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Abstract— This paper presents a finite control set – model (IMC) with unity power factor control at the input side [13];
predictive control (FCS-MPC) of induction motor fed by a multilevel inverter fed induction motor predictive control
multilevel cascaded H-bridge inverter. The control scheme has [14]; predictive current control of a three-phase four-leg
been based on discretized model of the IM motor and also on inverter [15]; torque ripple reduction of IM with predictive
the discrete nature of power electronic converter. In each direct torque control method [16], and a weighting factor
predict time period the optimization procedure estimates cost
optimization method in the predictive control algorithm for
function under a finite control set which is among the most
effective switching voltage vectors of the multilevel converter. reduction of torque ripple [17], [18].
To ease the future experimental prototype building, this work Especially, the studies on multilevel cascaded H-bridge
has purposely developed a MPC algorithm for 2 step inverters for induction motor are of great interest, because
prediction time and the IM fed by a 3-levels cascaded H-bridge multilevel inverter could increase number of voltage levels,
inverter. The simulation results show all good attractive higher voltage can be generated using the devices of lower
performance and potential implementation. rating, lower switching frequency while producing better
voltage waveform and reduced total harmonic distortion
Keywords— model prediction control (MPC), three level- (THD). The last characteristics are of vital importance for
inverter, Cascaded H-bridge, induction motor, FCS-MPC
the operations in high voltage, high power range. In this
work a FCS-MPC technique has been proposed to control
I. INTRODUCTION (HEADING 1) induction motor flux and torque accurately. The control
Nowadays, Field-Oriented-Control (FOC) and Direct procedure is to minimize the cost functions for all possible
Torque Control (DTC) are the most popular control switching states and to select the optimal state vector for the
strategies of the induction motor (IM). FOC is a technique next sampling period.
which provides a method of decoupling the air-gap flux and This paper is organized in the following manner: the second
the other producing the electromagnetic torque. Therefore, it section describes the modeling of the induction motor, three-
provides independent control of torque and flux, similar to a level cascaded H- bridge inverter; the third the model
separately excited DC machine. DTC is a control method predictive control of induction motor with delay time
without a coordinate transformation [4], [5]. DTC offers an compensations, consideration of long prediction horizons for
excellent torque response using a less parameter sensitive determination of the predicted variables in the second next
model than FOC. For the last decade as an alternative (k+2) sampling time instant, an overall quality function of
the MPC method, and a comprehensive predictive control
control strategy come out is the model predictive control
scheme. In the fourth section, the simulation results are
(MPC).
discussed to prove the feasibility of the proposed method.
The basic idea of MPC is to pre-calculate the optimum The last section is concluded with a comprehensive
values for the actuating variables based on a mathematical conclusion.
model of the system, the history of past control actions and
an optimization of a cost function over a receding prediction II. SYTEM DESCRIPTION
horizon [6]. MPC has many advantages: the basic concept is
easy to understand, the algorithm is simple to implement, it A. Modeling of induction motor
can handle multi-variable systems and constraints can be The induction motor (IM) can be modeled with the
included. The main disadvantage of MPC is the big online following. The and axes stator voltages of IM are
calculation effort, especially with long horizons [7]. derived as the sum of the resistive voltage drop and the
Fortunately, the modern digital signal processing (DSP) and derivative of the stator flux linkages in the stationary
the Field Programmable Gate Arrays (FPGAs) have made it reference frame as.
possible to use MPC in fast dynamic processes such as
power electronics and control of electrical drives [8], [9], us Rs is Ls s ; 0 Rr ir Lr r jz p r
(1)
[10] and [11]. Therefore, different applications in voltage s Ls is Lm ir ; r Lr ir Lm is
source inverter with predictive control has been successfully
investigated in recent few years, such as a predictive current Where is : stator current; ir : rotor current; Rs : stator
control fed by voltage source inverter [12]; predictive torque
resistance; Rr : rotor resistance; : rotor angular
and flux control of IM fed by indirect matrix converter
36
frequency; z p : number of pole pair; Ls , Lr : self – 0 sA 0
inductances; Lm : mutual inductance vac Vdc sA 1 (3)
V s A 1
The developed electrical torque in the IM can be represented dc
by stator current and stator flux as the following equation:
3 TABLE I. OPERATING STATUS OF THE SWITCH AND POLE VOLTAGE
Te z p ( s xis ) (2)
2 State switch State level
B. Multi-level voltage source inverter S1 S2 S3 S4 Vac State level (SA)
1 1 0 1 0 0 0
The cascaded H-Bridge (CHB) multilevel inverter is
2 1 0 0 1 VDC 1
frequently studied for command improvement involving
3 0 1 1 0 -VDC -1
synchronization strategy and output voltage power levels
4 0 1 0 1 0 0
enhancement. It has a modular structure that produces a stair
wave voltage output from a multitude of DC sources.
(0,1,-1)
The number of voltage levels in a CHB inverter can be (-1,1,-1)
V11 V10
(1,1,-1)
V9
found from:
m=(2H+1) (3) 4
(-1,0,-1) (1,1,0)
Where: H is the number of H-bridge cell per phase leg. (-1,1,0) (0,-1,0) (0,0,-1)
(1,0,-1)
V12 V8
The voltage level m is always an odd number for the CHB V3 V2
3
inverter while in other multilevel topologies such as diode- (-1,1,1) 1 (0,-1,-1)2 (1,-1,-1)
(0,1,1)
clamped inverter, it can be either an even or odd number. V13 (-1,0,0) (1,0,0) V7
V4 (0,0,0) 1 V1 2
The total number of active switches (IGBT) used in the V0
CHB inverter can be calculated by (-1,-1,0) (1,0,-1)
(1,-1,0)
Nsw= 6(m-1) (4). (-1,0,1)
V14
(0,0,1) (0,1,0)
V6
V18
V5
In the article we present at a three level H-bridge multilevel
with three separated DC sources with unequal voltage
(0,-1,1)
levels. The inverter is capable of creating three levels of (-1,-1,1)
V16
(1,-1,1)
V15 V17
output voltage (Fig.1), to apply the proposed method.
Fig. 2. Vector diagram and sectors of the three-level inverter
+
- S2 S4
III. PREDITIVE CURRENT CONTROL
Fig. 1. Simplified circuit diagram of three-level cascaded H-Bridge A. The required signal estimations
inverter
Based on the squired-cage induction machine model
Fig.1 can express three types of switching states, by presented in section II, the relationship among stator flux,
considering all of the three-phase switching states, a total of rotor flux can be expressed as [16]:
27 switching states can be combined. The operating status of dψ r
the switch and the pole voltage in the three-level inverter ψ r Tr Lm i s
can be represented by the switching states shown in Table I. dt
(5)
Table I in the symbol is “1” is ‘’ON’ switching state and “0” ψ r Lm i s
is ‘’OFF’ switching state. State level as the following ψ s Lm Ls i s
equation (3): Lr
Where Tr Lr / Rr
To discretize (5), the Euler backward approximation [18]:
37
dx x ( k ) x ( k 1) Known Speed, Ref. Current
(6)
dt Ts Rotor flux
Lr Lm
Ψr (k ) .Ψ r ( k 1) i s (k ) (7)
Lr Ts .Rr r
1
Ts For, i = 1:19
Where: kr Lm / Lr ; 1 ( Lm / Ls Lr )
2
2 2 2
Where : a a a1 a1 ... a p a p
* * *
*
is ( k ) : reference current predictive variables at k time;
*
is ( k 2) : reference current predictive variables at k+ 2
38
Vdc3 Vdc2 Vdc1
+
-
-
C C C
S2 S1 S2 S1 S2 S1
S4 S3 S4 S3 S4 S3
Vac Vac Vac
N
ic ib ia
A
B
C IM
Sa ; Sb ; Sc
* *
i
q IE
Speed dq
controller i*s (k ) Cost function
optimization
id*
is (k 2)
Current
prediction for is
(k+2)th sampling
time
ψr
isα
Flux estimation
isβ
Fig. 4. Block diagram of the induction based on MPC using three-level cascaded H-Bridge inverter
39
10
10
(A)
0 0
ia
-5 -5
ib
ic
-10 -10
0 0.5 1 1.5 2 2.5 3
0 0.5 1 1.5 2 2.5 3 Time [s]
Time [s]
Fig. 9. Three phase stator current response
0
-1000
-100 0 0.5 1 1.5 2 2.5 3
Time [s]
-200
0 0.5 1 1.5 2 2.5 3
Fig. 10. Van phase voltage response
Time [s]
0
found form the simulation done. The result obtained proves
that the distortion in the system is less. The current THD of
-10 the MPC is only 1.25%.
-20
0 0.5 1 1.5 2 2.5 3
Time[s]
40
V. CONCLUSION [14] J. Beerten, J. Verveckken, and J. Driesen, "Predictive direct torque
control for flux and torque ripple reduction," IEEE Transactions on
In this paper, FCS-MPC controller is proposed and Industrial Electronics, vol. 57, pp. 404-412, 2010.
applied in an induction machine control system with high [15] M. Uddin, S. Mekhilef, M. Mubin, M. Rivera, and J.
power and voltage fed by multilevel-cascaded H-bridge Rodriguez,"Model Predictive Torque Ripple Reduction with
inverter. The proposed delay time compensated model Weighting Factor Optimization Fed by an Indirect Matrix Converter,"
Electric Power Components and Systems, vol. 42, pp. 1-11, 2014.
predictive control method utilizes the discrete with the
second next (k+2)th predictive variables are predicted. The [16] Muslem Uddin, Saad Mekhilef, Mutsuo Nakaoka, Marco Rivera,
“Model Predictive Control of Induction Motor with Delay Time,
delay time has no effect on control performance when delay Transactions on industrial infomatics, Vol.11, No.1, february 2015.
time compensation has been taken in consideration in the [17] Ricardo P. Aguilera, Daniel E. Quevedo, Predictive Control of Power
predictive control algorithm which results in well tracking of Converters: Designs With Guaranteed Performance Transactions on
the reference variables at high speed, even at low speed industrial infomatics, Vol.11, No.1, february 2015.
regions of the induction motor. It is performance of electric
drive will be improved.
ACKNOWLEDGMENT
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