Induction Moto Diect Field Oiented Contol with Robut On-Line Tuning of Roto Reitance Mohamed-Saïd Naït-Saïd, Mohamed Benbouzid To cite thi veion: Mohamed-Saïd Naït-Saïd, Mohamed Benbouzid. Induction Moto Diect Field Oiented Contol with Robut On-Line Tuning of Roto Reitance. IEEE Tanaction on Enegy Conveion, Intitute of Electical and Electonic Enginee, 999, 4 (4), pp.38-42. <hal-52372> HAL Id: hal-52372 http://hal.achive-ouvete.f/hal-52372 Submitted on 25 Jul 24 HAL i a multi-diciplinay open acce achive fo the depoit and diemination of cientific eeach document, whethe they ae publihed o not. The document may come fom teaching and eeach intitution in Fance o aboad, o fom public o pivate eeach cente. L achive ouvete pluidiciplinaie HAL, et detinée au dépôt et à la diffuion de document cientifique de niveau echeche, publié ou non, émanant de établiement d eneignement et de echeche fançai ou étange, de laboatoie public ou pivé.
Induction Moto Diect Field Oiented Contol with Robut On-Line Tuning of Roto Reitance M.S. Naït Saïd Univeity of Picadie Jule Vene 7, Rue du Moulin Neuf - 8 Amien, Fance On leave fom the Univeity of Batna (Algeia) M.E.H. Benbouzid Senio Membe, IEEE Abtact: Thi pape popoe an altenative oto eitance identification method ued in the fame of a Diect Field Oiented Contol (DFOC) of induction moto. The autho ae invetigating the ue of the induction moto intantaneou eactive powe fo oto eitance identification on the bai of the Model Refeence Adaptive Sytem (MRAS) method. In fact, fom a pactical point of view, the intantaneou eactive powe can give quite ufficient eal time infomation on the induction moto behavio. The popoed identification method can be achieved with on-line tuning of the invee oto time contant with obutne againt tato eitance vaiation. Compute imulation ae given to highlight the feaibility, the implicity, and the obutne of the popoed method. Keywod: Induction moto, Diect Field Oiented Contol (DFOC), oto eitance identification, eactive powe, Model Refeence Adaptive Sytem (MRAS). v i T Q R (R ) L (L ) M T J p c NOMENCLATURE Stato voltage Stato cuent Roto flu Output toque Reactive powe Stato (oto) eitance Stato (oto) inductance Mutual inductance Roto time contant, T = L / R Total leakage coefficient, = M 2 /(L L ) Roto inetia Numbe of pole pai Roto peed Stato fequency Diffeential opeato Comple notation of Comple conjugate of Etimated value of Command value of Im() Imaginay pat of,, L Stato, oto, and load lowe uffie a, b a-b fied tato fame lowe uffie d, q d-q ynchonou fame lowe uffie I. INTRODUCTION Field Oiented Contol (FOC) of induction moto ha achieved a quick toque epone, and ha been applied in vaiou indutial application intead of dc moto. FOC, howeve, i vey enitive to flu etimation (magnitude and oientation) which i mainly affected by paamete vaiation. It depend on accuate paamete identification to achieve the epected pefomance [-2]. Geneally, the flu i etimated accoding to the Pak model baed paamete [3]. Howeve, thee paamete ae alteed by phyical phenomena uch a tempeatue, atuation, and kin effect [4]. Theefoe, any paamete mimatch in flu etimation will detimentally affect the toque epone and then the FOC dynamic pefomance. Fo thee eaon, many eeach tudie have been done on automated tuning of induction moto paamete. Mot of the conventional tuning technique, howeve, wee baed on off-line paamete meauement [5]. They ae effective to obtain automated and highly accuate adjutment of the moto paamete but thi paamete vay duing opeation and ae not dynamically compenated. Moeove, the off-line tet itelf i complicated and time conuming. Theefoe, the concept of on-line identification ought to be intoduced to ovecome the above poblem and alo to dynamically optimize the identified paamete [6-8]. Thi pape popoe, in the fame of paamete identification, an altenative oto eitance identification method ued fo a Diect Field Oiented Contol (DFOC) of induction moto. Thi identification method ha adaptability to magnetizing inductance and obutne againt tato eitance. It i baed on the Model Refeence Adaptive Sytem (MRAS) method. Seveal method eit fo identifying induction moto paamete with MRAS; they ue diffeent mathematical model of the moto o diffeent eo ignal in the identification algoithm [9-]. The popoed
method ue the induction moto intantaneou eactive powe to avoid enitivity to tato eitance. In fact, the intantaneou eactive powe allow the etimation of the oto flu though it eitance, uing oto cuent model. Thi model i independent of the tato eitance, but ue the invee oto time contant and magnetizing inductance. In ou cae, the magnetizing inductance wa conideed contant, which mean that atuation wa not taken into account [2-3]. In fact, fom a phyical point of view, tempeatue inceae in opeating induction moto nomally lead to petub and low down the magnetic atuation etablihment. Conequently, the popoed identification method can be achieved with on-line tuning of the invee oto time contant with obutne againt tato eitance vaiation. In what follow, theoetical analyi i developed, and eult of compute imulation ae peented. II. INDUCTION MOTOR DIRECT FIELD ORIENTED CONTROL An induction moto can be epeented by the following equation in the a-b fied tato fame. R M v L i M jp, () T T d T TL dt J T p M JL i a b i b a. (2) The oto flu oientation i achieved by the following tanfomation (fom the a-b fied tato fame to the d-q ynchonou fame). d q 2 2 a b Thi tanfomation lead to q 2 2 d a b a b b a a. (3) b. (4) Figue how the geneal configuation of a DFOC to be tudied. The oto flu, baed on a oto model (), i etimated uing the tato cuent i a and i b, and the oto peed, a illutated by the block diagam of Fig. 2. A hown in Fig., on the d-q coodinate otating ynchonouly with the flu amplitude, the flu amplitude and the output toque can be contolled by manipulating the flu component cuent i d and the toque component cuent i q epectively. Compaatively to the wok epoted in [], the flu etimation eo i only bought by T mimatch. The magnetic atuation i neglected on the bai of a phyical conideation. In fact, the induction moto tempeatue inceae (themal effect), due to it opeation, will petub and low down the magnetic atuation poce. Thi ha led u to conide M a a contant. Theefoe, the flu etimation eo i only caued by themal vaiation. ef Leakage weakening Tef T IIII T Eq Ed vd vq d-q to a-b a-b to d-q IIII va vb b a Induction Moto Flu Etimato ia ib DFOC a-b to d-q id iq Modulu Ed,q: emf fom nonlinea compenation Toque Etimato Fig.. Geneal tuctue of an induction moto diect field oiented contol.
Flu Etimato /T ia M /T / a X p X ib M /T / b /T Fig. 2. Roto flu etimato. III. ROBUST ROTOR RESISTANCE IDENTIFICATION In what follow, the autho ae invetigating the ue of the induction moto intantaneou eactive powe conumption fo oto eitance identification on the bai of the MRAS method. In fact, fom a pactical point of view, the intantaneou eactive powe can give quite ufficient eal time infomation on the induction moto behavio. Q Im v i. (7) c The ight-hand ide of (7) can be evaluated uing the meaued v ab et i ab. Thi mean that it alway povide a tue value becaue no paamete of the induction moto ae ued. On the othe hand, ubtituting v ab of () in (7), Q can now be epeed a A. Roto Time Contant and Reactive Powe The induction moto eactive powe could be obtained by diffeentiating equation () econd ow. Q i then epeed by the following equation fo a given oto peed. Q Im i c c Mii Im. (5) jp T Since the on-line popoed technique in thi pape aim at poviding oto eitance compenation capability in the teady tate ( = j ), Q become Q 2 Mi p 2 2 T. (6) Equation (6) eplicitly how that it i poible to contol the oto time contant by mean of the eactive powe. It hould be noticed that thi technique i a pactical way fo T (R ) identification independently of R. The efeence eactive powe i defined by the following equation in the a-b fied tato fame. M Q R i L i L i c Im. (8) In (8), R i canceled out. Equation (8) equie which i etimated by the flu imulato hown in Fig. 2. The imulato ue the etimated value of T. Equation (8) could then be eplaced by ' c Q Im l i i, (9) whee l L M ' L. () The eo Q (Q = Q meaued Q etimated ) i then ued to adjut T etimated value in the flu imulato.
B. Identification Method Implementation Figue 3 how the MRAS method implementation baed on the induction moto eactive powe. IV. SIMULATION RESULTS Numeical imulation have been caied out, on a 4-kW induction moto which ating ae ummaized in the appendi, to analyze the DFOC pefomance uing the popoed identification method. Fo imulation pupoe, the moto wa loaded with a toque of 5 N.m and contolled with a efeence peed of 57 d/. Moeove, the oto eitance wa given an eponential pofile intended to cove the tempeatue effect; and the tato eitance wa vaied o a R = 2% R nom. The following figue how imulation eult unde the above condition. In Fig. 4, it i obeved that oto eitance identification i atifactoy. Moeove, it wa found, a epected, inenitive to R vaiation. a b /T va vb ia ib Flu Etimato Eq. () Q Meauement Eq. (7) Q Etimation Eq. (9) Contol /T MRAS ia ib va vb On the othe hand in Fig. 5, how the flu etimation when the induction moto i contolled by the DFOC tategy accoding to Fig.. The etimation poce tat ha been pupoely lightly delayed to clealy illutate it beginning. The etimation poce could then be conideed a atifactoy and quite inenitive to R vaiation. Finally, a hown in Fig. 6, the DFOC obutne, uing the popoed identification method, i clealy illutated. In fact, the peed and the toque ae inenitive to R vaiation. Roto Flu (Wb).5 -.5 - Roto Flu (Wb) -.5 R = Rnom -...2.3.4.5 - Etimated value Etimated value R = 2% Rnom -...2.3.4 Fig. 5. Roto flu etimation with R mimatch. Time () Time () lcte Fig. 3. Roto time contant identification. R () 4 3 R = Rnom Speed (d/) 2 R = Rnom Speed (d/) 2 R = 2% Rnom 2 R identification.5.5 2 2.5 3 3.5 4 Time() R () R = 2% Rnom 4 3 5 5 2 Time () 4 Toque (Nm) 5 5 5 2 Time () 4 Toque (Nm) 5 2 R identification.5.5 2 2.5 3 3.5 4 Time() Fig. 4. Roto eitance identification unde tempeatue effect. 5 5 2 Time () 4 2 Time () 4 Fig. 6. DFOC obutne with R mimatch.
V. CONCLUSION Thi pape popoe, in the fame of paamete identification, an altenative oto eitance identification method ued fo a DFOC of induction moto. Thi identification method ha adaptability to magnetizing inductance and obutne againt tato eitance. It i baed on the MRAS method uing the induction moto intantaneou eactive powe to avoid enitivity to tato eitance. The intantaneou eactive powe allow the etimation of the oto flu though it eitance, uing oto cuent model. Thi model i independent of the tato eitance, but ue the invee oto time contant and magnetizing inductance. In ou cae, the magnetizing inductance wa conideed contant, which mean that atuation wa not taken into account. Conequently, the popoed identification method have been achieved with on-line tuning of the invee oto time contant with obutne againt tato eitance vaiation. APPENDIX PARAMETERS OF THE SIMULATED INDUCTION MOTOR Rated value Powe 4 kw Fequency 5 Hz Voltage (/Y) 22/38 V Cuent (/Y) 5/8.6 A Speed 44 pm Pole pai (p) 2 Rated paamete R.2 R.8 L.554 H L.568 H M.53 H l.3 H J.3 kg.m 2 VI. REFERENCES [] N.R. Klae, Accuate off-line identification of the opeating point dependent induction machine paamete, Poceeding of the 99 Intenational Electical Dive Sympoium, Italy, Septembe 99. [2] M. Depenbock and N.R. Klae, Detemination of the induction machine paamete and thei dependencie on atuation, Poceeding of the 989 IEEE IAS Annual Meeting, USA, Octobe 989, pp. 7-22. [3] H. Kubota, K. Matue and T. Nakano, DSP-baed peed adaptive flu obeve of induction moto, IEEE Tan. Induty Application, vol. 29, n 2, Mach-Apil 993, pp. 344-348. [4] R. Kihnan and A.S. Bhaadwaj, A eview of paamete enitivity and adaptation indiect vecto contolled induction moto dive ytem, IEEE Tan. Powe Electonic, vol. 6, n 4, Octobe 99, pp. 693-73. [5] C. Wang, D.W. Novotny and T.A. Lipo, An automated oto time contant meauement ytem fo indiect field-oiented dive, IEEE Tan. Induty Application, vol. 24, n, Januay-Febuay 988, pp. 5-59. [6] L.J. Gacé, Paamete adaption fo the peed-contolled tatic ac dive with quiel-cage induction moto, IEEE Tan. Induty Application, vol. 6, n 2, Mach-Apil 98, pp. 73-78. [7] K. Tungpimolut, F. Peng and T. Fukao, Robut vecto contol of induction moto without uing tato and oto cicuit time contant, Poceeding of the 993 IEEE IAS Annual Meeting, USA, Octobe 993, pp. 52-527. [8] T.M. Rowan, R.J. Kekman and D. Leggate, A imple on-line adaption fo indiect field oientation of an induction machine, IEEE Tan. Induty Application, vol. 27, n 4, July-Augut 99, pp. 72-727. [9] K. Ohnihi, Y. Ueda and K. Miyachi, Model efeence adaptive ytem againt oto eitance vaiation in induction moto dive, IEEE Tan. Indutial Electonic, vol. 33, n 3, Augut 986, pp. 27-223. [] R. Beguenane, M.E.H. Benbouzid, M. Tadjine and A. Tayebi, Speed and oto time contant etimation via MRAS tategy fo induction moto dive, Poceeding of the 997 IEEE Electical Machine and Dive Confeence, Milwaukee, Wiconin (USA), May 997, pp. TB3-5.-5.3. [] T. Noguchi, S. Kendo and I. Takahahi, Field-oiented contol of an induction moto with obut on-line tuning of it paamete, IEEE Tan. Induty Application, vol. 33, n, Januay- Febuay 997, pp. 35-42. [2] R. Beguenane and M.E.H. Benbouzid, Induction moto themal monitoing by mean of oto eitance identification, IEEE Tan. Enegy Conveion, Ref. PE-I55-EC--2-998. [3] M.S. Naït Saïd, M.E.H. Benbouzid, R. Beguenane and N. Naït Saïd, H-G diagam baed oto paamete identification fo induction moto themal monitoing pupoe, IEEE Tan. Enegy Conveion, Ref. 98-WM-89. VII. BIOGRAPHIES Mohamed Saïd NAIT SAID wa bon in Batna, Algeia, on Septembe 5, 958. He eceived the B.Sc. degee in Electical Engineeing, in 983, fom the National Polytechnic Intitute of Algie, Algeia and the M.Sc. degee in Electical and Compute Engineeing, in 992, fom the Electical Engineeing Intitute of Contantine Univeity, Algeia. Afte gaduation, he joined the Univeity of Batna, Algeia, whee he i a Teaching Aitant at the Electical Engineeing Intitute. M.S. Naït Saïd i actually woking towad a Ph.D. thei on the contol of induction moto in the Univeity of Picadie Jule Vene at Amien, Fance. Mohamed El Hachemi BENBOUZID (S 92- M 94-SM 98) wa bon in Batna, Algeia, in 968. He eceived the B.Sc. degee in Electical Engineeing, in 99, fom the Electical Engineeing Intitute of Batna Univeity, Algeia; the M.Sc. and Ph.D. degee both in Electical and Compute Engineeing, fom the National Polytechnic Intitute of Genoble, Fance, in 99 and 994 epectively. Afte gaduation, he joined the Univeity of Picadie Jule Vene, Fance, whee he i an Aociate Pofeo of Electical and Compute Engineeing at the Pofeional Intitute of Amien. Hi cuent eeach inteet include electic machine and dive, computational of electomagnetic, and electomechanical actuation, a well a technique fo enegy aving. D. Benbouzid i a membe of the IEEE Indutial Electonic, Induty Application, Powe Engineeing, and Magnetic Societie, and the Fench Electotechnical and Electonic Aociation (SEE). He i paticulaly active in the IEEE Powe Engineeing Society Woking Goup on Moto Maintenance and Failue Analyi of the Induction Machiney Subcommittee of the Electic Machine Committee. (phone 33 3 22 82 76 8, Fa 33 3 22 82 78 22, e-mail m.benbouzid@ieee.og)