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NOMENCLATURE
,
,
General
Stator or rotor flux.
Magnetizing, rotor, stator inductance.
Rotor, stator resistance.
Stator or rotor current.
Stator or rotor voltage.
Stator leakage coefficient.
Total leakage coefficient.
Electrical torque.
Time constant.
Number of poles.
Induction machine rotational speed.
Electrical frequency.
Slip frequency.
Rotor position angle.
Slip angle.
Electrical angle.
Magnetizing current.
Superscripts
Estimated value.
Demanded value.
Manuscript received February 2, 2004; revised June 1, 2004. This work was
supported in part by Fondecyt under Grant 1010942, in part by The British
Council, and in part by The University of Magallanes. Paper no. TEC-000192004.
R. Crdenas, R. Pea, and J. Proboste are with the Electrical Engineering Department, University of Magallanes, Punta Arenas, Chile (e-mail:
rcd@ieee.org).
G. Asher and J. Clare are with the School of Electrical and Electronic
Engineering, University of Nottingham, Nottingham NG7 2RD, U.K. (e-mail:
Greg.Asher@nottingham.ac.uk).
Digital Object Identifier 10.1109/TEC.2005.847965
,
0
Subscripts
Stator fixed coordinates.
Synchronous rotating coordinates.
Rotor or stator quantities.
Quiescent point.
I. INTRODUCTION
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is supplied
where the equivalent stator magnetizing current
axis of the reference
entirely from the rotor. Aligning the
frame on the stator flux vector gives
(10)
using the definition for
Eliminating
using (10) yields, with
eliminating
(11)
(12)
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where
. Since the last two terms in (5) are zero for
is seen to be small, and from (11)
constant flux operation,
can be controlled using
. The rotor
it is thus seen that
current
can be controlled according to
A. Small-Signal Model
The small-signal model for the MRAS observer is derived
coordiusing a synchronous rotating frame. The error in
nates is
(13)
which forces the orientation of the reference frame along the
stator flux vector position. The demodulation of the rotor demand voltages uses the slip angle derived from
(14)
where
is estimated from the MRAS observer. In this work,
the stator flux angle is derived from a free-running integral of the
stator frequency demand (50 Hz). This has the advantage that
the orientation is shielded from measurement noise and stator
voltage harmonics, which may be a problem in a standalone
application [13].
Since the proposed sensorless control system is not affected
by the operation of the PWM front-end converter, the control
of this converter is considered outside the scope of this paper.
A discussion about the control of the PWM front-end converter
can be found in [1] and [13].
(18)
The small-signal model for the error is
(19)
For this small-signal system, it is assumed that
. Also
, because the system is oriented along the
stator flux
. Therefore, the small-signal model for the error
is
(20)
Referring (16) to a synchronously rotating frame yields
(21)
that is, the
flux derived from the current model is not a
dc signal unless the estimated speed is equal to the real speed.
in (21) yields
Replacing
(22)
is obtained as
(23)
(15)
will be small under rated
opThe stator voltage drop
eration so that the flux estimate of (15) is relatively insensitive
to . Using a stationary frame, the stator flux is obtained from
the current model as
(16)
is an estimation of the rotational speed. The current
where
is referred to the rotor frame. In the MRAS observer, the flux
obtained from (15) is used as the reference flux. By adjusting
the estimated rotational speed, the error between the reference
flux and the flux estimated from (16) is reduced. The error in
coordinates is defined as
(17)
Equations (15)(17) are used to implement the MRAS speed
observer. The error calculated using (17) is driven to zero by a
proportional-integral (PI) controller. The output of this PI controller is the estimated rotational speed used in (16). The implementation of the MRAS observer is shown in Fig. 2. The voltage
model is used to obtain the stator flux using a bandpass filter
as a modified integrator to block the dc components of the measured voltages and currents. Since and are at a frequency
well above the filter cut-off frequency, there is no deterioration
in integral action.
(24)
is obtained as
(25)
Using (20), (24), and (25), the small-signal model for the
MRAS observer is obtained. The small-signal model is shown
in Fig. 3. A sketch of the root locus, including the PI controller,
is shown in Fig. 4.
With reference to (24) and Fig. 3, it is seen that the quiescent
is used which implies that reactive power is supvalue of
plied from the rotor-side converter, which must be the case for
standalone applications. In many grid-connected applications,
especially in wind generation, reactive power generation via
will be preferred since the rotor-stator turns ratio is significantly
, then altergreater than unity. If this is not the case, and
native measures of MRAS error (e.g., rotor flux) are necessary;
such measures will be considered in a future paper.
From the control loop of Fig. 3 and the root locus of Fig. 4,
it is concluded that the bandwidth attainable with the proposed
MRAS configuration is limited only by noise considerations.
B. Speed Catching Operation of the MRAS Observer
It is desirable for a sensorless standalone DFIG to be able to
catch the rotational speed of an already spinning machine [6].
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(28)
where in (28) is referred to the stationary frame. The error in
the estimation of the rotor angle can be obtained using a
model of (28)
Fig. 3.
(29)
where
. A variation
can be calculated as
(31)
For the proposed sensorless systems, the speed catching procedure considers the DFIG operating with scalar control of the
rotor current magnitude and the stator load disconnected. The
voltage supplied to the machine rotor is demodulated using the
(Fig. 1)
estimated slip frequency which is calculated from
and the speed estimated from the MRAS observer.
During the speed catching procedure, the stator frequency is
since the estimated speed differs from the real
not equal to
speed. Therefore, the absolute error of the stator frequency, with
respect to the reference, can be used as an indicating parameter
coordinates for the
for the MRAS convergence. Using
stator voltage and flux, the electrical frequency can be estimated
as [15]
(26)
and the absolute value of the stator frequency error is given by
(27)
A first-order lowpass filter is used to eliminate the high-frequency noise in
. Once the MRAS observer has estimated the rotational speed correctly, the vector control of the
rotor currents and the control of the magnetizing current
are enabled. In this work, the vector-control system is enabled
Hz.
when the filtered values of
The principle of speed catching described above can be extended to grid-connected systems. In this case, the generated
stator voltage vector under standalone control is adjusted until
it is synchronized with the supply voltage vector. When syn-
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Fig. 10. Estimated rotor angle and estimation error for 600 r/min. Top:
estimated angle. Bottom: position error.
Fig. 8.
Fig. 11. Rotational speeds for load impacts of 1.4 kW. Top: Load
disconnection. Bottom: Load connection.
Fig. 9. Speed tracking using the MRAS observer. Top: speed change from 600
to 1350 r/min. Bottom: speed change from 1350 to 600 r/min.
the tracking performance is excellent. According to the experimental results, the estimated rotor angle has a negligible error
,
are corin steady-state when the machine inductances
rectly estimated.
Fig. 11 shows the performance of the MRAS observer when
the DFIM is rotating at 700 r/min and a load impact of 1.4 kW
(about 60% of nominal load) is connected and disconnected
from the stator. Load connection is shown in the bottom graphic
and load disconnection is shown in the top graphic. The load
impact produces a dip and an overshoot of about 100 r/min.
The tracking of the speed by the MRAS observer is very good
in both cases. Fig. 12 shows the stator voltage corresponding
to the load impacts of Fig. 11 with the vector-control system
using the estimated rotor angle obtained from the MRAS observer (Figs. 1 and 2). The stator voltage is well regulated with
a small dip and overshoot produced by the load impacts. Fig. 13
shows the magnetizing and -axis currents corresponding to the
connection and disconnection of the 1.4-kW resistive load. The
is derived from the estimated
axis
magnetizing current
flux as depicted in Fig. 1.
The regulation of the magnetizing and -axis currents
achieved with the proposed sensorless system is good even for
this relatively large load step.
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Fig. 15. Rotor current and rotational speeds for dynamic operation through
synchronous speed.
TABLE I
EFFECTS OF MACHINE PARAMETERS VARIATION
Fig. 12. Stator quadrature voltage for load impacts of 1.4 kW. Top: Load
disconnection. Bottom: Load connection.
Fig. 13. The i and i currents for load impacts of 1.4 kW. Top: Load
disconnection. Bottom: Load connection.
Fig. 14. Rotor current and estimated speed for synchronous operation.
Fig. 14 shows the rotational speeds and the rotor current for
steady-state operation at the synchronous velocity with 60%
of the nominal load applied to the stator. The rotor current is
a dc signal with some noise produced by the PWM switching.
Unlike previous work [3], the estimation of the rotor speed is
very good at synchronous operation because in the proposed
sensorless control system, no integration of the rotor voltage
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[11] C. Schauder, Adaptive speed identification for vector control of induction motors without rotational transducers, IEEE Trans. Ind. Appl., vol.
28, no. 5, pp. 10541061, Oct. 1992.
[12] R. Blasco-Gimenez, G. M. Asher, and M. Sumner, Dynamic performance limitations for MRAS based sensorless induction motor drives,
part 1: stability analysis for the closed loop drive, Proc Inst. Elect. Eng.
B, pp. 113122, Mar. 1996.
[13] R. Pea, R. Crdenas, G. Asher, and J. Clare, Vector controlled induction machine for stand-alone wind energy applications, in Proc. IEEE
Industry Application Annu. Meeting, Rome, Italy, Oct. 2000.
[14] R. Crdenas, R. Pea, G. Asher, and J. Clare, Emulation of wind turbines and flywheels for experimental purposes, in Proc. Eur. Power
Electron. Conf., Graz, Austria, Aug. 2001.
[15] X. Xu and D. Novotony, Implementation of direct stator flux orientation
control on a versatile DSP system, Proc. IEEE Trans. Ind. Appl., vol.
27, no. 4, pp. 694700, Jul./Aug. 1991.
[16] R. Pena, J. Clare, and G. Asher, Doubly-fed induction generators using
back-to-back PWM converters and its applications to variable-speed
wind-energy generation, Proc. Inst. Elect. Eng., B, vol. 153, no. 3, pp.
231241, May 1996.
APPENDIX
Parameters of the DFIM
Induction machine: stator 220 V delta, rotor 250 V star,
,
,
2.5 kW, six poles, 960 r/min,
,
,
. External
inductances of 30 mH have been added to the rotor.
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Greg Asher (M98) received the Electrical and Electronic Engineering degree and the Ph.D. degree in
Bond Graph structures and General Dynamic Systems from Bath University, Bath, U.K., in 1976 and
1979, respectively.
He was appointed Lecturer in control with the
School of Electrical and Electronic Engineering,
University of Nottingham, Nottingham, U.K., in
1984, where he developed an interest in motor drive
systems, particularly the control of ac machines. He
was appointed Professor of electrical drives in 2000
and is currently Head of the School of Electrical and Electronic Engineering at
the University of Nottingham. He has published many research papers, received
more than $5M in research contracts, and has supervised 29 Ph.D. students.
Currently, he is Chair of the Power Electronics Technical Committee for the
Industrial Electronics Society. He was a member of the Executive Committee
of European Power Electronics (EPE) Association until 2003. He is a member
of the Institution of Electrical Engineers and is an Associate Editor of the IEEE
Industrial Electronics Society.