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Dynamic modelling of the induction motor

Vector control purpose


Mechanical motion
Linear motion
For linear motion, the forces acting on a body may usually be simplified to a driving
force, Fe, acting on the mass, and an opposing force (or load), Fl, as shown on Figure 1.
Figure 1: body acted on by two forces.
For translational motion the following may be written:
e L
F F dv
dt M

=
!n any speed and position control of linear motion, force is the fundamental variable
which needs to be controlled.
Rotary motion
!f the motion is rotary about an a"is instead of translational, a situation as shown in
Figure # arises.
Figure #: body acted on by two tor$ues.
For rotary motion the following may be written:
L
dw T T
dt J

=
!n any speed and position control of rotary motion, tor$ue is the fundamental variable
which needs to be controlled.
Torque in an electric drive
%lectromagnetic tor$ue produced by a motor is opposed by load tor$ue. &he difference,
em L
T T , will accelerate the system.
Figure ': load acted on by a motor
For motor(load motion the following may be written:
em L
T T dw
dt J

=
&or$ue is the fundamental variable which needs to be controlled. )ote that under steady
state conditions angular speed is constant and
em L
T T = .
*+(motor drive performance
,ne of the most essential $ualities of a motor is the ability to generate tor$ue. &he total
tor$ue may be described by
em a f a
T k I =
where I
a
is the current flowing in the armature and k
a
becomes a factor describing the
physical shape of the winding. *+ machine e$uivalent circuit is shown in Figure -.
Figure -: *+ machine e$uivalent circuit
&o change
em
T as a step, the armature current i
a
is changed as a step by the power(
processing unit as shown in Figure ..
Figure .: *+(motor drive performance
%mulation of *+(motor drive performance
!n vector control of induction(motor drives, the stator phase currents ( )
a
i t , ( )
b
i t and
( )
c
i t are controlled in such a manner that ( )
sq
i t
delivers the desired electromagnetic
tor$ue while ( )
sd
i t maintains the pea/ rotor(flu" density at its rated value. &he
references values ( )
0
sq
i t and ( )
0
sd
i t are generated by the tor$ue, speed, and position
control loops. &he total tor$ue may be described by
em T r sq
T k B i =
1imulation of induction machine using Matlab and 1imulin/
&raditionally in analysis and design of '(phase induction motors, the 2per(phase
e$uivalent circuit3 is shown in Figure 4 has been widely used. !n the circuit, R
s
(R
r
) is
the stator (rotor) resistance and L
m
is called the magneti5ing inductance of the motor.
)ote that stator (rotor) inductance L
s
(L
r
) is defined by
L
s
6 L
ls
7 L
m
, L
r
6 L
lr
7 L
m
(1.1)
where L
ls
(L
rs
) is the stator (rotor) lea/age inductance. lso note that in this e$uivalent
circuit, all rotor parameters and variables are not actual $uantities but are $uantities
referred to the stator.
Figure 4: +onventional 8er(phase %$uivalent +ircuit
!t is also /nown that induction motors do not rotate synchronously to the e"citation
fre$uency. t rated load, the speed of induction motors are slightly (about # ( 9: slip in
many cases) less than the synchronous speed. !f the e"citation fre$uency in;ected into
the stator is w
syn
and the actual speed converted into electrical fre$uency unit is w
m
, slip
s is defined by
s 6 (w
syn
( w
m
) < w
syn
6 w
slip
< w
syn
, (1.#)
and w
slip
is called the slip fre$uency which is the fre$uency of the actual rotor current.
lthough the per(phase e$uivalent circuit is useful in analy5ing and predicting steady(
state performance, it is not appropriate to e"plain dynamic performance of the induction
motor.
*ynamic model in space vector form
!n an induction motor, the '(phase stator windings are designed to produce sinusoidally
distributed mmf in space along the airgap periphery. ssuming uniform airgap and
neglecting the effects of slot harmonics, distribution of magnetic flu" will also be
sinusoidal. !t is also assumed that the neutral connection of the machine is open so that
phase voltages, currents and flu" lin/ages are always balanced and there are no zero
phase seqence component in the system.
For such machines, the notation in terms of the space vector is very useful. For a
sinusoidal '(phase $uantity of constant rms value, the space vector of the stator voltage,
current and flu" lin/age are constant(magnitude vectors rotating at the fre$uency of the
sinusoid with respect to the fi!ed (stationary) reference frame. =ith space vector
notation, voltage e$uations on the stator and rotor circuits of induction motors are,
d
v Ri
dt

= + Li =
di dL
v Ri L i
dt dt
= + +
where the voltages v and currents i are vectors, and where the resistance R and
inductance > are matrices. %$. '- describes the electromagnetic system by a set of 4"4
matrices of differential e$uations. &he coupling between stator and rotor is dependent
on the rotor(position.
Phase transformation
!n many cases, analysis of induction motors with space vector model is complicated due
to the the fact that we have to deal with variables of comple" numbers. =hen induction
motors are controlled by a vector drive, control computation is often done in the
synchronous frame. 1ince actual stator variables either to be generated or to be
measured are all in stationary a(b(c frame, frame transform should be e"ecuted in the
control. &he most popular transform is between stationary a(b(c frame $uantities to
synchronously rotating d(q $uantities.
!f the goal is to create a rotating space vector describing a circle, three phases with
sinusoidal currents are not necessary. From analytic geometry it is /nown that the circle
may be described by two coordinates in space (! and y). &his may be used in this case,
by placing two coils at ?@A and by supplying them with sinusoidal current displaced by
?@A (or B<#). &hese two coils are usually named the d(coil and the q(coil. !n the rotating
frame of reference the frame of reference in regard to the phase is named the d(a"is
(for direct a"is) and the other a"is is named the q(a"is (for quadrature a"is).
&his method reduces the three(phase system to a two(phase system.
*oing this, it is possible to model the cross(couplings between the individual coils.
further advantage is that in steady(state, the currents flowing in the coils are a *+
current. Csing the rotating frame of reference, the differentials of any state value (d<dt)
are 5ero in steady(state and when the differentials are different from 5ero, they give the
change from steady(state only. &he rotating frame of reference also has the advantage
that the rotor(angle is /nown (it is a state).
Transformation of currents, voltages, flux-linkage, etc.
=hat remains is to define a method for performing the phase transformations to the
rotating frame of reference. &he transformation is done by defining a transformation(
matri" for the systems as
dq abc dq abc
f T f

=
where f denote currents, voltages, flu"(lin/age, etc. For current case, this is shown in
Figure 9.
Figure 9. &ransformation of phase $uantities into dq winding $uantities (current case).
The electromagnetic torque
8roperly the most important tas/ for the induction motor is to produce a tor$ue on the
shaft. &he developed tor$ue may be written on the flowing form,
( )
#
em rq rd rd rq
p
T i i =
d-q equivalent circuit
&he result from the above is a set of e$uations describing the electromagnetic system in
the rotating frame of reference. &he e$uations describing the system may be interpreted
as e$uivalent circuits, which may help in understanding the dynamics of the system.
Csing this set of e$uations, it is possible to construct an e$uivalent(diagram of the d(,
and q(a"is individually. For the rotating frame of reference the resulting e$uivalent
diagram for each of the a"is is shown in Figure 1@. .
a) d(a"is
b) q(a"is
Figure D. dq(winding e$uivalent circuits.
Solving the system !oltages as "n#uts
=hat remains is to find a strategy for solving the differential e$uations given in %$.
..... ,ne possibility e"ist: solving for the flu" lin/ages and then calculating the
currents. &he flu" lin/age associated with the d(, q(a"is are calculated as
+omputer simulation
!n order to carry out computer simulations, it is necessary to calculate intial values of
the state variables, that is, of the flu" lin/ages of the dq windings. &hese can be
calculated in terms of the initial values of the dq windings currents. &hese currents
allow us to compute the electromagnetic tor$ue in steady state, thus the initial loading
of the induction machine. !nitial conditions are computed in "!ample #$% and in the
matlab file "&"E1.m (or "&"E#.m).
Finally, the 1imulin/ model is shown in Figure ?.
Eq. 3-48
Figure 3-13 Simulation of Example 3-3; File Name EX3_3_1.mdl
Entrada
tri fasi ca
ELECRODINAMICS
DQ-WINDING REPRESENTATION
-K-
rad/s --> RPM
1
s
Va
Vb
Vc
Wmech
i_dq
abc --> dq
Vc
Vb
Va
f(u)
Torque Eq. 3-47
Info
Load Torque
1/Jeq
Inertia
Start
Double Cl i ck to
l oad parameters and i ni ti al condi tions
Pl ot
After Si mul ati on, Double Cl i ck to
pl ot results usi ng MATLAB
Wmech
Tem
Tem RPM i_dq
%lectromagnetic &or$ue on the Fotor d("is
n = weber(vueltas
>a figura #.11 muestra las relaciones de causalidad entre i' (' B' G, y H.
%l flu;o enla5ado por el devanado q del rotor es
rq r rq m sq
L i L i = +
%l devanado q tiene una inductancia constante
m
L . 8or tanto, la fuer5a magnetomotri5
$ue genera este flu;o enla5ado es
' #
sq
s
i sq
)
F i
p
=
%l campo magnetico ( (aplicando
*
(dl ni =

r r
)
' # 1
sq
s
i sq
+
)
( i
l p
=
>a densidad de campo en el entrehierro debida a
sq
i
es
@
' #
sq
s
i sq
+
)
B i
l p

=
*el mismo modo la densidad de campo en el entrehierro debida a
rq
i
es
@
' #
rq
s r
i rq
+ m
) L
B i
l p L

=
8or lo tanto:
@
' #
s r
rq sq rq
+ m
) L
B i i
l p L

= +


nalisis dinamico en terminos de los devanados d$
&he concept of vector control has opened up a new possibility that induction motors can
be controlled to achieve dynamic performance as good as that of *+ or brushless *+
motors. !n order to understand and analy5e vector control, the dynamic model of the
induction motor is necessary. !t has been found that the dynamic model e$uations
developed on a rotating reference frame is easier to describes the characteristics of
induction motors.
!t is the ob;ective of the article to derive and e"plain induction motor model in relatively
simple terms by using the concept of space vectors and d($ variables. !t will be shown
that when we choose a synchronous reference frame in which rotor flu" lies on the d(
a"is, dynamic e$uations of the induction motor is simplified and analogous to a *+
motor.
representacion en los devanados d$
relaciones matematicas de los devanados d$
tor$ue electromagnetico
8F!)+!8>%1 ,F V%+&,F +,)&F,>
1o far, we have not paid attention to the alignment of the rotating reference frame with
respect to the physical coordinate. )oting in %$. '.#D that tor$ue is directly proportional
to Iqs if Hqr 6 @, one can choose the rotating d(a"is to be the angle of the rotor flu"
lin/age. !n fact, this choice offers a lot of advantages of simplifying control and analysis
of the motor. ,ther choices fre$uently used in direct vector control are stator flu"
lin/age frame (d(a"is is aligned to the stator flu" lin/age) and airgap flu" lin/age frame,
which will be discussed briefly at the end of the section.

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