107
108 CONTROL OF INDUCTION MOTORS
where J^g, i^^, and ^ g denote magnitudes of ^ g , J^g, and J^g, respec-
tively. In the stationary set of stator coordinates, dq, the vector of stator
MMF can be expressed as a complex variable, J ^ = ^ g + jJ^g = J^ej®^
as depicted in Figure 6.1. Because
•2 1 Vs
(6.2)
and
4 1 Vs
(6.3)
^' 2 - ^ 2 '
then, Eq. (6.1) can be rewritten as
1 V3_ V3,
^s •^ds ' 7"^qs "^as o^bs /-)*-^cs ~'~ i l o "^bs /-> *^cs I'
(6.4)
'4 V3
2
(6.5)
L-^qsJ 0
2 "2
and
2
0
3
J. _ 1 _
K. (6.6)
j. ]_
3 Vs-I
Transformation equations (6.5) and (6.6) apply to all three-phase variables
of the induction motor (generally, of any three-phase system), which add
up to zero.
Stator MMFs are true (physical) vectors, because their direction and
polarity in the real space of the motor can easily be ascertained. Because
an MMF is a product of the current in a coil and the number of turns of
the coil, the stator current vector, i^, can be obtained by dividing ^ by
the number of turns in a phase of the stator winding. This is tantamount
to applying the abc-^dq transformation to currents, i^^, /^g, and /^s ^^
individual phase windings of the stator. The stator voltage vector, Vg, is
obtained using the same transformation to stator phase voltages, v^, v^^,
and Vcs- It can be argued to which extent is and Vs are true vectors, but
from the viewpoint of analysis and control of induction motors this issue
is irrelevant.
It must be mentioned that the abc^dq and dq^abc transformation
matrices in Eqs. (6.5) and (6.6) are not the only ones encountered in the
literature. As seen in Figure 2.6, when the stator phase MMFs are balanced,
the magnitude, ^ , of the space vector, ^ , of the stator MMF is 1.5
times higher than the magnitude (peak value), ^ g , of phase MMFs. This
coefficient applies to all other space vectors. In some publications, the
abc->dq transformation matrix in Eq. (6.5) appears multiplied by 2/3,
and the dq-^abc transformation matrix in Eq. (6.6), by 3/2. Then, the vector
magnitude equals the peak value of the corresponding phase quantities. On
the other hand, if the product of magnitudes, V^, and 4, of stator voltage
and current vectors, v^ and ig, is to equal the apparent power supplied to
I I0 CONTROL OF INDUCTION MOTORS
the stator, the matrices in Eqs. (6.5) and (6.6) should be multiplied by
V(2/3) and V(3/2), respectively.
In practical ASDs, the voltage feedback, if needed, is usually obtained
from a voltage sensor, which, placed at the dc input to the inverter,
measures the dc-link voltage, Vj. The line-to-line and line-to-neutral stator
voltages are determined on the basis of current values, a, b, and c, of
switching variables of the inverter using Eqs. (4.3) and (4.8). Depending
on whether the phase windings of the stator are connected in delta or
wye, the stator voltages v^g, v^s, and v^s constitute the respective line-to-
line or line-to-neutral voltages. Specifically, in a delta-connected stator,
Vas = VAB' Vbs = VBC, and v^s = VCA, while in a wye-connected one, v^s
= VAN. Vbs = VBN, and v^s = VCN-
The current feedback is typically provided by two current sensors in
the output lines of the inverter as shown, for instance, in Figure 5.8. The
sensors measure currents /^ and IQ, and if the stator is connected in wye,
its phase currents are easily determined as i^ = ip^, /^s ~ ~^A ~^C' and
^cs ~ ^c- Because of the symmetry of all three phases of the motor and
synmietry of control of all phases of the inverter, the phase stator currents
in a delta-connected motor can be assumed to add up to zero. Consequently,
they can be found as /^s — (2^"A "•" ^cV^, ^bs ~ ("~^A ~ 2/c)/3, and /^s —
( - / A "•• ^cV3- Voltages and currents in the wye- and delta-connected
stators are shown in Figure 6.2.
In addition to the already-mentioned space vectors of the stator voltage,
Vs, and current, i^, four other three-phase variables of the induction motor
will be expressed as space vectors. These are the rotor current vector, i^
and thrto flux-linkage vectors, commonly, albeit imprecisely, called yZwx
vectors: stator flux vector, k^, air-gap flux vector, Xj^, and rotor flux
vector, Xj.. The air-gap flux is smaller than the stator flux by only the
small amount of leakage flux in the stator and, similarly, the rotor flux
is only slightly reduced with respect to the air-gap flux, due to flux leakage
in the rotor.
INVERTER STATOR
VBN = l^bs
^B Bil b s
nmfp-
yen = '^cs
(a)
INVERTER STATOR
(b)
FIGURE 6.2 Stator currents and voltages: (a) wye-connected stator, (b) delta-
connected stator.
The dynamic T-model of the induction motor in the stator reference frame,
with motor variables expressed in the vector form, is shown in Figure
112 CONTROL OF INDUCTION MOTORS
6.3. Symbol p (not to be confused with the number of pole pairs, p^)
denotes the differentiation operator, d/dt, while Ljg, Ljp and L^ are the
stator and rotor leakage inductances and the magnetizing inductance,
respectively (Lj^ = XiJin, L^^ = XJCD, L^ = XJo^), The sum of the
stator leakage inductance and magnetizing inductance is called the stator
inductance and denoted by L^. Analogously, the rotor inductance, L^ is
defined as the sum of the rotor leakage inductance and magnetizing
inductance. Thus, L^ = Ly^ + L^, and L^ = L^^ + L^ (L^ = XJio, L^ =
Xr/co).
The dynamic model allows derivation of the voltage-current equation
of the induction motor. Using space vectors, the equation can be written
as
di _
= Av + Bi, (6.7)
dt'
where
re
i = b ds ^qs ^dr ^qrJ » (6.8)
V — [vds '^qs "^dr *^qrJ ' (6.9)
' L, 0 -Ln, 0 "
0 Lr 0 -L„
0 L, 0 ' (6.10)
0
-/JgLr ^cXL ^r^m <^A^m '
B = B(a)„) = -^ 1 ^r^m
5
Qyjw^^r
Symbols i^^. and i^j. in Eq. (6.9) denote components of the rotor current
vector, ij. In the squirrel-cage motor, the corresponding components, v^r
and Vqp of the rotor voltage vector, Vp are both zero because the rotor
windings are shorted.
The stator and rotor fluxes are related to the stator and rotor current,
as
The stator flux can also be obtained from the stator voltage and current
as
^ - V, - RJ, (6.14)
dt
or
while the rotor flux in the squirrel-cage motor satisfies the equation
^=ji^,\-RJ, (6.16)
2 2
2 L 2 L
or
2 2
Tu = 3/^p^mMM*} = -^PpLmiiqsidT - «*dsV)' (6-19)
where the star denotes a conjugate vector.
The rather abstract term Im(i^\f) in Eq. (6.17) and the analogous
terms in Eqs. (6.18) and (6.19) represent a vector product of the involved
space vectors. For instance,
Im(i,\f) = iX^m[Z(i,X)l (6.20)
I I4 CONTROL OF INDUCTION MOTORS
In the steady state, space vectors of motor variables revolve in the stator
reference frame with the angular velocity, o), imposed by the supply source
(inverter). It must be stressed that this velocity does not depend on the
number of poles of stator, which indicates the somewhat abstract quality
of the vectors (the speed of the actual stator MMF, a "real" space vector,
equals (o/p^). Under transient operating conditions, instantaneous speeds
of the space vectors vary, and they are not necessarily the same for all
CHAPTER 6 / DYNAMIC MODEL OF THE INDUCTION MOTOR lis
sin(a)eO
fc]=[
COS((OeO
-sin(a)eO cos(a)eO ][::] (6.21)
FIGURE 6.4 Space vector of stator voltage in the stationary and revolving reference
frames.
I I6 CONTROL OF INDUCTION MOTORS
where 0^ denotes the angle between the frames. Angles ©^ and 0^ are
given by
t
and
t
-^ = vt-RJt-jioX (6.27)
and
dK
-^ = -Rf, - j{i^, - i^^)K (6.28)
Equations that do not involve differentiation or integration, such as the
torque equations, are the same in both frames.
6.4 SUMMARY