Chapter7.

Practical Issues

Chapter 7. Practical Issues

Problem 1.
Conditions
V  60V
*
as e  120 rad s
Vd  300V R  1 L  1mH
f c  10kHz Tdead  3 s

1) Displacement power factor

If there is no dead time, we can assume that the voltage reference and the output voltage are
same.
Vas*  Vas
Thus, the phase current can be calculated by
Vas
I as 
R  je L .
 59.6-0.1194[A]
displacement power factor  0.9929
2) The magnitude of the voltage error in the fundamental component, refer [12]
The number of the pulses (np) is decided by carrier frequency fc, and fundamental frequency
f. Therefore np is expressed by the relation
np  fc f
The fundamental component V 1 of the deviation pulses V, can be obtained as followings.
Supposing a low pass filter is placed to observe the wave V , the square wave may appear.
The height ‘h’ of the square wave is expressed by
n
h  p TdeadVd  /(1/(2 f ))
2 .
 f cTdeadVd
Using the Fourier coefficient of the square wave, the kth harmonic of V, becomes
Vk   h 4k
  f cTdeadVdc 4k (k  1,3,5, )
Therefore, the magnitude of the voltage error in the fundamental component is
 V 1   10e3  3e  6  300 / 4
.
 7.0686[V ]
3) The peak of the fundamental component of a phase voltage, and phase angle error
Due to the dead time, the real voltage equation for the fundamental component can be
written as followings.
Vas*  V 1 
I as   .
R  je L
60  7.0686
I as  
1  j120 1e  3
I as  52.8  0.1055 [ A]
Vas  53.00.014 [V ]
Chapter7. Practical Issues

Problem 2.
Conditions
Vd  300V Tdead  3 s

1) Plot 0−3μs pole voltage and phase current

During the dead time period, the stray capacitor of the upper switch is discharged and the
stray capacitor of the lower switch is charged by the constant phase current(-2A). Because the
stray capacitances are same and the sum of the capacitor voltage is constant, the charge and
discharge current should be same.
CV
Trise  st d  0.9 s
ias 2
Tc Vd
2
Pole voltage

Vd

2

Phase current
−2A
+Gating

−Gating
0 0.9μs 3μs

2) Calculate the compensation time, Tc

T
Tc  rise  0.45 s
2

3) Plot 0−3μs pole voltage and phase current

The phase current is -0.5A and thus, the charging time ∆t becomes as follow.
3e  9  300
Trise   3 s
0.5 2
However, because the ∆t is longer than the dead time, the upper switch is turned on before the
lower stray capacitors are fully charged. At the time the upper switch is turned on, the lower
stray capacitor is suddenly charged by the dc-link capacitor.
Chapter7. Practical Issues

 3 1
   Vd Vd
 3.6 2  2
Pole voltage

Vd

2

Phase current
−2A
+Gating

−Gating
0 3μs

Problem 3.

1) Derive the relationship between i

e
ds iqse  and  idsf
e e
iqsf  .
c s
s
From (3-4), it can be seen that i dqsf  i dqs
s  c
.

Also, from(3-4), it can be seen that

c s
i edqsf  e  je i dqsf
s
 e  je i dqs
s  c
c s
e je i edqsf  i dqs
s  c
.
( s  c )(e je i edqsf )  c i dqs
s
 c e je i edqs
This equation can be described in time domain as followings.
d je e
(e i dqsf )  c (e je i edqsf )  c e je i edqs
dt
d
je e je i edqsf  e je (i edqsf )  c (e je i edqsf )  c e je i edqs
dt
 1 d e
i edqs  j e i edqsf  (i )  i edqsf
c c dt dqsf
e 1 d e
i edqs  (1  j  )i
c c dt dqsf
The above equation can be transformed to Laplace domain and can be expressed in matrix
form by separating real and imaginary of complex space vector variables.
Chapter7. Practical Issues

 s  c e 

ie
  c c  idsf
e

  e 
ds

  e s  c  iqsf 
e
i
qs
  c 
 c

idsf
e
 c  s  c e  idsf e

Hence,  e   2   e 
iqsf  s  2c s  c  e  e s  c e  iqsf 
2 2
.

2) Calculate the attenuation ratio and magnitude of the cross-coupling term

Conditions
c  1000 rad / s
e  120 rad / s
bw  500 rad / s
The attenuation ratio of LPF at the synchronous reference frame can be calculated by
solution of part 1.
e
idsf
 a11  0.9794
idse  
e

a21  a12  0.1167

3) Describe the effects of the cross-coupling terms to the performance of the vector
control
The feedbacks of the current controller are the filtered current signals. Thus, there is no
steady state errors between the filtered currents  idsf
e e
iqsf  and the reference currents
ie*
ds iqse *  , if the reference current is DC. However, even if the reference is DC, still there
are steady state errors between the reference currents  idse * iqse *  and real currents  idse iqse  .
Hence, the performance of the d-q current controller would be degraded. Furthermore,
because of the coupling terms, a 21 and a12 , during the transient the variation of the d- or
q-axis current reference causes the variation of the q- or d- axis current feedback, respectively.
This kind of behavior is similar with the case when there is a rotor angle error.

Problem 4.
Conditions
Vd  300V f c  5kHz
Three-phase Y connected RL R  1 L  1mH
Vas*  100 cos  200 t  V
 2 
Vbs*  100 cos  200 t   V
 3 
 2 
Vcs*  100 cos  200 t   V
 3 
Chapter7. Practical Issues

Refer P7_4_para.m and P7_4.mdl files.

1) Plot the instantaneous a-phase current and its sampled one for t=0~20ms
(1) A-phase current sampling
100

80 I as

60 I as_samp

40

20
Current (A)

-20

-40

-60

-80

-100
0 0.005 0.01 0.015 0.02
Time (s)

2) Plot the instantaneous a-phase current and its sampled one if the current is filtered
for t=0~20ms
(2) Filtered A-phasecurrent sampling
100

80 I as

60 I asf_samp

40

20
Current (A)

-20

-40

-60

-80

-100
0 0.005 0.01 0.015 0.02
Time (s)

3) Plot the instantaneous a-phase current and its sampled one if the current is filtered
and delayed by Tdelay for t=0~20ms
Chapter7. Practical Issues

(3) Filtered A-phase current sampling with Tdelay

100

80

60

40

20
Current (A)

-20 I as

-40 I asf_samp_delay

-60

-80

-100
0 0.005 0.01 0.015 0.02
Time (s)

Comparison among the current sampling methods

90

85

80
Current (A)

75
Ias
Ias_samp
70 Iasf_samp
Iasf_samp_delay

65

60
0.01 0.0102 0.0104 0.0106 0.0108 0.011 0.0112 0.0114 0.0116 0.0118 0.012
Time (s)

Problem 5.
Conditions
R  0.5 L  5mH
bw  200 rad / s Tsamp  300 s
Digital delay Tp  1.5Tsamp
Refer [11] and P7_5.m file.
Chapter7. Practical Issues

1) Calculate the pole of the transfer function when e  60 rad / s and
e  600 rad / s .
The time delay effect can be described by Fig. 7 in [11].

Fig. 7. Complex vector block diagram of a synchronous current regulator without compensation [11]

Using the block diagram in Fig. 7 of [11] of chapter 7, the closed loop transfer function can
be written as follow.
e
idqs GC GX GP

idqs 1  GX GP  GC  je L 
e*

K p s  Ki
GC   eTsamp 
K e , Tsamp  
2
s sin  
 j1.5 T
eTsamp  2 
e e samp
1
where GX  and K p  Lbw
K e , Tsamp  1  sTp
K i  Rbw
1
GP 
Ls  R  je L


e
idqs

K p s  Ki  e
 j1.5eTsamp

e*
idqs 
sK e , Tsamp 1  sTp   Ls  R  je L    K p  je L  s  K i e   j1.5eTsamp

From the transfer function above, we can obtain the zero and poles for each e condition.
Zero -100 rad/s
Poles when e  60 rad / s
-2570.2 -375.71i -102.95 -1.3581i -760.15 +188.57i rad/s
Poles when e  600 rad / s
-4038.9 -1509.6i 545.5 -328.27i 60.083 -47.036i rad/s
Chapter7. Practical Issues

200

-200

-400
Imaginary (rad/s)

-600

-800

-1000
zero
-1200 poles when  e=60
poles when  e=600
-1400

-1600
-5000 -4000 -3000 -2000 -1000 0 1000
Real (rad/s)

2) Calculate the pole of the transfer function with compensation when

e  60 rad / s and e  600 rad / s .
The compensation of the voltage error is the inverse of the GX except the LPF term as
follow.
 K e , Tsamp  e e samp e jeVdqs
s* j1.5 T e*
Vdqs

Due to this compensation, the closed loop transfer function is changed to as follow.

GC GX GP K e , Tsamp  e
e j1.5eTsamp
idqs

1  GX GP  GC  je L  K e , Tsamp  e
e* j1.5eTsamp
idqs
K p s  Ki

s 1  sTp   Ls  R  je L    K p  je L  s  K i
Zero -100 rad/s
Poles when e  60 rad / s
-99.975 -1.0636i -2511.4 -291.81i -821.93 +104.37i rad/s
Poles when e  600 rad / s
-97.754 -9.9855i -2919.4 -2273.2i -416.19 +398.27i rad/s
Chapter7. Practical Issues

500

-500
Imaginary (rad/s)

-1000 zero
poles with compensation when e=60

poles with compensation when e=600

-1500

-2000

-2500
-3000 -2500 -2000 -1500 -1000 -500 0
Real (rad/s)

3) Discuss the effect of the time delay to the performance of the current regulation
The delay caused by the processing and the PWM output results in error at the output
voltage vector not only in magnitude but also in phase. If the switching frequency and
sampling frequency are large enough compared to the synchronous frequency e , the delay
1
effect can be neglected. However, if the ratio between sampling frequency, s  ,
2 Tsamp
and synchronous frequency, e , is decreases, the stability of the current control system is
getting worse. And the ratio is further decreases, the system would be unstable.

Problem 6.
1) Derive (7.21), (7.22) and (7.26) [10].
From (3.1) and (3.4),
2  2   2 
 idse   ias cos  e   ibs cos   e      ias   ibs  cos   e  
3  3   3 
2   2    2   2  
  ias  cos  e  cos   e      ibs  cos   e    cos   e   
3   3    3   3  
where  e  et .
 A B   A B 
Using cos A  cos B  2sin   sin  ,
 2   2 
Chapter7. Practical Issues

   2   
 2 e 
2   3   2    2 e   2  
 idse   ias  2sin   sin       ibs  2sin   sin    
3   2   3 

  2   3  
     
2   
  3 ias sin   e    3 ibs sin  e 
3  3 
Using sin  A  B   sin A cos B  cos A sin B ,
2     
 idse   ias  sin  e cos 3  cos  e sin 3    ibs sin  e 
3   
2 1 3 
   ias sin  e   ias cos  e   ibs sin  e 
3 2 2 
2  3 1  
   ias cos  e    ias   ibs  sin  e 
3 2 2  
 3 1  
  ias   ias   ibs  
cos  e    sin  
2 2
 D 2 e
3  D D 
 

where D   ias 2   ias ibs   ibs 2 .

2  3 ias 
 idse   ias 2   ias ibs   ibs 2 sin e    where   tan 1  
3   ias  2 ibs 

2  2   2  
 iqse    ias sin e   ibs sin e      ias   ibs  sin e   
3  3   3 

 
Using  sin A  cos  A   ,
 2
2     2    2 
 iqse   ias cos   e     ibs cos   e       ias   ibs  cos   e   
3  2  2 3   2 3 
2   
  ias 2   ias ibs   ibs 2 sin   e    
3  2 
2
  ias 2   ias ibs   ibs 2 cos  e   
3

If the current regulation is perfect, there is no steady state error between reference and
_ AD  idqs .
e e*
feedback, that is, idqs
The current reference is given by the relationship Te*  KT iqse* . And the real torque is
generated by real current, that is, Te  KT iqse .
Chapter7. Practical Issues

Thus the torque error can be defined by the difference between the torque reference and the
real torque,  Te  Te*  Te .
 Te  KT  iqse*  iqse 
 KT  iqse _ AD  iqse 
 KT  iqse   iqse  iqse 

2
 Te  KT  iqse  KT  ias 2   ias ibs   ibs 2 cos e   
3
2) Derive (7.31), (7.32)

Derivation of (7.31)
 i  idqs
e e
dqs _ AD  idqs
e

  idse _ AD  jiqse _ AD    idse  jiqse 

  idse  j iqse
 1 e j (e  )  e  j (e  )
 ias  I 1   cos  e      Eq.(1)
 ka  2
 1
where   I 1   .
 ka 
2 2
j ( e   )  j (e   )
 1  2  e 3
e 3
a 2 e j (e  )  a e  j (e  )
 ibs  I 1   cos   e     
 kb   3  2 2
Eq.(2)
2
 1  j( )
where   I 1   , a  e 3
.
 kb 

 i edqs  i edqs _ AD  i edqs  e  j (i dqs

e s
_ AD  i dqs )  e
s  j s
(i abc _ AD  i abc )
e s

2
 e  je (ias _ AD  aibs _ AD  a 2ics _ AD )  (ias  aibs  a 2ics ) 
3
2  je
 e  ias (1  a 2 )   ibs (a  a 2 )  Eq.(3)
3

By substituting Eq.(1) and (2) to Eq.(3),

Chapter7. Practical Issues

1 3 3 3 3
 i edqs  [{ (   ) cos( )  (   )sin( )  (   ) cos(2 e   )  (   )sin(2 e   )}
3 2 2 2 2
3 3 3 3
 { (   )sin( )  (   ) cos( )  (   )sin(2 e   )  (   ) cos(2 e   )}]
2 2 2 2

And

 ka  kb   ka  kb  I     1 
 i edqs  1   I cos        e
sin 2 t    
 2 sin    
 2ka kb   ka kb  3   3  
 k  k   k k  I     1  
+ j 1  a b  I sin     a b    e
cos 2 t    
 2 cos   

 2ka kb   ka kb  3   3   

Derivation of (7.32)
Chapter7. Practical Issues

 Te  Te*  Te 
2 2 Lr

3 P L2m e* e* e e
ids iqs  ids iqs 
e*
Under the perfect current regulation ids  ids
e
_ AD , idqs  iqs _ AD .
e* e

e*
Hence, ids = ids
e e
+ids e*
, iqs = iqs
e e
+iqs .

And, Te 
3 P L2m e* e*
2 2 Lr

ids iqs  (ids
e*
  ids
e e*
)(iqs   iqs
e
) 

3 P L2m
2 2 Lr
 ids 
iqs   iqs
e e*
iqds   ids
e e* e
 iqs
e
. 
Under the assumption that the error current due to scaling is small,

 Te 
3 P L2m
2 2 Lr
 ids 
iqs   iqs
e e* e e*
ids . 
i edqs
*
 i edqs _ AD  e  je i abc
s
_ AD

2
 e  je (ias _ AD  aibs _ AD  a 2 ics _ AD )
3
2  je 
 e ias _ AD (1  a 2 )  ibs _ AD (a  a 2 ) 
3  
=I cos( )  jI sin( )
e*
And ids  I cos( ), iqs
e*
 I sin( ).

Finally,  Te 
3 P L2m
2 2 Lr
 ids
e

I sin( )   iqs
e
I cos( ) 

3) Speed control of Induction machine

(a)
Chapter7. Practical Issues

- Torque reference, real torque and speed

40
Teref
Torque[N-m]

20 Te

-20
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
time[s]

1000
Wrpm
Speed[r/min]

500

-500
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
time[s]

- d,q axis current reference, real d-q axis current and measured current

20

10
Current[A]

Ieds ref
0
Ieds
-10
Ieds_AD
-20
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
time[s]

30
Ieqs ref
20
Current[A]

Ieqs
10
Ieqs_AD
0

-10
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
time[s]
Chapter7. Practical Issues

- Flux reference and real flux

0.45

0.4

0.35

0.3
Flux[Wb-t]

0.25

0.2 LAMedrref

LAMedr
0.15

0.1

0.05

0
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
time[s]

(b) FFT results(From 3s ~5s)

- Torque reference
Chapter7. Practical Issues

FFT results of torque ref

2

1.8

1.6

1.4
magnitude [N-m]

1.2

0.8

0.6

0.4

0.2

0
0 5 10 15 20 25 30 35 40 45 50
frequency [Hz]

- Real torque
FFT results of real torque
2

1.8

1.6

1.4
magnitude [N-m]

1.2

0.8

0.6

0.4

0.2

0
0 10 20 30 40 50 60 70 80 90 100
frequency [Hz]
Chapter7. Practical Issues

- d axis current reference

FFT results of d-axis ref current
2

1.8

1.6

1.4

1.2
magnitude [A]

0.8

0.6

0.4

0.2

0
0 10 20 30 40 50 60 70 80 90 100
frequency [Hz]

- q axis current reference

FFT results of q-axis ref current
2

1.8

1.6

1.4

1.2
magnitude [A]

0.8

0.6

0.4

0.2

0
0 10 20 30 40 50 60 70 80 90 100
frequency [Hz]
Chapter7. Practical Issues

- d axis real current

FFT results of real d-axis current
2

1.8

1.6

1.4

1.2
magnitude [A]

0.8

0.6

0.4

0.2

0
0 10 20 30 40 50 60 70 80 90 100
frequency [Hz]

- q axis real current

FFT results of q-axis ref current

2

1.8

1.6

1.4

1.2
magnitude [A]

0.8

0.6

0.4

0.2

0
0 10 20 30 40 50 60 70 80 90 100
frequency [Hz]
Chapter7. Practical Issues

- d axis measured current

FFT results of sensored d-axis current
2

1.8

1.6

1.4

1.2
magnitude [A]

0.8

0.6

0.4

0.2

0
0 10 20 30 40 50 60 70 80 90 100
frequency [Hz]

- q axis measured current

FFT results of sensored q-axis current
2

1.8

1.6

1.4

1.2
magnitude [A]

0.8

0.6

0.4

0.2

0
0 10 20 30 40 50 60 70 80 90 100
frequency [Hz]
Chapter7. Practical Issues

- Flux reference
FFT results of flux ref
0.1

0.09

0.08

0.07
magnitude [Wb-t]

0.06

0.05

0.04

0.03

0.02

0.01

0
0 10 20 30 40 50 60 70 80 90 100
frequency [Hz]

- Real flux
FFT results of real flux
0.1

0.09

0.08

0.07
magnitude [Wb-t]

0.06

0.05

0.04

0.03

0.02

0.01

0
0 10 20 30 40 50 60 70 80 90 100
frequency [Hz]
Chapter7. Practical Issues

- Speed of induction machine

FFT results of speed
10

7
magnitude [r/min]

0
0 10 20 30 40 50 60 70 80 90 100
frequency [Hz]