Documenti di Didattica
Documenti di Professioni
Documenti di Cultura
ZINGER Universitv of Akron Akron, 6 H 44325 THOMAS A. LIP0 DONALD W. NOVOTNY University of Wisconsin 1415 Johnson Dr. Madison, WI. 53706 placing intermediate t a p s on some of the stator coils. By properly summing these voltages information can be obtained for use in flux control a s well a s s l o t ripples for s p e e d control 151. Switched capacitor filters 161 a r e then used t o isolate t h e desired slot harmonic and a frequency slave loop [7] is employed t o generate a signal related t o rotor speed. FLUX RIPPLE Ideally t h e windings a n d flux are sinusoidally distributed in a n induction motor. Real windings are, however, distributed in discrete s l o t s around t h e air g a p and therefore differ somewhat from a n ideal sinusoidal distribution. These nonsinusoidal distributions together with changes in permeance caused by t h e slots create harmonic distortions in the air g a p flux. For this application variationsin the flux due to slots on the rotor are of particular importance. The placement of rotor b a r s a t discrete intervals along the rotor create distortions in the flux wave t h a t vary with t h e motion of t h e rotor through t h e flux. The resulting flux harmonics produce time variations in t h e induced voltages. Since t h e s e harmonics a r e directly related to rotor speed, they can be used a s a means of measuring t h e s p e e d of t h e rotor. The voltages induced in a coil of wire c a u s e d by a fundamental flux wave with t h e s e harmonics is represented by
ABSTRACT Speed information is available from the moving flux wave in t h e air g a p of a n induction motor. The information t a k e s t h e form of ripples in t h e flux caused by t h e motion of rotor b a rs through the flux wave. This information is accessed by using voltages available from t a p s taken off the stator windings. I t is t h e n isolated using a switched capacitor filter and captured using a frequency slaved loop. A s p e e d regulator b a s e d on a field oriented control is t h e n constructed using this speed information.
INTRODUCTION The induction motor is a rugged device t h a t can be used in extremely h a r s h environments. For use in many applications where s p e e d control is desired i t is often necessary t o include additional devices for speed measurements. These devices a r e typically more fragile t h a n t h e induction motor t o which they a r e mounted, reducing t h e reliability of t h e overall system. I t is therefore desirable t o design a speed control without t h e use of such speed measuring devices. One method of operation t h a t does not require a n y s p e e d s e n s o r s is t o run t h e induction motor open loop with a variable frequency drive. T h i s method u s e s t h e frequency of the drive t o adjust t h e speed of t h e motor. Without any feedback, however, s p e e d droop will occur due t o slip under loaded conditions. Compensation for t h i s droop c a n be made by using t h e dc link current t o approximate t h e torque. Using this approximation, compensation for t h e slip c a n be made by adjusting the frequency appropriately. T h i s method works well for many applications but is only a n approximate method t h a t depends o n motor parameters. In some implementations t h e slip frequency can be directly calculated [ 11. This, however, is highly dependant on t h e motor parameters a n d gives results suitable in only a few applications. Slip information is, however, available from voltages t h a t c a n be measured. These voltages a r e t h e direct result of disturbances caused by rotor slots moving through t h e air g a p flux wave. Previous attempts t o utilize this slot frequency have met with some success [2,3]. These systems were, however, complex a n d dimcult t o implement. A new simpler approach h a s been developed t o use t h e se slot harmonics in a speed control. This method utilizes voltages generated in the s e p a r a t e coils of t he stator windings [4]. A typical placement of s u c h t a p s on t h e windings of a single p h a s e i s shown in Fig. 1. These voltages a r e measured by
v(0,wt) Bo k ,
2
o sin( at - 0
)
+
+ l B k,
e]
e]
'A"
PHASE TAPS R E W I R E D
A.
A .
A,
Fig. 1. Coil placement a n d t a p s one phase of a double layer lap winding having 7/9 slot pitch.
Authorized licensed use limited to: Reva Institute of Tehnology and Management. Downloaded on January 28, 2009 at 22:37 from IEEE Xplore. Restrictions apply.
where
8
electrical position with re s p e c t t o t h e stator 0 1 = Nrwr + 1 0 2 = NrOr - 1 W r = mechanical speed in electrical r a d / s e c o supply frequency in electrical ra d / s e c Nr number of rotor slots per pole pair Bo = modulus of fu n d a m e n t a l c o m p o n e n t of flux density kn amplitude ratio ( d e p e n d a n t on rotor current) k B x = coil c o n f i g u ra t i o n c o n s t a n t f o r x harmonic
=
--
T h i s equation h a s a zero value for all values of h except integer multiples of 3. Since h c o r r e s ponds t o N r + l for t h e u p p e r side b a n d a n d N r - 1 for t h e lower s i d e b a n d , if t h e number of rotor slots is not a multiple of t h r e e t h e n one a n d only one of t h e rotor s l o t h a r m o n i c s will remain. Generally b e c a us e of noise a n d vibration problems, t h e number of rotor slots is a non multiple of t h r e e 12.81. By summing the t h r e e coil voltages all harmonics, except t h e desired slot harmonic a n d other harmonics t h a t are multiples of three, c a n be eliminated. Figure 3 s h o w s a s p e c t r u m of t h e waveform obtained when summing t h e voltages of a proper s e t of t h r e e of t h e flux s e n s i n g coils. By comparing this g r a p h t o Fig. 2 a large decrease in all harmonics not a multiple of 3 is easily discernible. The frequency of
U ) s t a n d s out clearly from t h e rest concern ( N w r i of t h e harmonics, larger t h a n all of t h e m except t he third.
T h i s equation s h o w s t h e o u t p u t voltage h a s c o m p o n e n t s t h a t are dependent on t h e rotor s p e e d in b o t h m a g n i t u d e a n d f r e q u e n c y . Speed i n f o r m a t i o n is difficult t o e x t ra c t from t h e flux voltage magnitude because t h i s magnitude depends n o t only on rotor s p e e d but also on flux level settings a n d loading conditions. In particular t h e amplitude ratio ( k, ) is a function of rotor current, increasing a s the rotor current increases a n d making the induced voltage magnitude d e p e n d a n t on t h e load conditions of t h e motor. Because t h e magnitude is dependent on t h e s e other parameters, s p e e d information c a n be more easily extracted from t h e frequency of t h e s e harmonics. I n o r d e r t o e x t r a c t t h e flux h a r m o n i c i t is desirable t o have a s t r o n g flux ripple component t o s t a r t with. Although t h e rotor ripple component in m o s t m o t o r s c a n b e u s e d t o find t h e r i p p l e frequency, motors a r e generally designed t o reduce t h e s e h a r m o n i c s . F o r e x a m p l e ro t or s l o t s a r e t y p i c a l l y s k e w e d t o reduce a u d i b l e n o i s e a n d eliminate a s y n c h r o n o u s crawling during line s t a r t s c a u s e d by t h e s e h a r m o n i c s . A m a c h i n e with unskewed rotor s l o t s would produce s t r o n g e r s l o t h a r m o n i c s a n d therefore would be more desirable for extracting frequency information. Although t h i s may c a u s e s o m e p r o b l e m with noise, line s t a r t s would n o t be required for t h e motor eliminating t h e problem of asynchronous crawling. ISOLATION O F SLOT HARMONIC I n a real s i t u a t i o n t h e s l o t h a r m o n i c s a r e smaller t h e n many o t h e r harmonics available from a s t a t o r coil. An example of a spectrum of t h e voltage from a s t a t o r coil is shown in Fig. 2. It is s e e n t h a t u n d e r no load t h e larger of t h e two slot harmonics is sm a l l e r t h a n t h e third, fifth a n d seventh harmonics a n d comparable t o the other harmonics. These undesired h a rm o n i c s have t o be reduced before t h e slot harmonic can be used in s p e e d control. One technique t h a t c a n be employed t o reduce m a n y of t h e s e h a r m o n i c s is to s u m voltages from t h r e e coils s e p a r a t e d by 120 electrical degrees [2]. F o r a given harmonic, h , t h e voltage resulting from s u c h a harmonic would have t h e general form of
Since s u m m i n g of t h r e e coils reduced many h a r m o n i c s , consideration was given t o using all six coils in t h e flux s e n s i n g s y s t e m t o further reduce u n d e s i r e d h a r m o n i c s i n c l u d i n g t h e third. By multiplying each coil by a gain t h e total voltage for a given harmonic c a n be represented by
SLOT HDRMONIC
>
n
-5
FREOUENCY ( K H Z )
Fig.
2. S p e c t r u m of voltage from a single t a p p e d s t a t o r winding. No load operation with 60 Hz. sine wave excitation.
SLOT HARMONIC
vh
k[ sin( A ) sin( A
2xh + sin( A - ) 3
21th +)1 3
( 2 )
214
Fig. 3.Spectrum of voltage from s u m of 3 coils under no load with 60 Hz sine wave excitation.
Authorized licensed use limited to: Reva Institute of Tehnology and Management. Downloaded on January 28, 2009 at 22:37 from IEEE Xplore. Restrictions apply.
switched at frequency f
(3)
c,
Programs were developed t o find optimum gain settings for reduction of different harmonics. The g a i n s t h a t were found, however, generally reduced t h e desired harmonic a s well a s t h e undesired harmonics. The net result showed little advantage over t h e use of a single coil. The b e s t isolation of t h e desired harmonic was therefore found by simply summing voltages from coils in each phase. Switched Capacitor Filters After summing the voltages of tapped winding flux se n so r s from each of the three phases, the third harmonic is t h e only major component other t h a n t h e desired slot harmonic. Since t h e slot harmonic frequency is typically on the order of five times t h a t of t h e third harmonic, it should be possible t o use a s h a r p filter t o isolate the slot harmonic. In variable sp e e d applications, however, t h e frequency could vary over a range of fifty t o one. Thus one filter with a c o n st a n t cutoff frequency could not be used in a typical variable speed application. One economical method of o b t a i n i n g a n a d j u st a b l e cutoff frequency is t o u s e switched capacitor filters. These allow for simple adjustment of the cutoff frequency by regulating t h e switching frequency of the switched capacitor integrators, the basic element in a switched capacitor filter. A schematic of a switched capacitor integrator is shown in Fig. 4. The operation of s u c h a n integrator is described in 1 6 1 . Essentially when switch Q is closed a n d ? is open a charge ( Q = V1 C 1) is accumulated on capacitor C1. When Q opens a n d T closes t h e charge is transferred t o capacitor Cf. For a switching period T t h e average current transferred to this capacitor is I = -Q =T
(4)
Fig. 5. Spectrum of voltage from s u m of t a p p e d windings with a switched capacitor filter. No l o a d o p e r a t i o n with 60 Hz, s i n e wave excitation.
b e s t isolation of t h e desired slot harmonic. This is the method used in the final implementation. RETRIEVING FREQUENCY INFORMATION Once t h e desired slot harmonic is sufficiently i s o l a t e d , t h e frequency information m u s t be extracted from t h i s signal. Methods have been developed t h a t u s e zero crossing techniques t o determine t h e frequency of t h e slot harmonic [2,3]. These methods work well a t frequencies above 10 Hz b u t a r e complex t o implement. A s i m p l e r method of generating a n output voltage proportional t o t h e rotor s l o t frequency c a n be implemented using a frequency slaved loop (FSL). Circuits similar t o FSLs have been used for many years 171. A block diagram of such a system is given in Fig. 6. Without a n y input voltage (V,) t he VCO (voltage controlled oscillator) will generate a frequency related t o t h e b a s e frequency input (Vf). When a slot frequency is applied a t V, the signal is multiplied by t h e VCO signal t o create a b e a t frequency. If t h e VCO frequency a n d t h e s l o t frequency are close enough, t h e beat frequency will be low enough t o p a s s through the low p a s s filter and modify t h e VCO output. The VCO signal will continue t o be modified until it locks onto t h e signal a t Vs. The output voltage (V,,t) is always directly r e l a t e d t o VCO f r e q u e n c y a n d , u n d e r t h e s e conditions. would be related t o the frequency a t Vs. The base frequency input (Vf)was chosen t o be (Nr+1) times the s t a t o r frequency. Since this differs from t h e s p e e d s i g n a l by only N, t i m e s s l i p frequency. locking o n t o t h e signal was found t o occur quite reliably.
(5)
Thus by changing t h e period of switching, t h e integrator gain (C 1/CfT) can be changed. Using such integrators a s energy storage devices in filters will allow for e a s y adjustment of cutoff frequencies. These types of filters a r e available commercially for many different configurations. The filter used for this study is a 6 pole Chebyshev band-pass filter. Figure 5 shows t h e spectrum resulting from the application of a switched capacitor filter t o the s u m of t h e t a p p e d s t a t o r windings from t h e three phases. From t h i s figure it is seen t h a t t h e desired sl o t harmonic 1s well isolated from all t h e o t h e r harmonics. Of t h e m e t h o d s c o n s i d e re d , u s i n g t h e switched capacitor filter with t h e s u m of voltages from a flux coil in each of t h e three phases gives t h e
Ll 15
Authorized licensed use limited to: Reva Institute of Tehnology and Management. Downloaded on January 28, 2009 at 22:37 from IEEE Xplore. Restrictions apply.
PASS
vco-
A
T
While t h e system re s p o n s e t o c h a n g e s in frequency will d e p e n d o n t h e p a r a m e t e r s e t t i n g s , s o m e i m p o r t a n t general observations c a n be made. F o r example, t h e r e is no s t e a d y s t a t e error for a s t e p change in speed. When choosing t h e p a r a m e t e r s t o c o n t r o l t h e t r a n s i e n t r e s p o n s e t h e t h e lock-in frequency range, t h e hold-in frequency range, a n d t r a n si e n t limits must also be considered.
The choice of lock-in a n d hold-in frequencies will therefore have a major effect on t h e acceleration rate. T h e lock-in r a n g e is usually s m a l l t o he l p prevent locking on undesired signals. The hold-in range is also fairly small t o keep t h e system relatively well d a m p e d . T h i s defines a limit on t h e rate of acceleration of t h e machine. EXPERIMENTAL RESULTS
Fig. 8). T h i s
I7
CAPACITOR FILTER ~ M O T O 3
Fig. 9.
216
Authorized licensed use limited to: Reva Institute of Tehnology and Management. Downloaded on January 28, 2009 at 22:37 from IEEE Xplore. Restrictions apply.
1000
VOLTAGE
800
n
600
W
n
W
2 400
v)
REGULATlON
200
0I
0.40 0.60
0.80
1.00 1.20
500
T ROTOR
z n
v
480
WED ROTOR
460
2 TIME (SEC)
Fig. 10. Speed-torque relationships for a FSL system with a speed command near the middle of its operating range
217
Fig. 12.Response t o a small s t e p in speed for the system with low gain settings.
Authorized licensed use limited to: Reva Institute of Tehnology and Management. Downloaded on January 28, 2009 at 22:37 from IEEE Xplore. Restrictions apply.
considerable overshoot in t h e system re s p o n s e t o a large change in s p e e d command. An example of this overshoot is shown in fig. 13. To reduce t h i s lag t h e bandwidth of t h e filter in t h e b a s e frequency of t h e FSL could be increased. When t h i s bandwidth is increased t h e overshoot is considerably reduced a s s e e n in Fig. 14. Because of t h e additional noise on t h e b a s e frequency, however, t h e FSL h a s more difficulty locking o n t o t h e s l o t ripple s e r i o u s l y degrading its steady state performance.
F o r a typical s p e e d control a p p l i c a t i o n i t is i m p o r t a n t t o have good s p e e d regulation u n d e r t o r q u e l o a d d i s t u r b a n c e s . Figure 15 s h o w s t h e s y s t e m r e s p o n s e for a large s t e p change of half t h e rated load. Initially t h e s p e e d d r o p s a b o u t 10% but recovers in 500 msec. T h i s r e s p o n s e is f a r from s e r v o g r a d e p e r f o r m a n c e b u t is r e a s o n a b l e for mode rat e performance a p p 1i c a t i o n s.
CONCLUSION S p e e d information is available from s t a t o r winding voltages u s i n g a s y s t e m t h a t includes a switched capacitor filter a n d a frequency slaved loop. With t h i s s p e e d information a s p e e d control s y st e m c a n b e built w i t h o u t t h e u s e of a t a c h o m e t e r . Although t h e s p e e d regulator developed was limited in its o p e r a t i n g range a n d showed only moderate performance s u c h a s y s t e m could be u s e d in many a p p l i c a t i o n s w h e r e h i g h p e r f o r m a n c e is n o t required. I t w a s also found t h a t some improvements c a n be made by u s i n g a m a c h i n e with unskewed rotor b a r s instead of t h e conventional skewed rotor.
1
1000
800 -
00
2 TIME (SEC)
REFERENCES
Fig.
[ I ] R. J o e t t e n a n d G. Maeder,' Control Methods for Good Dynamic P e r f o r m a n c e I n d u c t i o n Motor Drives B a s e d on Current a n d Voltage a s Measured Bu a n t iti es.' in Procee d i n e s o f In tern at ion a1
[ 2 ] M. I s h i d a a n d K. Iwata,' New Slip Frequency Detector of a n Induction Motor Utilizing Rotor Slot Harmonics,' in Proceedings o f the International Semicon ductor Power Con version Conference, 1982. pp. 408-415 [3]M. I s h i d a , K. H a y a s h i , a n d M. Ueda,' A S pe e d Detection Method of Squirrel-Cage I n d u c t i on Motor Utilizing Rotor Slot Harmonics in Air Gap a n d I t s Application t o Slip Frequency Control,' Electrical Engineering in Japan, Vol. 90. No. 3, pp. 74.84, 1979
1000
800 -
5
r n
w W n
0
i?
600 400 -
200 0,
Fig.
IA-22, No. 4, pp. 731-737, Julj/A;i 14. S p e e d r e s p o n s e for a large s t e p in s p e e d c o m m a n d with wide b a n d w i d t h In b a s e frequency f iI t e r.
1986.
800 -
9
U
400
200
0-I
1
0
'
I
1
2
TIME (SEC)
Authorized licensed use limited to: Reva Institute of Tehnology and Management. Downloaded on January 28, 2009 at 22:37 from IEEE Xplore. Restrictions apply.