EE533 – Machines & Drives
Chapter 8: Vector control of induction
motors
Fall 2016 Dr. KHELDOUN A.
Chapter 8- Vector control of induction motors
I. Introduction
The previous chapter has investigated the induction motor
speed control using Scalar control techniques. It can be
noticed that scalar control produces good performance in
steady state operation. However, dynamic performances are
not satisfied. This manifests in the deviation of air gap flux
linkages from their reference values. This deviation results
in oscillations of electromagnetic torque.
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Chapter 8- Vector control of induction motors
I. Introduction
This chapter is devoted to vector control which goes beyond
the control of air gap flux magnitude to the control of both
magnitude and phase.
Vector control (or field oriented control) provides hence
more precise torque and flux control of AC motors compared
to scalar control. This allows replacing DC drives known by
their high dynamic performances by AC drives which in
addition to being reliable and compact offer the advantage to
be very competitive to DC drives in terms of dynamic
performances .
EE533 – Machines & Drives
Chapter 8- Vector control of induction motors
II. Torque control of DC motors
To understand the vector control principles, a review of
torque control of separately-excited DC motor control seems
very useful.
A separately-excited dc f
motor has shown in the
figure has a stationary field If
structure (windings or
permanent magnets) and a
rotating armature winding
supplied by a commutator
Ia
and brushes. The field flux vf a
f ( f ) produced by field
current If is orthogonal to
the armature flux a ( a)
produced by the armature f/2
current Ia.
va
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Chapter 8- Vector control of induction motors
II. Torque control of DC motors
The developed torque Te can be expressed in terms armature
current and field current as:
Te Kt f a K t'
K t' f I a f I a . sin
2
Because the two quantities are orthogonal, this makes, when
field flux producing component is maintained constant, the
torque control independent and easy.
- keeping f constant to it rated value by maintaining If
constant
- Torque will be proportional to I a, the armature current
- This is known as a decoupling between torque and flux
'
Te K t f Ia
Field Torque producing
flux component
EE533 – Machines & Drives
Chapter 8- Vector control of induction motors
III. Torque control of AC motors – by analogy
The torque Te developed by the induction motor is given by :
3P Lm *
Te ( dqs dqr ) k( qs dr ds qr )
2 2 Ls Lr L2r
produced by stator currents
dqs dqs
a
dqr produced by induced rotor dqr
currents
b’
Both dqs and dqr rotate at
c’
synchronous speed s
Angle between s and r varies
with load, and motor speed r
Torque and flux are strongly
coupled. Control of torque b
through stator quantities c
independently of flux is not
possible. a
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Chapter 8- Vector control of induction motors
Induction Motor torque equations :
3P
Te k( qs dr ds qr ) iqs ds ids qs
22
3 P Lm
iqs dr ids qr
2 2 Lr
To make the torque equation looks like that of the
DC motor, the second term must be null. This can
be implemented by aligning the d-axis of the
rotating reference frame (dq) with the rotor flux
axis ( sr) axis (or the stator flux axis s). This
technique is knows as field-oriented control.
Therefore, the flux to which the d-axis is oriented,
determines the type of the controller whether it is
rotor-field-oriented controller or stator-field-
oriented controller.
EE533 – Machines & Drives
Chapter 8- Vector control of induction motors
IV. Field oriented control principle
qs
qs
qe e
qe is
is
e d s
s
de
e
e
iqs e r iqs e
ids
ids
Rotor-Flux Orientation Control, Stator-Flux Orientation Control,
RFOC SFOC
3 P Lm 3P
Te iqs dr ids qr Te iqs ids
2 2 Lr ds qs
22
3 P Lm e e 3P e e
iqs dr iqs ds
2 2 Lr 22
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Chapter 8- Vector control of induction motors
IV. Application of Rotor FOC
qs
Orientation of d-axis of dq- qe
rotating frame toward the r is
-axis amounts to, e
de
dr r Lmids
e e r
Lm iqs ids
qr 0 iqr iqs e ds
Lr
Therefore,
3 P Lm 3 P L2m
Te iqs dr iqs ids
2 2 Lr 2 2 Lr
Decoupled
iqs = torque producing current control
Similar to
DC motor
ids = field producing current control
EE533 – Machines & Drives
Chapter 8- Vector control of induction motors
The complex de-qe equivalent circuit of an induction motor is
shown in the figure below (neglecting rotor leakage inductance).
Rs jxs Iqs =(-Lr/Lm)Ir
Is
Vs j(Lm/Lr) xm is =ids (Lm/Lr)2 Rr/s
Since the rotor leakage inductance has been neglected, the
rotor flux dr = dm , the air gap flux. The stator current vector
Is is the sum of the ids and iqs vectors. Thus, the stator current
magnitude, is related to ids and iqs by: 2 2
Is i ds i qs
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Chapter 8- Vector control of induction motors
IV. Field oriented control principle
The steady state phasor (or vector) diagrams for an induction
motor in the de-qe (synchronously rotating) reference frame
are shown below:
qs qs
qe
qe is
is e
e
de
r
r
de '
'
' iqs s
s
'
iqs ids iqs s ids
s ids ds
ds
EE533 – Machines & Drives
Chapter 8- Vector control of induction motors
IV. Field oriented control principle
The first figure shows an increase in the torque component of
current iqs and the second figure shows an increase in the flux
component of current, ids. Because of the orthogonal orientation
of these components, the torque and flux can be controlled
independently. However, it is necessary to maintain these vector
orientations under all operating conditions.
How can we control the iqs and ids
components of the stator current Is
independently with the desired
orientation ?
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Chapter 8- Vector control of induction motors
IV. Field oriented control principle
How can we control the i qs and ids components of the stator
current Is independently with the desired orientation ?
Following the selection of the field orientation type, the appropriate
dq model of IM referred to reference frame rotating at random
speed can be obtained from the general dynamic model derived in
chapter 5.
As previously explained different filed orientations are possible
however for the sake of simplicity only rotor field oriented control
is covered in this chapter. The principle of deriving field oriented
controller holds with the remaining field orientations.
To derive rotor field oriented controller, the general dq-model is
transformed such that the state vector is X=[ids iqs dr qr].
EE533 – Machines & Drives
Chapter 8- Vector control of induction motors
IV. Field oriented control principle
The dq model of the induction motor referred to random reference
frame is given below, X =[ids iqs idr iqr].
vds Rs p Ls e Ls p Lm Lr Lm Lr
e ids
vqs e Ls Rs p Ls e Lm Lr pLm Lr iqs
0 Lm Tr 0 1 Tr p sl dr
0 0 Lm Tr sl 1 Tr p qr
Eliminating idr and iqr in above model such that the state vector will be
X=[ids iqs dr qr].
v ds Rs p Ls eLs p Lm Lr Lm Lr
e ids
v qs e Ls Rs p Ls e Lm Lr pLm Lr iqs
0 Lm Tr 0 1 Tr p sl dr
0 0 Lm Tr sl 1 Tr p qr
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Chapter 8- Vector control of induction motors
IV. Field oriented control principle
v ds Rs p Ls eLs p Lm L r e Lm Lr ids
v qs e Ls Rs p Ls e Lm Lr pL m L r iqs
0 L m Tr 0 1 Tr p sl dr
0 0 L m Tr sl 1 Tr p qr
Application of rotor field orientation requirements ( r is oriented
towards d-axis) amounts to
v ds Rs p Ls e Ls p Lm Lr Lm Lr
e i ds
v qs e Ls Rs p Ls e Lm Lr pL m L r i qs
0 L m Tr 0 1 Tr p sl r
0 0 L m Tr sl 1 Tr p 0
EE533 – Machines & Drives
Chapter 8- Vector control of induction motors
IV. Field oriented control principle
Required voltages and currents equations for rotor field orientation are
d Lm d
vds Rs ids Ls i e Ls i qs r
dt ds Lr dt
d Lm
vqs Rs iqs Ls iqs e Ls ids r
dt Lr
Lm 1 d d
0 i r const. r 0
Tr ds Tr
r
dt
r dt
Lm
0 iqs sl r
Tr
2
Where Lm
1 Is the total leakage factor
Ls Lr
Lr
Tr Is the rotor time constant
Rr
sl e r Is the slip frequency (relative revolving speed)
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Chapter 8- Vector control of induction motors
IV. Field oriented control principle
Required voltages and currents equations for rotor field orientation are
vds Rs Ls p ids e Ls iqs vd e Ls iqs
Lm Lm
vqs Rs Ls p iqs e Ls ids r vq e Ls ids r
Lr Lr
0 Lmids r
0 iqs Tr sl ids
Governing equations of rotor field oriented
controlled current-fed induction motors
Governing equations of rotor field oriented
controlled voltage-fed induction motors
EE533 – Machines & Drives
Chapter 8- Vector control of induction motors
IV. Field oriented control principle
Using the governing equations of rotor field oriented
controlled current-fed induction motors, and the references
values, the torque and flux current commands are computed
1 *
ids* r
*
r Is the rotor flux reference
Lm
* 2 Lr Te*
iqs . * Te* the electromagnetic reference
3 p.Lm r
*
* Lm iqs *
sl . * sl the required slip frequency
Tr r Lr
r
Rr The rotor time constant
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Chapter 8- Vector control of induction motors
V. Application of Rotor FOC
qs
r is aligned with d
e
qe
dq is rotating at speed we
e
is
e is the angle between d and d
e s
e
required to ensure rotor field
orientation. de
iqs
e e dt ids r
sl dr
This angle must be known to convert e r ds
the desired reference values set in
dqe reference frame to their
corresponding values in dqs reference
dq- reference frame
frame. orientation angle
Two methods of RFOC are used to
calculate e
Indirect Rotor Flux Orientation
Direct Rotor Flux Orientation
EE533 – Machines & Drives
Chapter 8- Vector control of induction motors
V. Application of IRFOC
The basic conceptual implementation of indirect vector control
scheme is illustrated in the below block diagram:
*
is * , s a, b, c
Te Indirect. r
*
Rotor Flux
Oriented
T 1 e IM
r Control
Te
*
sl r r
++
The decoupling r
*
1 i ds *
block (IRFOC) L m
*
generates the flux Te *
2 Lr L m sl
and torque 3 pL m T r
producing currents
i qs *
(ids, iqs)
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Chapter 8- Vector control of induction motors
V. Application of IRFOC
The basic conceptual implementation of indirect vector control
scheme is illustrated in the below block diagram:
is * , s a, b, c vs , s a, b, c Te
IM r
This scheme requires the use of current-controlled PWM
inverter which uses one of the following techniques:
Three independent hysteresis controllers
space vector-based hysteresis controllers
Fixed-frequency nonlinear controllers
Linear controllers
EE533 – Machines & Drives
Chapter 8- Vector control of induction motors
V. Application of IRFOC
Example of current-controlled PWM inverter using three
independent hysteresis controllers
K1 K2 K3
Te
IM
IM
r
K1’ K2’ K3’ r
-
+
-
+
Ia* -
+
Ib*
Ic*
IM cascaded with Current controlled voltage source inverter
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Chapter 8- Vector control of induction motors
IV. Application of IRFOC
The IRFO controller has been used to control a 1.5kW, 4-pole,
50Hz, 1420 rpm induction motor. The inverter is assumed to
be ideal current controlled PWM inverter. The reference rotor
flux is set to the rated value 1Wb and the reference torque is
varied according to the figure below.
reference torque
EE533 – Machines & Drives
Chapter 8- Vector control of induction motors
IV. Application of IRFOC
Simulations results of the decoupling between torque and flux
Reference torque Rotor flux (Wb)
dr
qr
Reference torque , and output torque Rotor flux components (Wb)
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Chapter 8- Vector control of induction motors
IV. Application of IRFOC
The indirect vector control scheme of voltage fed IM is illustrated in
the below block diagram:
*
vs * , s a, b, c
Te Indirect. r
*
Rotor Flux
Oriented
T 1
e IM
r Control Te
*
sl r r
++
The decoupling block (IRFOC) generates the flux and torque
producing voltages (vds, vqs)
This cross-coupling
vds Rs Ls p ids e Ls iqs
between direct and
Lm transverse voltages
vqs Rs Ls p iqs e Ls ids r
Lr
must be eliminated
EE533 – Machines & Drives
Chapter 8- Vector control of induction motors
V. Application of IRFOC
Te * Indirect. Rotor
* Flux Oriented vs * , s a, b, c
r Control
ids
- d + vds
ids* PId vas*
-
Ls iqs
1
e T e vbs*
Lm *
Ls ids r
Lr
q -
iqs* +
PIq vcs*
- + vqs
iqs
e
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Chapter 8- Vector control of induction motors
V. Application of IRFOC
The basic conceptual implementation of indirect vector control
scheme is illustrated in the below block diagram:
vs*, s a, b, c vs , s a, b, c Te
IM r
This scheme requires the use of voltage-controlled PWM such
as :
Sinusoidal pulse width modulation (SPWM)
Space Vector Modulation SVM
Optimized PWM technique
EE533 – Machines & Drives
Chapter 8- Vector control of induction motors
IV. Application of IRFOC
Example of voltage-controlled PWM inverter using hysteresis
controllers Vdc
Va*
Vb*
VSI-PWM
Inverter
Vc*
Te
IM r
r
IM cascaded with voltage controlled voltage source inverter
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Chapter 8- Vector control of induction motors
V. Application of IRFOC
Simulations results of the decoupling between torque and flux of
the same motor fed by an ideal voltage controlled PWM inverter
Reference torque
Reference torque , and output torque Rotor flux components (Wb)
EE533 – Machines & Drives
Chapter 8- Vector control of induction motors
VI. Direct Field Oriented Control
In the indirect field oriented control scheme, the
transformation angle is calculated by the feedforward
equation which makes the torque to slip freuqency a linear
relationship.
In the direct scheme proposed by Blaschke, this angle is
found by meaurmenent of the oreinted flux components:
r
e arctan
r
r r are the rotor flux components in the stationary
refernece frame and e will be the angle of rotor flux phasor
and the -axis of the stationary reference frame as shown in
the figure below.
The measurement requires actually fluw sensors which are
expensive and unreliable.
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Chapter 8- Vector control of induction motors
V. Direct Field Oriented Control
q
r d r
1
r e tan
e r
To avoid using sensors, the rotor flux components are
estimated using the dq –model where the inputs are the
measured stator quantities (current and voltages).
First stator flux components are estimated using stator volatge
equation
v Rs i 0
s s s s *
EE533 – Machines & Drives
Chapter 8- Vector control of induction motors
VI. Direct Field Oriented Control
Then rotor flux is computed using flux equations
Lr
r s Ls i s
Lm
2 2
r r r **
1 r
e tan
r
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Chapter 8- Vector control of induction motors
VI. Direct Field Oriented Control
The basic conceptual implementation of direct vector control scheme
is illustrated in the below block diagram:
r + Te* iqs* ias*
PI 1/Kt
- ibs* Current
T( e)-1
PWM
ics*
r*+ ids* VSI
PI
sd
s v s
** *
sq
s i s
P/2
m
EE533 – Machines & Drives
Chapter 8- Vector control of induction motors
VII. Field weakening control
Over rated speed operation is obtained by reducing the flux reference
inversely proportional to the reference speed (Field weakening
region)
r + Te* iqs* ias*
PI 1/Kt
- ibs* Current
T( e)-1 PWM
r* ids* ics*
+ VSI
PI
-
e
sd
s v s
** *
s i s
sq
P/2
m
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Chapter 8- Vector control of induction motors
VII. Field weakening control
The value of the reference flux is calculated according to the
following expression
*
r , rated if r , ref r ,rated
*
r * r ,rated
r , rated * if r ,ref r , rated
r , ref
*
irsdref
Field weakening range
=> Reduced torque
Maximum
torque range
r max ref
r
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