EET413 ELECTRIC DRIVES

Sebin Davis K
Asst. Professor
Electrical Dept.
Sahrdaya College of Engineering and Technology , Kodakara
Module V
• Concept of space vector – Clarke and Park transformation – field
orientation principle – Introduction to direct vector control of
induction motor drives – decoupling of flux and torque components -
space vector diagram and block diagram
• Synchronous motor drives – v/f control – open loop control – self-
controlled mode – load commutated CSI fed synchronous motor.
 • A three-phase inverter as shown to the right converts a DC supply,
via a series of switches, to three output legs which could be
connected to a three-phase motor.
• The switches must be controlled so that at no time are both
switches in the same leg turned on or else the DC supply would be
shorted.
• This requirement may be met by
the complementary operation of
the switches within a leg. i.e. if A+ is
on then A− is off and vice versa.
• This leads to eight possible
switching vectors for the inverter,
V0 through V7 with six active
switching vectors and two zero
vectors
 Vector A+ B+ C+ A− B− C− VAB VBC VCA
V0 = {000} OFF OFF OFF ON ON ON 0 0 0 zero vector
active
V1 = {100} ON OFF OFF OFF ON ON +Vdc 0 −Vdc
vector
active
V2 = {110} ON ON OFF OFF OFF ON 0 +Vdc −Vdc
vector
active
V3 = {010} OFF ON OFF ON OFF ON −Vdc +Vdc 0
vector
active
V4 = {011} OFF ON ON ON OFF OFF −Vdc 0 +Vdc
vector
active
V5 = {001} OFF OFF ON ON ON OFF 0 −Vdc +Vdc
vector
active
V6 = {101} ON OFF ON OFF ON OFF +Vdc −Vdc 0
vector
V7 = {111} ON ON ON OFF OFF OFF 0 0 0 zero vector
• Note that looking down the columns for the active switching vectors V1-6,
the output voltages vary as a pulsed sinusoid, with each leg offset by 120
degrees of phase angle.

• To implement space vector

modulation, a reference signal
Vref is sampled with a frequency
fs (Ts = 1/fs).
• The reference vector is then
synthesized using a combination of
the two adjacent active switching
vectors and one or both of the zero
vectors.
Clarke transformation
• Alpha-Beta transformation (also known as the Clarke transformation)
is a mathematical transformation employed to simplify the analysis of
three-phase circuits.
• One very useful application of this transformation is the generation
of the reference signal used for space vector modulation control of
three-phase inverters.
• The transformation of stationary circuits to a stationary reference
frame was developed by E. Clarke.
• The stationary two-phase variables of Clarke’s transformation are
denoted as α and β, α-axis and β –axis are orthogonal.
Clarke transformation
 Clarke transformation
• In order for the transformation to be invertible, a third variable,
known as the zero-sequence component, is added. The resulting
transformation is

Where f represents voltage, current, flux linkages, or electric charge and the
transformation matrix, , I given by
Clarke transformation
Inverse Clarke transformation
• The inverse transformation is given by

• where the inverse transformation matrix is presented by

Park’s Transformation
• In this transformation a change of variables which replaced
variables such as voltages, currents, and flux linkages
associated with fictitious windings rotating with the rotor.
• The stator and rotor variables to a reference frame fixed on
the rotor.
• From the rotor point of view, all the variables can be
observed as constant values.
• Park’s transformation is a well-known three-phase to two-
phase Transformation in synchronous Machine analysis.
Park’s Transformation
Park’s Transformation
• The transformation equation is of the form
Park’s Transformation
Inverse Park’s Transformation
Park’s Transformation
• Park’s Transform is usually split into CLARKE transform and
one rotation;
• CLARKE converts balanced three phase quantities into
balanced two phase orthogonal quantities;
• In the previous equations, the angular displacement θ must be
continuous, but the angular velocity associated with the change of
variables is unspecified.
• The frame of reference may rotate at any constant, varying angular
velocity, or it may remain stationary.
• The angular velocity of the transformation can be chosen arbitrarily
to best fit the system equation solution or to satisfy the system
constraints.
Transform summary
Field Oriented Control (FOC)
Transformations
•
Field Oriented Control (FOC)
Transformations
•
• In the vector control method, after applying field- oriented control it
is necessary to transform variables to stationary a-b-c system.
• This can be achieved by taking the inverse transformation of variables
from the arbitrary rotating reference frame to the stationary
reference frame and then to the ab-c system.
Direct vector control of induction motor
drives
• In vector control, an AC induction or synchronous motor is controlled
under all operating conditions like a separately excited DC motor.
• AC motor behaves like a DC motor in which the field flux linkage and
armature flux linkage created by the respective field and armature (or
torque component) currents are orthogonally aligned
• Vector control accordingly generates a three-phase PWM motor
voltage output derived from a complex voltage vector to control a
complex current vector
• 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
Direct vector control of induction motor
drives
• In a dc motor, the field flux ψf and armature flux ψa established by
the respective field current If and armature or torque component of
current Ia, are orthogonal in space so that when torque is controlled
by Ia, the field flux is not affected, thus giving fast torque response.
• In induction motor vector control, the synchronous reference frame
currents Ids and Iqs are analogous to If and Ia respectively.
• The motor phase currents, ia, ib and ic are converted to idss and iqss in
the stationary reference frame. These are then converted to the
synchronously rotating reference frame d-q currents, ids and iqs.
Direct vector control of induction motor
drives
Direct vector control of induction motor
drives
• There are two methods of vector control depending on the derivation
of the unit vector.
• Direct (or feedback) method
here the rotation angle of the iqse vector with respect to the stator
flux ψqr’s is being directly determined (e.g. by measuring air gap flux)
• Indirect (or feedforward) method.
here the rotor angle is being measured indirectly, such as by
measuring slip speed
Synchronous Motor Drives
• Synchronous Motors are the ones that are designed to operate or
rotate at synchronous speed.
• These are very much useful in variable-speed synchronous motor
drives operating at high power.
• In general, the power rating of synchronous motor drives is about
100 MW and the voltage is maximized up to 13.8 kV.
• The speed of a synchronous motor is given by
Variable Frequency Control of
Synchronous Motors
• The synchronous speed depends on the frequency of the supply and the
number of poles of the rotor.
• Frequency command f* is applied to a voltage source inverter through a
delay circuit so that rotor speed is able to track the changes in frequency.
• A flux control block changes stator voltage with frequency to
maintain a constant flux below rated speed and a constant terminal
voltage above rated speed.
• As in case of an induction motor, constant flux operation below base
speed is achieved by operating the motor with a constant (V/f) ratio;
which is increased at low speeds to compensate for the stator
resistance drop.
Variable Frequency Control of
Synchronous Motors
Separate control or open loop:
• In this method all the machines are connected in parallel to the same
inverter.
• Every motor move in synchronism corresponding to the command
frequency.
Separate control or open loop:
• The inverter v/f ratio is kept constant to ensure that the motors
operate at full flux at all speed which ensures constant torque
capability.
• A flux control block changes stator voltage with frequency v/f to
maintain a constant flux below rated speed and a constant terminal
voltage above rated speed.
• By varying the frequency the speed can be varied from zero to full
value.
• Speed changes must be made slowly to avoid exceeding pull out
torque angle which results in loss of synchronism.
Self control or closed loop
• Self control of synchronous motor is also known as closed loop
operation.
Self control or closed loop
• In many cases closed loop is preferred because with open loop control
some disadvantages occurred such as hunting of motor, stability problems,
poor dynamic behavior and losses.
• The inverter may be CSI or VSI, when inverter is employed, the drive is
controlled from a DC source
• An encoder is mounted in the shaft which emits signal to express the rotor
position either ON, OFF condition.
• The inverter acts effectively on rotor at every instant of time due to this if
rotor slows down the required frequency us supplied by the inverter and
makes the rotor in synchronized with rotating field.
• If the rotor slows down (as a result of an increase in load, for example), the
stator supply frequency automatically reduces so that the rotor remains
synchronised with the rotating field, and the motor therefore cannot pull-
out’ in the way it does under open-loop operation.
 Load commutated csi fed synchronous
motor
• The inverter is a current source
inverter employing thyristors T1 –
T6.
• The commutation of inverter
thyristor is done by the voltages
induced in armature of the
synchronous motor.
• The Vds is varied with Vdl so that a
required current is supplied to the
dc link and to the motor.
Load commutated csi fed synchronous
motor
• Armature induced voltages are too small to commutate inverter
thyristors at low speeds, including standstill. Thyristors T7 and
T8 and capacitor C are used to commutate inverter thyristors at
low speeds.
• Around 10% of the base speed gate pulses are withdrawn from
T7 and T8, and the load commutation is employed.