Controller design and FPGA implementation of a speed‐sensorless vector‐controlled induction motor drive based on stability consideration

Abstract

The purpose of this paper is to determine the controller parameter tuning range for a speed sensorless vector‐ controlled induction motor drive from the system stability point of view. The tuning rules for conventional PI controllers are mostly based on experience. Trial‐and‐error procedures are used to tune the values of the controller parameters. The relationship between the tuned controller parameters and the stable operating range of the control system is generally not known. This paper starts from establishing complete dynamic models for a sensorless vector‐controlled induction motor drive. The nonlinear dynamic models are linearized around a chosen operating point. The characteristic equation is then derived, which is used to determine the values of the controller parameters corresponding to the marginal system stability. Based on these critical values, the tuning ranges of the controller parameters are obtained, which assures stable operation of the drive in the entire operating region and provides a reference for controller parameter tuning. The proposed method is further extended to include the effect of parameter sensitivity due to motor parameter variation. An experimental setup based on a DSP‐FPGA system is implemented. The simulation and experiments confirm the validity of the proposed approach.     

Experimental determination of mechanical parameters in sensorless vector-controlled induction motor drive

High-performance industrial drives widely employ induction motors with position sensorless vector control (SLVC). The state-of-the-art SLVC is first reviewed in this paper. An improved design procedure for current and flux controllers is proposed for SLVC drives when the inverter delay is significant. The speed controller design in such a drive is highly sensitive to the mechanical parameters of the induction motor. These mechanical parameters change with the load coupled. This paper proposes a method to experimentally determine the moment of inertia and mechanical time constant of the induction motor drive along with the load driven. The proposed method is based on acceleration and deceleration of the motor under constant torque, which is achieved using a sensorless vector-controlled drive itself. Experimental results from a 5-hp induction motor drive are presented.     

FPGA-based adaptive backstepping control system using RBFN for linear induction motor drive

A field-programmable gate array (FPGA)-based adaptive backstepping control system with radial basis function network (RBFN) observer is proposed to control the mover position of a linear induction motor (LIM). First, the indirect field-oriented mechanism is adopted for controlling the LIM. Next, a backstepping control law is designed step by step for the tracking control of periodic reference trajectories, in which the uncertainties are lumped by a conservative constant. However, the lumped uncertainty is unknown and difficult to obtain in advance in practical applications. Therefore an RBFN is derived to observe the lumped uncertainty in realtime, and an adaptive backstepping control system with RBFN observer is resulted. Then, an FPGA chip is adopted to implement the indirect field-oriented mechanism and the developed control algorithms for possible low-cost, high-performance industrial applications. The effectiveness of the proposed control scheme is verified by some simulated and experimental results. By using the adaptive backstepping control system with RBFN observer, the FPGA-based LIM drive possesses the advantages of good transient control performance and robustness to uncertainties in the tracking of periodic reference trajectories.     

Predictive-space vector PWM current control method for asymmetrical dual three-phase induction motor drives

The interest in multiphase drives has re-emerged in the last decade, being the asymmetrical dual threephase induction motor drive one of the most popular options. Predictive control techniques, already implemented in three-phase drives, have been recently adapted to the multiphase case. Schemes proposed so far have demonstrated high performance at the expenses of a higher degree of computational cost and illdefined switching frequency. In this study, a predictive space vector PWM (SVPWM) current control technique with fixed switching frequency is proposed for asymmetrical dual three-phase AC drives. Fast torque and current response are achieved similar to those obtained using conventional predictive current control techniques. Electrical noise suppression is favoured as in PWM current control methods. Experimental results are provided to examine the benefits of the proposed control method.     

THE DESIGN AND IMPLEMENTATION OF SELF-COMMISSIONING TECHNIQUES FOR A VECTOR-CONTROLLED INDUCTION MOTOR DRIVE

ABSTRACT

This paper presents the design and implementation of self-commissioning techniques for a vector-controlled induction motor drive. Two key techniques are involved in the self-commissioning of a vector-controlled induction motor drive. The identification of the electric and mechanical parameters of motor and load, and the tuning of controller parameters that are to meet performance specifications in the various vector control loops, are proposed. The proposed techniques are further verified by experiments. Close simulation and experimental results are obtained.     

Single-phase induction motor drive system using z-source inverter

Employing conventional three-phase inverter in variable speed single-phase drive suffers from limited maximum output voltage applied to motor or voltage utility factor (VUF). In this study, a z-source inverter (ZSI) has been used to drive a single-phase induction motor (SPIM). By the proposed topology, VUF and consequently torque speed characteristic of the single-phase motor is improved. The equations for employing ZSI in SPIM drive and modulation method are described. Results of two simulations using conventional inverter and ZSI are presented. The results show that using ZSI leads to an increase in motor electromagnetic torque compared to conventional three-phase inverter due to improved VUF. The experimental results confirm the theory and simulation.     

Single-current-sensor-based active front-end-converter-fed four quadrants induction motor drive

Induction motor (IM) is a workhorse of the industry, whose dynamics can be modified close to that of a separately excited DC machine by field-oriented control technique, which is commonly known as vector control of induction machine. This paper presents a complete performance of the field-oriented control of IM drive in all four quadrants with a single-current-sensor-based active front end converter whose work is to regulate DC link voltage, draw pure sinusoidal currents at unity power factor and to facilitate bi-directional power flow between the grid and the drive. The entire system is completely modelled in MATLAB/SIMULINK and the results are discussed in detail. The vector control analogy of the back to back converters is highlighted along with the experimental results of field-oriented control of induction machine using a dsPIC30F6010A digital signal controller.     

Z源逆变器在异步电动机中的应用

近年来,间接磁场定向控制(IFOC)的异步电机驱动由于其效率高、稳定性能强及功率因数高,被广泛应用在高性能驱动系统中。本文采用IFOC技术来控制异步电机的速度大小,并使用Z源逆变器,即在逆变器主电路前加上一对阻抗(LC)网络,通过控制直通占空比,可以实现升/降压功能、提高异步电机的效率。     

高性能模糊控制裹包机的感应电动机驱动系统的设计与实现

针对接缝式裹包机的交流调速系统控制精度较差的问题,提出了具有模糊控制器的有限周期控制的感应电动机驱动.由于转矩和磁通是由有限周期控制技术调节,能达到极快转矩响应.将模糊控制器应用于速度控制反馈环节中,使该驱动系统具有高自适应能力,且对参数和工作条件改变是非常的不灵敏.     

Performance investigation of modified hysteresis current controller with the permanent magnet synchronous motor drive

This study presents complete permanent magnet synchronous motor (PMSM) drive scheme along with mathematical model of motor and inverter. Speed proportional integral (PI) controller parameters are designed in discrete time domain. Stability of the speed controller is observed with respect to motor-load parameters. A modified hysteresis current control scheme is implemented for the drive and a detailed comparative study is done with conventional hysteresis current control scheme. Merits of the modified hysteresis current controller over conventional hysteresis current controller are investigated with both simulation and experimental results.     

Space-vector-based PWM switching strategies for a three-level dual-inverter-fed open-end winding induction motor drive and their comparative evaluation

Two space-vector-based pulse-width-modulated (PWM) strategies are proposed for a dual two-level inverter-fed open-end winding induction motor drive. Neither of these PWM strategies require sector identification or lookup tables. These PWM strategies require only instantaneous phase reference voltages. Also, a simple model is suggested to compute the motor phase currents for this drive, and this model is validated through experimentation. The inverter losses are estimated for this drive system with these PWM strategies using an existing thermal model. The simulation studies suggest that one of these two PWM strategies is better than the other, as it causes lower losses in the inverters.     

Theoretical prediction and experimental verification of light-load instability in a 11-kW open-loop induction motor drive

This paper presents the small-signal stability analysis of an 11-kW open-loop inverter-fed induction motor drive, including the effect of inverter dead-time. The analysis is carried out using an improved small-signal model of the drive that has been reported in literature recently, and is used to demonstrate small-signal instability in a higher-power-level motor. Through small-signal stability analysis, the region of oscillatory behaviour is identified on the voltage versus frequency plane (V–f plane), considering no-load. These predictions using the improved model are also compared against predictions of a standard model of an inverter-fed induction motor including dead-time effect. The oscillatory behaviour of the 11-kW motor drive is also studied through extensive time-domain numerical simulations and actual measurements over wide ranges of operating conditions. Both the simulation and experimental results confirm the validity of the predictions by the improved analytical model. Further, these results establish that the analysis is valid for both sine-triangle pulse-width modulation (PWM) and conventional space vector PWM.     

Initial rotor position estimation and sensorless direct torque control of surface-mounted permanent magnet synchronous motors considering saturation saliency

For a practical direct torque-controlled (DTC) permanent magnet synchronous motor (PMSM) drive system, the information of the initial rotor position, which is usually obtained by a mechanical position sensor, is essential for starting under the full load. To avoid the disadvantages of using mechanical position sensors, great efforts have been made on the development of sensorless control schemes. An initial rotor position estimation strategy is presented for a DTC PMSM drive based on a nonlinear model of PMSM incorporating both structural and saturation saliencies. In the new scheme, specially designed high-voltage pulses are applied to amplify the saturation saliencies. The peak currents corresponding to the voltage pulses are used, in combination with the inductance patterns, to determine the d-axis position and the polarity of the rotor. The presented initial rotor position identification strategy has been implemented in a sensorless DTC drive for a surface-mounted PMSM. Experiments are conducted to confirm the effectiveness of the method and the performance of the drive system.     

Minimization and identification of conducted emission bearing current in variable speed induction motor drives using PWM inverter

The recent increase in the use of speed control of ac induction motor for variable speed drive using pulse width modulation (PWM) inverter is due to the advent of modern power electronic devices and introduction of microprocessors. There are many advantages of using ac induction motor for speed control applications in process and aerospace industries, but due to fast switching of the modern power electronic devices, the parasitic coupling produces undesirable effects. The undesirable effects include radiated and conducted electromagnetic interference (EMI) which adversely affect nearby computers, electronic/electrical instruments and give rise to the flow of bearing current in the induction motor. Due to the flow of bearing current in the induction motor, electrical discharge machining takes place in the inner race of the bearing which reduces the life of the bearing. In high power converters and inverters, the conducted and radiated emissions become a major concern. In this paper, identification of bearing current due to conducted emission, the measurement of bearing current in a modified induction motor and to minimize the bearing current are discussed. The standard current probe, the standard line impedance stabilization network (LISN)), the electronics interface circuits are used to measure high frequency common mode current, bearing current and to minimize the conducted noise from the system. The LISN will prevent the EMI noise entering the system from the supply source by conductive methods, at the same time prevents the EMI generated if any due to PWM, fast switching in the system, will not be allowed to enter the supply line. For comparing the results with Federal Communications Commission (FCC) and Special Committee on Radio Interference (CISPR) standards, the graphs are plotted with frequency Vs, line voltage in dBμ V, common mode voltage in dBμ V and the bearing current in dBμ A with out and with minimizing circuits.     

Eighteen-sided polygonal voltage space-vector-based PWM control for an induction motor drive

An inverter scheme with 18-sided polygonal voltage space-vector structure is proposed for induction motor drive applications. An open-end winding configuration is used for the drive scheme. The motor is fed from one end with a conventional two-level inverter and from the other end with a three-level inverter, realised by cascading two conventional two-level inverters. The inverters are fed with asymmetrical DC-link voltages. A simple linear PWM control scheme up to 18-step mode is proposed, based only on the motor reference phase amplitudes. The proposed scheme gives an increased modulation range with the elimination of the 5th, 7th, 11th and 13th-order harmonics, for the entire modulation range, when compared with any conventional schemes. The absence of low-order harmonics gives nearly sinusoidal currents throughout the modulation range, and makes PWM control of voltage very simple, with low inverter switching frequencies, especially in the extreme modulation range.     

FPGA-based elman neural network control system for linear ultrasonic motor

A field-programmable gate array (FPGA)-based Elman neural network (ENN) control system is proposed to control the mover position of a linear ultrasonic motor (LUSM) in this study. First, the structure and operating principle of the LUSM are introduced. Because the dynamic characteristics and motor parameters of the LUSM are nonlinear and time-varying, an ENN control system is designed to achieve precision position control. The network structure and online learning algorithm using delta adaptation law of the ENN are described in detail. Then, a piecewise continuous function is adopted to replace the sigmoid function in the hidden layer of the ENN to facilitate hardware implementation. In addition, an FPGA chip is adopted to implement the developed control algorithm for possible low-cost and high-performance industrial applications. The effectiveness of the proposed control scheme is verified by some experimental results.     

Dynamic Modeling and Control of a Piezo-Electric Dual-Stage Tape Servo Actuator

We present a data-based approach for modeling and controller design of a dual-stage tape servo actuator. Our method uses step response measurements and a generalized realization algorithm to identify a multivariable discrete-time model of the actuator. The data acquisition and modeling can be implemented in the servo firmware of a tape drive. We have designed a dual-stage controller, based on the model, using loop shaping techniques adopted for multivariable control problems. We applied the procedure to the prototype of a dual-stage actuator tape head to reduce the effect of lateral tape motion. The prototype consists of a conventional voice coil motor for coarse positioning and a micro-actuator for fine positioning. The micro-actuator, which is mounted on the voice coil motor, uses a piezo crystal to follow high-frequency lateral tape motion (up to the kilohertz regime), while the voice coil motor follows only low-frequency lateral tape motion. Compared to a single-stage design, the dual-stage servo design provides a 25% bandwidth improvement and a voice coil motor control signal that is much smaller in magnitude.      

Control of a converter system for an asymmetrical parameter type two-phase induction motor drive operating in motoring and generating modes

The control of a converter system is presented and discussed for an asymmetrical parameter type two-phase induction machine drive that is operating in motoring and generating modes. The proposed system consists of back-to-back voltage source converters. For a machine side, a three-leg voltage source converter provides both unbalanced and balanced two-phase output voltages with a scalar V/F control based on a carrier space vector pulse width modulation (SVPWM) technique. For a front end, a single-phase AC/DC doubled voltage converter with hysteresis current control is used to keep DC-link voltage constant, thus resulting in a bi-directional power flow operation for the motoring and generating modes. A closed-loop design for the DC-link voltage is fully given and also included is a review of carrier-based SVPWM for two-phase three-leg VSI. The proposed drive system was both simulated using MATLAB/SIMULINK and implemented on digital microcontrollers. The comparative performance evaluation of the whole system between balanced and unbalanced two-phase voltages for the machine is given. The simulation and experimental results show that the unbalanced phase voltage offers better performance for the whole system.     

Recurrent fuzzy neural network control for piezoelectric ceramic linear ultrasonic motor drive

In this study, a recurrent fuzzy neural network (RFNN) controller is proposed to control a piezoelectric ceramic linear ultrasonic motor (LUSM) drive system to track periodic reference trajectories with robust control performance. First, the structure and operating principle of the LUSM are described in detail. Second, because the dynamic characteristics of the LUSM are nonlinear and the precise dynamic model is difficult to obtain, a RFNN is proposed to control the position of the moving table of the LUSM to achieve high precision position control with robustness. The back propagation algorithm is used to train the RFNN on-line. Moreover, to guarantee the convergence of tracking error for periodic commands tracking, analytical methods based on a discrete-type Lyapunov function are proposed to determine the varied learning rates of the RFNN. Then, the RFNN is implemented in a PC-based computer control system, and the LUSM is driven by a unipolar switching full bridge voltage source inverter using LC resonant technique. Finally, the effectiveness of the RFNN-controlled LUSM drive system is demonstrated by some experimental results. Accurate tracking response and superior dynamic performance can be obtained because of the powerful on-line learning capability of the RFNN controller. Furthermore, the RFNN control system is robust with regard to parameter variations and external disturbances     

A nine-level hybrid symmetric cascaded multilevel converter for induction motor drive

A nine-level hybrid symmetric cascaded multilevel converter (MLC) fed induction motor drive is proposed in this paper. The proposed converter is capable of producing nine output voltage levels by using the same number of power cells as that of conventional five-level symmetric cascaded H-bridge converter. Each phase in this configuration consists of one five-level transistor-clamped H-Bridge (TCHB) power cell and one three-level H-bridge power cell with equal dc link voltages, and they are connected in cascade. Due to cascade connection and equal dc link voltage, the power shared by each power cell is nearly equal. Near-equal power sharing enables the feature of improving input current quality by using an appropriate phase-shifting multi-winding transformer at the converter input. In this paper, the operation of the converter is explained using staircase and hybrid multi-carrier sine PWM techniques. Further, a detailed analysis for the variations in the dc link capacitor voltages and the dc link mid-point voltage in TCHB power cell is carried out, and the analytical expressions thus obtained are presented. The performance of proposed system is analysed by simulating a 500 hp induction motor drive system in MATLAB/Simulink environment. A laboratory prototype is also developed to validate the claims experimentally.