KHAMBADKONE AND HOLTZ: COMPENSATED SYNCHRONOUS PI CURRENT CONTROLLER
the modulator was done on the DSP along with a table-based
Fig. 10. Current control with harmonic compensation in overmodulation
range. All magnitudes expressed in per unit.
Fig. 11. Compensation of harmonic current during six-step, i component.
All magnitudes expressed in per unit.
Fig. 12. Compensation of harmonic current during six-step, i component.
All magnitudes expressed in per unit.
it possible to operate with a high-bandwidth current controller,
even in steady-state condition, which was not possible earlier
(Fig. 1). With the compensation, the current controller band-
width could be increased to around 500 Hz, roughly five times
its previous value. The compensation scheme is not only suit-
able for PI-type controllers, but also for other linear controllers.
VI. IMPLEMENTATION
The vector-controlled induction motor drive was imple-
mented on a TMS320C25 digital signal processor (DSP). The
count/comparator unit of the pulsewidth modulator was imple-
mented on a programmable logic array (PLA) of the MACH
type. The counter and comparator have a resolution of 12 bits.
The calculation of times for the complete range of operation of
579
preprocessor. The switching frequency of operation was 1.5
kHz. A sampling frequency of 3 kHz was used for the operation
of the inner loop. The inner loop consists of current sampling,
coordinate transformation, flux estimation, and compensated
current control. To upgrade the system, the harmonic current
estimator is added to the inner current control loop. The speed
loop was computed at a lower rate. The control system was
tested out on a 7.5-kW induction motor drive.
VII. CONCLUSION
Overmodulation increases the utilization of the installed
capacity of the inverter. Hence, it is being increasingly used
in control of induction motors. However, in vector-controlled
drives, where current control is mandatory, the presence of
harmonic current deteriorates the performance of the current
controller so much that a steady operation during overmodu-
lation II and six-step operation becomes difficult, even during
steady state. A compensated synchronous PI current controller
in overmodulation was proposed while maintaining the advan-
tages of a feedforward PWM scheme. Current estimation in
field coordinates used a simple first-order model and the current
control in field coordinates allows a simple control structure.
The proposed scheme can also be easily implemented on a
state-of-the-art microcontroller/DSP. The proposed scheme
allows for easy upgrade of an already running conventional
vector control scheme to include the overmodulation. The
addition of a simple estimator and coordinate transforms help
us to retain the conventional vector control structure and, thus,
reduce design-to-market time.
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