Transient Modeling and Parameter Estimation of Field Aligned Starting

Field aligned starting (FAS) is a new technique for starting three-phase cage induction motors on single-phase supply lines with minimal inrush currents. It uses a simple energy storage system to generate a very high impulsive torque by which the motor is started before being connected to the mains supply. The spinning motor can then be connected to the mains to operate in a standard Steinmetz connection without incurring high inrush currents, if the moment of mains connection is properly timed. This paper presents a transient model and an accompanying parameter estimation method through which the transient behavior of three-phase induction motors operated with FAS can be analyzed. The proposed model is based on instantaneous symmetrical components and is used to investigate a 3 kW motor started under various operating conditions. The proposed parameter estimation method and the developed transient model are both validated by experimental results.     

Estimation of voltage distribution on the inverter fed random woundinduction motor windings supplied through feeder cable

In this paper, a method of estimating the voltage distribution among the windings of an inverter fed random wound induction motor supplied through feeder cable is presented. The inverter-cable-motor model is developed, and the transient analysis is performed using ATP (Alternative Transient Program) package to estimate the voltage distribution among the motor windings. The high frequency parameters of the induction motor are calculated using field analysis and the parameters of the cable are computed using the Cable Constants routine in the ATP package. Using these parameters, a high frequency equivalent circuit of the inverter-cable-motor model is formed in ATP which is then used to estimate the voltage stresses at the motor terminals and the motor windings. Using this model, the effects of cable length on the voltage distribution among the motor winding is analyzed and discussed. In order to check the validity of the model, simulation results are compared with the experimental results. The proposed model is a general purpose model and hence can be used for detailed transient analysis with different configurations of the cable and terminal filters     

Online identification of the mutual inductance for vector controlled induction motor drives

Mutual inductance of an induction machine may vary considerably when the flux reference varies. An important and frequent application of a variable flux reference is the operation in the field-weakening region. Standard assumption of constant mutual inductance is no longer valid and it becomes necessary to compensate for the mutual inductance variation. The paper proposes a novel method for online mutual inductance identification in vector controlled induction machines. The method is characterized with very simple structure, ease of implementation, very low parameter sensitivity, and capability to provide an accurate estimate under both transient and steady state operating conditions. Full experimental verification of the proposed scheme is provided and a number of potential applications in a vector controlled induction motor drive are discussed.     

Modeling and analysis of closed-loop slip energy recovery inductionmotor drive using a linearization technique

A fourth order nonlinear model is derived from a previously developed model (Krause et al., 1988) for an open-loop slip energy recovery induction motor drive. The nonlinear transient model of the open-loop drive is linearized around a steady-state operating point using a small signal perturbation technique and the transfer functions which relate the input and output variables are derived. The block diagram for the closed-loop control system is obtained. The responses of the proportional plus integral (PI) controller employed to control the rotor speed and the PI controller used to control the DC link current are predicted and compared with experimental results     

Sensorless sliding-mode control of induction motors using operating condition dependent models

A sensorless torque control system for induction motors is developed. The system allows for fast and precise torque tracking over a wide range of speed. The paper also presents the identification and parameter estimation of an induction motor model with parameters varying as functions of the operating conditions encountered in hybrid electric vehicles applications. An adaptive sliding mode speed-flux observer is developed and a cascade of discrete time sliding mode controllers is used for flux and current control. Simulation and experimental results prove the validity of the approach.     

A new induction motor drive based on the flux vector acceleration method

A novel control strategy for the induction motor drive, based on the field acceleration method, is presented. The torque is controlled through variations of the stator flux angular velocity. The stator flux is controlled by using a feedforward control scheme, with the stator flux reference vector adjusted so as to obtain the fixed rotor flux amplitude. The applied controller assures a fast torque response, low torque ripple in the steady state, and drive operation with a constant switching frequency. The algorithm includes the improved stator and rotor flux estimation that guarantees the stable drive operation in all operating conditions, even at low speeds. The experimental tests verify the performance of the proposed algorithm, proving that good behavior of the drive is achieved in the transient and steady-state operating conditions.     

Comparison of a CFD Analysis and a Thermal Equivalent Circuit Model of a TEFC Induction Machine With Measurements

For a totally enclosed fan-cooled induction machine, two methods of numerical analysis are compared with measurements. The first numerical method is based on computational fluid dynamics (CFDs) and the second one uses a thermal equivalent circuit (TEC). For the analysis based on CFD, a 3-D induction machine including housing is modeled. The numeric solution of the flow equations is determined for stationary temperature distributions. For the TEC, a discretized one-and-a-half-dimensional model of the induction machine is considered. With the TEC model, stationary and transient operating conditions can be simulated. Measurement results are determined by iron–copper–nickel sensors embedded in the stator winding and the housing, as well as by an IR sensor for measuring the rotor temperature. With these measurement signals, stationary and transient operating conditions can be analyzed. For stationary operating conditions, additionally, the housing temperatures are determined by an IR camera. The investigated simulation and measurement methods reveal different local and global temperatures, and thus, only certain aspects and characteristics of the obtained temperatures can be compared. Nevertheless, certain conclusions can be drawn from comparing these aspects considering the actual restrictions of each of the applied methods.      

Generalized optimization slip power recovery drives

A generalized method for predicting the optimized performance of the doubly fed induction motor controlled by a voltage phasor at the rotor side, at any load conditions in slip power recovery drives, in the steady state is presented. The equations describing the model of the optimally controlled drive are deduced in terms either of the voltage phasor magnitude or of one of its components, direct or quadrature. These equations are simple and hence suitable for digitally controlled systems. The electromagnetic characteristics in the steady state are determined and discussed for the case in which the voltage phasor magnitude and the speed vary. The control covers the full operating ranges for speed, torque, and voltage phasor magnitude     

Adaptive fuzzy-neural-network control for induction spindle motor drive

An induction spindle motor drive using synchronous pulse-width modulation (PWM) and dead-time compensatory techniques with an adaptive fuzzy-neural-network controller (AFNNC) is proposed in this study for advanced spindle motor applications. First, the operating principles of a new synchronous PWM technique and the circuit of dead-time compensator are described in detail. Then, since the control characteristics and motor parameters for high-speed-operated induction spindle motor drive are time varying, an AFNNC is proposed to control the rotor speed of the induction spindle motor. In the proposed controller, the induction spindle motor-drive system is identified by a fuzzy-neural-network identifier (FNNI) to provide the sensitivity information of the drive system to an adaptive controller. The backpropagation algorithm is used to train the FNNI online. Moreover, the effectiveness of the proposed induction spindle motor-drive system is demonstrated using some simulated and experimental results.     

Nonlinear model predictive control for efficient and robust airpath management in fuel cell vehicles

The fuel cell airpath multivariable control problem of optimally coordinating the electric compressor motor and the back-pressure valve to achieve efficient and safe conditions, for both steady state and transient operation, has not been completely addressed in the literature. This paper proposes a nonlinear model predictive control strategy, implemented via the Garrett Motion proprietary NMPC toolbox, to regulate the oxygen stoichiometry and the cathode pressure of an automotive fuel cell airpath system, while avoiding compressor surge and air starvation. The controller set-points are optimized, using the nonlinear model, to achieve the maximum system power as a function of the operating stack condition. The effectiveness and robustness of the proposed control strategy have been validated by means of a simulated World harmonized Light-duty vehicles Test Cycle (WLTC), under both state feedback and model parameters uncertainties.     

Broken rotor bar detection in induction machines with transient operating speeds

Previous work on condition monitoring of induction machines has focused on steady-state speed operation. Here, a new concept is introduced based on an analysis of transient machine currents. The technique centers around the extraction and removal of the fundamental component of the current and analyzing the residual current using wavelets. Test results of induction machines operating both as a motor and a generator shows the ability of the algorithm to detect broken rotor bars.     

An induction machine model for predicting inverter-machineinteraction

The conventional qd induction motor model typically used in drive simulations is very inaccurate in predicting machine performance, except perhaps for the fundamental component of the current and the average torque near rated operating conditions. Predictions of current and torque ripple are often in error by a factor of two to five. This work sets forth an induction machine model specifically designed for use with inverter models to study machine-inverter interaction. Key features include stator and rotor leakage saturation as a function of current and magnetizing flux, distributed effects in the rotor circuits, and a highly computationally efficient implementation. The model is considerably more accurate than the traditional qd model, particularly in its ability to predict switching frequency phenomena. The predictions of the proposed model are compared with those of the standard qd model and to experimental measurements on a 37 W induction motor drive     

Dynamic modelling of an alkaline water electrolysis system and optimization of its operating parameters for hydrogen production

This work aims at developing an approach for modelling and optimizing the operation of a reference alkaline electrolysis unit operating in transient state using orthogonal collocation on finite elements (OCFE). The main goal is to define the set of operating conditions that minimize the processing cost (associated to electricity cost) given a hydrogen yield. Three components of the electrolyzer are considered: the stack of electrolytic cells and two separators that single out the hydrogen and oxygen gas streams. The dynamic behavior is considered for the mass holdup in the separators as well as the energy accumulation for these three components. The associated mathematical model is derived in the paper. Its solving allows characterizing the influence of the transient operating parameters of the system on its working and associated final hydrogen production. Mathematical optimization aims at defining the ideal operating load in order to minimize costs associated to fluctuating price of electricity consumed by the stack given a defined hydrogen yield. The model has been validated according to experimental test runs and operating conditions have been optimized under a proof of concept scenario saving 17% of electricity costs if compared to constant plant capacity.     

Impact of stray load losses on vector control accuracy in current-fed induction motor drives

Vector control accuracy of induction motor drives is affected by variations of motor parameters that are treated in the control algorithm as constant values, and by the phenomena that are not modeled at all and are therefore unaccounted for in the controller. Detuning sources of the first type include variations of rotor and stator resistance, mutual inductance, and leakage inductances, while the second category includes stator iron (core) losses. All these sources of detuned operation have been studied in a considerable depth in the past. It appears that the only potential source of detuned operation, which has never been studied before, is the stray load loss (SLL), which belongs to the category of unmodeled phenomena. This paper develops an analytical model that characterizes detuning due to SLLs in indirect rotor-flux-oriented (RFO) current-fed induction motor drives in steady-state operation by means of the orientation angle error, actual to reference rotor-flux ratio, and actual to reference-torque ratio. A quantitative assessment of the impact of SLL on accuracy of rotor-flux-oriented control is performed, with the necessary motor parameters obtained from IEEE 112-B standard measurements and subsequent equivalent circuit parameter fitting. Detuning is also examined in transient operation. It is shown that, although SLLs are comparable to the iron losses in the studied machine (of approximately the same value in the rated operating point), their impact on accuracy of vector control is much smaller when compared to the iron loss induced detuning.     

Fault-Tolerant Soft Starter Control of Induction Motors With Reduced Transient Torque Pulsations

Fault-tolerant operation of induction motors fed by soft starters when experiencing thyristor/silicon-controlled rectifier open-circuit or short-circuit switch fault is presented in this paper. The present low-cost fault mitigation solution can be easily retrofitted, without significant cost increase, into the existing off-the-shelf three-phase soft starters to enhance the reliability and fault-tolerant capability of such soft starter systems. In the event of either thyristor open-circuit or short-circuit switch fault in any one of the phases, the fault-tolerant soft starters are capable of operating in a two-phase control mode using a novel resilient closed-loop control scheme. The performance resulted from the present fault-tolerant soft starter control has demonstrated reduced motor starting transient torque pulsations as well as reduced motor inrush current magnitude. The present fault-tolerant approach is applicable to any soft starters that control small to large integral horsepower induction motors. Simulation results along with supporting experimental results for a 1.492-kW, 460-V, four-pole, three-phase induction motor are presented here to demonstrate the soundness and effectiveness of the present fault-tolerant approach.      

Comparative first- and second-law parametric study of transient diesel engine operation

A computer model is developed for studying the first- and second-law (availability) balances of a turbocharged diesel engine, operating under transient load conditions. Special attention is paid to the direct comparison between the results from the two laws, for various operating parameters of the engine. The model simulates the transient operation on a degree crank angle basis, using a detailed analysis of mechanical friction, a separate consideration for the processes of each cylinder during a cycle (“multi-cylinder” model) and a mathematical model of the fuel pump. Experimental data taken from a marine duty, turbocharged diesel engine, located at the authors’ laboratory, are used for the evaluation of the model's predictive capabilities. The first-law (e.g., engine speed, fuel pump rack position, engine load, etc.) and second-law (e.g., irreversibilities, heat loss and exhaust gases) terms for the diesel engine cylinder are both computed and depicted in comparison, using detailed diagrams, for various engine operating parameters. It is revealed that, at least for the specific engine type and operation, a thermodynamic, dynamic or design parameter can have a conflicting impact on the engine transient response as regards energy and availability properties, implying that both a first- and second-law optimization is needed for best performance evaluation.     

Switched reluctance motor drive systems dynamic performanceprediction and experimental verification

In this first of a set of two companion papers on switched reluctance motor drive systems, the results of using a state space model to predict a motor-drive system dynamic performance characteristics under normal operating conditions are presented. Using this approach, the state space model parameters are determined from series of nonlinear magnetic field solutions, thus accounting for magnetic material nonlinearities and space harmonics due to the motor geometry. The method is applied to a 6/4, 0.15 hp, 5000 r/min switched reluctance motor and resulted in the machine inductances, which compared favorably to measured values. Using these parameters in the state space model, the dynamic performance characteristics of the motor drive system are predicted and verified by comparison to experimental data. In addition, the effects of mutual coupling between motor phases on the analysis results are evaluated     

Direct field oriented control scheme for space vector modulated AC/DC/AC converter fed induction motor

This paper investigates a Luenberger flux observer with speed adaptation for a direct field oriented control of an induction motor. An improved method of speed estimation that operates on the principle of speed adaptive flux and current observer has been proposed. An observer is basically an estimator that uses a plant model and a feedback loop with measured stator voltage and current. Simulation results show that the proposed direct field oriented control with the proposed observer provides good performance dynamic characteristics. The induction motor is fed by an indirect power electronics converter. This indirect converter is controlled by a sliding mode technique that enables minimization of harmonics introduced by the line converter, as well as the control of the power factor and DC-link voltage. The robustness of the overall system is studied using simulation for different operating modes and varied parameters.     

Computational analysis of temperature rise phenomena in electric induction motors

In developing electric machines in general, and induction motors in particular, temperature limits is a key factor affecting the efficiency of the overall design. Since conventional loading of induction motors is often expensive, the estimation of temperature rise by tools of mathematical modelling and computational experiments becomes increasingly important. In the present paper we develop and validate experimentally a model accounting for losses and describing thermal phenomena in induction motors. The developed model has been implemented in FEMLAB, and has been applied to predict temperature rise in totally enclosed fan-cooled induction motors. Comparisons with experimental results obtained with a 1.5 kW standard squirrel-cage induction motor show the effectiveness of the developed model in predicting temperature rise for a range of operating conditions, in particular for different frequencies and voltages. Finally, a SIMULINK-based control loop has been developed by using the thermal model as an input.