R Balamurugan FDP Electrical Drives and Control

Anna University of Technology Coimbatore
Coimbatore
ELECTRICAL CONTROL Faculty Development Programe on ELECTRICAL DRIVES AND CONTROL
ELECTRICAL DRIVES CONTROL

By
R. BALAMURUGAN
Asst. Prof. Electrical and Electronics Engineering Anna University of Technology Coimbatore, Coimbatore
12-07Date: 12-07-2011 Venue: Seminar Hall, School of Management Studies University Academic Campus
R. Balamurugan - FDP on Electrical Drives & Control, DEEE, Anna Univ. of Tech. Coimbatore : 12th July, 2011
Topics of Discussion
1. 2.
Introduction Types of Drives Control
3. Field Oriented Control (FOC) 4. Direct Torque Control (DTC) 5. Adaptive Control Schemes
Variable Frequency Drive System
Figure: VFD System
Figure: PWM VFD Waveform
systems, Possible parameter variations controlled electrical drive systems,
Change of winding electromagnetic time constant due to the temperature rise or material deterioration Change of the mechanical time constant due to moment of inertia changes of the drive Change of the flux value, in drive with the field weakening operation Change of the drive system structure (e.g., due to the transition from continuous to discontinuous armature current in a rectifier-fed DC motor drive)
Variable Speed Electric Drive
Common features Require information on instantaneous rotor position (speed), Closed-loop control operation Machine is supplied from a power electronic converter
Applications Robotics Machine tools Rolling mills Paper mills Mine winders Electric traction Electric and hybrid electric vehicles, and the like. Elevators Spindles
Variable Speed Electric Drive
Figure : Schematic outlay of a high-performance variable speed electric drive
Variable Speed Electric Drive - Operation

Electromagnetic torque of an electric machine Product of the flux-producing current and torque-producing current Control system has two parallel paths Flux-producing current reference (as a constant) Torque-producing current (the output of the torque controller)
Variable Speed Electric Drive - Operation

Torque controller is usually not present in high-performance drives Torque-producing current reference can be obtained directly from the reference torque by means of a simple scaling (or the output of the speed controller can be made to be directly the torque-producing current reference The torque and the torque-producing current - related through a constant. The control (when a high-performance control algorithm is applied) Control structure : Composed of cascaded controllers (typically of PID)
Fundamentals of Induction Motor (IM) Theory Case 1:

VoltageStatorVoltage-Controlled IM Represented in a Stator-Fixed System of Coordinates (, ) , )
Case 2:
CurrentCurrent-Controlled IM Represented in Synchronous Coordinates (d, q)
Figure: Figure: Vector diagram of Induction Motor (IM) in stationary and rotating d q coordinates
R. Balamurugan - FDP on Electrical Drives & Control, DEEE, Anna Univ. of Tech. Coimbatore : 12th July, 2011 9
Steady State Characteristics

The breakdown torque is independent of the rotor resistance The breakdown slip frequency is proportional to the rotor resistance
Us/fs Under constant Us/fs mode, the breakdown torque remains constant
The simplified Kloss formula
where the breakdown torque is
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Steady State Characteristics
Figure: Torque-slip frequency characteristic obtained from the Kloss formula

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IM Control Characteristics
Figure: Control characteristics of IM in constant and weakened flux regions

General Classification of IM control Methods
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Constant V/Hz control scheme
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Constant V/Hz control scheme

(dashed lines show version with limited slip frequency
slc and speed control)
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Vector Control
FieldControl, Vector control (also called Field-Oriented Control, FOC) is one method used in speed) variable frequency drives to control the torque (and thus finally the speed) of threemachine. three-phase AC electric motors by controlling the current fed to the machine. Properties Speed or position measurement or some sort of estimation is needed Torque and flux can be changed reasonably fast, in less than 5-10 milliseconds, by changing the references The step response has some overshoot if PI control is used The switching frequency of the transistors is usually constant and set by the modulator The accuracy of the torque depends on the accuracy of the motor parameters used in the control. Thus large errors due to for example rotor temperature changes often are encountered. Reasonable processor performance is required, typically the control algorithm has to be calculated at least every millisecond.
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Controll (FOC) Field Oriented Controll (FOC)

1. Principle of the FOC - An analogy to the mechanically commutated DC brush motor Owing to separate exciting and armature winding, Flux - Controlled by exciting current Torque - Controlled independently by adjusting the armature current Flux and torque currents - Electrically and magnetically separated The cage-rotor IM - Only a three-phase winding in the stator - Stator current vector (Is) - Used for both flux and torque control Coupled Currents - Exciting and armature currents (Not separated) in the stator current vector - Cannot be controlled separately
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2.
3. 4.
5.
Controll (FOC) Field Oriented Controll (FOC) Schemes Direct FOC
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Controll (FOC) Field Oriented Controll (FOC) Schemes Indirect FOC
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Variants of FOC control schemes fieldfor field-weakened operation: (a) Indirect FOC
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Variants of FOC control schemes fieldfor field-weakened operation: (b) direct FOC
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Tr - Adaption based on model reference adaptive system (MRAS)
Parameter Adaptation - The critical parameter - Rotor time constant (Tr) Conditions of Change : Under the influence of temperature changes of rotor resistance (Rr) and Changes brought about by the saturation effect (Rotor inductance (Lr) ) The temperature changes of Rr - Very slow, The changes of Lr - very fast, ( i.e., Case of speed reversal when the motor)
Variants of TrAdaption Algorithms
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Block scheme of NFO (Voltage Controlled S-FOC) Swith optional outer torque control loop (dashed lines)
Note: Natural field orientation(NFO) - Commercially available as an ASIC
24
SBlock scheme of NFO (Voltage Controlled S-FOC)

with optional outer torque control loop (dashed lines)
25
Vector control scheme for a multiphase machine
Figure : Basic vector control scheme for a multiphase machine with CC in the stationary reference frame
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Vector control scheme for PMSM
Figure : Vector control of a PMSM with surface-mounted magnets in the base speed region (K1 = Pm)
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Field-Oriented Control of FieldMultiphase Synchronous Reluctance Machines
Figure: FOC of a multiphase Syn-Rel using CC in the stationary reference frame
28
Figure: Basic form of an RFOC scheme for a multiphase induction machine, with CC in the stationary reference frame (base speed region only)
29
Figure: Indirect RFOC scheme for operation of an induction machine in the base speed region (p = Laplace operator; 1/p = integrator)
30
IRFOC scheme with compensation of magnetizing flux dede-saturation for operation
Figure: IRFOC scheme with compensation of magnetizing flux de-saturation for operation in both base speed and field weakening region. Inverse magnetizing curve of the machine is embedded in the controller as ananalytical function in per unit form.
Direct Torque Control (DTC)

In the FOC strategy, the torque is controlled by the stator current component (Isq), in accordance with equation where is the torque angle between the rotor flux vector and the stator current vector This makes the current-controlled PWM inverter very convenient for the implementation of the R-FOC scheme (Figure shown below) and torque is controlled by adjusting the stator current vector.
Figure: Figure: Inverter output voltage represented as space vectors
32
Figure: statorFigure: Vector diagram of induction motor in stator-fixed coordinates In the case of voltage source PWM inverterfed IM drives, Both the stator current and the torque are used as the control components
where
Figure: Figure: Inverter output voltage represented as space vectors Eight voltage vectors (correspond to possible inverter states) Equation shown above Six active vectors, U1U6, and two zero vectors, U0 and U7
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The stator flux vector can directly be adjusted by the inverter voltage vector In six-step operation, Inverter output voltage constitutes a cyclic and symmetric sequence of active vectors The stator flux moves with constant speed along a hexagonal path (Figure : a). The introduction of zero vectors stops the flux, but does not change its path. In Sinusoidal PWM operation, The inverter output voltage constitutes a suitable sequence of two active and zero vectors and the stator flux moves along a track resembling a circle (Figure: b).
Figure : a
Figure : b
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Magnified part of the flux vector trajectory
Figure: Forming of the stator flux trajectory by selection of appropriate voltage vectors sequence
Magnified part of the flux vector trajectory

In any case, the rotor flux rotates continuously at the actual synchronous speed along a near-circular path, since it is smoothed by the rotor circuit filtering action. In the view of torque production, Relative motion of the two vectors - Forms the torque angle (that determines the instantaneous motor torque) The cyclic switching of active and zero vectors Control of Motor torque Field-weakening region, No zero vectors Torque control - Via a fast change of the torque angle, , by advancing (to increase the torque) or retarding (to reduce it) the phase of the stator flux vector
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Generic Direct Torque Control (DTC)
The generic DTC scheme The stator flux controller (imposes) The torque controller (determines) At every sampling time
- Two hysteresis controllers - The time duration of the active voltage vectors, (move the stator flux along the commanded trajectory) - The time duration of the zero voltage vectors, (The motor torque in the defined-by-hysteresis tolerance band) - The voltage vector selection block chooses - The inverter switching state (SA, SB, SC), - which reduces the instantaneous flux and torque errors.
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Generic Direct Torque Control (DTC)
Figure: Block scheme of switching table based direct torque control (ST-DTC) method.
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Characteristics features of Generic Direct Torque Control (DTC)

Nearly sinusoidal stator flux and current waveforms Harmonic content (Determination) - By the flux- and torque-controller hysteresis bands, H and HM Excellent torque dynamics
Flux and torque hysteresis bands (Determination)

- Inverter switching frequency, (which varies with the synchronous speed and load conditions)
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STSectors in the classical ST-DTC method
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Figure: Selection of the optimum voltage vectors for the stator flux vector located in sector 1.

TABLE : Optimum Switching Table of Classical DTC
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DSC Block Diagram
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DSC Algorithm
Based on the command stator flux, sc, and the actual phase components, sA, sB, and sC, the flux comparators generate digital variables, dA, dB, and dC, which correspond to active voltage vectors (U1U6). The hysteresis torque controller - Generates signal dm, -which determines zero states.
In the constant flux region, the control algorithm is as follows:
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DSC Characteristics
Non-sinusoidal stator flux and current waveforms that, with the exception of the harmonics, are identical for both PWM and the six-step operation
The stator flux vector moves along a hexagonal path also under the PWM operation
No voltage supply reserve is necessary and the inverter capability is fully utilized.
The inverter switching frequency is lower than in the ST-DTC scheme, because PWM is not of sinusoidal type as it turns out by comparing the voltage patterns Excellent torque dynamics in constant and weakening field regions.
DTCClosedDTC-SVM Scheme with Closed-Loop Torque Control

For torque regulation -> PI controller is applied
An increment in the torque angle, Produced by the output of PI controller (Figure 21.31).
Assuming that rotor and flux magnitudes are approximately equal, the torque is controlled only by changing the torque angle, .
Figure: Vector diagram for DTC-SVC control scheme
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DTCClosedDTC-SVM Scheme with Closed-Loop Torque Control
Figure: DTC-SVM scheme with closed-loop torque control
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DTCClosedDTC-SVM Scheme with Closed-Loop Torque and Flux Control

The output of the PI flux and torque controllers is k interpreted as the reference stator voltage components, Usdc and Usqc, in S-FOC (d q).
DC voltage commands
Transformed into Stationary coordinates ( ), and
Commanded values, Usc and Usc, - Delivered to the SVM block DTCClosedDTC-SVM Scheme with Closed-Loop Torque Control DTCClosedDTC-SVM Scheme with Closed-Loop Torque and Flux Control Less Sensitive Commanded voltage vector is generated by flux and torque controllers
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DTCClosedDTC-SVM Scheme with Closed-Loop Torque and Flux Control
Figure: DTC-SVM scheme operated in stator flux Cartesian coordinates dq.
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Summary
Scalar control is based on the IM equations at steady-state operating points and is typically implemented in open-loop schemes keeping constant V/Hz. However, such a scheme applied to a multivariable, coupled system like the IM cannot perform decoupling between inputs and outputs, resulting in problems of independent control of outputs, for example, torque and flux.
To achieve decoupling in high-performance IM drives, vector control, also known as field oriented control as well as direct torque control, has been developed. The FOC and DTC are now de facto standard, in highly dynamic IM industrial drives.
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Summary
The R-FOC is easily implemented in combination with a current-controlled PWM inverter.
For a good low-speed operation performance, indirect R-FOC with a speed/position sensor is recommended. This scheme, however, is sensitive to changes of the rotor time constant, which has to be adapted online.
DTC has a very fast torque response, a very simple structure, does not require a shaft motion sensor, and is less sensitive to IM parameter changes as in FOC.
For a speed-sensorless operation, the DTC or the direct R-FOC scheme can be advised..
Summary
To reduce torque ripple and fix the inverter switching frequency, the SVM has been introduced into the DTC structure, resulting in a new scheme known as DTC-SVM.
Basically, this is S-FOC without current control loops. However, the DTC-SVM scheme combines advantages and eliminates disadvantages of classical DTC and FOC schemes.
Therefore, it is an excellent solution for general-purpose IM (also PMSM) drives.
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Overview of Main IM Control Strategies (in Low and Medium Power)
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Digital control of a multiphase SPMSM drive
Figure: Fully digital control of a multiphase SPMSM drive with CC in rotational reference frame.
The three classes of adaptive control systems

Gain scheduling systems (GS) Self-tuning regulators (STR) Model reference adaptive systems (MRAS)
Figure: Block diagram of a system with gain scheduling.
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Adaptive control systems
Figure : Block diagram of STR
Figure : Block diagram of a system with an MRAS

Fuzzy Logic (FL) Controller
Figure: Structure of adaptive speed control loop for sensorless DC drive with FL controller
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Fuzzy Logic (FL) Controller
Figure: The internal structure of the FL controller
Figure: Membership functions
Figure: The rule base.

REFERENCES
1. Bogdan M. Wilamowski J. david Irwin, The Industrial Electronics Handbook - Power electronics and motor drives Edited by, Second Edition, CRC Press, 2011 by Taylor and Francis Group, LLC. 2. Austin Hughes, Electric Motors and Drives - Fundamentals, Types and Applications, Third edition, Newnes , published by Elsevier Ltd., 2006. 3. Bimal K. Bose, Modern Power Electronics and AC Drives, Prentice Hall PTR, 2002. 4. Bimal K. Bose, Power Electronics and Motor Drives-Advances and Trends, Academic Press, Elseveir Group, 2006. 5. R. Krishnan, Electric Motor Drives: Modeling, Analysis and Control, Prentice Hall Inc., 2002. 6. www.wikipedia.com 7. www.google.com
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THANKS FOR YOUR KIND ATTENTION
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Anna University of Technology Coimbatore

ELECTRICAL DRIVES CONTROL

Introduction Types of Drives Control

Variable Frequency Drive System

Figure: VFD System

Figure: PWM VFD Waveform

systems, Possible parameter variations controlled electrical drive systems,

Variable Speed Electric Drive

Variable Speed Electric Drive

Figure : Schematic outlay of a high-performance variable speed electric drive

Variable Speed Electric Drive - Operation

Variable Speed Electric Drive - Operation

Fundamentals of Induction Motor (IM) Theory Case 1:

Steady State Characteristics

The simplified Kloss formula

where the breakdown torque is

Steady State Characteristics

Figure: Torque-slip frequency characteristic obtained from the Kloss formula

Figure: Control characteristics of IM in constant and weakened flux regions

General Classification of IM control Methods

Constant V/Hz control scheme

Constant V/Hz control scheme

Controll (FOC) Field Oriented Controll (FOC)

Controll (FOC) Field Oriented Controll (FOC) Schemes Direct FOC

Controll (FOC) Field Oriented Controll (FOC) Schemes Indirect FOC

Tr - Adaption based on model reference adaptive system (MRAS)

Variants of TrAdaption Algorithms

Note: Natural field orientation(NFO) - Commercially available as an ASIC

SBlock scheme of NFO (Voltage Controlled S-FOC)

Vector control scheme for a multiphase machine

Vector control scheme for PMSM

Field-Oriented Control of FieldMultiphase Synchronous Reluctance Machines

Figure: FOC of a multiphase Syn-Rel using CC in the stationary reference frame

Field-Oriented Control of FieldMultiphase Synchronous Reluctance Machines

Field-Oriented Control of FieldMultiphase Synchronous Reluctance Machines

IRFOC scheme with compensation of magnetizing flux dede-saturation for operation

Direct Torque Control (DTC)

Figure: Figure: Inverter output voltage represented as space vectors

Direct Torque Control (DTC)

Direct Torque Control (DTC)

Direct Torque Control (DTC)

Magnified part of the flux vector trajectory

Magnified part of the flux vector trajectory

Generic Direct Torque Control (DTC)

Generic Direct Torque Control (DTC)

Characteristics features of Generic Direct Torque Control (DTC)

Flux and torque hysteresis bands (Determination)

STSectors in the classical ST-DTC method

STSectors in the classical ST-DTC method

STSectors in the classical ST-DTC method

DSC Block Diagram

In the constant flux region, the control algorithm is as follows:

DTCClosedDTC-SVM Scheme with Closed-Loop Torque Control

Figure: Vector diagram for DTC-SVC control scheme

DTCClosedDTC-SVM Scheme with Closed-Loop Torque Control

Figure: DTC-SVM scheme with closed-loop torque control

DTCClosedDTC-SVM Scheme with Closed-Loop Torque and Flux Control

Transformed into Stationary coordinates ( ), and

DTCClosedDTC-SVM Scheme with Closed-Loop Torque and Flux Control

Figure: DTC-SVM scheme operated in stator flux Cartesian coordinates dq.

Therefore, it is an excellent solution for general-purpose IM (also PMSM) drives.

Overview of Main IM Control Strategies (in Low and Medium Power)

Digital control of a multiphase SPMSM drive