PMSM Field Oriented Control with LCD Display and Control ...
Field Oriented Control
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Transcript of Field Oriented Control
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Field-Oriented Control of Induction Machine
Dr. Nik Rumzi Nik Idris
Department of Energy Conversion,Faculty of Electrical Engineering,
Universiti Teknologi Malaysia
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• IM is superior to DC machine with respect to size, weight, inertia, cost, speed
Why FOC ?
• DC motor is superior to IM with respect to ease of control– High performance with simple control due de-coupling
component of torque and flux
• FOC transforms the dynamics of IM to become similar to the DC motor’s – decoupling the torque and flux components
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Basic Principles DC machine
Current in
Current out
a
f
By keeping flux constant, torque can be controlled by controlling armature current
Te = k If Ia
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Basic Principles of IM
a
b
b’c’
c
Stator current produce stator flux
s r
Interaction between stator and rotor fluxes produces torque
Space angle between stator and rotor fluxes varies with load, and speed
Stator flux induces rotor current produces rotor flux
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FOC of IM drive
Torque equation :
sse i2
p
2
3T
srr
me i
L
L
2
p
2
3T
In d-q axis :
)ii(LL
2p
23
T sdrqsqrdr
me
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FOC of IM drive
In d-q axis :
)ii(LL
2p
23
T sdrqsqrdr
me
Choose a frame such that:
rrdr
0r
rq
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FOC of IM drive
Choose a frame such that:
rrdr
0r
rq
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FOC of IM drive
)ii(LL
2p
23
T sdrqsqrdr
me
Choose a frame such that:
rrdr
0r
rq
qs
ds
si
r
sqi
rq
sdi rd
As seen by stator reference frame:
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FOC of IM drive
rsqr
r
me i
LL
2p
23
T
si
Choose a frame such that:
rrdr
0r
rq
qs
ds
r dr
qr
rsdi
rsqi
)ii(LL
2p
23
T sdrqsqrdr
me
Rotating reference frame:
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FOC of IM driveTo implement rotor flux FOC need to know rotor flux position:
(i) Indirect FOC
grrg
grg
sr
rmgr
r
r )(jdtd
iLRL
LR
0
rsliprr
sqr
sdr
rmr
r
r )(jdtd
jiiLRL
LR
0
Synchronous speed obtain by adding slip speed and rotor speed
Rotor voltage equation:
grrg
grg
rr )(jdt
diR0
gsm
grr
gr iLiL
Rotor flux equation:
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FOC of IM drive - indirect
dtd
iLRL
LR
0 rrsd
r
rmr
r
r
d component
rslipr
sqr
rm )(iLRL
0
q component
rsliprr
sqr
sdr
rmr
r
r )(jdtd
jiiLRL
LR
0
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FOC of IM drive - indirect
dtd
iLRL
LR
0 rrsd
r
rmr
r
r
d component
rslipr
sqr
rm )(iLRL
0
q component
rsliprr
sqr
sdr
rmr
r
r )(jdtd
jiiLRL
LR
0
m
*r
sd L*i r
r
sqr
*r
rmslip i
LRL
)(
m
r
r
*e
sq LL
p3T4
*i r
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FOC of IM drive - indirect
T*
*
2/3
1/s
irsq*
irsd*
isq*
isd*
ia*
ib*
ic*
CCVSI
slip r
+ +
Rotating frame Stationary frame
m
*r
sd L*i r
m
r
r
*e
sq LL
p3T4
*i r
rsq
r*r
rmslip i
LRL
)(
ej
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FOC of IM drive
(ii) Direct FOC
Rotor flux can be estimated by:
Rotor flux estimated from motor’s terminal variables
srr
me i
LL
2p
23
T
Express in stationary frame
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FOC of IM drive
(ii) Direct FOC
)j(jdt
)j(di)jii(
LRL
)j(LR
0 rqrdrrqrd
sqsdr
rmrqrd
r
r
dti
LRL
LR
rqrsdr
rmrd
r
rrd
dti
LRL
LR
rdrsqr
rmrq
r
rrq
d q
2rq
2rdr
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FOC of IM drive - direct
T*
r*2/3
isq*
isd*
ia*
ib*
ic*
CCVSI
TC
FC
irsq*
irsd*
ej
Te
r
srr
me i
LL
2p
23
T
grr
rs
r
rmr
r
r jdt
di
L
RL
L
R0
Rotating frame Stationary frame16