Vikrant More

Akshay Mhalgi Akshat Khanna

Introduction
International Energy Agency (IEA) in its 2009 report had mentioned that fossil fuel based transportation is the second largest source of carbon dioxide emission. Several vehicle manufacturers have introduced hybrid electric vehicles for example the Honda FCX, Toyota Prius, Nissan Leaf. The true potential of electric vehicles was unleashed with the introduction of Tesla Roadster, which offered significantly higher mileage and performance comparable to current gasoline versions in the market. The Indian Government plans to pump in Rs 23,000 crore for infrastructure, subsidies, car finance for hybrids over the next eight years. Toyota Prius Nissan Leaf

Honda CR-Z

Induction Motor vs. PMSM

In a typical driving cycle over a wide speed range, the induction machine turns out to be more efficient as compared to a permanent magnet machine which is more efficient only at its peak efficiency operating point.

Induction Motor vs. PMSM

China holds monopoly (97% production) over the rare earth material Neodymium, the cost of which has quadrupled over the past few years. Compared to the IPM, an IM motor can tolerate a wide range of temperatures. Consider the following case - Providing adequate cooling for the Toyota Prius's permanent magnet motor adds significantly to the vehicle's weight. An induction motor, by contrast, can be cooled passively, thereby reducing weight.

Toyota Prius Cooling system

Induction Motor Speed Control

Scalar control methods provide satisfactory steady state performance but poor dynamic response.
Vector Control : Both magnitude and phase of control variables are controlled. The aim of vector control is to get the response from a induction motor similar to that of a separately excited DC motor.
The machine control is considered in a synchronously rotating reference frame.

Sinusoidal quantities appear as dc quantities in steady state.

With vector control, ids is analogous to field current & iqs to armature current of a dc machine and are orthogonal.

d-q Model
Vector control drives are based on the dynamic d-q model of the machine. In dynamic model, coupling coefficients between stator & rotor phases vary with rotor position. Such an analysis is complex. Using Parks transformation, we refer stator variables to a synchronously rotating reference frame fixed in the rotor thereby eliminating varying magnetic reluctances . For vector control drives, we transform three phase stationary reference frame into two phase stationary frame and then transform these into a rotating reference frame.

Direct versus Indirect Vector Control

Direct vector control Also called feedback method, the flux vector is obtained by means of direct flux measurement of estimation. Direct flux measurement is achieved using Hall Effect sensor.

The sensors need to be fixed in the stator slots and add to the manufacturing cost of new motor.
Problems such as drift because of temperature, poor flux sensing at lower speed also persist.

Direct versus Indirect Vector Control

Indirect vector control The rotor flux vector position is computed from the speed feedback signal of the motor. The difference between the reference speed and the rotor speed is fed to the controller. The controller computes the slip speed that on addition to feedback motor speed provides the speed of rotor flux vector from which the angle of inclination of the rotor flux is computed.

Rotor Flux Oriented Control

Rotor flux oriented will be used instead of stator flux oriented control. It does not require a de-coupler as required by stator flux control. The dynamic response offered by rotor flux oriented control is better. In, rotor flux oriented control, we will operate the motor in the field weakening region (above base speed).

 In stator flux orientation, ds is a function of both, ids and iqs , as shown in the equation below-

Thus, there is a coupling effect and we need a decoupler.

Whereas, in rotor flux orientation,

It can be seen that, flux is only a function of ids and we dont require a decoupler.

Indirect Vector Control

In indirect vector control method, the unit vector signals are fed in feed forward manner. The synchronously rotating axis de-qe is rotating ahead of the dr-qr axis by positive slip angle corresponding to slip frequency. we =wr +wsl . This gives us the value of e upon integration

Sense Stator currents & apply abcdq transformati ons

Sense Speed & compare with reference.

Generate Torque and Flux reference

Estimate rotor flux from reference ids Calculate e for vector rotation

Generate ids* from Flux reference

Generate iqs* from Torque reference

Perform Vector Rotation (for orthogonality) and dq-abc transformation

Generate Gate pulses for inverter

Compare generated currents with reference in current controller

Use of PI Controller
In the indirect vector control implementation, to get the reference torque we need to use a PI Controller. Speed controller is required to keep the reference speed equal to the actual speed, and provide good dynamic response during transients. Advantages of a PI controller are, it provides feedback, eliminates steady state error, increases the damping factor and reduces maximum overshoot. Input is speed reference and output is given to hysteresis band controller, which gives torque as output.

Estimator Equations
Iqs Estimator
iqs*

Flux Estimator

Ids Estimator

Slip Frequency calculation

Theta

Future Course
PI Tuning for Torque reference and developing current controllers. Calculate specifications for inverter.

Implement model on dspace.

Run algorithm on induction motor.

Field Weakening Mode

Induction motor used is operated above its base speed, to get the required torque-speed characteristics. To achieve that, we operate it in the field weakening mode. In the field weakening mode, the field flux is weakened to increase the speed.

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