New approach to field orientation control of a CSI induction motor drive

Jie Zhang, MSc V. Thiagarajan, MSc T. Grant, MEng T.H. Barton, DEng, FIEE

Indexing term: Induction motors

Abstract: An improved approach to the field orientation control of a CSI-IM drive is developed. The primary current variables in the synchronous reference frame are acquired directly from the DC-link current and the phase angle of the stator current. Flux position estimation is performed by feedback of the primary currents. This substantially reduces the matrix co-ordinate transformations, and simplifies the control strategy. An innovation in the positioning control of the stator current vector is provided by a binary gating pattern in combination with a real-time interrupt technique. A new control scheme, incorporating a nonlinear current controller, has been developed. The analysis and control scheme are verified by experimental results.

X2 = rotor flux linkage vector ^2a> ^2/? = components of X2 along the alpha and beta axes Idc, Idcref = DC-link current and reference DC-link current h* hap = magnitude of the actual and reference stator current = electromagnetic torque and load torque Te, Tt T2 = r o t o r time constant, (l2 + L2)/r2 Tm = mechanical time constant 7^ = sampling period a.ref = convertor reference delay angle Kr numeric factor

Introduction

List of principal symbols = designate orthogonal axes in the synchronous reference frame = stator and rotor resistances r l5 r2 h, l2 = stator and rotor leakage inductances Llt L2 = stator and rotor airgap inductances M = stator-rotor mutual inductance n = number of pole pairs &>! = radian frequency of the supply cosl = radian frequency of the rotor currents s = slip p = the differential operator, d/dt v i*> vip alpha and beta components of the applied voltage hathfi = alpha and beta components of the stator current ha > hp = alpha and beta components of the rotor current iM = magnetising current in the alpha-beta frame *P = angle of the alpha axis with respect to the stator reference direction 6 = angle of the stator M M F vector relative to the alpha axis X = airgap flux linkage vector = rotor leakage flux linkage vector X2l
Paper 5728B (PI, P6), received 20th February 1987 The authors are with the Department of Electrical Engineering, The University of Calgary, 2500 University Drive NW, Calgary, Alberta, Canada, T2N 1N4 IEE PROCEEDINGS, Vol. 135, Pt. B, No. 1, JANUARY 1988

a, /?

Field orientation control of induction motors [1] is one of the most important topics in the variable speed drive area today; its key technique is the acquisition of flux position. Any direct flux sensing scheme requires a special machine with a flux sensing device. Indirect field orientation by Hasse [2], for which the flux position is estimated based on machine electrical input quantities as well as machine parameters, is preferred in most applications today. As an exact practical realisation of the indirect method is extremely difficult, considerable effort has been made to attain it and remarkable results have been achieved [3-10, 15]. Most field orientation schemes in the literature are based on variable transformations. Several mathematical co-ordinate transformations are required to translate the AC electrical quantities of the induction motor to the DC quantities of the two-phase model in the synchronous reference frame. This results in much calculation, and a sophisticated control task. It also leads to difficulties in system design and implementation. Alternatively, field orientation control of an induction motor fed by a current source inverter can manipulate the DC-link current in proportion to the magnitude of the stator current vector. Together with phase angle control of the stator current, this provides a direct variable transformation and a simple realisation of field orientation control. Although the inductor interposed between the rectifier and the current source inverter is a substantial component which introduces lag into the system, its presence is substantially compensated by the simplicity and robustness of the system and the ease of regeneration. This is accomplished by a single rectifier without any special control measures.

Theory of field orientation

Based on two-axis machine theory, the differential equations of an induction motor can be written by the use of a (} variables in the synchronous reference frame. The mathematical model of a cage induction motor is i + p{lx + L J 0 0
(/i + >i pM Mcosl (/t + Li)a>i
r

The block diagram representation of a cage induction motor which arises from these equations is illustrated in Fig. 1, where iM is the actual magnetising current, and Tm is the mechanical time constant corresponding to the total moment of inertia on the drive shaft. k2 is constant
Mco^ pM - ( / 2 + L2)tosl r2 + p(/ 2 + L 2 )
-l2P_ Ha

pM McOi

i + P('i + ^1)

-Mcos/ pM

r 2 +p(/ 2 -t (l2 + L2)

he

(1)

The number of effective turns of the stator and rotor windings is normalised so that Lt = L2 = M. The electromagnetic torque is
Te = 2n(k2p i2a 2a

(2)

Let the a axis of the synchronous reference frame coincide with the space vector of the total rotor flux linkage, k2 = k + kn. Then k2p = 0 and k2a = k2. The flux can be related to the currents in the synchronous reference frame: L2)i2a = k Mila (3) and
Mi
1/?

L2)i2tl = 0

(4)

if ila is maintained constant. The instantaneous torque response can be achieved by controlling only the stator torque current, iip. The transient vector diagram which appears in field orientation control is given in Fig. 2a. In the steady state, dkjdt = 0 and the vector diagram is shown in Fig. 2b. Under ideal field orientation, the instantaneous orientation of the reference frame *F and the phase angle 0 of the stator current vector are adjusted until the rotor current vector is along the negative /? axis and there is no magnetisation of the motor along this /? axis. At the same time, the magnitude of the stator current is adjusted so that the stator torque current is equal to its desired value as indicated in Fig. 2b. The

Several important relations result from this ideal field orientation. -pk2
r2
120= si

(5)

k2 r2

M l2 + L2 he

(6)

k, =

M
(7)

The slip angular frequency is related to the stator currents by

(8)

and the torque equation becomes

^2al2P

I, +

(9)

2CX/9- 2/9

Fig. 2 Fig. 1 Block diagram of an induction motor from the viewpoint of field orientation

Current variables in the synchronous reference frame

a Dynamic conditions b Steady state

1EE PROCEEDINGS, Vol. 135, Pt. B, No. 1, JANUARY 1988

position of the total rotor flux is the most important information for field orientation control. 3 New control scheme

magnitude of the stator current phasor [11] and complex mathematical co-ordinate transformations are not necessary.
ha =
COS V =
DC COS

(10) (11)

The total rotor flux position can be estimated by slip frequency angle, and a feedback of rotor position angle. The estimation of the slip frequency angle has to be based on the stator currents since the rotor currents are not accessible. A block diagram of a field orientation scheme, based on the above analysis and which is well suited to the current source inverter drive, is shown in Fig. 3. In order to acquire accurate information, the estimation of slip frequency angle in the diagram is based on the actual primary currents, ila and i1/?, instead of their command value [11] since it normally takes tens of milliseconds for the actual current to respond to a step reference input. During the transient, the command slip frequency value, co*,, which is calculated from the current command value deviates from the actual value, cosl, which is desired for correct field orientation. Obviously, the deviation is large especially at the beginning of the transient. A excessive or inadequate slip then results. The excessive or inadequate slip adversely affects the torque response of the drive [10]. Field orientation theory is essentially based on variable transformations. In order to obtain ila and iip, a number of mathematical co-ordinate transformations are required to translate the AC electrical quantities to the DC quantities of the 2-phase model in the synchronous reference frame. This results in much time consuming calculation and leads to difficulties in system design and implementation. However, it can be shown that in the CSI induction motor drive the DC-link current, IDC, has an analytical relation with the magnitude of the stator current phasor, Iu provided that the commutation effect is neglected. If commutation is included this relationship is a complex one. Fortunately the commutation period is normally brief [12, 13] and can be neglected. Our system had a maximum commutation angle of 10 and the error in neglecting it did not exceed 0.6%. Should a correction
rectangular

*I/J

= ^1 sin 6 =

DC

sin

The direct variable transformation substantially reduces the conventional matrix calculation for the co-ordinate transformation. It is not affected by the machine parameter variation and no synchronous sampling facility is required compared with the conventional co-ordinate transformation. It provides an accurate primary current control and permits a simple and economical realisation of field orientation. The new control scheme is illustrated in Fig. 4. One way to set the reference value of stator magnetising current, ilaref, is to have a flux observer to provide a magnetising current feedback [9]. This results in a complex control scheme. Furthermore, the accuracy of the conventional flux observer and the effect of the feedback control of the magnetising current are affected by the motor parameter variation. In the control scheme shown in Fig. 4, the reference value of the magnetising current, ilaref, is provided by the ila calculator block. haref *s equal to ila0, which is a constant in the normal operating range below the basic frequency, 60 Hz, and is inversely proportional to the excitation frequency during the field weakening range, above 60 Hz. Since there is no direct feedback control of the magnetising current, the actual flux of the machine may not always equal the reference value. In fact, the actual flux must be reduced at light load [15]. Therefore, it is necessary to reduce the reference value of the magnetising current under this condition. This is the reason for the input of the torque component of current, i 1/Jre /, to the ila calculator. In Fig. 4, Ks = M/T2X2 is the slip gain and i l a 0 is the rated value of the magnetising current in the synchronous reference frame. The latter can be predetermined via the RMS value of magnetising current per phase, the relation between the a /? value and the phase RMS value being (12)

KXref

4
UJ S , M
T

Simple nonlinear current regulator

1 p

10C

Fig. 3

Proposed polar form realisation offieldoriented control

be deemed necessary, a linear one proportional to the size of the DC-link current will reduce the residual error to extremely small levels, well under 0.1%. Field orientation control of a CSI induction motor drive can therefore manipulate the DC-link current in proportion to the
IEE PROCEEDINGS, Vol. 135, Pt. B, No. 1, JANUARY 1988

Because of the large variation of induction motor input impedance as slip frequency changes, a linear PI current controller may not be sufficient to achieve high performance. A nonlinear current controller [14, 11] has been designed. The schematic diagram of the current controller is illustrated by Fig. 5. The DC-link current is adjusted to a given level by controlling the rectifier commutation point. The commutation point is in turn controlled by inhibiting or applying gate pulses to the rectifier at appropriate times. When Idc < Idcref, the inhibit signal is off and the convertor controller advances normally, emitting gate pulses to the converter thyristors at suitable instants. An appropriate reference delay angle, ocref, is calculated by the microprocessor according to the required value of the DC-link current to reduce the overshoot and ripple of the output current [11]. As soon as Idc ^ Idcref the inhibit signal goes on, and the convertor controller is inhibited

from further progress. In this situation, conduction remains through a pair of thyristors and the rectifier output voltage and current decrease with time until

signals are acquired with the aid of an analogue input multimodule board, iSBX 311. The output of the manipulated variables, including the DC-link current
3-phase supply

'aO
'10c

locref

'1O/9

calculator

current controller

convertor

'dc

dc
l

lowpass filter

dc

Lf

sle

speed controller
1

1/9 ref

-Tcs

rectangular

lowpass filter Fig. 4 Block diagram of control scheme rectifier and I dc equivalent load

'iOc/9

<ref calculation

<*ref

convertor controller

Or,

inhibit signal comparator

'dcref
TT

command, gating signals of the CSI and necessary handshaking signals, is accomplished by a programmable peripheral interface (PPI). The PPI contains 24 parallel I/O lines. The block schematic diagram of the system hardware is shown in Fig. 6.
ref convertor controller
'dc

JL

convertor

'dc

'dcref
oo <J ItD

2 V(3)K C
Fig. 5 The nonlinear current controller

S ' E | USART"
RyD

/MisBX 311

CS1

Idc < Idcref. This process is continued until the current reaches its steady state except when the maximum delay angle is reached. In the later case, the incoming thyristors have to be fired, irrespective of the status of the comparator. The actual mean current obtained is approximately
dcref

video terminal

Fig. 6

Block diagram of connections to microprocessor

2V3

(13)

Where Kc is about 1.1. It can be predetermined by computation or experimental test. 5 Microprocessor based system implementation

The control scheme is implemented by the use of the Intel iSBC 86/14 microprocessor. It is a 16 bit single board microprocessor, with an Intel 8086-2 CPU. For enhanced mathematical processing capability, a multimodule numerical data co-processor operating at 5 MHz is employed. A serial RS232 interface is programmed for communication with a video terminal. The feedback

5.1 Frequency control The gating states of the switch elements in a power electronic device can be represented by a set of zeros and ones. Fig. 7 lists a sequence of binary gating patterns for the current source inverter. These patterns consist of six binary bits, bO-b5, to represent the gating state of the six thyristors, TH1-TH6, respectively, during each 60 conduction interval. The 3-phase AC currents, with positive or negative phase sequence, can be obtained by output of the corresponding gating patterns in the appropriate sequence to the gate drive circuit array of the CSI [11]. A programmable counter, Intel 8253-5, provides a trigger signal to the interrupt controller, Intel 8259A, at each interval corresponding to six times the AC frequency.
1EE PROCEEDINGS, Vol. 135, Pt. B, No. 1, JANUARY 1988

The CPU is interrupted when an interrupt request is provided by the interrupt controller and control is passed to the interrupt service routine. An appropriate gating
hex
Th

Th 2

Th 3

T h 5 Th

1 1

0
1 1

0 0
1 1 0 0

0 0 0 1 1

0 0
0 0 1 1

1 0 0 0 0 1

pattern pointer phase phase

0 0 0 0

0 0 0

a> a> u c

" o- ^ a> 6w

Fig. 7

Binary gating pattern for current source inverter

pattern is fed into the drive circuit array of the CSI through the PPI and the outgoing binary gating pattern is updated by the interrupt service routine. The stator current frequency is varied simply by varying the interrupt interval. 5.2 Phase angle control of stator current One of the key techniques of field oriented control is phase angle control of the stator current. Without an appropriate phase angle control, field orientation control
C start j

degenerates into conventional slip-frequency control and the dynamic characteristics deteriorate. The implementation of phase angle control is troublesome, Usually a complex phase angle control loop is employed. However, the binary gating pattern in combination with the real-time interrupt technique just described provides a simple and effective means of phase angle control [11]. The phase angle of the stator current phasor can be instantaneously decreased or increased by increasing or decreasing the interrupt interval. This is done by first converting the increment of the phase angle into the corresponding time increment which must elapse for the phase angle change at the given frequency, then adding six times the time increment to the interrupt interval to change the phase angle. The increment of the phase angle is limited to n/3 in this project. The interrupt interval can be controlled in real time by loading the corresponding number into the programmable counter. In this way, a highly accurate and rapid phase angle and frequency control of stator current is easily achieved. 5.3 General description of software The general flowchart of the program is shown in Fig. 8. The program is written in such a way as to make it completely interactive from the terminal. System parameters

init ialization

interrupt service routine

table look-up save processor status and registers closed-loop operation communication keyboard command and parameter interpreter call SFWINV
yes

current-loop test w i t h frequency control

restore processor status and registers

return from interrupt

n = n*1

Fig. 8

Flow diagram for microprocessor program 1988

IEE PROCEEDINGS, Vol. 135, Pt. B, No. 1, JANUARY

and operating commands can be input from the keythe whole speed range, of a step load disturbance. The maximum speed deviation due to the step load disboard in real time and in arbitrary sequence. The input turbance is about 24 r/min and the speed recovery time is information is interpreted as the corresponding command or parameter by either the operation mode interpreter or system parameter interpreter. The input parameters are converted from ASCII format into floating point numbers by a subroutine. The video terminal displays an appropriate message after a parameter or command is received by the program. Normally, the drive is in close-loop operation (OPMDO). The operational model 1 (OPMD1) and model 2 (OPMD2) are provided for test purpose. The interrupt service routine provides control of phase angle and frequency of stator current as presented above. During transient response to a speed or load step reference input, the speed PI controller reaches its limit rapidly. The current loop produces the maximum allowable current to provide maximum torque for acceleration. Thus, optimal control of the speed response is realised. The optimisation is based on the index of the minimum rise time of the speed response under the constraint of ldc ^ Idcmax The limit value of the output of the speed Fig. 10 Speed response to a sudden change in speed reference from controller corresponds to the DC-link current limit. It, as 1500 to 500 r/min well as all necessary system parameters, can be adjusted 200 r/min/div a Vertical scale b Horizontal scale 1 sec/div in real time by a keyboard command. The algorithm of the speed PI controller is given in Appendix 10.1.
6 Experimental results

The experimental cage induction motor is coupled to a DC dynamometer consisting of a 20 hp DC motor. Its nameplate data and parameters are listed in Appendix 10.2. The total moment of inertia on the drive shaft is 0.88 kgm2, which is quite large for the 10 hp induction motor and slows down the speed of response. In closed loop operation, the speed reference signal is given from the keyboard. The system sampling frequency is 375 Hz. The speed response to a step reference input from 5001500 r/min with 69% rated load is shown in Fig. 9, with

Fig. 11 r/min
a b c d

Speed response to a sudden application of rated load at 1750

dynamometer reference Speed, 100 r/min/div DC link current, 40 A/div. 1 sec/div.

Upper trace Middle trace Lower trace Horizontal scale

Fig. 9 Speed response to a sudden change in speed reference from 500 r/min to 1500 r/min 200 r/min/div a Vertical scale b Horizontal scale 1 sec/div

a settling time of about 2 s and very small overshoot. The maximum transient DC-link current is limited to 2.4 times the rated value. The step down speed response from 1500-500 is shown in Fig. 10. The settling time is within 1 s and the response is very well damped. Fig. 11 demonstrates the speed response to step load disturbance. The system shows excellent rejection, over

less than 1 s. The performance is identical at different operating points. Fig. 12 depicts 10 continual speed reversals between + 1750 r/min which takes about 45 s. At the beginning of the each reversal, the output of the speed regulator reaches its limit value, i 1/? immediately. The drive then accelerates with maximum torque and quickly reaches the steady-state value. After the 10th reversal, the drive returns to the normal operation mode automatically. The load torque provided by the DC dynamometer is slightly larger in the reverse direction and the DC-link current during regeneration is higher then that in motoring. These, and friction, account for the nonlinearity of the speed response curve during the reversals. The mean speed regulation over the entire speed region is 0.116%. Even at very low speed, 50 r/min (1.6 Hz), the drive provides good performance with a speed regulation of 0.17%. The overall system performance is comparable with or better than other well designed
IEE PROCEEDINGS, Vol. 135, Pt. B, No. 1, JANUARY 1988

induction motor drives which have so far appeared in the literature [6-7, 15-18]. 7 Conclusion

An improved approach to field oriented control of a CSI induction motor drive has been presented. The direct

Fig. 12 rated load

Ten speed reversals from 1750 to -1750 r/min at 57% of

speed, 1000 r/min/div. DC link current, 40 A/div. 5 sec/div.

a Upper trace b Lower trace c Horizontal scale

variable transformation greatly reduces the conventional matrix calculations for translating the AC stator phase quantities to DC quantities in the synchronous reference frame. A new rotor flux position estimation scheme and a simple control strategy is developed. The binary gating pattern in combination with real-time interrupt technique, which is another feature of the system, provides a highly accurate and rapid phase angle and frequency control of the stator current without any complex control loop. To overcome the variation of motor input impedance and to achieve high performance, a simple nonlinear current controller is designed. The experimental results are very satisfactory and surpass all desired specifications of the project with considerable performance margins. 8 Acknowledgment

asynchronous motors'. IEE Conference Publication 234, Power Electronics and Variable-Speed Drives, 1984, pp. 233-236 5 AKAMOTSU, M., IKED A, K., TOMEI, H., and YANO, S.: 'High performance IM drive by co-ordinate control using controlled current inverter', IEEE Trans., 1982, IA-18, pp. 382-392 6 KAIMOTO, M., HASHII, M., YANASE, T., and NAKANO, T.: 'Performance improvement of current source inverter-fed induction motor drive', IEEE Trans., 1982, IA-18, (6), pp. 703-711 7 KRISHNAN, R, LINDSAY, J.F, and STEFANOVIC, V.R.: 'Design of angle controlled current source inverter-fed induction motor drive', IEEE. Trans. Ind. Appl, 1983, IA-19, pp. 370-378 8 MATSUO, T., and LIPO, T.: 'Rotor parameter identification scheme for vector controlled induction motor drives', IEEE Trans. Ind. Appl, 1985, IA-21, (4), pp. 624-632 9 KAZMIERKOWSKI, M.P., and KOPCKE, H.J.: 'Simple control system for current source inverter-fed induction motor drives', IEEE Trans. Ind. Appl, 1985, IA-21, (3), pp. 617-623 10 LORENZ, R.D.: 'Tuning of field oriented induction motor controllers for high performance applications'. IEEE-IAS Conference Record, 1985, pp. 607-612 11 ZHANG, JIE: 'Field oriented control of induction motor speed'. MSc. Thesis, Dept. of Electrical Eng., The University of Calgary, 1985 12 LIPO, T.A., and CORNELL, E.P.: 'State-variable steady-state analysis of a controlled current induction motor drive', IEEE Trans. Ind. Appl, 1975, IA-11, (6), pp. 704-712 13 FARRER, W., and MISKIN, J.D.: 'Quasi-sine wave fully regenerative inverter', IEE Proc. B, 1973,120, (9), pp. 969-976 14 ZELENKA, K.R., and BARTON, T.H.: 'Fast acting current limit for DC motor drive', IEEE Trans. Ind. Appl, 1986, IA-22, (5), pp. 798-803 15 ITO, T., YAMAGUCHI, T, UEDA, R., MOCHIZUKI, T., and SIGEO, T.: 'Analysis of field orientation control of current source inverter drive induction motor system', IEEE Trans. IAS, 1983, IA-19, (2), pp. 206-209 16 SIVAKUMAR, S., SHARAT, A.M., and NATARAJAN, K.: 'Improving the performance of indirect field orientation schemes for induction motor drives', IEEE-IAS, Conference Record, 1986, pp. 147-153 17 KEIJI, S., KENZO, K., TAKASHI, S., TAKAYUKI, M., and TOSHIAKI, O.: 'Multi-processor-based, fully digital, AC drive system for rolling mills', IEEE-IAS, Conference Record, 1986, pp. 36-41 18 DEFORNEL, B., BACH, J.L, HAPIOT, J.C., and PIERTRZAKDAVID, M.: 'Numerical speed control of a current-fed asynchronous machine by measurement of supply voltages', IEE Proc. B, 1984,131, (4), pp. 165-169 10 Appendix

10.1 Algorithm of speed controller By the use of a rectangular integration method, the digital algorithm of the PI speed controller, with the input of x(k) and the output of y(k), is given by y(k) = y(k where /a - x(k - 1)]

We gratefully acknowledge our indebtedness to the University of Calgary for the provision of facilities and to the Kirloskar Electric Company of India who financed this project. We also wish to recognise the advice and help of G.S. Hope, G. Hancock and E. Evanik of the Department of Electrical Engineering, The University of Calgary. The first author would like to thank V. Thiagarajan and T. Grant for their contribution to the hardware realisation of the project. 9 References

T = 0.053 (s) K = 1.2 Ts = the sampling period

10.2 Machine parameters 10 hp; 230 V; 26.2 A; 60 Hz; 4 pole; 1750 r/min. 1 BLASCHKE, F.: 'New method for the structure decoupling of AC induction machines'. Second IFAC Symposium on multivariable Parameters of the experimental motor are technical control systems, 1971, pp. 11-13 rl 0.242 fi 2 HASSE, K.: 'Zum dynamischen Verhalten der Asynchronmaschine lx + Lx 35.012 mH bei Betrieb mit variabler Staenderfrequenz und Staenderspannung' r2 0.144 fi ('On the dynamic behavior of induction machines driven by variable frequency and voltage sources'), ETZ Arch., 1968, 89, pp. 77-81 l2 + L2 35.574 mH 3 GABRIEL, R., LEONHARD, W., and NORDBY, C : 'Field orienM 33.888 mH tation control of a standard AC motor using microprocessor'. IEEE Parameters of the dc-link filter are Industry Applications Society, Conference Record, 1979, pp. 910-916 r, 0.105 fi 4 SCHUMACHER, W., LETAS, H.H., and LEONHARD, W.: 'Microprocessor-controlled AC-servodrives with synchronous and Lf 55 mH

IEE PROCEEDINGS, Vol. 135, Pt. B, No. 1, JANUARY 1988