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1.1 General:
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1.2Vector control:
There are two field orientation strategies to detect the rotor flux
position. Direct vector control method uses sensors to directly track the flux
position. Hall sensors are seldom used because of the high temperature inside the
induction machine. Typical flux in a stationary reference frame and not the rotor
flux, which is used in the decoupling network. So, flux linkage equations are
necessary to derive the rotor flux from the flux sensor measurements. The required
calculations introduce estimated machine parameters into the disturbance feed
forward path causing detuning errors.
The second category is called indirect vector control. Here, the flux
position is derived using a calculated or estimated value of the angle between the
flux and the rotor position measurement gives the rotor fluxes position.
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2.1 INDUCTION MOTOR THEORY:
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2.2 Target Motor Theory:
E1 E2
B
Stator Rotor B
C C
Fig 2.3.1
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A 2 – pole machine, the rotating field travels a distance covered by 2-
poles in 1-cycle. For a 4 pole machine, the rotating will travel a distance covered by
2 poles, i.e. half revolution in one cycle. For a 6-pole machine, the rotating field will
travel a distance covered by 2-poles i.e. 1/3 rd revolution in one cycle and so on. This
thought process reveals that the rotating field speed , for p-pole machine, is 1/(p/2)
revolution in 1-cycle and therefore f/(p/2) revolutions in f-cycles-in other words f/
(p/2) revolutions in one second, because f – cycles are completed in one second .
Here f =frequency of the 3-phase currents. If ns denotes the rotating field speed in
rps.
ns=f/(p/2)=2f/p
Ns=120f/prpm
The principle of a three phase, two poles stator having three identical
winding placed 120 space degrees apart as shown in fig. the flux (assume
sinusoidal) due to three phase windings is shown in fig.
The assumed positive directions of the fluxes are shown in fig. let the
maximum value of flux due to any one of the three phases be Φ m. The resultant
flux Φr at any instant, is given by the vector sum of the individual fluxes Φ 1, Φ2, and
Φ3 due to three phases. We will consider the values of Φr at four instants of 1/6th
time period apart corresponding two points mark 0, 1, 2 and 3 in fig2.4.1.
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3-phase power supply:
F2 S
S1 F2
S S2
S22
S3
Fig 2. 4.1
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3-phase fluxes components:
Øm
0 1 2 3 4 θ
Fig 2.4.2
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3-phase voltage phasor diagram:
1200
Fig2.4.3
Here Φ1 =√3 Φm
2
Φ2 = -√3Φm
2
Φ3 = 0
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Φr = 2* √3 Φm* cos300= 3 Φm
2 2
It is found that the resultant flux is again 3/2 Φm but as rotating clock
Here Φ1 =√3 Φm
2
Φ2 =0
Φ3 =-√3 Φm
2
It can be again proved that Φr = 3 Φm
2
So the resultant is again of the same values, but has further rotated
clock wise through an angle of 600 .
Here Φ1 =0,
Φ2 =√3 Φm
2
Φ3 =-√3Φm
2
The resultant 3/2 Φm and as rotated clock wise through an additional angle
600 through an angle 1800 from the start.
Ns = 120f
P
When three phase stator windings, are fed by three phase supply then,
as Seen from above a magnetic flux of constant magnitude rotating at syncronus
Speed is set up. In the flux passes through the air gap, sweeps past the rotor
surface and so cuts to the rotor conductors which, as yet are stationary. Due to the
relative speed between the rotating flux and the stationary conductors, and emf is
induced in the later according to faradays laws of electro magnetic induction, the
frequency of the induced emf is as same as the supply frequency. Its magnitude is
proportional to the relative velocity between flux and the conductors and direction
is given by Flemings right hand rule sine the rotor bars or conductors forms a
closed circuit, the rotor current is produced whose direction, as given by lenzs law
is such as to oppose the very cause producing It. In this case, the cause which
produces the rotor current is the relative velocity the rotating flux of the stator and
the stationary rotor conductors. Hence to reduce the relative speed, the rotor starts
running in the same direction as that of the flux and tries to catch up with the
rotating flux.
The setting up of the torque for rotating is explained below: The stator
field which is assumed to be rotating clockwise. Motion of The rotor with respect to
the stator is anticlockwise. By applying right hand rule. The direction of the of
induced emf in the rotor is found to be out wards. Hence the direction of flux due to
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rotor current alone is as shown in fig. now, by applying the left hand rule, or by the
effect of combined field it is clear that the rotor conductors experience a force
tending to rotate them in clockwise direction. Hence the rotor is set into rotation in
the same direction as that of the stator flux.
stator
rotor
Fig 2.5.1
2.6 Slip:
In practice, the rotor never succeeds in” catching up” with the stator
field .if it really did so, then there would be relative speed between the two, hence
no rotor emf, no current, and so torque to maintain rotation. That is why the runs at
a speed which always is less than the speed of the stator fielded. The difference in
speeds depends upon the load on the motor.
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2.7 ROTAR FREQUENCY:
It has been show that the rotor running in the direction of rotating
magnetic field. At stand still, rotor conduction are being cut by rotating flux wave at
synchrnous speed ns, there fore frequency f2 of the rotor emf and current is equal
to the line frequency f1 . when rotor revolves at a speed of rps in direction of
rotating flux wave , the relative speed between synchrnous by rotating flux wave,
the relative speed between synchronous by- rotating flux and rotor conduction
becomes (ns – nr )rps
There fore frequency of rotor emf = poles/2
= p (ns – nr ) /2
But s = n s – nr / n s
When the rotor is stationary, the frequency of rotor current is the same
as the supply frequency but when rotor starts revolving, and then the frequency
depends upon the relative speed or on slip speed. Let at any slip speed, the
frequency of the rotor current is f”. then
f’=Ns-N=S
f Ns
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As seen, rotor currents have a frequency of f”=sf and when flowing
through the individual phases of rotor winding, give raise to rotor magnetic fields.
These individuals rotor magnetic fields produces a combined rotating magnetic
field, whose speed relative to rotor is
=120f’=120sf=sNs
P P
It means that no matter what the value of the slip, rotor currents and
stator currents each produce a sinusoid ally distributed magnetic field of constant
magnitude and constant space speed of Ns. In other words, both the rotor and
stator field rotate synchronously, which means that the are stationary with respect
to each other. These two synchronously rotating magnetic fields, in fact
superimpose on each and give rise to the actually existing rotating field, which
corresponding to the magnetizing current of the stator winding.
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increase in motor load, thenR2 becomes negligible as compared to (sx2). There
fore the large values slip.
T = k Øs E2 R2
R22 + (sX2)2
It is clearer that when s=0, T=0, hence the curve starts from point 0.
At normal speed the term (sX2) is small and hence negligiblew.r.tR 2.
Tαs
R2
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Figure-2.9.1 AC Induction Motor Speed-Torque Characteristic
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For the formulation of machine equations, the following assumptions are
made
1. The stator and rotor windings are of balanced three phase windings
2. The air gap flux distribution is radial and sinusoidal
3. The machine is of cylindrical rotor construction and is not saturated
Let stator windings has N s equivalent turns and resistance r s, and rotor
windings has Nr equivalent turns and resistance rr.
A 50Hz motor operate well on a 60Hz lion provide its terminal voltage is
raised to 60/50=6/59(i.e. 120%) of the name plate rating. In that case, the new
breakdown torque becomes equal to the original breakdown torque and starting
torque is only slightly reduced. However, power factor, efficiency and temperature
rise remain satisfactory.
Current
150
100
75
Speed
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Stator current
Torque
150 T15
T60
100
I60
75
I15
Speed
There are a number of AC induction motor models. The model used for
vector control design can be obtained by using the space vector theory. The 3-
phase motor quantities (such as voltages, currents, magnetic flux, etc.) are
expressed in terms of complex space vectors. Such a model is valid for any
instantaneous variation of voltage and current and adequately describes the
performance of the machine under both steady-state and transient operation.
Complex space vectors can be described using only two orthogonal axes. The
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motor can be considered a 2-phase machine. The utilization of the 2-phase motor
model reduces the number of equations and simplifies the control design.
2.15 Objectives:
limitations.
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VECTOR CONTROL:
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by simple assigning the appropriate speed of rotation to this so-called arbitrary
reference frame. This is explained below.
Assume that isa, isb, and isc are the instantaneous balanced 3-phase
stator currents:
isa+isb+isc = 0 3.21
The stator current space vector can then be defined as follows:
Y
Phase B
Is
Isb isy
Isa
Isx X, phase A
Isc
Phase C
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The space vector defined by EQ. 2 can be expressed utilizing the two-
axis theory. The real part of the space vector is equal to the instantaneous value of
the direct-axis stator current component, i sx, and whose imaginary part is equal to
the quadrature-axis stator current component, i sy. Thus, the stator current space
vector in the stationary reference frame attached to the stator can be expressed
as:
Is = isx+jisy 3.3.1
3 (isb- isc)
isy = k 3.3.3
2
Where:
k=2/3 is a transformation constant
The space vectors of other motor quantities (voltages, currents, magnetic fluxes,
etc.) can be defined in the same way as the stator current space vector.
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The AC induction motor model is given by the space vector form of the
voltage equations. The system model defined in the stationary X, Y-coordinate
system attached to the stator is expressed by the following equations. Ideally, the
motor model is symmetrical, with a linear magnetic circuit characteristic.
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d. Electromagnetic torque expressed by utilizing space vector quantities:
Where:
X, y = Stator orthogonal coordinate system
Vs= Stator voltages [V],y,x
Isx, y= Stator currents [A]
Vrx, y= Rotor voltages [V]
irx, y= Rotor currents [A]
Ψsx, y = Stator magnetic fluxes [Vs],
Ψrx, y = Rotor magnetic fluxes [Vs],
Rs = Stator phase resistance [Ohm]
Rr = Rotor phase resistance [Ohm]
Ls = Stator phase inductance [H]
Lr = Rotor phase inductance [H]
Lm = Mutual (stator to rotor) inductance [H]
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general reference frame, then the following equation defines the stator current
space vector in general reference frame.
Y
Y
ωg
is,isg x
isY θg
X
isX
Where:
ir = The space vector of the rotor current in the rotor reference frame
The space vectors of the rotor voltages and rotor flux linkages in the
general reference frame can be expressed similarly.
The motor model voltage equations in the general reference frame can
be expressed by using the transformations of the motor quantities from one
reference frame to the general reference frame introduced. The AC induction motor
model is often used in vector control algorithms. The aim of vector control is to
implement control schemes which produce high-dynamic performance and are
similar to those used to control DC machines. To achieve this, the reference
frames may be aligned with the stator flux-linkage space vector, the rotor flux-
linkage space vector or the magnetizing space vector. The most popular reference
frame is the reference frame attached to the rotor flux linkage space vector with
direct axis (d) and quadrature axis (q). After transformation into d-q coordinates the
motor model follows:
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Vsq = 0 = Rrirq + d ψrq – (ωs – ω)ψrd 3.4.15
dt
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Figure -3.5.1. 3-Phase Inverter
The inverter consists of three half-bridge units where the upper and lower switch
are controlled complimentarily, meaning when the upper one is turned on, the lower
one must be turned off, and vice versa. As the power device’s turn-off time is longer
than its turn-on time, some dead time must be inserted between the time one
transistor of the half-bridge is turned off and its complementary device is turned on.
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The output voltage is mostly created by a Pulse Width Modulation (PWM) technique,
where an isosceles triangle carrier wave is compared with a fundamental-frequency
sine modulating wave. The natural points of intersection determine the switching
points of the power devices of a half-bridge inverter. This technique is shown in
fig3.5.1 The 3 -phase voltage waves are shifted 120 0 to one another and thus a 3-
phase motor can be supplied.
The output voltage control with method can be obtained with out any
additional components.
With this method, lower order harmonic can be eliminated or minimized
along with its output voltage control. As higher order harmonics can be
filtered easily, the filtering requirements are minimized.
The main disadvantages of this method are that the SCRs are expensive as they
must possess low turn-on and turn-off times.
PWM inverters are quite popular in industrial applications.
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3.9 PULSE WIDTH MODULATED INVERTERS:
The output voltage from single-phase full-bridge is when modulated the out
put voltage is of the form, it consisted of a pulse of width 2d located symmetrically
about Π/2 and another pulse located symmetrically about 3Π/2 . The range of
pulse width 2d varies from 0 to Π : i. e., 0<2d< Π. The output voltage controlled by
varying the pulse _width 2d.
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3.11 MULTIPULE-PULSE MODULATION:
In this method of modulation, several pulses per half cycle are used as in
the case of multiple –pulse modulation (MPM). The pulse width is equal for all the
pulses, but is sin M; the pulse width is a sinusoidal function of the angular position
of the pulse in a cycle.
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Figure 3.12.1. Pulse Width Modulation
The most popular power devices for motor control applications are Power
Mosfet and IGBTs.
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DESIGN CONCEPT OF ACIM VECTOR CONTROL:
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4.2 Ac induction motor specifications:
P=100 Hp
Vline=420V
Frequency=50 Hz
Poles 4
Ns=1500rpm
Lm=0.01664H Lr=0.017H
Rs= 0.03957ohm Rr=0.02215 ohm
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The rotor flux space vector calculation and transformation to the d-q coordinate
system require the high computational power of a microcontroller; a digital signal
processor is suitable for this task. The following sections describe the space vector
transformations and the rotor flux space vector calculation .
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