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Field Oriented Control of 3-Phase

Sq.Cage Ind. Motors


Quick Recap of the DC Machines
The construction of a DC machine is such that the field
flux is perpendicular to the armature flux.
Being orthogonal, these two fluxes produce no net
interaction on one another.
The torque developed by a DC motor is proportional to
the product of the field flux , and the armature current
I.
I k T . .| =
DC Motor is Easily Controllable
Dynamic performance provides fast response and high
accuracy to changes in demanded speed and demanded
torque.
DC motor continued to reign supreme for precision high
performance drives in applications like reversible sheet
rolling mills and machine tool drives till the late 1980s.
Decoupling between the field flux and the armature m.m.f in
a DC motor exists naturally, that gives the machine its high
dynamic performance capability.
The armature circuit has a low inductance and a low
time constant.
Time Constants
This makes it possible to implement fast changes in the
armature current. Takes only a few milliseconds.
The field circuit of a DC machine has a large inductance
making its electrical time constant L/R large.
Changing the field flux requires high amount of energy and
takes relatively longer time in the order of several 100
milliseconds.
The Nested closed loop control strategy
Has inner armature current control loop and an outer rotor
speed control loop.
The inner loop compares the actual motor armature current
(Ia) obtained through a current sensing device against a
reference input (Ir).
The resulting current error is amplified by an amplifier,
commonly called the armature current amplifier.
This is usually of a PI type controller.
The output of the amplifier serves to vary the switching
control variable the static armature controller.
The field converter has a closed loop controller which makes
the field current follow a reference value.
If the field current is unchanged, the reference input to the
armature current controller is the demanded armature
current equivalent to the demanded armature torque.
This torque reference is provided by the outer closed loop
speed controller.
The reference input to this outer speed loop is the
demanded speed labelled
ref.
The outer loop demanded speed is compared with the
actual speed provided by a speed sensor SS coupled to
the shaft.
The resulting speed error is amplified by an amplifier (S
e
)
which is usually of PI type.
The Nested closed loop control strategy
The speed amplifier provides the demanded current
reference to the inner current loop through a limiting
circuit which limits the demanded torque within the
maximum value of the machine.
In the case of position control the speed control loop will
have an outer position control loop.
The position control loop will compare the actual position
sensed through a position transducer.
The output of the position control loop serves as the
speed reference input to the inner speed loop.
In this type of nested closed loop control strategy, the
inner most current control loop detemines how fast the
armature current can follow the demanded reference.
The Nested closed loop control strategy
In a DC motor the electrical time constant of the armature
circuit is very low and hence the response is very fast.
In a speed control scheme using a DC motor the field flux is
kept constant at its maximum value at all speeds below the
base speed.
The control spills over to the field weakening region only
after the speed exceeds the base speed.
Below the base speed the torque is solely determined by the
armature current.
The inner loop makes the torque response very fast to
match the demanded torque.
The Nested closed loop control strategy
Field
Converter
+
-
Fld Current Feed back

ref
+
-
Speed
Amp
I
a
ref
Arm
Current
Amp
Armature
Converter
Arm Current Feed back
Speed Feed back
Dc Motor
Fld Current Control With
Field Weakening
I
f
ref
Fld
Current
Amp
Closed Loop Control for Seperately
Excited Dc Motor
+
-
AC Motor - Recap
The magnetic circuit of 3-phase induction motor consists
of a stator, a rotor and an airgap of uniform thickness in
between.
A
s
B
s
C
s
The machine has 3
identical windings
symbolically
represented by A, B
and C as shown in
fig. The subscripts s
identifies stator.
Torque Generation
The changing magnetic fields in
the air gap induces the currents
in the rotor.
The creation of the
magnetic field in the air gap
is also due to the flow of the
stator currents.
The interaction between the
rotor currents and the magnetic
field produces the torque
causing rotation.
In a DC machine the magnetic field and the armature mmf
are stationary in space
DC - AC Summary
In an AC the magnetic field and the armature mmf are
rotating.
In a DC machine the spatial angle between the
magnetic field and the armature mmf is a right-angle.
To make matter worse in an AC machine the spatial
angle between the two is not necessarily a right angle
and varies with operating conditions.
AC - DC Summary
DC Motors have two circuits to connect.

AC Induction Motors have one circuit to connect.

Such a control scheme is called flux-oriented control or
vector control.
Vector control is applicable to both induction and
synchronous motors.
To make ac induction motor perform like a dc motor treat
the ac motor like a two circuit machine.
The premise for Vector control.

Objective of Vector Control
The objective of the vector control is to achieve a similar
nested type of control loop strategy
In a 3 phase squirrel cage induction motor all electrical
inputs are into the stator circuit only.
The technique of vector control is based on the method
of separating out these two basic functions of the stator
current.

The Separation of Stator currents
The input stator current is supplied by a variable frequency
Flux vector inverter.
Inp. Current = Vect. sum of Torque + Field Control Currents.
Torque and Field currents are separated so that there is
mutual decoupling between them.
The Separation of Stator currents
Separation of stator input currents in each phase of the
motor at each instant to two components is done

Using the actual sensed values of the

stator current
angular position or speed of the motor shaft,

The necessary computations for determining the torque
component and the field component of each stator phase
current is performed.
Physical Quantities in Vector Control
Strategy is same as DC motor control
Similar to the DC motor control scheme

The torque control closed loop is nested within the
speed control closed loop.
The demanded torque is the reference input provided by
the outer speed control loop.
The torque loop determines the required change in the
torque component.

In a similar way the field control loop determines the
change required in the field component.
Similarity of Vector control to DC
motor control
Reference Inputs and Switching Times
The two reference inputs to the controller are the
demanded torque component and the demanded field
component of the motor current.
The inverter switchings are controlled in such a way that
the output current in each phase of the inverter is equal
to the synthesized value of the input references.
The inverter switching times are modified to effect the
required total change in the input current to the stator circuit.
Advantages of Mutual Decoupling
Independent Control of torque component circuits and
field component circuit.
Small Time Constant of the equivalent torque component
circuit. Hence the responses to demanded torque
changes can be very fast for speed below the base
speed.
Field weakening is implemented by lowering the field
component above Base Speed .
Electronic Commutation
The inverter therefore functions like an electronic
commutator, similar to a mechanical commutator in a DC
machine.
AC Supply
Switching
Control
M
DC link
(single or 3 phase)
In this context the conventional concepts of inverter
frequency and synchronous speed of the motor does not
have much relevance.
DC Machine
Commutator
Mathematics.Not really
complicated !!
Some Assumptions
Both stator and rotor magnetic materials have infinite
permeability and there is no leakage loss.
The machine has two pole magnetic structure to avoid
distinction between electrical and mechanical angles.
Each stator phase winding consists of coils distributed
around the inner circumference of the stator two pole
magnetic structure.
Assumptions Continued
The angles are measured in a counter clockwise
direction as viewed from the observer side.
Hence the mmf and the spatial flux density (B) varies as a
cosine function of the spatial angle measured from the axis
of the winding.
A DC current I
(s)
(scalar quantity) is flowing through the
phase windings.
Scalar Currents and Space Vectors
A
s
B
s
C
s
The contribution of I
(s)
along a radial direction w.r.t
A
s
axis will be equal to I
(s)
cos.
The current I
(s)
is current space vector along the
direction of A
s
.
The phase winding whose
axis makes 2/3 with A
s

axis is labelled as B
s
.
Similarly the phase winding
whose axis makes 4/3 with
A
s
axis is labelled as C
s
.

I
s

The second direction at an angle /2 w.r.t the direct axis is
called the quadrature axis.
Direct and Quadrature Axis
As
Direct Axis
Quadrature axis.
We assume the Reference Direction along the A
s
axis
which we call the Direct Axis
Resultant Current Space vector = 0 !!
When the phase windings carry DC currents of
magnitudes I
as
, I
bs
and I
cs
, the expressions for each space
vector is

|
|
.
|

\
|
= = + =
2
3
2
1
)
3
4
sin
3
4
(cos I
3 / 4
cs
j I e I j I
bs
j
cs cs
t
t t
0 I
as
j I
as
+ =
|
|
.
|

\
|
+ = = + =
2
3
2
1
)
3
2
sin
3
2
(cos I
3 / 2
bs
j I e I j I
bs
j
bs bs
t
t t
3 / 4 3 / 2
s
I
t t j
cs
j
bs as
e I e I I + + =
The resultant current space vector is

Time Varying Current Space Vectors
The magnitude of the current in each phase winding
with orientation in space varies with time.
The resultant current space vector will have instantaneous
values which varies with time in both magnitude and
direction.
i
cs
(t)

i
as
(t)

i
bs
(t)

Time varying Current space vectors
In a balanced 3 phase system with phase abc the individual
phase currents are expressed as
( ) c e + = t I t i
s as
cos ) 2 ( ) (
|
.
|

\
|
+ =
3
2
cos ) 2 ( ) (
t
c et I t i
s bs
|
.
|

\
|
+ =
3
4
cos ) 2 ( ) (
t
c et I t i
s cs
The individual space current vectors may be expressed as
3 / 2
3
2
cos ) 2 ( ) ( i
t
t
c e
j
s
bs e t I t
|
.
|

\
|
+ =
( )
0
cos ) 2 ( ) ( i
j
s
as e t I t c e + =
3 / 4
3
4
cos ) 2 ( ) ( i
t
t
c e
j
s
cs e t I t
|
.
|

\
|
+ =
The sum of the above currents gives the resultant current
space vector which we call the stator current space
vector
i
s
(t)= i
as
(t)+i
bs
(t)+i
cs
(t)
Simplifying ( )
( ) c e +
=
t
j
s
e I t s ) 2 2 / 3 ( ) ( i
The Rotating Stator Current space
vector
1) The constant magnitude stator current space vector


2) It rotates with a constant angular velocity .

3) The stator current space vector is responsible for the
airgap flux density B.

4) The airgap flux density will hence have a constant spatially
sinusoidal magnitude and will be rotating at the angular
velocity resulting the rotating magnetic field.
( )
s
I 2 2 / 3 =
Transformation of 3ph. machine to an
equivalent 2ph. machine.
At any instant of time in a 3 phase machine the current in
each phase is given by
|
|
.
|

\
|
= = + =
2
3
2
1
)
3
4
sin
3
4
(cos
3 / 4
j i e i j i i
bs
j
cs cs cs
t
t t
0 j i i
as as
+ =
|
|
.
|

\
|
+ = = + =
2
3
2
1
)
3
2
sin
3
2
(cos
3 / 2
j i e i j i i
bs
j
bs bs bs
t
t t
cs bs qs s
i i i
2
3
2
3
) (
=
Transformation of 3ph. machine to an
equivalent 2ph. machine.
The resultant current space vector along the direct axis
A
s ,
i
s(ds)
is the sum of the currents along that axis.
Similarly the component of current along the quadrature
axis i
s(qs)
is sum of the currents along the same axis.

cs
bs as ds s i i i i
2
1
2
1
) ( =
Transformation of 3ph. machine to an
equivalent 2ph. machine.
cs
bs as ds s i i i i
2
1
2
1
) ( =
3-Phase to
2-Phase
Transformation

i
as
i
bs
i
cs
i
s(ds)
i
s(qs)
cs bs qs s
i i i
2
3
2
3
) (
=
Transformation of 3ph. machine to an
equivalent 2ph. machine.
The above equations transforms the three phase currents
at any instant to equivalent two phase currents.


The equivalent two phase machine will have exactly the
same stator current space vector.


The forward transformation of 3phase to 2 phase is
unique at all instants of time.

A squirrel cage motor is assumed to be Y-connected and
the neutral is isolated, hence at any intant of time

i
as
+ i
bs
+ i
cs
= 0 - (17)

Hence the reverse transformation from 2phase to
3phase is also unique.

Therefore at any instant of time there are only two
independent variable currents in the 3 phase machine.

From the above descriptions we get three simultaneous
equations.
Reverse Transformation of 2ph.
machine to an equivalent 3ph. machine.
Reverse Transformation of 2ph.
machine to an equivalent 3ph. machine.
( )
,
3
2
ds s as
i i =
( ) ( )
,
3
1
3
1
qs s ds s bs
i i i
|
.
|

\
|
+
|
.
|

\
|
=

2-Phase to
3-Phase
Transformation

i
as
i
bs
i
cs
i
s(ds)
i
s(qs)
( ) ( ) qs s ds s cs
i i i
|
.
|

\
|

|
.
|

\
|
=
3
1
3
1
These transformations makes the analysis of the 3phase
machine very convenient.

Voltage space vector and Flux linkage
space vector
Similar to definition of stator phase current space
vectors we can define stator phase voltage space
vectors and stator phase flux linkage space vector.
3 / 4 3 / 2
) ( ) ( ) ( ) (
t t j
cs
j
bs as s
e t v e t v t v t v + + =
3 / 4 3 / 2
) ( ) ( ) ( ) (
t t j
cs
j
bs as s
e t e t t t + + + + + = +
) ( ) ( ) (
) ( ) (
t j t t
qs s ds s s
+ + + = +
) ( ) ( ) (
) ( ) (
t jv t v t v
qs s ds s s
+ =
And
The equivalent 2 phase representations are
Self and Mutual Inductances of Stator
windings
The resultant stator flux linkage space vector is expressed by
) ( ) ( t i L t
s s s
= +

The direct axis and the quadrature axis mutual inductances
of the stator winding are mutually decoupled.
When currents flow in the rotor circuit, because of the
mutual inductance between the rotor and stator windings
there will be additional contribution to the stator flux linkage
space vector.
Some Assumptions about Rotor
For analysis purposes we assume the rotor to be
Y-connected with isolated neutral similar to the stator.

That the turns ratio of stator and rotor windings is equal to
one.

The rotor is stationary and the rotor and stator axes are
aligned.
Rotor Variable Subscripts
We use the subscript r to identify rotor variables.

The reference direction along the rotor A phase winding
is represented as A
r
.

The self inductance of the rotor is represented as L
r
.

The 3phase rotor winding can be replaced by equivalent
2phase winding.

The direct axis of the 2 phase winding will be along the
A
r
axis and the quadrature axis will be at /2 radians
w.r.t A
r
axis.
Mutual Inductance between stator and
rotor
Mutual flux linkage is the medium through which the input
power is transferred from the stator to the rotor.

In the aligned position the mutual inductance between the
stator direct axis A
s
and rotor direct axis A
r
will have the
maximum value.

The mutual inductance between the stator and rotor for
both direct and quadrature axes will be equal, represented
byM.
Flux Linkages of the Rotor
The direct axis of the rotor winding will cause self flux
linkage L
r
i
r(dr)
for the rotor and mutual flux linkage M
r
i
r(dr)

for the stator.

The quadrature axis of the rotor winding will cause a self
flux linkage L
r
i
r(qr)
for the rotor and mutual flux linkage
M
r
i
r(qr)
for the stator.
The resultant rotor current space vector at a given instant
is expressed as
) ( ) ( i qr r dr r
j
r r
ji i e i
r
+ = =
o
The self induced rotor flux linkage and the mutual flux
linkage space vectors are
( ) ( ) r r dr r r qr
rm
M M i j i + = +
) ( ) ( qr r r dr r r
rl
i j i L L + = +
The expressions are valid when rotor and stator reference
frames are aligned and stationary.
Self induced and Mutual Flux Linkages
of the Rotor
Because of the presence of the airgap between the rotor and
the stator, there will be some leakage of flux.
L
r
= (1+
r
) M
r
Rotor Frame rotated through an angle

r
The coordinates of the rotor
current space vector in the
stator frame will change
through an angle
r
and will
have a different set of co-
ordinates on the stator side.
If the restriction on the rotor and stator alignment is
removed and the rotor is caused to rotate by angle
r
, the
rotor current space vector is now rotated by an angle
r
.

r
d
s
q
s
d
r
d
r
Transformation of the rotated rotor
currents to stator frame.
The new expression for the i
r
in the stator reference
frame
We have multiplied the original expression for i
r
with
e
jr
to effect a spatial rotation of
r
radians.
r r
j j
r r
e e i
u o
] [ i =
The rectangular co-ordinates of the rotor current space
vector in the stator frame will

i
r(ds)
= [i
r(dr)
cos
r
- i
r(qr)
sin
r
] - (30)
i
r(qs)
= [i
r(dr)
sin
r
+ i
r(qr)
cos
r
] - (31)
The vector rotator.
For this reason the factor e
j
r
is called a vector
rotator.
The same equations can be modified by prefixing a negative
sign to
r
for transformation of co-ordinates from the stator
to rotor reference frame.

e
j
r

i
r(dr)
i
r(qs)
i
r(ds)
i
r(qs)

r

If rotor is stationary with a constant angular displacement

r
, the coefficients cos
r
and sin
r
will be constants.

The rotating rotor
If the rotor is rotating
r
will be a function of time t .

Shift the reference to Stator
The self inductance and the mutual inductances of the
stator are related by the equation

L
s
= (1+
s
) M
The currents flowing in the stator circuit determine the
self induced flux linkage space vector
sl
and the
mutually induced flux linkage space vector
sm
.
Self induced flux and Mutual Flux in
the stator frame
When Both Currents.the total flux
When both the stator and rotor windings carry currents,
the total stator flux linkage space vector is obtained by
the vector addition of self induced flux linkage space
vector and mutually induced flux linkage space vector.
Total Flux w.r.t each reference frames
Stator Frame Reference
Therefore the total stator flux linkage space vector may
be expressed in the stator frame as

s
(t)= L
s
i
s
(t)

+ M.i
r
(t).e
jr(t)

Rotor Frame Reference
Similarly the total rotor flux linkage space vector may be
expressed with reference to the rotor frame as

r
(t)= L
r
i
r
(t)

+ M.i
s
(t).e
-jr(t)

Both currents varies in time and the
rotor rotates
The above equations gives us the means to express the
total flux linkage of the stator circuit in the stator reference
frame and the total flux linkage of the rotor circuit in the
rotor reference frame, when both the stator and rotor
circuits carry time varying currents and the motor is
rotating.
Stator direct
I
r
(t)
I
s
(t)
Direction of rotation
The three basic equations
It is now possible for us to write the three basic equations
for motor operation
1)The Stator voltage eqn.
2) The Rotor voltage eqn and
3) The eqn. of generated Torque.
Voltage Equations
The stator voltage equation in terms of the stator current
space vector i
s
and stator flux linkage space vector
s
is
( )
s s s s
dt
d
R v + + = i
( )
) (
) ( ) ( i
t j
r s s s s s
r
e t Mi t i L
dt
d
R v
u
+ + =
( )
r r r
dt
d
R + + = i 0
( ) ) 42 ( ) ( i ) ( i i 0
) (
+ + =
t j
s r r r r
r
e t M t L
dt
d
R
u
Since the rotor terminals are short circuited the rotor
voltage equation is
Torque Equation
Torque is generated in the induction motor by the
electromagnetic interaction of the flux produced by the
stator currents which link with the rotor circuit and
the currents in the rotor circuit.
Torque at any instant is proportional the product of the
mutually induced rotor flux linkage space vector and the
rotor current space vector and the sine of the angle
between them at that instant.
When taking the product the two space vectors should be
expressed in the same reference.
The torque equation is given by
| || | ) ( sin . ) ( . ) ( . . t t i t i k T
r s
M o =
Torque Equation
(t)
Stator direct
i
r
(t)
i
s
(t)

Direction of rotation
Where k = constant of proportionality.

M.i
s
(t) = Magnitude of mutually induced rotor flux
linkage space vector,
sm
caused by
stator currents.

i
r
(t) = Magnitude of the rotor current space vector.

(t) = Spatial angle which the first space vector
makes with the second space vector with
reference to the common reference frame.
Torque Equation
Rotor field current space vector from
stator reference frame
We now define a rotor field current space vector which when
flowing through the stator circuit would produce the same
total rotor flux linkage space vector by mutual induction.

M.i
mr
= L
r
i
r
e
jr

+ M.i
s



Therefore the field current space vector with reference to
stator reference frame is

i
mr
= (L
r
/M).

i
r
e
jr

+ i
s
= (1+
r
). i
r
e
jr

+ i
s

Torque Equation in terms of Stator
reference frame
From the previous equation for rotor field current space
vector in the stator frame is given as

i
r
e
j r

= 1/(1+
r
). (i
mr
- i
s
)

The equation for the generated torque in stator coordinates
using the expression of the rotor current space vector and
flux linkage space vector due to stator mutual inductance.
o o
o
sin ) )( ( sin ) )( ( .
1
1 s mr s s mr s
r
i i i k i i i M
k
T =
+
=
Of these the contribution of the term ( )i
s
in the second
bracket to the torque generated is zero since it makes angle
radians with i
s
.
o sin ) )( (
1 mr s
i i k T =
This equation states the fundamental
relationship on which vector control is based.
Therefore
Torque Equation in terms of Stator
reference frame
Clark & Park Transformations
The three phase system can be transformed into a two
time invariant co-ordinate system.

This transformation can be split in two steps:
(a,b,c) -> (,) (the Clark transformation) which outputs
a two co-ordinate time variant system

(,) -> (d,q) (the Park transformation) which outputs a
two co-ordinate time invariant system
Clark & Park Transformations
Clark & Park Transformations

r
is the rotor flux position


e
is the revolving magnetic field position


e
is the revolving magnetic field angular speed

is an angle that depends on torque load transitions
Clark & Park Transformations
Clark & Park Transformations
Field Oriented Control
Field oriented reference Frame
In vector control we look at the stator current space vectors in
a reference frame fixed to the field current space vector i
mr
.

The direct axis is oriented in the direction of the maximum air
gap flux density which is a rotating reference frame.
This is a rotating north pole.

Stator direct
i
mr

i
s
Direction of rotation
i
s
.sin
i
s
cos
Field coordinates of the stator current
space vector
This reference frame will be called the Field frame and the
coordinates of the space vector in this frame will be called
Field coordinates.
Rotates at Synchronous Speed
o j
s f
e i . i
) ( s
=
. sin . cos i
) ( s
o o
s s f
i j i + =
The stator current space vector may be expressed in the
rotor field frame as
The suffix (f) is intended to indicate that the space vector is
expressed in the field frame.
The angle between i
s
and i
mr
, is known as the torque
angle.

) ( ) ( ) (
.
qf s df s f s
i j i i + =
Field coordinates of the stator current
space vector

The expression of the generated torque can be written as


) ( 1
. .
qf s mr
i i k T =
Therefore the quadrature component i
s(qf)
in the field frame
is the torque component.
Similarity to the DC Drive Control
The direct component i
s(df)
being in the direction of the
field, determines the field flux.
These two currents are decoupled and control is achieved
in the much the same way as a separately excited DC
motor.
Determination of the field coordinates
To implement vector control we need to determine the
coordinates of the stator current space vector in the field
frame.
It is necessary to calculate these coordinates on-line,
using the motor line currents and rotor position or
speed.

PWM
Inverter



i
a
i
b
i
c
Speed Feed back
The calculations takes in
real time, thousands of
times per second, which
is why vector control
had to wait till the
coming of the
Microprocessors.
) 55 ( . i
) (
) ( mr
=
t j
mr s
e i

The sensed values of the stator current space vector are in
the stationary stator frame.
To get the coordinates in the rotating field frame the stator
current space vector is multiplied with vector rotator circuit.
The vector rotator circuit multiplies the stator space vector

by e -
(t)
, where (t) is the time varying spatial angle
between field current space vector i
mr
and the stationary
stator frame.
Determination of the field coordinates
i
mr
expressed in the stator
frame reference is given by
The vector rotator circuit used for transforming the stator
current space vector into the field coordinates should be
given an input voltage signal proportional to .

The determination of the spatial direction of the field at
each instant is the crux of the problem to be solved to
implement vector control.

Stationary
Reference Frame
i
mr
i
s
Determination of the field coordinates
In the rotor voltage equation, since the rotor currents
cannot be sensed practically, we substitute the stator based
variables for the space vector i
r
.
( ) ( ) ( )
| |
r
j
s s s mr
r
r r
e
L
M
u

|
|
.
|

\
|
= . i i i
( )
) (
) ( i ) ( i i 0
t j
s r r r r
r
e t M t L
dt
d
R
u
+ + =
The suffixes within brackets clearly indicate the reference
frames of the space vectors.

Substituting for i
r
in the Rotor Voltage Eqn.
Determination of Field coordinates of
the stator current space vector
i
s(s)
can be represented as
( ) ( ) ( )
( ) ( ) ) 57 ( 1 i i i + =
r r s mr s mr r s s
j
dt
d
t e t
( ) ( )
) 58 ( i i ) (
) ( ) (
+ = = =
|
.
|

\
|
+ +

qf s df s f s
j
s s r mr r
mr
r mr
ji i e
dt
d
i j
dt
di
i

e

t t
where
r
is the time constant L
r
/R
r
of the rotor circuit.


r
is the angular velocity of the rotor.
Writing i
mr(s)
as in (55) and expanding in the right hand side
of (57) by performing the required differentiation.
Determination of Field coordinates of the
stator current space vector
Equating the real and imaginary parts, we get
) 60 (
) 59 (
) (
) (

|
.
|

\
|
=
+ =
r mr r qf s
mr
r mr df s
dt
d
i i
dt
di
i i
e

t
t
Assuming i
s(df)
is known and the rotor
r
is also known i
mr

can be determined by solving the differential equation (59).
Before the application of the load with motor in steady state
no load condition, the torque angle is zero and therefore
i
s(qf)
is zero.
Therefore i
mr
= i
s(df)
, since under steady state, di
mr
/dt will be
zero.
Determination of Field coordinates of the
stator current space vector
Eqn (60) gives the slip speed
slip
which is the angular
velocity of the field frame w.r.t to the rotor.


slip
=
mr

r
= i
s(qf)
/
r
i
mr
- (62)
( )
r
mr r
qf s
mr
i
i
dt
d
e
t

e + = =
( )
dt
i
i
r
mr r
qf s
}
|
|
.
|

\
|
+ = e
t

Also from (60) we get


Therefore
Determination slip speed and the
angular coordinate
The functional circuit block for solving (59) may be a digital
circuit or op-amp circuit.
dt
d
r
t + 1
1
I
s(df)
I
mr
+
+

slip d/dt

r
i
s(qf)
i
mr


The functional circuit for the implementation of this
intergration is shown below
Determination of slip speed and angular
coordinate
A
B
The assumptions that i
s(df)
and i
s(qf)
are known was used
to develop the previous circuit blocks.
But in the actual circumstances these are not known and
have to be determined.
For this we use the dynamic flux model.
Dynamic Flux Model
Flux Calculator using Dynamic Flux
Model

3-Phase to
2-Phase
Transformation

i
as
i
bs
i
cs
i
s(qs)
i
s(ds)

e
-j

i
s(qf)
i
s(df)


A B
i
mr

r
i
s(qf)
i
s(df)


The input currents to this circuit block are the actual 3
phase currents i
as
, i
bs
and i
cs
obtained from the current
sensors.
Actually only two current sensors are required, the current
is computed using the equation (17).
Flux Calculator using Dynamic Flux
Model
The inputs to the flux calculator are provided by the
stator current sensors and the speed sensor.
The entire circuit is called the flux calculator.
The outputs of the flux calculator are the field
component and the torque component of the stator
current space vector in the field reference frame and the
angle signal .
Flux Calculator using Dynamic Flux
Model
Implementation of the
Control
Implementation Scheme
+
-

ref
+
-
Speed
Amp
i
s(qf)ref

Flux
Calculator


e
j

2
To
3


PWM
Inverter



i
s(qf)com
i
s(qf)
i
s(df)ref
i
s(df)com
i
s(df)

rotor
Field
Weakening
Speed
Feedback
PI Amp
PI Amp
There is an inner torque control loop and an outer speed
control loop.

The Control Loops
The reference to the inner torque control loop is labelled
i
s(qf)ref
.
This reference is provided by the outer speed control loop.
The speed control loop compares the actual speed
r
as
sensed by the speed sensor with the speed reference.
The speed error is amplified to generate the torque
component i
s(qf)ref
of the stator current vector.
The reference value of i
s(qf)ref
is compared with the actual
value of i
s(qf)
.
The actual value i
s(qf)
is provided by the flux calculator.
The role of Flux Calculator
The error is amplified by the PI error amplifier the output of
which is i
s(qf)com
.
Field Weakening
The field weakening module provides a constant output
below the base speed and a decreasing output when the
speed exceeds this limit.
The output of this module is the reference input for the
field current component i
s(df)
, labelled i
s(df)ref
.
The actual value of i
s(df)
is provided by the flux calculator.
The actual value is compared with the reference value and
the error is amplified by the PI type amplifier.
Field reference to Stationary Stator reference
The output of this amplifier is labelled i
s(df)com
.

The command values are in the field reference frame.
These are transformed into the stationary stator
reference frame by the vector rotator.

The input for the vector rotator block is provided by
the flux calculator.

The transformed torque component and field components
in the stationary reference frame is equivalent to 2 phase
currents.

The role of Flux Calculator
2 - 3 Phase conversion and Inverter
Switching
The mutually decoupled 2 phase currents are converted
to 3 phase current commands by the 2 to 3 phase
converter.
The output of this converter are the commanded line
current signals to the PWM inverter.
The inverter switching times are controlled by the
switching control circuit so as to make the inverter
output currents conform to the reference inputs.
The control circuits of the inverter compares the
commanded value and the actual values of the currents.

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