The Field Orientation Principle in Control of Induction Motors

269 Pages·1994·16.49 MB·English

by  Andrzej M. Trzynadlowski (auth.)

The Field Orientation Principle
in Control of Induction Motors
THE KLUWER INTERNATIONAL SERIES
IN ENGINEERING AND COMPUTER SCIENCE
POWER ELECTRONICS AND POWER SYSTEMS
Consulting Editor
Thomas A. L1po
University of Wisconsin-Madison
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The Field Orientation
Principle in Control of
Induction Motors
Andrzej M. Trzynadlowski
University of Nevada, Reno
....
"
SPRINGER SCIENCE+BUSINESS MEDIA, LLC
Llbrary of Congress Cataloglng·ln-Publicatlon Data
Trzynadlowski, Andrzej.
The field orientation principle in control of induction motors 1
Andrzej M. Trzynadlowski.
p. cm. -- (The Kluwer international series in engineering and
computer science : SECS 258. Power electronics and power systems)
Includes bibliographical references (p. ) and index.
ISBN 978-0-7923-9420-4 ISBN 978-1-4615-2730-5 (eBook)
DOI 10.1007/978-1-4615-2730-5
1. Electric motors, Induction--Automatic control. 2. Field
orientation principle (Electric engineering) 1. Title.
II. Series: Kluwer international series in engineering and computer
science : SECS 258. III. Series: Kluwer international series in
engineering and computer science. Power electronics & power
systems.
TK2785.TI6 1994
621.46--dc20 93-33661
CIP
Copyright © 1994 by Springer Science+Business Media New York
Originally published by Kluwer Academic Publishers. in 1994
Softcover reprint of the hardcover 1s t edition 1994
AII rights reserved. No part of this publication may be reproduced, stored in a retrieval
system or transmitted in any form or by any means, mechanical, photo-copying, record ing,
or otherwise, without the prior written permission of the publisher, Springer Science+
Business Media, LLC.
Printed on acid-free paper.
To the memory of my Grandmother
Izabela Prdszynska
v
ERRATA
to the book "The Field Orientation Principle in Control of
Induction Motors" by AM. Trzynadlowski
Page xvii, 5th line from the bottom: replace "from" with "since"
Page 4, 5th line from the top: replace "has to be" with "must"
Page 5, 7th line from the bottom: replace "due to" with "because or'
Page 8, 4th line from the bottom: replace "Eq. (1.6) with "Eq. (1.3)"
Page 9: delete the top line
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Page 12, Eq. (1.19): replace "jeo" with ". jeo" in the exponent of "e"
Page 15, Eq. (1.34): replace "i~" with "i~"
Page 15, Eq. (1.35): replace ". {j)oLaLm" in row 3 column 4 with
L L " and "ir " with ''is''
". (j) o s r ~ ~
Page 29, 3th line from the bottom: replace "vos = vQs = 0" with "VOR
-- vQe R-- 0"
Page 32, 7th line from the bottom: replace "n/30 x 1200" with "n/30
x 1164"
Page 43, 11th line from the bottom: replace "CHV" with "CVH"
Page 51, 10th line from the bottom: replace "CHV" with "CVH"
Page 53, bottom line: replace "CHV" with "CVH"
Page 66, top line: add "frequency does" before "not exceed"
Page 99, 4th line from the bottom: replace "condition (3.18)" with
"condition (3.8)"
Page 112, 2nd line from the top: replace "Section 4.3" with "Section
4.2"
Page 160, 3rd line from the bottom: replace "Eq. (1.50)" with "Eq.
(1.90)"
Page 162, Eq. (6.10): correct the equation to
-A~S -
Page 164, 7th line from the top: replace "Sections 4.3 and 4.4" with
"Sections 4.2 and 4.3"
Page 170, Eq. (6.29): correct the equation to
Page 190, Fig. 6.20: interchange symbols "A.~" and "A.~s"
Contents
Nomenclature IX
Preface xv
1 DYNAMIC MODEL OF THE INDUCTION MOTOR 1
1.1 Space Vectors in Stator Reference Frame 1
1.2 Direct and Inverse.Three·Phase to Stator Reference
Frame Transformations 8
1.3 Voltage and Current Equations in Stator Reference
Frame 11
1.4 Torque Equation 16
1.5 Dynamic Equivalent Circuit 20
1.6 Direct and Inverse Stator to Excitation Reference
Frame Transformations 25
1.7 Motor Equations in Excitation Reference Frame 28
1.8 Examples and Simulations 30
2 SCALAR CONTROL OF INDUCTION MOTORS 43
2.1 The r Equivalent Circuit of an Induction Motor 44
2.2 Principles of the Constant VoltslHertz Control 47
2.3 Scalar Speed Control System 52
2.4 The r' Equivalent Circuit of an Induction Motor 54
2.5 Principles of the Torque Control 56
2.6 Scalar Torque Control System 59
2.7 Examples and Simulations 66
3 FIELD ORIENTATION PRINCIPLE 87
3.1 Optimal Torque Production Conditions 88
3.2 Dynamic Block Diagram of an Induction Motor in
the Excitation Reference Frame 90
3.3 Field Orientation Conditions 93
4 CLASSIC FIELD ORIENTATION SCHEMES 97
4.1 Field Orientation with Respect to the Rotor Flux
Vector 98
4.2 Direct Rotor Flux Orientation Scheme 100
4.3 Indirect Rotor Flux Orientation Scheme 106
vii
CONI'ENI'S
4.4 Examples and Simulations 108
5 INVERTERS 125
5.1 Voltage Source Inverter 126
5.2 Voltage Control in Voltage Source Inverters 130
5.3 Current Control in Voltage Source Inverters 138
5.4 Current Source Inverter 141
5.5 Examples and Simulations 144
6 REVIEW OF VECTOR CONTROL SYSTEMS 159
6.1 Systems with Stator Flux Orientation 160
6.2 Systems with Airgap Flux Orientation 168
6.3 Systems with Current Source Inverters 175
6.4 Observers for Vector Control Systems 176
6.5 Adaptive Schemes 185
6.6 Position and Speed Control of Field-Oriented
Induction Motors 189
6.7 Examples and Simulations 197
Bibliography 225
Index 253
viii
N <nJenclature
Principal Symbds
a, b, c switching variables of an inverter
dx, dy, dz duty ratios of states X, Y, Z of an inverter
9'M,~, ~ vectors of magnetomotive forces produced by the stator phase currents,
Alph
vector of stator magnetomotive force in the stator reference frame, A
magnitude of the vector of stator magnetomotive force, A
components of the vector of stator magnetomotive force in the excitation
reference frame, A
~.,~. components of the vector of stator magnetomotive force in the stator
reference frame, A
supply frequency, Hz
rated supply frequency, Hz
current tolerance band of an inverter, A
phasor of magnetizing current in the steady-state r equivalent circuit,
Nph
phasor of magnetizing current in the steady-state f' equivalent circuit,
Nph
phasor of magnetizing current in the steady-state T equivalent circuit,
Nph
phasor of rotor current in the steady-state r equivalent circuit, Alph
phasor of rotor current in the steady-state f' equivalent circuit, Nph
phasor of rotor current in the steady-state T equivalent circuit, Nph
phasor of stator current, Nph
d.c. supply current of a current source inverter, A
r.m.s. value of magnetizing current in the steady-state r equivalent
circuit, Nph
1M
r.m.s. value of magnetizing current in the steady-state f' equivalent
circuit, Nph
r.m.s. value of magnetizing current in the steady-state Tequivalent circuit,
Nph
ImCJ% amplitude of fundamental output current of an inverter, A
IR r.m.s. value of rotor current in the steady-state r equivalent circuit, Nph
Ii r.m.s. value ofrotor current in the steady-state f' equivalent circuit, Nph
Ir r.m.s. value ofrotor current in the steady-state Tequivalent circuit, Alph
Is r.m.s. value of stator current, Nph
I.,all maximum allowable r.m.s. value of stator current, Nph
I.,mCJ% peak value of stator current, Nph
I.,ral rated r.m.s. value of stator current, Nph
I.1l> r.m.s. value of flux-producing current, Alph
1sT r.m.s. value of torque-producing current, Nph
fundamental phase-A current of an inverter, A
~al
ix
NOMENCLATURE
vector of magnetizing current in the dynamic r equivalent circuit and
stator reference frame, A
;;,.' vector of magnetizing current in the dynamic I" equivalent circuit and
stator reference frame, A
vector of magnetizing current in the dynamic T equivalent circuit and
stator reference frame, A
vector of rotor current in the excitation reference frame, A
vector of rotor current in the dynamic r equivalent circuit and stator
reference frame, A
;;" vector of rotor current in the dynamic I" equivalent circuit and stator
reference frame, A
vector of actual rotor current, A
vector of rotor current in the dynamic T equivalent circuit and stator
reference frame, A
.;
vector of stator current in the excitation frame, A
( vector of stator current in the stator reference frame, A
"a' ~, ". output currents of an inverter, A
ial fundamental current in phase A of an inverter, A
ias, 4.., i.s stator phase currents, A
i~R> iQa components of the vector ofrotor current in the excitation reference frame,
A
components of the vector of stator current in the excitation reference
frame, A
components of the vector of rotor current in the stator reference frame, A
components of the vector of stator current in the stator reference frame,
A
magnitude of the vector of rotor current, A
magnitude of the vector of stator current, A.
mass moment inertia of the rotor, kg mil
mass moment inertia of the load, kg mil
torque constant, N mlWbiA
leakage inductance in the r equivalent circuit, H/ph
leakage inductance in the I" equivalent circuit, H/ph
rotor leakage inductance, H/ph
stator leakage inductance, H/ph
mutual inductance in the r equivalent circuit, H/ph
mutual inductance in the r' equivalent circuit, H/ph
mutual inductance in the T equivalent circuit, H/ph
rotor inductance in the r equivalent circuit, H/ph
rotor inductance in the T equivalent circuit, H/ph
stator inductance in the T equivalent circuit, H/ph
stator inductance in the I" equivalent circuit, H/ph
modulation index (magnitude control ratio) of an inverter
number of switching intervals per cycle of the output voltage of an inverter
x