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CHAPTER 3
3.1 INTRODUCTION
control. As most of the concepts of scalar control are well known the concept
of vector control is discussed in the following sections to facilitate the
understanding of the techniques as when applied to SRM. These techniques
are in general common to AC machines but differ only in the way of
implementation to the respective motors. The forthcoming section explains
the concepts as applied to the induction motor.
Te = Kt f a = Kt′IaIf
Te = Kt′iqsids
current Îs changes Îs as shown. Similarly, if ids is decreased to i′ds, the
v̂s
i′qs v̂m v̂ m
i qs q e axis e iqs e
ids i′ds q e axis
′ îs îs
i ds ′
îs îs
ˆ r
i ds ˆ ˆ e ˆr
r m d axis
e
d axis
(a) (b)
Control Machine
* s
ids ids* ia* ia iqs ids
de-qe s
d -q s
ib* ib a-b-c ds-qs Machine
to to to s to de-qe
iqs* ds-qs iqs* a-b-c ic* ic ds-qs iqs de -qe iqs model
to
iqs
ids
cos e sin e cos e sin e
e
r
Inverse Transformation
transformation
Machine
Terminal
(c)
unit vector is the key element for vector control. Note that the inverter’s
dynamics and its transfer characteristics, if any, have been neglected. There
are two methods of vector control depending on the derivation of the unit
vector. They are the direct (or feedback) method and indirect (or feedforward)
method.
The flux coils and Hall sensors are basically sensor-based methods.
In the former method, flux coils are mounted in the airgap direct (d s) and
quadrature (qs) axes. The induced voltages in these coils (vsdm , vsqm ) are then
integrated and processed further to obtain the rotor flux vector components
( sdr , sqr ) . Apart from the mounting difficulty, at very low frequency,
integration of very small signals becomes difficult due to a drift problem. Hall
sensors are also mounted in the airgap like flux coils, but here the accuracy
becomes difficult due to temperature drift.
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These two methods are now practically obsolete. The voltage model
depends on machine terminal voltages and currents, whereas the current
model depends on the currents and speed signal. In the hybrid model, the
voltage and current models are blended. The closed-loop observer methods
are more sophisticated. The voltage and current models will be described
next.
rotor flux ( sdr , sqr ) , torque (Te), and unit vector (cosθe, sinθe) signals can be
calculated. Then, using the unit vector, synchronous frame stator currents (ids,
iqs) can be calculated. The accuracy of the estimated signals depends on the
machine parameters, which vary during machine operation. At very low
speed, ideal integration becomes difficult because the voltage signals are very
low at low frequency and sensor DC offsets tend to build up.
(ωr) signals to estimate the rotor flux vector ( sdr , qrs ) by solving Equations
d sdr L m s 1
Ids r sqr sdr (3.1)
dt Tr Tr
d sqr Lm s 1
Iqs r drs sqr (3.2)
dt Tr Tr
In direct field oriented current control the rotation angle of the i eqs
vector with respect to the stator flux sqr is being directly determined (e.g. by
measuring air gap flux). The block diagram of Direct Vector Control (DVC)
with rotor flux orientation (Casadei et al 1993) is shown in Figure 3.5, where
ids is the flux component of stator current and iqs is the torque component of
stator current. The Vector Rotation (VR) and 2Φ/3Φ transformation in the
forward direction, are also indicated. The ids signal is obtained from a flux
control loop, whereas the iqs signal is obtained from the speed control loop.
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An additional torque control loop can be added within the speed loop, if
desired.
The unit vector and ̂ r signals are calculated from the voltage model
d qr Rr L
qr m R r i qs sf dr 0. (3.3)
dt Lr Lr
d dr R r L
dr m R r i ds sf qr 0. (3.4)
dt Lr Lr
Lm R r
sl . i (3.5)
ˆ r L r qs
ˆ r L mi ds (3.6)
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then added to the speed signal, integrated, and then the unit vector
components are derived as shown in the Figure 3.7. Thus, the rotor pole and
the corresponding current ids are held ahead of the rotor dr axis at correct
angle. The speed signal is obtained from an incremental encoder. In the
constant torque region, the rated flux is generated by constant ids command.
deteriorates transient response and affects the flux and torque transfer
characteristics.
Figure 3.7 Indirect or Feed Forward Vector Control with Rotor Flux
Orientation
The flux loop has outputs +1 and −1, whereas the torque loop has
three outputs, +1, 0, and −1 as shown. The inverter voltage vector table also
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gets the information about the location of the stator flux vector ψs. From the
three inputs, the voltage vector table selects an appropriate voltage vector to
control the PWM inverter switches. The control strategy is based on the
torque equation
3 P Lm
Te r s sin (3.7)
2 2 L r (Ls L r L2m )
where ψs and ψr are the stator and rotor fluxes, respectively, and γ is the angle
between them.
Note that the control neither uses any PWM algorithm nor any
feedback current signal. It can be used for wide speed ranges including the
field-weakening region but excludes the region close to zero speed. DTC
control has been used widely, for example, in pump and compressor drives as
an improvement of open-loop volts/Hz control.
voltage vectors and the two zero vectors of the inverter controlled by the
look-up table are shown in Table 3.1. If a voltage vector is applied to the
inverter for time Δt, the corresponding flux change is given by the relation
Δψs = Vs . Δt. The flux increment vector for each voltage vector is indicated in
Figure 3.10.
Table 3.1(a) Switching Table of Voltage Vectors and (B) Flux and
Torque Sensitivity by Voltage Vectors
Voltage
V1 V2 V3 V4 V5 V6 V0or V7
vectors
ψs
0
Te
(b)
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3.7 SUMMARY
This chapter dealt with the direct and indirect vector control
techniques for AC drives. It also describes the basic concept of DTC as
applied to Induction motor. The next chapter clearly states the different
control techniques for SRM.