Control Design Method of a High-Speed AC Induction Motor

190 Pages·2000·6.28 MB·English

Multiple Simultaneous Specifications (MSS)
Control Design Method of a High-Speed
AC Induction Motor
SeungJu Lee
A thesis submitted in conformity with the requirements
for the degree of Master of Applied Science
Graduate Department of Mechanical and industrial Engineering
University of Toronto
8 Copyright by Seung-Su Lee 2000
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SeuagJu Lee
University of Toronto
Department of Mechanical and Industrial Engineering
Master of Applied Science, 2000
Title: Multiple Simultaneous Specifications (MSS) Control Design Method of a
High-Speed AC Induction Motor
A practical control system design may require that several different performance
specifications be considered at the same time. Generally, a controller may be able to
satisQ multiple conflicting performance speci fications through manual gain tuning,
however, when the specifications are stringent, finding suitable gains with this approach
may be difficult. Therefore, there exists a need for a control design rnethodology to
permit the systematic design of controllers to satisQ multiple sirnultaneous
specifications.
This thesis presents the application of a Feedback control design method, referred
to here as a Multiple Simultaneous Specification (MSS)c ontrol design method, which
addresses the design of controllen to satisfy multiple simultaneous conflicting design
specifications. The MSS control design method utilizes the convexity of common
closed-loop performance specifications with respect to the closed-loop system transfer
function to combine a set of "sarnple controllers", each tuned to satisQ at least one
closed-loop performance specification, to formulate a single controller which satisfies al1
specifications. While control gain tuning is central to the design process, the tuning
process is greatly sirnplified, when compared with the tuning exercise presented when a
single set of control gains is adjusted to satisQ a set of multiple simultaneous closed-loop
speci fications.
The proposed MSS control method is applied to a high-speed AC induction
motor, with an inner-loop Flux Vector Controîîer applied, to design a position control
system. Simulation and expenmental results venfy the effectiveness of this method.
Acknowledgements
1 would like to express my gratitude to Professor 1.K. Mills for his invaluable
guidance, support, and encouragement provided throughout the course of this thesis.
1 thank David Cho and Dr. Dong Sun who were always willingly to provide
advises during my research.
1 also extend my appreciation to the past and present members of Laboratory for
Non-linear Conirol System; Bemy, Bong-Soo, Prof. Chen, Saxin, Jung-Wook, Mingwei,
Weihua and others. Their presence and help made this work very enjoyable.
1 wish to thank al1 my Korean fiiends; Eugene, Jeong-Mi, Soon-Hyung, Prof. Lee,
Woo-Hyun, Dong-Wook for their supporting from Toronto and from Seou!.
Finally, 1 give special thank to my father, mother and my sister. They supported
me and prayed for me fiom the beginning until now. Without them. 1 would not have
been able to finish rny study.
Contents
Page
A b ~ ~ ~ a ~ f ~ ~ . . . ~ . ~ ~ . . ~ . ~ . ~ . ~ ~ . . i~i . . ~ ~ ~ ~ ~ ~ . . . . . . ~ . ~ ~ ~ ~ . . . ~ . .
A&nowledgements m..................m.o.*~t..~..m.m!~il -....
C ~ n t e ~ t s . . m e e . . ~ ~ ~ ~ . . ~ m ~ o ~ . . miv ~ ~ ~ ~ ~ m ~ ~ ~ ~ ~ m ~ m ~ . m m ~ ~ . . . ~ m a .
ListofFiguresmo.m*.mm.m.*ee.*m.~m*...m*.mmv.iimi ..*.m...mmm*.
LiSfofTables xi
m m . . ~ . . . m . m ~ . . . . . . m ~ ~ m m ~ m e m o o ~ m ~ ~ ~ . ~ ~ . ~ o ~
Nomenclature xii
* m o a m m * . m . . o * m * . m . m m * . * * * * * * * m m . * m m . * ~ o e m m m *
l,introduction 1
. * . . * * ~ m m * . * m m . ~ * m m * . . . ~ . . * * m * . * * m ~ * ~ . . * . * *
1.1 Motivation I
1 .Z Proposed Research 3
1.3 Thesis Overview 5
1.4 Thesis Contribution 6
- - - - - - - - - - - - -
2. Background Theory and Literature Review 7
2.1 Structure of the AC Induction Motor 7
2.1.1 Intemal Structure of the AC Induction Motor 7
2.1.2 Rotating magnetic Field 8
2.2 Dynamic Modeling of Induction Motor 9
2.2.1 Coordinate Transformation IO
2.2.2 Electromechanical Dynarnic Modeling of Induction Motor 12
2.2.3 Flux Vector ControI 14
2.3 Li terature Review of Induction Motor Control 18
2.4 Summary 20
3.MSSControlProblemm.ee..e...*.eeeem.eeee~.mee0..0...... 2 1
3.1 Introduction 21
Page
3.2 System Framework Definition 23
3.3 Convex Combination Method and MSS Controller Design 25
3.4 Feasibility of MSS Problem 28
3.5 MSS Controi Method Implementation 30
3.6 Summary 33
5.1 Introduction
5.2 Description of the Experimental Setup
5.2.1 Expenmental Setup Modification
5.2.2 DMC- 1 700 Controller Setting
5.3 Software
5.4 Suxnmary
6eACInductionMotorDynamicModeling 52
* * * * * r r . e r # r * ~ e ~ ~ ~ e . ~ e e ~
6.1 Introduction 52
6.2 Dynamic Mode1 of AC Induction Motor 53
6.3 Motor Torque Constant 54
6.3.1 T'orque Sensor Calibration 54
6.3.2 Moior Effective Torque Constant 57
6.4 Determinhg the System Dynamic Parameters 58
6.4.1 Linear Least-Square Estimation 58
6.4.2 Motor Parameter Estimation 59
6.4.3 Parameter Estimation Simulation 60
6.4.4 Parameter Estimation Experiment 61
Page
6.5 AC Induction Motor in Block Diagram Form
6.6 Sumrnary
7.1 Introduction
7.2 Simulation of Step-input Response
7.2.1 Setup Modification Dynarnic Model
7.2.2 Simulation Results
7.3 Experiment of Step-Input Response
7.4 Uncertainties in AC Induction Motor Modeling
7.4.1 Model Parameter Uncertainties
7.4.2 Nonlinear Effects of DMC-1 700 Controller
7.4.3 Flux Vector Controller Model
7.4.4 Unknown Disturbances and Noises
7.5 Summary
8.1 Introduction
8.2 System Framework Representation
8.3 Desired Performance Specifications and Sample Controllers Selection
8.4 Combination of the Sample Controllers
8.5 MSS Controller Detemination
8.6 MSS Controller Discretization and Realization
8.7 Simulation Results with MSS Control Method
8.8 Experimental Results with MSS Control Method
8.9 Summary
Page
Appendices
Ae Compooent SpecificPtions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101
A. 1 AC Induction Motor Specifications 102
A.2 Flux Vector Controller Specifications 1 04
A.3 Encoder Specifications 10 6
A.4 Toque Sensor and Indicator Specifications 1 08
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Ba Component Connectjo~s II0
B. 1 System Diagram 111
B.2 Connection Between Encoder and Flux Vector Drive 112
8.3 Comection Between Interconnect Module and Flux Vector Drive 114
B.4 Connection of Torque Sensor 117
C. O p e r a t i n g M a ~ u a l a a e e a a . e ~ e e ~ e a ~ e e . . e . e e a o a o1o1a8. a e a ~ e a a . a
C. I Motor Test with Flux Vector Controller 119
C.2 Flux Vector Controller setting 122
C.3 Test through DMC Terminal 124
C.4 Test through C Program 129
List of Figures
Page
2.1 Intemal Structure of Squirrelsage Type AC Induction Motor 8
2.2 Current Phasors and Space Vectors at tuf = '0 and ut = 60" 9
2.3 Space Vector Components in the d-q Axes 10
2.4 Currents Transformation 1 I
3.1 Linear System Frarnework 33
4.1 Vector Controlled AC induction Motor SIMULMK Block Diagram 38
4.2 I. M. Elec Block Diagrarn 39
4.3 I. M. Mech Block Diagram 39
4.4 Vector Controller Block diagram 40
4.5 Flux Reference and Flux Output 42
S. 1 Experimental Setup
5.2 Experimental Setup Modification
5.3 Galil DMC-1700 controller with embedded PID control loop
5.4 Galil DMC-1700 controller with outer control loop
6.1 Zero Calibration and Span Calibration of Torque Sensor Indicator
(Aries instnment Ltd. Mode1 No. Ai 8 100-000-01 ) 55
6.2 Torque Sensor Indicator Front Panel 55
6.3 Extension Load and Torque Sensor 56
6.4 Load Extension Rods Dimension 56
6.5 Motor Torque vs. Applied Input Comrnand Voltage 57
6.6 Simulation of AC Induction Motor with Pseudo Random Control Inputs 61
viii
Page
6.7 Expenments of AC Induction Motor with Pseudo Random Control Inputs 62
6.8 Block Diagram of the AC Induction Motor Dynarnics 63
6.9 The AC Induction Motor with Inner Flux Vector Controller Transfer Function 64
7.1 Vector Controlled AC Induction Motor SIMULINK Block Diagrarn with PID
Controller 67
7.2 Free Body Diagram of System Modification 68
7.3 Block Diagram I .M. Mech in the Simulation Mode1 69
7.4 Simulation Results of K', = 7 Volthad and ki= 0.55 Volt-sechad 70
7.5 Simulation Results of Kpi = 9 VolUrad and Kdl = 0.5 Volt-seclrad 7 1
7.6 Experimental Results of Kpi = 7 Volt/rad and Kdl = 0.55 Volt-sechad 73
7.7 Experimental Results of Kp2= 9 Volthad and Kd2 = 0.5 Volt-sechad 74
8.1 Vector Controlled AC Induction Motor SfMULiNK Block Diagram with MSS
Contro 1ler 88
8.2 KPmB lock Diagram 89
8.3 Block Diagram 89
Kd*
8.4 inputs Block Diagram 90
8.5 AC Induction Motor Simulation of Step Response under MSS Controller 9 1
8.6 AC Induction Motor Position versus Time under Sample Controllers and MSS
Controller
8.7 AC Induction Motor Expenment Step Response under Convex Controller
A. 1C atalog Data, Motor Data, and Additional Information of
the AC induction Motor
A.2 Performance Data of the AC induction Motor
A.3 Specifications and Operating Conditions of the Flux Vector Controller
A.4 Ratings of the Flux Vector Controller
AS Dimensions of the Encoder
A.6 Mechanical Specifications of the Encoder
A.7 Electrical Specifications of the Encoder