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678 IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS, VOL. IA-22, NO.

4, JULY/AUGUST 1986

A New Synchronous Current Regulator and an


Analysis of Current-Regulated PWM
Inverters
TIMOTHY M. ROWAN AND RUSSEL J. KERKMAN, MEMBER, IEEE

Abstract-Detailed models are presented for the stationary and popular as the others. What they do recognize in their control,
synchronous sine-triangle current regulators. Analytical and test results though, is the less than ideal nature of the CRPWM, and they
are compared for purposes of model verification and regulator evalua- choose to abandon it in favor of voltage control schemes.
tion. The results demonstrate the limitations of the two most often used
current regulators and the robustness of the synchronous current Considering the effort expended on rotor parameter identifi-
regulator. The stationary sine-triangle and hysteretic current regulators cation and model following controllers, the scarcity of
are shown to have steady-state characteristics that depend on slip, technical literature on the modeling of current regulators is
operating frequency, and motor impedance. In contrast the synchronous surprising [5], [14]-[16]. However, because of trade-offs in
regulator, because it lacks these dependencies, exhibits ideal steady-state system design, current regulators are less than ideal and
current regulator characteristics without sacrificing bandwidth. More-
over, the complexities traditionally associated with the synchronous
accurate modeling is essential for a fundamental understanding
regulator are overcome with a simple equivalent implementation. of the effects on ac drive characteristics.
Two main types of CRPWM inverters exist. Of these two,
the hysteresis regulator is the most difficult to model due to its
I. INTRODUCTION
highly nonlinear nature [17]. The second type, the sine-
W HEN DESIGNING the control strategy for a high- triangle comparison regulator, employs a natural sampling
performance ac drive, two major areas of concern arise. PWM algorithm with proportional-integral (PI) compensation
First, machine parameters must be known or obtainable in and is essentially a linear controller [16]. Each has characteris-
order to achieve good transient performance through an tics that result in a less than ideal current controller.
indirect field-oriented controller. As pointed out in numerous Schauder has demonstrated that the classical sine-triangle
technical articles, detuning of this velocity or torque regulator comparison regulator is only one of an infinite number of
results in a degradation in the drive's transient performance different types of sine-triangle regulators [19]. This classical
and an inability to achieve the desired steady state [1]-[4]. regulator performs its regulation on quantities at the operating
This detuning of the velocity loop could be the result of frequency, i.e., the stationary reference frame and thus will be
variations in the machine rotor time constants or in the called the stationary regulator. Schauder showed that it is
extreme case a breakdown in the machine model itself. A possible to perform the current regulation in an arbitrarily
review of the literature shows the predominant importance rotating reference frame, which will yield an unlimited
placed on parameter identification and model following number of regulators with different characteristics. He then
techniques in order to eliminate the detuning problem [5]- proposed that the regulation be performed in the rotor
[1 1]. reference frame because it regulated slip frequency quantities,
Implicit in the majority of the newer field orientation resulting in improved steady-state current regulation. Without
schemes is the assumption of ideally impressed stator currents, a detailed analysis of the regulators, they would be thought of
the second major area of concern. This method of stator as merely different implementations of the same regulator.
current control is realized through the use of high-gain PWM Except for Schauder, previous analyses of sine-triangle
current amplifiers, often referred to as current-regulated comparison CRPWM inverters all have assumed that for
PWM inverters (CRPWM). Some field orientation schemes do transfer function purposes it is acceptable to postulate that the
not make this assumption [12], [13] and implicitly include the stator transients are negligible [2]. In addition, most contribu-
effects of the stator circuit impedance in their field-oriented tors have attributed the loss of current coincidence to either a
control strategy. These schemes require accurate knowledge loss in gain [5] or bandwidth [13]. However, it is the belief of
of the entire classical machine model and thus are not as the authors that all three contentions are based on an overly
simplified model and analysis of sine-triangle comparison
current regulators.
Paper IPCSD 85-57, approved by the Industrial Drives Committee of the
IEEE Industry Applications Society for presentation at the 1985 Industry Nagase et al. recognized the importance of accurate rotor
Applications Society Annual Meeting, Toronto, ON, Canada, October 6-11. parameter knowledge and current coincidence in an indirect
Manuscript released for publication December 21, 1985. field oriented controller [5]. They observed the loss of current
The authors are with the Allen-Bradley Company, 1201 South Second
Street, Milwaukee, WI 53204. coincidence with increasing operating frequency that is char-
IEEE Log Number 8608156. acteristic of the stationary sine-triangle comparison regulator.

0093-9994/86/0700-0678$01.00 © 1986 IEEE


ROWAN AND KERKMAN: SYNCHRONOUS CURRENT REGULATOR 679

The authors offer as one solution to this problem, the use of a where T(G) is given by (A4) in the Appendix. The voltages and
synchronous regulator wherein the currents regulated are dc current at this point are ac. A convenient form of these
[19]. However, they rejected it because of its complexity and equations can be obtained by transforming to the synchronous
chose to vary the gain with operating frequency, believing the reference frame. By so doing, the regulator equations become
problem rests with a loss in gain. compatible with the traditional models of ac machines [22],
Other approaches to solving the problems of the stationary [23]. After defining an auxiliary state and performing the
regulator include the incorporation of a signal proportional to transformations, the equations for the synchronous equivalent
the back EMF and the addition of phase lead compensation of the stationary regulator are given by (see the Appendix for
either in the command signals or in the applied voltages. All of derivation)
these require significant knowledge of the ac machine [20],
[21]. Schauder [19], as mentioned earlier, is the only VqdXqd+kT(qd qd) (3)
contributor to recognize the inadequacies of the stationary
regulator and proposes a rotating frame controller wherein the pXdqd=k(ie*
qd i)
q)-W eXX d (4)
currents being regulated vary at slip frequency. This controller
has the disadvantage of considerable circuit complexity. In (3) and (4) the superscript e indicates synchronous
This paper will model and analyze the sine-triangle compar- reference frame qualities. The auxiliary states Xqd along with
ison CRPWM inverters. It will show that the degradation of the frequency dependent component wex are defined in the
steady-state current coincidence is an inherent characteristic of Appendix. Ce is the synchronous frequency in radians per sec.
the stationary regulator and is not directly attributable to a gain Equations (3) and (4) now represent the stationary regulator
reduction or back EMF. It will also show that this regulator's in the reference frame where the voltages, currents and
transient performance, along with its steady-state perform- auxiliary states are dc in the steady state. This convenience is
ance, is a function of load, motor impedance, and operating very useful because some very simple analyses can be
frequency. More importantly, a synchronous regulator will be performed that show the consequences of using a stationary
proposed that regulates ac currents without the phase lead regulator.
compensation, back EMF signal, or the adjustable gain of the Steady-State Analysis of an R-L Load: If a three-phase
stationary regulator [5], [12]. This regulator will be shown to R-L load is selected and the characteristic equations are
have zero steady-state error, and have a transient performance transformed to the synchronous reference frame, then the
that is more independent of load, motor impedance, and system equations for the load become
operating frequency than the stationary regulator. It will also
not add significantly to the overall circuit complexity.
Vqd = (R +pL)id + (WeXiqd (5)
II. TRANSFORMATION OF THE PI CURRENT REGULATORS
Combining (3)-(5) results in a fourth-order system. The
steady-state relationship between the output and command
Accurate mathematical models are essential for an under- currents is given by
standing of the quantitative differences between regulators. In
this section the stationary and the synchronous regulators are ie*
*e = A'JL&qd (6)
Iqd I
presented in detail. Each regulator, when transformed to a
reference frame different from that in which it is traditionally where the self-coupling terms are related as a22 = a,1 and the
cross coupling terms by a21 = - a12 and
located, yields in the case of the stationary regulator a model
useful for analysis purposes and in the case of the synchronous kr(R + kr) + k/lce(k/le -coeL)
regulator a hardware equivalent that is easily implemented. 11 (R + kT)2 + (k/lweW-eL)2
(7)
Fig. I is a generic representation of the systems to be
analyzed. In this figure the load can be any three-phase static kT(k/We - OeL) - k/we(R + kr)
(R-L) or dynamic (induction motor, PM motor) load. The a12- -(R +
kr)2 + (k/coe -WeL)2 (8)
type of regulator, stationary or synchronous, is totally
determined by the form of the transformation matrices T1(O) An ideal current regulator would have the identity as the A
and Tv(O). The regulator equations, stationary or synchro- matrix. However, in the case of the stationary regulator the
nous, are given by diagonal terms (7) are not unity, and the off-diagonal terms (8)
Vqd-(kT + k/p)(i iqd) (1) are nonzero. Because the off-diagonal terms are not zero, the
steady state exhibits cross coupling. That is, if only the d axis
where the vectors Vqd and iqd are d and q axis voltages and were excited, q-axis current in addition to d-axis current
currents, respectively, k is the integral gain, kr the propor- would exist in the steady state. Furthermore, the steady-state
tional gain, and p the differential operator d/dt. gains depend on the integral and proportional gains of the PI
A. The Stationary Regulator in the Synchronous compensator, the load impedance and the operating frequency.
Reference Frame The fact that this error exists in a current regulated R-L load
suggests that the error observed in ac drives at higher
For the stationary regulator, Tv(G) is the identity matrix and frequencies previously attributed to so-called back EMF or
T1(O) is given by "running up against the bus" is neither, but rather a
T1(G) = T(O)- 1 (2) consequence of the stationary regulator itself. Therefore,
680 IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS, VOL. IA-22, NO. 4, JULY/AUGUST 1986

Fig. 1. System configuration.

whether the load is static or dynamic is immaterial from the will contribute to the control voltages after its characteristic
standpoint of phase shift and magnitude error present in the delay. In order for the stationary regulator to provide a
steady-state currents. balanced set of ac voltages a sinusoidally varying error must
always be present. Consequently, the stationary regulator is
B. The Synchronous Regulator and Its Transformation not capable of producing zero steady-state error.
to the Stationary Reference Frame Now consider the function of the new synchronous regula-
In Fig. 1, the synchronous regulator is obtained by setting tor as represented by the inclusion of the components indicated
the transformation matrix T1(G) equal to the identity and by dashed lines. The major loop composed of the two
integrators and multipliers can be thought of as a variable
Tv(O) = T(O) - 1. (9) frequency oscillator. In the steady state, the current error
signals can now each be equal to zero and the voltages vs and
The synchronous regulator, since it operates on dc quantities, vare continuously provided by the orthogonal set generated
has the characteristics of zero steady-state error and zero cross by the oscillator. If for any reason an error develops in either
coupling (i.e., al 1 1 and a12 = 0). Use of this regulator has
=

current, the input to the effected integrators will at that instant


been limited due to its circuit complexity [1], [8] and possibly be equal to the sum of the cross coupling term from the other
a lack of understanding of its features. By transforming the
integrator as before plus the proportional gain times the error.
synchronous regulator equations to the stationary reference The applied voltages will then force the errors to zero through
frame, a set of equations results that are easily implemented a coordinated control between axes to insure balanced control.
with a minimum of circuitry:
2) Test Results of an R-L Load: In order to verify the
proposed models of the different current regulators and the
Vd-Xqd+k'(iqd qd) (10)
conclusions regarding their characteristics, tests were per-
formed on a three-phase R-L load using both the stationary
pXqd = qk(ivd iqd) + WeXXqd (11)
and the synchronous regulator. These tests involved both the
steady state and transient operation of the regulators. Only the
steady-state results are presented.
In (10) and (11), the superscript s indicates the stationary Fig. 3 shows the steady-state calculations and tests for both
reference frame. Also notice the similarity of the equations for
regulators. Only d-axis current was commanded (ie* = 0).
the synchronous equivalent of the stationary regulator, (3) and Remember that, when considering field-oriented control, it is
(4), with (10) and (11), those for the stationary equivalent of
the synchronous regulator. The only difference in the form of
imperative to have accurate current regulation. In light of this
the equations lies in the sign on the frequency-dependent
requirement, Fig. 3 shows conclusively the superiority of the
sources.
synchronous regulator. Not only does the new synchronous
regulator perfectly control the commanded d-axis current, but
Physical Interpretation of the Operation of the Current it also assures no cross coupling between axes (ie = 0). In
Regulators: From a practical point of view, the stationary
equivalent of the synchronous regulator, like the stationary addition, Fig. 3 confirms the conclusion that the error
regulator, regulates ac currents. Fig. 2, which displays both
previously attributed to back EMF or "running out of bus" is
in fact a characteristic of the stationary regulator.
the stationary and the transformed synchronous regulators,
clearly shows with dashed lines the additional hardware
needed to implement the new regulator. All that is necessary is III. STEADY-STATE PERFORMANCE WITH AN INDUCTION MOTOR
LOAD
to cross couple the product of the auxiliary states and the
operating frequency to the input of the integrators. This The R-L is useful from the viewpoint of understanding the
requires two analog multipliers if the frequency command is in functionality of the different current regulators. Practical
analog form or two multiplying D-A converters if the applications of the current regulators require their implemen-
frequency command is in digital form. tation with ac drives. This section details the analytical results
First consider the operation of the stationary regulator. At of the stationary and synchronous regulator when operating
the instant the command currents is* and is* are altered, the
q d
with an induction motor. First the steady-state relations are
error between the commands and sensed currents is immedi- examined. Next some of the theoretical consequences of the
ately reflected in the control voltages through the proportional steady-state equations are displayed along with experimental
part of the PI control. The integral portion of the PI control data to verify the analytical results. The results presented
ROWAN AND KERKMAN: SYNCHRONOUS CURRENT REGULATOR 681

* -

-s
K
---------
q
qi
eq - - - - - - - -- - - - - - - -

We

Fig. 2. Block diagram of CRPWM systems.

1.3

1.25
Stationary
It
* Statlonary Dato
1.2 o 0 Synchronous Data
D Synchronous
E
/
I 1 . I
D
0
1.1

.05

0. 95

0 20 40 60 80 100 .120 140 160 180 202


FREQUENCY (Hz)

.05

I
0 *_ -_-oo-eo-o . -0-o0 e-o-o o-o-o-e e-o-o -0-oeo---O
E
/
I -. 0
D
E

A
Stotionary
-0. is
o
*Stati onary Data
°Synchronous Dato
Synchronous

e 20 40 60 80 100 120 140 160 180 200

FREQUENCY (Hz)
Fig. 3. R-L load steady-state characteristics.
682 IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS, VOL. IA-22, NO. 4, JULY/AUGUST 1986

1 8
-
Stat lonory
1 6 * AStationory Dota * _
o 0 Synchronous *
.Synchronous Data
I 1 24 V V.....r.s.s \

02
/
1
0 1 --F- #--n--I---G--v-o--F--&o--e-o--e-e--9--Q-
D
88
v

86
0 4

0
Ir I - I
0 20 40 60 80 100 120
f REUlNCY (tiz)
0.4
0.2
0
, - v
I -0 2
0
E
-0 4
I
A \
D
-8.6
-0. 8
-~ Stationary \
I A A5Stotlonoy
o ° Synchronous
Data A
- -- - Synchronous Doata\
.2
v v lIyst.resilA
-1 4
I I II
0 20 40 60 80 100 120
FREOUENCY ( Hz)
Fig. 4. Induction motor no-load steady-state characteristics.

utilize the same compensator gains for both regulators so that assuming a field-oriented relationship between slip and q-axis
valid comparisons can be made. current are displayed in the top portion of the figure. As slip
If the equations for the stationary regulator, (3) and (4), are becomes nonzero the error in the d-axis current shifts from
combined with the equations for the induction motor [19] and purely d-axis error at zero slip to predominately q-axis error
the steady-state relationship derived, then an equation similar at high slip values. The magnetizing flux normalized to the
to (6) results. The elements of the A matrix are functions of field-oriented flux is shown in the bottom portion of the figure.
the motor parameters, slip, and operating frequency. Like the Notice as the operating speed increases the magnetizing flux
R-L case, all = a22and a12 = a21- - changes from an over fluxed condition at no load to an under
If the motor is operated at no load, slip = 0, the equations fluxed condition at high slip. None of the problems demon-
become identical to those for the R-L load. Fig. 4 presents the strated in Fig. 5 exist for the synchronous regulator because it
theoretical and test data over a range of operating frequencies performs ideal steady-state current regulation independent of
at no load for the sine-triangle comparison current regulators slip.
and test data for a hysteretic current regulator. Here only d-
IV. TRANSIENT ANALYSIS OF STATIONARY AND SYNCHRONOUS
axis current was commanded. The top portion of the figure
REGULATORS WITH AN INDUCTION MOTOR LOAD
displays the error in the d-axis current (the a22 term) and the
bottom portion, the cross coupling into the q-axis current (the The transient performance of each of these regulators will
a12 term). The superiority of the synchronous regulator when be analyzed with small signal frequency response techniques.
compared to both the stationary and hysteretic regulators is Bode plots of transfer functions derived from the full order
clear. The synchronous regulator has a self term equal to unity model will be presented along with experimental data in order
and a cross coupling of zero (all = 1 and a12 = 0). These are to verify the model in a no-load condition. Next, some of the
the characteristics of the ideal current regulator. significant characteristics of the regulators and the correspond-
In Fig. 5 the effect of slip on the d-axis current and the ing advantages and disadvantages of each will be examined
magnetizing flux is displayed for the stationary regulator. The with the aid of theoretical Bode plots. The model used for the
self- and cross-coupling (*) effects on the d-axis current stationary regulator analysis is obtained, as before, from
ROWAN AND KERKMAN: SYNCHRONOUS CURRENT REGULATOR 683

/
C r\ // /
r I -
r
- /-
n ,~~7*,
8-
.1.1
I--,
.11 * Cr os.Coup I Ino
I--,
q, d-AI. as 1HZ
I.-
.-I qd-Amis
-q. 30 HZ
---
q,d-Axis 90 HZ
-2 -I
t 1 1 I s wI _I
-6 -4 -2 0 2 4
Si lpthz)

n IS5

t9
!!
2
I I
I
i; 0h
n

la
B.5s

-6 -4 -2 0 2 4
Sli p (he)
Fig. 5. Self-, cross-coupling, and magnetizing flux for stationary regulator.

combining (3) and (4) with the equations for the induction dependent not only on operating frequency and slip frequency,
motor. Similarly, the synchronous regulator model is obtained but on the complete operating point. The Bode plots for the
by combining (10) and (11) with the induction motor equa- transfer functions id/eie* and ie/ie* in Figs. 10 and 11,
tions. The induction motor equations used have been linear- respectively, are for an operating point of ie* = 4.6 A, ie*
ized around an operating point so that the effects of finite 0.0 A, operating fe = 60 Hz, and s = 0.0. The subscript o
inertia can also be investigated. denotes operating point quantities. Again the overall correla-
In order to verify the models of both regulators, experimen- tion is excellent, despite a deterioration in the correlation of
tal and theoretical Bode plots were made with the machine at the cross coupling transfer function due to noise. The unusual
infinite inertia, no load at an operating frequency of 20 Hz. resonant point at about 30 rad (5 Hz) cannot be predicted with
This system is linear due to the infinite inertia and is dependent an infinite inertia model.
only on operating frequency and load. The results for the With the aid of this verified model the characteristics of
stationary regulator are shown in Figs. 6 and 7 while the both regulators will now be examined. In order to demonstrate
results for the synchronous regulator are shown in Figs. 8 and these characteristics it is only necessary to examine the
9. Note that these results include magnitude and phase plots magnitude portion of the id/ie* transfer function. The effect
for an ie/i and an i/ei* transfer function. The correlation
e*
of operating frequency on the transient response of both
of experimental with theoretical results is excellent. Even the regulators will now be examined under the conditions of no
cross coupling transfer function, which has a very low load and infinite inertia. Figs. 12 and 13 show the magnitude
magnitude and is distorted by noise, is acceptable. Despite portion of the je /li* transfer function Bode plot for the
these errors, the model still reflects the major trends of the stationary and synchronous regulators, respectively, with
data. The resonant point around 2300 rad is caused by the operating frequency as a parameter. The stationary regulator is
integral portion of the compensator and could be increased or very dependent on operating frequency, while the synchronous
decreased with an appropriate compensator design. regulator is independent of operating frequency in the low-
Bode plots for the same transfer functions were then made at frequency portion of the Bode plot. This reflects the results
a finite inertia to verify the linearized model for the stationary obtained in the steady-state analysis. These results can be
regulator. This system, because of its linearized nature, is attributed to the poles and zeros associated with the rotor
0>
00~

10 10

5 0
I I
0 -10
0 F
/
I I
-20
F -5 F
,'

-30
-10
d - 40
B

-10
-5so
_
-20 t- f -60 _
4
0f1
ie0 I1 102 I00 iF N1102 I04
FREQUENCY (Rads) FREQUENCY (Rods ) z
c0
-3
30 00
0
z
0
I u:
-60 z
0
F) F
0
: V 0
/ I -120
I F)
D --30
-180

L -240
(A
D 0
-3z
GF) -90 10
' F -360 c
F
-120
420
t-

-150 -480
0
I00 1 01 102 03 I04 100 101 102 103
FREQUENCY (Rads) r
FREQUENCY (Rads)
c0
c,>
c
Fig. 6. Stationary regulator self-coupling transfer function, 20 Hz, no load. Fig. 7. Stationary regulator cross-coupling transfer function, 20 Hz, no
load. c
0i
-
z
z

to -t
>
I
D -20
/ 00
-s ~~~~~~~~~~~~~~~~Ez
~~~~~~~~~~~~~~~~~~~D0
I
-104
d I 2 d -30 1O
:B0 X -60*

-70~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~1
-20 > - SA

-0 I ZI 01 102 .100 3 4 2 E 3 4
10 1010 10
_-10 10 10 to~~~~~~~~~~~~~~~~~~~
01
FREOUENCY (Rods) FREQUENCY (Rods)

1 3-8

D 0. n l

0 -30- | 50 ,_ ^ B § §
D~
E ~~~~ ~ ~~~~~-420 . Iq

-60
D D -240
_9 G
R R -300
E E
s -120 S -360

-10 -4020012
100 lIe2 t3 104 0 0l10 10
FREQUENCY (Rods) FREQUENCY (Rods)
Fig. 8. Synchronous regulator self-coupling transfer function, 20 Hz, no Fig. 9. Synchronous regulator cross-coupling current transfer function, 20
load. Hz, no load.

cN
00
oo
crN
OC)
crI

5.-
0
10 -5
I I
0 -10
E 5
/ / _s-15
I I
D D -20
F-
-25

-S -30 _
d
B B -35 _
-40
-45
-15 + -50 -
01
1 102 10 4 101 102 103 104 3
100 to0 01
FREQUENCY (Rods) FREOUENCY (Rods)
H
UtT
0 z
30
0
I -45 H
I 0
D 0 F- -90 0
E / z
I rA
I D -135
D -30 E
E
-180 _ * * 0-
0
-60 z
-225
p D C:n
E G -270- iO
-90 H
R R z
E E -315
E
S 0
-360

-405
4 100 101 102 103 P-
10 10 104 c
10 10 103 r
FREQUENCY (Rods) FREQUENCY (Rods) 00
i* = Fig. 11. Stationary regulator cross-coupling transfer function, 60 Hz,id* -
Fig. 10. Stationary regulator self-coupling transfer function, 60 Hz,
0, ie* = 4.6 A. 0, ie* = 4.6 A. cr

Cl
H
ROWAN AND KERKMAN: SYNCHRONOUS CURRENT REGULATOR 687
10

D
E 0
I
El

d -10
B

- 15 _

-20 X 1I

100
0 10I
801 10212 .3 103 I6
4
FREQUENCY(Rads)
Fig. 12. Effects of operating frequency on stationary regulator.

10

5 I
I:
E 0
I
D
E -5

d -10
B

-15

-20

100 10 102 103 1 6I


'4
FREiQUENCY(Rods)
Fig. 13. Effects of operating frequency on synchronous regulator.

circuits that are a function of operating frequency. In the frequency spectrum regulation makes such measurements
stationary regulator these poles and zeros no longer cancel meaningless.
each other as operating frequency is increased. In the The effect of finite inertia and operating point on the
synchronous regulator the poles remain cancelled by zeros at transient response of the regulators will now be investigated.
all operating frequencies. The high-frequency portion of the The stationary regulator transfer functions shown in Fig. 15
Bode plot, which shows the bandwidth, is almost completely are similar to Fig. 12 except that the inertia is now 0.0158
independent of operating frequency in the synchronous regula- kg m2 ie* = 8.74 A and ie* = 0.0 A. The curves for the 5-
tor but less so in the stationary regulator. and 60-Hz operating points are the same as in Fig. 12, but the
The effect of magnetizing inductance on the transient 120-Hz curve shows a resonance at 60 rad (10 Hz). The
response of the regulators at 60 Hz, no load, and infinite synchronous regulators transient response is the same as the
inertia will now be examined. Fig. 14 shows that the high- infinite inertia case as shown in Fig. 13. Fig. 16 is the
frequency portion of the Bode plot is independent of magnetiz- stationary regulator transfer function with inertia of 0.0158
ing inductance for the stationary regulator. Conversely, the kg-m2, ie* = 0.0 A, and ie* = 8.74 A. This is the same
low-frequency portion of the stationary regulator is very transfer function as Fig. 15 except the operating point is
dependent on magnetizing inductance. The synchronous regu- changed. The current command is shifted from the d axis to
lator remains totally independent of magnetizing inductance, the q axis but the same transfer function is being shown.
thus its Bode plot is the same as in Fig. 13. It is interesting to Under these operating conditions each operating frequency
note that while the stationary regulator Bode plots of Figs. 12 shows an unusual resonant peak immediately followed by an
and 14 show a bandwidth of about 500 Hz the poor low- attenuation at approximately 10 Hz. The resonant peak gets
688 IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS, VOL. IA-22, NO. 4, JULY/AUGUST 1986

10

S
I
D
E 0
/
I
D
E -5

d -10
B

-I 5

-20

10 10 10 10 10 10
FRE[UENCY(Rods)
Fig. 14. Effects of magnetizing inductance on stationary regulator, 60 Hz.

10

5 .N It
I
D
E 0
I
D
E -5

d -10
B

-15

-20
100 101 1t02 103 10
FREQUENCY(Rods)
Fig. 15. Effects of finite inertia on stationary regulator, ie* = 8.74 A, ie*
q
= 0, no load.

30

20 II
I I
10 I.
I
I I

I
D
E 0 I
:, I
I I

i iI
-d
8
-10 I
Iiii II- 5 HZ
ii 60 HZ
120 HZ
tI

-30

00 101 10 2 1 03 10
4
FREQUENCY (Rods)
Fig. 16. Effects of finite inertia on stationary regulator, ie* = 0, ie* = 8.74 A.
ROWAN AND KERKMAN: SYNCHRONOUS CURRENT REGULATOR 689

10

S
I
D
E 0

I
D -5
E

d
B

-15

-20 _-

100 10 102 103 10


4
FREQUENCY(Rods)
Fig. 17. Effects of slip on stationary regulator.

increasingly larger as operating frequency is increased. The drive which requires additional compensation in order to
high-frequency portion of the Bode plot is independent of achieve the desired performance characteristics. In addition,
inertia and operating point. These low-frequency resonances the hysteresis regulator has been shown to have characteristics
do not occur in the infinite inertia case because the lightly similar to those of the stationary regulator. It has the added
damped rotor poles are cancelled with zeros. The effect of the liability that the switching frequency is load dependent.
pole and zero associated with the infinite inertia moves these Finally, a new synchronous regulator has been presented. It
rotor poles and zeros apart from each other yielding these has the characteristics that approach those of an ideal current
unusual resonances. Again the synchronous regulator's re- regulator: steady-state and transient characteristics which are
sponse for these new conditions is the same as the infinite independent of load and operating point, a robustness un-
inertia case shown in Fig. 13. Thus the synchronous regulator matched by the stationary or hysteresis regulators, and a
is independent of inertia and thus operating point. This is capability of current regulation at any practical operating
because the rotor and inertia poles are still cancelled by zeros. frequency. Furthermore, this new synchronous regulator does
The previous analyses of Figs. 12-16 were all performed at not require an excessive number of coordinate transforma-
no load. Bode plots similar to those will now be shown except tions, thus reducing hardware. Also, unlike the other regula-
that the conditions will reflect a machine operating at rated tors, phase lead compensators and adjustable gain blocks are
load. Fig. 17 shows the results for the stationary regulator not necessary.
operating at rated slip frequency (1.6 Hz) and an infinite APPENDIX
inertia. Again, the high-frequency responses are the same as in
the no-load case shown in Fig. 12, but a resonant point occurs STATIONARY REGULATOR
at the slip frequency. The peak of this resonant point increases The auxiliary states, Xqd for the stationary regulator are
with increasing operating frequency. The synchronous regula- defined to be
tor does not show any dependence on load, yielding a response
shown in Fig. 13. xqdk/p( qd iqd) (Al)
In conclusion, the synchronous regulator's steady-state and
transient behavior is virtually independent of operating fre- Equation (1) of the text now becomes
quency, inertia, magnetizing inductance, and load. Thus Fig. Vs*= (I+ rP)Xsqd
13 is sufficient to demonstrate its frequency response for any (A2)
condition at the chosen compensator gains. Conversely, the where I is the 2 x 2 identity matrix.
stationary regulator's steady-state and transient behavior, as If (Al) is transformed from stationary quantities to synchro-
shown in the previous figures, is highly dependent on these nous quantities by realizing that any state fsd in the stationary
conditions. reference frame is related to the state fqd in the synchronous
V. CONCLUSION frame by
In this paper the authors have demonstrated that the fsd = T(O)fed (A3)
stationary regulator has characteristics that are load depen- where T(O) is given by
dent. The steady-state and transient characteristics of the
stationary regulator are such as to make the use of the
stationary regulator in field-oriented controllers result in a
T()T= [ -sin
cos (0)
(0)
sin
cos
(0) 1
(0)J (A4)
IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS, VOL. IA-22, NO. 4, JULY/AUGUST 1986

and that the inverse of (A4) exists, then (Al) becomes istics," in IEEE Ind. Appl. Soc. Annu. Meeting Conf. Rec., 1983,
pp. 547-554.
xqd=k/pT()(iqd*-ied) (A5) l10] R. Gabriel, W. Leonhard, and C. Nordby, "Field oriented control of a
standard ac-motor using microprocessors," in IEEE Ind. App!. Soc.
and by cross multiplying by the operator p and substituting for Annu. Meeting Conf. Rec., 1979, pp. 910-916.
[11] W. Schumacher and W. Leonhard, "Transistor-fed ac-servo drive with
Xsd in terms of T(O) xqd microprocessor control," in Proc. Int. Power Electronics Conf.,
pT(O)xed = kT(O)(ied*-ied (A6) [12] 1983, pp. 1465-1476.
K. Ohnishi, H. Suzuki, and K. Miyachi, "Decoupling control of
which becomes secondary flux and secondary current in induction motor drive with
controlled voltage source and its comparison with Volts/Hertz," in
pXqd kqd*-id)- WeXXqd (A7) IEEE Ind. App!. Soc. Annu. Meeting Conf. Rec., 1982, pp. 678-
685.
after carrying out the implied differentiation and simplifying. [13] R. Gabriel, W. Leonhard, and C. Nordby, "Field oriented control of a
In this equation the matrix wx is defined as standard ac-motor using microprocessors," in IEEE Ind. Appl. Soc.
Annu. Meeting Conf. Rec., 1979, pp. 910-916.
[14] C. D. Schauder, F. H. Choo, and M. T. Roberts, "High performance
C)X [0° e (A8) torque controlled induction motor drive," in IEEE Ind. Appl. Soc.
Annu. Meeting Conf. Rec., 1982, pp. 563-568.
[15] D. M. Brod and D. W. Novotny, "Current control of VSI-PWM
The regulator equation (A2), when transformed to the inverters," in IEEE Ind. Appl. Soc. Annu. Meeting Conf. Rec.,
synchronous reference frame, becomes [16]
1984, pp. 418-425.
A. Schonung and H. Stemmler, "Static frequency changers with
eqd=Xqd +kT(iqd-iQd) (A9) 'subharmonic' control in conjunction with reversible variable-speed
a.c. drives," Brown Boveri Rev., pp. 555-577, Aug.-Sept. 1964.
[17] A. B. Plunkett, "A current controlled PWM transistor inverter drive,"
Equations (A7)-(A9) now describe the stationary regulator in IEEE Ind. Appl. Soc. Annu. Meeting Conf. Rec., 1979, pp. 785-
the synchronous reference frame. 792.
Induction motor data: [18] W. Schumacher and W. Leonhard, "Transistor-fed ac-servo drive with
microprocessor control," in Proc. Int. Power Electronics Conf.,
r, = 0.56 n L1s=LIr=0.0036 H 1983, pp. 1465-1476.
[19] C. D. Schauder and R. Caddy, "Current control of voltage-source
J=0.0158 kg m2 rr=0.22 0
-
inverters for fast four-quadrant drive performance," IEEE Trans. Ind.
Appl., vol. IA-18, 1982, pp. 163-171.
5-hp NEMA design B. [20] S. Meshkat and E. K. Persson, "Optimum current vector control of a
brushless servo amplifier using microprocessors," IEEE Ind. App!.
Compensator gains: Soc. Annu. Meeting Conf. Rec., 1984, pp. 451-457.
[21] H. Ikejima, M. Nomura, H. Sugimoto, and E. Ohno, "Microproces-
K= 20 000 rr=0.00025. sor-based ac motor drive control for elevator," in Proc. IEEE Power
Electronics Specialist Conf., 1983, pp. 64-69.
[22] R. H. Nelson, T. A. Lipo, and P. C. Krause, "Stability analysis of a
ACKNOWLEDGMENT symmetrical induction machine," IEEE Trans. Power App. Syst.,
The authors wish to acknowledge Drs. T. A. Lipo and D. vol. PAS-88, pp. 1710-1717, Nov. 1969.
[23] T. A. Lipo and A. B. Plunkett, "A novel approach to induction motor
W. Novotny for their support and Mr. D. Leggate for his transfer functions," IEEE Trans. Power App. Syst., vol. PAS-93,
technical assistance during this research. pp. 1410-1418, Sept.-Oct. 1974.

REFERENCES Timothy M. Rowan was born in Milwaukee, WI,


in 1958. He received the B.S.E.E. degree with
[1] R. Krishnan and F. C. Doran, "Study of parameter sensitivity in high honors from Marquette University, Milwaukee, in
performance inverter-fed induction motor drive systems," in IEEE 1980 and the M.S.E.E. and Ph.D. degrees from the
Ind. Appl. Soc. Annu. Meeting Conf. Rec., 1984, pp. 510-524. University of Wisconsin, Madison, in 1982 and
[21 K. B. Nordin, D. W. Novotny, and D. S. Zinger, "The influence of 1985, respectively.
motor parameter deviations in feedforward field oriented drive sys- From 1979 to 1980 he participated in the cooper-
tems," in IEEE Ind. Appl. Soc. Annu. Meeting Conf. Rec., 1984, ative education program at RTE Corporation,
pp. 525-531. Waukesha, WI. He has been employed at the Allen-
[3] F. Loser and P. K. Sattler, "Identification and compensation of the Bradley Company, Milwaukee, since 1983, where
rotor temperature of ac drives by an observer," in IEEE Ind. Appl. he is currently a Project Development Engineer.
Soc. Annu. Meeting Conf. Rec., 1984, pp. 532-537. Dr. Rowan is a member of Eta Kappa Nu and Tau Beta Pi.
[4] T. Matsuo and T. A. Lipo, "A rotor parameter identification scheme
for vector controlled induction motor drives," in IEEE Ind. App!. Russel J. Kerkman (M'76) received the B.S.E.E.,
Soc. Annu. Meeting Conf. Rec., 1984, pp. 538-545. M.S.E.E., and Ph.D. in electrical engineering from
[5] H. Nagase, Y. Matsuda, K. Ohnishi, H. Ninomiya, and T. Koike, Purdue University, Lafayette, IN, in 1971, 1973,
"High performance induction motor drive system using a PWM and 1976, respectively.
inverter," in IEEE Ind. Appl. Soc. Annu. Meeting Conf. Rec., From 1976 to 1980 he was an Electrical Engineer
1983, pp. 596-603. in the Power Electronics Laboratory of Corporate
[6] L. J. Garces, "Parameter adaptation for the speed-controlled static ac Research and Development of the General Electric
drive with squirrel-cage induction motor," IEEE Trans. Ind. App!., Company, Schenectady, NY. While at General
vol. IA-16, pp. 173-178, 1980. Electric, he developed analytical techniques for
[7] G. Kaufman, L. Garces, and G. Gallagher, "High-performance servo permanent magnet motors and helped in the design
drives for machine-tool applications using ac motors," in IEEE Ind. and simulation of load commutated converters and
App. Soc. Annu. Meeting Conf. Rec., 1982, pp. 604-609. synchronous machines as applied to pumped storage hydroelectric applica-
[8] R. Gabriel and W. Leonhard, "Microprocessor control of induction tions. He is currently a Senior Project Engineer at the Allen-Bradley
motor," in Proc. IEEE/IAS Int. Semiconductor Power Converter Company. Since joining Allen-Bradley in 1980, he has directed and
Conf., 1982, pp. 385-396. contributed to the modeling, simulation, and control of custom LSI based ac
[9] T. Irisa, S. Takata, R. Ueda, and T. Sonoda, "On reliability of drives, the development of ac current regulators and of test procedures for ac
induction machine for high performance based on parameter character- motor drives.

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