2/22/2018 Vector control (motor) - Wikipedia
Vector control (motor)
Vector control, also called field-oriented control (FOC), is a variable-frequency drive (VFD) control method in which
the stator currents of a three-phase AC electric motor are identified as two orthogonal components that can be visualized
with a vector. One component defines the magnetic flux of the motor, the other the torque. The control system of the drive
calculates the corresponding current component references from the flux and torque references given by the drive's speed
control. Typically proportional-integral (PI) controllers are used to keep the measured current components at their
reference values. The pulse-width modulation of the variable-frequency drive defines the transistor switching according to
the stator voltage references that are the output of the PI current controllers.[1]
FOC is used to control AC synchronous and induction motors.[2] It was originally developed for high-performance motor
applications that are required to operate smoothly over the full speed range, generate full torque at zero speed, and have
high dynamic performance including fast acceleration and deceleration. However, it is becoming increasingly attractive for
lower performance applications as well due to FOC's motor size, cost and power consumption reduction superiority.[3][4] It
is expected that with increasing computational power of the microprocessors it will eventually nearly universally displace
single-variable scalar volts-per-Hertz (V/f) control.[5][6]
Contents
Development history
Technical overview
Application
See also
References
Development history
Technische Universität Darmstadt's K. Hasse and Siemens' F. Blaschke
pioneered vector control of AC motors starting in 1968 and in the early 1970s.
Hasse in terms of proposing indirect vector control, Blaschke in terms of
proposing direct vector control.[7][8] Technical University Braunschweig's
Werner Leonhard further developed FOC techniques and was instrumental in
opening up opportunities for AC drives to be a competitive alternative to DC
drives.[9][10]
Block diagram from Blaschke's 1971
Yet it was not until after the commercialization of microprocessors, that is in
US patent application
the early 1980s, that general purpose AC drives became available.[11][12]
Barriers to use FOC for AC drive applications included higher cost and
complexity and lower maintainability compared to DC drives, FOC having until then required many electronic
components in terms of sensors, amplifiers and so on.[13]
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The Park transformation has long been widely used in the analysis and study of synchronous and induction machines. The
transformation is by far the single most important concept needed for an understanding of how FOC works, the concept
having been first conceptualized in a 1929 paper authored by Robert H. Park.[14] Park's paper was ranked second most
important in terms of impact from among all power engineering related papers ever published in the twentieth century.
The novelty of Park's work involves his ability to transform any related machine's linear differential equation set from one
with time varying coefficients to another with time invariant coefficients.[15]
Technical overview
Overview of key competing VFD control platforms:
Scalar control V/f (Volts per Hertz) control
DSC (Direct self-control)
DTC (Direct torque control)
VFD, with sensor or sensorless SVM (Space vector
Vector control modulation)
Direct FOC
FOC (Field-
oriented control)
Indirect FOC
While the analysis of AC drive controls can be technically
quite involved ("See also" section), such analysis
invariably starts with modeling of the drive-motor circuit
involved along the lines of accompanying signal flow
graph and equations.[19]
In vector control, an AC induction or synchronous motor
is controlled under all operating conditions like a
separately excited DC motor.[21] That is, the AC motor
behaves like a DC motor in which the field flux linkage
and armature flux linkage created by the respective field Signal Flow Graph (SFG) for Induction Motor
and armature (or torque component) currents are
orthogonally aligned such that, when torque is
controlled, the field flux linkage is not affected, hence
enabling dynamic torque response.
Vector control accordingly generates a three-phase PWM
motor voltage output derived from a complex voltage
vector to control a complex current vector derived from
motor's three-phase stator current input through
projections or rotations back and forth between the
three-phase speed and time dependent system and these
vectors' rotating reference-frame two-coordinate time
invariant system.[22]
SFG Equations
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Such complex stator current space vector can be defined in a (d,q)
coordinate system with orthogonal components along d (direct) and q
(quadrature) axes such that field flux linkage component of current is
aligned along the d axis and torque component of current is aligned along
the q axis.[21] The induction motor's (d,q) coordinate system can be
superimposed to the motor's instantaneous (a,b,c) three-phase sinusoidal
system as shown in accompanying image (phases b & c not shown for
clarity). Components of the (d,q) system current vector, allow
conventional control such as proportional and integral, or PI, control, as
with a DC motor.
Projections associated with the (d,q) coordinate system typically
involve:[19][22][23]
Forward projection from instantaneous currents to (a,b,c) complex (d,q) Coordinate System Superimposed
stator current space vector representation of the three-phase on Three-Phase Induction Motor[16]
sinusoidal system.
Forward three-to-two phase, (a,b,c)-to-( , )
projection using the Clarke transformation. Vector
control implementations usually assume
ungrounded motor with balanced three-phase
currents such that only two motor current phases
need to be sensed. Also, backward two-to-three
phase, ( , )-to-(a,b,c) projection uses space vector
PWM modulator or inverse Clarke transformation
and one of the other PWM modulators.
Forward and backward two-to-two phase,( , )-to-
(d,q) and (d,q)-to-( , ) projections using the Park
and inverse Park transformations, respectively.
However, it is not uncommon for sources to use three-
to-two, (a,b,c)-to-(d,q) and inverse projections.
While (d,q) coordinate system rotation can arbitrarily be
set to any speed, there are three preferred speeds or
reference frames:[16]
Simplified Indirect FOC Block Diagram [3] [9]:111[17]
Stationary reference frame where (d,q) coordinate
system does not rotate;
Synchronously rotating reference frame where (d,q)
coordinate system rotates at synchronous speed;
Rotor reference frame where (d,q) coordinate system
rotates at rotor speed.
Decoupled torque and field currents can thus be derived from
raw stator current inputs for control algorithm
development.[24]
Whereas magnetic field and torque components in DC motors
can be operated relatively simply by separately controlling the
respective field and armature currents, economical control of
AC motors in variable speed application has required
Simplified Direct FOC Block Diagram [18]
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development of microprocessor-based controls[24] with
all AC drives now using powerful DSP (digital signal
processing) technology.[25]
Inverters can be implemented as either open-loop
sensorless or closed-loop FOC, the key limitation of
open-loop operation being minimum speed possible at
100% torque, namely, about 0.8 Hz compared to
standstill for closed-loop operation.[9]
There are two vector control methods, direct or feedback
vector control (DFOC) and indirect or feedforward
vector control (IFOC), IFOC being more commonly used
because in closed-loop mode such drives more easily Sensorless FOC Block Diagram [19][20]
operate throughout the speed range from zero speed to
high-speed field-weakening.[26] In DFOC, flux
magnitude and angle feedback signals are directly calculated using so-called voltage or current models. In IFOC, flux space
angle feedforward and flux magnitude signals first measure stator currents and rotor speed for then deriving flux space
angle proper by summing the rotor angle corresponding to the rotor speed and the calculated reference value of slip angle
corresponding to the slip frequency.[27][28]
Sensorless control (see Sensorless FOC Block Diagram) of AC drives is attractive for cost and reliability considerations.
Sensorless control requires derivation of rotor speed information from measured stator voltage and currents in
combination with open-loop estimators or closed-loop observers.[19][20]
Application
1. Stator phase currents are measured, converted to complex space vector in (a,b,c) coordinate system.
2. Current is converted to ( , ) coordinate system. Transformed to a coordinate system rotating in rotor reference frame,
rotor position being derived by integrating the speed by means of speed measurement sensor.
3. Rotor flux linkage vector is estimated by multiplying the stator current vector with magnetizing inductance Lm and low-
pass filtering the result with the rotor no-load time constant Lr/Rr, namely, the rotor inductance to rotor resistance ratio.
4. Current vector is converted to (d,q) coordinate system.
5. d-axis component of the stator current vector is used to control the rotor flux linkage and the imaginary q-axis
component is used to control the motor torque. While PI controllers can be used to control these currents, bang-bang type
current control provides better dynamic performance.
6. PI controllers provide (d,q) coordinate voltage components. A decoupling term is sometimes added to the controller
output to improve control performance to mitigate cross coupling or big and rapid changes in speed, current and flux
linkage. PI-controller also sometimes need low-pass filtering at the input or output to prevent the current ripple due to
transistor switching from being amplified excessively and destabilizing the control. However, such filtering also limits the
dynamic control system performance. High switching frequency (typically more than 10 kHz) is typically required to
minimize filtering requirements for high-performance drives such as servo drives.
7. Voltage components are transformed from (d,q) coordinate system to ( , ) coordinate system.
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8. Voltage components are transformed from ( , ) coordinate system to (a,b,c) coordinate system or fed in Pulse Width
Modulation (PWM) modulator, or both, for signaling to the power inverter section.
Significant aspects of vector control application:
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 is calculated every PWM cycle.
Although the vector control algorithm is more complicated than the Direct Torque Control (DTC), the algorithm is not
needed to be calculated as frequently as the DTC algorithm. Also the current sensors need not be the best in the market.
Thus the cost of the processor and other control hardware is lower making it suitable for applications where the ultimate
performance of DTC is not required.
See also
transform Robust control
Adaptive control Root locus
Control engineering Perturbation theory
Control theory Signal-flow graph
Dqo transformation Small signal model
Eigenvalues and eigenvectors Sliding mode control
Extended Kalman filter State observer
Filter (signal processing) State space representation
Frequency response Symmetrical components
Hilbert transform Systems analysis
Impulse response Transient response
Kalman filter Transfer function
References
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trol-for-motors-1108). [Link].
2. Lewin, Chuck (April 10, 2006). "New Developments in Commutation and Motor Control Techniques" ([Link]
[Link]/article/[Link]). [Link].
3. 568000 DSP Manual (2007). "3-Phase AC Induction Vector Control Drive with Single Shunt Current Sensing" ([Link]
[Link]/files/microcontrollers/doc/ref_manual/[Link]?fpsp=1) (PDF). Freescale. p. 25, incl. esp. eq.
2–37. Retrieved May 16, 2012.
4. Godbole, Kedar (Sep 23, 2006). "Field oriented control reduces motor size, cost and power consumption in industrial
applications" ([Link] Texas Instruments.
5. Bose, Bimal K. (June 2009). "The Past, Present, and Future of Power Electronics". Industrial Electronics Magazine,
IEEE. 3 (2): 11. doi:10.1109/MIE.2009.932709 ([Link]
6. Murray, Aengus (Sep 27, 2007). "Transforming motion: Field-oriented control of ac motors" ([Link]
n/components-and-packaging/4317500/Transforming-motion-field-oriented-control-of-ac-motors). EDN. Retrieved
9 May 2017.
7. Yano, Masao; et al. "History of Power Electronics for Motor Drives in Japan" ([Link]
9/[Link]) (PDF). p. 6, Fig 13. Retrieved 18 April 2012.
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8. Rafiq, Md Abdur (2006). "Fast Speed Response Field-Orientation Control of Induction Motor Drive with Adaptive
Neural Integator". Journal of Electrical and Electronics Engineering. University of Istanbul. 6 (2): 229.
9. Drury, Bill (2009). The Control Techniques Drives and Controls Handbook (2nd ed.). Stevenage, Herts, UK: Institution
of Engineering and Technology. p. xxx. ISBN 978-1-84919-101-2.
10. Bose, Bimal K. (2006). Power Electronics and Motor Drives : Advances and Trends. Amsterdam: Academic. p. 22.
ISBN 978-0-12-088405-6.
11. "The Development of Vector Control Drive" ([Link]
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13. Gabriel, R.; Leonhard, W.; Nordby, C.J. (March–April 1980). "Field Oriented Control of Standard AC Motors Using
Microprocessors". Trans. on Industry Applications. IA-16 (2): 188. doi:10.1109/tia.1980.4503770 ([Link]
09%2Ftia.1980.4503770).
14. Park, Robert (1929). "Two Reaction Theory of Synchronous Machines". Trans. of the AIEE. 48: 716–730.
doi:10.1109/t-aiee.1929.5055275 ([Link]
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1999" ([Link] (PDF). North American Power Symposium
(NAPS) 2000: P–1 to P–7. Retrieved May 23, 2012.
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7796(84)90030-0 ([Link]
17. Ross, Dave; et al. (2004). "Using the dsPIC30F for Vector Control of an ACIM" ([Link]
en/AppNotes/ACIM%20Vector%20Control%[Link]) (PDF). Microchip. Retrieved May 16, 2012.
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109%2Fjproc.2002.800726). Retrieved June 3, 2012.
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article=1571&zone=1&first=1). Appliance Magazine. Retrieved June 3, 2012.
21. Bose (2006), p. 429
22. TI (1997). "Field Orientated Control of 3-Phase AC-Motors" ([Link] (PDF). TI.
23. Didier, Jean-Louis. "Transformation des systèmes triphasés Fortescue, Clarke, Park et Ku" ([Link]
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25. Bose (2006), p. 474
26. Bose (2006), pp. 419, 474
27. Bose (2006), p. 423-425
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