IEEE Transactions on Energy Conversion, Vol. 9, No.

2, June 1994 A NOVEL VECTOR CONTROL HYSTERESIS CURRENT CONTROLLER FOR INDUCTION MOTOR DRIVES

297

Ting-Yu Chang, Kuie-Lin Lo, and Ching-Tsai Pan, Menber, IEEE

DEPARTMENT OF ELECTRICAL ENGINEERING NATIONAL TSING HUA UNIVERSITY HSINCHU, 300, TAIWAN, R.0.C

w-this paper, a novel vector control hysteresis curIn

rent controller for induction motor drives is proposed. Coordination of three phase switches is made in the d-q phase plane. In addition to the current error, information of the current error derivative is further employed so that one can take full advantages of adding the zero voltage vector for reducing the switching frequency. A simple hardware implementation is also proposed such that merits of the conventional hysteresis current controller can still be kept. Theoretical basis and some simulation and experimental results are also covered in this context. Ke-words; vector control, hysteresis current controller, induction motor drive

Due to the advances of power electronics and the vector control technology induction motor drives have become more and more popular and gradually take the place of the dc motor drives [ 1-31. Basically, to achieve quick response, a current controller is usually preferred to follow the current command of the drive for generating the desired electromagnetic torque directly. Although, various current controllers have been proposed [4-131, however, considering easy implementation, quick response, maximum current limit and insensitive to load parameter variations, the threeindependent hysteresis current controller [5] is a rather popular one. Nevertheless, due to lack of coordination among individual hysteresis controllers of three phases, very high switching frequency at lower modulation index may happen. This will of course increase the switching loss. In addition, the current error is not strictly limited. Double current error magnitude permitted by one hysteresis controller may occur [4]. Recently Kazmierkowski et al. [13] have proposed a

three-level hysteresis strategy to apply the zero voltage vector for reducing the switching frequency. By transforming into the d-q domain, coordination of the three phase switches can be considered. Only two hysteresis controllers are required for three phases. In addition, a zero voltage vector can be applied while encountering a zero current error to reduce the switching frequency. However, up to now, there is not any hysteresis controller which has used the information of the derivative of the current error [4-131. Since the command signal and the motor back emf may greatly influence the current control under some conditions, if some information of the derivative of the current error is also available, then one would know the changing tendency of the current error. Therefore, one can take full advantage of the zero voltage vector to reduce the switching frequency greatly. In this paper, a novel hysteresis current controller is proposed by further employing the derivative sign of the current error such that full advantage of the zero voltage vector can be taken for reducing the switching loss. A simple hardware implementation is also proposed without requiring additional calculations such that advantages of the original hysteresis controller can still be kept. Theoretic basis and some experimental results of the proposed method are detailed in the following context.

BASIC PRINCIPLE Consider the basic voltage source inverter circuit as shown in Fig. 1 where each phase of the induction motor has been represented as a series RL impedance together with its back emf. The neutral point of the induction motor circuit is assumed isolated. The induction motor stator voltage can be controlled by casting the inverter switches to the positive or the negative dc voltage source terminals. Mathematically, the terminal voltage of the inverter can be written as

93 SM 553-8 EC A paper recommended and approved by the IEEE Electric Machinery Committee of the IEEE Power Engineering Society for presentation at the IEEE/PES 1993 Summer Meeting, Vancouver, B.C., Canada, July 18-22, 1993. Manuscript submitted December 23, 1993; made available for printing May 3, 1993. PRINTED IN USA

V , = S,*VdC
I/, = S b * V d C

I/,

Sc*V,,

0885-8969/94/$04.00 Ca 1993 IEEE

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298

I v0

Due to the balance condition, the third equation of phase 'I b can be obtained from equations (7) (8) as and
I'

I I

Ivc

Ecm

Fig-1 A motor drives.

current

for induction

For convenient analysis, define the following space vectors:

~ ~ ~ ( i n + a i ~ + a 2 i c ) - (10) + ~ ~ q ~ d

where S, , S , and S ,are the switching functions corre, sponding to each phase, and

~ = & v n + a v , + a 2 v c ) - v d ,+ jv

(11)

S , , S b , S = 1 when connected to + I/ terminal (4) 0 when connected to - I/ ,,terminal

~ = 1 / ~ 2E n , + U E b m + a 2 E c m ) w E dE , ,+ ( j m

(12)

From Fig. 1, it is straightforward to use the K.V.L to obtain the following equations

where
-1211 -

a=e
di di 2L"+LI=d t d t 2Rtn- Ri, + ( V , - V , ) - ( E n m- E b m )
(')

From equations (1)-(3) and (ll), for various switching patterns the inverter output voltage space vector can be given as follows:

din di L-+ 2L2 dt dt

- R i , - 2 R i , + (V ,- V , ) - ( E , , - E , , )
(6)
v ; ( k ) =V , ( k ) + j V q ( k )= $ V d c ~ - " 0

k - 1 ,2,...6

where the three phase circuit is assumed to be balanced and

k=0,7

(13)

R
L
E-,Ebm.E-

: the equivalent stator resistance of the motor

: the equivalent stator inductance of the motor

: motor back emfs of the three phases

One

From equations (5) and (6)

form

can

Obtain

the

The above six nonzero space voltage vectors and two zero space voltage vectors are quite well known in space vector based inverter control. For practical implementation, the above space vector can be represented by the real (d-axis) and imaginary (q-axis) parts, separately. For reference, Table 1 shows the switching states and the corresponding space vectors. From equations (7)-(9), and equations (10)-(13), one can obtain the following equations

din -I dt

--La+-{z(va-

R L

1 3L

( v b -

Ebm)-(Vc-

Ecm)}

(7)
di, 1 -= - R i , + -{ z ( V , - E~,,,) - ( v b E b m ) - (I/, - E,,) dt L 3L
}

di,
-=

dt

R 1 --iq+-(Vq(k)-Eqm) L L

(15)

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299 Table 1. The inverter switching states and the correspnding voltage space vectors. concept is of the main concem if the merits of a hysteresis controller are to be maintained. Qualitatively, one can see from equations (18) and (19) that as long as a nonzero inverter voltage is applied to the motor, the current error derivatives will be dominated by the nonzero space vector voltage, such that the motor current can track the command signal. On the other hand, if a zero voltage vector is applied, equations (18) and (19) become

Now consider the current errors of both axes:

E, =

ii-id

( 6, (

Eq=ii-iq

where : ,i i and e d , e q are the real and imaginary current i commands and errors, respectively. Thus it is simple to consider the coordination of three phase switches and only two hysteresis controllers are required. From equations (14)-(17), one can obtain the derivatives of the current errors as follows:

Hence, the current e m r derivatives will be mainly influenced by the current command and the motor back emf. Under very low speed, the command signal may take the main decision role of the derivative sign while at high motor speed, the motor back emf will take the major role. Therefore, one can see from equations (20) and (21) that during the small time interval allowed by the original assigned hysteresis loop band, by adding a zero voltage vector, one can observe the total effect of the command signal and the back emf. Depending on the signs of the error and the error derivatives, the current error magnitude may either increase or decrease. Therefor, to reduce the switching frequency, one can consider adding a zero voltage vector whenever a hysteresis band is hit. If the zero voltage vector is added at the correct state, e.g., with positive error and negative error derivative, the current error will decrease and remains inside the band. If a zero voltage vector is not added at the correct state, then the error magnitude will continue increasing and thus will be outside the hysteresis bound. Hence, in this paper, another hysteresis loop controller using a little larger hysteresis band than that of the original is employed to detect the total influence of the command signal and the motor back emf. Basically, it is equivalent to detecting the signs o the current error derivatives. f

THE PROPOSED H Y STERESIS CURRENT

Based on the previous principle, a new hysteresis current controller employing further information of the error derivative is proposed and shown in Fig. 2. Two error sensors and two error derivative sensors are required for taking full advantage of adding a zero voltage vector. Among them two hysteresis controller, namely D and Q, are used to track the current commands, i >,and ii,respectively and limit the current error within the specified bounds. The error derivative sensors are realized by two other hysteresis controllers with wider bounds, namely D S and Q S , which detect and record the signs of the d-axis and q-axis error

From equations (18) and (19), one can see that the d and q axes stator current errors of the induction motor have a time constant of: and are influenced hy the current commands, derivatives of the current commands, the motor back emf and the inverter voltage vector. Since computation of the derivatives are susceptible to noise and also very timeconsuming, direct numerical calculation of the error derivatives is difficult and may not be feasible for low speed, low accuracy processors. Therefore, implementation of the above

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300

Table 2. The switching function table of the proposed hysteresis current controller.

Fig2 Schematic diagram of the proposed hysteresis current controller for induction motor drives.

ROM
for

switching table
-2.6 1
0

I
0.002
0.004

0.000

0.008

0.01

0.012

0.014

0.010

0.018

see.

Fig.4
switches

The simulation results of the d-axis stator current and the corresponding inner and outer bounds of the hysteresis loop.

Fig3 The hardware circuit of the proposed hysteresis

current controller.

derivatives, respectively. Fig. 3 shows the simple hardware circuit of the proposed hysteresis current controller. Only a few general purpose operational amplifiers (TLO74N), comparatols (LM301) are used to construct the proposed hysteresis current controller. Initially, the signs of the current error derivatives are not known. One can arbitrarily set one sign. Whenever the outer hysteresis bounds are hit due to sign changes of derivatives, a proper nonzero space voltage vector is always triggered to reduce the error magnitude and the correct derivative sign is then recorded. Hence, due to automatic updating of the sign of the error derivative of the proposed current controller, the initial signs of D S and QS are not that important. To reduce the switching frequency, zero voltage vectors are considered to be added only when inner bounds are hit. However, only under certain conditions can the zero voltage be added with benefit. As an example, consider the case when E~ is positive. In this case, if its derivative is negative then one can consider adding a zero voltage vector. Furthermore, to consider coordination of three phases, or both d-

-0.1

-1 -1.6 -2I

-Z.6 I
0
0.002

0.004

0.000

0.000

0.01

C 0.019

I
0.014 0.010

0.0lII

sec.

Fig.5

The simulation results of the q-axis stator current and the corresponding inner and outer bounds of the hysteresis loops.

and q-axis components equivalently, one must also consider its derivative sign simultaneously to determine whether to add a zero voltage vector or not. The theoretical basis of deciding the inverter switching pattern has been detailed in the previous section and will not be repeated.
E $nd

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301
bP.

0.002

0.004

0.008

0.000

0.01

19

0.014

0.018

sec.

0.018

OOOD

0004

0008

0000

001

0012

0.014

0.016

0.018

sec.

Figd

The voltage vector ( V(k) ) distribution of the proposed hysteresis current controller.

(a)
Nunber
120

100

80

eo ' I

0 008

0.004

0.008

OUU

0 01

0.019

0.014

0.018

'I8

sec, sec.

Fig.7

The voltage vector ( V(k) ) distribution of the conventional three independent hysteresis current controller.

@) Figs (a)The 'la'' phase current waveform of the proposed hysteresis current controller. @)The corresponding total switching number during the simulation period.

Table 2 shows the switching function table of the proposed hysteresis current controller. An ROM is used for implementation as shown in Fig. 3. One can see the simplicity of the hardware implementation of the proposed controller. Moreover, merits of the conventional hysteresis controllers are still maintained.

SOME SIMULATION AND EXPERIMENTAL RESULTS

To verify the validity of the proposed current controller, firstly computer simulations are made and then a hardware circuit is constructed for testing. Suppose that a sinusoidal current command of 2A is applied to the proposed hysteresis current controller. The inverter is fed with a dc voltage source of 80 V and the inner and outer bounds of D, Q and DS ,QS are, for clarity, set to 0.2 A and 0.3 A, respectively. The per-phase induction motor model referred to the stator reference frame is a series , Ucircuit, with R = l . l Q L=14 mH, in series with a back emf of 20 V. Figs 4 and 5 shows the simulation results of the

d- and q-axis stator currents as well as the corresponding inner and outer hysteresis bounds. One can see clearly A, B, C and D points where sign changes of the derivatives occur. This agrees very well with the previous theoretical basis. One does not need to calculate the derivative values. For better view of the situation of adding zero voltage vectors, Fig. 6 shows the voltage vector distributions, V(k), of the above case.As a comparison, Fig. 7 also shows the voltage vector distribution of a conventional three independent hysteresis current controller. It is seen that the zero voltage vector is distributed more uniformly in the proposed current controller. In addition, Figs. 8 and 9 also shows the "a" phase current waveform and the corresponding switching numbers of both current controllers. It is seen that, compared with the three independent hysteresis current controller, the proposed one can achieve approximately 60 percent reduction in the total switching number. Next consider some experimental results. A hardware circuit as shown in Fig. 3 is constructed and a laboratory three phase induction motor of 1.1 Hp is used. The motor parameters are J = 0.2 K - m * , stator leakage inductance
( I

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302

'

0.009

0.004

0.006

0.008

0.01

0.019

0.014

0.016 0.018 80.2.

@) Fig.10 The tracking trajectory of the proposed current controller for a command input from zero state. (a) starting (b) steady state.
6.0004.

Fig9

(b) (a)The "att phase current waveform of the conventional three independent hysteresis current controller. @)The corresponding total switching number during the simulation period.

C TI

>

I
0.0

I
1 0 0 .oms

I, = 14mH, mutual inductance M = 1 3 6 m H , and the stator resistance R , 1ll Fig. 10 shows the tracking trajec-

tory of the proposed current controller in the d-q phase plane following a current command signal of 2 A. The steady state trajectory are also shown in the same figure for reference. Fig. 11 shows the recorded "a" phase stator current as well as its spectrum. The resulting waveform in Fig.11 contains only little harmonic which is very weak compared with the fundamental component. One can see that the output current waveform is not affected significantly by adding the outer hysteresis controllers.

20.0

-S(

TI

. ,

H:HZ V:LOS

HR6

-21.7

-40.0

0.000

0.165

1.000KHr

@) Fig.11 (a)Waveform of the "a" phase stator current. @)The corresponding spectrum.

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303

ACKNOWLEDGMENTS The authors gratefully acknowledge the financial support by the National Science Council of R.O.C. under contact number NSC 81-0404-E007-541. REFERENCES T. A. L i p , "Recent progress in the development of solid-state ac motor drives," IEEE Trans., Power Electronics,vol. 3, No. 2, April 1988, pp. 105-117 P. C. Sen, "Electric motor drives and control-past, present, and future," IEEE Trans.. Ind. Elec., Vol. 37, No. 6, December 1990, pp. 562-575 B. K. Bose, "Recent advances in power electronics," IEEE Trans. Power Electronic, Vol. 7, No. 1, January 1992, pp. 2-16 D. M. Brod, D. W. Novotny, "Current control of vsipwm inverters," IEEE Trans. Ind. ADU~., 21, No. Vol. 4, Maydune 1985, pp. 562-569 J. Holtz, Pulsewidth modulation - a survey," IEEE Trans. Ind.. Electronics, Vol. 39, No. 5, December 1992, pp. 410-420 B.K. Bose, An adaptive hysteresis-band current controller technique of a voltage-fed pwm inverter for machine drive system," IEEE Trans. Ind. Elec., Vol. 37, No. 5, October 1990, pp. 402-408 A. B. Plunkett, "A current controlled PWM transistor inverter drive," in IEEE IAS. Ann. Mtz. Conf. Rec., 1979, pp. 785-792 J. Holtz and E. Bube, "Field-oriented asynchronous pulse-width modulation for high-performance ac machine drives operating at low switching frequency," IEEE Trans.. Ind. A m i , Vol. 27, No. 3, MayIJune 1991, pp. 574-581 A. B. Plunkett, "A current controlled PWM transistor inverter drive," in IEEE IAS. Ann. Mte. Conf. Rec., 1979, pp. 785-792 A. Nabae, S. 0. Wara, and H. Akagi, "A novel current scheme for current controller pwm inverters," IEEE Trans. Ind. ADA, Vol. 22, No. 4, July/August 1986, pp. 697-701 S. fukuda, H. Hasegawa, and Y. Iwaji, "PWM technique for inverter with sinusoidal output current," in PESC Conf. Rec., 1988, pp.35-41 C. T. Chang and C. T. Pan, "A field acceleration method for induction motor drive using a novel space vector based current controller," IEEE International svmmsium on Ind. Elec., 1992, pp. 663-667 M. P. Kazmierkowski and W. Sulkowski, "A novel vector control scheme for transistor pwm inverter-fed induction motor drive," IEEE Trans.. Ind. Elec., Vol. 38, No. 1, February 1991, pp. 41-47
It

Tine-Yu Chang was bom in Kaohsiung, Taiwan, Republic of China, in November 1963. He received the Diploma of Electrical Engineering from National Kaohsiung Institute of Tech. and the M.S. degree from the National Tsing Hua University, Hsinchu, in 1985 and 1988, respectively, all in Electrical Engineering. He is a Ph.D. candidate at Tsing Hua University now. His research interests are in the area of power electronics, ac motor drive and control systems. Kuie-Lin Lo was born in ChungHua, Taiwan, R.O.C. in 1950. He received the B.S. degree in Electrical Engineering from the National Cheng Kung University , Tainan, Taiwan in 1972 and M.S. from South Dakoda State University, Brookings, S.D.in 1978. Since 1979 he has been with Taiwan Power Company and is currently working toward his Ph.D. degree.

[ 101

[ll]

[12]

[13]

ChinP-Tsai Pan was bom in Taipei, Taiwan, Republic of china, in October 1948. He received the B.S. degree in Electrical Engineering from the National Cheng Kung University, Tainan, Taiwan, in 1970, and the M.S. and Ph.D degrees from Texas University, Lubbock, Texas, in 1974 and 1976, respectively, all in Electrical Engineering. Since 1977, he has been with the Department of Electrical Engineering, National Tsing Hua University, Hsinchu, Taiwan, where he is currently Professor. From 1985 to 1986, he was a Visiting Professor at the Department of Electrical Engineering, Ecole Centrale de Lyon in France. Dr. Pan served as the Directors of University Computer Center and Computer Center, Ministry of Education from 1986 to 1989, and from 1989 to 1992, respectively. His research interests are in the areas of power system and power electronics. Dr. Pan has been twice the recipient of the Award for Excellence in Teaching, presented by ihe Minister of Ministry of Education and the University President, respectively. He also received Research Awards from the National Science Council in 1986-1992. Dr. Pan is a member of IEEE, ICE, IEE, Phi Tau Phi, Eta Kappa Nu, and Phi Kappa Phi.
I

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