International Journal of Advanced Engineering Research and Technology (IJAERT) 315

Volume 3 Issue 9, September 2015, ISSN No.: 2348 8190

Vector control of AC Motor Drive for Active Damping of Output using

Passive filter Resonance
Ankita Nandanwar*, Miss. R. A. Keswani**
*IDC (M.Tech) 4th Sem, Dept. of Electrical Engg., Priyadarshini College of Engineering, Nagpur, India
** Professor, Dept. of Electrical, Priyadarshini College of Engineering, Nagpur, India

Abstract
This project presents simulation of vector controlled
VSI-Fed AC Motor i.e Induction Motor Drives by using
damping technique of output Passive filter resonance.AC
machines is to be fed by sinusoidal voltages which
increases life and gives better accuracy of control. This
is achieved by connecting an passive filter i.e LC filter
or LCL filter. A simple active damping is used for
lossless damping of vector controlled ac motor with an
Passive i.e LC filter. The Control technique is carried
out in the three-phase domain for accuracy of the
control. The proposed technique reduces the Total
harmonic distortions giving sinusoidal outputs. A
simulation model will be developed and analyzed for
induction motor without filter and with filter.
Index Terms: Squirrel Cage Induction Motor, LC filter,
vector control, Modelling and Simulation in MATLAB
software, Torque, Speed, Stator Currents.

1.

INTRODUCTION

In industry more than 80% Induction motor is being

used. They have a simple construction; manufacturing
cost is low compared to other motors, reliable operation
in extreme condition. Due to the invent of Power
Electronic devices it has become more reliable to control
the Induction motor. This work covers the voltage
source converter technologies, including pulse widthmodulated voltage-source inverters (VSIs). Due to high
dv/dt of the VSI output voltages, bearing failure,
insulation failure of the motor windings, and issues
related to electromagnetic compatibility/interference are
common. Passive dv/dt filters, common-mode filters,
and Pulse width-modulation (PWM) techniques have
been used to mitigate the problems. However, for longer
life of the motor, it is always desirable to operate the
machine with sinusoidal voltages. One common practise
is to connect an LC filter between the inverter and the
machine. The LC filter smoothens the output voltage of
Voltage Source Inverter and supplies sinusoidal voltage
into the motor.
In this paper simulation of IM fed with three phase
PWM Voltage Source Inverter by applying vector
control method using Filter and without filter have been

developed and analyzed in detail using MATLAB. The

speed & torque of motor is controlled .The main
objective is reducing harmonics in motor currents and
Total harmonic distortion along with filter and without
filter are analysed using MATLAB-SIMULINK. The
most widely used IM is squirrel cage motor because of
its advantages such as mechanical robustness, simple
construction and less maintenance. These applications
include pumps and fans, paper and textile mills, home
appliances, electric and hybrid vehicles ,heat pumps and
air conditioners, rolling mills, wind generation systems
etc.
Table 1.Input Parameters for 3 Ph Squirrel cage
Induction Motor.
Input parameters
Values
Rated power
2HP
Poles
4
Input Voltage
220V rms
Frequency
50Hz
Reference speed
1500rpm
Torque
9Nm
Stator Resistance
0.66ohm
Stator Inductance
1.62mH
Rotor Resistance
0.21ohm
Rotor Inductance
1.62mH
Mutual Inductance
38.8mH
Table2. Filter parameters
Input parameters
Values
Inductance
2mH
Capacitance
30F

2. PRINCIPLE OF VECTOR CONTROL

The fundamentals of vector control implementation can
be explained with the help of figure-1 where the machine
model is represented in a synchronously rotating
reference frame. The inverter is not shown in the figure,
assuming that it has unity current gain, that is,it
generates currents ia, ib and ic as dictated by the
corresponding command currents ia*,ib* and ic* from
the controller. A machine model with internal
conversions is shown on the right. The machine terminal

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International Journal of Advanced Engineering Research and Technology (IJAERT) 316

Volume 3 Issue 9, September 2015, ISSN No.: 2348 8190

phase currents ia, ib and ic are converted to idss and iqss

components by 3-phase and 2-phase transformation.
These are then converted to synchronously rotating
frame by the unit vector components cose and sine
before applying them to the de-qe machine model as
shown. The controller makes two stages of inverse
transformation, as shown, so that the control currents
ids* and iqs* correspond to the machine currents ids and
iqs respectively. In addition unit vector assures correct
alignment of ids current with the flux vector r and iqs
perpendicular to it, as shown. Note that the
transformation and inverse transformation including the
inverter ideally do not Incorporate any dynamics and
therefore the response to ids and iqs is instantaneous.

b. Transform them to the 2-phase system (,) using a

Clarke transformation
c. Calculate the rotor flux space vector magnitude and
position angle
d. Transform stator currents to the d-q coordinate system
using a Park transformation
e. The stator current torque- (isq) and flux- (isd)
producing components are separately controlled
f. The output stator voltage space vector is calculated
using the decoupling block
g. An inverse Park transformation transforms the stator
voltage space vector back from the d-q coordinate
system to the 2-phase system fixed with the stator
h. Using the space vector modulation, the output 3-phase
voltage is generated.
In Figure.4 the standard vector control technique is
shown.

Figure 1: Vector Control Implementation Principle with

Machine de-qe Model
There are essentially two general methods of vector
control:
1. Direct or Feedback method
2. Indirect or Feed-forward method
In this paper Space vector Direct Vector control is used.
These methods are different essentially by how the unit
vector (cose and sine) is generated for the control. The
control is usually performed in the reference frame (d-q)
attached to the rotor flux space vector. Thats why the
implementation of vector control requires information on
the modulus and the space angle (position) of the rotor
flux space vector. The stator currents of the induction
machine are separated into flux- and torque-producing
components by utilizing transformation to the d-q
coordinate system, whose direct axis (d) is aligned with
the rotor flux space vector. That means that the q-axis
component of the rotor flux space vector is always zero:
d
rq 0 and
rq 0

Figure 2: Block diagram of Vector Controlled AC

Induction Machine

3. CONTROL TECHNIQUE
Resonant-frequency capacitor voltages are essential for
the control. In 3.1 resonant frequency signal is described
and in 3.2 the procedure to generate compensating
signals is discussed.

dt

2.1. Computation of Vector Control

Figure 2. shows the basic structure of the vector control
of the AC induction motor. To perform vector control,
steps are as follows:
a. Measure the motor quantities (phase voltages and
currents)

Figure 3: Resonant-Frequency Extraction block

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International Journal of Advanced Engineering Research and Technology (IJAERT) 317

Volume 3 Issue 9, September 2015, ISSN No.: 2348 8190

3.1 Resonant-Frequency Extraction Block

The terminal voltage of machine contains fundamental
(f ) and resonant-frequency (n ) signals. When the
switching frequency of inverter is high the switching
frequency component in the capacitor voltages are
comparatively lower in magnitude than the resonantfrequency components. Machine-per-phase voltages vsr,
vsy, and vsb are fed to extract resonant capacitor voltages.
These voltages are transformed into d-q domain.
In the transformed d-q voltages vsd and vsq both the
fundamental components vsdf and vsqf and the resonant
components vsd and vsq are present. vsdf and vsqf are dc
quantities and vsd and vsq are ac quantities that are close
to resonant-frequency i.e.
vsd = vsdf + vsd
vsq = vsqf + vsq.
vsd and vsq are filtered using low pass filters.The
outout of the low pass filter are vsdf and vsqf. They are
substracted from vsd and vsq to extract vsd and vsq.The
extracted resonant frequency component vsd and vsq
have a frequency (n f ) due to the d-q
transformation. The frequency of vsd and vsq varies with
the variation of f. To get rid of the difference of f in
vsd and vsq they are transformed back to three phase
domain. The outputs of the reverse transform are vsr,

vsy, and vsb. Hence, the extracted per phase resonantfrequency capacitor voltage vsr, vsy, and vsb are exactly
at n.
3.2. Compensating Signals
As shown in figure.4 the extracted resonant capacitor
voltages vsr, vsy, and vsb are integrated to obtain vsr_int,
vsy_int, and vsb_int signals.A low pass filter is used to
generate vsr_int, vsy_int, and vsb_int as it does not cause
any phase shift. When the inverter switching frequency
is close to resonant frequency, the inverter introduces
considerable amount of phase delay to the compensating
signals vsr_int, vsy_int, and vsb_int.To compensate the
inverter phase lag the phases are advanced of vsr_int,
vsy_int, and vsb_int. The capacitor voltages vsr, vsy, and
vsb are lags vsr_int, vsy_int, and vsb_int by 90..
vsr_int, vsy_int, and vsb_int signals are phase advanced
by nTs/2 to construct per-phase compensating signals
vr_comp, vy _comp, and vb_comp.This phase advancement
compensates the delay of nTs/2 introduced by the
inverter.The inverter switching frequency is fs and the
inverter time constant is Ts/2, where Ts = 1/fs. vr_comp
is obtained from
vr_comp = vsr_int cos (nTs/2) + vsr sin (nTs/2)

Figure 4: Complete Control Block Diagram

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International Journal of Advanced Engineering Research and Technology (IJAERT) 318

Volume 3 Issue 9, September 2015, ISSN No.: 2348 8190

As cos (nTs/2) and sin (nTs/2) are fixed numbers, the

compensation for the inverter delay can be easily and
accurately introduced. These vr_comp, vy _comp, and
vb_comp signals are multiplied by scaling factor Kdamp to
emulate the resistance drop i.e.
v

invr_res = Kdamp vr_comp.

vinvr_res, vinvy_res, and vinvb_res signals are directly added to

inverter voltage references vinvr*, vinvy*, and vinvb* generated
from standard vector control block

4. SIMULATION RESULTS
The Simulation of Induction Motor along with Vector
conrol is done on MATLAB SIMULINK using Filter
and without filter. The results for both the cases are
compared and FFT analysis is done as below.

5. SIMULATION OF IM APPLYING VECTOR

CONTROL WITHOUT FILTER

Figure 7.Simulink Model of Vector controlled Induction

Motor without using Filter.
Figure 5: Simulink Model of Resonant-Frequency
Extraction
Block. The resonant frequency taken is 828Hz and Kdamp
is 0.6.

A. Case-1

Figure 8: Speed of Induction Motor without filter.

Settling
time 0.7s

Figure 6: Simulink Model of Vector Control

Figure 9: Stator Current without filter.

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International Journal of Advanced Engineering Research and Technology (IJAERT) 319

Volume 3 Issue 9, September 2015, ISSN No.: 2348 8190

Figure 13: Speed of Induction Motor with filter. Settling

time 2.5s.

Figure 10: Torque at 9Nm of Induction Motor without

filter

Figure 14: Torque at 9Nm of Induction Motor with filter

Figure 11: Bar graph showing Magnitude of Harmonics
without Filter.
B. CASE-2:-

6. SIMULATION OF INDUCTION MOTOR

APPLYING VECTOR CONTROLWITH
FILTER
Figure15: Stator Curent with filter.

Figure 16: Bar graph showing Magnitude of Harmonics

with Filter.
Figure 12: Simulink Model of Vector controlled
Induction Motor using Filter.
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Volume 3 Issue 9, September 2015, ISSN No.: 2348 8190

Table 2.Total Harmonic Distortion

Harmonic
Order
Overall
Harmonic
5th Harmonic
7t Harmonic

Without Filter

With Filter

12.11%

5.90%

1.97%
1.51%

1.32
0.80%

7. CONCLUSION
The motor current and voltage waveforms are close to
sinusoidal and do not contain any voltage steps with
high dv/dt. The vector control ensures extraction of
resonant-frequency signal giving appropriate damping.
Though the settling time for speed is 2.5s with filter and
without filter is 0.5s but it reduces ripples, distortion and
gives more efficiency and steady state operations of
Induction motor. Thus the speed and Torque is
controlled. By using filter Total harmonic distortion is
also reduced from 12.11% to 5.90% giving sinusoidal
outputs.

Oxford University Press, Oxford.

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