Vector Based Hysteresis Current Control Scheme for

Vector Controlled Induction Motor Drives

M. Rama Prasad Reddy*, T. Bramhananda Reddy**,Member, IEEE, B. Brahmaiah***
*EEE Department, Sri Vasavi Engineering College, T.P.Gudem, A.P, India
** EEE Department, GPRE College, Kurnool, A.P, India.
*** Priyadarshini Institute of Technology, Tirupati, A.P, India
*[email protected], **[email protected]

Abstract— Simple and novel vector based hysteresis current involved in the current controlled induction motor drives, a
control schemes are presented for vector controlled induction lookup table based approach has presented in [7]. This gives
motor drives. The proposed algorithm combines the principles of the good performance with reduced complexity.
direct torque control (DTC) and field oriented control (FOC). Hence to overcome the drawbacks of vector control and
The proposed algorithm generates the reference currents as per
DTC, this paper presents a two vector control schemes, which
the principle of vector control algorithm. The, the vector based
hysteresis comparators integrated with look-up tables are combines the principles of both vector control and DTC. To
proposed for vector controlled induction motor drive. The reduce the torque ripple and to maintain a constant switching
proposed lookup tables based vector control gives good dynamic frequency, a simple 6 sector based algorithm is introduced.
response with reduced harmonic distortion. This paper presents Moreover, for further reduction in THD, a 12 sector based
6- sector and 12-sector based vector control algorithms. To algorithm is proposed. The proposed algorithms use
validate the proposed methods numerical simulation studies have sophisticated lookup tables to generate the PWM signals to the
been carried out and compared with the existing algorithms. The inverter. Moreover, the proposed methods do not require
simulation results show the effectiveness of the proposed reference frame transformations and gives good steady state
technique.
and transient performance.

Keywords— DTC, Induction motor, switching table, vector II. CONVENTIONAL VECTOR CONTROL METHOD
control The scalar controlled induction motor drives give sluggish
response due to the coupling between the various variables of
I. INTRODUCTION
induction motor. Hence, to achieve the fast torque response,
The development of high speed power switching devices nowadays many researchers have focused their interests on
has brought high frequency switching operations to power vector controlled drives. The vector control technique gives a
electronic equipment’s and has improved the dynamic decoupled torque and flux control like a separately excited dc
performance of inverter fed ac drives. Many schemes have motor and gives fast torque response. The FOC controls the
been proposed for the speed control of induction motor drives, stator current vector, which is represented in a synchronously
among which the vector control is most effective method. By rotating reference frame in order to control the torque and
using the concept of vector control, the induction motor can be flux. This current vector consists of a torque producing
controlled like a separately excited dc motor [1]. Though * *
vector control method gives decoupled control, it requires component ( iqs ) and flux producing component ( ids ). The
reference frame transformations, which increases the electromagnetic torque of an induction motor is given as
complexity of the system. To improve the performance of
vector control strategy, many researchers have published Te =
3 P Lm
2 2 Lr
( )
ψ dr iqs −ψ qr ids (1)
various papers [2-4]. To reduce the complexity involved in the
*
vector control algorithm, in 1980s, Takahashi was proposed In FOC, the ids is oriented along the rotor flux linkage
direct torque control (DTC) technique for induction motor *
vector, and the iqs is perpendicular to the rotor flux
drives [5]. DTC offers many advantages like absence of co-
ordinate transformation and PWM modulator when compared component. Thus, the entire rotor flux is aligned along d-axis
with vector control strategy. Moreover, DTC is simple for the and hence the q-axis flux component will become zero.
practical implementation, because it needs two hysteresis Hence, the torque expression can be modified as given in (2).
comparators and a switching table only to control both the
flux and torque. But, the DTC gives large steady state ripples
Te =
3 P Lm
2 2 Lr
( )
ψ dr iqs (2)
in torque, flux and current. The detailed comparison between
Hence, the total rotor flux can be given as in (3).
FOC and DTC has presented in [6]. To reduce the complexity

978-1-4673-2818-0/13/$31.00 ©2013 IEEE

 ψ r = ψ dr = Lm ids (3) Lm L2
From (3), it can be observed that the rotor flux is directly ψ s = Ls i s + ψ r − m is (11)
Lr Lr
*
proportional to ids and is maintained constant. Hence, the For short time durations, by assuming the rotor flux linkage
*
torque depends on iqs , and provides a torque response as fast vector as constant, the voltage expression can be simplified as
follows.
*
as the iqs response. Then, the slip speed and rotor flux linkage dψ s §¨ L2 · di di
vs = = Ls − m ¸ s = σLs s (12)
position angle can be evaluated from (4) and (5). dt ¨ ¸
Lr ¹ dt dt
©
L R *
ω sl = m r iqs (4) where σ is the leakage coefficient of induction motor. From
Lr λ r
(12), for a short time interval of Δt , the stator current can be
θ s = θ r + θ sl = ³ (ωr + ωsl )dt = ³ ωs dt (5) given as
1
III. PROPOSED VECTOR CONTROL ALGORITHMS Δis = v s Δt (13)
σLs
The electromagnetic torque of an induction motor can also Thus, the stator current vector moves in the direction of the
be represented as stator voltage space vector at a speed proportional to
3 P Lm magnitude of voltage space vector. By selecting a proper
Te = λr is sin δ (6)
2 2 Lr voltage vector it is then possible to change the stator current in
where δ is the angle between stator current and rotor flux the required direction. The decoupled control of the torque
linkage vectors as shown in Fig. 1. From (6), it can be and flux can be achieved by controlling the ids and iqs
concluded that the torque can be controlled by varying the δ . components of the stator current. Assume, a slow motion
This is the basic principle of proposed vector control for λr , if an active voltage vector is applied then it causes
algorithm. For a short time interval, the rotor flux linkage
vector is almost unchanged in space. Hence, the rapid changes rapid movement of is and torque increases. On the other
of electromagnetic torque can be produced by rotating the hand, when a zero voltage vector is used, is becomes
stator current vector in the required direction according to the stationary and the electromagnetic torque will decrease, since
reference torque. rotor flux continues to move in the forward direction slowly
is  and the angle δ decreases. Thus, the variation of current
vector can be controlled by using the different voltage vectors
in each sampling time period as shown in Fig. 2.
s iqs 
iqs  Movement with active
δ  forward vector

i ds  Stops with zero vectors

ψr 
Movement with active
is backward vector
s
ids 
λr
Fig. 1 Representation of stator current and rotor flux linkage space vectors
δ Rotates continuously
The simplified stator voltage of an induction motor can be
expressed as (by ignoring the stator resistance drop)
dψ s
vs = (7) Fig. 2 movement of stator current vector under the influence of voltage
dt vectors
The stator and rotor flux linkage vectors of an induction motor The block diagram of the proposed FOC is as shown in Fig. 3.
can be given as In the proposed FOC algorithm generates the reference stator
ψ s = L s i s + Lm i r (8) current components, which are at synchronously rotating
reference frame. Then it uses hysteresis controllers and a
ψ r = Lr i r + Lm i s (9) lookup table. Thus, the proposed algorithm eliminates time
From (9), the expression for rotor current can be obtained as consuming PWM procedure and reference frame
ψ − Lm i s transformations. The reference current are compared with
ir = r (10) their actual current values, which are obtained from the
Lr
measured phase currents. These current errors are used to as
By substituting (10) in (8), the stator flux linkage expression inputs to the hysteresis controllers. Based on the outputs of
can be obtained as given in (11). hysteresis controllers and position of the stator current vector,
the lookup table will give the suitable voltage vector.
 V dc
w*r Te* i qs ∗ Δiqs
+ PI + Sq
- Calculation - THC Optimal
Switching
wr Sd Table
λ*r ∗ Δids
i ds + FHC
Calculation -

Sector

i qs δ , i ds and i qs
Motor Signals
Estimation IM
i ds

Fig. 3 Block diagram of proposed vector controlled induction motor drive

component current ids and V3 and V5 can decrease the ids .

A. Six Sector Based Vector Control
For a 3-phase, two-level voltage source inverter there are Similarly V2 and V3 can increase the torque component
six possible active voltage vectors and two are zero voltage current iqs and V5 and V6 can decrease the iqs . Similarly the
vectors. These vectors can be represented pictorially as shown suitable voltage vectors can be selected for other sectors.
in Fig. 4.

V3 (010) V 2 (110)
V3 (FD,TI) V2 (FI,TI)

ωr
is
Sector I
Sector 1
V4 (011) V1 (100)

V0 (000) V5 (FD,TD) V6 (FI,TD)

V7 (111)

V5 (001) V6 (101)
Fig. 5 selection of suitable voltage space vector in sector I (-300 to 300)
Fig. 4 Possible voltage space vectors for VSI

Based on the position of stator current vector, it is possible to In the proposed FOC, the errors are restricted within their
switch the suitable voltage vectors to control both ids and iqs . respective hysteresis bands, which are 2Δids and 2Δiqs wide

According to the position of the stator current vector, the respectively. Similar to DTC, the proposed algorithm also
space plane is divided into six symmetrical sectors. As an uses two-level hysteresis controller for flux component current
example if stator current vector is in sector I as shown in Fig. and three-level hysteresis type controller for torque
5, then voltage vectors V2 and V6 can increase the flux component current. If ids increase is required then S d = 1 ; if
ids decrease is required then S d = 0 . Similarly, if iqs V3 (010) V2 (110)
increase is required then S q = 1 , if iqs decrease is required
,9 ,,,
then S q = −1 , and if no change in iqs is required then S q = 0 . 9 ,,
The digitized output signals of the flux component hysteresis
controller (FHC) and torque component hysteresis controller 9, ,
(THC) can be summarized as given in Table. 1. V7 (111)
V1 (100)
V4 (011) V0 (000)
Table. 1digitized output values of the hysteresis controllers
Controller Condition Output of the 9,, ;,,
controller 9,,, ;,
* Sd = 1 ,; ;
ids ≤ ids − Δi s
FHC
*
ids ≥ ids + Δi s Sd = 0
V5 (001) V6 (101)
For anti-clockwise rotation
Fig. 6 Possible voltage space vectors for VSI in 12 sector based algorithm
*
iqs − iqs ≥ Δiqs Sq = 1

THC *
iqs ≥ iqs Sq = 0
Table. 3 Optimum voltage vector switching table
For clockwise rotation Sψ ST S1 S2 S3 S4 S5 S6 S7 S8 S9 S10 S11 S12
*
iqs ≤ iqs Sq = 0 TI V2 V3 V3 V4 V4 V5 V5 V6 V6 V1 V1 V2
*
iqs − iqs ≤ −Δiqs S q = −1 1
TsI V2 V2 V3 V3 V4 V4 V5 V5 V6 V6 V1 V1
TsD V1 V1 V2 V2 V3 V3 V4 V4 V5 V5 V6 V6
Depending upon the values of S d , S q and the position of the TD V6 V1 V1 V2 V2 V3 V3 V4 V4 V5 V5 V6
stator current vector, the suitable voltage vector is determined TI V3 V4 V4 V5 V5 V6 V6 V1 V1 V2 V2 V3
from the lookup table-I, which is given in Table. 2. TsI V4 V4 V5 V5 V6 V6 V1 V1 V2 V2 V3 V3
0
Table. 2 Optimum voltage vector switching table TsD V7 V5 V0 V6 V7 V1 V0 V2 V7 V3 V0 V4
Sector I II III IV V VI TD V5 V6 V6 V1 V1 V2 V2 V3 V3 V4 V4 V5
Sd Sq
IV. SIMULATION RESULTS & DISCUSSION
1 V2 V3 V4 V5 V6 V1
1 To validate the proposed vector control algorithms
0 V7 V0 V7 V0 V7 V0 numerical simulation studies have been carried out using
-1 Matlab-simulink. For the simulation studies the motor
V6 V1 V2 V3 V4 V5
parameters are taken as Rs =1.57ohm, Rr=1.21ohm,
1 V3 V4 V5 V6 V1 V2 Lm=0.165H, Ls=0.17H, Lr=0.17H and J=0.089Kg-m2.
0 0 Moreover, for the simulation results equal band widths have
V0 V7 V0 V7 V0 V7
been considered for the hysteresis bands in the proposed and
-1 V5 V6 V1 V2 V3 V4 existing current controlled vector controlled drives. The
simulation results of 6 sector based vector controlled
induction motor drive are given from Fig. 7 to Fig. 12. The
B. 12- Sector Based Vector Control simulation results for the proposed 12 sector based vector
In order to utilize all six active states in each sector and to controlled drive are given from Fig. 13 to Fig. 18.
reduce the THD further, the space vector plane is divided into From the simulation results, it can be observed that the
twelve sectors instead of six as shown in Fig. 6. However, it is proposed algorithms give good dynamic response like
necessary to define small and large variations. It is observed conventional vector control algorithm. Also, it can be
that V1 will produce a large increase in flux and a small observed that the 6 - Sector algorithm gives less total
increase in torque in sector-12. On the other hand in the same harmonic distortion (THD) value when compared with the
sector V2 will increase the torque in large proportion and the conventional vector control algorithm for same band width of
the hysteresis controllers.
flux in a small one. The proposed method uses a four level
However, the conventional vector control and 6 - Sector
torque hysteresis controller (TI: torque increase, TSI: torque
algorithm use the zero voltage vectors. But in the proposed 12
small increase, TD: torque decrease and TSD: torque small
sector based algorithm torque ripple is considerably highbut
decrease) and a two level flux hysteresis controller. The look-
the total THD in steady state is reduced. However, the
up table for 12-sector based FOC is presented in Table 3.
proposed current controlled algorithm gives reduced THD and
slight increased steady state ripples when compared with the 6
- Sector algorithm.

Fig. 10 Transients during the step change in load (a 25 N-m load is applied at
0.5 sec and removed at 0.7 sec) for 6 - Sector algorithm vector control
algorithm induction motor drive

Fig. 7 starting transients of 6 - Sector algorithm vector control algorithm

induction motor drive

Fig. 11 Transients during the speed reversal (from +1000 rpm to -1000 rpm)
for 6 - Sector algorithm vector control algorithm induction motor drive

Fig. 8 steady state plots of 6 - Sector algorithm vector control algorithm

induction motor drive

Fig. 9 Harmonic spectra of stator current in 6 - Sector algorithm vector

control algorithm
Fig. 12 Transients during the speed reversal (from -1000 rpm to +1000 rpm)
for 6 - Sector algorithm vector control algorithm induction motor drive
 Fig. 16 Transients during the step change in load (a 25 N-m load is applied at
0.5 sec and removed at 0.7 sec) for proposed 12 - Sector algorithm based
vector controlled induction motor drive
Fig. 13 starting transients of proposed 12 - Sector algorithm based vector
controlled induction motor drive

Fig. 17 Transients during the speed reversal (from +1000 rpm to -1000 rpm)
for proposed 12 - Sector algorithm based vector controlled induction motor
drive
Fig. 14 steady state plots of proposed 12 - Sector algorithm based vector
controlled induction motor drive

Fig. 15 Harmonic spectra of stator current in proposed 12 - Sector algorithm

based vector controlled induction motor drive
Fig. 18 Transients during the speed reversal (from -1000 rpm to +1000 rpm)
for proposed 12 - Sector algorithm based vector controlled induction motor
drive
 V. CONCLUSIONS
M.Rama Prasad Reddy received the Bachelor of
The vector control algorithm is becoming popular in high- Engineering degree in Electrical & Electronics
performance applications. Though the conventional FOC Engineering from Karnataka University of Dharwad
in 1999 and Master’s degree from JNTU Kakinada
better dynamic performance, the complexity involved is more in 2007. He is presently pursuing Doctoral degree
due to the reference frame transformations and PWM from JNTU, Hyderabad. Currently, working as an
procedure. Hence, to reduce the complexity, a simplified FOC Associate Professor in Sri Vasavi Engineering
is presented in this paper. The proposed FOC technique uses College, Tadepalligudem, A.P. His areas of interests
are in power systems, Power electronic control of
lookup tables and eliminates the use of PWM procedure. Two drives.
different lookup tables have been presented in this paper. The
simulation results show the effectiveness of the proposed
algorithms. From the results, it can be observed that the 12-
Dr. T. Brahmananda Reddy was bornin 1979. He
sector FOC gives reduced THD when compared with the 6- graduated from Sri Krishna Devaraya University,
sector FOC. Thus, the proposed algorithms reduce the Anantapur in the year 2001. He received M.E
complexity involved in classical FOC with good performance. degree from Osmania University, Hyderabad, India
in the year 2003 and Ph.D from J.N.T.University,
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review (Part1)". EPE Journal, No. 1, July 1991, pages 13-20. of electrical drives
[3] W. Leonhard, “30 years of space vectors, 20 years of field orientation,
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no. 2, pp. 170-175, May 2001. Master’s degree from National Institute of
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high-efficiency control strategy of an induction motor,” IEEE Trans. JNTU, Hyderabad in 2001. He is presently
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[6] Domenico Casadei, Francesco Profumo, Giovanni Serra, and Angelo Technology, Tirupati. He presented many research
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