CHAPTER - 1

INTRODUCTION
1.1 INTRODUCTION
Energy is the basis of any technical and industrial development. It must be
developed and made available at the point of consumption in suitable form. For example
chemical, thermal and mechanical are at acceptable price. But transporting the energy
from its place of origin to the point of demand and of converting it into its final physical
form is a problem. In many cases, these problems can be solved easily with an electrical
intermediate stage because electricity can be

Generated from primary energy (chemical energy in fossil fuel, hydro energy,
etc) relatively efficient than central generating stations.

Transported with minimum losses over long distance and distributed simply at an
acceptable cost and also it can be converted into any final form at the point of
destination.

About sixty percent of electricity generated is converted into mechanical energy,

which is required whenever physical activities such as process control, transportation,
industrial process, etc takes place. Electric drives are used to convert electrical energy
into mechanical energy. Thus the electric drives have to meet very stringent requirements
of the industry. Electric drives are used in a wide power range, from a few watts to many
thousands of kilowatts, in applications ranging from very precise, high-performance
position controlled drives in robotics to variable-speed drives for adjusting flow rates in
pumps. The basic function of a variable speed drive (VSD) is to control the flow of
energy from the mains to the process. Energy is supplied to the process through the motor
shaft and the state of the shaft is described by torque and speed. In practice, one of them
is controlled and named either torque control or speed control. When the VSD
operates in torque control mode, the load determines the speed. Likewise, when operated
in speed control mode, the load determines the torque.
Traditionally, separately excited dc machines were the obvious choice for
applications in adjustable speed drives, where independent torque and flux control is
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required. In dc machine, the torque can be controlled over a wide a range of speed by
independent variation of field and armature currents. The dc machines also have the
excellent dynamic performance over a wide range of operating conditions due to inherent
decoupling between field flux and armature current. On the other hand, dc machines are
inherently bulky, require frequent maintenance, have low torque-to weight ratio, in
addition to commutation problems. Because of these limitations, attention has been
diverted to develop induction motor drives, as induction motors are robust, less
expensive, require less maintenance and have high torque-to-weight ratio.

1.2. PRINCIPLE OF VECTOR CONTROL

The induction motor control is more complicated compared to separately excited
dc motor control. This is due to nonlinear multivariable structure of induction motor. The
aim of vector control is to decouple the torque and flux components of induction motors.
For this, both the magnitude and phase angle of the current vector is to be controlled.
With the vector control, the transient response characteristic of induction motor is similar
to that of separately excited dc motor. Thus by placing a vector controller between
induction motor and main controller, the motor can be forced to yield a fast torque
response similar to that of separately excited dc motor.

1.3. NEED FOR VECTOR CONTROL

Volts/hertz (v/f) control and vector control are the most generally used control
strategies of induction motor. In general v/f control method is used in fans, conveyors,
centrifugal pumps, etc. where high performance and fast response is not needed. The v/f
principle adjusts a constant Volts-per-Hertz ratio of the stator voltage by feed forward
control. It serves to maintain the magnetic flux in the machine at desired level. The
absence of closed loop control and the restriction to low dynamic performance make v/f
controlled drives very robust. Scalar control is the technique in which the control action
is obtained by the variation of only magnitude of control variables and disregards to
control the coupling effect in the machine. The voltage of the machine can be controlled
to control the flux and frequency, or slip can be controlled to control the torque. The

control is provided by frequency and voltage reference generator with constant volt per
hertz ratio.
Scalar control technique is somewhat simple to implement, but the inherent
coupling effect results sluggish response and the system is easily prone to instability
because of higher order system effect. The particular attraction of v/f-controlled drives is
their extremely simple control structure, which favors an implementation by a few highly
integrated electronic components. There is no direct or indirect control of torque and flux.
The status of the rotor is ignored, i.e. no speed or position signal is feedback. These costsaving aspects are especially important for applications at low power below 5 kW. Even
though, the cost advantage makes v/f control very attractive for low power applications
their robustness favors its use at high power when a fast response is not required.
Constant Volts-per-Hertz control ensures robustness at the
expense of reduced dynamic performance, which is adequate for applications like pump
and fan drives, and tolerable for other applications. Although simple, this arrangement
results in limited speed accuracy and poor torque response. The flux and torque responses
are dictated by the response of the motor to the applied frequency and voltages are not
under the control of the drive.
In 1971, Blaschke proposed a scheme, which aims at the control of induction
motor like a separately excited dc motor, called field oriented control or vector control.
Vector control method of speed control of induction motor is generally used for high
performance drives. Vector control method re-establishes one of the advantages of the dc
drives through implementation of direct flux control. In this control the dynamics of the
induction motor is viewed analogous to that of the dc motor by modeling the motor in an
appropriate manner. This achieves the decoupling between torque and flux resulting in
high accuracy and fast response equivalent to dc motor drive. This is achieved with
accurate position information of the flux obtained with the help of sensors. As in dc
motor, the torque and flux are controlled by controlling the torque current component and
flux current component independently. The main drawback of vector control method is
Special arrangements are needed to mount sensors inside the motor, which will affect the
ruggedness of drive and hence results in the poor reliability of the drive.

1.4. LITERATURE SURVEY

P.C. Krause [1] analyzed a constant speed performance of asymmetrical Induction
Machine with applied state or phase voltages of any periodic form. Symmetrical
components are not used in this analysis. Instead, it is shown that by employing a series
of reference frames, DC circuit theory may be used to determine the performance of
Induction Machines. Since phasor and complex impedance concepts are not incorporated,
the theory of multiple reference frames permits convenient and simple method of
analyzing steady-state modes of unbalanced or non-sinusoidal operation, which have
therefore been limited to analysis by the method of symmetrical components. Also, this
method established a rigorous approach to the analysis of constant-speed electrical
transients of induction machinery.
Although it is not practicable to consider all possible applications of extensions of
this method, several examples that illustrate the principle of analysis are given, this
method of multiple reference frames offers the advantages of calculating the performance
of unbalanced Induction Machines by employing dc circuit theory.
Since phasors and complex impedances are not incorporated, multiple reference
frames permit convenient and direct method of analyzing steady-state modes of
unbalanced of abnormal operation, which have therefore been limited to analysis by
symmetrical components. Moreover, the theory of multiple reference frames may be
rigorously applied in the analysis of the constant speed electrical transients of induction
machinery.
A simplified representation of a rectifier inverter Induction motor drive system is
established by T.A. Lipo et al [2]. It is shown that when all harmonic components are
neglected that static drive system may be conveniently represented in the synchronously
rotating reference frame. Also, it the analysis leading to these simplified representations,
the operation of the inverter is analytically expressed in the synchronously rotating
reference frame with the harmonic components due to the switching in the inverter
included. These equations of transformation may be used to advantage in describing the
interaction between the filter and the induction motor.
Moreover, the equations of transformation, which express the operation of the
inverter in the synchronously rotating reference frame, can be employed to describe
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conveniently the effects of the induction motor upon the filter. Although the harmonic
components in these equations of transformation are neglected when establishing the
simplest representation of the static drive system, the complete equations, where in the
harmonics are included, offer a new method of analyzing the steady-state behavior of
filter inverter Induction Motor combination.
A dynamic model for current controlled induction motor drives is developed by
T.A.Lipo et al [3], and a transfer function approach to the transient response investigation
is formulated by means of d-q variables in the synchronously rotating reference frame. A
sample control strategy is discussed, and a transfer function for various combinations of
input and output variables is presented. It is shown that both dynamic and static
instabilities exist for open loop operation, but a well-damped closed loop response is
possible if slip frequency and current magnitude controls are imposed.
A comparison between the analytical transfer function transient performance
predictions, the transient response predicted by the computer simulation and actual
laboratory tests is made using frequency response techniques. Bode plots are used to
correlate the results between laboratory and analytical techniques. Computer and
laboratory results are presented to show typical steady-state characteristics and
waveforms.
The feasibility of developing controlled current/Induction Motor drives using
transfer function techniques has been established. A dynamic linearized model was used
as the basis of the transient response study. Open-lop operation was shown correspond to
an unstable operating condition. It was shown that independent current magnitude and
slip frequency control is capable of stabilizing the drive system for all operating points in
the motoring and regenerating modes of operation.
Joachim Holtz, [4] has been presented on sensor less control of Induction Motor
Drives and the controlled Induction motor drives without mechanical speed sensors at the
motor shaft have the attractions of low cost and high reliability. To replace sensor, the
information on the rotor peed is extracted from measured stator voltages and currents at
5

the motor terminals. Vector controlled drives require estimating the magnitude and
spatial orientation of the fundamental magnetic flux waves in the stator or in the rotor.
Open-loop estimators or closed loop observes are used for this purposed. They differ with
respect to accuracy robustness and sensitivity against model parameter variations.
Dynamic performance and steady-state speed accuracy in the low speed range can e
achieved exploiting parasitic effects of the machine. This uses signal flow graphs of
complex space vector quantities to provide an insightful description of the systems used
in sensor less control of Induction Motors.
A large variety of sensor less controlled AC drive schemes are used in industrial
applications. Open loop control systems maintain the stator voltage-to frequency ratio at
a predetermined level to establish the desired machine flux. They are particularly robust
at very low and high speed, but satisfy only lower moderate dynamic requirements. Small
load dependent speed deviations can be compensated incorporating a speed or rotor
frequency estimator. High performance Vector Control schemes require a flux vector
estimator to identify the spatial location of the magnetic field. Field oriented control
stabilizes the tendency of Induction Motors to oscillate at transients, which enable as to
control of torque and speed.
The steady state accuracy depends on the accurate adjustment of the rotor time
constant in the estimation model. Very high-speed accuracy can be achieved by
exploiting the rotor slot effect for parameter adaptation. The algorithms that can be
implemented in standard micro controller hardware are preferred for industrial
applications. A comparison of different methods or speed sensor less control in terms of
the torque rise time tr and the low speed limit of stable operation. The results should be
considered approximate, since the irrespective test and evaluation conditions may differ.
Improved low speed performance can be achieved by exploiting an isotropic
property of Induction Motors. The spatial orientations of such anisotropies are related to
the field angle and to the mechanical rotor position. They can be identified either by
injecting high-frequency carrier signals into the stator windings and process the response
of the machine or by making use of the transients that a PWM inverter generates.

Miran Rodic, et al [5] has been proposed Speed Sensor less Sliding Mode Torque
Control of Induction Motor. A new structure of rotor flux observer aimed for the speed
sensor less operation of induction machine servo-drive a both, low and high speed, where
rapid speed changes can occur. The control differs from the conventional field-oriented
control. Stator and rotor flux in the stator fixed coordinates are controlled instead of the
stator current components in rotor field coordinates isd and isq. In principal the proposed
method is based on driving the stator flux towards the reference stator flux vector defined
by the input command, which are the reference torque and the reference rotor flux. The
magnitude and orientation angle of the rotor flux of the induction motor are determined
by the output of the closed loop rotor flux observer based on sliding mode control and
Lapunov theory. Simulations and experimental tests are provided to evaluate the
consistency and performance of the proposed control technique.

1.5.CONCLUSION
The vector control of induction motor is the method to control the induction motor
where we can have better performance characteristics with dynamic response.

CHAPTER - 2
MODELING OF INDUCTION MOTOR
2.1 INTRODUCTION
Before going to analyze the any motor or generator it is very much important to
obtain the machine in terms of equivalent mathematical equations. Traditional per phase
equivalent circuit has been widely used in steady state analysis and design of induction
motor, but it is not appreciated to predict the dynamic performance of the motor. The
dynamic of considers the instantaneous effects of varying voltage/currents, stator
frequency, and torque disturbance. The dynamic model of the induction motor is derived
by using a two-phase motor in direct and quadrature axes. This approach is desirable
because of the conceptual simplicity obtained with two sets of windings, one on the stator
and the other in the rotor. The equivalence between the three phase and two phase
machine models is derived from simple observation, and this approach is suitable for
extending it to model an n-phase machine by means of a two phase machine.
The concept of power invariance is introduced; the power must be equal in the
three-phase machine and its equivalent two-phase model. Derivations for electromagnetic
torque involving the currents and flux linkages are given. The differential equations
describing the induction motor are nonlinear. For stability and controller design studies, it
is important to linearize the machine equations around a steady state operating point to
obtain small signal equations. In or adjustable speed drive, the machine normally
constituted as element within a feedback loop, and therefore its transient behavior has to
be taken into consideration. The dynamic performance of an ac machine is somewhat
complex because the three phase rotor windings move with respect to the three phase
stator windings.
An induction motor can be looked on as a transformer with a moving secondary,
where the coupling coefficients between the stator and rotor phases change continuously
with the change of rotor position r. The machine model can be described by differential
equations with time varying mutual inductances, but such a model tends to be very
8

complex. Hence, to reduce complexity it is necessary to transform the three-phase

machine into equivalent two-phase machine beside, high performance drive control such
as vector control, is based on the dynamic d-q model of the machine. Therefore, to
understand vector control principled, a good understanding of d-q model is mandatory.

2.2 REFERENCE FRAMES

The required transformation in voltages, currents, or flux linkages is derived in a
generalized way. The reference frames are chosen to be arbitrary and particular cases,
such as stationary, rotor and synchronous reference frames are simple instances of the
general case. R.H. Park, in the 1920s, proposed a new theory of electrical machine
analysis to represent the machine in d q model. He transformed the stator variables to a
synchronously rotating reference frame fixed in the rotor, which is called Parks
transformation. He showed that all the time varying inductances that occur due to an
electric circuit in relative motion and electric circuits with varying magnetic reluctances
could be eliminated. In 1930s, H.C Stanley showed that time varying Inductances in the
voltage equations of an induction machine due to electric circuits in relative motion can
be eliminated by transforming the rotor variables to a stationary reference frame fixed on
the stator. Later, G. Kron proposed a transformation of both stator and rotor variables to a
synchronously rotating reference that moves with the rotating magnetic field.

2.3 AXES TRANSFORMATION (3 TO 2 )

We know that per phase equivalent circuit of the induction motor is only valid in
steady state condition. Nevertheless, it is not holds good while dealing with the transient
response of the motor. In transient response condition the voltages and currents in three
phases are not in balance condition. It is too much difficult to study the machine
performance of the machine by analyzing with three phases. In order to reduce this
complexity the transformation of axes from 3 to 2 is necessary. Another reason
for transformation is to analyze any machine of n number of phases, an equivalent model
is adopted universally, that isd q model.

Fig 2.1 3- to 2- Transformation

Consider a symmetrical three-phase induction machine with stationary as-bs-cs
axis at 2/3 angle apart. Our goal is to transform the three-phase stationary reference
frame (as-bs-cs) variables into two-phase stationary reference frame (ds-qs ) variables.
s

Assure that ds-qs over are oriented at angle as shown in fig: the voltages vds and vqss can
be resolved into as-bs-cs components and can be represented in matrix from as,

s
s
Here vos is zero-sequence convenient to set = 0 so that q axis is aligned with as-axis.

Therefore ignoring zero-sequence component, this can be simplified as

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0

2.4 MOTOR MODEL

Fig 2.2 Two-phase equivalent diagram of induction motor

The two-phase equivalent diagram of three-phase induction motor with stator and
rotor windings referred to d q axes are shown in Fig 2.2. The winding are spaced by 90

electrical and rotor winding at , is at an angle r from the stator d-axis. It is assumed that
the d axis is leading the q axis for clockwise direction of rotation of the rotor. If the
clockwise phase sequence is dq, the rotating magnetic field will be revolving at the
angular speed of the supply frequency but counter to the phase sequence of the stator
supply. Therefore the rotor is pulled in the direction of the rotating magnetic field i.e.
counter clockwise, in this case. The currents and voltagesof the stator and rotor windings
are marked in figure 2.2. The number of turns per phase in the stator and rotor
respectively are T1 and T2. A pair of poles is assumed for this figure. But it is applicable
with slight modification for any number of pairs of poles if it is drawn in terms of
electrical degrees. Note that r is the electrical rotor position at any instant, obtained by
multiplying the mechanical rotor position by pairs of electrical poles. The terminal
voltages of the stator and rotor windings can be expressed as the sum of the voltage drops
in resistances, and rate of change of flux linkages, which are the products of currents and
inductances.

From the above figure the terminal voltages are as follows,

Where p is the differential operator d/dt, and vqs, vds are the terminal voltages of
the stator q axis and d axis. V, V are the voltages of rotor and windings,
respectively. iqs and ids are the stator q axis and d axis currents, respectively. i and i
are the rotor and windings currents, respectively. Lqq, Ldd, L and L are the
stator q and d axis winding and rotor and winding self-inductances, respectively.
The following are the assumptions made in order to simplify the equation 2.5.
i. Uniform air-gap
ii. Balanced rotor and stator winding with sinusoidal distributed mmf.
iii. Inductance in rotor position is sinusoidal and
iv. Saturation and parameter changes are neglected
From the above assumptions the equation (2.5) modified as

Where
Rs = Rq = Rd R rr = R = R

By applying Transformation to the and rotor winding currents and voltages

the equation 2.6 will be written as
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The rotor equations in above equation 2.8 refereed to stator side as in the case of
transformer equivalent circuit. From this, the physical isolation between stator and rotor
d-q axis use eliminated.

Where r = r = d/dt and p= d/dt

The dynamic equations of the induction motor in any reference frame can be
represented by using flux linkages as variables. This involves the reduction of a number
of variables in the dynamic equations. Even when the voltages and currents are
discontinuous the flux linkages are continuous. The stator and rotor flux linkages in the
stator reference frame are defined as

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5

From (2.12) and (2.13) we get

Since the rotor windings are short circuited, the rotor voltages are zero. Therefore

From (2.15), we have

By solving the equations 2.13, 2.14, 2.15 and 2.16 we get the following equations

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The electromagnetic torque of the induction motor in stator referenceframe is given by

[1,2]

The electro-mechanical equation of the induction motor drive is given by [2,3]

By using the equations from 2.17 to 2.25, the induction motor model is developed in
stator reference frame.

2.5. CONCLUSION
Modeling of induction motor is necessary to obtain the machine in terms of
equivalent mathematical equations. This approach is necessary for conceptual simplicity.

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CHAPTER - 3
VECTOR CONTROL
3.1 INTRODUCTION
The various control strategies for the control of the inverter-fed induction motor
have provided good steady state but poor dynamic response. From the traces of the
dynamic responses, the cause of such poor dynamic response is found to be that their air
gap flux linkages deviate from their set values. The deviation is not only in magnitude but
also in phase. The variations in the flux linkage have to be controlled by the magnitude
and frequency of the stator and rotor phase currents and instantaneous phases.
The oscillations in the air gap flux linkages result in oscillations in
electromagnetic torque and, if left unchecked, reflect as speed oscillations. This is
undesirable in many high-performance applications. Air gap flux variations result in large
excursions of stator currents, requiring large peak converter and inverter ratings to meet
the dynamics. An enhancement of peak inverter rating increases cost and reduces the
competitive edge of ac drives over dc drives.
Separately excited dc drives are simpler in control because they independent
control flux, which, when maintained consists, contributes to an independent control of
torque. This is made possible with separate control of field and armature currents, which
in turn control the field flux and the torque independently. Moreover, the dc motor
control requires only the control of the field or armature current magnitudes.
As with the dc drives , independent control of the flux and torque is possible in ac
drives. The stator current phasor can be resolved, say, along the rotor flux linkages, and
the component along the rotor flux linkages is the field producing current, but this
requires the position of the rotor flux linkages at every instant; note that this is dynamic,
unlike in the dc machine. If this is available, then the control of ac machines is very
similar to that of separately excited dc machines. The requirements of phase, frequency,
and magnitude control of the currents and hence of the flux phasor are made possible by
inverter control. The control is achieved infield co-ordinates (hence the name of this
control strategy, field-oriented control); sometimes it is known as vector control. Vector
1
8

control made the ac drives equivalent dc drives in the independent control of flux and
torque and superior to them in their dynamic performance.

3.2 DC DRIVE ANALOGY

Ideally, a vector control induction motor drive operates like a separately excepted
dc motor drive. Fig3.1 shows the separately excited dc motor. In a dc machine, neglecting
the armature reaction effect and field saturation, the developed torque is given by.

Where ia = armature current &

if = field current
The construction of a dc machine is such that the field flux f Produced by the
current If is perpendicular to the armature flux a, which is produced by armature current
ia. These space vectors, which are stationary in space, are orthogonal or decoupled in
nature. This means that when torque is controlled by controlling the current Ia the flux f
is not effected and we get the fast transient response and high torque/ ampere ratio with
the rated f. Because of decoupling, when the field current if is controlled, it effect the
field flux f only, but not the a flux. Because of the inherent coupling problem, an
induction motor cannot generally give such fast response.
DC machine like performance can also be extended to an induction motor of the
machine control is considered in a synchronously rotating reference frame (de-qe), where
the sinusoidal variables appear as dc quantities in steady state.

Fig 3.1. Separately excited dc motor

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Fig 3.2 Vector controlled induction motor

These current are the direct axis component and quadrature axis component
of the stator current, respectively, in a synchronously rotating reference frame. With
vector control, ids is analogous to field current If and iqs is analogous to armature
current Ia of a dc machine.
This dc machine like performance is only possible if ids is oriented (or
aligned) in the direction of flux

and iqs is established perpendicular to it, as

shown by the space- vector diagram on the right of figure 3.2. This means that when
Ids is controlled, it controls the flux only and does not affect the Iqs component of
current. This vector or field orientation of currents is essential under all operating
conditions in a vector controlled drive. It can be noted when compared to dc machine
space vectors; induction machine space vectors synchronously at frequency e, as
indicated the figure. In fact, vector control should assure the correct orientation and
quality of command and actual currents.

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0

Equivalent circuit and phasor Diagram:

Fig3.3 Complex (qds) equivalent circuit in steady state

Figure 3.3 shows the complex form of de-qe Equivalent circuit in steady state
condition, where rms values Vs and Is are replaced by corresponding peak values
(Sinusoidal rector variables), as shown. The rotor leakage inductance Llr has been
neglected for simplicity, which makes the rotor flux r the same as the air gap flux m .
The stator current Is can be expressed as

Where
ids =magnetizing component of stator current flowing through the inductance Lm,
iqs= frequency component of stator current flowing in the rotor circuit.

(a)

(b)

Fig 3.4steady state phasors (in terms of peak values)

( a ) Increase of torque component of current, ( b ) Increase of flux component of current

2
1

Figure 3.4 shows the phasor diagrams in de- qe frame with peak values of
sinusoids and air gap voltage Vm aligned on the qe axis. The phase position of the
currents and flux as shown in figure, and the corresponding developed torque expression
is given by equation 3.3. The terminal voltage Vs is slightly leading because of the stator
impedance drop. The in phase or torque component of current iqs contributes active
power across the air gap, whereas the reactive or flux component of current ids
contributes only reactive power. Figure 3.4(a) indicates an increase of the iqs component
of the stator current to increase the torque while maintaining the r constant, whereas (b)
indicates a weakening of the flux by reducing the ids component.

3.3 PRINCIPLE OF VECTOR CONTROL

The fundamentals of vector control can be explained with the help of figure 3.5,
where the machine model is represented in a synchronously reference frame. The inverter
is omitted from the figure, assuming that it has units current gain, that is, if generates
currents ia,ib, and ic as dictated by the corresponding command currents
from the controller. A machine model with internal conversions is shown on the right.
The machine terminal phase currents ia,ib,ic are converted to

and

Components by

3-2 transformation. These are then converted to stationary rotating frame by the unit
vector components cos e and sin e before applying them to the de- qe machine model.

Fig 3.5 Basic block diagram of vector control

2
2

Vector control implementation principle with machine ds-qs model as shown. The
controller makes two stages of inverse transformation as shown, so that the control
currents

correspond to the machine currents ids and iqs, respectively. In

addition, the unit rector assures correct alignment of ids current with the flux vector r
and iqs perpendicular to it, as shown. It can be noted that the transformation and inverse
transformation. Including ideally does not incorporate any dynamics, and therefore, the
response to. ids and iqs is instantaneous (neglecting computational and sampling delays).

3.4 TYPES OF VECTOR CONTROL

There are essentially two general methods of vector control.
They are:
(1) Direct vector control, which was developed by F.Blaschke and
(2) Indirect vector control, developed by K.Hasse.

BLOCKDIAGRAMS:

2
3

Fig 3.6 block diagrams of direct vector control

These methods are differentiated on how the unit vector signals are generated
from stator, rotor or air-gap flux signals. In our project we are concentrated on direct
method of Vector Control.

3.5 DIRECT (OR) FEEDBACK VECTOR CONTROL

The direct vector control depends on the generation of unit vector signals from the
stator or air-gap flux signals. The basic scheme of direct vector control of induction
motor is shown in Fig. 3.6.The air-gap signals can be measured directly or estimated
from the stator voltage or current signals. The stator flux components can be directly
computed from stator quantities. In these systems, rotor speed is not required for
obtaining rotor field angle information. Here, the actual motor currents are converted to
synchronously rotating frame currents using park transformation. The resulting dc
quantities are compared with the reference d-axis and q-axis components. The outputs of
the controllers are used to generate the pulse width modulated signals for switching the
devices in the inverter bridge feeding the motor.

2
4

The following equations give the rotor fluxes as functions of stator current and speed.

Where TR = Lr/Rr is the rotor time constant

The basic block diagram of the direct vector control method for a voltage fed
inverter drive is shown. In fig 3.6. The principle vector control parameters
which are dc values in synchronously rotating frame, are converted to stationary frame
(defined as vector rotation (VR)) with the help of a unit vector (cose and sine) generated
from flux vector signals

. The resulting stationary frame signals are then

converted to phase current commands for the inverter. The flux signals
are generated from the machine terminals voltages and currents with the help of the
voltage model estimator. A flux control loop has been added for precision control of flux.
The torque component of current

is generated from the speed control loop through a

bipolar limiter. The torque proportional to iqs, can be bipolar. It is negative with negative
iqs , and correspondingly. The phase position of iqs becomes negative. An additional
torque control loop can be added within the speed loop of desired fig 3.4(b) can be
extended to field weakening mode by programming the flux command as a function of
speed so that the inverter remains in PWM mode. Vector control by current regulation is
lost if the inverter attains the square-wave mode of operation.

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5

Where vector r is magnitude of

The unit vector signals (cose and sine),when used for vector rotation in
fig. (3.6), give a ride of current ids on the d-axis (direction of r) and current iqs on
the q-axis as shown. At this condition qr =0 and dr=r, as indicated in the figure, and
the corresponding torque expression is given by equation (3.3) like a dc machine. When
the iqs polarity is reversed by the speed loop, the iqs position also reverses, giving
negative torque. The generation of a unit vector signal from feed back flux vectors gives
the name direct vector control.

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6

3.6. FLUX ESTIMATOR

In the direct vector control method, as discussed above, it is necessary to estimate
the rotor flux components dr s and qr s so that the unit vector and rotor flux can be
calculated by equations 3.9 and 3.10. Two commonly used methods of flux estimation are
discussed below,

Voltage Model
In this method, the machine terminal voltages and currents are sensed and the fluxes
are computed from the stationary frame (ds-qs) equivalent circuit shown in figure 2.2.
These equations are:

Since ic=-(ia+ib) for isolated neutral load

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7

Fig 3.7. Voltage model feedback signal estimation block diagram

27

Eliminating idr and iqr from above two equations with the help of 3.21 and 3.22 we get
the following

This can also be written in the following form with the help of equations 3.21 and 3.22

Where

Substituting equations 3.25 and 3.26 in the torque equation 2.24, in stationary frame
and simplifying, we get

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8

Figure shows the block diagram for feedback signal estimation with the help of
a microcomputer, where the estimation of additional signals, such as stator fluxes, air gap
fluxes, and torque, are also show. In the front end, there is some hardware low-pass
filtering and 3/2 conversion with the help of op amps before conversion by the A/D
converter, which is not shown in detail. Note that machines are normally isolated neutral
load, and therefore, only two current sensors are needed. The vector drive uses a currentcontrolled PWM inverter. The current control is logical, as mentioned before, because
both the flux and torque are directly related to currents. The inverter can have hysteresisband current control, or some type of voltage control within the current control loop.
The current estimations equations for ids and iqs using equations 2.16 2.21 are
also included in figure. Note that any error in the unit vector or distortion associated with
the feedback signals will affect the performance of the drive. The direct method of vector
control discussed so far is difficult to operate successfully at very low frequency
(including zero speed) because of the following problems:

s
At low frequency. Voltage signals v ds and vqss are very low. In addition, ideal

integration becomes difficult because dc offset tends to build up at the integrator

output.

The parameter variation effect of resistance Rs and inductances Lls, Llr, and Lm
tend to reduce accuracy of the estimated signals. Particularly, temperature
variation of Rs becomes more dominant. However, compensation of Rs is
somewhat easier. At higher voltage, the effect of parameter variation can be
neglected.

In industrial applications, vector drives are often required to operate from zero speed
(including zero speed start-up). Here, direct vector control with voltage model signal
estimation cannot be used.

3.7.CONCLUSION
Thus the vector control of induction motor is more reliable compared with other
types of induction motor speed control.
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9

CHAPTER-4
CONCLUSION
4.1 INTRODUCTION
The induction motor control is more complicated compared to separately
excited dc motor control. This is due to nonlinear multivariable structure of induction
motor. The aim of vector control is to decouple the torque and flux components of
induction motors. For this, both the magnitude and phase angle of the current vector is
to be controlled. With the vector control, the transient response characteristic of
induction motor is similar to that of separately excited dc motor. Thus by placing a vector
controller between induction motor and main controller, the motor can be forced to yield a
fast torque response similar to that of separately excited dc motor.
As with the dc drives , independent control of the flux and torque is possible in ac
drives. The stator current phasor can be resolved, say, along the rotor flux linkages, and
the component along the rotor flux linkages is the field producing current, but this
requires the position of the rotor flux linkages at every instant; note that this is dynamic,
unlike in the dc machine. If this is available, then the control of ac machines is very
similar to that of separately excited dc machines. The requirements of phase, frequency,
and magnitude control of the currents and hence of the flux phasor are made possible by
inverter control. The control is achieved infield co-ordinates (hence the name of this
control strategy, field-oriented control); sometimes it is known as vector control. Vector
control made the ac drives equivalent dc drives in the independent control of flux and
torque and superior to them in their dynamic performance.

4.2 CONCLUSION
The direct vector control method, is successfully used for high frequency
(for high speed) by using voltage model flux estimation method.and this direct vector
control of induction motor is more reliable compared with other types of induction motor
speed controls like scalar control.

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