Vector Controlled Induction Motor

Drives-2
Advanced Machine Drives(EE)

Dr. Dipankar De
School of Electrical and Computer Sciences
IIT Bhubaneswar, India
 Introduction – Principle of Vector
Control
• To explain the principle of vector control, an assumption is made that the position
of the rotor flux linkage phasor, 𝜆𝑟 is known.

• 𝜃𝑓 is referred to as field angle (𝜆𝑟 is at 𝜃𝑓 from stationary reference frame)

• Hence stator current and its phase angle can be derived as

• Where are the d and q axes currents in the synchronous reference

frames that are obtained by projecting the stator current phasor on q and d axis
respectively.

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 Introduction – Principle of Vector
Control
• Phasor diagram
of the vector
controller

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 Introduction – Principle of Vector
Control
• The stator current phasor 𝑖𝑠 produces the rotor flux 𝜆𝑟 and the torque 𝑇𝑒 .
• The component of current producing rotor flux phasor has to be in phase with 𝜆𝑟
• Therefore, solving the stator current phasor along 𝜆𝑟 reveals that the component
𝑖𝑓 is the field producing component.
• The perpendicular component 𝑖 𝑇 is hence the torque producing component.
• By writing rotor flux linkages and torque in terms of these components:
𝜆𝑟 ∝ 𝑖𝑓
𝑇𝑒 ∝ 𝜆𝑟 𝑖 𝑇 ∝ 𝑖𝑓 𝑖 𝑇

• It can be observed that 𝑖𝑓 𝑎𝑛𝑑 𝑖 𝑇 have only DC components in steady state,

because the relative speed with respect to that of the rotor field is zero.
• Crucial to the implementation of vector control. Then is the acquiring of the
instantaneous rotor flux position 𝜃𝑓

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 Classification of Vector Control
• The vector control schemes are classified according to how the field angle is
acquired.
• If the field angle is calculated by using terminal voltages and currents or Hall
Sensors or flux sensing windings ⟹ Direct vector Control.
• The field angle can also be obtained by using rotor position measurement and
partial estimation with machine parameters but not any variables such as voltages
or currents; ⟹ Indirect vector Control.
• The direct and indirect vector control schemes are explained in the following
sections.

• 1. Obtain the field angle

• 2. Calculate 𝑖𝑓∗ for a required rotor flux linkages 𝜆∗𝑟 (by controlling only this field
current the rotor flux linkages are controlled)
• 3. From 𝜆∗𝑟 and the required 𝑇𝑒∗ calculate the torque producing component of the
stator 𝑖 𝑇∗ (Note: Steps 2 and 3 enable a complete decoupling of flux from torque
producing channels in the induction machine.
• 4. Calculate the stator current magnitude 𝑖𝑠∗
• 5. Calculate torque angle from the flux and torque producing components of the
stator current commands
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 Classification of Vector Control
• 6. Add 𝜃𝑇 and 𝜃𝑓 to obtain the stator current phasor angle 𝜃𝑠
• 7. By using the stator-current phasor angle and its magnitude 𝜃𝑠 and 𝑖𝑠∗ the
required stator current commands are found by going through the dqo
transformation from abc.

• 8. Synthesize these currents by using an inverter (when they are supplied to the
stator of the induction motor, the commanded rotor flux linkages and torque are
produced.

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 Direct Vector Control

• The phase current control loops can use one of the following switching
techniques:

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 Flux and Torque Processor
• The input to this block are two stator phase currents and one set of the following
• Terminal voltages
• Induced EMF from the flux sensing coils or Hall sensors.

• CASE (i) Terminal voltages

• By using terminal voltages the airgap torque, flux and field angle can be
computed with either rotor or stator flux linkages. The choice has
significant impact on the performance of the drive system in terms of its
parameter sensitivity as seen from the following development.

• A. Rotor flux based Calculator

• The q and d stator voltages in the stator reference frame as obtained from the phase
voltages as

• From the stator reference frame equations of the induction motor, the stator
equations are

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 Flux and Torque Processor
• The rotor currents 𝑖𝑞𝑟 and 𝑖𝑑𝑟 can be computed as

• From all stator and rotor currents, torque, flux and field angle can be computed as
follows:

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 Flux and Torque Processor
• These equations can be implemented with computational circuits as shown in Fig.

MAR: Magnitude and Angle

3 February 2025 Resolver Block 10
 Flux and Torque Processor
• The same diagram could be used for the code development for implementation in a
single chip processor.
• Note the circuit’s dependence on the motor parameters 𝑅𝑠 , 𝐿𝑠 , 𝐿𝑟 , 𝐿𝑚
• The changes in stator resistance could be tracked indirectly with inexpensive
temperature sensors.
• As for the inductances, they would have no significant variations in this scheme since
flux control is implemented.
• Hence, parameter sensitivity would not greatly plague the accuracy of the
measurement and calculation of flux torque and field angle.

• B. Stator flux based Calculator

• Computation steps and dependence on many motor parameters could be very much
reduced by using the stator flux linkages and calculating the electromagnetic torque,
using only the stator flux linkages and stator currents.
• Only stator resistances in employed in the computation of the stator flux linkages,
thereby removing the dependency of mutual and rotor inductances of the machine
on its calculation.
.

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 Flux and Torque Processor
• The steps involved are summarized as follows:

• In this case, the flux loop can be closed with the rotor flux linkages.
• The accuracy of the commutation might not be high even though this algorithm
depends only on the stator resistance rather than on many other motor parameters.
• The sensitivity of the stator resistance variation and its impact on the accuracy of the
stator flux linkages and hence on the electromagnetic torque is high when the stator
voltages are small and compatible magnitude to the resistance voltage drops.
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 Flux and Torque Processor
• CASE (ii) EMF induced from flux sensing coils or Hall Sensors:
• Two sets of sensing coils can be placed in stator slots having 90 degree electrical
displacement and one set can be placed on the mmf axis of one phase (say ‘a’ phase)
• Two Hall sensors can also be placed very similarly to the sensing coils.
• Hall effect sensors reflect the rate of change of stator flux linkages. The stator d and q
axis flux linkages are defined as:

• From which the rotor d and q axis currents are derived as,

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 Flux and Torque Processor
• From the rotor q and d axes currents and stator flux linkages, the rotor flux linkages
and torque are obtained as

• Note that the torque equation does not involve any machine parameters for its
calculation.
• The rotor flux linkages and the field angle are dependent on machine parameters
𝐿𝑚 , 𝐿𝑠 , 𝐿𝑟
• When there is a change (due to saturation) in these parameters they will introduce
an error in the computation of 𝜆𝑟 and 𝜃𝑟 . (the error in computation of field angle will
generate significant errors in vector control ; that is very critical for the control)
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 Flux and Torque Processor
• Advantages:
• 1. The sensing scheme use only electronic transducers and do not use any with
moving or rotating parts. The absence of moving parts in the transducers makes the
reliability of these schemes more robust than employing mechanical /optical
transducers.
• 2. The costly process of mechanical mounting and the loss of valuable space/volume
inside the machine enclosure for the rotating sensor parts are avoided.

• Disadvantages
• 1. At zero stator frequency, there is no induced emf in all the measurement schemes.
• 2. The same problem in a different form appears at low speeds. At some speeds, the
induced emf signals can be so small that signal processing circuit cannot use them.
• 3. The installation of sensing windings or Hall-effect sensors, even through it is an
inexpensive production process, adds to the number of wires coming out of the
machine frame.
• 4. In case of using voltage and current transducers, the filtering required to obtain
the fundamental at high frequencies will produce a large phase shift and inaccuracy
in the computation of field angle which will deteriorate the decoupling flux and
torque controls.

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 Parameter Sensitivity
• The scheme is sensitive to stator resistance instrumented in the controller.
• Note that, in comparison to many other schemes, the parameter dependency of this
scheme is restricted to only one parameter.
• The stator resistance change has a wide variation (from 0.75 to 1.7 times its normal
value), due to a large extent to temperature variation and to a smaller degree to
stator frequency variation.
• It detoriates the drives performance by introducing errors in estimated flux linkage
magnitude and position and hence in the electromagnetic torque estimation,
particularly at low speeds. Note that at low speeds the stator resistance voltage
drops constitute a significant portion of the applied voltages.
• Controller schemes can be proposed to overcome this parameter sensitivity.

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 Parameter Sensitivity
The instability due to parameter
mismatch for a step stator resistance
change

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 Parameter Sensitivity
The instability due to parameter
mismatch for a lineally decreasing
stator resistance change

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 Stator Resistance Compensation
A block diagram schematic of the stator resistance compensation scheme is shown in Fig.

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 Stator Resistance Compensation
• The incremental stator resistance correction is obtained through a PI controller and
limited.
• The current error is processed through a low pass filter that has low cut-off frequencies
in order to remove high frequency component contained in the stator feedback
current.
• The low pass filter does not generate any adverse effect on the stator resistance
adaptation if the filter time constant is chosen to be smaller than the adaptation time
constant.
• If incremental stator resistance Δ𝑅𝑠 is continuously added to the previously estimated
stator resistance 𝑅𝑠𝑜
• The final estimated value 𝑅𝑠 is obtained as the output of another low-pass filter and
limiter.
• This low pass filter is necessary for a smooth variation of the estimated resistance value
• The final signal is the updated stator resistance and can be used directly in the
controller.
• Note: The above algorithm requires the stator current phasor command for
implementation.

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 Indirect Vector Control Scheme
• In this section, indirect vector controller is derived from the dynamic equation of the
machine.
• The rotor equation of induction machine containing flux linkages as variables:

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 Indirect Vector Control Scheme
• The rotor currents in terms of stator currents are derived from

• Substituting this in above equation (previous slide)

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 Indirect Vector Control Scheme
• Similarly the torque expression can be obtained as:

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 Indirect Vector Control Scheme
• The command values can be obtained as:

∗ ∗
• The command slip angle 𝜃𝑠𝑙 is generated by integrating 𝜔𝑠𝑙
• The torque angle command is obtained as the arctangent of 𝑖 𝑇∗ and 𝑖𝐹∗

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 Indirect Vector Control Scheme
• The stator q and d axes and abc current commands are derived as:

(XXX)

• The current commands are enforced by the inverter with suitable control techniques
outlined.
• A realization of the scheme in block-diagram form is shown in the next slide:

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 Indirect Vector Control Scheme

Functional block diagram of a current source indirect

Vector controller

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 Indirect Vector Control Scheme
Start

Read torque, flux commands, rotor resistance, inductance

and mutual inductance at ambient temperature

Calculate 𝑖𝑓∗ , 𝑖 𝑇∗ and 𝜔𝑠𝑙

∗

∗
Compute 𝑖𝑠∗ , 𝜃𝑇∗ , 𝜃𝑠𝑙 , 𝜃𝑓∗ , 𝜃𝑠∗

∗ and 𝑖 ∗
Compute 𝑖𝑞𝑠 𝑑𝑠

Compute stator current commands

using 𝑇 −1 or using (XXX)

Stop

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 Indirect Vector Control Scheme

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 Parameter Sensitivity of the Indirect
Vector Controlled Induction Motor Drive
• A mismatch between the vector controller and induction motor occurs as a result
either of the motor parameter changing with operating conditions such as temperature
rise and saturation or of the wrong instrumentation of the parameters in the vector
controller.
• The latter phenomenon is controllable but the former is dependent on the operating
conditions of the motor drive and hence is uncontrollable.
• The mismatch produces a coupling between the flux and torque producing channels in
the machine.
• This has the following consequences:
a. The rotor flux linkage deviate from the commanded value
b. The electromagnetic torque, hence, deviates from its commanded value,
producing a nonlinear relationship between the actual torque and its commanded
value.
c. During torque transients, an oscillation is caused both in the rotor flux linkages
and torque responses with a settling time equal to rotor time constant.
• In a torque drive consequences (b) and (c) are most undesirable.
• Although in the speed controlled drive, the non-linear torque-to-torque command
characteristics will not have a detrimental effect on the steady state operation, its
effect is significant during transients.
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 Parameter Sensitivity of the Indirect
Vector Controlled Induction Motor Drive
• When Outer speed loop is open:
• When the outer speed loop in the vector controlled drive the external commands are
the rotor flux linkages and electromagnetic torque.
• The actual slip speed and commanded value are equal in this mode of drive but the flux
and torque producing current components gets different.

• Expression of Electromagnetic Torque

• In steady state an expression of the rotor flux linkages is obtained by

• The slip speed command:

• The torque angle command is known to be

• Combining the above two equations we get:

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 Parameter Sensitivity of the Indirect
Vector Controlled Induction Motor Drive

• The command value of the torque from related equations could be written as

• Likewise the actual electromagnetic torque generated in the motor is expressed as

• Because actual and command torque angles are equal in steady state, in torque mode

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 Parameter Sensitivity of the Indirect
Vector Controlled Induction Motor Drive
• Finally combining all equations we get,

• Let us define the non-dimensional variables between the motor (actual) and controller
instrumented rotor time constants and magnetizing inductances to generalize the
results and their interpretation, we get

• Here is that the approximation that the leakage inductance is negligible compared to
the mutual inductance.

• Note the factors 𝛼 and 𝛽 embody the aspects of controller mismatch, saturation and
machine temperature, as reflected in the rotor resistance.
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 Parameter Sensitivity of the Indirect
Vector Controlled Induction Motor Drive
• Expression of the rotor flux linkages:
• The parameter variations affect primarily the rotor flux linkages
• The change in steady state rotor flux linkages gives an indication of change in the
electromagnetic torque. In steady state the actual and the commanded rotor flux
linkages are

• Substituting for 𝑖𝑓 in terms of stator current and finding the ratio of the actual to
command rotor flux linkages gives

• A set of normalized curves between the torque ratio and 𝛼 for various slip speeds and
saturation levels 𝛽 are presented in the next slide.

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 Parameter Sensitivity of the Indirect
Vector Controlled Induction Motor Drive
• The range of 𝜶 and 𝜷:
• The practical temperature excursion of the rotor is approximately 130𝑜 above the
ambient. This increases the rotor resistance by 50% over its ambient value.
• Magnetic saturation can decrease the self inductance to 80% of its normal value.
• Hence the lower limit of 𝛼 can be obtained as:

• Since 𝛼 = 𝑇𝑟 𝑇𝑟∗ ; the lowest value of 𝛼 is approximately 0.5

• The upper limit of 𝛼 approaches 1.5 depending primarily on errors in the instrumented
vector controller and an increase in rotor self-inductance because of unsaturated
operating point on the BH material characteristics of the laminations during flux
weakening.
• Hence the target range of 𝛼 can be chosen to be

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 Parameter Sensitivity of the Indirect
Vector Controlled Induction Motor Drive
• The range of 𝜶 and 𝜷:
• A typical value of 𝛽 in the magnetic saturation region is around 0.8 and operation of
the induction drive in the linear portion of the iron B-H characteristics increase 𝛽 to 1.2
• Note that these values are given for static currents not exceeding twice the rated value.
• Hence the range of 𝛽 is chosen as

the torque and its

command value verses 𝛼
For various slip speeds

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 Parameter Sensitivity of the Indirect
Vector Controlled Induction Motor Drive

the rotor flux linkage

verses 𝛼 for various
slip speeds

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 Parameter Sensitivity of the Indirect
Vector Controlled Induction Motor Drive
• Transient Characteristics:
• Considering parameter sensitivity in the indirect vector controlled induction motor
drive and a time lag of 𝜏𝑐 between the current and their commands, the transfer
function between the rotor flux linkages and its command value can be derived.
• From the steady state parameter sensitivity effects on the rotor flux linkages, the ratio
between the current and its command is derived as

• The torque angle and slip speed are enforceable instantaneously, but not the current
magnitude (because of the stator dynamics of the induction machine)

• Considering the time lag between the stator current and its command, its transfer
function can be written as:

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 Parameter Sensitivity of the Indirect
Vector Controlled Induction Motor Drive
• Transient Characteristics:
• From the previous equation the transfer function between the rotor flux linkage and its
command is derive as

• The rotor flux linkage including the initial condition is derived as

• The time domain response of rotor flux linkage can be derived.

• Similarly for the torque producing component a step command change can be
evaluated when combined with the rotor flux linkages response, it gives the torque
response.
• The transfer function between the torque current and its command is derived as

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 Parameter Sensitivity of the Indirect
Vector Controlled Induction Motor Drive
• On a speed controlled IM Drive:
• The closure of an outer loop ensures that the electromagnetic torque 𝑇𝑒∗ will be
modified until the actual output torque is equal to the load torque in steady state,
regardless of the parameter variations in the induction motor.
• The ratio of torque to its command value can be denoted by C.

• We have seen before

• Let

•
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 Parameter Sensitivity of the Indirect
Vector Controlled Induction Motor Drive
• On a speed controlled IM Drive:
• Hence from

• Note that 𝑇𝑒 = 𝑇𝑙 and solving for 𝑇𝑒∗ leads to cubic equation.

• One real root constitutes the solution of the equation. From 𝑇𝑒∗

3 February 2025 40
 Parameter Sensitivity Compensation
• The effects of mismatch between the induction motor and vector controller can be
minimized by adapting the parameters in the vector controller to the actual motor
parameters at all times.
• This requires monitoring of motor parameters but direct monitoring is difficult when
while the drive is in operation.
• These parameter adaptation schemes based on one of the following strategies:
• 1. Direct monitoring of the alignment of the flux and the torque producing stator
current component axes or real-time measurement of the instantaneous rotor
resistance or both. → DIRECT PARAMETER ADOPTAION SCHEME
• 2. Measurement of modified reactive power, measurement and estimation of rotor flux
or the deviation of field angle or a combination of rotor flux and torque producing
component of the stator current → INDIRECT PARAMETER ADOPTAION SCHEME
• This classification is based on how parameter compensation signal is generated –by
direct measurement of parameter/alignment of the axes or by indirectly monitoring the
system parameter variations.
• Most of the parameter adaptation algorithms are themselves parameter dependent.
This particular aspects can cause significant error in the computation of the variables
used in the parameter compensation scheme.

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 Modified Reactive Power Compensation
Scheme
• The modified reactive power is defined by
𝐿𝑚 𝑒
𝐹=− 𝜔𝑠 𝑖𝑑𝑠 𝜆𝑟
𝐿𝑟
• And its command value is given by

• 𝐹 is estimated from terminal voltages, phase currents and other command variables.
• 𝐹 ∗ is obtained from command variables of rotor speed, slip speed, flux-producing
component of stator current and rotor flux linkages.

• The parameter 𝐾11 is dependent on motor inductances; hence their variation will affect
the computation
3 February 2025 of F and in the final analysis the parameter computation. 42
 Modified Reactive Power Compensation
Scheme
• A change in operating point will alter 𝐹 ∗ and accordingly 𝐹.
• Note any parameter variation will in the induction motor will change F and make it
deviate from its expected and commanded value 𝐹 ∗ indicating a change in the rotor
time constant.
• The error between 𝐹 ∗ and 𝐹 is amplified through a controller and a correction signal is
obtained to correct the rotor time constant in vector controller.

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 Parameter Compensation with Air-Gap
Power Feedback Control
• A parameter compensation scheme using airgap power is explained here to overcome
the dependence on inductances in modified reactive power method.
• The basis of the scheme is that the air gap power in the machine is equal to its
reference value when controller and motor parameters match but develops an error
when motor parameter varies.

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 Parameter Compensation with Air-Gap
Power Feedback Control
• The control scheme is shown in block-diagram form in Fig. (previous slide) with DC link
voltage and stator currents as feedback variables.
• From the stator phase currents and inverter gate drive logic signals DC link current can
be reconstructed; when multiplied with the DC link voltage, it gives the input power
from the DC link.
• Subtracting the three phase stator copper and inverter losses from DC link power
provides the airgap power 𝑃𝑎
• The reference air gap power 𝑃𝑎∗ is generated by the product of torque and stator
frequency references.
• The error between the reference and measured airgap power is amplified with a P-I
controller to provide a parameter compensation signal.
• Since this is a single signal and there are three parameters are involved in the vector
controlled IM drive; hence the most sensitive parameter (say rotor resistance) can be
adjusted using this signal.

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 Parameter Compensation with Air-Gap
Power Feedback Control
• Note 𝑅𝑟∗ is summed with Δ𝑅𝑟∗ to provide the required resistance for vector controlled
drive.

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 Parameter Compensation with Air-Gap
Power Feedback Control
• The machine RMS current thus obtained as

• This motor current when applied with a stator frequency of 𝜔𝑠 given by

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 Parameter Compensation with Air-Gap
Power Feedback Control
• The airgap power is then calculated as

• And the reference airgap power is given by

With rotor resistance

variation 0.5 to 2 times.

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 Parameter Compensation with Air-Gap
Power Feedback Control
• The effect due to variation in magnetizing inductance from 0.8 to 1.2 times nominal
value is shown in Fig, for the same condition as above.

• The magnetizing inductance variation also to be compensated in vector controller, only

in the slip speed signal generation ie. Through variation of 𝑅𝑟∗ value.
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 Parameter Compensation with Air-Gap
Power Feedback Control
• In that case the new value of 𝑅𝑟∗ for variation of 𝐿𝑚 can be calculated from the airgap
equation with following steps:

• From which a quadratic equation in slip speed is obtained as

• From which the rotor resistance to be instrumented in the controller is obtained by

•
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 Parameter Compensation with Air-Gap
Power Feedback Control
• The rotor resistance variation in the controller required to overcome the magnetizing
inductance variation from 0.8 to 1.2 times nominal value is shown below.

Variation of rotor
resistance
in vector controller vs.
magnetizing
inductance to deliver
rated air
gap power

• This figure verifies that the parameter compensation can be achieved through the slip
speed variation alone from all parameter changes in the vector controller.

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 Speed Controller Design for an Indirect
Vector Controlled Drive
• As the flux variation is slow

• The stator equations of the motor are

• Again for vector controller the following relationship of the rotor q and d axes flux
linkages are made

•3 February 2025 52
 Speed Controller Design for an Indirect
Vector Controlled Drive
• As the flux variation is slow

• The stator equations of the motor are

• Again for vector controller the following relationship of the rotor q and d axes flux
linkages are made

•3 February 2025 53
 Speed Controller Design for an Indirect
Vector Controlled Drive

• Substituting this in the stator voltage equation gives,

• Substituting for 𝜆𝑟 = 𝐿𝑚 𝑖𝑓

• Again the stator frequency is represented as

3 February 2025 54
 Speed Controller Design for an Indirect
Vector Controlled Drive
• From this equation the torque producing component of the stator current is derived as

• The load dynamics can be represented as

• Hence the transfer function between the speed and torque producing current is
derived as

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 Speed Controller Design for an Indirect
Vector Controlled Drive
• For Inverter

• For sped controller

• Current feedback TF

• Speed Feedback Transfer function

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 Speed Controller Design for an Indirect
Vector Controlled Drive

Where EMF constant is given by

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 Speed Controller Design for an Indirect
Vector Controlled Drive

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 Speed Controller Design for an Indirect
Vector Controlled Drive

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 Speed Controller Design for an Indirect
Vector Controlled Drive
Substituting of these into 𝐺𝑖 𝑠 results in

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 Speed Controller Design for an Indirect
Vector Controlled Drive
• The transfer function 𝐺𝑖 𝑠 is simplified by using the fact that 𝑇1 < 𝑇2 < 𝑇𝑚 and at the
vicinity of the crossover frequency, the following approximation are valid:

• Where 𝐾𝑖 and 𝑇𝑖 are the gain and time constant of the simplified current loop transfer
function

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 Speed Controller Design for an Indirect
Vector Controlled Drive
• The loop transfer function of the speed loop is given by (with approximation 1 + 𝑠𝑇𝑚 ≅
𝑠𝑇𝑚

• The transfer function of the speed to its command is derived as

• By equating the coefficient of the denominator polynomial to the coefficient of the

symmetric optimum function.
• The symmetric optimum function for a damping ratio of 0.707 is given by

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 Speed Controller Design for an Indirect
Vector Controlled Drive
• From which the speed controller constants are derived as

• The proportional and integral gains of the speed controller are respectively then
obtained as

• The overshoot can be suppressed by cancelling the zero with the addition of a pole
(1 + 𝑠𝑇𝑠 ) in the path of the speed command.

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 Home-work Exercise
• A vector controlled induction motor drive (as shown in Fig. next slide ) operates with
flux reference 1 pu and a speed reference of 0.6pu. The load on the machine is 0.3pu
and the machine is fed from a DC bus voltage of 1.75 pu. The vector control ensures the
alignment of the rotor flux vector on the q-axis. The base frequency is the rated
frequency of the machine and all other base quantities are chosen as the rated
operation of the machine.
∗ and 𝐼 ∗ in this operating conditions.
• Evaluate: 𝐼𝑚𝑟 𝑠𝑑
• If the maximum current allowed in the machine is 1.1pu, what is maximum torque that
can be set using this vector control technique? Assume 20% relaxation in each
parameters from the PI controller for dynamics response.
• If the speed reference is changed to 0.3 pu to 0.7 pu, differentiate the performance of
the drive with and without the decoupling terms.
• Explain the generation of unit vector 𝜌 from the measured current and rotor speed

3 February 2025 64
 Home-work Exercise
∗ ∗
I𝑚𝑟 𝐼𝑠𝑑
+ +
- -
Modulator
Decupling 𝐼𝑠𝑑 Decupling +
𝐼𝑚𝑟 Block-1 Block-2 Induction
∗
𝜔∗ 𝐼𝑠𝑞 Machines
+ +
- -

𝐼𝑠𝑞
𝜔
ρ
𝐼𝑅
𝐼𝑚𝑟 Feedback
Signal
𝐼𝑌
𝐼𝑠𝑑 Generation 𝐼𝐵
𝐼𝑠𝑞 𝜔

3 February 2025 65
 Questions?

Thank you

3 February 2025 66