ol. 2, ue 2, Aug 2015, SSN 2349-0780 Simulation and Analyi of ndiect Field Oiented Contol (FOC) of Thee Phae nduction Moto with aiou PWM Technique Teja H Panchal 1, Amit N Patel 1, Saga Soniga 2 1,2 Electical Engineeing Depatment, ntitute of Technology, Nima Univeity, Ahmedabad, Gujaat, ndia Email: 1 teja.panchal@nimauni.ac.in, 1 amit.patel@nimauni.ac.in, 2 agaoniga19@gmail.com Abtact: The dynamic of the induction moto dive can be made independent of the poition a well a peed contol by uing the field oiented contol tategie. Thee ae vaiou technique available unde thi categoy. One of uch tategie i ndiect Field Oiented Contol fo the nduction Moto dive. The peed contol i obeved in cloed loop contol application with diffeent Pule Width Modulation technique uch a Hyteei band contolle, Sin-PWM (SPWM), Space ecto Pule Width Modulation (SPWM). The peed egulation i achieved with a P contolle which convet the command peed into the command toque and theefoe the peed of the dive. Reult of imulation ae conitent with theoy analyzed, and indicate that the model i accuate and pacticable. Keywod: ndiect Field Oiented Contol, Space ecto Pule Width Modulation (SPWM), Hyteei Cuent Contolle, Sin-Tiangle Pule Width Modulation, nduction Moto.. NTRODUCTON At the peent time, the field oiented contol (FOC) technique i the widepead ued in high pefomance induction moto dive [1, 2]. t allow, by mean a co-odinate tanfomation, to decouple the electomagnetic toque contol fom the oto flux, and hence manage induction moto a DC moto. n thi technique, the vaiable ae tanfomed into a efeence fame in which the dynamic behave like DC quantitie. The decoupling contol between the flux and toque allow induction moto to achieve fat tanient epone. Theefoe, it i pefeably ued in high pefomance moto application. Nevethele the pefomance of the output voltage of invete that fed induction moto ytem i mainly detemined by pule width modulation (PWM) tategy. The imple implementation i to ue cuent contol baed on hyteei cuent contolle. With thi method, fat epone cuent loop will be obtained and knowledge of load paamete i not equied. Howeve thi method can caue vaiable witching fequency of invete [3] and poduce undeiable hamonic [4, 5]. Anothe method of PWM that have become popula and eceived geat inteet by eeache i SPWM. Thi technique ha bette dc bu utilization and eay fo digital implementation but it contain 3 d ode hamonic. n [6], SPWM technique i ued with the contol tategy which educe the hamonic on the moto ide. Thi pape peent a compaative pefomance of SPWM towad the taditional Sin-PWM and hyteei cuent contolle to contol high pefomance induction moto incopoated with indiect field oientation technique. The modelling and imulation of SPWM ytem of induction moto i pefomed, the pinciple and algoithm i analyzed. Thi pape i oganized a follow. The Hyteei band contolle, Sin- PWM, Space ecto PWM baed ndiect Field Oientated Contol i peented in ection. The compaion between pefomance of thee ytem i peented by imulation eult in ection and finally ome concluding emak ae tated in the lat ection.. NDRECT FELD ORENTED CONTROL OF THREE PHASE NDUCTON MOTOR Thee phae quiel cage induction moto in ynchonouly otating efeence fame can be epeent by following voltage equation: R d / dt (1) q q q e d R d / dt (2) d d d e q R d /() dt (3) q q q e d R d /() dt (4) d d d e q and with q, d = 0, flux equation ae: L L () (5) q l q m q q L L () (6) q l q m q q L L () (7) d l d m d d L L () (8) d l d m d d Whee q, d ae the applied voltage to the tato, q, d, q, d ae the coeponding d and q axi tato cuent and oto cuent. Ψ q, Ψ d, Ψ q, Ψ d ae the oto and tato flux component, R, R ae the tato and oto eitance, L l, L l denote tato and oto inductance, wheea L m i the mutual inductance. The electomagnetic toque equation i 76
ol. 2, ue 2, Aug 2015, SSN 2349-0780 3 P Lm T 2 2 L e d q q d (9) Whee P, denote the pole numbe of the moto and oto inductance L = (L l + L m ). f the vecto contol i fulfilled, the q component of the oto field Ψ q would be zeo. Then the electomagnetic toque i contolled only by q-axi tato cuent and become: 3 P Lm T 2 2 L e d q (10) Fig. 2 (a), (b) and (c) how the block diagam of indiect field oiented contolled of thee phae induction moto with hyteei cuent contolle, SPWM and SPWM. The flux command Ψ d indicate the ight oto flux command fo evey peed efeence within the nominal value. Fom thi the d-axi cuent efeence d, can be calculate uing equation below q L d d m (11) Te L (12) m PL oltage decoupled equation become d conveted to thee phae tationay efeence fame though nvee Pak Tanfomation and compaed to the cuent fom the feedback of the moto. Then the cuent eo ae fed to hyteei cuent contolle which geneate witching ignal fo the voltage ouce invete. While fo SPWM technique in Fig 1(b), both efeence cuent in d-axi and q- axi i compaed fom the feedback fom the moto cuent though Clak and Pak Tanfomation. Fom the epective eo the voltage command ignal i geneated though P contolle, ummed with voltage decoupled equation and conveted to thee phae voltage. Thee voltage ae compaed with caie ignal block. Fig. 1(a) qff = R q e L d (13) dff = R d e L q (14) l q d (15) Whee L Ll Lm i tato inductance, e i a ynchonou peed,, 2 (1 Lm /) Lm L = oto time contant. Decoupling cicuit which ha to be intoduced into the contol ytem of a voltage-fed oto flux oiented induction machine, if decoupled flux and toque contol i to be achieved. t i poible to omit decoupling cicuit fom the contol ytem, without ignificant influence on dynamic epone, if the ampling fequency and invete witching fequency ae high enough, uually above at leat 1 khz. f the invete witching fequency i unde 1 khz, decoupling cicuit hould be included. Howeve, application of decoupling cicuit enable impovement of dynamic even at invete witching fequency above 1 khz. At highe witching fequencie cuent contolle ae capable of uppeing inteaction between d- and q-axi and decoupling cicuit i in mot cae omitted. command The oto peed m m i compaed to oto peed and the eulting eo i poce in the contolle. The contolle geneate the q-axi efeence cuent. Fo hyteei cuent contolle in Fig. 2(a), q both tato efeence cuent in d-axi and q-axi ae Fig. 1(b) Fig. 1(c) Fig. 1: (a) FOC uing Hyteei band contolle (b) FOC uing Sin-tiangle PWM contolle (c) FOC uing SPWM technique Similaly FOC with SPWM i implemented in Fig 1(c). SPWM can be implemented by: Detemine d, q, ef and angle α Detemine time duation T 1, T 2 and T 0 Detemine the witching time of each tanito 77
ol. 2, ue 2, Aug 2015, SSN 2349-0780 n SPWM block, the thee phae voltage i tanfom into d-q axi uing a d 1 1 2 1 2 b q 0 3 2 3 2 c (16) The SPWM ue two neighboing effective vecto and null vecto of the eight bai pace voltage vecto and thei diffeent act time to obtain the equivalent pace voltage vecto that the moto need, a hown in Fig 2. Fig. 3(a) Fig. 2: Baic oltage ecto and Refeence ecto Fig. 2 how that thee ae ix voltage vecto that can be elected to apply to the moto. The efeence ef and angle α of epective ecto can be obtain a 2 2 ef d q (17) 1 q = tan (18) d And witching time duation at any ecto i a 3 T in( k / 3) co() co( k/ 3)in() T T 1 2 ef dc _(19) 3 T in(( k 1) / 3) co() co(( k1) / 3)in() ef dc T0 T (21) T1 T2 _(20) Whee k i a ecto fom 1 to 6, α i angle between 0 to 60 and T 1/ f, ampling fequency. SPWM witching patten fo ecto 1 and ecto 6 i hown in Fig. 3 and witching time at any ecto equence i ummaized in Table. Fom thi table a mathematical equation i built in function block in SMULNK to geneate a SPWM wavefom. Fig. 3(b) Fig. 3: Switching patten fo (a) ecto 1 (b) ecto 6. SMULATON AND COMPARATE ANALYSS OF AROUS PWM TECHNQUES Simulation ha been caied out uing MATLAB/SMULNK fo 15 kw, 1470 pm thee phae induction moto which ha following paamete: L-L voltage(m), upply fequency(f), Numbe of pole(p) Stato eitance(r ), Leakage tato inductance(l l ) Roto eitance(r ), Leakage oto inductance(l l ) Mutual inductance (L m ) 400, 50 Hz, 4 pole machine 0.2147 Ω, 0.991 mh 0.2205 Ω, 0.991 mh 64.19 mh Simulink Model of FOC induction moto dive fo 15 kw ating i pepaed uing FOC-Hyteei band contolle, FOC- Sin-tiangle PWM contolle and FOC SPWM technique. The dive pefomance when moto peed change fom 1500 pm to 750 pm i imulated and the eult obtained ae a hown in Fig. 4 (a), (b) and (c). 78
ol. 2, ue 2, Aug 2015, SSN 2349-0780 Fig. 4(a) Secto TABLE SWTCHNG TME CALCULATON AT EACH SECTOR Uppe Switche (S 1, S 3, S 5 ) Lowe Switche (S 4,S 6, S 2 ) 1 S 1 =T 1 +T 2 +T 0 /2,S 3 =T 2 +T 0 /2,S 5 =T 0 /2 S 4 = T 0/ 2,S 6 = T 1 +T 0 /2,S 2 = T 1 +T 2 +T 0 /2 2 S 1 = T 1 +T 0 /2,S 3 = T 1 +T 2 +T 0 /2,S 5 =T 0 /2 S 4 = T 2 +T 0 /2,S 6 = T 0 /2,S 2 = T 1 +T 2 +T 0 /2 3 S 1 = T 0 /2,S 3 = T 1 +T 2 +T 0 /2,S 5 = T 2 +T 0 /2 S 4 = T 1 +T 2 +T 0 /2,S 6 = T 0 /2,S 2 = T 1 +T 0 /2 4 S 1 = T 0 /2,S 3 = T 1 +T 0 /2,S 5 = T 1 +T 2 +T 0 /2 S 4 = T 1 +T 2 +T 0 /2,S 6 = T 2 +T 0 /2,S 2 = T 0 /2 5 S 1 = T 2 +T 0 /2,S 3 = T 0 /2,S 5 = T 1 +T 2 +T 0 /2 S 4 = T 1 +T 0 /2,S 6 = T 1 +T 2 +T 0 /2,S 2 = T 0 /2 6 S 1 = T 1 +T 2 +T 0 /2,S 3 = T 0 /2,S 5 = T 1 +T 0 /2 S 4 = T 0 /2,S 6 = T 1 +T 2 +T 0 /2,S 2 = T 2 +T 0 /2 Fig. 4(c) Fig. 4: Moto pefomance unde peed change fom 1500 to 750 pm (a) With FOC- HB (b) FOC-SPWM (c) FOC-SPWM Fig. 4(b) The FOC induction moto dive i imulated at ampling time of 10e-6 in MATLAB with witching fequency of 7.5 khz fo SPWM and SPWM. The efeence peed 79
ol. 2, ue 2, Aug 2015, SSN 2349-0780 command change the peed at 0.5 ec of imulation at contant toque of 90 N-m. The toque ipple in each cae i 15 N-m, 15 N-m, and 12 N-m epectively. Now imulation i caied out fo changing load fom full load (90-N-m) to No-load at contant peed of 900 pm and eult ae a hown below FFT analyi of A-phae Stato cuent unde teady tate fo FOC uing SPWM and FOC uing SPWM technique i hown in Fig. 6 (a) and (b). Fig. 6(a) Fig. 5(a) Fig. 6(b) Fig. 6: FFT analyi and THD of A-phae Stato cuent Fig. 5(b) Fig. 5: Moto pefomance unde Toque change fom 90 to 0 N-m (a) FOC-SPWM (b) FOC-SPWM unde teady tate fo (a) FOC-SPWM (b) FOC-SPWM 80
ol. 2, ue 2, Aug 2015, SSN 2349-0780 Fom FFT analyi it ha been concluded that duing the contol of induction moto the fequency of cuent change fom 50 Hz to 52 Hz fo FOC-SPWM and to 51.86 Hz fo FOC-SPWM. The above eult ae without any filte ued. A fequency inceae the hyteei and eddy cuent lo alo inceae which educe the efficiency of moto. The THD level fo FOC-SPWM and FOC- SPWM dive with 52 Hz a bae fequency and fo 20 cycle ae 2.88% and 2.39 % epectively The THD level fo FOC-SPWM and FOC- SPWM dive with 50 Hz a bae fequency and fo 20 cycle ae 10.84% and 7.22 % epectively. Fom FFT analyi it i obeved that FOC-SPWM technique contain the thid ode hamonic while in SPWM technique it i eliminated. [3] N. R. Reddy, T. B. Reddy, J. Amanath, Simplified SPWM Algoithm fo ecto Contolled nduction Moto Dive Uing the Concept of maginay Switching Time, ntenational Jounal of Recent Tend in Engineeing, ol. 2, No. 5, pp. 288-291, 2009. [4] P. Alkota, O. Baambone, A. J. Gaido, SPWM aiable Stuctue Contol of nduction Moto Dive ndutial Electonic SE, pp. 1195-1200, 2007. [5] Z. Li and L. Hefei, Modelling and Simulation of SPWM Contol Sytem of nduction Moto in Electic ehicle, Poceeding of the EEE ntenational Confeence on Automation and Logitic, pp. 2026-2030, Septembe 2008. [6] D. Rathnakuma, J. Lakhmana Peumal, and T. Sinivaan, A New Softwae mplementation of Space ecto PWM, EEE Southeat Confeence, 2005. Poceeding, pp. 131-136, 2005. TABLE OERALL COMPARSONS OF FOC DRES WTH DFFERENT PWM TECHNQUES mplement ation Switching fequency Sampling Time THD level at 50 Hz Toque ipple (p-p) DC-link Utilization Hyteei Band SPWM SPWM Eay Medium Complex aiable Contant Contant Can wok on vey mall time fo ampling one value Can wok on vey medium time fo ampling one value Can wok on vey lage time fo ampling one value 11.58% 10.84 % 7.22 % 15 N-m 15 N-m 12 N-m Low High Medium. CONCLUSON n thi pape, an indiect field oiented contol of thee phae induction moto uing hyteei cuent band, SPWM and SPWM technique ha done uing MATLAB/SMULNK. The compaative pefomance between thee technique wee peented. Fom the imulation eult, SPWM technique give bette pefomance in elimination of the tato cuent hamonic and eduction of the toque ipple while maintaining the othe chaacteitic of the ytem. About Autho: Teja H. Panchal wa bon in Ahmedabad, Gujaat, ndia in 1980. He eceived degee of B.E. Electical Engineeing in 2001 and M.E. Electical (Powe Appaatu & Sytem) in 2004 fom Nima ntitute of Technology, Ahmadabad, ndia. He i woking a Aitant Pofeo, Electical Engineeing Depatment, Nima Univeity ince 2005. He ha publihed 01 pape in ntenational Jounal and moe than 06 pape in ntenational confeence poceeding. Hi field of inteet include Electical Machine and Dive, Special Electical Machine, Modelling, Analyi and CAD of Electical Machine. Amit N. Patel wa bon in Sabalpu, Gujaat, ndia in 1978. He eceived degee of B.E. Electical Engineeing in 1999 and M.E. Electical (Powe Appaatu & Sytem) in 2004 fom Nima ntitute of Technology, Ahmadabad, ndia. He i woking a Aitant Pofeo, Electical Engineeing Depatment, Nima Univeity ince 2003. He ha publihed moe than 05 pape in ntenational Jounal and moe than 20 pape in ntenational confeence poceeding. Hi field of inteet include Electical Machine and Dive, Special Electical Machine and CAD of Electical Machine. Saga Soniga wa bon in Una, Gujaat in 1993. He i awaiting degee of B. Tech. in Electical Engineeing. Hi field of inteet include Electical Dive and Electical Machine Deign. REFERENCES [1] G. Ramada, T. Thyagaajan, and. Subahmanyam, Robut Pefomance of nduction Moto Dive, ntenational Jounal of Recent Tend in Engineeing, ol. 1, No. 3, 2009. [2] D. Alfono, G. Gianluca, and M. gnazio, A Sliding Mode Contol Technique fo Diect Speed Contol of nduction Moto Dive, Powe Electonic Specialit Confeence, ol. 3, pp. 1106-1111, 2000. 81