VECTOR CONTROL OF INDUCTION MOTORS USING UPWM VOLTAGE

SOURCE INVERTER
G. Esmaily (M.Sc.), A. Khodabakhshian (Ph.D), K. Jamshidi (Ph.D)
Faculty of Engineering, Isfahan University, Isfahan, Iran
Abstract
The objective of this paper is to use the method of the vector control in the direction of the rotor
flux indirectly for induction motors. The space vector of the stator current is divided into two
components: magnetizing current and torque-producing current. By using the uniform pulse
width modulated inverter, torque pulsation will be reduced and a robust control with quick
dynamic response for induction motor is achieved. The computer simulation results show that
the performance of the vector control of the induction motor is exactly the same as the
performance of the separately excited DC motor.

1. INTRODUCTION
Although a voltage-controlled inverter using
In recent years the control of high-performance hysteresis controller is easy to realize and can be
induction motor drives for general industry used to satisfy the current control requirement, it
applications and production automation has has the following disadvantages: 1) The switching
received widespread research interests. Many frequency depends on the nature of the load. 2)
schemes have been proposed for the control of The current ripple is high. 3) Performance at
induction motor drives, among which the field- higher speeds is unsatisfactory [4]. These
oriented control [1, 2], or vector control, has been disadvantages can be overcome by using a constant
accepted as one of the most effective methods. The switching frequency pulse width modulated
vector control strategy is formulated in such a way (PWM) inverter to control the stator current by a
that the stator current phasor, in the two-axis voltage source inverter. The inverter to be used
synchronously rotating reference frame, has two here is the uniform pulse width modulation
components: magnetizing current component and (UPWM) [5].
torque-producing current component. The
generated motor torque is the product of the two. With this background the vector control of
By keeping the magnetizing current component at induction motor is realized as shown in the block
a constant rated value, the motor torque is linearly diagram of Figure 2 given in Section 2 [2]. The
proportional to the torque-producing component, simulation results show that the performance of the
which is quite similar to the control of a separately vector induction motor drive is exactly the same as
excited DC motor. Because the vector control is the performance of the separately excited DC
formulated in the two-axis coordinated frame, the motor.
method requires on-line coordinate transformations
that convert three-phase line currents into two-axis This paper is organized as follows: Section 2
representations and vice-versa [3]. describes the mathematical model and vector
control while Section 3 gives the simulation
The input and output commands of a vector- results.
controlled induction motor drive are torque/flux
and three-phase reference voltages, respectively. 2. Mathematical model and vector control
The torque command is generated from the speed-
loop controller, whereas the flux command is The mathematical model of a three-phase, Y-
selected according to the operation requirements in connected, squirrel-cage induction motor and load
either constant torque or constant horsepower is described by equations in the synchronously
region. In order to execute the vector control rotating reference frame (x-y) as [2]
strategy, motor line currents are controlled in such
a way as to follow the reference voltage commands
[2].
 u sx 
 =
 u sy  L’s, T’s = transient inductance and transient time
 0 
  constant of stator respectively
 0 
  Ts = time constant of stator
 R s + p Ls

−ω mr Ls p Lm −ω mr Lm   i sx 
imr = magnetising rotor current
 ω mr Ls R s + p Ls ω mr Lm p Lm   i sy 
 p Lm − (ω mr − ω r ) Lm Rr + p Lr − (ω mr − ω r ) Lr   i rx 
 

 (ω − ω ) L p Lm (ω mr − ω r ) Lr Rr + p Lr   i ry  The space phasor of the stator current on the rotor
 mr r m

(1) flux reference frame is shown in Figure 1.

where p=d/dt, and
dω r + D (2)
T e −T L = J dt ωr
where
T e = − 2 P Lm (i sx iry − i sy irx)
3 (3)

and
usx, usy = x- and y- axis stator voltages
isx, isy = x- and y- axis stator currents
irx, iry = x- and y- axis rotor currents
Rs, Rr = stator resistance and rotor resistance Figure 1. Representation of stator current and rotor flux as a space
vector, SD-SQ stationary coordinate system, x-y field coordinate
referred to the stator that rotate with angular speed ωmr
Ls, Lm, Lr= stator inductance, mutual inductance,
and rotor inductance referred to the As seen in Equations (4) and (5) the stator currents
stator isx (the component of producing the excitation flux)
Te, TL = electromagnetic torque and mechanical and isy (the component of producing the torque) are
load or disturbance torque dependent on each other because usx and usy are
J, D = moment of inertia and viscous both dependent on isy and isx. However, these
coefficients of the motor components must be controlled separately to obtain
P = number of poles of motor the vector control strategy on the rotor flux
ωmr, ωr = synchronously angular speed and rotor reference frame [2].
angular speed
Since there is no delay time on an ideal drive and
Equations (1)-(3) represent six-state first-order its inverter also does not have any dead time, there
nonlinear differential equations. would not be any delay on the process. By
considering the flux rotor as a constant value
The mathematical formulations of the vector (imr=ct.) the stator current components can be
control strategy can be summarized as follows. controlled independently by using Equations (4)
The stator and rotor voltage equations are and (5).
translated to the rotor flux reference frame and
among different methods given in the literature the Let consider the separated voltage components as
space phasor method is used [2]. As shown in [2] follows;
the following equations can be obtained.
udx =− ω mr Ls i sy (9)
'

di
+ i sx = u sx + ω mr T s isy − (T s − T s )
d imr u dy = ω mr Ls isx + (Ls − Ls )ω mr imr (10)
' '
(4)
T
' sx ' '
s
dt R s
dt
d isy
ω T i − (T − T )ω i
+ i sy =
u sy − (5) By adding these voltages to the output voltage of
Ts
' ' '
dt Rs mr s sx s s mr mr the circuit in which the currents are controlled
∧ ∧

Lm
2
(6)
(u , ) and, therefore, the currents isx and isy can
sx usy
L Ls −
'
=
s
Lr be controlled separately. Consequently, the x-axis
stator voltage will be equal to usx+udx and the x-
Ls (7)
Ts = axis output voltage of the current controlled circuit
Rs is calculated as follows;
Ls
'
(8)
Ts
'
=
Rs d i sx (11)
u sx = Rs isx + Ls
'

where dt
 Figure 2. Vector control implementation on the direction of the rotor flux indirectly using voltage source
inverter

Similarly, the y-axis stator voltage will be equal to The simulation results are shown in Figures 3 (a-f)
usy+udy and the y-axis output voltage of the current and 4 (a-f) for starting, then reducing the speed of
controlled circuit is calculated as follows; the induction motor and the performance of the
induction motor in the reverse direction
d i sy (12)
respectively.
u sy = R s i sy + Ls
'

dt
Figures 3f, 4f show that the performance of the
vector control of the induction motor drive is
Using the above equations and by sampling of the
exactly the same as the performance of the
three-phase stator currents (isa, isb, isc) and rotor
separately excited DC motor. Figure 3c and 4c also
speed the vector control of the induction motor is
show the ability of the vector control technique in
realized and shown in the block diagram of Figure
controlling the induction motor in all four
2. This has two inner current control loops, one for
quadrant of the torque-speed coordinates. By using
isx control and one for isy control. The two outer
the uniform pulse width modulation, torque can be
loops namely, the speed control loop and the flux
reduced (see Figures 3e and 4e), and a robust
control loop generates reference values for isy and
control with quick dynamic response for induction
isx control respectively. All controllers used here
motor drive can be achieved (see Figures 3c and
are PI ones [2]. The cross coupling term in the
4c). Figures 3b and 4b also show that the
stator equation is eliminated with the help of
magnetizing currents are constant during
voltage decoupling circuit (see Equations (9) and
simulation program and this corresponds with
(10). The reference voltage for the inverter is
Figures 3a and 4a in which the x-axis stator
obtained with the help of stator equations.
currents are constant.
3. Simulation results
The inverter to be used here can be either much less harmonics than the SPWM one, the
sinusoidal pulse width modulation (SPWM) or former is used as the voltage source inverter.
uniform pulse width modulation (UPWM). As
shown in [5] since the UPWM inverter has got
 15 15

10 10

Imr (A)
Isx (A)

5 5

0 0
0 2 4 6 8 10 12 14
0 2 4 6 8 10 12 14
time (sec)
time (sec)

(a) (b)

150
50
100
Wr

Isy (A)
25
50

0
0
0 2 4 6 8 10 12 14
0 2 4 6 8 10 12 14
time (sec) time (sec)

(c) (d)

60 60
Te (Nm)

40 40
Te (Nm)

20 20

0
0
0 2 4 6 8 10 12 14
0 10 20 30 40
time (sec) Isy (A)

(e) (f)

Figure 3: Starting and reducing the speed of the induction motor

15
15
10
Isx (A)

10
Imr (A)

5
5
0
0
0 5 10 15 20 25
0 5 10 15 20 25
time (sec)
time (sec)

(a) (b)

150 40
100
20
50
Isy (A)
Wr

0 0
-50 0 5 10 15 20 25 0 5 10 15 20 25
-20
-100
-150 -40
time (sec) time (sec)

(c) (d)
Figure 4: Performance of induction motor in the reverse direction
 50 60

25 40
20
Te (Nm)

Te (Nm)
0 0
0 5 10 15 20 25
-25 -40 -20 -20 0 20 40
-40
-50
-60
time (sec)
Isy (A)

(e) (f)

Figure 4: Performance of induction motor in the reverse direction

4. Conclusions control system for rotating-field machines”

Siemens Rev, vol. 39, no. 3, pp. 217-220, may
This paper has presented a vector control system 1972.
for induction motor drives. The vector control [2] P. Vas, “The control of AC machines” Oxford
methodology given by [2] has been simulated by Univ., 1990.
the advantage of using UPWM in which the less [3] P.C. Krause, “Electric machines” , prentice
harmonics have been achieved. The simulation Hall, 1985.
results showed that the performance of the [4] M.P. Kazmierkowski, “A novel vector control
induction motor was exactly the same as the scheme for transistor PWM inverter-fed induction
separately excited DC motor having also a quick motor drive” , IEEE Trans. On indust. Vol. 38, No.
dynamic response and low torque pulsation. 1, Feb 1991, pp. 41-47.
[5] J. Soltani, G. Esmaily, “Dynamic performance
5. References of the self controlled synchronous motor drive
system supplied by SPWM and UPWM voltage
[1] F. Blaschke, “The principle of field orientation source inverters” , ICEE, Tehran, May 1996, pp.
as applied to the new transvector closed -loop 311-318