Induction machine in electric

drives vector control

I. V/f command (scalar control)
II. Field oriented control (FOC)
(vector control)

1
II. FIELD ORIENTED CONTROL (FOC)
• V/f – restricted to steady-state, sinusoidal and
balanced regime (no transient);
• FOC – restricted to steady-state, transient,
sinusoidal and balanced regime;

2
II. FIELD ORIENTED CONTROL (FOC)
a. FLUX LINKED WITH THE STATOR PHASES (SPACE PHASORS)
b
A
ib ub

B uB
iB iA a
uA ia
u C iC ua
uc
ic

c C

3
II. FIELD ORIENTED CONTROL (FOC)
a. FLUX LINKED WITH THE STATOR PHASES (SPACE PHASORS)

• (stator – stator)
• Magnetic circuit: symmetric and isotropic (2D)

• (stator – ROTOR)
• Magnetic coupling: depends
on the relative position ( )
between stator and rotor

4
II. FIELD ORIENTED CONTROL (FOC)
a. FLUX LINKED WITH THE STATOR PHASES (SPACE PHASORS)

5
II. FIELD ORIENTED CONTROL (FOC)
a. (stator current, rotor current, stator flux, rotor flux) SPACE PHASORS

 Space phasor and its 3

components, one for
each phase. 6
II. FIELD ORIENTED CONTROL (FOC)
a. FLUX LINKED WITH THE STATOR PHASES (SPACE PHASORS)

7
II. FIELD ORIENTED CONTROL (FOC)
a. FLUX LINKED WITH THE STATOR PHASES (SPACE PHASORS)

Space Phasor of Rotor Currents: referential

rotating with the rotor and displaced by

Space Phasor of Stator Currents: referential

static with the stator

8
 II. FIELD ORIENTED CONTROL (FOC)
a. FLUX LINKED WITH THE STATOR/ROTOR PHASES (SPACE PHASORS)
Referential static with the stator

• Phasor of the stator flux = (proper flux due to stator current) + (flux coming from the
rotor currents)

Referential static with the stator

• Phasor of the rotor flux = (proper flux due to rotor currents) + (flux coming from the
stator currents)

9
II. FIELD ORIENTED CONTROL (FOC)
a. (From three-phase to an equivalent two-phase system) SPACE PHASORS

q axis  Equivalent two-phase system

composed by two orthogonal
stator coils: d and q axis.

d axis

10
II. FIELD ORIENTED CONTROL (FOC)
a. (From three-phase to an equivalent two-phase system) SPACE PHASORS

 Equivalent two-phase
systems for diferent
referentials: d and q axis.
Handbook of photovoltaic science and
engineering

11
II. FIELD ORIENTED CONTROL (FOC)
a. INDUCTION MACHINE EQUATIONS IN THE REFERENTIAL OF THE ROTATING
MAGNETIC FIELD

Three-phase time
dependent equations

REFERENTIAL: stator ( = 0)

12
II. FIELD ORIENTED CONTROL (FOC)
a. INDUCTION MACHINE EQUATIONS IN THE REFERENTIAL OF THE ROTATING
MAGNETIC FIELD

REFERENTIAL: stator ( = 0)

REFERENTIAL: rotating field ( = s)

13
II. FIELD ORIENTED CONTROL (FOC)
a. INDUCTION MACHINE EQUATIONS IN THE REFERENTIAL OF THE
SYNCHRONOUS SPEED

REFERENTIAL: stator ( = s)

14
II. FIELD ORIENTED CONTROL (FOC)
a. INDUCTION MACHINE EQUATIONS IN THE REFERENTIAL OF THE
SYNCHRONOUS SPEED

REFERENTIAL: stator ( = s)

d- COMPONENT for rotor flux

q- COMPONENT for rotor flux

15
II. FIELD ORIENTED CONTROL (FOC)
a. INDUCTION MACHINE EQUATIONS IN THE REFERENTIAL OF THE
SYNCHRONOUS SPEED

16
II. FIELD ORIENTED CONTROL (FOC)
a. INDUCTION MACHINE EQUATIONS IN THE REFERENTIAL OF THE
SYNCHRONOUS SPEED

Cte.
Objective:
rotor flux fixed at d- axis
Objective:
To have an “independent”
and controllable flux as in
DC machine
17
II. FIELD ORIENTED CONTROL (FOC)
a. INDUCTION MACHINE EQUATIONS IN THE REFERENTIAL OF THE
SYNCHRONOUS SPEED

18
II. FIELD ORIENTED CONTROL (FOC)
a. INDUCTION MACHINE EQUATIONS IN THE REFERENTIAL OF THE
SYNCHRONOUS SPEED

19
II. FIELD ORIENTED CONTROL (FOC)
a. INDUCTION MACHINE EQUATIONS IN THE REFERENTIAL OF THE
SYNCHRONOUS SPEED

Cte.
20
II. FIELD ORIENTED CONTROL (FOC)
a. INDUCTION MACHINE EQUATIONS IN THE REFERENTIAL OF THE
SYNCHRONOUS SPEED

q- axis current
is proportional
to torque

d- axis current
produces the
rotor flux

21
II. FIELD ORIENTED CONTROL (FOC)
a. INDUCTION MACHINE EQUATIONS IN THE REFERENTIAL OF THE
SYNCHRONOUS SPEED

q- axis current
is proportional
Electromagnetic torque
to torque

d- axis current
produces the
rotor flux

22
II. FIELD ORIENTED CONTROL (FOC)
a. INDUCTION MACHINE EQUATIONS IN THE REFERENTIAL OF THE
SYNCHRONOUS SPEED

q- axis current
is proportional
Electromagnetic torque
to torque

d- axis current
produces the
rotor flux

23
II. FIELD ORIENTED CONTROL (FOC)
a. INDUCTION MACHINE EQUATIONS IN THE REFERENTIAL OF THE
SYNCHRONOUS SPEED

q- axis current
is proportional
Electromagnetic torque
to torque

d- axis current
produces the
rotor flux

24
II. FIELD ORIENTED CONTROL (FOC)
a. INDUCTION MACHINE EQUATIONS IN THE REFERENTIAL OF THE
SYNCHRONOUS SPEED

q- axis current
is proportional
Electromagnetic torque
to torque

d- axis current
produces the
rotor flux

25
II. FIELD ORIENTED CONTROL (FOC)
a. INDUCTION MACHINE EQUATIONS IN THE REFERENTIAL OF THE
SYNCHRONOUS SPEED

26
II. FIELD ORIENTED CONTROL (FOC)
a. INDUCTION MACHINE EQUATIONS IN THE REFERENTIAL OF THE
SYNCHRONOUS SPEED

Reference for

Power converter
the rotor flux
Flux
controller
Current
controllers

Torque
reference

Position Flux observer

signal for the Rotor position
position
controller

27