Part 2- 1

Summary
Dynamical Operation, Vector Control, DTC and Encoder-less Operation

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 Part 2- 2
Seamless discussion of dynamic
control and encoder-less operation
TLoad

0 t
m

0 t

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 Part 2- 3

What is an Electric-Motor Drive?

Electric
Drive

Power
Processing Motor Load
fixed Unit (PPU)
form
adjustable speed /
Electric Source position
form
(utility)
Sensors

Controller measured Power

speed/ position Signal

input command
(speed / position)

- Harnessing of Wind Energy

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permission from MNPERE -Hybrid Electric
permission Vehicles
from MNPERE
 Part 2- 4

Power Processing Unit

a a
 b
Vd b  c
 c Vd     
acmotor

vcontrol,a (t)
qa (t) qb (t) qc (t)

vcontrol,b (t) da (t) db (t) dc (t)

vcontrol,c (t)
vtri (t)

Reference Book: First Course on Power Electronics by Ned Mohan, published

by MNPERE (See www.MNPERE.com for details).
©Copyright Ned Mohan 2005, by ©Copyright Ned Mohan 2005, by
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 Part 2- 5
Equivalent Windings in A Squirrel-Cage Rotor
b  axis

Stator
B  axis

m
ib
A  axis
ia (t )  ib (t )  ic (t )  0
m 3
iB a  axis Lm  Lm,1 phase
iA
ia 2
iC
Ls  Ls  Lm
ic

c  axis
C  axis Rotor
(a ) iB
ib i A (t )  iB (t )  iC (t )  0
 
vb vB  0 R i A 3
 R s ia 
r
 Lm  Lm,1 phase
 
va 
  vA  0 2

vc
vC  0 Lr  Lr  Lm
 iC
ic

Stator circuit Rotor circuit

(b) ( b ) Mutual
Figure 2-5 Rotor circuit represented by three-phase windings.
LaA  Lm,1 phase  cos m
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 Part 2- 6

Dynamic Analysis of Induction

Machines in Terms of dq-
Windings

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 Part 2- 7
Representation of Stator MMF by Equivalent dq Windings
dq winding magnetizing inductance =( 3/ 2)2 Lm,1 phase
q  axis
b  axis at t
3
Ns
isq  2  (3/ 2) Lm,1 phase
is
d  axis
isd  da  Lm
a  axis

isa (t )  ia (t )  ib (t ) e j 2 / 3  ic (t ) e j 4 / 3

c  axis  N 
Fsa (t )  s isa (t )
2
q  axis
b  axis at t
3
Ns
N 

is
d  axis
2
2

isd  jisq  s isd
2

 da
a  axis
projection
2 d
isq  projection 
2
3
projection

isd  projection 
2
isd  jisq   3
is
3

c  axis

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 Part 2- 8

Mutual Inductance between dq Windings on the

Stator and the Rotor
at t
qaxis
d
3
Ns d
isq 2  daxis
is 3
3 Ns
Ns 2
2 3 isd
irq  2
isd

ir m
3
isq
ird Aaxis
2 dA rotor
3
irq 3
2 m 2
ird
aaxis
da stator

Fta
Figure3-3Sigto
ure
r a3
n-3Sta
drototo
r rreap
n dse
re ronto
tartio
mnm fy
breep
qresea
uiv nle
tan
tio
tdnqbwyindingcurrents. The
dqwindine gqv
uoiv
ltaalens
ge td qw
are din din
efin ga
ed cs
urre
pon ts. e at thedottedterminals.
sitiv
Notethat the relative positions of thestator andtherotor current
spacevectors arenot actual, rather onlyfor definitionpurposes.

sd  Lsisd  Lmird rd  Lr ird  Lmisd

©Copyright Ned Mohan 2005, by sq  Ls isq  Lmirq rq  Lr irq  Lmisq
permission from MNPERE
 Part 2- 9

Mathematical Relationship between dq and phase

Winding Variables (abc to dq)
i
a iA
i
sd i
rd
i
b [
Ts]
abc
 d
q i [
T ]
B rABCd
q
i
sq i
i
c i rq
C

da 
dA
(
a)s
tat
or (
b)r
oto
r

F
ig
ur
e 3
-4T
ra
nsf
orma
ti
ono
fph
as
equ
ant
itie
sin
tod
qwi
ndin
gqu
ant
iti
es.

 2 4   2 4 
cos( da ) cos( da  ) cos( da  )  ia (t )  cos( dA ) cos( dA  ) cos( dA  )  i A (t ) 
isd (t )  2 3 3   ird (t )  2 3 3  
 i (t )     ib (t )   i (t )     iB (t ) 
 sq  3 2 4    rq  3 2 4  
 sin( da )  sin( da  )  sin( da  )  ic (t )   sin( dA )  sin( dA  )  sin( dA  ) iC (t ) 
   
            3       3              3        3 
[Ts ]abc  dq Tr ABC  dq

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 Part 2-
10

Mathematical Relationship between phase Winding

Variables and dq (dq to abc)

   
 cos( da )  sin( da )   cos( dA )  sin(dA ) 
ia (t )     i A (t )   
 i (t )   2 cos(  4 )  sin(  4 )  isd  i (t )   2  cos(  4 )  sin(  4 )  ird 
b  da da   B  dA dA  
3 3 3   isq  3 3 3   irq 
 ic (t )   iC (t ) 
2 2   2 2 
cos( da  )  sin( da  )  cos( dA  )  sin(dA  )
                 3 
 3
              3 
 3
Ts dq  abc Ts dq ABC

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 Part 2-
Derivation of Voltages in dq Windings 11

d
v abc  Rs i abc   abc
dt
d
[Ts ]abc dq v abc  Rs [Ts ]abc dq i abc  [Ts ]abc dq  abc
dt
v dq  Rs i dq  [Ts ]abc dq
d
dt

[Ts ]dqabc  dq 
d d
v dq  Rs i dq  [Ts]abc dq [Ts ]dq abc
       dt
  dq  [Ts ]abc dq  
[Ts ]dq abc  dq
     dt     
1 0 0 1
0 1 d  
  1 0 

d
vsd  Rsisd  sd  d sq
dt
d
vsq  Rsisq  sq  d sd
dt
d
vrd  Rr ird  rd  dArq
dt
d
vrq  Rr irq  rq  dArd
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 Part 2-
12
Electromagnetic Torque on the Rotor d-Axis
  3/ 2 N s  Lr
Bˆ rq  0   (isq  irq )
g  2 Lm
q  a x is d  a x is          
isq d u e to is q a n d ir q mmf

a d d
 3/ 2 N s ˆ 
ir q le a k a g e flu x Td ,rotor    rBrq  ird
d  
ir d
d u e to irq
 2 
s u b tra c t
a  a x is
2
 0   3/ 2 N s  L
Td ,rotor    r   (isq  r irq )ird
d  g   2 Lm
 

3  2
N   L
Td , rotor    0 r s   (isq  r irq )ird
 2 g  2   Lm
        
F ig u re 3 -8 T o rq u e o n th e ro to r d -a x is . Lm

Td ,rotor  ( Lmisq  Lr irq ) ird  rq ird

     
rq

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 Part 2-
13
Electromagnetic Torque on the Rotor q-Axis

d u e to is d a n d ir d
d  a x is
q  a x is

isd
Net Electromagnetic
a d d

q
Torque
irq
 
ird s u b tr a c t
a  a x is Tem  Td ,rotor  Tq,rotor

p
q Tem  (rqird  rd irq )
2
le a k a g e flu x
d u e to ird
d T T
mech  em L
dt J eq
F ig u re 3 -9 T o rq u e o n th e ro to r q -a x is .

Tq,rotor   ( Lmisd  Lr ird ) irq  rd irq

     
rd
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 Part 2-
Simlink-based dq-Axis Simulation of Induction Motor 14

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 Part 2-
15

Simulation Results

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 Part 2-
16

Mathematical Description of Vector

Control

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 Part 2-
17
Motor Model with the d-Axis Aligned with the Rotor
Flux Linkage Axis
att
qax
is
d
3
Ns d
isq 2  dax
is
is 3
3 Ns
N 2
2
s 3 isd
irq  2
isd

ir m
3
isq
ird Aax is
2 dA roto
r
3
irq 3
2 m 2
ird
aax is
da stato
r

F
igu
re5 F
-1S
tia
g
tu
orr
ea3
n-d
3rS
otta
tr
oor
m a
mnd
frre
o
pto
rers
m m
en
tafti
ro
ep
nr
e
b se
yn
eqtu
at
ii
o
vanb
le
nytd
qwin
din
gcu
rren
ts.
eq uivalentdqw in
din gcurrents.
Thed -axisisalig nedw ith r .

d L
rq (t )  0 rq (t )  0 irq   m isq
dt Lr
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 Part 2-
Dynamic Circuits with the d-Axis Aligned with the 18

Rotor Flux Linkage Axis

Calculation of  dA :
d
vrq  Rr irq  rq  dArd
dt
irq Lm
 dA   Rr  isq
rd  r rd

Calculation of Torque Tem :

p
Tem   rd irq
2
L
irq   m isq
Lr

p L 
Tem  rd  m isq 
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 Part 2-
19
D-Axis Rotor Flux Dynamics

rd  Lrird  Lmisd

Lr
r 
Rr
d
vrd  Rr ird  rd  dA rq
 dt 
0 0

d  L
rd  rd  m isd
dt r r

Lm
rd ( s )  isd ( s )
1  s r

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 Part 2-
Motor Model 20

rd rd Lm isd

1  s r

r

D
 da d  dA N isq
1/ s  N/D Lm


m rd
Tem p Lm
 
2 Lr
p  mech
2


Figure 5-4 Motor model with d-axis aligned with r .
t
 da (t )  0    d ( ) d
0
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 Part 2-
21

Speed and Position Loops for Vector Control

 mech
Estimated Motor Model
rd (calculated)
Tem isd
abc
 rd Fig. 5-4 isq
 mech * to dq
rd *
rd  da
 PI

 mech  da

* ia* ia
isd current
dq to ib* regulated ib Motor
abc ic* ic
* PPU
* isq
*
 mech  mech *
Tem
 P  PI  PI
  
    mech  mech
d / dt
(measured)

 mech  mech Tem

(measured) (measured) (calculated)

Figure 5-8 Vector controlled induction motor drive with a current-regulated PPU.

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 Part 2-
22

Design of Speed Loop

*
 mech isq ( s ) Tem  mech
k 1
 kp  i k
 s sJ eq


rd  Lmisd

p L2m *
Tem  isd isq
2 Lr
   
k

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 Part 2-
23

Simulation of CR-PWM Vector Controlled Drive

using Simulink

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 Part 2-
24

Simulation Results of a Vector

Controlled Induction Motor Drive

Figure 5-11 Simulation results of Example 5-2.

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 Part 2-
25

Space-Vector Pulse-Width-
Modulated (SV-PWM) Inverters
Advantages
• Full Utilization of the DC Bus Voltage
• Same simplicity as the Carrier-Modulated PWM
• Applicable in Vector Control, DTC and V/f Control

©Copyright Ned Mohan 2005, by

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 Part 2-
26
Synthesis of Stator Voltage Space Vector


 vsa (t )  va (t )e j 0  vb (t )e j 2 / 3  vc (t )e j 4 / 3
a ia

b ib vb va  vaN  vN ; vb  vbN  vN ; vc  vcN  vN
vc v 
Vd  a
c ic
e j 0  e j 2 / 3  e j 4 / 3  0


vsa (t )  vaN e j 0  vbN e j 2 / 3  vcN e j 4 / 3


N
qa qb qc 
vsa (t )  Vd ( qa e j 0  qbe j 2 / 3  qce j 4 / 3 )
Figure 7-1 Switch-mode inverter.

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 Part 2-
27
Basic Voltage Vectors

 
v2 (010) v3 (011)  
vsa (000)  v0  0
sector 2  
vsa (001)  v1  Vd e j 0
sector 1  

vs vsa (010)  v2  Vd e j 2 / 3
sector 3
 
  vsa (011)  v3  Vd e j / 3
v6 (110) v1 (001)  
a -axis vsa (100)  v4  Vd e j 4 / 3
 
vsa (101)  v5  Vd e j 5 / 3
sector 4 sector 6
 
vsa (110)  v6  Vd e j
 

sector 5 vsa (111)  v7  0
v4 (100) 
v5 (101)

 
Figure 7-2 Basic voltage vectors ( v0 and v7 not shown).

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 Part 2-
28
Synthesis of Voltage Vector in Sector 1


v3  Vd e j / 3

 1  
(1) vsa  [ xTs v1  yTs v3  zTs  0]
Ts

vs  Vˆs e j s   

(2) vsa  xv1  yv3
yv3

s v1  Vd e j 0 (3) x  y  z  1

(4) Vˆs e j s  xVd e j 0  yVd e j / 3


xv1

Figure 7-3 Voltage vector in sector 1.

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 Part 2-
29
Limit on the Amplitude of the Stator Voltage
Space Vector

 j t
(1) vsa,max (t )  Vˆs,max e syn
Vd

Vˆs,max 600 3
(2) Vˆs,max  Vd cos( ) Vd
300 2 2
Vd
2 V
(3) Vˆphase,max  Vˆs ,max  d
3 3

Vˆphase,max V
(4) VLL,max (rms )  3  d  0.707 Vd
Figure 7-7 Limit on amplitude Vˆs . 2 2

3
(5) VLL,max (rms )  Vd  0.612Vd (sinusoidal PWM)
2 2

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 Part 2-
Synthesis using Carrier-Modulated PWM 30
vtri
vcontrol , a
vcontrol ,b
0
vcontrol , c

Vd
va (t )  vb (t )  vc (t )  0
vaN
0 x/2 x/2
Vd vcontrol , a va  vk

vbN
y/2
Vˆtri Vd / 2
0 y/2
Vd
vcontrol ,b vb  vk
z0 / 2 z0 / 2 
0
vcN
z7 Vˆtri Vd / 2
Ts / 2 vcontrol ,c vc  vk
Ts 
Vˆtri Vd / 2
Figure 7-4 Waveforms in sector 1; z  z0  z7 .
max(va , vb , vc )  min(va , vb , vc )
vk 
2

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 Part 2-
31
Synthesis of Space Vector using Carrier-Modulated
PWM in Simulink

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 Part 2-
32

Control Waveforms for Carrier Pulse-Width-Modulation

Figure 7-6 Simulation results of Example 7-1.

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 Part 2-
33

Direct Torque Control (DTC) and

Encoder-less Operation of
Induction Motors

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 Part 2-
DTC System Overview 34

Measured Inputs: Stator Voltages

and Currents

* * Vd  q Estimated Outputs: 1) Torque,
 mech Tem a
 PI  2) Mechanical Speed, 3) Stator
  
 mech  Tem Flux Amplitude and 4) its angle
Selection qb
ˆs*  of
  
ˆs vs
qc
 s

ic ib ia
Estimator

IM

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2005, by diagram of DTC.
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 Part 2-
35
Principle of DTC Operation

s (t ) 
vs T

s (t  T )
 
s r (t )  r (t  T )
r  rA Rotor A-axis

m
a -axis

Figure 8-2 Changing the position of stator flux-linkage vector.

p Lm ˆ ˆ
Tem    sin  sr
2 s r
2 L
 sr   s   r

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36

Calculation of Stator Flux:

  d    t  
vs  Rs is  s   (t )   (t  T )   (v  R i )  d  ˆ e j s
dt s s s ss s
t T
Calculation of Rotor Flux:
Estimating Mechanical Speed:
 Lr  
r  (s   Ls is )  ˆr e j r
Lm d  (t )   r (t  T )
r  r  r
2 dt T
where   1  Lm
Ls Lr
2  3 Tem 
 slip   Rr 2 
p  2 ˆr 
Estimating Torque:
p    m   r   slip
Tem  Im(sconj is )
2
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 Part 2-
37
Inverter Basic Vectors and Sectors

b-axis 
 v3 (011)
v2 (010)

3 2

 
v6 (110) v1 (001)
a-axis
1
4

6
5
 
v4 (100) v5 (101)
c-axis

Figure 8-3 Inverter basic vectors and sectors.

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 Part 2-
38

Stator Voltage Vector Selection in Sector 1

 
v2 v3

s
 
sector 1 v6 v1
 
v4 v5
Figure 8-4 Stator voltage vector selection in sector 1.

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 Part 2-
39
Selection of the Stator Voltage Space Vector
b-axis 
 v3 (011)
v2 (010)
Effect of Voltage Vector on the Stator
3 2 Flux-Linkage Vector in Sector 1.

 
v6 (110) v1 (001)
a-axis
1
4


ˆs
6


5

vs Tem
v4 (100) v5 (101)
c-axis 
Figure 8-3 Inverter basic vectors and sectors.
v3 increase increase
  
v2 v3

v2 increase decrease
 s 
  v4 decrease decrease
s e c to r 1 v6 v1
  
v4 v5 v5 decrease increase
F ig u re 8 -4 S ta to r v o lta g e v e c to r s e le c tio n in s e c to r 1 .
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 Part 2-
40
Effect of Zero Stator Voltage Space Vector

 
s (t )  s (t  T )

r (t )
s r (t  T )
r  rA Rotor A-axis at t
Rotor A-axis at t-t
m
 m
a -axis

 s 0 sin  sr  ( s   r )

 rA 0 Tem k ( s   r )

 r   m   rA  m Tem k ( m )

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 Part 2-
41

DTC in Simulink

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 Part 2-
42

Fig. 2 Torque Waveforms.

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 Part 2-
43

Fig. 3 Speed Waveforms.

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 Part 2-
44

Fig. 4 Stator Flux.

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 Part 2-
45

Fig. 5 Stator and Rotor Fluxes.

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 Part 2-
46

Vector Control of Permanent-

Magnet Synchronous-Motor Drives

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 Part 2-
47

Non-Salient Permanent-Magnet Synchronous Motor

b  axis 
b  axis 
Br d -axis
ib q-axis ib
a'
m
m N
N

ia
a  axis ia a  axis
S S

ic ic
a

c  axis c  axis

( a) (b)

Figure 9-1 Permanent-magnet synchronous machine (shown with p =2).

sd  Ls isd   fd sq  Ls isq

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Non-Salient Permanent-Magnet Synchronous Motor

(Continued)

d
vsd  Rs isd  sd  m sq
dt
d
vsq  Rs isq  sq   m sd
dt

p p p
Tem  (sd isq  sq isd ) Tem  [( Ls isd   fd )isq  Ls isq isd ]   fd isq
2 2 2
p
m   mech
2
d T T
 mech  em L
dt J eq

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 Part 2-
49
Controller in the dq Reference Frame
ia
*
isd k v*sd v*a
kp  i
 s

  PWM ib
Motor
 dq vb*
to
*
isq k v*sq abc vc* Inverter ic
kp  i
 s  position
  sensor

 p
 m ( Ls isd   fd )
decoupling  m (  mech )
 terms 2
 m Lsisq 
 isd abc
to
isq dq
m 1
s

Figure 9-3 Controller in the dq reference frame.

d d
vsd  Rs isd  Ls isd  ( m Ls isq ) vsq  Rs isq  Ls isq   m ( Ls isd   fd )
dt      dt       
compd compq

2 2 3ˆ
isd  isq  Iˆdq , rated ( Ia ,rated )
2
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 Part 2-
50
Vector Control of a Permanent-Magnet Synchronous-
Motor Drive

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 Part 2-
51

Simulation Results

Figure 9-5 Simulation results of Example 9-1.

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