Beruflich Dokumente
Kultur Dokumente
insight
A.Hughes
J.Corda
D.A.Andrade
-
critical parameter, as shown.
IS Ir
------+e e
U
M
Fig. 1 Currentfed coupled coils
dt
* = -Ri,
(2)
(3)
sudden change in the secondary flux-linkage v,.. This
accords with the fact that a short-circuited inductive
circuit cannot have an instantaneous change of flux
With current is treated as the independent variable, the linkage, so the sudden appearance of the flux linkage
dependent variables in the s-domain are given by (MI,) is immediately countered by a self flux linkage (-
L&). Thereafter, the secondary current and flux linkage
adjust to their steady state values at a rate determined
by the secondary time-constant (LIR).
Turning now to the primary, an impulsive voltage of
area IJs(l - k2)volt-seconds is required to cause a step
in the primary current. The term Ls(l - k2) represents
the effective or leakage inductance as seen at the pri-
mary side under transient conditions. For a step in pri-
mary current, the area of the impulse is proportional to
where the leakage inductance, so if the coils are loosely cou-
pled (k is small) a large impulse is required to impose a
step in current. However, in the context of the induc-
tion motor, k is typically 0.98 [8], so the leakage
inductance is only 4% of the self inductance. This
2.3 Step change of primary current means that the impulse for a given step in is is quite
An important assumption underpinning all of the dis- small. In a typical current-controlled environment, such
cussion is that the primary current is can be stepped as a variable-frequency induction motor drive, suffi-
instantaneously. This assumption is so important that cient voltage will normally be available to achieve a
we must show it is justified in practice, so we focus on close approximation to such an impulse, and it will be
the voltage required to create a step of primary current. possible to achieve an almost instantaneous change in
When the input current is a step (I$)we obtain the primary current.
The conclusions to be drawn from this analysis are
i, = -!!!I,,-+
LT (8) first that sudden changes in the secondary current can
be obtained by forcing step changes in the primary cur-
rent; secondly, the natural behaviour of the secondary
circuit prevents any instantaneous change in the sec-
ondary flux linkage; and thirdly, if the coils are tightly
coupled, only a small volt-second impulse is required to
60 IEE Proc -Electv Power Appl, Vol 143, No 1, January 1996
achieve a step change in the primary current. Hence from eqns. 13 and 14, with constant resultant
rotor flux linkage, the normalised currents are given by
2.4 Frequency response: constant amplitude
of primary current
With the stator current given by
Ld-;
IS, Iro W
L T (17)
i s = I, sinwt, or in phasor presentation = ISLO (12) The most important point to note is that with Y, con-
stant the secondary current is directly proportional to
substitution into eqns. 4 and 5, under steady-state con- frequency.
ditions (s =Jw), yields
2.6 Sudden transition in secondary current
Now examine how to control the primary current to
make the secondary current change instantaneously
from a steady state at one amplitude and frequency to
a steady state at another amplitude and frequency,
while the amplitude of the resultant secondary flux
where linkage is maintained constant. We see later that this is
an essential requirement for instantaneous torque con-
trol. Suppose that for t < 0, the secondary current is
The polar plot for secondary flux linkages is shown in
Fig. 3. The first component (MI,, the secondary open- i,l = Irl sin(w1t + a) (18)
circuit flux linkage) represents the flux linkage pro- Under steady-state conditions the corresponding pri-
duced at the secondary by the primary current. The mary current and resultant secondary flux linkage are
second (LJ, the secondary self flux linkage) is the flux given from eqns. 2 and 3 as
linkage in the secondary due to its own current. And
finally, Y, is the resultant flux linkage in the secondary.
The locus of Y, against frequency is semicircular: at (19)
low frequencies it is almost in phase with Is,whereas at
very high frequencies it becomes very small and in
=
RITi cos(w1t + a )
quadrature with I,.
~
w1
Lr Tr =L I T T
$(W"t-es-+-%); where z=N ,
Fr (48)
proportional to rotor current (and slip), just as in a DC
machine. This confirms eqn. 40 derived previously.
The space phasor Y , is the resultant rotor flux linkage This picture contrasts sharply with that which arises
and is obtained from eqn. 46 as from the conventional voltage-fed analysis, where
- torque is pictured in terms of the interaction between
Q/ r -- q r e 3 ( W g t - - 8 . - # 9
(49) an air-gap flux density wave and an induced rotor
where ampere-conductor wave, which, even at low slips, are
never quite in space-phase.
.._
.._ __..
--- .._.._._~~~~~~.___...
..-...
,_I_
20'01
10.0
I
phase. Comparison of the torque responses in Figs. 14
and 17 clearly indicates the superiority of vector over
scalar control.
4 0 *O'Ol
10.0
-1 0.0
4 0
-20.0
-0.5 0.5 - 10.0
time, s
Fig.12 Time variations of stator currents when all conditions for step
change of torque are fulfilled -20.0
-0.2 0.8
time, s
10.0
Fig. 15 Time variations of stator currents when step changes in amplitude
and frequency (but not phase) of stator currents are imposed
100
a o
4 0
-1 0.0
-0 5 0.5
time, s
Fig.13 Time variations of rotor currents when all conditions for step
change of torque are fulfilled -100
-0.2 0.8
time, s
6.01 Fig.16 Time variations of rotor currents when step changes in amplitude
5
1
0-
I and frequency (but not phase) of stator currents are imposed
7 0-
4.0-
6.0-
3 0- 5.0-
E
z
L.0-
2.0 I
3.0-
-0 2 0.8
5.3 Scalar torque control time, s
It has been stressed in the discussion that three condi- Fig. 17 Time variations of torque when step changes in amplitude and fre-
tions (magnitude, frequency and phase) must be satis- quency (but not phase) of stator currents are imposed
fied by the stator currents to achieve ideal step changes
in torque. This is equivalent to controlling the magni-
tude, speed and instantaneous position of the stator 6 Experimental verification
MMF wave. It is the inclusion of instantaneous posi-
tion in the trio of conditions which gives rise to the Three separate PWM current controllers were built to
term 'vector' control, and which differentiates it from provide independent control over the stator currents of
scalar control. a standard three-phase, 3.0kW, 240/415V, 11.216.5A,
For the sake of interest Figs. 15-17 show the effect 1420revlmin cage induction motor. Digitally stored sin-
of making the same sudden changes in amplitude and ewaves were used so that it was possible to make
66 IEE Proc.-Electr Power A p p l , Vol 143, No I , January 1996
almost instantaneous changes to the magnitude, fre- Accordingly, all the tests were carried out with the
quency and phase of the three current reference signals, rotor at rest (but not locked), and with torque applied
and the power output stage was provided with a 500V by means of weights as shown in Fig. 19. One weight
DC link so that the loop-gain of each current control- is attached to the motor shaft via a stiff rope, and
ler was high and very rapid changes could be obtained
in the stator currents. This is verified by Figs. 20 and
21, which show that the risetimes of the step changes in
the stator currents are negligible.
6. I Steady state
The rotor time constant was obtained from a locked-
rotor, variable-frequency test with a constant stator
current of 3A (RMS) per phase, the torque being meas-
ured with a torque transducer. The peak torque occurs
when the normalised frequency is unity (0.71Hz), so Fig. 19 Experimental arrangement for step change in torque
the rotor time constant is 225ms. A series of steady-
state tests with constant resultant rotor flux linkage applies a constant load torque. (It was important to
were carried out under locked rotor and running condi- minimise system inertia, so a large weight near to the
tions. The aim was to show that torque depends only axis was desirable.) The other weight is suspended by
on slip and rotor time constant, and hence to verify an electromagnet from the end of a horizontal arm
that under current-fed conditions the absolute speed of fixed to the motor shaft. The current in the magnet is
the rotor is unimportant. To avoid complications due set so that this weight is only just suspended, so that
to saturation, the resultant rotor flux linkage was lim- when the current in the magnet is switched off, the
ited to 75% of rated value, tests being conducted at weight immediately falls away and there is a sudden
speeds of 750 and 1500rev/min and with the rotor step reduction in the total load torque. The test proce-
locked. The speed was held constant with a synchro- dure involves adjusting the motor current so that the
nous machine coupled to the motor shaft, and the sta- motor torque is exactly equal to the total load torque,
tor current at each frequency was adjusted according to and then simultaneously de-energising the electromag-
eqn. 17 to keep the resultant rotor flux-linkage con- net and switching the amplitude, frequency and phase
stant. of the stator currents to the values calculated to bal-
The results of these experiments are shown in ance the new (lower) torque.
Fig. 18, from which it is clear that, as predicted, the Ideally, the result of this experiment should be no
torque depends only on the slip, and not on the abso- movement of the rotor, because the torques before and
lute speed of the rotor. (The minor variations which after switching should exactly balance the load torques.
occur are probably due to the change of rotor resist- To detect any acceleration (which will be proportional
ance with temperature.) to net torque), an accelerometer [9] was fitted to the
31 I
shaft.
Typical results which correspond to sudden reduction
in the load torque from 7.4" to 2" are shown in
Figs. 20 and 21. These plots show the stator current in
one phase, and the resultant torque (Tr) as derived
from the accelerometer signal.
- 0.5
0 0.5 1 1.5 2 2.5 3
Wsr 'c
Fig. 18 Normalised stator current and torque against slip frequency under
constant resultant rotor flux-linkage conditions
0 Rotor speed Orevimin (locked)
0 Rotor speed 750rev/min
x Rotor speed 1500revimin
References
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ENSLIN, N.C., and VAN DER MERVE, F.S.: ‘Improving the
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to? current when amplitude, frequency and phase are all suddenly changed HUGHES, A., CDRDA, J., and ANDRADE, D.A.: ‘An inside
z 2AId1v1 T 2 4“idlv look at cage motors with vector control’,Proceedings of IEE con-
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