Vector Control of Ac Drives
Vector Control of Ac Drives
Vector Control of Ac Drives
ri!es
Spring 2004
Introduction
Sc"l"r control of "c dri!es produces good ste"d# st"te perfor$"nce %ut poor d#n"$ic response& T'is $"nifests itself in t'e de!i"tion of "ir g"p flu( lin)"ges fro$ t'eir set !"lues& T'is !"ri"tion occurs in %ot' $"gnitude "nd p'"se& Vector control *or field oriented control+ offers $ore precise control of "c $otors co$p"red to sc"l"r control& T'e# "re t'erefore used in 'ig' perfor$"nce dri!es ,'ere oscill"tions in "ir g"p flu( lin)"ges "re intoler"%le- e&g& ro%otic "ctu"tors- centrifuges- ser!os- etc&
Introduction (contd)
.'# does !ector control pro!ide superior d#n"$ic perfor$"nce of "c $otors co$p"red to sc"l"r control / In sc"l"r control t'ere is "n in'erent coupling effect %ec"use %ot' tor0ue "nd flu( "re functions of !olt"ge or current "nd fre0uenc#& T'is results in sluggis' response "nd is prone to inst"%ilit# %ec"use of 1t' order '"r$onics& Vector control decouples t'ese effects&
Te = K t' I a I f
3ec"use t'e !ectors "re ort'ogon"l- t'e# "re decoupled- i&e& t'e field current onl# controls t'e field flu( "nd t'e "r$"ture current onl# controls t'e "r$"ture flu(&
.it' !ector control: ids *induction $otor+ If *dc $otor+ i0s *induction $otor+ I" *dc $otor+ T'us tor0ue is gi!en %#: ,'ere
' Te = K t r iqs = K t ids iqs
= r r
s qr = - sin e = - "nd r r
( ) + ( )
s 2 dr
s 2 qr
T'e cose "nd sine sign"ls in correct p'"se position "re s'o,n %elo,:
Tr"nsient response ,ill %e f"st %ec"use tor0ue control %# i0s does not "ffect flu(& Vector control "llo,s for speed control in "ll four 0u"dr"nts *,it'out "ddition"l control ele$ents+ since neg"ti!e tor0ue is directl# t")en c"re of in !ector control&
e = r + sl
Since- e = e dt - ,e c"n ,rite:
e = r + sl
d qr dt
+ Rr iqr + ( e r ) dr = 0
dr = Lr idr + Lmids
qr = Lr iqr + Lmiqs
T'ese e0u"tions $"# %e re,ritten "s:
Lm 1 idr = dr ids Lr Lr iqr = L 1 qr m iqs Lr Lr
d dr Rr Lm + dr Rr ids sl qr = 0 dt Lr Lr
d qr
Lm Rr + qr Rr iqs + sl dr = 0 dt Lr Lr
,'ere sl = e r &
e = r + sl
7ote: A const"nt rotor flu( results in t'e e0u"tion:
=L i m ds r
so t'"t t'e rotor flu( is directl# proportion"l to ids in ste"d# st"te&
Const"nt rotor flu( is $"int"ined %# using t'e desired ids4& T'e slip fre0uenc# sl4 is gener"ted fro$ t'e desired i0s4&
T'e incre$ent"l encoder is necess"r# for indirect !ector control %ec"use t'e slip sign"l loc"tes t'e rotor pole position ,it' respect to t'e dr "(is in " feedfor,"rd $"nner&
If i0s4B0 for neg"ti!e tor0ue- p'"sor i0s is re!ersed "nd sl *"nd sl+ ,ill %e neg"ti!e& T'e speed control r"nge c"n %e e(tended into t'e field ,e")ening region %# incorpor"ting t'e dotted line p"rt of t'e i$ple$ent"tion *see figure %elo,+& 7ote: Closed loop flu( control is no, re0uired&
2 d r Te TL = J P dt
7ote: T'e tor0ue Te responds inst"ntl# %ut t'e flu( '"s first order del"# *,it' ti$e const"nt 5Dr@;r+&
gi!es: r
T'e "ctu"l tor0ue c"n %e esti$"ted fro$ t'e st"tor fr"$e !"ri"%les using t'e e0u"tion:
3 P s s s s X = Te = ( ds iqs qs ids ) 2 2