Professional Documents
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(1)
Paper IPCSD 03–113, presented at the 2002 Industry Applications Society
Annual Meeting, Pittsburgh, PA, October 13–18, and approved for publica-
tion in the IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS by the Industrial (2)
Drives Committee of the IEEE Industry Applications Society. Manuscript sub-
mitted for review July 1, 2002 and released for publication October 21, 2003. In the following discussion, indicates an average and
K. Matsuse is with the Department of Electrical and Electronic Engineering,
Meiji University, Kawasaki 214-8571, Japan (e-mail: matsuse@isc.meiji.ac.jp). indicates a difference. When the loads on the motors are unbal-
H. Kawai was with the Department of Electrical and Electronic Engineering, anced, does not equal . Therefore, we must choose which
Meiji University, Kawasaki 214-8571, Japan. He is now with the Development current the inverter will control. The inverter can control di-
Group, Transportation Drive Systems Dept., Toshiba Corporation, Tokyo, 183-
8511, Japan (e-mail: hirotoshi1.kawai@toshiba.co.jp). rectly because it is half the output current of the inverter .
Y. Kouno was with the Department of Electrical and Electronic Engi-
neering, Meiji University, Kawasaki 214-8571, Japan. He is now with the B. Rotor Flux of Dual Induction Motors
Power Plant Control Systems Engineering Department, Information and
Control Systems Division, Hitachi, Ltd., Hitachi 319-1293, Japan (e-mail: In a rotating reference frame, the rotor flux of the induction
yuusuke_kouno@pis.hitachi.co.jp). motor is given by the equation
J. Oikawa is with the Department of Electrical and Electronic Engineering,
Meiji University, Kawasaki 214-8571, Japan (e-mail: ce33010@isc.meiji.ac.jp).
Digital Object Identifier 10.1109/TIA.2003.821805 (3)
where
stator current;
rotor flux;
angular frequency of the inverter;
angular velocity of the inverter;
resistance of rotor;
mutual inductance;
self-inductance of stator;
self-inductance of rotor;
value of the rotating frame of references.
When (3) is applied to Motors 1 and 2, combining the two Fig. 2. Vector model of dual induction motors.
resulting equations yields the following equation for the average
rotor flux : TABLE I
SPECIFICATIONS OF TESTED INDUCTION MOTORS
(4)
where
(6)
(7)
and are the rotor fluxes of the two motors, and
indicates the - and -axes rotating at a synchronous angular
where
velocity.
If the machine parameters and speeds of the two motors are
exactly the same (that is, if , and ),
then (4) is equivalent to (3). This means that two motors can be
treated as a single under these conditions.
(5) If the motors have the same machine parameters, terms are
all zero. In that case, is a function only of , and (6) takes on
where is the number of pole pairs. Just as for the rotor flux, the same form as (5). Thus, the two motors can again be treated
if we applied (5) to Motor1 and Motor 2, combining the two as a single motor under these conditions.
MATSUSE et al.: CHARACTERISTICS OF SPEED-SENSORLESS VECTOR-CONTROLLED DUAL INDUCTION MOTOR DRIVE 155
(a)
(8)
(9)
(10)
(a) (b)
(c) (d)
Fig. 5. Unbalanced-load test (simulation result). (a) Torque response (proposed method). (b) Motor speed (proposed method). (c) Torque response (conventional
method). (d) Motor speed (conventional method).
Since is aligned with the axis, and . a vector rotation block, and a pulsewidth-modulation (PWM) in-
Then, (11) is expressed by verter. Proportional plus integral (PI) control is used to calculate
the torque reference from the difference between the speed ref-
(12) erence and the speed estimated by the observer. In [5], both PI
and P control were used because the torque has an upper limit.
In this study, the upper limit on the torque was not determined
and from (12), we obtain the reference current , used to con-
on the basis of the torque of each motor, but rather on the basis
trol the average torque
of the average torque, in order to prevent excessive current flow.
This made it possible to apply PI control to each motor.
The average torque reference is calculated from the torque
(13)
references of the two motors. The current reference used to de-
termine the average rotor flux is calculated from the average
In these equations, indicates reference values and indicates rotor flux reference. The current reference used to determine the
estimated values. average torque reference is calculated from the average torque
It is possible to apply this method to the four-machine drive reference. The rotor fluxes and the speeds of the motors are es-
used in electric railways. However, the equation for the current timated by using adaptive rotor flux observers (see [7]–[12] for
reference becomes more complex as the number of motors in- the details).
creases, and differences among the diameters of the wheels give
rise to differences among the angular velocities of the rotors of IV. CONVENTIONAL METHOD
the motors [6]. Simulations were used to compare the proposed method with
the conventional method. The conventional method treats two
III. SYSTEM CONFIGURATION OF PROPOSED METHOD motors as one large motor; and the current references are given
Table I shows the specifications of the dual induction motors by
used in the simulations and the experiments. Both motors had
the same specifications. (14)
Fig. 3 shows the system configuration that implements the
proposed method. The main components are two adaptive rotor (15)
flux observers, calculating blocks for the two current references,
MATSUSE et al.: CHARACTERISTICS OF SPEED-SENSORLESS VECTOR-CONTROLLED DUAL INDUCTION MOTOR DRIVE 157
(a) (b)
(c) (d)
(e) (f)
Fig. 6. Unbalanced-load test (simulation results for proposed method). (a) Torque response. (b) Motor speed. (c) Stator current (Motor 1): rotating frame of
reference. (d) Stator current (Motor 2): rotating frame of reference. (e) Stator current (average): rotating frame of reference. (f) Circulating stator current: rotating
frame of reference.
(a) (b)
(c) (d)
(e) (f)
Fig. 7. Unbalanced-load test (simulation results for proposed method). (a) Torque response. (b) Motor speed. (c) Stator current (Motor 1): rotating frame of
reference. (d) Stator current (Motor 2): rotating frame of reference. (e) Stator current (average): rotating frame of reference. (f) Circulating stator current: rotating
frame of reference.
motor [Fig. 4(a)]. However, even though the estimated speed of the estimated speeds for the proposed method in Fig. 5(b)
each motor is controlled in a stable manner, the speed of Motor are stable because the motor speeds of both motors are fed
2 is very different from the command speed [Fig. 4(b)]. These back and compare with the speed command, thus enabling the
results demonstrate that PI control enables Motor 1 to follow difference between them to be reduced. As a result, the speed
the speed command when a load torque is applied, whereas P of each motor converges uniformly. In contrast, the estimated
control does not enable Motor 2 to follow the speed command. speeds for the conventional method in Fig. 5(d) are unstable
because only the average speed is fed back for comparison with
B. Unbalanced-Load Test: Case 1 (PI-PI Control) the speed command. This allows the motors to diverge. In both
Fig. 5 shows some simulation results for a stepwise in the cases, the applied load torque is 32% of the rated value for the
torque: Fig. 5(a) and (b) are for the proposed method, and motors.
Fig. 5(c) and (d) are for the conventional method. The motor
speed command is set to 400 r/min. The two induction motors C. Unbalanced-Load Test: Case 2
initially have no load, and Motor 2 is given a 4.0-N m load after Fig. 6 shows some simulation results for the proposed
1 s. The torque response clearly follows the load in Fig. 5(a) method for an unbalance load. The motor speed command
(proposed), but not in Fig. 5(c) (conventional). Therefore, is set at 1000 r/min. Initially, neither motor has a load; and
MATSUSE et al.: CHARACTERISTICS OF SPEED-SENSORLESS VECTOR-CONTROLLED DUAL INDUCTION MOTOR DRIVE 159
(a) (b)
Fig. 8. Load—stator current characteristics. (a) Unbalanced load (“1” indicates a load is added only to Motor 1; “2” indicates a load is added only to Motor 2).
(b) Same load.
(a) (b)
(c)
Fig. 9. Speed-step-change test (simulation results for proposed method). (a) Torque response. (b) Motor speed. (c) Stator current: rotating frame of reference.
Motor 2 is given a 3-N m load that lasts for 3 s. Fig. 6(a) shows D. Unbalanced-Load Test: Case 3
that the torque response follows the load for each motor. In
Fig. 6(b), when the conditions for the two motors are different, Fig. 7 shows some simulation results for the proposed method
the estimated speeds of both deviate form the speed command; for a different unbalanced load. The motor speed command is set
but when they are the same, the estimated speeds match the at 1000 r/min. Initially, neither motor has a load; and Motor 2 is
speed command. This is because , , etc., are all zero given a 3-N m load after 1 s, and Motor 1 is given a 3-N m load 3
when the conditions are the same, thus allowing the two motors s later. Fig. 7(a) shows that the torque response follows the load
to be treated as a single motor. Fig. 6(c)–(f) shows the stator for each motor. In Fig. 7(b), we see that the performance is ex-
current and the circulating stator current. In Fig. 6(c)–(e), it actly the same as for the previous unbalanced load test (Case2).
can be seen that , , and are almost constant and that That is, the estimated speed deviate from the speed command
changes in accordance with the load. Fig. 6(f) shows that only when the conditions of the two motors are different; oth-
the circulating stator current flows while unbalanced loads are erwise, they match the speed command. Fig. 7(c)–(f) shows the
being applied to the motors; flows during the same period; stator current and circulating stator current. In Fig. 7(c)–(e), it
and is constant and almost equal to zero. can be seen that , and are almost constant, while
160 IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS, VOL. 40, NO. 1, JANUARY/FEBRUARY 2004
(a) (b)
(c)
Fig. 10. Speed-step-change test (experimental results). (a) Torque response. (b) Motor 1 speed. (c) Motor 2 speed.
, , and change in accordance with the load. Fig. 7(f) VI. CONCLUSION
shows that the circulating stator current flows while unbalanced The authors have devised a method of vector control for dual
loads are being applied to the motors; flows during the same induction motors connected in parallel that is based on aver-
period; and is constant and almost equal zero. ages and differences. The uses of adaptive rotor flux observers
eliminates the need for speed sensors. The validity and effec-
E. Stator Current Characteristics
tiveness of the proposed method were confirmed through simu-
Fig. 8 shows circulating stator currents, and for lations and experiments. The proposed method has an advantage
the steady state after unbalanced loads are applied to the two for an unbalanced load.
motors. The speed command is set to 400 r/min. In Fig. 8(a),
“1” indicates that a load is added only to Motor 1, and “2” indi- REFERENCES
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