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CHAPTER 3
3.1 INTRODUCTION
form [5].
speed control [16]. Main drawback of the coupling effect in the control
making the system very slow and sluggish. Moreover, since the order
of the system is very high, the system suffers from instability as for
HP 50
Voltage 460 V
Frequency 50 Hz
Phase 3
Poles 2
The slotting effects and the iron losses are neglected. Note that in
intersection.
is that the PWM resolution rapidly decreases with the required signal
Fig. -
PWM.
follows:
VDC
1. When the control voltage vcont is > Vtr , VAO
2
41
VDC
2. When the control voltage vcont is < Vtr , VAO
2
of features:
amplitude is controlled by the peak value of the voltage of vcontr and the
will determine the shape of the output and are controlled by the
lower half of the inverter will be in off condition (logic 0 state). Thus,
the on and off states of the transistors S1, S3, S5 in the upper half of
inverter.
inverter
vector is as follows:
Vab 1 1 0 a
V V 0 1 1 b (3.2)
bc DC
Vca 1 0 1 c
Van 2 1 1 a
V VDC 1 2 1 b (3.3)
bn 3
Vcn 1 1 2 c
The eight possible combinations of the on and off patterns for the 3
switches in the upper part of the PWM inverter is as in Fig. 3.4. The
output line to neutral voltage and the output line to line voltages in
Switching
Voltage VLN VLL
vectors
Vectors a b c Van Vbn Vcn Vab Vbc Vca
V0 0 0 0 0 0 0 0 0 0
V1 1 0 0 2
3
- 13 - 13 1 0 -1
V2 1 1 0 1
3
1
3
- 23 0 1 -1
V3 0 1 0 - 13 2
3
- 13 -1 1 0
V4 0 1 1 - 23 1
3
1
3 -1 0 1
V5 0 0 1 - 13 - 13 2
3 0 -1 1
V6 1 0 1 1
3
- 23 1
3 1 -1 0
V7 1 1 1 0 0 0 0 0 0
and/or currents, which are applied to the three phases of an IM. Also,
44
Fig. 3.5: The relationship b/w abc ref and stationary dq frame
as follows:
where
1 1
2
1
2 fd fa
2 3
K s 0 2
3
2 , f dq 0 f q , f abc f b (3.5)
3 1 1
1
f 0 f c
2 2 2
circle as in Fig. 3.6. Thus, this feeds the electric power to the loads.
The angle between any two adjacent non-zero vectors is 600. The two
zero vectors Vs1 to Vs6 are placed at the origin of the hexagonal (circle)
grid of vectors. These eight basic vectors in the grid are denoted by
obtain the desired reference voltage Vref in the dq plane. The main
Step 1: Find the voltages Vd, Vq, Vref and the angle
Step 3: Find the switching times of each power transistor (s1 to s6).
space vectors
the machine was considered. This was valid only in the steady-state
condition. The equivalent circuit that was used for obtaining the
respectively [7].
theory. In the IM, the 3-phase rotor windings move with respect to the
d sA (t )
VsA (t ) Rs isA (t )
dt (3.6)
d sB (t )
VsB (t ) Rs isB (t )
dt (3.7)
d sC (t )
VsC (t ) Rs isC (t )
dt (3.8)
49
d ra (t )
Vsa (t ) Rr ira (t ) (3.9)
dt
d rb (t )
Vsb (t ) Rr irb (t ) (3.10)
dt
d rc (t )
Vsc (t ) Rr irc (t ) (3.11)
dt
where the flux linkages related to the stator and rotor windings are
given as [7]
sB M s isA Ls isB M s isC M sr cos m 4 3 ira (3.13)
M sr cos m irb M sr cos m 2 3 i
rc
sC M s isA M s isB Ls isC M sr cos m 2 3 ira (3.14)
M sr cos m 4
3 i rb M sr cos m irc
ra M sr cos m isA M sr cos m 2 3 isB
M sr cos m 4
3 i
sC Lr ira M r irb M r irc
(3.15)
50
rb M sr cos m 4 3 isA M sr cos m isB
M sr cos m 2
3 isC M r ira Lr irb M r irc
(3.16)
rc M sr cos m 2 3 isA M sr cos m 4 3 isB
M sr cos m isC M r ira Lr irb M r irc
(3.17)
inductance and the currents referred to the stator and rotor windings.
further simplifying, the equations for the stator and rotor can be
Rs pL s pM s pM s
VsA Rs pL s
V pM s pM s
sB
pM s pM s Rs pL s
VsC
pM sr cos m pM sr cos m1 pM sr cos m 2
Vra
Vrb pM sr cos m 2 pM sr cos m pM sr cos m1
Vrc pM sr cos m1 pM sr cos m 2 pM sr cos m
obtain this, a 3-phase SCIM with stationary axis as-bs-cs 1200 apart is
considered.
The direct axis voltage vsds and quadrature axis voltage vsqs are
1 vqss
vas cos sin
v cos 1200 sin 1200 1 v s
bs ds (3.19)
vcs cos 1200 sin 1200 1 voss
may not be present. Note that in the above equations, voltage was
52
is set to zero, the qs-axis will be aligned with the as-axis. Once the
can be simplified as
1 s 3 s
vbs vqs vds (3.22)
2 2
1 3 s
vcs vqss vds (3.23)
2 2
2 1 1
vqss vas vbs vcs vas (3.24)
3 3 3
1 1
vdss vbs vcs (3.25)
3 3
e with respect to the dsqs axes and the angle e is equal to e. The
windings mounted on the deqe axes. The dsqs axes voltages can be
can be written as
Let us assume that the 3-phase stator voltages are balanced and
are given by
Equations (3.33) and (3.34) show that vqss and vdss are balanced 2-
phase voltages of equal peak values and the latter is at 900 angle
phase lead with respect to the other component. Equations (3.35) and
fact, they can be any arbitrary time functions also. The variables in a
vector or phase as
V vqds
s
vqss jvdss ,
Vm cos e t j sin e t
,
^
Vm e j e jet ,
j r
2Vs e . (3.37)
^
the peak value Vm which is 2 times the rms phase magnitude of V s .
follows:
55
s
vqds vqs jvds ,
vqss cos e vdss sin e j vqss sin e vdss cos e
(3.38)
vqss jvdss e je ,
Ve je .
v v v v
^
s 2 s 2 2
V Vm
2
qs ds qs ds (3.40)
frame variables into stationary frame variables. cose and sine are the
defined as the inverse vector rotator that converts the dsqs variables
into deqe variables. Vector V and its components are further projected
on the rotating and stationary axes. The as-bs-cs variables can also be
V vqss jvdss
2 1 1 1 1
vas vbs vcs j vbs vcs
3 3 3 3 3
(3.41)
2 1 3 1 3
vas j vbs j vcs
3 2 2 2 2
2
vas avbs a 2 vcs
3
2 2
j j
where ae 3
&a e
2 3
the two parameters a and a2 are
that all the above transformations done for the stator variables can
d s
vqss Rs iqss qs (3.42)
dt
d s
vdss Rs idss ds (3.43)
dt
where qs
s
and ds
s
are the q-axis and d-axis stator flux linkages,
qe frames as
57
d
vqs Rs iqs qs e ds (3.44)
dt
d
vds Rs ids ds e qs (3.45)
dt
Note that in the above equations, all the variables are in rotating
form. The last terms in equations (3.44) and (3.45) are the speed emfs
due to the rotation of the axes, i.e., when e=0, the equations revert
back to the stationary form. The flux linkages in the de and qe axes
induce emfs in the qe and de axes with a leading angle of 900. If the
rotor is not moving, i.e., r=0, then the rotor equations for a doubly
fed wound rotor IM will be similar to the stator equations and are
given by
d qr
vqr Rr iqr e dr (3.46)
dt
d dr
vdr Rr idr e qr (3.47)
dt
where all the variables and parameters are referred to the stator.
as follows:
d qr
vqr Rr iqr e r dr (3.48)
dt
58
d dr
vdr Rr idr e r qr (3.49)
dt
Equation (3.57).
Rs sLs e Ls sLm g Lm
vqs L Rs sLs e Lm sLm iqs
vdr e s i (3.56)
sLm e r Lm Rr sLr e r Lr ds
vqr i
Rr sLr qr
v e r sLm e r Lr
dr idr
Or
59
1
Rs sLs e Ls sLm g Lm
iqs L Rs sLs e Lm sLm vqs
ids e s vdr (3.57)
sLm e r Lm Rr sLr e r Lr
iqr vqr
i e r sLm e r Lr Rr sLr v
dr dr
wheres is the Laplacian operator. For a single phase IM, such as the
fourth-order linear system. Then, by deriving the inputs vq, vds and e,
the currents iqs, ids, iqr and idr can be solved from Equation (3.56). Note
torques as
d 2 d r
Te TL J m TL J (3.58)
dt p dt
d
vqds Rs iqds qds je qds (3.60)
dt
60
where vqds, iqds, etc. are the complex vectors. Similar to the previous
d
vqdr Rr iqdr qdr j e r qdr (3.61)
dt
vs Rs I s je s (3.62)
Rs
0 Rr je r (3.63)
r
parameter Rm is neglected.
3 P
Te m Ir (3.64)
2 2
3 P
Te dm iqr qm idr (3.65)
2 2
3 P
Te dm iqs qm ids (3.66)
2 2
3 P
Te ds iqs qs ids (3.67)
2 2
3 P
Te Lm iqs idr ids iqr (3.68)
2 2
3 P
Te dr iqr qr idr (3.69)
2 2
d s
vqss Rs iqss qs (3.70)
dt
d s
vdss Rs idss ds (3.71)
dt
d s
0 Rr iqrs qr r dr
s
(3.72)
dt
d s
0 Rr idrs dr r qr
s
. (3.73)
dt
follows:
3 P s s
Te dm iqr qm idr (3.74)
s s
2 2
3 P s s
Te dm iqs qm ids (3.75)
s s
2 2
3 P s s
Te ds iqs qs ids (3.76)
s s
2 2
3 P
Te Lm iqs idr ids iqr (3.77)
s s s s
2 2
3 P s s
Te dr iqr qr idr (3.78)
s s
2 2
d s
s
vqds Rs iqds
s
qds (3.79)
dt
d s
0 Rr iqds
s
qdr jr qds
s
(3.80)
dt
where vsqds = vsqsjvsds, sqds = sqsjsds, isqds = isqsjisds and sqdr = sqr
developed further and is not shown here for the sake of convenience.
variables can be obtained, which leads to Figs. 3.7 and 3.8 by omitting