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Modelling and Parameter Determination of an Induction Servo-Motor

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Modelling and Parameter Determination of an Induction Servo-Motor British Journal of Applied Science & Technology 13(2): 1-11, 2016, Article no.BJAST.21969 ISSN: 2231-0843, NLM ID: 101664541 SCIENCEDOMAIN international www.sciencedomain.org Modelling and Parameter Determination of an Induction Servo-Motor J. A. Oyedepo 1* and J. D. Jiya 2 1Department of Computer Engineering, Kaduna Polytechnic, Kadun, Nigeria. 2Robotic and Mechatronics Programme, Abubakar Tafawa Balewa University, Bauchi, Nigeria. Authors’ contributions This work was carried out in collaboration with author JDJ, who is one of my PhD research supervisors. Both authors read and approved the final manuscript. Article Information DOI: 10.9734/BJAST/2016/21969 Editor(s): (1) Elena Lanchares Sancho, Department of Mechanical Engineering, University of Zaragoza, Zaragoza, Spain. Reviewers: (1) G. Y. Sheu, Chang-Jung Christian University, Taiwan. (2) Grienggrai Rajchakit, Mae Jo University, Thailand. Complete Peer review History: http://sciencedomain.org/review-history/12318 Received 11 th September 2015 Accepted 7th October 2015 Short Research Article Published 16 th November 2015 ABSTRACT This paper presents the modelling and parameter determination of an induction motor. The dynamic induction motor model was derived in relatively simple terms by using the concept of space vectors in d-q variables based on two-axis theory equations and the space phasor notation. A synchronous reference frame in which rotor flux lies on the d-axis was chosen with simplified dynamic equations and torque expressions. This research work presents these models with typical results and provides guidelines for their use for the dynamic simulation of small power induction motor based on mathematical modelling. An on-line dynamic simulation experiment was carried out to determine the induction motor parameters using MATLAB/Simulink program. The results obtained showed that the induction motor performs better under no-load. For satisfactory and better performance under load condition, controller will have to be introduced. Keywords: Dynamic induction motor; d-q reference frame; dynamic simulation; modeling; space vectors; steady and dynamic states. _____________________________________________________________________________________________________ *Corresponding author: E-mail: [email protected]; Oyedepo and Jiya; BJAST, 13(2): 1-11, 2016; Article no.BJAST.21969 1. INTRODUCTION models must incorporate the essential element of both electromagnetic and the mechanic system In recent years the control of high performance for both steady state and transient operating induction motor drives for general industrial conditions [3]. Additionally, since modern electric applications and production automation has machines are variably fed from switching power received widespread research interests. conversion stages, the developed motor models Induction machine modeling has continuously should be valid for arbitrary applied voltage and attracted the attention of researchers not only current waveforms. This work presents suitable because such machines are made and used in models for use in current control of the induction large numbers but also due to their varied modes motors. In addition, the limits of the validity of of operation both under steady and dynamic these models are summarized and, in some states. In an electric drive system the machine is cases, the models are extended to account for a part of the control system elements. To be able some non-idealities of the machine. to control the dynamic of the drive system, dynamic behavior of the machine need to be Along with variable frequency AC converters, considered. The dynamic behavior of induction induction motors are used in many adjustable motor can be described using dynamic model speed applications which do not require fast of induction machine, which considers the dynamic response. The concept of vector control instantaneous effects of varying voltages/ has opened up a new possibility that induction currents, stator frequency and torque motors can be controlled to achieve dynamic disturbance. performance as good as that of a DC or brushless DC motors. In order to understand and The practice of modeling and simulation saves analyze vector control, the dynamic model of the time, and reduces the cost of building a induction motor is necessary. It has been found prototype, and most importantly it ensures that that the dynamic model equations developed on the requirements are being achieved. Also a a rotating reference frame is easier to describe simple per phase equivalent circuit model of an the characteristics of induction motors. The induction motor is of great interest in the analysis objective of this research work is to derive and and performance prediction at steady-state explain induction motor model in relatively simple conditions. The steady-state induction motor terms by using the concept of space vectors in d model is therefore an equivalent circuit with – q variables. It will be shown that when a respect to the stator and can easily be synchronous reference frame in which rotor flux established from the short-circuited transformer- lies on the d-axis is chosen, dynamic equations equivalent circuit [1]. So the dynamic d-q model of the induction motor is simplified and of the induction motor based on the Park’s analogous to a DC motor. transformation is being considered for this research work. 2. CONCEPT OF SPACE VECTORS Furthermore, simulation-based design plays an In designing control systems generally, the important role in understanding and evaluating designer must be able to model the dynamics of induction motor drives. In order to visualize the systems and analyze the dynamics clearly the relationship between internal characteristics. Mathematical models have to be parameters and system performances, all of the implemented for induction machine in order to differential equations will be embedded into the analyze its operation both dynamically and in derived model of the induction motor. steady – state. The first step in the mathematical modeling of an induction motor is by describing it The development of accurate system models is as coupled stator and rotor three-phase circuits fundamental to each stage in the design, using phase variables. The induction motor analysis and control of all electrical machines. electrical parameters are expressed in terms of a The level of precision required of these models resistance matrix, R, and inductance matrix, L, in depends entirely on the design stage under which the magnetic mutual coupling elements consideration. In particular, the mathematical are function of position, . description used in machine design requires very strict tolerance as stated by [2]. However, in the The next step is to transform the original stator development of suitable models for control and rotor abc frames of reference into a d-q purpose, it is possible to make certain frame in which the new variables for voltages, assumptions that considerably simplify the current and fluxes can be viewed as space resulting machine model. Nonetheless, these vectors so that currents are now defined as 2 Oyedepo and Jiya; BJAST, 13(2): 1-11, 2016; Article no.BJAST.21969 and . In the d-q frame, saturation) concept. Some researchers [8] and ̓. = ʢ̓. ̓,. ʣ ̓- = ƫ̓- ̓,- Ư [5] made some assumption which is valid for this the inductance parameters become constant, research work, and the assumptions are as independent of position. There are four possible follows: choices of d-q frames which are as follows; (a) Stator frame where (b) Rotor frame !& = 0; - Geometrical and electrical machine where (c) Synchronous frame which !& = !(; configurations are symmetrical. is associated with the frequency (possibly !. - Space harmonics of the stator and rotor time varying); and (d) Rotor flux frame in which magnetic flux are negligible. the d-axis lines up with the direction of the rotor - Infinitely permeable iron; flux vector. Because it uses space vectors, the d- - Stator and rotor windings are sinusoidally q model of the machine provides a powerful distributed in space and replaced by an physical interpretation of the interactions taking equivalent concentrated winding; place in the production of voltages and torques, - Saliency effects, the slotting effects are and more importantly it leads to the ready neglected or negligible. adaptation ofpositional- or speed-control - Magnetic saturation, anisotropy effect, core strategies such as vector control and direct loss and skin effect are negligible. torque control. - Windings resistance and reactance do not The analysis of this type of machine is essentially vary with the temperature. the same for a three – phase, two – phase or - Currents and voltages are sinusoidal single – phase machine. An accurate and terms. dynamic model is necessary for the proper - End and fringing effects are neglected. understanding and analysis of vector control operation. This model has to be suitable for the All these assumption do not alter in a serious analysis of both the steady – state and dynamical way the final result for a wide range of induction operation of the system. Starting from the machines. reference frame theory, with voltages, currents and fluxes referred to a two – axis qaudrature co The real model of a typical three – phase – ordinates system, a general model is induction machine with three stator windings and developed according to [4,5] it is pertinent here three rotor windings are shown in Fig. 1 to mention here, that, in contrast with the three phase
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