A COMPARITVE STUDY BETWEEN VECTOR CONTROL AND DIRECT TORQUE CONTROL OF INDUCTION MOTOR USING MATLAB SIMULINK

Submitted by Fathalla Eldali Department of Electrical and Computer Engineering For the Degree of Master of Science Colorado State University Fall 2012
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WHEN HAVE I BEEN INTERESTED IN MOTOR DRIVE AND MATLAB?

BSC Senior Design LIM + PLC MATLAB/Simulink as A Modeling TOOL

THESIS OUTLINES
Introduction Induction Motor Principles Induction Motor Modeling Electric Motor Drives Vector Control of Induction Motor Direct Torque Control Theoretical Comparison Vector Control and Direct Torque Control Simulation Results Simulation Results in the normal operation case The effect of Voltage sags and short interruption on driven induction motors 3 The characteristics of the voltage sag and short interruption Conclusion & Future Work

INTRODUCTION
Motors are needed Un driven Motors and power consumption Power Electronics, DSP revolution help Rectifiers Inverters Sensors Control Systems Theories

OLD STUDIES & MOTIVATION

Many studies have been done about FOC & DTC individually Few studies were published as a comparison studies as [17-19] Voltage Sag & Short Interruption faults were not considered in the comparison

INDUCTION MOTOR PRINCIPLES

Nikola

Tesla first AC motors 1888 AC motors -Induction Motors -Permanent Magnet Motors Why are Induction Motors are mostly used ? Supplied through stator only Easy to manufacture and maintain Cheap
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INDUCTION MOTOR CONSTRUCTION

Stator : laminated sheet steel (eddy current loses reduction) attached to an iron frame stator consists of mechanical slots insulated copper conductors are buried inside the slots and then Y or Delta connected to the source.

Two Types of Rotor A-wound rotor: -Three electrical phases just as the stator does and they (coils) are connected wye or delta. B-squirrel-cages rotor -contains bars of aluminum or copper imbedded in the rotor, which are short circuited at the end of each bar by an end disc

INDUCTION MOTOR ROTOR TYPES (A) WOUNDED ROTOR (B) SQUIRREL-CAGE ROTOR.

ELECTRIC AC MOTOR DRIVES

Practically, induction motor doesnt work at its rated speed

Switching the (motor) on/off is possible by mechanically stressful

decreasing the rotation speed is a better way to save energy and reduce mechanical stress

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PURPOSES OF ELECTRIC AC MOTOR DRIVES

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INDUCTION MOTOR MODELING

To model IM, We should know the electrical and mechanical equations that describe it in the transient and steady state The Electrical equations are for the Voltage, current, Flux The Mechanical equations for the speed, position and Torque

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IDEALIZED CIRCUIT MODEL OF THREE PHASE

INDUCTION MACHINE

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ELECTRICAL EQUATIONS

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MECHANICAL EQUATIONS

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MACHINE MODEL IN ARBITRARY REFERENCE FRAMES

Purpose of those Transformations: Eliminate the effect of inductance changing with time It is more convenient to be used in Unbalanced voltage cases. The other advantage is that we can observe any variable at any instance.

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17

RELATIONSHIP BETWEEN ABC AND QD

ARBITRARY COORDINATE REFERENCE FRAMES.

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INDUCTION MOTOR MODELING MATLAB/SIMULINK

Three phase to d-q stationary reference frame d-q stationary frame to d-q synchronous frame Electromagnetic Torque Equation modeling

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THREE PHASE TO D-Q STATIONARY

REFERENCE FRAME

u[1] Vas Vqs-s

1 Vqs_s

Vbs f(u) Vcs Vds-s 2 Vds_s

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D-Q STATIONARY FRAME TO D-Q

SYNCHRONOUS FRAME

1 Vds_s 2 Vqs_s f(u) Fcn 1 Vqs_e Mux

f(u) Fcn1 Repeati ng Sequence Mux

2 Vds_e

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ELECTROMAGNETIC TORQUE AND SPEED EQUATION MODELING

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1 Iqs-e 2 Idr-e Product1

Gain4 Add 3 Ids-e 4 Iqr-e

1 Te -K1/J 1 s
Wm

-K-

Te

1 Te

Product

1 Speed

Integrator

TL

B Gain2

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Vqs-e

Vas u[1] Vbs Vqs-s

Vqs_s Vqs_e

d(Iqs-e)/dt d(Iqr-e)/dt Ids-e Iqs-e Idr-e Iqs-e Iqs-e

Te

Subsystem1 Vcs f(u) Vds-s d-q (S) To d-q (E) Transformation

Vds_s Vds_e Vds-e d(Ids-e)/dt Iqs-e Iqr-e Ids-e d(Idr-e)/dt Ids-e Ids-e Iqr-e Idr-e Te Ids-e Iqs-e

Wr -KGain1 1 s Integrator

Subsystem2
Vqr-e d(Iqr-e)/dt d(Iqs-e)/dt Ids-e

Electromagnetic Torque Calculation B

0 Constant

Wr Idr-e Iqr-e

Gain2

Subsystem3 Step
Vdr-e Iqs-e Wr Iqr-e d(Ids-e)/dt Idr-e d(Idr-e)/dt

Subsystem

24

Overall IM Model

1-VECTOR CONTROL OF INDUCTION MOTOR

Torque in separately excited dc motor Principles of vector control of Induction motor Torque equations for Vector Control Vector Control MATLAB/SIMULINK

25

TORQUE IN SEPARATELY EXCITED DC MOTOR

26

SIMPLE REPRESENTATION OF SEPARATELY EXCITED DC MOTOR.

27

PRINCIPLES OF VECTOR CONTROL OF INDUCTION MOTOR

28

PRINCIPLES OF VECTOR CONTROL (DECOUPLING BETWEEN ROTOR FLUX AND TORQUE)

29

DERIVATION OF THE ORIENTATION CONDITION

30

PROCEDURE IN THREE MAIN POINTS

31

THE PROCEDURE USING MATLAB/SIMULINK

32

33

The last step is to convert the gotten component of stator current in stationary reference frame to the desired three phase currents to be the base of control the inverter

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THE SIMULINK MODEL OF THE FIELD ORIENTATION CONTROL (FOC) OF INDUCTION MOTOR.
Scope 0.8 Landa_r* -K. ids
ids iabc* Vabc iqs iabc* iabc Landa_s th Vabc Te iabc N

Time

iqs
ev iqs*

Reference Speed

PI Current decoupling controller

Determing the state of the PWM

th TL Landa_dr Landa_qr

Output Terminator To Workspace

IM1 Load

Stator currents Rotor flux angle Actual speed

35

Overall FOC Model

2-DIRECT TORQUE CONTROL

The basic concept of (DTC) method was proposed by Takahashi and Noguchi in 1986 It is more used in controlling the induction motor because it is considered a simple and robust method It has a very fast response and simple structure which makes it to be more popular used in industrial world It implies a comparative control of the torque and the stator fluxes which must fall into two separate certain bands (limits) to be applicable

36

SPACE VECTOR MODULATION OF THREE PHASE VOLTAGE SOURCE INVERTER WITH DTC
voltage vector is shifted (lag or lead) with respect to the stator flux vector by an angle which is not more than 90, this causes the flux to increase and vice versa The torque is then directly controlled by selecting the inverter situation in order to boost the stator flux up or buck it down.

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SV-PWM

38

SV-PWM

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BASIC PRINCIPLES OF SWITCHING TABLE

40

THE HYSTERESIS BAND CONTROLS THE STATOR

FLUX VOLTAGE AND

Increase
Increase Decrease Decrease

Increase
Decrease Decrease Increase

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THE SIMULINK MODEL OF DIRECT TORQUE CONTROL (DTC) OF INDUCTION MOTOR.

0.8 Landa_s* Output
ev Te*

Relay Relay1

Interpreted MATLAB Fcn MATLAB Fcn

iabc Vabc N Te TL Landa_s th

Repeating Sequence

PI

Step IM Scope3

42

Overall DTC Model

LOOK-UP TABLE (SWITCHING TABLE)

Sectors

I
FU FU FD FD FD FD TU TD TN TU TD TN V2 V6 V7 V3 V5 V0

II
V3 V1 V0 V4 V6 V7

III
V4 V2 V7 V5 V1 V0

IV
V5 V3 V0 V6 V2 V7

V
V6 V4 V7 V1 V3 V0

VI
V1 V5 V0 V2 V4 V7

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THEORETICAL COMPARISON VECTOR CONTROL AND DIRECT TORQUE CONTROL

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SIMULATION RESULTS
DTC Vs. FOC Speed Electromagnetic Torque Flux Three phase current

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MOTOR SPEED RESPONSE.

FOC
400

DTC

350

300
Motor speed (r.p.m)

250

200

150

100

50

3 Time (sec)

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TORQUE RESPONSE
FOC DTC

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FLUX RESPONSE
FOC DTC

0.9

0.9

0.8

0.8

0.7

0.7

0.6
Stator Flux (Wb)
Stator Flux (Wb)

0.6

0.5

0.5

0.4

0.4

0.3

0.3

0.2

0.2

0.1

0.1

3 Time (sec)

3 Time (sec)

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THREE PHASE MOTOR CURRENT

FOC
4

DTC
20

15
2

Three phase motor currenr (Amp)

10

Three phase motor current (Amp)

-1

-5

-2

-10
-3

-4

-15
0 1 2 3 Time (sec) 4 5 6 7

3 Time (sec)

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THE DISTORTION OF THREE PHASE CURRENT

FOC DTC

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THE EFFECT OF VOLTAGE SAGS AND SHORT

INTERRUPTION ON DRIVEN INDUCTION MOTORS
(ASD) is considered as one of the sensitive loads to the voltage sag and short interruption That might cause the motor protection relay to trip, because the undervoltage of the DC link The ac current, which is feeding the motor, increases. The speed usually deviates and the torque varies [29]

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THE CHARACTERISTICS OF THE VOLTAGE SAG

AND SHORT INTERRUPTION Two main types of Voltage Sag and interruptions Balanced and Unbalanced 7 types of sags could happen as shown

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SIMULATION RESULTS FOR THE CHOSEN PQ

ISSUES

The voltage sag types, which are used in this project thesis, are Type A (Balanced) and Type B (Unbalanced). The short interruption is applied on the two driving techniques too.

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SIMULATION RESULTS FOR THE CHOSEN PQ

ISSUES The affected DC Link Voltage For FOC Vs. DTC , I observe the following: Speed Variation Three Phase Current

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THE AFFECTED DC LINK VOLTAGE

One phase short interruptions effect on DC link voltage (Type B)

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DC VOLTAGE WAVE SHAPE UNDER THE

EFFECT OF TWO TYPES OF VOLTAGE SAG CONDITION

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TABLE THE DC LINK VOLTAGE IN

DIFFERENT VOLTAGE SAG PERCENTAGES AND
DIFFERENT DURATIONS
Sag Duration (Cycles) 18 cycles

(TYPE A)
22 cycles 26 cycles 30 cycles

Voltages Sag (%)

20 %

314.75

314.6

314.51

314.2

40 %

236.5

236.4

236.4

236.4

60 %

159.7

156.28

156.26

156.26

80 %

155.4

126.2

102.49

83.55

100 % (interruption)

155.3

126.15

102.4

83.15

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THE DC LINK VOLTAGE IN DIFFERENT

VOLTAGE SAG PERCENTAGES AND DIFFERENT
DURATIONS
350

(TYPE A)
DC link in the normal operation is 400 Volt
18 cycles 22 cycles 26 cycles 30 cycles

300

250

DC link Voltage (Volt)

200

150

100

50 20

30

40

50

60 70 Voltage Dip (Sag) %

80

90

100

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SPEED VARIATION (DEVIATION) VOLTAGE SAG TYPE A

FOC
70

DTC
100 18 cycles

18 cycles 60 22 cycles 26 cycles 30 cycles 50

Speed Drop from the desired speed %

90 22 cycles 80 26cycles 30cycles

Speed Drop from the desired speed %

Motor Stall

70

60

40

50

30

40

30

20

20
10

10

0 20

30

40

50

60 70 Voltage Dip (Sag) %

80

90

100

0 20

30

40

50

60 70 Voltage Dip (Sag) %

80

90

100

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SPEED VARIATION TYPE A

FOC
Sag Duration (Cycles) Voltages Sag (%) 18 cycles 22 cycles 26 cycles 30 cycles

DTC
Sag Duration (Cycles) 18 cycles 22 cycles 26 cycles 30 cycles

Voltages Sag (%)

20 % 0% 0% 0% 0%

20 %

0%

0%

0%

0%

40 %

0%

0%

0%

0%

40 %

(0,+0.5)%

(0,+0.5)%

(0,+0.5)%

60 %

60 %

(0,+0.5)%

(0,+0.5)%

80 %

(-15, +19) %

(-43,+54) %

(-66, +85) %

80 %

STALLS

100 % (interruption)

(-16, +19) %

(-43,68) %

(-67, +170) %

100 % (interruption)

STALLS

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PEAK CURRENT DURING VOLTAGE SAG TYPE A

FOC
30 18 cycles 22 cycles 26 cycles 25 30 cycles 3.67A "Normal current"
5
Three phase current (Amp)

DTC
7

20

Motor Current (Amp)

15

10

18 Cycles 22 Cycles 26 Cycles

30 Cycles Motor stalls 4.5A "normal current"

0 20

30

40

50 60 70 Voltage Dip (Sag) %

80

90

100

0 20

30

40

50 60 70 Voltage Dip (sag) %

80

90

100

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PEAK CURRENT DURING VOLTAGE SAG TYPE A

FOC
Sag Duration (Cycles) Voltages Sag (%) 18 cycles 22 cycles 26 cycles 30 cycles Sag Duration (Cycles) Voltages Sag (%) 18 cycles

DTC
22 cycles 26 cycles 30 cycles

20 %

3.67

3.67

3.67

3.67

20 %

4.5

4.5

4.5

4.5

40%

3.67

3.67

3.67

3.67

40 %

4.5

4.5

4.5

4.5

60 %

3.95

3.98

4.1

4.06

60 %

4.6

4.84

4.5

4.5

80%

4.17

13.28

27.8

25.6

80 %

4.7

4.84

6.8

1.5-3

100 % (interruption)

4.19

13.34

27.84

26.45

100 % (interruption)

4.84

4.87

6.8

1.5-3

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CONCLUSION
Comparison Aspects Speed Response Torque response flux response easiness of implementation V-sag/ Interruptions FOC Faster and more robust Faster but spiky Slower and it is affected by the load Complicated because of the transformation Speed deviates gradually Current increases gradually better torque response Faster and stable Easy DTC

Speed reaches 0 at certain point Current doesnt increase and it falls suddenly Good
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General

Good

RECOMMENDED FUTURE WORK

Detailed analysis in comparing those two important methods

RT simulation should be done for full analysis of the other power quality issues
In addition simulation should consider the protection system for both under voltage and overvoltage

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[14] A. Iqbal, A. Lamine, and I. Ashra, "Matlab/Simulink Model of Space Vector PWM for Three-Phase Voltage Source Inverter," 2006, pp. 1096-1100.
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