7. Comparison of Direct and Indirect Vector Control of Induction Motor.pdf

8/10/2019 7. Comparison of Direct and Indirect Vector Control of Induction Motor.pdf

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B. S. Nayak. / International Journal of New Technologies in Science and EngineeringVol. 1, Issue. 1, Jan. 2014, ISSN XXXX-XXXX

Available online @ www.ijntse.com 110

Comparison of Direct and Indirect VectorControl of Induction Motor

B. Srinu Naik

Abstract- Vector control is becoming the industrial standard for induction motor control. Thevector control technique decouples the two components of stator current space vector: oneproviding the control of flux and the other providing the control of torque. The two componentsare defined in the synchronously rotating reference frame. With the help of this control techniquethe induction motor can replace a separately excited dc motor. The DC motor needs time to timemaintenance of commutator, brushes and brush holders. The main effort is to replace DC motorby an induction motor and merge the advantages of both the motors together into variable speedbrushless motor drive and eliminate the associated problems. The squirrel cage induction motorbeing simple, rugged, and cheap and requiring less maintenance, has been widely used motor for

fixed speed application. So with the implementation of vector control, induction motor replaces theseparately excited dc motor. The vector control technique is therefore a better solution so that thecontrol on flux and torque become independent from each other and the induction motor istransformed from a non-linear to linear control plant. With the advent of field oriented control;the induction motor has become an attractive option. In this report we will come to know theconcept of vector control and different types of vector control techniques available. And finally wewill be able to compare them.

Index Terms -Induction Motor, Vector Control, Speed Control, AC Motors.

1. INTRODUCTION

Modern method of static frequency conversion has liberated the induction motor from its historical role asa fixed speed machine. The inherent advantages of adjustable frequency operation cannot be fully realizedunless a suitable control technique is employed. The choice of technique is vital in determining the overallcharacteristics and performance of the drive system. Also the power converter has little excess currentcapability; during normal operation the control strategy must ensure that motor operation is restricted tothe regions of high torque per ampere, thereby matching the inverter ratings and minimizing the systemloses. Overload or fault conditions must be handled by sophisticated control rather than over design.

Now a days more than 60% of all the electrical energy generated in the world is used by cage inductionmachines have been mostly used at fixed speed for more than a century. On the other hand, D.C machineshave been used for variable speed applications. In DC machines mmf axis is established at 90 electrical tothe main field axis. The electromagnetic torque is proportional to the product of field flux and armaturecurrent. Field flux is proportional to the field current and is unaffected by the armature current because of orthogonal orientation between armature mmf and field mmf .Therefore in a separately excited DCmachine , with a constant value of field flux the torque s directly proportional to the armature current.Hence direct control of armature current gives direct control of torque and fast response. Hence they are


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The DC motor analogy

Where torque (T) Ia.If

And where Ia represents the torque component and If the field.

The orthogonal or perpendicular relationship between flux and mmf axes is independent of the speed of rotation and so the electromagnetic torque of the dc motor is proportional to the product of the field fluxand armature current. Assuming negligible magnetic saturation, field flux is proportional to field currentand is unaffected by armature current because of the orthogonal orientation of the stator and rotor field.Thus in a separately excited dc motor with constant value of field flux, torque is directly proportional toarmature current.

The principle behind the field oriented control or the vector control is that the machine flux and torque are

controlled independently, in a similar fashion to a separately excited DC machine. Instantaneous stator currents are transformed to a reference frame rotating at synchronous speed aligned with the rotor stator or air gap flux vectors, to produce a d-axis component current and a q-axis component current. (SRRF).Inthis work, SRRF is aligned with rotor mmf space vector, the stator current space vector is split into twodecoupled components, one controls the flux and the other controls the torque respectively. [11][22]

An induction motor is said to be in vector control mode , if the decoupled components of the stator currentspace vector and he reference decoupled components defined by the vector controller in the SRRF matcheach other respectively..Alternatively, instead of matching the two phase currents (reference and actual) inthe SRRF, the close match can also be made in the three phase currents (reference and actual) in thestationary reference frame. Hence in spite of induction machines non linear and highly interacting

multivariable control structure, its control has becomes easy with the help of FOC. Therefore FOCtechnique operates the induction motor like a separately excitedly DC motor.

The transformation from the stationary reference frame to the rotating reference frame is done andcontrolled by with reference to specific flux vector (stator flux linkage, rotor flux linkage) or magnetizingflux linkage). In general, there exits three possibilities for such selection and hence, three vector controls.They are stator flux oriented control, rotor flux oriented control and magnetizing flux oriented control. Asthe torque producing component in this type of control is controlled only after transformation is done andis not the main input reference, such control is known as indirect torque control. The most challenging and


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ultimately, the limiting feature of field orientation is the method whereby the flux angle is measured or estimated. Depending on the method of measurement, the vector control is sub divided into two subcategories: direct vector and indirect vector control. In direct vector control, the flux measurement is done

by using flux sensing coils or the hall devices. [2][22]

FOC uses a d-q coordinates having the d-axis aligned with rotor flux vector that rotates at the stator frequency. The particular solution allows the flux and torque to be separately controlled by the stator

current d-q components. The rotor flux is a flux of the d-axis component stator current dsi .The

developed torque is controlled by the q axis component of the stator current qsi .The decoupling between torque and flux is achieved only if the rotor flux position is accurately known. This can be doneusing direct flux sensors or by using a flux estimator.

3. TYPES OF VECTOR CONTROL TECHNIQUES OF INDUCTION MOTOR

The synchronously rotating reference frame (SRRF) can be aligned with the stator flux or rotor flux or magnetizing flux (field flux) space vectors respectively. Accordingly, vector control is also known asstator flux oriented control or rotor flux oriented control or magnetizing flux oriented control. Generally ininduction motors, the rotor flux oriented control is preferred. This is due to the fact that by aligning theSRRF with the rotor flux, the vector control structure becomes simpler and dynamic response of the driveis observed to be better than any other alignment of the SRRF.

The vector control can be classified into (i ) Direct vector control and (ii) indirect vector control.

Scope of work

In vector control the dynamic performance of the induction motor improves to a great extent. The squirrelcage induction motor behaves similar to a separately excited dc motor with control of field and torque

being independent of each other. Therefore the drive exhibits quick starting response, fat reversal responseand quick change over from one operating point to another. With proper choice of speed controller, thedrive can be further improved in terms of performance indices such as starting time, reversal time, and dipin speed on load application, overshoot in speed on load removal, steady state speed error on load etc.

The VCIMD can be operated in two modes of operation (a) operation below base speed and (b) operationabove base speed. When the drive operates below base speed, the flux component of the stator current(ids*) is maintained constant and torque is dependent on the torque component of the stator current (i qs*).and when the drive operates above base speed, the flux component of stator current (i ds*) is reduced for control, with the torque component (i qs*) at the maximum possible level.

The excitation current for rotor flux (i mr *) depends on the speed of the motor ( r ) in inverse proportionfor the operation of the motor above base speed.

The voltage source inverter I operated in current controlled (CC) mode. The CC mode of VSI gives aquick and fast response as the winding currents are regulated in accordance to vector control mode of aninduction motor.


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Normally uncontrolled ac-dc converters are used to feed vector controlled induction motor. Theseuncontrolled ac-dc converters draw non-sinusoidal current from the ac mains and behave as non-linear loads. This leads to power quality problems. But a number of techniques have been proposed for improving power quality at ac mains.

Direct vector control method

In direct vector control method we have seen that it determines the magnitude and position of the rotor flux vector by direct flux measurement or by a computation based on terminal conditions. It also calledflux feedback control is method in which required information regarding the rotor flux is obtained bymeans of direct flux measurement or estimation. The flux is measured by the sensors like Hall Effectsensor, search coil and this is a part of the disadvantages. Because fixing of number of sensors is a tedious

job and this increases the cost factor. [2]

The quantities generated from flux sensors are used in the outer loop of the drive control structure.Alternatively, in place of flux sensors, the flux models can also be used for which the stator currents andvoltages become the feedback signals and he rotor flux angle is given as its estimated output.

Figure.2 shows a simplified block diagram of a field control scheme .the two axis reference currents, qsi

and dsi are the demanded torque and flux components of stator current, respectively and are governed by

the outer control loops. Currents, qsi and dsi , undergo a coordinate transformation to two phase stator based quantities, followed by two phase to three phase transformat ion which generates the stator reference

currents*** ,, csbsas iii .These reference current are reproduced in the stator phases by the current controlled

PWM inverter .[2]


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Figure-2: Basic field oriented control system for an induction motor with a current controlled PWMinverter.

Thus the external reference currents qsi and dsi are reproduced within the induction motor. Control isexecuted in terms of these direct and quadrature axis current components to give decoupled control of fluxand torque as in a dc machine

Disadvantages

1. Fixing of number of sensors is a tedious job.2. The sensors increase the cost of the machine.3. Drift problem exist because of temperature.4. Poor flux sensing at lower temperatures.

These disadvantages lead to another technique called in-direct vector control technique.


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In-direct vector control Method

Figure.3 shows the basic block diagram of induction motor operating in indirect vector control mode. Themotor speed is used as feedback signal in the controller. The controller calculates reference values of thetwo decoupled components of stator current space vector in the SRRF which are i qs* and i ds* for the controlof torque and flux respectively. [2] The two components of the currents are transformed into three phasecurrents which are i as*,i bs*,ics* in the stationary reference frame of reference. Now as a balanced load, twoof the phase currents are sensed and the third one is calculated from the two sensed currents. The currentcontroller controls the reference currents close to sensed three phase currents in the stationary referenceframe and operates the voltage source inverter to feed three phase induction motor. This ensures a highlevel of performance of the vector controlled induction motor (VCIMD).Because of the smooth, efficientand maintenance free operation of VCIMDs, such drives are finding increasing applications in many driveapplication s such as air conditioning, refrigeration, fans blowers, pumps, waste water treatment plants,elevators, lifts traction motors, electric vehicles, etc[2][7]

figure-3:basic block diagram of indirect vector control mode

The field-weakening controller receives the speed signal ( r ) as an input signal and provides reference

value of the excitation current (*

mr i ) as an output signal. Therefore the two signals are the reference

signals for the vector controller. In the vector controller the d-axis component ( dsi ) and the q- axis

component ( qsi ) of the stator current signals are computed which are responsible for the flux and torque

control respectively. The slip frequency signal (*

2 ) is also computed in vector controller to evaluate

the flux angle. The slip angle is computed using slip frequency (*

2 ), rotor speed ( r ) and sampling


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period ( T ).These signals of flux

frame and these are transformed into

For current controlled VSI fed vect

sensed currents ( csbsas iii ,, ) are fed icarrier wave is generated at the rtriangular carrier wave and modulaPWM signals, which are fed to the d

The indirect vector controlled induspeed sensor, speed controller ,limithree phase stationary frame conveinduction motor. The functions are d

B. S. Nayak. / International Journal of New TechnologiesVol. 1, Issue. 1, Jan.

Available online @ www.ijntse.com

( dsi and torque ( qsi ) are in the synchrono

stationary reference three phase currents (*,asi

r controlled induction motor, the reference cu

to the pulse width modulated (PWM) currentequired switching frequency (f s). The pointting signals acts as the point of state changeriver circuit of VSI feeding an induction motor[

tion motor is reshown in figure.3 below wither, the field weakening controller , the two pter, PWM current controller, CC-VSI and threscribed as follows

in Science and Engineering 2014, ISSN XXXX-XXXX

117

sly rotating reference

**, csbs i )

rents***

,, csbsas iii and ontroller. A triangular of intersection of the

over for the resulting 2][7]

blocks consists of the ase rotating frame to

e phase squirrel cage


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Speed sensor

It measures the motor speed. Since in the indirect vector, the accurate measurement of position of rotor flux vector is given by the sensors which have high resolution and precision. Normally shaft encoders areused for the closed loop vector control of the cage induction motor drive.

Speed controller

The measured speed ( r ) is compared with the set reference speed (*

r ) in the error detector and the

resulting output is known as speed error ( e ) is processed in the speed controller. The output of the

controller is the control signal for the torque command ( T ). The command input may be positive or negative depending upon the set reference speed and the motor shaft speed. The speed error ( e ) is

processesed in the speed controller which may be of different types depending upon the required dynamic

performance of the drive. And accordingly the controller is used.When the drive operates in the transient conditions such as starting, reversing or load application or loadremoval the speed controller output (T) may be very high value to achieve the steady state condition of thedrive as fast as possible, as, a result the controller output signal (T) may become quite high and in somecases it may become higher than the breakdown torque of the motor. Such a situation may be rather dangerous for the motor and may take the drive into instability. In order to avoid certain circumstances, it

becomes very much necessary to apply certain limit on the output of the speed controller .The output of the speed controller after the limit is considered as the reference torque(T *) to the vector controller andused to obtain the value of stator current torque component of the stator current space vector. As a resultthe limit of the torque also ensures over current protection to the drive.

4. FIELD WEAKENING CONTROLLER

The field weakening operation of a VCIMD is similar to the field controller of a separately excited dcmotor. This operation is implemented when the drive speed is controlled above the base speed. The inputto the field weakening controller is the feedback speed of the motor. The output of the controller is theexcitation current. Below the abase speed the excitation current remains constant. Above the based speedthe excitation current varies in inverse proportion to the speed. [13-14]

*mr i = mi if r < base speed

*mr i =K f mi / r if r >= base speed Where K f is flux constant.

*mr i is the excitation current,

mi is the magnetizing current,


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r is the feedback speed of the motor,

b is the base speed of the motor.

5. VECTOR CONTROLLER

The output of the speed controller after limiting is taken as the reference torque (*T ) and output of field

weakening controller (*

mr i ) is taken as reference flux for the vector controller. These two command

signals are taken as input to the vector controller for calculating the torque component ( qsi ) and the flux

component ( dsi )

And also to calculate the slip frequency (*

2 ).The torque ( qsi ) and the flux components ( dsi ) are the

respective decoupled components of the stator current ( si ) in the synchronously rotating reference frame.

Estimation of dsi , qsi and*

2

The vector controller block is the heart of the entire modeling of the vector controlled induction motor

drive. This section calculates the direct and quadrature axis stator components ( dsi and qsi ) in thesynchronously rotating reference frame (SRRF) aligned with rotor inclined at flux angle ( ) with respectto stationary reference frame. [19]

Mathematically these equations for calculating these two components of the current are given as follows:

nids = nimr * + dt di mr

r

*

.Eq(1)

niqs = n Ki nT mr **

..Eq(2)

n*2 = ni

ni

mr r

qs

*

Eq (3)


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Where, r is the rotor time constant defined as

r =r

r

R L

K=

r

M p 123

2

P is the number of poles, nids and niqs refer to flux and torque components of stator current at n thinstant,

n*2 refer to n th instant reference slip frequency , M is the mutual inductance , r is the rotor leakage factor and L r is the rotor self inductance and is defined as

lmlr r L L L ..Eq(4)

L r r 1 ...Eq(5)

And

1 M Lr

r where M= m L23

, m L is the magnetizing inductance

Two phase rotating frame to three phase stationary frame converter

Two phase rotating frame to three phase stationary frame converter transforms the two decoupled

components of stator current namely, ( dsi and qsi ) in synchronously rotating reference frame into three

phase currents namely**, bsas ii and

*csi in three phase stationary reference frame. The conversion

process requires the flux angle ( ), which is calculated by the integration of the synchronous speed.

Synchronous speed is obtained by addition of slip speed (*

2 ) and motor speed ( r )

Transformation equations can be written as follows:

cossin *** dsqsas iii .........Eq(6)

21

cos3sin21

sin3cos *** qsdsbs iii ....Eq(7)


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***bsascs iii ...Eq(8)

Where***

,, csbsas iii are the three phase currents in stator reference frame.

PWM current controller

Current control plays an important role in power electronic circuits, particularly in current regulated PWMinverters which are widely applied in ac motor drives and continuous ac power supplies where theobjective is to produce a sinusoidal ac output. The main task of the control system in current regulatedinverters is to force the current vector in the three phase load according to a reference trajectory. In order to operate the three phase induction motor into vector controlled mode, sensed three phase stator currents

(ias,i bs and ics) are to be controlled by the three phase reference currents(**

, bsas ii and*

csi ). Such a controltechnique is called current controller.

In indirect vector control technique the rotor flux vector position is computed from the speed feedback signal the motor. The indirect vector control eliminates the need of using flux sensors or flux model.However it requires an accurate measurement of the shaft position in order to determine the precise

position of the rotor flux vector. The difference between the reference speed and the rotor speed is fed tothe controller. The controller computes the slip frequency that on addition to the feedback motor speed

provides the speed of the rotor flux vector from which the flux angle can be computed. The referencecurrents here are reproduced in the motor winding by the current controlled inverter. Indirect controleliminates most of the problems, which are associated with the flux sensors as the controller is free from

rotor flux sensing.The induction motor behavior in field coordinates is given by the equations

qsmr ik iT Eq(9)

dsmr mr

r iidt di

...Eq(10)

mr r

qsmmr i

i

dt d

....Eq(11)

mr r

qsmmr i

i

dt d

.Eq(12)


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The latter equations state that the rotor flux vector has an instantaneous angular velocity, mr which is

the sum of the instantaneous shaft angular velocity, m and the instantaneous angular velocity of the

rotor flux relative to the rotor. If thus slip angular velocity is denoted by 2 ,

Then

2 =mr r

qs

i

i

and-----------------------------------------------------------------Eq(12)

2 = mr - m = mr s -----------------------------------------------------------Eq(13)

Where, s is the fractional slip of the rotor with respect to the rotor flux vector.The slip equation can be implemented in the field oriented controller so that direct measurement of therotor flux position is unnecessary. This approach is the basis of indirect methods of the field orientation,

which are often termed slip frequency control methods. The reference values qsi , dsi and 2 for

demanded values of torque, and rotor magnetizing current mr i are given by

dsi = mr i + dt di mr

r -------------------------------------------------------------------Eq (14)

qsi = mr k i

T --------------------------------------------------------------------------------Eq (15)

2 =

mr r

qs

i

i

= 2mr r ik

T

--------------------------------------------------Eq (16)

The basic implementation of a speed control system for a current controlled PWM inverter is shown infigure .3


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Figure-3: the basic implementation

The speed error is fed to the speed

shaft speed is fed to a function gen base speed, and implements field w

calculate the reference values qsi ,slip angular position signal, 2 , whincremental encoder to determine t

freedom form drift. The angle is

based reference currents

Indirect field orientation is readilygeneral, indirect field orientation straditional controlled slip frequenc

implementation does not preserveconditions. The overall dynamic pecontrol.

B. S. Nayak. / International Journal of New TechnologiesVol. 1, Issue. 1, Jan.

Available online @ www.ijntse.com

f a speed control system for a current controlle

controller, which generates the torque comm

rator that demands a constant rotor magnetizinakening above base speed. The torque and flux

dsi and 2 .the commanded slip frequencych is added to the rotor position signal, , fre rotor flux angle, .These calculations give

sed to implement the vector rotation, jpe of

pplied to other types of adjustable frequency istems are very similar to the controlled slipdrives seeks to maintain a constant air gap fl

the proper phase relationships in the machinrformance of the indirect vector control is be

in Science and Engineering 2014, ISSN XXXX-XXXX

123

PWM inverter

nd, T *.As before, the

g current, mr i , below command are used to

is integrated to give a om the shaft mounted

desired accuracy and

qsi and dsi to stator

nverter drive. m .In frequency drives. The

ux, but the controlled

e during the transient tter than direct vector


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Comparison with direct vector control

The major disadvantage of direct vector method is the need of so many sensors. Fixing so many sensors ina machine is a tedious work as well as costlier [2]. Due to this the scheme is prevented from being used.Several other problems like drift because of temperature, poor flux sensing at lower speeds also persists.Due to these disadvantages and some more related ones, indirect vector control is used.

In indirect vector control technique, the rotor position is calculated from the speed feedback signal of the motor. This technique eliminates most of the problems, which are associated with the flux sensors asthey are absent.

Here the in phase component of stator current space vector n the SRRF is aligned with the rotor mmf vector. This component of the vector is responsible for the production of flux. In the similar fashion thequadrature component is responsible for the production of the torque. And hence such a control technique

provides a substitute of a separately excited dc motor using a three-phase squirrel cage induction motor invariable speed application.[2][7]

Advantages

1. The sensors are eliminated.2. The dynamic performance of the indirect vector control is better than the direct vector control3. The cost factor is decreased.4. There is no drift problem as in direct vector control.

6. CONCLUSION

From the above discussion it can be concluded that the control of induction motor is very necessary as it

is the common motor used in industrial motor control systems. Hence a well established induction motor drive which is simple, rugged, low cost and low maintenance can serve the required purpose. Manyauthors have published several research papers on the vector control techniques of induction motor. Andstudying vector control techniques it is clear that the indirect vector control technique supersedes thedirect vector control and is more used rather than the later one. Hence for the further work the methodadopted is the indirect vector control technique.

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[112] Optimal Reactive Power Flow in a Deregulated Power System A Case Study T. Hariharan and Dr. M. GopalaKrishnan, International Journal of Emerging Trends in Electrical and Electronics (IJETEE ISSN: 2320-9569) Vol.10, Issue. 2, pp. 30-32, Mar-2014, www.iret.co.in.

[113] Design and Fabrication of Circularly Polarized Microstrip Patch Antenna using Symmetric Slit Suvidya R. Pawar1, R.Sreemathy2, Shahadev D. Hake, International Journal of New Trends in Electronics and Communication (IJNTEC ISSN: 2347 - 7334) Vol. 2, Issue. 2, pp. 1-6, Mar. 2014, www.iret.co.in.

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[133] Dr. T. Govindaraj and Mr. K. Bharanidharan, Stability and Reliability Improvement in Solar Wind Hybrid Power System with Battery Energy Storage Station, International Journal of Emerging Trends in Electrical and Electronics(IJETEE ISSN: 2320-9569), Vol. 10, Issue. 3, pp. 49-57, April-2014.

[134] Dr. T. Govindaraj and S. Vasanth, A Novel Approach to Harmonics Analysis and Control for Dynamic Power System using STATCOM, International Journal of Emerging Trends in Electrical and Electronics (IJETEE ISSN:2320-9569) Vol. 10, Issue. 3, pp. 58-66, April-2014.

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Documents

7. Comparison of Direct and Indirect Vector Control of Induction Motor.pdf