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The Analysis, Simulation, and Implementation of Control Strategies Purdue University Purdue e-Pubs ECE Technical Reports Electrical and Computer Engineering 4-1-1996 THE ANALYSIS, SIMULATION, AND IMPLEMENTATION OF CONTROL STRATEGIES FOR A PULSEWIDTH MODULATED INDUCTION MOTOR DRIVE Scott .D Roller Purdue University School of Electrical and Computer Engineering Chee Mun Ong Purdue University School of Electrical and Computer Engineering Follow this and additional works at: http://docs.lib.purdue.edu/ecetr Part of the Electrical and Computer Engineering Commons Roller, Scott .D and Ong, Chee Mun, "THE ANALYSIS, SIMULATION, AND IMPLEMENTATION OF CONTROL STRATEGIES FOR A PULSEWIDTH MODULATED INDUCTION MOTOR DRIVE" (1996). ECE Technical Reports. Paper 101. http://docs.lib.purdue.edu/ecetr/101 This document has been made available through Purdue e-Pubs, a service of the Purdue University Libraries. Please contact [email protected] for additional information. THEA NALYSIS, SIMULATION, AND IMPLEMENTATION OF CONTROL STRATEGIES FOR A PULSEWIDTH MOD~~LATEDINDUCTION MOTOR DRIVE TR-ECE 96-7 APRIL1996 THE ANALYSIS. SIMULATION AND IMPLEMENTATION OF CONTROL STRATEGIES FOR A PULSEWIDTH MODCTLATED INDUCTION MOTOR DRIVE by Scott D. Roller Professor Chee-Mun Ong Purdue Electric Power Center School of Electrical Engineering Purdue University 1285 Electrical Engineering Building West Lafayette, IN 47907- 1285 May 1996 TABLE OF CONTENTS Page LIST OF TABLES ........................................................................................................... v .. LIST OF FIGURES ........................................................................................... :........... vii ABSTRACT ..................................................................................................................... xi INTRODUCTION ............................................................................................................ 1 Pulsewidth Modulated (PWM) Induction Motor Drive Overview ........................1 Motivation for Research ........................................................................................4 Scope of Work .......................................................................................................4 ANALYSIS OF CONTROL STRATEGIES .....................................................................7 Control Strategy Overview ....................................................................................7 Operating Principles of Induction Machines ........................................................ 7 Volts per Hertz Control Strategy Analysis ........................................................... 9 Field Oriented Control Strategy Analysis .............................................................9 SIMULATION OF CONTROL STRATEGIES ............................................................. 13 Simulation Overview ..........................................................................................13 Induction Machine Simulation Model ................................................................13 Induction Machine Simulation Results ...............................................................14 Volts Per Hertz Control Simulation Model ........................................................ 16 Volts Per Hertz Control Simulation Results ....................................................... 17 Indirect Field Oriented Control Simulation Model............................................. 17 Indirect Field Oriented Control Simulation Results ........................................... 21 IMF'LEMENTATION OF VOLTS PER HERTZ CONTROL....................................... 23 Implementation Overview .................................................................................. 23 Module Configuration and Parameter Initialization ........................................... 24 Page The Volts per Hertz Control Interrupt Service Routine ...................................... 29 The PWM Drive Signal Generation Interrupt Service Routine ..........................31 ANALYSIS OF PWM DRIVE SIGNALS ......................................................................35 PWM Drive Signal Overview .............................................................................. 35 Classical Sine-modulated PWM Drive Signal Analysis ..........................;........... 36 Edge-aligned PWM Drive Signal Analysis ........................................................ 40 Center-aligned PWM Drive Signal Analysis....................................................... 49 PWM Drive Signal Comparison and Evaluation .................................................57 COPKLUSIONS .............................................................................................................59 Results ..................................................................................................................59 Future Work .........................................................................................................60 REFERENCES ............................................................................................................... 61 APPENDICES APPENDIX A: Block Diagrams of Induction Machine Model ....................... 63 APPENDIX B: Induction Motor Equivalent Circuit Parameters ..................... 67 APPENDIX C: Induction Motor Full Load Operating Characteristics ............ 71 APPENDIX D: Center-aligned Source Code ................................................... 73 APPENDIX E: Edge-aligned Source Code ...................................................... 81 LIST OF TABLES Tab1.e Page 4.1. Program variables. definitions and initial values............................................... 27 4.2. User defined exception vectors and associated vector assignments .................. 27 5.1. Spectra analysis of the classical sine-modulated PWMAB drive signal........... 40 5.2. Spectra analysis of the edge-aligned PWMAB drive signal.............................. 47 5.3. Spectra analysis of the center-aligned PWMAB drive signal............................ 52 5.4. Spectra Analysis of the classical. center-aligned and edge-aligned PWM drive signals ............................................................................................................... 58 LIST OF FIGURES Figure Page 1.1. Block diagram of an induction motor drive system ............................................ 1 1.2. Schematic diagram of a three phase variable frequency converter, including the full-wave rectifier, DC link and voltage-source inverter. .............. 2 1.3. Classical PWM drive signals for a three phase sine-modulated PWM voltage-source inverter. ............................................................................. 3 2.1. The per phase equivalent circuit of a singly excited induction machine. ............ 8 2.2. Block diagram of the closed loop volts per hertz control strategy. ..................... 9 2.3. Graphical representation of the relationship between the stator anti rotor abc reference frames and the synchronously rotating qdO ref0,rence frame of the rotor when the rotor flux is properly aligned. ............................... 12 2.4. Block Diagram of the indirect field oriented control strategy. .......................... 12 3.1. Block diagram of the simulation model for an induction motor........................ 14 3.2. Plots of the electromagnetic torque and stator current versus mechanical rotor speed for an induction motor operating under no control. ........................ 15 3.3. Plots of the electromagnetic torque and rotor flux versus time for an induction motor operating under no control. ................................................ 15 3.4. Block diagram of the simulation model for the closed loop volts per hertz control strategy. .. .. .. .. .. .. .. .. .... .. .. ... .. .. .. .. .. ... 16 3.5. Plots of the electromagnetic torque and stator current versus mechanical rotor speed for the simulation model of an induction motor operating under closed loop volts per hertz control. ............ ................................ .............. 18 3.6. Block diagram of the indirect field oriented control simulation model. ............ 19 Figure Page 3.7. Block diagram of the calcs block for the indirect field oriented cointrol simulation model ................................................................................................................. 20 3.8. Block diagram of the qde2abc block for the indirect field oriented control simulation model ................................................................................... 20 3.9. Plots of the electromagnetic torque and rotor flux versus time for the simulation model of an induction motor operating under indirect field oriented control ......................................................................................... 21 4.1. Flow diagram of induction motor drive system source code ............................. 25 4.2. Flow Diagram of volts per hertz control interrupt service routine.................... 30 4.3. Algorithm for generating the three balanced PWM drive signal high times ..... 34 5.1. Classical sine-modulated PWMA, PWMB and PWMAB drive signals. (fcarrier= 1000 Hz. fref=100 Hz. ma=0.90) ....................................................... 37 5.2. Spectra analysis of the classical sine-modulated PWMAB drive signal with a reference frequency of 30 Hz.................................................................. 38 5.3. Spectra analysis of the classical sine-modulated PWMAB drive signal with a reference frequency of 60 Hz.................................................................
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