Numerical simulation method for the slip power recovery system

G.D.Marques

Abstract: A numerical simulation method for the slip power recovery system is presented. The dq induction-machine model, using flux linkages as state variables is used. This leads to a simple and efficient computer program. The diode bridge rectifier is modelled using three switching functions that are determined by the sign of the corresponding AC currents. The model obtained is very simple, and accurately represents the three-phase diode bridge rectifier including the current commutation process. To merge the models of the induction machine and the diodebridge rectifier, no difficulties arise when a directvoltage intermediate circuit is present. When a direct-current circuit is used in the intermediate circuit a model of the whole induction machine and diode-bridge rectifier must be used. Parks variables can be used in this case, also. The operations performed to model the system are equivalent to assuming that the diode bridge rectifier and the DC circuits are transformed into a nonlinear circuit connected to the rotor terminals. MATLABkimulink is used to integrate the equations. Experimental and simulated results are presented and compared showing good accuracy.

circuit. The Edc voltage is dependent on the firing strategy of the current inverter and of the AC parameters and variables, i.e. the alternating voltage on the secondary of the transformer and its leakage reactance.
A C moins
111

a
AC moins
111

I
I

Q
voltage
inverter

Fig. 1 Slip power recovery system

a Intermediate direct current b Intermediate direct voltage

Introduction

The slip power recovery system (SPRS) is composed of a wound induction machine and a static frequency converter on the rotor. When a direct-current link is used, see Fig. la, this static converter is made up of a diodebridge rectifier, a DC inductor, a current inverter and a power transformer. The current inverter is usually a six-pulse thyristor rectifier working as a current inverter with firing angles greater than 90 degrees. Best performances are obtained if a PWM current converter is used. In this case the DC inductor is not necessary, because the leakage inductance of the electrical machine is sufficient to provide good filtering. To analyse the dynamic behaviour of the SPRS in detail, a detailed dynamic model is needed. Good results are obtained if the current inverter is modelled by a voltage source on its DC side. In this case, the DC intermediate circuit is modelled by a Rdc, L d c , Edc
0 IEE, 1999
IEE Proceedings online no. 19990205 Paper first received 19th January and in revised form 2nd June 1998 The author is with S q B o de Maquinas Elktricas e Electronica de Potencia, Istituto Superior Tknico, AV. Rovisco Pais 1096 Lisboa Codex, Portugal
IEE Proc.-Electr. Power Appl., Vol. 146, No. I . January I999

A direct voltage link on the intermediate circuit can also be used. In this case a capacitor or voltage source on the DC side must be used, see Fig. lb. This paper presents a simulation method for the slip power recovery system, using classical dq induction model. The flux linkages are chosen as state variables, and the symmetry of the model is used to make more simple and efficient block diagrams. A high performance simulation program is achieved. The diode-bridge rectifier can be modelled using an RLE thyristor model whose parameters are dependent on their blocking or conducting states [l]. Variable topology methods can also be used to model the diode bridge [2]. Another way to simulate the rectifier is using the asymptotic model [3, 41. The asymptotic model represents a rectifier by a nonlinear transformation connecting the AC and the DC variables. The accuracy of this model is dependent on a predefined a parameter. On the limit ( a CO) the asymptotic model represents the rectifier with ideal switches. A new model for diode-bridge rectifiers is developed in this paper, which uses some ideas from the asymptotic model from a different point of view. This paper uses a representation of the diodes with some similarities to the asymptotic model when a = 00. MATLABBimulink is used to perform the numerical integration. The model equations are represented in the

17

block diagrams used in Simulink to represent dynamic systems [ 5 ] . When a capacitor or voltage source is used on the DC side of the diode bridge, the connection between the AC machine model and the diode bridge model is straightforward. When a DC inductor is used, as in the case represented in Fig. l a , some difficulties arise. This paper shows how to merge both models and make a different model for this situation. This is done using Park's variables on the stator and on the rotor of the induction machine in a common reference frame. In contrast to other methods, this method allows the simulation of the system in any reference frame. Simulink integration methods are used. The thirdorder Runge-Kutta and the first-order Gear methods are appropriate to the application described in this case. The computer simulation program presented in this paper can be used to examine the transient performance of the slip power recovery system for the proper rating of semiconductor devices and other components such as the DC inductor. It can be used also to analyse the effects of harmonics produced by the diode bridge, and as a tool to design current and speed controllers and evaluate their performance. Such a program could therefore serve as a useful design and analytical tool.
2
Electrical machine simulation

The electromagnetic torque T, is given by:

T e p($dsiqs - $,qsids) The flux linkage derivatives can be given by:

(3)

Eqn. 4a and b are apparently disconnected from eqn. 4c and d. Their connection is given by the inductance matrix. To model these equations in the MATLAB/Simulink environment, block diagrams are designed in Simulink. These block diagrams are presented in Figs. 2-5.

2. I Induction machine modelling The induction machine model, in Park's coordinates, in a common reference coordinate system moving with speed w, relative to the stator is given by

Fig.2 Induction machine block diagram in Park's coordinates

I
product1

'qr

where U&, uqs, udr and uqr are the instantaneous voltage values, id,, i, idrand iqrare the instantaneous current , values, the flux linkages are denoted by @ and subscripts s and r refer to the stator and the rotor, respectively. The parameter p is the number of pole pairs, mm is the angular speed and wr = (U, - p w,J is the speed of the referential relative to the rotor. Table 1 shows the values of m, and wr for the most commonly used reference frames.
Table 1
~

1.
-

Reference f r a m e Stator

w,

wr

0
PO,

-" P 0 2 n f - PO,
"qs

Iqs

rs1

Rotor
Rotating field

intl

Vqs

sum1

2x f

Fig.3 Stator (or rotor) block diagram

The flux linkages and the currents are interrelated by the inductance matrix

where L,, M and L,. are the machine-cyclic inductances.

18

The whole diagram is presented in Fig. 2. The stator and the rotor blocks are equal, as shown in Fig. 3, except that the resistance parameter is in one case the stator resistance and in the other case the rotor resistance. The corresponding inputs and outputs are also shown. These blocks, presented in Fig. 3, directly reflect eqns. 4a and b or eqns. 4c and d.
IEE Proc.-Electr. Power Appl., Vol. 146, No. 1. Junuary 1999

The machine currents are obtained from the flux linkages by the product of the inverted inductance matrix. This operation is performed in the flux-current block shown in Fig. 2.
--Ill

where y is the transformation angle of the matrix C . The transformation matrix C is orthogonal and can be given by the product of two other orthogonal matrices, i.e.

and

[GI
XO
XO

angle

[cosy siny 0

-sin7 cosy

:]
1

Fig.4

Dqabc transformation block diagram

When three wires are used, the current-zero sequence component is always nil. In this paper only D Q components are used. The block diagram that can perform these two transformations is presented in Fig. 4. The inverse transformation is easy to obtain because the transformation matrix is orthogonal, i.e. the inverse transformation is defined by transposing the matrix C:
X d q O = CTXab, (10) This transformation is performed in the block diagram presented in Fig. 5.

Fcn I

Fig.5 ubcDQ transformation block diagram

Diode-bridge rectifier modelling

In MATLAB/Simulink there is a group function that can group blocks into a new one. Two of these blocks, Fig. 3 , are used to model the stator and the rotor shown in Fig. 2. The electromagnetic torque is obtained, using eqn. 3, by the addition of two flux-current products (block torque, Fig. 2), and the angular rotor speed wm is obtained by integrating the equation
J-

dw,

d t = T, - Tc

(5)

where J is the moment of inertia and T, is the load torque. All these equations are represented in Fig. 2, where the outputs are the electromagnetic torque, the four dq currents, the rotors position and the angular rotor speed. The inputs of the induction motor block are the four dq voltages, the load torque, and the speed of the reference frame relative to the stator. As in the case of the block diagrams that model the stator and the rotor, the block diagrams of Fig. 2 are also grouped and the induction motor block is generated. This block diagram can also be used for other studies to those presented in this paper.

3.1 Diode-bridge rectifier mathematical represen tation The diode-bridge rectifier modelling is carried out under the following assumptions: All diodes are represented as ideal switches. The sign of the corresponding AC current determines their on-off state. The electrical machine is symmetrical. The total losses in the diode bridge can be represented by a lumped resistor R that can be added to the DC resistance Rdc. Fig. 6 shows the representation of a three-phase diode bridge rectifier, and three functions g k (k = 1, 2, 3) are defined as shown in Fig. 7.
I
I I

dc
r

Fig.6

Diode-bridge

E
circuit

2.2 Parks transformation block diagrams The D Q transformation is defined as follows:

X a b c = CXdqO (6) where the variables Xabc that denote any AC voltages, fluxes or currents are transformed into Xdqo by the D Q transformation matrix C:

ik

(k=1.2,3)

Fig.7
c=\.3

DrJinitinn o the g,functinns f

1cos

The voltages on the AC arms (see Fig. 6) are given by

19

I E E Proc.-Electr. Power Appl.. Vol. 146, No. l a January 1999

el = g l u d c
e2

(:lla)

3.2 Diode bridge rectifier block diagram

Eqns. 11 to 15 can be represented by the Simulink model, shown in Fig. 8. The gk functions are obtained from the phase currents with table blocks. The f k functions are obtained with MATLAB function blocks F1, F2 and F3. The three g functions are multiplexed k in an array and the fk functions are obtained with eqn. 14. Each of the three eqn. 14 has a corresponding Fk function. If the voltage Ud, is imposed on the DC side, the voltages on the AC side are also imposed and can be computed by eqn. 13. The Park's voltages U,, and Uqr can be computed with an abcDQ block and are two inputs of the electric machine model. As in the previous Section, this model can be used in other studies.
Slip power recovery system simulation with 4 voltage circuit

= g2udc =g3udc

( lib)
([IC)

e3

The line voltages are

e12

= (91 - g 2 ) u d c =
(92 -g3)udc

(:12a)

e23

(12b)

e31 = (93 - g l ) u d c (lac) The phase voltages, u l , u2 and u3, defined in relation to the neutral point of the three-phase AC circuit, can be computed by U1 = f l u d c (13a)
U2

=f2udc

U3

=f3udc

(13b) (13c)

where

f2

=
=

292 - 93 - g1 293 - 91 - g2

f3

The DC current is given by

inner Idc product

When a DC voltage link is used, Fig. lb, or when no DC inductor is used on the DC intermediate circuit, and the current inverter, Fig. l a , imposes a voltage on the DC circuit, simulation of the SPRS is relatively easy to perform using simulink blocks. Fig. 9 shows the overall system block diagrams and its connections. The current outputs of the machine are transformed into phase variables using DQabc blocks. The transformation angles for the stator and for the rotor are obtained by integration of their respective derivatives, given by w, for the stator and p w, for the rotor. Rotorcurrent variables are multiplied by (-1) because the convention used on motor equations is not the same as that used in the diode-bridge model block described in the previous Section. In Fig. 9, a simple hysteresis current controller is considered to maintain the Idc current at an appropriate value. The phase voltage outputs of the diode bridge rectifier are transformed into DQ variables using abcDQ block diagrams.
~

Slip power recovery system simulation with 5 an inductor in the intermediate circuit
udc

Fig.8

Diode bridge block diagram

5. I Modelling When an inductor is used in the DC side, the block diagrams described in the previous Sections cannot be

Fig.9
20

Slip power recovery system block diagram

IEE Pror.-Elecrr. Power Appl., Vol. 146. No. I . Junuury 1999

used. The derivatives of the currents on the machine are also dependent on the Ldc. The equation of the Rdc,Ldc,Edccircuit is written as
udc

(24) and

= RdcIdc

I + L d c -d d dt c + E d c

(16)

The current can be calculated using eqn. 15 and its derivative can be calculated by dIdc dil di2 di3 - QlZ 9 2 + d t Q3- d t (17) because

(25)
The impedance matrix of the second element of eqn. 23 is

-L dcc ~ F ~ ~ ~ G T ~ ~ c
3

The derivatives of the g k are delta functions that are zero everywhere except where ik is zero. Therefore the product is always zero. Using eqns. 13, 16 and 17, the diode-bridge rectifier relationship between the rotor phase voltages U , , u2 and u3 and their corresponding currents il, i2 and i3 is given by

Eliminating the zero-sequence component,

c1

ui - f i ( R d c i d c + E d c )
U2 - f 2 ( R d c i d c U3 - f 3 ( R d c i d c

+Edc) +Edc)

[flgl
=Ldc f2gl

The first element of the impedance matrix, eqn. 23, can be computed in a similar way. After some calculations, eqn. 27 is obtained:
f1g2 f2g2

flQ3 f2$73]
f3g3

Lf3sl

f3g2

(19) Eqn. 19 can be transformed to Park's coordinates. As an orthogonal transformation is used, the fk and the gk functions are transformed in the same way as the voltages, currents and flux linkages, see eqns. 6 and 10. The left-side element of the transformed eqn. 19 is simply
ud uq

211

'? k ]

(27) Introducing eqns. 2, 19, 20, 23, 26 and 27 into eqn. 1, eqn. 28 is derived:
u d q

=RdqIdq

+LdqIdq
1

(28)

The Udq, Rdq and Ldq matrixes are defined by

u ds

- fd(Rdcidc

- fq(Rdc2dc

+Edc)
+Edc)

The transformation of the right-side element is more elaborate. We note that

[flgl
f291
Lf3Y1 flg2 f2g2

(20)

flg3
f2.L?3]

f3g2

f3g3

1 =-

f1

fl

fl

f2
[f3

f2
f 3

f31
f 2

1 g1

92

92
Q2

93 93

191

(21)

or, in condensed nomenclature 1

FG123

zF123Gr23

(22)

The same vector represents each one of the three columns of the F123 matrix. The lines of the matrix G123T are also the same vector. Using matrix notation, the transformation of the right-side element of eqn. 19 is

Ldc (C T F i a 3 G T 2 3 c I d q o -I- C T F i 2 3 G T 2 3 C f d q n ) 3
(23) where is the derivative of the transformation matrix is and fdqO the derivative of the dqo currents. By definition of fd, fq, fo eqn. 24 is derived:
IEE Proc.-Electr Power Appl.. Vol. 146, No. I , Jonuury 1999

The model of the SPRS, eqns. 28 to 34, can be interpreted as the model of the induction machine with a nonlinear circuit on the rotor. The DC circuit and the diode bridge rectifier are equivalent to a nonlinear load that is connected to the rotor terminals.
21

Fig.10 Simulation -the SPRS with a DC inductor in the intermediate circuit

The blocks developed in Sections 2 and 3 can be used as shown in Fig. 10 to make the whole model. In this Figure the mechanical load torque is assumed to be proportional to the speed with a damping constant D.
6
10-

Results

[rotor

5
L

-5O

L\
I I

In this Section, simulation and experimental results are presented and compared. An experimental prototype using an electrical machine with four poles and 3.2kW rated power was constructed. The simulation results are obtained with the parameters of this prototype.

" -10-15 -20.

I

lor

0
60 -

0.5

1 time.s a

1.5

L5 30 -

15 -

The Park's current derivatives are obtained using eqn. 28 and an S-function block is used to make the graphical interface. To make the interface, input and output variables must be multiplexed as S-functions works with arrays as input and output elements. When the S-function and respective multiplexers are grouped, the SPRS block of Fig. 10 is obtained.
22

01 0

0.1

0.8
time,s b

1.2

1.6

Fig. 12 Starting transient: current against time

a Simulation h Experimental
I E E Pror.-Electr. Power Appl.. Vol. 146, No. 1. January 1999

6. I SPRS simulation with a voltage source in the DC circuit

In this case, the rotor currents are visualised and compared. This is a special case where the original asymptotic model reveals less accuracy. Fig. 11 presents the simulation and the corresponding experimental results.

It is clear that the simulation is accurate because the results are very similar. The diode-bridge rectifier current commutation process is visible and well represented in the diode-bridge rectifier model. 6.2 SPRS simulation with a DC inductance in the DC circuit In this case, a very different situation is chosen for comparison. Figs. 12 and 13 show a starting transient with a constant Edc voltage.

; 150\ 1000
4.
c

30r
20

IO
0

5! 00 // 0 0

0.5

1
time,s a

1.5

5
c 0
L

-10

1200

-20
I

0.2

0.L
time,s a

0.6

0.8

time,s

Fig. 13

b Starting transient: speed against time

a Simulation

b Experimental

0.2
Fig. 15

0.4
time.s

0.6

b Sudden load change: rotor current against time

a Simulation

b Experimental

-10 1

0.2

0.6
time,s

0.6

0.8

Another result is presented in Figs. 14 and 15. In this case, a sudden load change is applied on the shaft of the induction machine. The load here is a DC generator with constant excitation. In the time instant t = 0.32s a resistor was switched on over the armature of the DC generator. The results show that the simulation is also accurate in this case.
7

Conclusion

I
0

0.2

0.L
time,s

0.6

0.8

Fig.14

b Sudden load change: direct current against time

a Simulation h Experimental I E E Proc.-Electr. Power Appl.. Vol. 146, No. 1, January 1999

In this paper, the slip power recovery system is simulated in two different situations using a voltage source or an inductor on the DC side. The model presented uses Parks variables in a common reference frame for the stator and rotor variables. The diode bridge and DC circuit can be interpreted as a nonlinear load that is connected to the rotor terminals. The simulation was achieved using Simulink graphical block diagrams to represent the elements of the SPRS. Simulation and experimental results are
23

presented showing good accuracy. The program can be used as an useful design and analytical tool.
8
I

stator variables. The rotor variables should be transformed with the angle 8, - p8, where p 8 is the angular rotor position (electrical radians).

References
FRANZ, P., and MEYER, A.: Digital simulation of a complete subsynchronous converter cascade with 6/12 pulse feedback system, IEEE Trans., 1981, PAS-100, (12), pp. 49484957 AKPINAR, E., and PILLAY, P.: A computer program to predict the performance of the slip energy recovery induction motor drives, IEEE Trans. Energy Convers., 1990, 5 , (2), pp. 357-365 GARRIDO, M., and LABBE, G.: Representation mathematique de convertisseurs electroniques de puissance, Rev. E,, 105, (n11289) pp. 26-29 MARQUES, G.D.: On Parks models for the simulation of the slip power recovery drive Modelling and simulation of elec:trical machines and power systems (Elsevier Science Publishers B.V. North-Holland, IMACS, 1988), pp. 27-34 SIMULINK, dynamic system simulation software users guide, The Math Works

2
3 4

9 Appendix: Identification of the common reference frame used in Parks transformation

Fig. 16 shows a representation of the six windings that compose the induction machine. The dq axis used represents a general reference frame with the positioin 8,. This angle should be used on the transformation of

I
Fig. 16
tion Identification of the reference frume used in Purks transforma-

24

I E E P r w - E l e c t r . P m w r Appl., Vul. 146, No. I, January 1999