomtion of the voltge pce vecto i done in the me wy fo SSPI by uing effective men vecto. hi ppoch llow uing the well-known etblihed witching tble of SSPI fo FSPI. he imultion eult indicte tht the enole peed contol of FSPI fed IM with DFC nd dptive obeve povide ccute etimte, good tjectoy tcking with diffeent dynmic pefomnce. he expeimentl eult veify the effectivene of the popoed method t diffeent opeting point. Copyight Intitute of Advnced Engineeing nd Science. All ight eeved. Coeponding Autho: M.. Metwlly, Deptement of Electicl Engineeing, Menoufiy Univeity, Fculty of Engineeing, Menoufiy, Egypt. Emil: mohkmel7@yhoo.com. INRODUCION In ecent ye ignificnt dvnce hve been mde on the enole contol of IM. One of the mot well known method ued fo contol of AC dive i the Diect oque Contol DC. DC of IM i known to hve imple contol tuctue with compble pefomnce to tht of the field-oiented contol FOC technique. Unlike FOC method, DC technique equie utiliztion of hyteei bnd compto inted of flux nd toque contolle. o eplce the coodinte tnfomtion nd pule width modultion PWM ignl geneto of FOC, DC ue look-up tble to elect the witching pocedue bed on the invete tte []. Diect toque contol DC of induction moto equie n ccute knowledge of the mgnitude nd ngul poition of the contolled flux. In DC, the flux i conventionlly obtined fom the tto voltge model, uing the meued tto voltge nd cuent. hi method, utilize open loop pue integtion uffeing fom the well known poblem of integtion effect in digitl ytem, epecilly t low peed opetion nge. o obtin the imple, effective pefomnce, ft contol of toque nd flux; DFC ytem fo FSPI-IM h been popoed []. In thi ppe, the optiml witching look-up tble i etblihed with fou bic pce vecto of FSPI nd in ccoding with fou min ecto in the αβ pln. Compion with DFC of induction moto fed by conventionl SSPI confim tht FSPI topology cn be ltentive to the conventionl topology fo low powe low cot induction moto dive. DFC method fo SSPI-IM h been Jounl homepge:

2 5 ISSN: impoved in ome eeche [-], while the toque nd peed ipple e educed. In ode to educe the peed toque ipple, the pce vecto modultion SM modulto h been ued hown in [5-9]. he witching technique fo DFC-FSPI-IM in thi ppe h been done by uing the new ppoch bed on the pinciple of imility between FSPI nd SSPI [5], whee the αβ pln i divided into 6 ecto nd the fomtion of the equied efeence voltge pce vecto i done in the me wy fo SSPI by uing effective men vecto. In the lt decde, mny eeche hve been cied on the deign of enole contol cheme of the IM. Mot method e biclly bed on the Model Refeence Adptive Sytem cheme MRAS [8]. he bic MRAS lgoithm i vey imple but it getet dwbck i the enitivity to uncetintie in the moto pmete. Anothe method bed on the Extended lmn Filte EF lgoithm i ued [-]. he EF i tochtic tte obeve whee nonline eqution e lineized in evey mpling peiod. An inteeting fetue of the EF i it bility to etimte imultneouly the tte nd the pmete of dynmic poce. hi i genelly ueful fo both the contol nd the dignoi of the poce. In [] the utho ued the EF lgoithm to imultneouly etimte vible nd pmete of the IM in helthy ce nd unde diffeent IM fult. [] ued the Luenbege Obeve fo tte etimtion of IM. he Extended Luenbege Obeve ELO i deteminitic obeve which lo lineize the eqution in evey mpling peiod. hee i othe type of method fo tte etimtion tht i bed on the intelligent technique [8]. he popoed enole DFC fo FSPI fed IM howed good behvio in the tnient nd tedy tte, with n excellent ditubnce ejection of the lod toque. Simultion nd expeimentl eult demontte the effectivene of the popoed contol ove diffeent opeting condition, pecie etimtion in low peed egion i obtined.. Spce ecto Anlyi of FSPI Accoding to the cheme in Figue the witching ttu i epeented by biny vible S to S, which e et to "" when the witch i cloed nd "" when open. In ddition the witche in one invete bnch e contolled complementy on, off, theefoe: S S S S Phe to common point voltge depend on the tuning off ignl of the witch in : dc o S dc bo S co Combintion of witching S -S eult in genel pce vecto Fig., ble, component αβ of the voltge vecto e gined fom bc voltge uing Clk' tnfomtion in : b c Whee, b, c : output voltge on the lod t connection, defined by: b c o bo o bo o bo IJPEDS ol. 5, No., Octobe : 5 65

3 IJPEDS ISSN: Figue. Powe cicuit of FSPI Figue. oltge pce vecto of FSPI in the αβ pln. ble. Combintion of witching nd voltge pce vecto S S j j dc e dc e j dc e j dc e j o imulte ix non-zeo vecto in SSPI, beide the two nd, it cn be ued the effective vecto M, M, M nd M. hee vecto e fomed follow: M M M M dc j e ; j dc e ; dc j e ; j dc e ; 5 o imulte zeo vecto of SSPI, ue the effective M in 6: Diect oque Contol of Fou Switch hee Phe Invete fed Induction Moto M.. Metwlly

4 56 ISSN: M 6 he imility between pce vecto of FSPI Fig. nd SSPI Figue i peented in ble. Figue. oltge pce vecto fo FSPI on the pinciple of imility Figue. Be pce vecto in SSPI ble. Simility between pce vecto of FSPI nd SSPI Ued voltge pce vecto fo SSPI 5 6,7 Ued voltge pce vecto fo FSPI M M M M M. Modified Switching echnique fo DC he objective of the DC i to keep the moto toque nd tto flux within defined bnd of tolence by electing the mot convenient voltge pce vecto fom witching tble. In the ce of the conventionl witching tble of DC fo FSPI-IM, one of fou ctive vecto i choen ble [5]. IJPEDS ol. 5, No., Octobe : 5 65

5 IJPEDS ISSN: ble. Conventionl witching tble fo DC contol method Secto Secto Secto Δψ Δ Secto In ode to educe the toque nd peed ipple by uing the pinciple of imility fo voltge pce vecto, optimum witching tble in the modified method i etblihed imilly fo the SSPI witching tble. he αβ pln i divided in to ix ecto, nd fo ech ecto, the optiml pce vecto i choen ccodingly to the equied toque nd flux by uing the effective vecto eqution 5, 6. hee vecto e yntheized uing the bic pce vecto with the duty cycle of 5% witching peiod i. he me wy i done fo effective zeo pce vecto ble. ble. Modified witching tble fo DC contol method Δψ Δ Secto I - + II +9 III 9 +5 I I 7 + M M M M - M M M M M M M M M M M M M M - M M M M M M M M M M he flux nd toque clcultion emin the me. he tto flux i etimted follow: v i R v i R 7 he etimted tto flux ~ nd flux ngle ecto e defined follow: ~ ; i ctn 8 he toque i etimted by the following fomul: ~ P 9 i i Whee: v,i Stto voltge nd cuent vecto R Stto eitnce P Numbe of pole pi Electomgnetic toque Stto flux vecto Smpling time. Roto peed, Flux nd Stto Reitnce Etimtion Bed Adptive Obeve o define the dptive obeve, tto voltge nd cuent e ued to etimte the oto flux ψ, peed ω, nd tto eitnce R ccoding to dpttion lw tht mut enue the tbility of the ytem. Conide then the peed nd eitnce tto contnt pmete nd unknown. he tte eqution of thi obeve i then expeed follow by epting the tte mtix in two, one fo the peed nd the othe fo tto eitnce [6]. Diect oque Contol of Fou Switch hee Phe Invete fed Induction Moto M.. Metwlly

6 ISSN: IJPEDS ol. 5, No., Octobe : R i i BU X R A A X Whee 5 5 A nd 6 6 R R R A i the obeve gin mtix which goven the dynmic nd the obeve obutne; it i clculted follow: he coefficient,,, nd e defined follow: L k k L k L k. k, k > A ht bove ymbol in denote etimted quntitie, ymbol i the oto time contnt, L tto inductnce, L oto inductnce nd lekge coefficient / L L m L. he coefficient k i choen to impoe dynmic obeve fte thn the ytem. he peed dptive mechnim cn be deducted by the Lypunov theoy [7, 8]. If we chooe n dequte cndidte function, fte ppliction of the Lypunov theoy, the following dpttion lw fo the peed i gotten [7 9]: i e i e i p While the tto eitnce etimtion i given by the dpttion lw defined by:

7 IJPEDS ISSN: R ir e i e pr i i i 59 With e i i i nd e i i i Whee k pω, k Iω, k pr, k IR, e PI contolle pmete of oto peed nd tto eitnce dpttion mechnim epectively. he ole of dptive mechnim i to minimize the following eo ε ω, ε RS : e e i i e i e i R i i Finlly, the vlue of peed nd tto eitnce cn be etimted by imple PI contolle. he nom of oto flux nd it poition e detemined by the following eltion: ctg 5 6 he eltion between oto flux nd tto flux in 7 i X 7 Whee X i the tto ectnce. 5. Dive Sytem he block digm of IM DFC dive ytem with popoed dptive obeve i hown in Figue 5. he ytem biclly compie two hyteei contolle fo flux linkge nd toque contol, thee contolle, in conjunction with the modified witching tble fo FSPI ble imilly fo SSPI witching tble, genete the output ignl to the gte of the powe witche of the invete. Uing the optimum witching tble fo FSPI educe the toque nd peed ipple. he invete ued in thi ytem i FSPI. Figue 5. Block digm of IM DFC ytem Diect oque Contol of Fou Switch hee Phe Invete fed Induction Moto M.. Metwlly

8 6 ISSN: he ole of the flux contolle i to mintin the flux mplitude within now hyteei bnd ound the efeence vlue. he toque contolle eceive the infomtion obtined fom the toque clculto nd compe thi vlue with the efeence toque * output of peed PI contolle. wo cuent eno meue the moto cuent i, i b while voltge eno meue the moto voltge v, v b tht, in conjunction with witching tble, i ued to compute the tto voltge v α, v β. he tto flux linkge ~, it ngul poition i nd etimted toque ~ e given in 7, 8, 9. Alo the etimted peed nd tto eitnce e given in,. 6. Simultion Reult Modeling nd imultion wok h been pefomed to exmine the contol lgoithm of IM DFC uing modified witching tble fo FSPI bed on dptive obeve fo oto flux, peed nd tto eitnce etimtion uing MALAB/SIMULIN oftwe. he pmete of the induction moto pototype e lited in ppendix I. he mple peiod i 5μ nd the lod toque i et to be 5. N.m t 5 pm peed nd lo t zeo peed duing fowd motoing opetion when the peed chnge to -5 pm t t= ec the toque chnge to -5. N.m duing evee motoing opetion. In ll imultion, the etimted peed w ued fo eno-le peed contol nd the ctul peed i peented fo compion pupoe. Figue 6. Uppe: Refeence blue, etimted ed nd ctul blck oto peed in pm. Lowe: peed eo pm. Figue 6 how the peed wvefom unde lod opetion when the enole peed contol w pefomed uing the popoed method fo FSPI the peed chnge fom 5 pm to zeo pm t t= ec with lod toque equl to 6 N.m nd lo the peed chnge fom zeo pm to -5 pm t t= ec well the lod toque chnge fom 6 N.m to -6 N.m in the evee motoing opetion. he peed commnd pplied in the peed contolle i hown in Figue 6 uppe digm blue in evolution pe minute pm the etimted peed ed nd the ctul oto peed blck. he diffeence between the ctul peed nd etimted peed in pm i hown in Figue 6 lowe digm. he eult how the ccucy of the enole peed contol duing tting with lod opetion well peed chnge opetion. Figue 7 uppe digm how compion between the ctul oto ngle blck nd the etimted oto ngle ed duing the tet depicted in Figue 6 lo Fig.7 lowe digm how the lod toque ed nd the etimted toque blck in N.m. he figue how the ccucy of the popoed technique. Figue 8 uppe digm how the ctul oto flux ngle blck nd the etimted oto flux ngle ed, Figue 8 lowe digm how the eo between the ctul nd etimted oto flux ngle in degee fo the tet depicted in Figue 6. he tedy tte eo i nely zeo which indicte tht the popoed method of eno-le peed contol i vey ccute with zeo peed eo t vey low peed well zeo peed unde high lod opetion. IJPEDS ol. 5, No., Octobe : 5 65

9 IJPEDS ISSN: Figue 7. Uppe: ctul oto ngle blck, etimted oto ngle ed in o. Lowe: Lod toque ed nd etimted toque blck in N.m. Figue 8. Uppe: ctul blck, etimted ed oto flux ngle in o. Lowe: Eo between ctul nd etimted oto flux ngle in o. Figue 9 how the moto cuent in the ttiony efeence fme α,β uppe digm nd the thee phe moto cuent Ibc lowe digm. Diect oque Contol of Fou Switch hee Phe Invete fed Induction Moto M.. Metwlly

10 6 ISSN: Figue 9. Uppe: moto cuent in ttiony efeence fme αβ in A. Lowe: moto cuent Ibc in A. Figue : ctul tto eitnce blck-dotted nd etimted tto eitnce ed in ohm IJPEDS ol. 5, No., Octobe : 5 65 Figue. Stto flux linkge locu in Wb.

11 IJPEDS ISSN: Figue how the ctul tto eitnce nd the etimted eitnce uing the popoed etimtion lgoithm duing the tet depicted in Figue 6 in ohm vlue the figue how the ccucy of the etimtion lgoithm duing tting with lod opetion. Figue illutte the tto flux linkge locu, fom which it cn be een tht the flux linkge vecto h been unning long cicul locu with lod opetion. Field excittion Invete Reitnce module Rectifie Snubbe cicuit Cpcito Intefce cicuit PC DC geneto IM Meuement cicuit hee-phe utotnfom Incementl encode Figue. Expeimentl-etup 7. Expementl Reult he expeimentl eult hown e fom n induction mchine dive coupled to eptely excited DC geneto wok lod hown in Figue. he mchine unde tet w opeted unde enole peed contol uing DC fo FSPI fed IM. he toque i pplied by the DC geneto unde toque contolled mode. he pmete of the mchine unde tet e given in ppendix. he contol i done on digitl ignl poceo bod DSP plugged into compute. It pefom the modified DC lgoithm fo FSPI dive ytem fed IM. hee i communiction bod fo tnfeing nd eceiving dt between the contol lgoithm on DSP nd the el time ytem. he induction moto w fed by voltge ouce invete nd two cuent eno well two voltge eno wee ued fo the cuent nd voltge meuement epectively. he popoed excittion w elized uing voltge tet pule decibed bove. he contol lgoithm i executed by Mtlb/Simulink, nd downloded to the bod though hot compute. he output of the bod e logic ignl, which e fed to the thee phe voltge ouce invete though dive nd ioltion cicuit. he pefomnce of the popoed DC with peed etimtion bed dptive obeve with FSPI fed IM dive unde enole peed contol e expeimentlly veified t diffeent opeting condition. he epone due to tep chnge in the peed commnd i ued to evlute the pefomnce in tem of tedy tte eo nd tbility both t no lod nd full lod condition. Figue. how the etimte peed epone with commnd peed chnge fom pm with no lod t t =.5 econd, the peed efeence h been chnged to pm. It cn be een tht the oto peed i cceleted moothly to follow it efeence vlue with nely zeo tedy tte eo. Figue.b how the moto thee phe cuent. he eult how good coeltion between the etimted peed ignl nd it efeence peed ignl. Figue how the dive epone when the moto i unning with no lod when peed chnge fom pm to pm, t t=.95 econd, nd then bck to pm t t=. econd. Diect oque Contol of Fou Switch hee Phe Invete fed Induction Moto M.. Metwlly

12 6 ISSN: b Figue. Expeimentl eult of FSPI dive t no lod Moto Speed; b hee-phe moto cuent. b Figue. Expeimentl eult of FSPI dive t no lod Moto Speed; b hee-phe moto cuent. he eult how tht pefect peed tcking with ppoximtely zeo tedy tte eo. Figue. how tht the etimted peed follow the efeence peed with nely zeo tedy tte eo. While Figue.b how the moto thee phe cuent fo the tep chnge in peed commnd. 8. Concluion he ppe peent new ppoch fo enole peed contol of DFC IM dive ytem uing FSPI fo low powe ppliction. he modified witching tble pplied in thi method i bed on the pinciple of imility between FSPI nd SSPI, whee the αβ pln i divided into 6 ecto nd the fomtion of the voltge pce vecto i done in the me wy fo SSPI by uing effective men vecto. hi ppoch llow uing the well-knowing etblihed witching tble of SSPI fo FSPI, in ode to educe toque ipple in compion with the conventionl DC method fo FSPI. he vlidity of new technique i veified by imultion nd expeimentl eult which demontte the good pefomnce of DC fo FSPI fed IM, while the good epone of the flux, toque, cuent nd peed e obtined. Alo dptive flux obeve ued fo oto flux, peed nd tto eitnce etimtion. he eno-le peed contol of DFC of IM uing FSPI ttegy povide ft dynmic epone with no ovehoot nd negligible tedy-tte eo. Refeence [] Y Zhng., J Zhu., Z Zho., Wei Xu., nd Dvid G. Doell. An Impoved Diect oque Contol fo hee-level Invete-Fed Induction Moto Senole Dive, IEEE nction on Powe Electonic, ol. 7, No., pp. 5-5,. IJPEDS ol. 5, No., Octobe : 5 65

13 IJPEDS ISSN: [] Libo Zheng, John E. Fletche, By W. Willim, nd Xingning He. A Novel Diect oque Contol Scheme fo Senole Five-Phe Induction Moto Dive, IEEE n. on Indutil Electonic, ol. 58, No.,, pp [] Aleknd Nikolic., nd Boilv Jefienic. Speed Senole Diect oque Contol Implementtion in Cuent Souce Invete Fed Induction Moto Dive, 5 th Annul IEEE Powe Electonic Specilit Confeence, Achen, Gemny,, pp [] G. Foo nd M. F. Rhmn, Senole diect toque nd flux-contolled IPM ynchonou moto dive t vey low peed without ignl injection, IEEE n. Ind. Electon., ol. 57, no., pp. 95, Jn.. [5] Bem El Bdi, Bdii Bouzidi, nd Ahmed Mmoudi, "DC Scheme fo Fou-Switch Invete-Fed Induction Moto Emulting the Six-Switch Invete Opetion" IEEE n. Powe Electonic, ol 8, no. 7, pp , July. [6] Yen-Shin Li, Wen-e Wng, nd Yen-Chng Chen. "Novel witching technique fo educing the peed ipple of AC Dive with DC" IEEE n. on Ind Electonic, ol. 5, No.,, pp [7] P. Q. Dzung, L. M. Phuong, nd P. Q. inh" A new witching technique fo diect toque contol of induction moto uing fou witch thee phe invete" in poc. IEEE PEDS 7, pp. -6. [8] Ciincione M., Pucci M., Senole diect toque contol of n induction moto by LS-bed MRAS obeve with dptive integtion, Automtic, 5,, pp [9] Y. Inoue, Y. wguchi, S. Moimoto, nd M. Snd, Pefomnce impovement of enole IPMSM dive in low-peed egion uing online pmete identifiction, IEEE n. Ind. Electon., vol. 7, no., pp , M./Ap.. [] M. Hegw nd. Mtui, Poition enole contol fo inteio pemnent mgnet ynchonou moto uing dptive flux obeve with inductnce identifiction, IE Elect. Powe Appl., vol., no., pp. 9 7, My 9. [] yo B. L., Fede B., Reduced-Ode Extended Luenbege Obeve Bed Senole ecto Contol Diven by Mtix Convete With Nonlineity Compention, IEEE n. Ind. Electon., 6, ol 5, pp [] Jin-Su Jng, Byoung-Gun Pk, e-sung im, Dong Myung Lee, Dong-Seok Hyun, "Senole Contol of Fou- Switch hee-phe PMSM Dive Uing Extended lmn Filte" IEEE IECON Confeence, pp.68-7, June 8. [] Mut But., Set Bogoyn., nd Metin Gokn, Speed-Senole Etimtion fo Induction Moto Uing Extended lmn Filte, IEEE nction on Indutil Electonic, ol. 5, No., Febuy 7. [] I. M. Alofyni, NRN Idi,. Sutikno, nd Y. A. Almi. An Optimized Extended lmn Filte fo Speed Senole Diect oque Contol of n Induction Moto, IEEE Intentionl Confeence on Powe nd Enegy, -5 Decembe, ot inblu Sbh, Mlyi. [5] Mohmed Azb nd A.L. Oille, "Novel Flux nd oque Contol of IM Dive uing FSPI", in IEEE Poceeding IECON confeence,,pp [6] Suwnkwin S, Sngwongwnich S, Deign ttegy of n dptive full-ode obeve fo peed-enole induction-moto dive-tcking pefomnce nd tbiliztion, IEEE n. on Indutil Electonic, vol. 5, no., pp.96 9, 6. [7] Hnefo L, Hinkknen M, Complete tbility of educed-ode nd full-ode obeve fo enole IM dive, IEEE n. on Indutil Electonic 8; 55:9 9. [8] clvek P, Blh P, Lypunov-function-bed flux nd peed obeve fo AC induction moto enole contol nd pmete etimtion, IEEE n. on Indutil Electonic 6; 5:8 5. [9] Etien E, Benili N, Chine C, Chmpenoi G, Adptive peed obeve fo enole contol of induction moto : new citeion of tbility, Intentionl Review of Electicl Engineeing 6; :6. Appendix I. he pmete of pplied induction mchine Pmete lue Rted powe kw No. of pole Stto eitnce.85 ohm Roto eitnce.68 ohm Roto lekge inductnce. H Stto lekge inductnce. H Mutul inductnce. H Supply fequency 5 Hz Moto peed.p.m. Supply voltge 8 volt Ineti.8 kg.m Diect oque Contol of Fou Switch hee Phe Invete fed Induction Moto M.. Metwlly