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Synthesis of Vector Control Systems for Induction Motor Drives Advances in Engineering Research, volume 133 Actual Issues of Mechanical Engineering (AIME 2017) Synthesis of Vector Control Systems for Induction Motor Drives Kucher Ekaterina S. Komazenko Maria A. Department of Electric Drives and Industry Automation Department of Electric Drives and Industry Automation Novosibirsk State Technical University Novosibirsk State Technical University Novosibirsk, Russian Federation Novosibirsk, Russian Federation [email protected] Romashchenko Anastasia I. Department of Electric Drives and Industry Automation Novosibirsk State Technical University Novosibirsk, Russian Federation Abstract— This paper presents the methods of synthesis use of shaft-mounted tacho generators’ grids is established by for speed systems control of induction motor drives, which practice. And the digital shaft-position encoder used in the in accordance with the principles of vector control are mast effective vector-control schemes is considered represented as a dynamic multi-input/multi-output object. acceptable. However, the sensor creates problems. Delicate Under the influence of uncontrolled signal and parametric optical encoders with internal signal-conditioning electronics disturbances, the synthesized speed control systems should are widely used. They lower the system reliability, especially ensure the proximity of processes to the desired, as well as in hostile environments, and require careful cabling the static accuracy of performance. Results can be arrangements with special attention to electrical noise. There obtained using special methods of structural and are also situations where the positional feedback is extremely parametrical synthesis, such as methods of localization and difficult to obtain. This is particularly true for the use of high gains, which allow one to purposefully organize slow linear-motor drives. [1] and fast movement loops, by establishing deep feedbacks, Until recently, the rapid developments in vector control thereby ensuring a low sensitivity of the speed control technology have had little impact on adjustable-speed ac system of induction motor drives to the influence of drives. They are typically impel voltage-source inverters with perturbations of various kinds. variable output frequency and are used for applications Keywords— induction motor drive, slow movement loop, requiring little dynamic control. It has now become clear that fast movement loop, high gains method, localization method. these drives can benefit from the closed-loop current-control techniques that have evolved for use in vector control systems. The induction motor based on full digital control has Current control is readily applicable to existing voltage-source reached the status of a mature technology. The world market inverters, where it reduces the incidence of over-current volume is about 12 000 millions US dollars with an annual tripping and improves inverter utilization. growth rate of 15%. Once the current converter is controlled, additional control Ongoing research has focused on the elimination of must be provided to specify the magnitude and slip frequency the speed sensor at the machine shaft without of the ejected current vector, and, hence, to regulate the flux deteriorating the dynamic performance of the drive control and torque of the motor. Motor speed feedback is typically system [1]. Speed estimation is an issue of particular interest required for outer-loop speed control as well as in the flux and with induction motor drives where the mechanical speed of the torque control algorithm. This presents a problem in a low- rotor is generally different from the speed of the revolving performance system where motor speed transducers are not magnetic field. The advantages of speed sensorless usually available. This has led to renewed interests in induction motor drives are reduced hardware complexity and "tacholess" vector control with the objective of providing an lower cost, the reduced size of the drive machine, intermediate class of ac drives with enhanced performance and elimination of the sensor cable, better noise immunity, a wider range of applications than adjustable-speed drives but increased reliability and less maintenance requirements. The at about the same cost except for the small additional cost of operation in hostile environments mostly requires a motor more sophisticated control algorithms. without a speed sensor. Great attention is paid to construction of control systems, Modern control techniques for ac motor drives were taking into account the importance of factors of uncertainty, developed largely as a result of the search for low-cost which include inconsistencies in the aprioristic information on alternative to high-performance four-quadrant dc drives. The values of parameters for the model, influence of external Copyright © 2017, the Authors. Published by Atlantis Press. This is an open access article under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/). 376 Advances in Engineering Research, volume 133 indignations. Also it is necessary to consider incompleteness approach implies that the spatial distributions along the airgap of the information by a current condition of the object. of the magnetic flux density, the flux linkages and the current densities (magnetomotive force, mmf) are sinusoidal. Linear The greatest efficiency of stabilization of control of non- magnetics are assumed while iron losses, slotting effects, stationary objects is provided with the techniques based on a deep bar and end effects are neglected principle of deep feedback which allow setting not only static accuracy, but also desirable indicators of quality for transients To describe the concept of a spatial vector, a three-phase of the control system. In such methods, it will be purposeful to stator winding is used. The winding axis of the phase is organize slow and rapid movements of processes by means of aligned with the real axis of the complex plane. To create a which, after carrying out certain transformations, it is possible sinusoidal flux density distribution, the stator of to isolate them into separate contours. magnetomotive force (MMF) must be a sinusoidal function of the circumferential coordinate. The distributed phase windings The contour of fast movements localizes both external and of the machine model are therefore assumed to have sinusoidal parametrical indignations – properties of object, and is the winding densities. Then each phase current creates a specific most internal contour of the control system. sinusoidal MMF distribution, the amplitude of which is Slow movements fully meet the requirements, and proportional to the respective current magnitude, while its synthesis of the contour is carried out implicitly when spatial orientation is determined by the direction of the choosing parameters of the equation of desirable movements. respective phase axis and the current polarity. This contour provides for a small sensitivity to changes in the During a steady-state operation, the stator phase currents parameters of the object. form a balanced, sinusoidal three-phase system, which cause When constructing a control system by using the principle the stator MMF to rotate at constant amplitude with of separation of motion, it is possible to decompose the synchronization of the angular frequency of the stator currents. synthesis problems of the contours considered above, thereby [4] simplifying the analysis of the solution - the contours of slow The principle of space vector control is based on the and fast movements can be synthesized separately from each mathematical model of the ac motor which allows presenting other. the engine as a two-channel object of control in the field As a two-channel non-stationary object, the model of an oriented orthogonally the system of coordinates on a vector of asynchronous motor in a fixed coordinate system will be the flux linkage. It gives the chance to operate independently considered. It gives the chance to operate independently target variables of the object, i.e. a magnetic condition and the variables of the object, i.e. a magnetic condition and the electromagnetic moment of the ac machine. electromagnetic moment of the induction motor drive. Let us consider the mathematical description of the ac This paper presents a structural and parametrical synthesis engine in the field oriented system of coordinates (((d, q))) of control systems of induction motor drives using the rotated relatively motionless coordinate system (((α , β ))) at such localization method and the high gains method. It also γ analyzes the results of studies of organized control systems, angle ψ at which longitudinal axis d coincides in the obtained with the help of digital simulation. Ψ direction with the vector of flux linkage r . When using ( ) I. MATHEMATICAL DESCRIPTION OF OBJECT system ((d, q)), the cyclic speed of rotating system coordinates The method frequency control of motor drives, which has is equal to instant speed of a vector of flux linkage rotor ω= ω received the name of a method of Field Oriented Control, k == ψ , and the equations of the induction motor (1) in the allows one to present vectors of sinusoidally varying in time scalar form of the recording take the form [1, 2, 3, 4] variables of induction motor changing with short-circuited rotor vectors of constant values. Therefore, analysis and di L dψ L ⋅⋅⋅ sd == = −− −R⋅⋅ ⋅ i −− − m ⋅⋅ ⋅ rm ++ + ω ⋅⋅ ⋅ L⋅⋅ ⋅ i++ + u , synthesis of induction motor drives of control systems has σe
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