IEEE Industry Applications Society Annual Meeting New Orleans, Louisiana, October 5-9, 1997

Induction Motor Drive System for Low Power Applications

C. B. Jacobina, M. B. R. Correa, E. R. C da Silva and A. 119. N. Lima UFPB/CCT/DEE/LEIAM - Campus II - Caixa Postal 10105
58109-970 Campina Grande, PB, Brazil Fax: $55-83-3101015; E-mail: {jacobina,edison,marcus}@dee.ufpb.br

Abstract - This paper investigates the utilization of three configurations o f induction motor drive t o implement low cost systems for low power applications. The static power converter side is implemented by a single-phase rectifier cascaded with a four-switch inverter (FSI). Three types o f induction machines are supplied with the static power converter. In the first scheme a standard three-phase induction machine is employed. In the second the load is a three-phase induction machine where only two winding are used. In the third a standard two-phase induction machine is employed. Simulation and experimental results are provided t o illustrate the operation of the systems.

I. I N T R O D U C T I O N
T h e development of low cost motor drive systems is a releva n t topic, specially when the power demanded by the target application is within the low power range. T h e use of static power converters w i t h a reduced number of components as an alternative to reduce the cost of the drive systems has already been proposed by various research teams [l], [2], [3], This paper investigates the utilization of three different configurations of induction m o t o r drives for the implementation of low cost systems a t low power applications, as shown i n Fig. 1. Each of t h e three configurations is based upon the use of a different type of induction machine, i.e., i) a standard three-phase machine (Fig. l b ) ; ii) a three-phase machine and iii) w i t h t w o windings (Fig. IC) a standard two-phase machine (Fig. Id). In all three configurations, the static power converter side i implemented by a single-phase rectis fier cascaded w i t h a split capacitor bank and a four switches inverter (FSI). For the purpose of study, the formulation of scalar and vector pulse w i d t h modulation strategies is proposed for each one of the configurations investigated. Further, simulation and experimental results are provided to illustrate the operation of t h e systems. T h e use of the configurations presented i n Fig. l b and I can be also employed to increase the robustness of an C standard three-phase induction motor drive using six switch inverter (SSI). In fact the configuration of Fig. I has already C been proposed with this purpose [7].

PI!

~51.[61.

Figure 1: AC drive system configurations

'1' will indicate a closed switch and the '0' an open one. T h e pairs 41-43 and Q Z - Q ~ are complementary and as a consequence, 43 = 1- 41 and 44 = 1- qz.
T h e space vector analysis of the static converter is done using the ap stationary reference frame. T h e a p o variables are determined by the transforming equation

II. THREE-PHASE MACHINE

Concerning to the scheme of Fig. l a let us assume t h a t the conduction state of the power switches is associated to the binary variables 41 to 44. Therefore, f r o m now o n the binary 0 - 7 8 0 3 - 4 0 6 7 - 1/ 9 7 / $ 1 0 . 0 0 0 1 9 9 7 IEEE.

with

5123

605

Table 3: Grouped sectors by the common test condition t24 I Sectors I Vectors I Condition I

employed to compute the t i m e weights as it will b e illustrated by the following example. Consider the use of Table 2. T h e following steps m u s t be executed i) compute t 1 3 and t24 by using (20) and (21) ii) if the sign of t i 3 is positive then: (a) use the vectors [ v 4 , VI, (b) t3 ... if VZ];sign set t13 = 0 and t l = t13 (a) use the vectors 111) the of is negative then: [ v 2 , v 3 , v 4 ] ; (b) set tl = 0 and t 3 = - t l 3 iv) compute t z and t 4 by using (16) and (21).

E12

f..

... ...... ..... ......

-1. -..4

... ..

/xYzY

-E / 2

_.._>I

Figure 3: FSI switching waveforms

C.
u,*2

Scalar modulation
U:@, v,, and using matrix

D. Steady-state analysis

Given by

A , one obtains

and

The fundamental voltages and currents of the equivalent t w o phase machine are given by (11). Using equation (1) w i t h
is3

1
(22)

= 0,

one may find t h a t

i,l
is2

1 + -d3: p + -U,,). -~ 2 Jz

(23)

= m s m i s p = J Z I , cos(w,t - 4 - ~ / 6 ) i + a = h i , p = JZI, cos(w,t - 4 - ~ / 2 > .

T h e time intervals 71 and 7 2 . during which t h e switches q1 and q 2 m u s t be kept conducting, are obtained by placing (22) and (23) i n t o (10)

Thus, the amplitudes of the currents i,l and i s 2 are &times the current obtained w i t h a three phase machine (Fig. l b ) . Also, it can be shown t h a t the ac current in the capacitor bank is &/2 o f current of phase. T h e homopolar current is

is,

(isl

+i s 2 +is3)/&
vs0

= &Is

COS(U,~ 4 - ~ -

/ 3 )(28)

fi 1 = -+ -v;p -vso). (25) 2 E 3 2 2 fi Fig. 3 shows typical waveforms observed a t the output of a FSI. With r and 7 2 computed f r o m (24) and (25), 1 the average o u t p u t voltages during the switching period T
T2

and the current-voltage model for the homopolar terms is given by

= rsoi,,

diso
40-

dt

(29)

are equal to the reference voltages. Depending upon the switching sequence of switches q1 and q 2 , one may obtain the same vector sequences discussed i n the previous section. If the t i m e intervals 7 and 7 2 are flushed t o the beginning 1 of the switching period this is equivalent t o the use of vector sequences v 3 v 4 v 1 when 7 < TZ and V ~ V Z V ~ 7 1 > 7 2 ; 1 when this corresponds to Table 3. O n the other hand if q1 starts conducting for 71 while q2 remains blocked for T - 7 2 this is equivalent to use v z v 3 v 4 when r > T - r and v 2 v 1 v 4 1 2 when 71 < T - r2:this corresponds to Table 2. In b o t h cases, the relations rl = t z + t 3 and r = t 3 + t 4 are 2 observed. Based o n these relations and using (16), (20) and (21), a formal relationship between the vector and scalar PWM is established as
Tl 72

where r,, and E,, are the resistance and inductance homopolar. Also, the resistance rs0 is equal to the stator resistance and E,, is the stator leakage inductance. Hence, in steadystate the voltage U,, is
vso

= K cos(wst O

do),

(30)

where

4, = arctan(*)
V,,COS(W,~) U,,, +
= u,,/fl.

v,, = AI, + ( w s ~ s o ) 2 JrJ,

-4

- T/3.

Using equation (1) it can be found that, i n steady-state, the three phase voltages are
U,I
2183
1

= Vs,cos(w,t
U,,

+2 ~ / 3 + )

V,Z

= I/,,cos(w,~ - 2 ~ / 3 )
US,,

tiso

where

= (T - t13

+ t24)/2

(26)

(T - t 1 3 - t 2 4 ) / 2 .

(27)

IV. T W O - P H A S E MACHINE
Fig. I d shows the scheme for the case of a standard twophase machine. Similarly t o the previous configurations, the basic equations for PWM technique as well as the steadystate analysis will be discussed next.

Conversely, the expressions (24) and (25) are obtained

if (20) and (21) are introduced i n (26) and (27), respectively. Therefore, same results are obtained for both vector and scalar PWM techniques.

A.

Space vector analysis

Using the two-phase machine w i t h the converter o f Fig. l a the (rp voltages are given by
vsa

Table 4: Cormparison of the schemes

= (q1y - 43-) = (241 - 1)2 2

E E

E
(31)

"SP

= ( ( I 2 2 - 44-) = ( 2 q 2 - 1)-. 2 2

(32)

The combination o f the states o f the switches originate four different vectors i n t h e plane
[ql
[q1

The equation (26) is also valid as a general relationship between the vector and scalar P W M t o the two-phase machine.
D. Steady-state analysis
The steady-state voltages and currents o f a two-phase machine are given by (11). The amplitudes o f the fundamental phase currents are times greater than those determined i n Fig. l b . Also, it can be shown that the ac current i n the capacitors is 1/fi of current of phase.

= 0, QZ = 01 + v1 = E/fie-j3*14, = 1,q2 = 01 + v2 = E/fie-j*14, [q1 = 1,qz = 1 + v3 = E/fiej*14, 1 [q1 = 0, q2 = 1 + v4 = E/fiej3a/4. 1

(33)

Vectors o f same amplitude are phase shifted o f a/2 f r o m each other. Using the above vector definitions one may split the ap plane i n t o four (I t o IV) sectors as presented i n Fig. 2c. In this case, t o obtain the same maximum voltage, V in , the (rp plane, the dc bus voltage must be times t h a t o f the dc bus for the SSI, times lower than that required when using the three-phase machine w i t h FSI (Fig. 2b) and larger than i n case o f the three-phase w i t h two winding (Fig. 2c) and v,, = 0. Therefore, the system o f Fig. I i s less C demanding in terms o f dc bus voltage when os, is negligible.

fi

V. COMPARISION OF THE SCHEMES

Table 4 presents the comparison chart between the scheme o f Fig. 1 operating at same power. In this table are given the dc bus voltage (E), t h e fundamental stator phase voltage (Vm), current (I,) and the amplitude o f the ac capacitors E, current (Iac). Vm,and I, are normalized relatively t o the values o f a three-phase mlachine supplied w i t h a SSI whereas Iacis normalized relatively t o the phase current amplitude o f the three-phase machine. In the case o f the scheme of Fig. I the ideal case where v8, = 0 is considered. C VI.

B. Space vector PWM Using (15) and (16), and introducing V, = v1 - -v3 = vZa jv,p and vy = v2 = -v4 = vya j v y p , where v,, = w , ~ vUyp - E / 2 and vya = E/2 one may find t13 = =

and t24 f r o m this case as follows

t13

CURR:ENT CONTROLLER

= -E(v:a

+ v:p)t

t24

= z ( v : a - v:p)

(34)

For each one o f the sectors o f Fig. 2c there exists two groups o f three vectors that can be employed t o compose the reference voltage, as shown in Table 1 The test conditions . employed t o determine t h e sectors o f Fig. 2c are grouped by pairs. Also, the adjacent sectors are grouped t o create two double sectors. Tables 2 and 3 show the double sectors and the corresponding vectors. As the vectors have the same amplitude, the utilization o f the Tables 2 and 3 produces the same effect. The same algorithm can be used t o generate the P W M based on table 2 or 3.

The most inner loop is the current control loop, normally required when the machine is controlled by field orientation principles. This section focuses on t h e design o f the digital current control loop for the configurations proposed in Fig. 1 . The model used t o design the controller is obtained f r o m the machine dq model [9]and is given by

C.

Scalar modulation

Terms e s d and esq are counter emfs given by

One may use the same techniques employed w i t h a previous configuration t o define a scalar PWM strategy t o control the FSI. The t i m e intervals, 7-1 and ~ 2 during which the , switches q1 and qz must be kept conducting in order to obtain a t the output o f the FSI the desired reference voltage, are determined by
7-1

+ &,

7-2

= - + -v* sp 2 E

(35)

where we is the angular .frequency o f the synchronous reference frame, i.e., stator angular frequency.

609

, isd

sd

Three-phase machin,e
O t

-'"
0

' I
. .,
I

0.005

0.01

0.015

0.02

123
I.
lsq

+
l

e sq

IS
0

0.00s

0.01

0.015

0.02

Figure 4: Block diagram of the current controller T h e discrete-time current-voltage representation given by

(36)-(39) can be obtained by using t h e forward shift operator.

T h i s simplified representation allows to derive decoupled cont r o l laws t h a t have the same complexity of PI controllers. For this simplified model the current controller vector equations are

-LV

0.005

0.01

0.015

0.02

Figure 5: Three-phase, t w o winding and two-phase machine currents.

machines were considered to have same dq parameters and Table 4 was used so t h a t a same m a x i m u m voltage was obwhere vZdq= ~ : ~ + j w : ~ ,i:d? = i : d + j i : q , Ai,(t) = i:(t) tained for all schemes. This way, the amplitude of vectors is(t) and k, and ICd are the gains o f t h e controller. This paper v1 and v2 in Fig. 2a, for the three-phase machine, becomes did n o t consider the compensation o f terms due to e,d and equal t o the amplitude o f vectors vz and VI, in Fig. 2b, esq. The gains of the controller are determined according t o for the t w o winding machine, i n which wso = 0, respectively. the o p t i m u m damping criteria. T h e gains IC,, proportional, For results i n Fig. 5 and 6 the scalar PWM t h a t always use and lei, integral, of the continuous controller are computed t w o vectors of small amplitude are employed, i.e., Table 3 is and, f r o m those, the discrete gains k, and ICd are obtained applied t o the three-phase machine and Table 2 is applied t o by the Tustim approximation. the t w o winding machine. Fig. 4 presents a generic block diagram of t h e current Figs. 5 presents the a currents obtained for the systems control strategy to be employed w i t h the configurations proi n Figs. l b , I d and the , current for the system of the Figs. B posed i n Fig. 1,for t h e synchronous reference frame. In t h a t IC. cases the modulation index is m = 0.5 and the In all figure, block e J 6 = cos S jsin 6 represents the coordinate switching frequency fw = 2.0kH.z. T h e machine w i t h t w o transform and converts the quantities f r o m the synchronous windings has been considered ideal, i.e., T,, = lsp 0, so = (dq) t o the stator reference frame (ab). Block a p o / 1 2 3 t h a t w,, = 0. Load currents presented i n these figures are implements the m a t r i x transformation given by A. Block superimposed t o ideal current waveforms (inner curve) obPWM+FSI+IM represents t h e PWM voltage source inverter tained w i t h the assumption t h a t the FSI is sinusoidal voltage plus the induction machine. Block R; corresponds to the cursource. T h e p currents for the case of Figs. l b , I d and a rent controller. Notice t h a t the t e r m vso must be included currents for the case of Fig. I are similar. A comparison o f C in the transformation a/30/123. the currents shows t h a t the ripple is slightly higher for the For t h e machine in Fig. I b , w:, = = (w:, two-phase machine, The ripple for the t w o winding machine is equivalent to t h a t o f the three-phase machine, b u t i n this where w; is the voltage i n case o f three-phase : case w J o = 0. machine supply by a SSI. Figure 6 presents the t o t a l harmonic distortion (THD) of For the case of the Fig. IC, be obtained f r o m (29), w,": can the voltage supplied to t h e load w i t h t h e schemes of Figs. i.e.. v, = r,,i:, : lsodi:o/dt, where i:, = (i:l +.iZ2)/A. l b and I d for axis /?, and I for axis a , as a function of C Of course the compensation of w, is only achieved if rs0 and : t h e modulation index. T h e t w o winding machine has been l,, are known. considered as ideal, i.e., T,, = I = 0, so t h a t U,, = 0. T h e , In the case of two-phase machine w s l , v,2, i,l and is2 are THD presented in Fig. 6 has been computed by equivalent to w,,, v s p , i s , and i , p , respectively.

v:dq( t ) = v:,,(t

-t a) k, Ai,dg(t)+ kd Ai,dq(t-tal, ( 4 0 )

fiw:B)/./",

-&.Ti

Another alternative t o implementation o f current control loop is to use t h e hysteresis approach [lo]. In this case the compensation of v,, is achieved by the controller and it is not necessary t o known the machine parameter.

VII.

SIMULATION RESULTS

Next, simulation results obtained for the configurations i n Figs. 1 are presented. With this purpose, the induction

where a1 is the amplitude of the fundamental, ai is the amplitude of ith harmonic and p i s the number of harmonics taken i n t o consideration. The THD is quite close for t h e three machines when the modulation index is large. However, the THD for the two-phase machine is higher than other for a low modulation index.

610

THD ( 1 0 )
0
+

IO

Three-phase machine Two-winding machine Two-phasemachine

*"

-200

t (s

0.o.r

0.02

0.03

1, '

0.'2

04 .

0.6

0.'8

A
00
0.0.1
?

: Figure 6: THD of the output voltages

(s

0.02

0.03

Figure 7 shows the phase current (actual and reference superimposed), t h e electromagnetic torque and vector vi i n the plan a@ when the load is an induction machine w i t h t w o windings. These results, obtained when a hysteresis current control loop is employed, show t h a t the induction machine operates correctly. A deformation of vector v due to U,, is i always present i n the process, independently o f the type of current control.

-0.5

VIII.

E X P E R I M E N T A L RESULTS

T h e current control strategy presented i n this section was implemented employing a 486DX266 microcomputer equipped w i t h a special plug-in board. Figures 8 and 9 show t h e experimental test results obtained for schemes of Fig. l b and Fig.lc. In these figures, t h e reference and the actual stator current of axis a (a) and axis p (b).are plotted. T h e same reference current waveform i: = 0.8e320?rtwas employed for both cases w i t h an abrupt change in its amplitude. T h e transient change reduces the amplitude of t h e reference f r o m 0.8A to 0.4A and always occurs a t the instant t = 0.1. T h e closed loop performance is quite good i n all cases. However, it can be noted a small difference between the reference and real current in the scheme of Fig.lc, indicating t h a t the compensation of w,, can be improved.

Figure 7: Current, torque waveforms and voltage vector obtained for the case of t h e t w o winding machine.

o
0 -1 -1
-0.5

0.5

c 1 t

IX. CONCLUSION
T h i s paper has investigated the utilization o f three configurations of induction m o t o r drives t o implement low cost systems for low power applications. Theses schemes use the same power converter and three different induction machine arrangements: three-phase machine, two winding machine and two-phase machine. Comparing t h e schemes in Fig. l b to Fig. Id to a scheme consisting of a three-phase machine and three-phase inverter (SSI) designed t o supply induction machines o f same power level one observe t h a t the - Three-phase machine has (a) the same fundamental phase voltage and current, (b) a double dc bus voltage, and

(c) the ac current i n the capacitor bank is half of the phase current. T w o winding machline has (a) the same fundamental phase voltage , (b) a times fundamental phase current, (c) a 2 / 4 times dc bus voltage, (d) and an ac current i n the capacitor bank t h a t is 3 times the phase current. - Two-phase machine has (a) a times fundamental phase voltage and current, (b) a fi times dc bus voltage, and (c) the ac current in t h e capacitor bank is times the phase current. T h e voltage rating of the two winding machine mentioned above corresponds to the ideal case i n which U,, = 0. However, i n practical case U,, # 0, so t h a t the voltage applied by the FSI pres,ents an interne voltage drop which depends on the current, T h i s makes more complex the implementation of the digiital current controller. T h e harmonic distortion for both the three-phase and the t w o winding machine is similar, b u t only if t h e homopolar impedance is null. Instead, the two-phase machine presents a higher harmonic distortion for low values of the modulation index. T h e scheme w i t h a three phase-machine presents the best performance for the features analyzed, except for the dc bus voltage. However, the choice of one of the schemes depends o n the most important ipractical aspects of each application. For instance, the three-phase machine and the t w o winding

fi

61 1

0.8

-0.81

v
0.05
0.1 Time (9)

1
0.15

-10

0.2

0.05

0.1 Time Is)

0.15

0.2

(a) Axis-a stator current

(a) Axis-or stator current

I
0.05 0.1 Time (s)
0.15

I
0.05
0.1 Time I s )

0.2

0.15

0.2

(b) Axis-/3 stator current

(b) Axis-P stator current

Figure

8: Stator current to scheme of the Fig. Ib.

Figure

9: Stator current to scheme of the Fig. IC.

machine can be considered as a case o f failure i n a threephase machine with SSI. In this case, i t s use allows t o increase the robustness of t h e three-phase machine ac drive.

[5] G. Kim and T. A. Lipo. Vsi-pwm rectifier/inverter syst e m w i t h a reduced switch count. In Proc. IAS Conf Rec., pages 2327 - 2332, 1995. [6] M.F. Rahman and L. Zhong. A current-forced reversible
rectifier fed single-phase variable speed induction m o t o r drive. In Proc. PESC Conf Rec., pages 114-119, 1996.

REFERENCES

[l] H. W. Van der Broeck and J. D.Van Wyk. A comparative investigation of three-phase induction machine drive with a component minimized voltage-fed inverter under different control options. IEEE Transactions on Industry Applications, 20( 1):309-320, March/April 1984.

[7] T.-H. Liu, J.-R. Fu, and T. A. Lipo. A strategy for improving reliability of field-oriented controlled induction motor drives. IEEE Transactions on Industry Applications, 29(5):910-918, Sept./Oct. 1993.

[2] P. Enjeti and A. Rahman. A new single phase to three

phase converter w i t h active input current shaping for low cost ac m o t o r drives. In Proc. /AS Conf Rec., pages 935-939, 1990.

[8] R. L. A.Ribeiro, C. B. Jacobina, E.R. C. da Silva, and A. M. N. Lima. Ac/ac converter with four switch three phase structures. In Proc. PESC Conf. Rec., pages 134139, Baveno - Italy, June 1996. [9] L. A. de S. Ribeiro,

[3] C. B. Jacobina, E. R. C. da Silva, A. M. N. Lima, and R. L. A. Ribeiro. Vector and scalar control of a four switch three phase inverter. In Proc. /AS Conf. Rec., pages 2422-2429, 1995. [4] F. Blaabjerg, S. Freysson, H.H. Hansen, and S. Hansen.
Comparison of a space-vector modulation strategy for a three phase standard and a component minimized voltage source inverter. In Proc. PE Conf. Rec., pages

C.B. Jacobina, and A. M. N. Lima. Real-time estimation of the electrical parameters of an induction machine using sinusoidal p w m voltage waveforms. In R o c . /AS Con6 Rec., 1997.
B r o d and D. W. Novotny. Current control of vsi-pwm inverters. IEEE Transactions on Industry Applications, 21(4):526-570, May/June 1985.

[lo] D. M.

1806-1813, 1995.
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