Space Vector Modulated – Direct Torque Controlled (DTC – SVM ...

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1. Introduction These features depend on the applied control strategy. The main goal of the chosen control method is to provide the best possible parameters of drive. Additionally, a very important requirement regarding control method is simplicity (simple algorithm, simple tuning and operation with small controller dimension leads to low price of final product). A general classification of the variable frequency IM control methods is presented in Fig. 1.1 [67]. These methods can be divided into two groups: scalar and vector. Variable Frequency Control Scalar based controllers Vector based controller U/f=const. Volt/Hertz is = f ( ωr ) Stator Current Field Oriented Feedback Linearization Direct Torque Control Passivity Based Control Rotor Flux Oriented Stator Flux Oriented Direct Torque Space - Vector Modulation Circle flux trajectory (Takahashi) Hexagon flux trajectory (Takahashi) Direct (Blaschke) Indirect (Hasse) Open Loop NFO (Jonsson) & o& Closed Loop Flux & Torque Control Fig. 1.1. General classification of induction motor control methods The scalar control methods are simple to implement. The most popular in industry is constant Voltage/Frequency (V/Hz=const.) control. This is the simplest, which does not provide a high-performance. The vector control group allows not only control of the voltage amplitude and frequency, like in the scalar control methods, but also the instantaneous position of the voltage, current and flux vectors. This improves significantly the dynamic behavior of the drive. However, induction motor has a nonlinear structure and a coupling exists in the motor, between flux and the produced electromagnetic torque. Therefore, several methods for decoupling torque and flux have been proposed. These algorithms are based on different ideas and analysis. 2
1. Introduction The first vector control method of induction motor was Field Oriented Control (FOC) presented by K. Hasse (Indirect FOC) [45] and F. Blaschke (Direct FOC) [12] in early of 70s. Those methods were investigated and discussed by many researchers and have now become an industry standard. In this method the motor equations are transformed into a coordinate system that rotates in synchronism with the rotor flux vector. The FOC method guarantees flux and torque decoupling. However, the induction motor equations are still nonlinear fully decoupled only for constant flux operation. An other method known as Feedback Linearization Control (FLC) introduces a new nonlinear transformation of the IM state variables, so that in the new coordinates, the speed and rotor flux amplitude are decoupled by feedback [81, 83]. A method based on the variation theory and energy shaping has been investigated recently, and is called Passivity Based Control (PBC) [88]. In this case the induction motor is described in terms of the Euler-Lagrange equations expressed in generalized coordinates. In the middle of 80s new strategies for the torque control of induction motor was presented by I. Takahashi and T. Noguchi as Direct Torque Control (DTC) [97] and by M. Depenbrock as Direct Self Control (DSC) [4, 31, 32]. Those methods thanks to the other approach to control of IM have become alternatives for the classical vector control – FOC. The authors of the new control strategies proposed to replace motor decoupling and linearization via coordinate transformation, like in FOC, by hysteresis controllers, which corresponds very well to on-off operation of the inverter semiconductor power devices. These methods are referred to as classical DTC. Since 1985 they have been continuously developed and improved by many researchers. Simple structure and very good dynamic behavior are main features of DTC. However, classical DTC has several disadvantages, from which most important is variable switching frequency. Recently, from the classical DTC methods a new control techniques called Direct Torque Control – Space Vector Modulated (DTC-SVM) has been developed. In this new method disadvantages of the classical DTC are eliminated. Basically, the DTC-SVM strategies are the methods, which operates with constant switching frequency. These methods are the main subject of this thesis. The DTC-SVM structures 3
Page 1: Warsaw University of Technology Fac
Page 5 and 6: Contents 1. Introduction 1 Pages 2.
Page 7: 1. Introduction The Adjustable Spee
Page 11 and 12: 1. Introduction algorithms are desc
Page 13 and 14: 2.2. Mathematical Model of Inductio
Page 15 and 16: ( ) 2.2. Mathematical Model of Indu
Page 17 and 18: 2.2. Mathematical Model of Inductio
Page 19 and 20: 2.3. Voltage Source Inverter (VSI)
Page 21 and 22: 2.3. Voltage Source Inverter (VSI)
Page 23 and 24: 2.4. Pulse Width Modulation (PWM) f
Page 25 and 26: 2.4. Pulse Width Modulation (PWM) U
Page 27 and 28: 2.4. Pulse Width Modulation (PWM) I
Page 29 and 30: 2.4. Pulse Width Modulation (PWM) d
Page 31 and 32: 2.4. Pulse Width Modulation (PWM) T
Page 35 and 36: 2.4. Pulse Width Modulation (PWM) a
Page 37 and 38: 2.4. Pulse Width Modulation (PWM) F
Page 41 and 42: 2.4. Pulse Width Modulation (PWM) T
Page 43 and 44: 2.4. Pulse Width Modulation (PWM) m
Page 45 and 46: 2.5. Summary random modulation tech
Page 47 and 48: 3.2. Field Oriented Control (FOC)
Page 49 and 50: 3.2. Field Oriented Control (FOC) F
Page 51 and 52: 3.3. Feedback Linearization Control
Page 53 and 54: 3.3. Feedback Linearization Control
Page 55 and 56: 3.4. Direct Flux and Torque Control
Page 57 and 58: 3.4. Direct Flux and Torque Control
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3.4. Direct Flux and Torque Control
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3.5. Summary methods. Table 3.2 sum
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4.2. Structures of DTC-SVM - Review
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4.2. Structures of DTC-SVM - Review
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4.3. Analysis and Controller Design
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4.4. Speed Controller Design M L Ω
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4.4. Speed Controller Design the sp
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5. Estimation in Induction Motor Dr
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5.2. Estimation of Inverter Output
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5.2. Estimation of Inverter Output
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5.3. Stator Flux Vector Estimators
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5.5. Rotor Speed Estimation stator
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6. Configuration of the Developed I
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6.3. Laboratory Setup Based on DS11
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6.3. Laboratory Setup Based on DS11
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6.4. Drive Based on TMS320LF2406 Th
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6.4. Drive Based on TMS320LF2406 In
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7.2. Pulse Width Modulation Fig. 7.
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7.3. Flux and Torque Controllers f
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7.3. Flux and Torque Controllers Th
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7.4. DTC-SVM Control System b) Fig.
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7.4. DTC-SVM Control System Fig. 7.
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8. Summary and Conclusions which ar
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References [1] V. Ambrozic, G.S. Bu
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References [26] D. Casadei, G. Serr
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References [54] J. Holtz, Juntao Qu
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References [83] R. Marino, S. Peres
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References [111] Y. Xue, X. Xu, T.G
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List of Symbols a = e j2 π 3 1 =
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List of symbols U , U - stator volt
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List of symbols ZSS - Zero Sequence
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Appendices for even n: π 2 1− co
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Appendices Fig. A.2.2. Model of inv
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Appendices A.3. Data and Parameters
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Appendices A.4. Equipment Table A.4
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Appendices Fig. A.5.1. Block diagra
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Appendices A.6. Processor TMS320FL2
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Appendices • 40 Individually Prog
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