Assessment of Motor Parameter Variation

in Vector Controlled Induction Motor

Goran Rafajlovski ,E d Ratz* ,D.Manov, D. Hristovski
Department of elektrical machmes, Electrotechnical Fahlty, University "St.Kiri1and Metodij"
K q o s I1 b.b POB 574,91000 Skopje, MACEDONIA'
tel: ++ 389 91 36 35 66, fax: ++ 389 91 36 42 62
E-mail: goran@cerera.etf.&im.edu.&
*Technical University Sofia Faculty of Sliven

Abstract - The aim of this paper is to compare the influence of +

parameter uncertainties on the performance of two vector
oriented control schemes of electrical drive with induction
motor.
In the first one the field oriented control method is used to
control the speed of induction motor. In this system the spatial
vector of the stator current is transformed into a i,,
component which creates the torque, and into a i,,
component which creates the flux. If d-axis component of the
stator current is of constant value, the motor drives with a
constant flux and the torque can be altered rapidly by means of
the q-axis component of the stator current ZIq. Two
current vector i, , the developed torque M and the speed rz .
For the purpose of decreasing or eliminating it, the error
caused by the variation of the motor parameter values,
should be observed and corrected if necessary. For that
purpose, in this part an observation will be carried out of the
influence of variation of the induction motor parameter
values on the different spatial vectors in the machine, of the
two previously analyzed vector regulation systems.
The first control strategy based on rotor flux vector
considered in this paper is shown in fig.l [7,9]. The second
scheme based on stator flux oriented control method is
presented on fig.2 [3,4,5,7,8].
I

components Uld,Ulqof stator voltages in d-q coordinate

system which must be applied to the stator d-q equivalent
windings, are generated by two PI regulators controlling the
two components: flux-generating and torque generating stator
current.
In the second one the stator flux orieuted control
method is used to control the torque of induction motor. By
using instantaneous voltage space vectors with selection of
optimum inverter switching modes employing vector
modulation technique, the direct control of torque and stator
flux is achieved.

I. INTRODUCTION
Fig. 1 Field-oriented control of an induction motor
In practice, frequently there are signifcant
m7rm
deviations between the paranleter values of the model and
the real parameter values of the engine in the working mode:
Depending on the drive mode of the machine and due to the
different heating and magnet utilization of the machine there
is a change of the parameter values. An error can also appear
during measurement, i.e. acquisition of parameters [ 1,2,7].
With some control concepts [2], this deviations between the
parameter value can cause impermissible deviations of the
regular values. Also, the variation of the different parameters
in the machine as the stator resistance&, the rotor
resistance&, the magnetizing reactance&, the leakage
reactances X,,,X,,, have a dfferent influence on the
indwidual regular values of the stator spatial flux vector
+ + I1 I

wl, the rotor spatial flux vector viz the stator spatial Fig.2 Torque control of an IM with stator flux orientation

IEEE Catalog Number: 97TH8280 - 522 - ISIE'97 - Guimariies, Portugal

 D. INFLUENCE OF PARAMETERS VARIATION
UPON VECTOR CONTROL

A. Dejnition and assessment of error vector

In this part a qualitative-quantitative assessment Real

will be carried out of the error of certain controlling values
of the induction motor as a consequence of the variation of
the parameters of the induction motor model. From [8,9] can
be obtained the following state equations of the induction
motor in a matrix form:

nk
5
0.x1
0

Fig.3 Block scheme for quantitative and qualitative error

a,ssessment

The deviation of the spatial vectors in the machine

+ + --t
i , , \vl, y 2 from the spatial vectors of the model
+ + +
iy, G, fl
conditioned by the variation of the
parameter values in the induction machine can be
represented mathematically by the error vector fig.3:

The equation of the torque balance can be represented as: + + +m

AV=V-V

The matrixes 4 (system matrix), @ (regulation

matrix) and _C (resulting matrix) contain the parameters of
the control system, i.e. the induction motor. In order to
differentiate between the model and the real system, the
equations of the model shall be marked by the index "m"
m
(example of the flux Y).

yr"(t) A"'
= - . u/"(t) + _B" ._at) (4)

Fig.4 Definition of stator current error space vector

Figure 3 represents the principal structural block
scheme of the induction motor in working mode and its
model which in the following two chapters is used for
assessment of the error in the control values.
+
In (6) by V is represented a random spatial vector, while the
index "m" denotes that it is a matter of parameters of spatial
vector which belongs to the model.

IEEE Catalog Number: 97THS280 - 523 - ISIE'97 - Guimariies, Portugal

For qualitative-quantitative assessment of the error the phase shall be carried out and analysis of the amplitude and phase
+
error is used, as well as the amplitude error
defined by the equations (7) and (8) respectively.
l A ;I error of the rotor flux spatial vectors y, , the stator current
-+
1, , as well as on the developed torque, i.e. the speed in the
dynamic and stationary working mode. The oscillograph
A'p='pm -'p (7)
(Figure 5) represent the influence of the variation of
inkvidual parameters on the speed, the torque, the stator
current spatial vector and the rotor flux.
Figure 5 . 4 represents the errors of the speed,
-+
torque, stator current spatial vector A i , and the rotor flux
-+
A y , , at variation of the values of the stator resistance R,
B. Quantitative and qualitative error assessment
and rotor resistance R, by 15% of the previously defined
In this part, investigated will be the influence of the values. The speed error is An = 12% and is the largest at the
initial part of the establishment of the nominal speed, while
, ,X , ,X , )
variation of the parameters of the machine ( R I R, at reaching stationary speed it shows tendency of decreasing
-+ all the way down to zero. Similar is the oscillograph of the
on the estimation of the spatial vectors of the rotor flux y2, torque error with maximum error of AA4 = 8- 10%. The
-+ -+ amplitude error of the stator current spatial vector is almost
the stator flux U/,, the stator current i, as well as on the insignificant, amounting to 1-2%, as a short time impulse
developed torque, i.e. the speed in dynamic and stationary which appears when the stationary speed is reached. This
work mode. Assessment of the influence of the variation of
impulse appears at the moment of decreasing of the ilq-
the parameter values of the induction motor on the control
values shall be derived by the use of the amplitude and the component of zero value, and is due to the momentary
phase error, in accordance with the functional block scheme increase of the angle error of the value of mYrad(172').
represented by Fig.4. While assessing the phase and the The amplitude and phase errors of the rotor flux spatial error
amplitude error, analyzed in more detail shall be the -f
following error vectors: y, range from 20% (0.2rad) in the transient mode, to 0.1%
+R +R +R in the stationary mode, respectively.
A I 1 (t) , A w2 (t) , A y1 ( t) --- Spatial stator current error
vectors, stator flux and rotor flux respectively, in rekation
w t h the active stator RI and rotor resistance R, (it is
supposed that both the stator and rotor resistance are varied
simultaneously and by equal values).
+xcJ +xcJ +xcJ
A I 1 ( t ), A y 2 ( t ) , A w1 ( t )--- Spatial stator current
error vectors, stator flux and rotor flux respectively, in
relation to the variation of the leakage reactance's
X , = 227, = 2 1 , .

-+ xm -+xm -+ xm
A i 1 ( t ) , A y 2 ( t ), A y1 ( t )--- Spatial stator current
error vectors, stator flux and rotor flux respectively, in
relation to the variation of the magnetizing reactance Xm. phase erim of lotorflux (rad)
. .
Further on, separately analyzed shall be the
influence of the variation of the parameters on the vector I

control systems.
I ......................................
\-.
i

"

1 ?-
IIIERROR ASSESSMENT IN FIELD ORIENTED > a: R' b6 11 I !I ii U ur : 2 :i ii 21 3 3:k

CONTROL SYSTEM
5.a) Variation of the parameter values R,and R, by 15%.
On the basis of the functional block scheme
represented by Figure 3 , which has been adapted to the The oscilograms of Figure 5.b) represent the
structural control scheme represented by Fig. 1, observation
influence of the variation of the parameters X l G , X z Gby

IEEE Catalog Number: 97TH8280 -524- ISIE'97 - Guimariies, Portugal

15% of the previously acquisition values. In this case the
speed error is biggest in the transient mode (o30%), while in
the stationary mode it shows certain decrease by up to 12%.
The range of the torque error is similar: with a value of o
50% in the transient mode, and value of 15% in the
stationary mode, which is impermissibly large deviation in
relation to the regular values in the regulation system. The
amplitude error of the stator current spatial vector show
similar characteristics as in the previous case, but in this
case the error in the stationary mode does not drop to zero
but remains at a constant value of 2% (amplitude error) and
0.99 rad. (56.75")bhase error). That is the consequence of
the stationary errors in the zlq- and ild- components. The
amplitude error of the rotor flux spatial vector v2 ranges
from 50% in the transient mode to ~ 1 8 % in the stationary
mode. Also significant is the constant phase error in the
stationary mode of 0.5 rad (28.66'). This impermissible
-+
deviation of the rotor flux spatial vector \vz is due to the
great sensitivity of the i, - component to the variation of the
parameters XI,, X,, .
4 IliM q i h M $ 4 l+fld
= 1
phase error of stat01 cunent I1 (tad)
t im qiili na rdiluilrri
phase error of rotor flux (rad)
In\
Fig.5.b) Variation of the parameters X,,,X,,
Figure 5.c) represents the influence of the variation
of X m by 15% of the previously acqusitioned value. The
range of the oscilograms is similar to the appropriate ones
represented by Fig. 5.a). It is evident here that is the
+ +
negligibly small stationary error of i, and \cl, of 0.5%.
As a conclusion stands the fact the largest, and at
the same time impermissible deviation in the control values
IEEE Catalog Number: 97TH8280
and vectors of this vector {controlsystem can be notice while
varying the values of the leakage reactance XI, and X2,.
!.QIqUF a 0 1 @El)
--f
Fig.5.c) Variation of the parameters X m by 15%
IV.ERROR ASSESSMENT IN DIRECT
CONTROL SYSTEM
VECTOR
In this segment represented shall be the
quantitative-qualitative assessment of the spatial vectors
+ +
1.v1and the developed electromagnetic torque in the
machine. For that purpose the detailed regulation structural
block scheme is used reprlesented by Figure 3, adapted to the
principal block scheme for assessment of the spatial error
vectors already represente'dby Figure 4.
Figure 6.a) represents the time diagrams of the
developed torque in a time span of 30ms, the torque error as
well as the amplitude arid the phase errors of the spatial
+
vectors i, and at a variation of the parameter values R,
--f
and R, by 15%. The amplitude error of Z, is limited to
2%, while the angle error to only 0.28". The amplitude error
+
of w1 is even lesser than 0.6%, while the angle are is 0.05"
. The maximum error in the developed torque is 1.5%.
by 15% Evidently this regulation structure maintains the excellent
dynamics and shows excellent stability to in the face of
variation of the parameters R, and R,. At the same time
this is one more prove to the benefit of this control structure.
The oscillograms in Fig.6.b) represent the influence
of the variation of the parameters x,, and x,, on the
errors of the torque, the stator current spatial vector A i, and
--f
the stator flux A y l , In this case too at a variation of XI,
- 525 - ISIE'97 - G u i " & ~ , Portugal
and X,, by 15% significant is the maximum error in the
developed torque of 19%, the average stationary amplitude = 3%. The impermissibly big error
+ +
error of i, of 10% and of !plof 3%. The angle errors are appears in the developed electromagnetictorque of 20%.
small: the current is 0.02 rad, while the angle error of the
stator flux id 0.01 rad.

. . .

I I: li [.t 08 1 I,: 1.t I.( I8 i 22 21 %.!

Fig.6.c) Variation of the parameter X, by 15%

~~

a) Variation of the parameter values R, and R, by 15%. V. CONCLUDING REMARKS

On the basis of the analyzed results it can be

concluded that most critical are the cases represented by Fig.
5.b), Fig. 6.b) and Fig.6.c). Also, it can be noticed that the
--f

system of direct control of the stator spatial flux vector \vl

shows significant advantages compared to the system
1 1 nbIuq*j;anr IlbP
amplitudeerror of stator flux (%) + -+
oriented on vectors i, and !pz,in relation to the:
- dynamics and
- stability of maintaining the regulation features at variation
of the machine parameters.

1 1: Ll 0.6 0 8
~-
1 il li 1.6 1.S 1 1: i' 1W VI. REFERENCES
: h u ,eUlOC
5....................................................
. .
[I]. Gerhard Haft Regelung elektrischer antriebe I, R.Oldabourg Verlag
Miinchen, Wien 1987.
[ZIWalter Zagelain: Dr&zahlregeltmg des A s y " m o t o r s unter Vervendug
eines Beobachters mit gainger Parameter-eqindlichkeit, Disertation Erlangen
1984
[3] M.Depenhock: Directe Selbstregelung (DSR) Eix hochd-ynamische
Drehfeldantriebe mit Strom-richterschaltung, etz Arcbiv Bd.7 (1985)H.7.
[4] Takahaschi I.,Kanmachi T: Ultra wide speed control with a quick torque
responceAC servobyaDSP,EPEFireoze 1991.
Fig.6.b) Variation of the parameters x,, and X,, by 15% [5]M. Jbecke, R.Kremer, G.Steuenvald:Direct self control a novel method of
Figure 6.c) represents the influence of the variation controlling AM in traction application, EPE Aachen 1989, p.75-80.
[6].Aas;l- Analogechner Simulation Version 7.0, Indtut fiir Elektrische
of X, by 15% of the previously acqusitioned value. The Anbiebe und Steutmgen,Uni-Erlangen,l991
[7].G.Rafajlovski:Simulation verschiedener feldmiatitierter Regelkonzepte fiir
range of the oscilograms represented by Fig. 6.b) is similar die As~chronmaschine,Lehrstuhl & El. Antriebe und Steuerungen der
to the appropriate ones represented by Fig. 6.a). Noticeable Universitat Erlangen 1993, (unveroffentlich)
is the negligibly small stationary angle error of the spatial [SI. Rafajlovski Goran, Emil Ratz, Manov Dionis, Slobodan Mircevski:
Modeling and Simulation of Voltage Inverter Fed Induction Motor with Stator
+ -3
Flux Chientation, 1995 IEEE-IAS ANNUAL MFETING, Orlmdo Florida
vectors z, and of 0.03rad and 0.Olrad respectively. U.S.A.
However, the amplitude errors are big and they are [9]. Rafajlovski Goran, Manov Dionis: Digital simulation of field oriented
controlusingANSIMprogram,1996 IEEE.region8,S-th Mehterranean
Electrotedmcal Conference, MELECON '96 Bari ITALY

IEEE Catalog Number: 97TH8280 - 526 - ISIE'97 - Guimaries, Portugal