Abc-Dq and Dq-Abc
Abc-Dq and Dq-Abc
+ = + 1 s
r
L
i L
r
r
ds m r
(7)
The dynamic part of the flux is omitted while calculating the reference rotor flux. This is because the rotor
flux is constant in steady state. The i
qs
*
is calculated using T
e
*
and flux*.
* *
2 2
3
qs r
r
m
e
I
L
L P
T + =
(8)
* *
1 2
3
2
e
r m
r
qs
T
L
L
P
i
+
=
(9)
Slip speed denoted by
sl
in rad/sec is calculated using Phir (rotor flux) and i
qs
(q-axes component of stator current)
from the following equation 4.
r
i
L
r
L
qs
r
r
m r e sl
+
= =
) (
'
e e e
(10)
The synchronous speed
e
and therefore theta are calculated using the equations 5 and 6 respectively.
sl r e
e e e + =
(11)
} }
+ = + = =
sl r sl r e e
dt dt u u e e e u ) (
(12)
ISSN (Print) : 2320 3765
ISSN (Online): 2278 8875
International Journal of Advanced Research in Electrical,
Electronics and Instrumentation Engineering
(An ISO 3297: 2007 Certified Organization)
Vol. 2, Issue 9, September 2013
Copyright to IJAREEIE www.ijareeie.com 4383
VIII.(ABC-DQ) TRASNFORMATION
The a-b-c to d-q transformation can be implemented by the SIMULINK model shown in the Fig 7.
Fig 7 Block diagram for a-b-c to d-q Transformation
Transformation matrix used for a-b-c to d-q transformation is given by the following equation 13.
| |
(
(
(
(
(
(
+
+
=
2
1
2
1
2
1
)
3
2
sin( )
3
2
sin( ) sin(
)
3
2
cos( )
3
2
cos( ) cos(
3
2
) (
0
t
u
t
u u
t
u
t
u u
u
qd
T
(13)
IX.(DQ-ABC) TRANSFORMATION
The d-q to a-b-c transformation can be implemented by the SIMULINK model shown in the Fig 8.
Fig.8 Block diagram for d-q to a-b-c Transformation
Transformation matrix used for d-q to a-b-c transformation is given by the equation (14).
| |
(
(
(
(
(
(
+ +
=
1 )
3
2
sin( )
3
2
cos(
1 )
3
2
sin( )
3
2
cos(
1 ) sin( ) cos(
) (
1
0
t
u
t
u
t
u
t
u
u u
u
qd
T
(14)
ISSN (Print) : 2320 3765
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X. SIMULATION RESULTS AND DISCUSSIONS
The simulation results of the IVCIM drive employing HBPWM controller with an inverter and an IM with the
following specifications are considered.
Inverter: DC link voltage (V
dc
) = 428.76V
The dc link voltage V
dc
should be around 1.453V
L
where V
L
is R.M.S value of line voltage.
Sampling time (T
s
): 1.8s,Hysterisis Band width of HBPWM current controller is 0.03.
Induction motor: 3 phase, 6 hp, 440 V, 4-pole Frequency: 50 Hz Stator resistance ( r
s
): 0.007 ohm. Rotor resistance (
r
r
L) ecnatcudni egakaeL rotatS .mho 820.0 :(
ls
): 0.8 mH. Rotor Leakage inductance (L
lr
gnizitengaM .Hm 8.0 :(
inductance (L
m
):34.7 mH
Fig 9 Speed response of IVCIM using HBPWM controller without any disturbance
The motor has high starting torque of about 10 to 12 times the load torque. But in the graph the starting torque
is seen to be constant at three times the load torque. In the vector controller circuit for i
qs
*
generation where a PI
controller is used to generate the reference torque, a saturation limit of three times the load torque is set.
Fig 10 Torque response of IVCIM using HBPWM controller without any disturbance
Fig 11 Speed response of IVCIM using HBPWM controller with step disturbance
It can be seen from the graph that the disturbance in load is given even before the drive reached the post
disturbance speed 160 rad/sec. Now if the drive is left as such without any further disturbance, it stabilizes at around
3.277 sec. But the step disturbance of 50 rad/sec in speed given at 2.2 sec causes the drive to stabilize at around 3.5 sec.
ISSN (Print) : 2320 3765
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Fig 12 Torque response of IVCIM using HBPWM controller with step disturbance
HBPWM controller, when there is a step disturbance in load torque and speed at 1.9 sec and 2.2 sec respectively.
Pre and post disturbance values of load torque are 100 N-m and 150 N-m respectively.. This dip can be reduced by
proper selection of gain constants of the PI controller generating the reference torque T
e
*
. As the speed of motor
reaches the reference value of 100 rad/sec, the developed torque reaches a final value of 170 N-m.
Fig 13 Stator current of IVCIM using HBPWM controller with normalization factor k=1
Fig 14(a) Stator current of IVCIM using HBPWM controller with k=0.003
Fig 14(b) Zoomed portion of stator current of IVCIM using HBPWM controller with k=0.003
ISSN (Print) : 2320 3765
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It can be observed from the graphs shown in Figs 13 and 14(a) that when the current error input to the HBPWM
controller is not normalized i.e. k=1, the input current to the stator of IM is smooth but with the normalization factor
k=0.003 the input current to the stator of IM is distorted and there is an increase in torque pulsations in the developed
torque. The Fig 3.14(b) shows the zoomed portion of the stator current in the in the Fig 3.14 (a). Further normalization
causes further distortion of input current and increase in the pulsations in the torque waveform.
Fig. 15 Stator current of IVCIM with HBPWM when A-phase current error is zero
If any one of the inputs to the HBPWM current controller is zero the IM drive ceases to work as the input
current to the IM motor becomes zero. The graph in the Fig 15 shows current input to the motor when A-phase
current error input to the HBPWM current controller is zero.
The switching loss of the inverter using HBPWM controller in the IVCIM drive is calculated by defining a
ratio
o
as follows:
o
=
switchings possible of number
switchings device actual of number
Reduction of
o
decreases the inverter switching loss .The values of
o
calculated for different values k is given
below:
o
for k=1 is 0.26
o
for k=0.1 is 0.64
o
for k=0.003 is 0.96
Total Harmonic Distortion:
The total harmonic distortion (THD) is a measure of closeness in shape between a waveform and its fundamental
component and is defined as THD =
1
2
1
,.. 3 , 2
2
2
I
n
I
n
n
(
(
|
|
.
|
\
|
=
=
( )
2
1
2
1
2
1
1
I I
I
where,
n
I
= RMS value of the n
th
harmonic component of the current
1
I
= RMS value of the fundamental
component of the current .
I
= RMS value of the total current. The % total harmonic distortion (%THD) of the input
current to the stator of the IVCIM using HBPWM controller for hysteresis band widths of 0.02 and 0.5 are shown in the
Table 1:
XI.CONCLUSIONS
In this Paper the working principle of HBPWM current controller and its modeling in SIMULINK for an inverter
control is discussed. As its application, an IVCIM drive is modeled and the results are shown. The hysteresis band
width of the HBPWM current controller is 0.02. The speed, torque responses, stator current waveforms, inverter
switching losses and %THD of the stator current of the IVCIM.
ISSN (Print) : 2320 3765
ISSN (Online): 2278 8875
International Journal of Advanced Research in Electrical,
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(An ISO 3297: 2007 Certified Organization)
Vol. 2, Issue 9, September 2013
Copyright to IJAREEIE www.ijareeie.com 4387
Table 1: %THD
Hysteresis Band Width %THD of stator current (phase-A) of IVCIM using
HBPWM controller
0.02 3.679
0.5 4.210
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[3] MATLAB 6.5: Help Documentation-Release Notes 13.
[4] I.Boldea & S.A.Nasar:Vector control of AC Drives.
[5] Bimal K. Bose: Modern Power Electronics and Ac Drives-Pearson Education,
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nd
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[7] Bor-Ren Lin and Richard G.Hoft: Power Electronics Inverter Control with Neural Network, in IEEE-APEC, (San Diego), pp. 128-134, 1993.
[8] Fumio Harashima, Yuzo Demizu, Seiji Kondo, Hideki Hashinmoto: Application of Neural Networks to Power Converter Control, IEEE-IAS,
Ann. Mtg. conf. Record, pp.1086-1091, 1989.
[9] Marian P Kazmierkowski, Dariusz Sobczuk: Improved Neural Network Current Regulator for VS-PWM Inverters IEEE, pp. 1237-1241, 1994.
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