FCS-Model Predictive Control of Induction Motors

feed by MultilLevel Cascaded H-Bridge Inverter

Ha Thanh Vo Nam Thanh Hoang Phuong Hoang Vu
University of transport and Ha Noi university of science and
communications technology Ha Noi university of science and
Ha Noi, Viet Nam Ha Noi. Viet Nam technology
vothanhha.ktd@utc.edu.vn thanhnambka@gmail.com Ha Noi, Viet Nam
phuong.vuhoang@hust.edu.vn
Minh Trong Tran Dich Quang Nguyen
Ha Noi university of science and Ha Noi university of science and
technology technology
Ha Noi, Viet Nam Ha Noi, Viet Nam
minh.trantrong@hust.edu.vn dich.nguyenquang@hust.edu.vn

Abstract— This paper presents a finite control set – model
predictive control (FCS-MPC) of induction motor fed by a
multilevel cascaded H-bridge inverter. The control scheme has
been based on discretized model of the IM motor and also on
the discrete nature of power electronic converter. In each
predict time period the optimization procedure estimates cost
function under a finite control set which is among the most
effective switching voltage vectors of the multilevel converter.
To ease the future experimental prototype building, this work
has purposely developed a MPC algorithm for 2 step
prediction time and the IM fed by a 3-levels cascaded H-bridge
inverter. The simulation results show all good attractive
performance and potential implementation.
Keywords— model prediction control (MPC), three level-
inverter, Cascaded H-bridge, induction motor, FCS-MPC
I. INTRODUCTION (HEADING 1)
Nowadays, Field-Oriented-Control (FOC) and Direct
Torque Control (DTC) are the most popular control
strategies of the induction motor (IM). FOC is a technique
which provides a method of decoupling the air-gap flux and
the other producing the electromagnetic torque. Therefore, it
provides independent control of torque and flux, similar to a
separately excited DC machine. DTC is a control method
without a coordinate transformation [4], [5]. DTC offers an
excellent torque response using a less parameter sensitive
model than FOC. For the last decade as an alternative
control strategy come out is the model predictive control
(MPC).
The basic idea of MPC is to pre-calculate the optimum
values for the actuating variables based on a mathematical
model of the system, the history of past control actions and
an optimization of a cost function over a receding prediction
horizon [6]. MPC has many advantages: the basic concept is
easy to understand, the algorithm is simple to implement, it
can handle multi-variable systems and constraints can be
included. The main disadvantage of MPC is the big online
calculation effort, especially with long horizons [7].
Fortunately, the modern digital signal processing (DSP) and
the Field Programmable Gate Arrays (FPGAs) have made it
possible to use MPC in fast dynamic processes such as
power electronics and control of electrical drives [8], [9],
[10] and [11]. Therefore, different applications in voltage
source inverter with predictive control has been successfully
investigated in recent few years, such as a predictive current
control fed by voltage source inverter [12]; predictive torque
and flux control of IM fed by indirect matrix converter
(IMC) with unity power factor control at the input side [13];
multilevel inverter fed induction motor predictive control
[14]; predictive current control of a three-phase four-leg
inverter [15]; torque ripple reduction of IM with predictive
direct torque control method [16], and a weighting factor
optimization method in the predictive control algorithm for
reduction of torque ripple [17], [18].
Especially, the studies on multilevel cascaded H-bridge
inverters for induction motor are of great interest, because
multilevel inverter could increase number of voltage levels,
higher voltage can be generated using the devices of lower
rating, lower switching frequency while producing better
voltage waveform and reduced total harmonic distortion
(THD). The last characteristics are of vital importance for
the operations in high voltage, high power range. In this
work a FCS-MPC technique has been proposed to control
induction motor flux and torque accurately. The control
procedure is to minimize the cost functions for all possible
switching states and to select the optimal state vector for the
next sampling period.
This paper is organized in the following manner: the second
section describes the modeling of the induction motor, three-
level cascaded H- bridge inverter; the third the model
predictive control of induction motor with delay time
compensations, consideration of long prediction horizons for
determination of the predicted variables in the second next
(k+2) sampling time instant, an overall quality function of
the MPC method, and a comprehensive predictive control
scheme. In the fourth section, the simulation results are
discussed to prove the feasibility of the proposed method.
The last section is concluded with a comprehensive
conclusion.
II. SYTEM DESCRIPTION
A. Modeling of induction motor
The induction motor (IM) can be modeled with the
following. The  and  axes stator voltages of IM are
derived as the sum of the resistive voltage drop and the
derivative of the stator flux linkages in the stationary
reference frame as.
us  Rs is  Ls s ; 0  Rr ir  Lr r  jz p r
(1)
 s  Ls is  Lm ir ; r  Lr ir  Lm is
Where is : stator current; ir : rotor current; Rs : stator
resistance; Rr : rotor resistance;  : rotor angular

36
frequency; z p : number of pole pair; Ls , Lr : self –  0 sA  0

inductances; Lm : mutual inductance vac   Vdc sA  1 (3)
 V s A  1
The developed electrical torque in the IM can be represented  dc
by stator current and stator flux as the following equation:
3 TABLE I. OPERATING STATUS OF THE SWITCH AND POLE VOLTAGE
Te  z p ( s xis ) (2)
2 State switch State level
B. Multi-level voltage source inverter S1 S2 S3 S4 Vac State level (SA)
1 1 0 1 0 0 0
The cascaded H-Bridge (CHB) multilevel inverter is
2 1 0 0 1 VDC 1
frequently studied for command improvement involving
3 0 1 1 0 -VDC -1
synchronization strategy and output voltage power levels
4 0 1 0 1 0 0
enhancement. It has a modular structure that produces a stair
wave voltage output from a multitude of DC sources.
(0,1,-1)
The number of voltage levels in a CHB inverter can be (-1,1,-1)
V11 V10
(1,1,-1)
V9
found from:
m=(2H+1) (3) 4
(-1,0,-1) (1,1,0)
Where: H is the number of H-bridge cell per phase leg. (-1,1,0) (0,-1,0) (0,0,-1)
(1,0,-1)
V12 V8
The voltage level m is always an odd number for the CHB V3 V2
3
inverter while in other multilevel topologies such as diode- (-1,1,1) 1 (0,-1,-1)2 (1,-1,-1)
(0,1,1)
clamped inverter, it can be either an even or odd number. V13 (-1,0,0) (1,0,0) V7
V4 (0,0,0) 1 V1 2
The total number of active switches (IGBT) used in the V0
CHB inverter can be calculated by (-1,-1,0) (1,0,-1)
(1,-1,0)
Nsw= 6(m-1) (4). (-1,0,1)
V14
(0,0,1) (0,1,0)
V6
V18
V5
In the article we present at a three level H-bridge multilevel
with three separated DC sources with unequal voltage
(0,-1,1)
levels. The inverter is capable of creating three levels of (-1,-1,1)
V16
(1,-1,1)
V15 V17
output voltage (Fig.1), to apply the proposed method.
Fig. 2. Vector diagram and sectors of the three-level inverter
+

S1 S3 ia Fig. 2 shows the vector diagram and sectors of three-level

Vdc1 vac inverter. Generally, the voltage vector of the three-level can
C
A ZA be largely divided into 6 sectors and each sector can be
divided into 6 segments. In the three-level, when expressing
- S2 S4
the reference voltage vector, the sector and segment where
+
the reference voltage vector is located is designated, and, by
S1 S3 ib ZB
calculating the effective time of the three active vectors that
B
Z are most closely located to the reference voltage vector, the
vac
Vdc2
C reference voltage vector is generated through the switching
method. Note that there are 6 pairs of nonzero identical
- S2 S4
voltage vectors which can be generated using two different
C ZC switch states and the zero vector can be made using 3
+ different switch states. Therefore,19 different voltage vectors
S1 S3 ic
vZN can be generated by the use of the 3-level inverter. The
vac
effects of voltage vectors on the balance of capacitor
Vdc3
C
N voltages are illustrated.

- S2 S4
III. PREDITIVE CURRENT CONTROL
Fig. 1. Simplified circuit diagram of three-level cascaded H-Bridge A. The required signal estimations
inverter
Based on the squired-cage induction machine model
Fig.1 can express three types of switching states, by presented in section II, the relationship among stator flux,
considering all of the three-phase switching states, a total of rotor flux can be expressed as [16]:
27 switching states can be combined. The operating status of dψ r
the switch and the pole voltage in the three-level inverter ψ r  Tr  Lm i s
can be represented by the switching states shown in Table I. dt
(5)
Table I in the symbol is “1” is ‘’ON’ switching state and “0”  ψ r  Lm i s 
is ‘’OFF’ switching state. State level as the following ψ s  Lm    Ls i s
equation (3):  Lr 
Where Tr  Lr / Rr
To discretize (5), the Euler backward approximation [18]:

37
dx x ( k )  x ( k  1) Known Speed, Ref. Current
 (6)
dt Ts Rotor flux

Lr Lm
Ψr (k )  .Ψ r ( k  1)  i s (k ) (7)
Lr  Ts .Rr r
1
Ts For, i = 1:19

where Ts :sampling time

Substituting (7) into (5), the discrete equation for the stator
flux can be obtained: Prediction of Current and Rotor flux at (k+2)th
Ψ s (k )  kr Ψr (k )   Ls i s (k ) (8) Sampling time

Where: kr  Lm / Lr ;   1  ( Lm / Ls Lr )
2

B. Discrete-time model predictive current

Cost function Calculation
From the induction machine model presented in section II,
the current stator can be expressed as:
1 dis 1 No
is   ( L k r(  j ) r )  u s ) (9)
R dt Tr i > 19

To discretize (9), the Euler backward, then, the discrete Yes

equation for the current can be obtained as follows:
 Ts  Selection of Optimum Switching State
i s ( k  1)   1   i s (k )
  
(10) Fig. 3. Predictive control algorithm
Ts 1  1  
  k r   j ( k )  .Ψ r ( k )  v s ( k ) 
  R    r   In Fig.4. Firstly, the rotor speed and stator currents are
measured. Then the rotor flux vector is estimated. Its angle,
Predictive stator current and torque in the next (k+2)th sampling
together with the torque and flux producing currents
time instant become as follows: [16] components id and
*
iq* is used for stator current calculation
Ts in stationary frame. After that, current predictions with
i ( k  2)  (1  )i ( k  1)
 respect to all available voltage vectors will be made. These
(11) predictions are substituted into the cost function, and the
Ts 1 kr prediction which minimizes the cost function is treated as
 [ ((  k r jm ) r ( k  1)  u s ( k ))) the optimal and its corresponding voltage vector used as the
   Ts r r
applied vector for the electric drives in the next control
cycle.
The predictive control scheme and algorithm for induction The quality function in the predictive control of IM with
motor control are presented in Fig.3 and Fig.4, respectively. delay compensation is presented as below [17]
2 2
J  i s (k )  i s (k  2)  i s (k )  i s (k  1)
* *
(12)
2 2

   
2 2 2
Where : a  a  a1  a1  ...  a p  a p
* * *

*
is ( k ) : reference current predictive variables at k time;
*
is ( k  2) : reference current predictive variables at k+ 2

38
 Vdc3 Vdc2 Vdc1

+
-

-
C C C
S2 S1 S2 S1 S2 S1

S4 S3 S4 S3 S4 S3
Vac Vac Vac
N
ic ib ia
A
B
C IM
Sa ; Sb ; Sc
* *
i
q IE
Speed dq
controller i*s (k ) Cost function
optimization

id*
is (k 2)
Current
prediction for is
(k+2)th sampling
time
ψr
isα
Flux estimation
isβ

Fig. 4. Block diagram of the induction based on MPC using three-level cascaded H-Bridge inverter

At t = 0.5s, connection of nominal load (full load).

IV. SIMULATION RESULTS At t = 1 s, reversing process down to -150 rad/s
The Figs. 5 and 6 represent the results of IM control applied
TABLE II. DESIGN SPECIFICATION OF INDUCTION MOTOR with model predictive control (MPC) method at high speed
Rated power 2.2kW and low speed regions, respectively. Simulation results
Pdm
show that both the flux forming and torque forming currents
Rated Torque M dm 7.3Nm accurately follow the set point trajectories (coming from the
Rated phase current I dm 4.7A magnetic flux controller and the speed controller in the outer
Rated phase voltage 400V loop) in all working modes (Fig 5 and Fig 6).
U dm
Rated frequency f dm 50Hz
Number of pole pairs p 1
Stator resistance Rs 1.99
Rotor resistance Rr 1.84
Mutual inductance Lm 0.37
Rated speed ndm 2880 rpm
Torque of inertia J Kg.m2

Some of the typical working modes of the IMSR are

*
investigated through the following simulation scenario: Fig. 5. Current response isd isd
At t = 0s, the magnetization process.
At t = 0.5s, acceleration to the nominal value 150 rad/s.

39
 10
10

i*sq: reference current 5

5 isq: measured current
(A)

(A)
0 0

ia
-5 -5
ib
ic

-10 -10
0 0.5 1 1.5 2 2.5 3
0 0.5 1 1.5 2 2.5 3 Time [s]
Time [s]
Fig. 9. Three phase stator current response

Fig. 6. Current response

*
isq isq By subdividing the voltage vectors of the selected area, the
function is calculated for each voltage vector, and the
minimum value is selected in order to make the final
When the reference speeds have been changed to negative
decision of the reference voltage vector. Finally, the selected
direction, the measured speeds are started to follow the
reference voltage vector is used for the control of the three-
reference speeds at exact time of 0.5s and 1s at high and low
level switch through FCS-MPC method (Fig.10).
speed, respectively, with reverse high torque between +10
and -10.0 Nm at 150 rad and -150 rad/s in both the analysis. 1000
The torque can be generated quickly and the speed in a short
Van: voltage
time brought exactly to the set point (0.18s for the run-up
500
and 0.2s for reversing) Fig 7 and Fig 8.
(V)
200
0
w*: reference speed
100 w: measured speed -500
(rad/s)

0
-1000
-100 0 0.5 1 1.5 2 2.5 3

Time [s]
-200
0 0.5 1 1.5 2 2.5 3
Fig. 10. Van phase voltage response
Time [s]

The harmonic spectrum of stator current at 150 rad/s with

Fig. 7. Speed response w*- w load is shown Fig.11. The total harmonic distortion (THD)
values measured after the development of the system is
20 tabulated to analyze the efficiency or result obtained. The
10 N/m load
Te:measured torque THD is mainly concentrated on the stator phase output
10 Te*: reference torque current. The harmonics present in the three phases are so
(N/M)

0
found form the simulation done. The result obtained proves
that the distortion in the system is less. The current THD of
-10 the MPC is only 1.25%.

-20
0 0.5 1 1.5 2 2.5 3
Time[s]

Fig. 8. Toquer response Te*- Te

Fig.9 observes the three phase stator currents at steady state

with rated speed and torque. The stator current waveforms
are sine. It proves that at the rated condition, the controlled
AC motor with MPC method operates smoothly with a set
of balance three phase currents. And the stator flux
magnitude is kept at a constant.

Fig. 11. FFT of A phase stator current

40
 V. CONCLUSION
In this paper, FCS-MPC controller is proposed and
applied in an induction machine control system with high
power and voltage fed by multilevel-cascaded H-bridge
inverter. The proposed delay time compensated model
predictive control method utilizes the discrete with the
second next (k+2)th predictive variables are predicted. The
delay time has no effect on control performance when delay
time compensation has been taken in consideration in the
predictive control algorithm which results in well tracking of
the reference variables at high speed, even at low speed
regions of the induction motor. It is performance of electric
drive will be improved.
[14] J. Beerten, J. Verveckken, and J. Driesen, "Predictive direct torque
control for flux and torque ripple reduction," IEEE Transactions on
Industrial Electronics, vol. 57, pp. 404-412, 2010.
[15] M. Uddin, S. Mekhilef, M. Mubin, M. Rivera, and J.
Rodriguez,"Model Predictive Torque Ripple Reduction with
Weighting Factor Optimization Fed by an Indirect Matrix Converter,"
Electric Power Components and Systems, vol. 42, pp. 1-11, 2014.
[16] Muslem Uddin, Saad Mekhilef, Mutsuo Nakaoka, Marco Rivera,
“Model Predictive Control of Induction Motor with Delay Time,
Transactions on industrial infomatics, Vol.11, No.1, february 2015.
[17] Ricardo P. Aguilera, Daniel E. Quevedo, Predictive Control of Power
Converters: Designs With Guaranteed Performance Transactions on
industrial infomatics, Vol.11, No.1, february 2015.

ACKNOWLEDGMENT

The authors are thankful to AUN/SEED-Net for financial

support
This paper is granted by the ĐTĐLCN.44/16 project.

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