Dedan Kimathi University of Technology
Dedication
Declaration
Acknowledgement
Table of contents
Abstract
1 Introduction
1.1 Background
Induction motors are very common because they are inexpensive and robust,
finding use in most industrial applications such as pumps, fans, conveyor belts and
centrifuges. Also with more increasingly Electric vehicles industry induction
motors finds more applications. Earlier, induction motors have been run at a single
speed determined by the frequency of the main voltage and the number of poles
in the motor. Controlling the speed of an Induction motor is far more difficult than
controlling the speed of a DC motor since there is nonlinear relationship between
the motor current and the resulting torque as there is for a DC motor. For the
need to save energy like in part load operation and efficient driving system,
induction motor control has become a research point.
Vector control is used to vary the speed and torque of an induction motor over a
wide range with smooth acceleration and deceleration. In the vector control
scheme, a complex current is synthesised from two quadrature components, one
of which is responsible for the flux level in the motor, and another which controls
the torque production in the motor. Essentially, the control problem is
reformulated to resemble the control of a DC motor. Vector control offers a
number of benefits including speed control over a wide range, precise speed
regulation, fast dynamic response, and operation above base speed. The vector
control algorithm is based on two fundamental ideas. First is the flux and torque
producing currents. An induction motor can be modelled most simply using two
quadrature currents rather than the familiar three phase currents actually applied
to the motor. These two currents called direct (Id) and quadrature (Iq) are
responsible for producing flux and torque respectively in the motor. By definition,
the Iq current is in phase with the stator flux, and Id is at right angles. Of course,
the actual voltages applied to the motor and the resulting currents are in the
familiar three-phase system.
The second fundamental idea is that of reference frames. The idea of a reference
frame is to transform a quantity that is sinusoidal in one reference frame, to a
constant value in another reference frame, which is rotating at the same
frequency. Once a sinusoidal quantity is transformed to a constant value by careful
choice of reference frame, it becomes possible to control that quantity with the
proportional integral (PI) controllers.
1.2 Justification
1.3 Objectives
1.3.1 Main objective
To design a three phase induction motor vector control drive.
1.3.2 Specific objectives
a. To model a mathematical description of the induction motor.
b. To simulate the model using MATLAB Simulink.
2 Literature review
2.1 Three phase induction motor
The three phase AC induction motor is a rotating electric machine designed to
operate from a 3-phase source of voltage. Induction motor consists of two main
parts; the stator and the rotor. The stator is the stationary part while the rotor is
the rotary part. According to the construction type of the rotor induction motors
are categorised into two: Squirrel cage motor and wound rotor.
The stator consist of the stator core and the armature windings while the rotor
consist of rotor bars for Squirrel caged motor or rotor windings for wound motor.
Armature windings are fed to three phase voltage source and are responsible for
producing the magnetic flux into the air gap periphery which rotates at an angular
velocity equal to the frequency of the stator currents. The flux from the
magnetizing stator currents induces voltage to the rotor bars. The result is a
sinusoidally-distributed set of currents in the short-circuited rotor bars. Because of
the low resistance of these shorted bars, only a small relative angular velocity
between the angular velocity of the flux wave (ωs)and the mechanical angular
velocity (ω) of the two-pole rotor is required to produce the necessary rotor
current. The relative angular velocity is called the slip velocity . The interaction of
the sinusoidally-distributed air gap flux density and induced rotor currents
produces a torque on the rotor.[1]
The speed and torque of induction motor is dependent to the magnitude and
frequency of the supply voltages and currents. As they are built to operate at a
fixed frequency their control is a bit more difficult compared to their counterpart,
Dc motor. Different methods that aims at controlling the cuoutput speed and
torque of the induction are used. Their aim is to produce voltages and currents of
different magnitudes and frequency. They include:
Variable voltage/frequency drives
Variable frequency drives
Vector control drive
2.1.1 Induction motor model
Induction motor can be modelled from the respective stator and rotors'
voltage ,currents and flux linkages differential equations. In addition to the
electromagnetic torque developed by the motor. Having the knowledge of above
quantities a reliable vector drive can be developed for the motor.
Utilizing the space vector theory the three phase motor quantities are expressed
in terms of complex space vectors. Such model is valid for any instantaneous
variation of voltage and current, and adequately describes the performance of the
machine under both steady-state and transient operations.[ DRM092]Starting
with instantaneous balanced three phase stator currents that is:
Isa+Isb+Isc=0
The stator current space vector is given by :
Is=k(Isa+aIsb+a²Isc)
Where a is the spatial operator and k is the transformation constant usually given
by k=2/3.
The space vector can be expressed by utilizing the two axis theory where the real
part is given by the instantaneous value of the direct axis stator current
component and the imaginary part given by the quadrature axis stator current
component. The current space vector, in stationary reference frame attached to
stator, becomes:
Is=Isà+jIsß
Other motor quantities such as voltage,flux linkages can be expressed the same
way as the stator current space vector.
a. Stator Voltage equations.
Vsα=Rsisα+
b. Flux linkages equations
c. Torque equition
For a good control scheme and for wide speed range it's advisable to develop the
model in a frame attached to the rotor. The rotor flux linkage is attached to the
direct axis of
2.2 Vector Control Theory
2.2.1 Basic Principle of Vector Control
Vector control is used to achieve a good motor control that is defined by a
smooth rotation over the entire speed range, full torque control at zero speed and
smooth acceleration and deceleration. The principle operation of Vector control is
to decompose the three phase ac stator currents (ia,ib,ic),in time phrase into two
orthogonal dc components, (id and iq) in d-q reference frame ; i_d is the
magnetizing component while i_q is the torque components. Based on induction
motor dynamic mathematical model and the principle of Vector control the motor
control drive is achieved. [2] To achieve decomposition of stator currents, the
position of the magnetizing flux is required and is achieved by attaching a speed
or position sensor on to the rotor shaft. However in sensorless control speed or
position sensors are not used and the position of the rotor flux is estimated by
indirect method techniques.
2.2.2 Clerk and park transformations
Park and clerk transforms are keys to vector control of induction motors. They are
used to achieve the two orthogonal currents components. First the Clerk
transform theory is applied to transfer the stator currents to two dc components
(ià and iɓ ) into a stationary stator reference frame. From the three stator currents
we obtain two dc current components as below.
i sà=k ( i sa−0.5 ( i sb +i sc ) )
i sɓ=k × √ × ( i sb−i sc )
3
2
To transfer the two current components to a rotary reference frame that rotate at
the same frequency as the stator currents, park transformation is used. With the
position of rotor magnetic flux position, ø, the direct and quadrature current
components are obtained.
i sd=i sà cosø + i sɓ sinø
i sq=−i sà cosø +i sɓ sinø
The inverse Clerk and Park transforms are also used in reconstructing the three
phase currents.
2.2.3 Rotor Flux calculation
2.2.4 Torque control
2.2.5 Flux control
2.3 Current Trends in Vector Control
2.4
3 Methodology
L
3.1 Mathematical model of induction motor
3.2 Clark Transformation
3.3 Rotor flux space vector Calculation
3.4 Park Transformation
3.5 Speed and Torque controllers
3.6 Decoupling
3.7 Space Vector Modulation
4 Results and Discussion