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Motors
Liuping Wang and Lu Gan
School of Electrical and Computer Engineering
RMIT University, Australia
Abstract-This paper presents vector-based PI control of
induction motors in a tutor ial style. Based on a general nonlinear
model for induction motors, a cascade control structure is
proposed for velocity control, where the inner-loop systems are
designed using proportional controllers with dynamic decoupling
whilst the outer velocity loop is controlled by PI controller.
Desired closed-loop performance parameters, such as desired
bandwidth and closed-loop gain, are used for selection of the
controller parameters. Robustness of the control system against
parameter variations is characterized using gain and phase
margins of the closed-loop system. Exper imental results are
obtained to illustrate the design.
I.
INTRODUCTION
CASCADE
PI
CONTROLLER DESIGN
disd
dT
.
/ disq
tsq + Ta
dT
d'I/Jr d
'l/J rd + T rb
tsd + Ta
f dW+
dw
J dt
1
.
kr
/
TaWstsq + --'l/J rd + -Usd
raT r
ra
1
.
kr
/
-TaWstsd - -w'l/J rd + -usq
ra
ra
Lh isd
3ZpLh
.
sq
-----:u:;-'l/J r d t - TL
(1)
(2)
(3)
(4)
1648
L . , Tr
L
1 - LLi'
R s + Rrkr2 ' kr
I!::
5t and a
sLr'
where Rs and L s are the stator resistance and inductance, Rr
and Lr are the rotor resistance and inductance respectively,
Lh is the mutual machine inductance; TL is the load torque,
id is the friction coefficient, J is the inertia constant and Zp
r"
The manipulated variables are Usd (t) and usq(t) , and the
outputs of the system are the velocity w()t and rotor flux
1/;r d (t) . Thus, the entire system is a fourth order nonlinear
system with two inputs and two outputs. As we know, a PI
controller is designed based on a model of a single-input
and single-output system. If the system dynamics are more
than first order, there will be approximation errors in the
design when using a PI controller structure. It appears that the
straightforward application of PI controllers for the induction
motor would not be fruitful, because of the system order, the
number of inputs and outputs and the existence of nonlinearity.
----'-----1
Fig. l.
B.
Eo<
1 A
-, usq(t)
r"T
"
I
.
kr
-, usq(t) - ws(t) Zsd (t) - -, W()t 1/;r d (t)
r"T
r"T
"
"
(5)
1649
function of (6) is
(7)
Kg
s=- - - -1
T
Tra
= cx
(9)
cx
q
Kc = __ra
1 - CX
(10)
-i 1/Jd
2Lr J
2Lr J
where /'i,t =
The last three terms on the right-hand side
of (12) are considered as disturbances in the feedback control
system. In particular, the constant term /'i,t i 1/Jd is an input
constant disturbance and if the load torque f changes in a
step signal manner, then both disturbances will be completely
rejected without steady-state error by the PI controller. The
term /'i,tig1/Jrd(t) is a linear function of the rotor flux 1/Jrd(t).
Because i8d(t) is under PI control, in the steady-state, 1/Jrd(t)
will converge to its set-point signal 1/J;d' where 1/J;d = Lhi ;d'
hence becoming a constant. This disturbance term will also be
completely rejected without steady-state error. In short, with
PI control of velocity, all the constant terms on the right-hand
side of (12) are regarded as constant disturbances that will be
completely rejected by the action of integrator in the controller.
To design the PI velocity controller, based on (12), consider
the Laplace transfer function between the velocity n ( s) and
the current I sq( s
),
3;LLj'.
/'i,t 1/Jd
S+
li
J
u8 q(t)
= Kg(i;q(t)
- i8q()t )
u8q(t)
= Kg(i;q(t)
(11)
(12)
n (S)
-I; q( s
)
Let a = if and b =
represented by
1650
/'i,t 1/Jd
S + Jy
--xcx
/'i,t 1/Jd x cx
C S + Co
C ( s) = --S
I
1
= K c ( 1 + -)
TIS
(14)
2wn - a
Usd
Kc
D.
2wn - a
(16)
i;q(t)
r (W*(T )
Jo
- w( T )) d T
C. PI
_iax + eisq(t)
i;q(t)
Slip Estimation
(15)
Kc
K c (w *(t) - w(t)) +
T1
I Jor (i;d (T ) - i Sd (T )) dT
K
T[
kr
'l/J r d (t) - Traws(t) isq(t)
Tr
Ws (t)
T1
2wn -
Co
Let a
-l;and b
_
,__1 . The desired closed-loop control
T(T
TaTadesigned is identical to the one used in the previous section,
by choosing the bandwidth parameter Wn and a damping
coefficient , leading to the proportional control gain and the
integral time constant via the equations (15) and (16).
The manipulated variable Usd is computing using the posi
tion form of the PI controller where
iax + eisq(t)
W(t) +
isq(t)
.
T r Zsd ()t
(18)
Bs(t)
B(t) +
{t Sq(T )
T r Jo Zsd (T )
dT
1
-, Usd (t)
Tara
A
.
1
kr
-, Usd (t) + -, -'l/J r d (t) + Ws Zsq(t)
Tara
TaraT r
disd (t)
dt
--
1 .
1
-,Zsd (t) + -, Usd (t)
Ta
Tara
A
(l7)
Kc
ra
__
1 - CX
(19)
T1(s)
,
T1(s)
,
(1
- a To-S
+1
(20)
"(
Wn
= -
system as Wn
a. We can also have a rough estimate of the
closed-loop settling time for the choice of"( parameter. For the
approximate second order from the outer closed-loop system,
the settling time is estimated as E!n' and the open outer- loop
system is a first order system with settling time estimated as
i. Therefore, the ratio between the closed outer -loop system
nd the open outer -loop system is approximately E'
Determining the maximum of the closed-loop bandwidth
is more complicated. The closed-loop control system will
become unstable if the parameter Wn is chosen to be too large.
At a quick look, one could not easily think a first order system
controlled by a PI controller to become unstable. The cause of
instability for the induction motor drive here was the neglected
inner-loop dynamics in the design that was first order model
with a small time constant, sensor dynamics and possible time
delay due to the PWM. So, the actual outer-loop system is at
best a second order system controlled by a PI controller, and
this closed-loop system could become unstable. Thus, we need
to carefully select the factor "( for the outer-loop PI control
system.
Nyquist plot ([8]) of the outer-loop control system provides
an effective means to determine the bandwidth Wn to be used
in the design. A good design should have reasonable gain and
phase margins to ensure that the closed-loop system is robustly
stable in the presence of factors known and unknown. Figure
2 shows the Nyquist plot of the cascade control loop of w.
The Nyquist loci show that when the inner-loop proportional
controller gain is fixed with the a
0. 9, increase of the outer
loop bandwidth Wn
"(a via the value of "( will result in the
changes of Nyquist curves. In particular, larger "( leads to a
smaller gain margin as shown in Figure 2.
=
. ,
-2
3
'.
5
- -
0.
5
('
-0
, )
(21)
5=---_--'-, -----:0
- :"::
.
5--'------=
0
"
.
=
5----'----'
: =
'.
'
5-----'
-2L---"'.
IV.
5; line
EXPERIMENTAL RESULTS
1652
_U 2
- 0
--- 1
10
15
20
5
- 0
is "(W
6. 667, The sampling interval for the implementation is
/:).t
100e-6. With these specifications, the inner-loop P con
160.4251, the PI controller for
troller for isq has gain: Kg
isd has K sd 234. 2206 and T j sd 7. 8326*10-4. The outer
0. 0716 and
loop PI controller has the proportional gain K':;
0. 0990.
the integral time constant T J
In the experiment, the set-point of the velocity is chosen to
be low-speed range 300 RPM, half of the rated speed 700 and
rated speed 1400 RPM. At ti
2sec, a step disturbance is
introduced to the feedback of current isq to represent the load
change.
Figure 3 shows the velocity closed-loop responses for the
sequence of set-point changes whilst Figure 4 shows the
closed-loop responses for currents control, and the manipu
lated voltage variables (Usd and usq) are displayed in Figure
5. All figures show that the PI cascade closed-loop control
of the induction motor has produced satisfactory results in all
speed ranges and disturbance rejection.
10
Time (sec)
15
20
200 ------------.---------,
200
00
----------- -------- -----0
-5
-10
15
20
Time (sec)
-4
5 00 --------------------------
o
5
10
15
20
Time (sec)
Fig. 5.
Manipulated variables
F-=1l
-2
proposed structure has advantages over the conunonly used
PI controllers for the inner-loop current control in terms of
model uncertainty and temperature variations for induction
motor control, which will be published in our future work.
REFERENCES
O---0---5--10--15---=2
Time (sec)
V.
CONCLUSIONS
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Phase AC Machines. Springer, 1st edition, 2008.
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control with induction motors. Proceedings of the IEEE, VoI.82:121540, 1994.
[3] L. Harnefors and H.-P Nee. Model-based current control of ac machines
using the internal model control method. IEEE Transactions on Industry
Applications, VoI.34:133-41, 1998.
[4] Fernando Briz del Blanco, Michael W. Degner, and Robert D. Lorenz.
Dynamic analysis of current regulators for ac motors using complex
vectors. IEEE Transactions on Industry Applications, Vo1.35:1424-32,
1999.
[5] E.R Filho and R.M de Souza. Three-phase induction motor dynamic
mathematical model. In IEEE International Electric Machines and
Derives Conference Record, page MB1I2.1, May 1997.
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Conference on Industrial Electronics, Control and Instrumentation, vol
ume I, page PI, Sep 1994.
[7] Arne Linder, Rahul Kanchan, Ralph Kennel, and Peter Stolze. Model
Based Predictive Control of Electric Drives. Cuvillier Verlag Goettinggen,
2010.
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