IMF’ROVEMENT OF THE STABILITY OF THE V/f

CONTROLLED INDUCTION MOTOR DRIVE SYSTEMS

Lazhar BEN-BRAHIM
Faculty of Technology
University of Qatar, PO Box 2713 Doha, Qatar
email: brahim@qu.edu.qa

Abstract \r/fcontrol is an open loop scalar con- tances are relatively high as are the damping factors. A
trol for Induction Motors (IM). Instability of a V/f con- new approach to overcome this problem is proposed. It
trolled IM drive system may occur as the V/f control is based on improving the damping factor of the system
method has no means of controlling the transient oper- by using current feedback. The proposed method is easy
ation of the drive !system. This paper presents a new t o implement and helps eliminate the oscillations which
approach of V/f control, which is based on current feed- caused the instability of V/f for high voltage IM. This
back to improve the stability of the conventional V/f paper describes in details the theoretical analysis of the
control. The proposed approach is based on the stator instability of the drive system, the proposed method to
current derivatives. This new method has successfully overcome the oscillations as well as the simulation re-
damped the torque and speed oscillations in V/f con- sults to verify the effectiveness of the new approach.
trol for low power I’M drive system. However, applying
this method for high voltage IM resulted in more oscil-
lations and lead to a highly unstable drive system. This Lo i l
paper analyzes the causes of this instability and pro-
e
poses a damper to suppress the undesirable oscillations.
The proposed damper is easy to implement and helps
eliminate the oscillations which caused the instability of
V/f for high voltage IM. The purpose of this study is to
1)theoretically analyze the cause of the instability of the ...............................................*
d
V/f based drive system, 2)propose a method to elimi-
nate the oscillationis and 3)carry out simulation study
to verify the effectiveness of the proposed approach.

Figure 1: IM vector representation

1 Introduction
V/f control is an open loop scalar control for IM. In-
stability of a V/f controlled IM drive system may occur 2 Mathematical Modeling
as the V/f control method has no means of controlling
the transient operation of the drive system. Few papers 2.1 IM Model
deal with the improvement of stability of the V/f control The basic equation of an induction motor with the d-q
[1,2]. These approaches are somewhat €or high d a m p coordinates fixed in a synchronously rotating frame is
ing IM drive systems and are based on current feedback expressed as follows,
to improve the staklility of the conventional V/f control.
This paper proposes a method to improve the stability
of V/f using the stator current derivatives. This method
enables the damping of the low frequency oscillations in
V/f control. However, applying this method for high
voltage IM resulted in more oscillations and lead to a
highly unstable drive system. A detailed analysis of the
causes of this instability is carried out. A theoretical
analysis of the system has shown that the low damping
factor of high voltage IM is the origin of these oscilla-
tions. These oscillations have made the improved V/f
control based on current derivatives unstable for mo- w, = W O - w,
tors with low damping factor. This low damping factor This equation can be rewritten as follows:
is due to the small value of the stator and rotor resis-
tances of High power IM. Note that for small motors,
vi = (E1+ ( p + jW0)LO)ii + e‘
these problems do not occur as the value of the resis- +
<= ( P j w o p
a= g2

0-7803-4503-7/98/’$10.00 1998 IEEE 859

The vector diagram representing Eq. (2) is shown in This method is based on motor current derivatives com-
Fig. 1. pensation. The block diagram of this method is depicted
Table 1 shows the 6.6kV-200A IM data used in the in Fig. 2.
actual study.

Pole number

Rated current
Rated frequency 50Hz
Rated torque 7280N.m
RI stator resistance 0.0738R
R2 rotor resistance 0.0861R
LI stator self-inductance 28.3mH
L2 rotor self-inductance 26.lmH
it4 Mutual inductance 22.6mH
I Jm I Motor inertia I 20kg.m2 J ...............................................................................

Table 1: 6.6kV-200A IM data Figure 2: Improved V/f using LO$ compensation

2.2 Conventional V/f control

..................................................
: . n
The V/f control consists of controlling the voltage and
frequency of the IM proportionally. The V/f does not
have any means of controlling transient operation of the
IM drive system. Therefore, its control law can be de-
rived from the steady state equation of the IM. This
steady state equation can be derived by substituting
( p = d/dt = 0) in Eq. (1)
(a).. .........................................
] [ ;]
.......................................................
R1 + j W O L O
[?] [ -R2
jW0
(2+jwS) (3)

Let a,, = 0 and = cst, Eq. (3) can be written as

follow,

(4) eq

In the conventional V/f control the following equation

............................................................................................
is used:
= Rli:, (Bias voltage)
{ = WOLli;, (V/f control) (5)

The V/f control method is used in this paper is based

on the above equation. It is important to mention that
I I
this V/f control is a vector based method. It is there-
fore slightly different from the conventional scalar V/f
control method. ed
WOlLO ~- iq
s2+2Ro/(LoWo)Wos+W,2+(lJTo)a
+
3 Proposed V/f Control (1/ T o + s )/ L o

3.1 Derivative compensation

To = $$y s2+2Ro/(LoWo)Wos+W,2+(1/To)2

.k.) .........................................................................................................................
To reduce the oscillations during the transient opera-
tion, we propose a new method based on the current Figure 3: IM model
derivatives:
This method is based on current derivatives compensa-
tion. It is well known that derivatives are sensitive to

0-7803-4503-7/98/$10.00 1998 IEEE 860

 ~

noises and to relatively "high" frequency oscillations in
il . The noises effect can be reduced by using a low pass
filter but the presence of a few tens of Hertz frequency
oscillations may invalidate the proposed method. It is
therefore very important to verify that there is no in-
herent relatively " high" frequency oscillations in the IM
stator current prior to the application of this method.
To verify this the following section analyse the IM stator
represents the fast dynamic part of the IM, which in turn
represents the stator current model. The slow dynamic
area has the rotor fluxes as its output. The details of the
fast dynamic part of Fig. 3(a) is shown in Fig. 3(b) and
it shows that there is a coupling between the d and q
axis. From Fig. 3(c), the transfer function Gid-,,q(s) =
% is given by

current response to a frequency step input.

3.2 Oscillations analysis

where = ROIL0 = 17.28.
To
At relatively high operating frequency FO = 2
2 lOHz +
W O >_ 62.8radls >> 17.28, we can make the following
assumptions

Frequency (rad/s)
Eq. 8 shows that, when FO 2 lOHz, the system d a m p
ing factor C = is very small. This is due to the
small resistance of the High Voltage IM. This is the main
reason behind the oscillations of the current, torque and
speed of the High Voltage IM. A Bode diagram of the ,
Gid-,,(s) is plotted in Fig 4 using the 6.6kV-200A mo-
tor parameters. At 20Hz operating frequency the damp-
Frequency (rad/s)
ing factor is around = 0.136. The resonance frequency
W R where the maximum value of the frequency response

Figure 4: Bode plot of G(s) as a function of operating

occurs is given by W R = wndm and is very close
to the operating frequency W O . The damping factor de-
frequency
creases as the frequency increases (see Fig. 4). Note
+
that €or small motor Ro M RI R2 is relatively large
and as a result no oscillations in i d s .

3.3 Damping current oscillations

1 - 1 1

Gain
(dB)

\I \I
Frequency (rad/s)

Figure 5 : Proposed method to eliminate the oscillations

in i d s
From simulation study, we notice that oscillations in i,
are somewhat independent of the operating frequency.
These oscillations frequency varies as a function of the
inertia and are of low frequency. The oscillations in 1 10 100 1000 10000
Frequency (rad/s)
i d s , on the other ha.nd, are dependent on the operating
frequency and their frequency increases as the operating
frequency increases. This has lead to the focus on the
oscillations in i d r . The global block diagram of the IM
is shown in Fig. 3. In this Fig., the dotted-box area

0-7803-4503-7/98/'$10.00 1998 IEEE 86 1

As explained in the above section, the low damping fac-
............. ...........
tor of the IM leads to oscillations in i d s dependent on the
operating frequency. These oscillations will prevent the
use of current derivatives. We propose here a method
0 0.2 0.4 0.6 0.8 1 1.2 1 . 4 1.6 1.8 2
which increases the damping factor of the driving sys-
tem using the current feedback. The proposed method 3
20 .............!..........................
0+............. .............. i_ ~ L
~ + i. n l
.. .. . . . . . .
is shown in Fig. 5. The derivatives of the stator cur- i; 10 .............:..
: ............ .- .........;..............:...............;...........".<,.... "..; ._.... i.i ............
:
i . : i
. j
: i
.
.
rents were removed so that we can verify our proposed id
0 ..............i
.
;................;.. .;............. .I. i..;........ t. ... : i _ .
:.............
method of cancelling the oscillations in i d S . Later these -10
i i i .
! :. .! . /' /. .%
derivatives will be used to cancel the oscillations in i, . 0 0.2 0.4 0.6 0.8 1 1.2 1 . 4 1.6 1.8 2

For ease of the analysis, we select T F D= ~ 0. We select

T F D>~O.lsec so that the system dynamics are not af-
............
fected. First assume that K D = ~ 0. The new transfer
function G i d - v d * is given as follows:
0 0.2 0.4 0.6 0.8 1 1 . 2 1.4 1.6 1.8 2

(9)

Eq. (9) shows that the resistance of the plant increases

using the feedback current as shown in Fig. 5, this in
turn leads to improved damping factor as shown in Fig.
6. The K D loop~ is introduced to eliminate the offset
introduced by the K D loop.
~
Iq
30
.: . .
-800 :
:
.
:
I
:
:
;
I
: ; !
:
;
: -
0 OI2 014 0.6 018 1 112 1.4 1:s 1% 2
FR 20 ..i ............. ...................

15 0.3 .............++ :. .;...............+

. "
..
: ..
: .. ..... 2.. t
i ! i , i
A8 0 ...............i.............i....... ..i .............i. . . i :
,. + . .......4 +.............i............
. . . . . . . . . i / /.. :. : .. : .. : i i

-0.3
.,::
'
.
.::
'
:::' / : ': : / .. : i. 1 1 1
i;
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
id
. ;.............+......... ............./.......................... .............;............. ............
j...........
..............
- 1 0 0 ~ 1
0 0 2 0 4 0 6 08 1 1 2 14 1 6 18 2 Figure 8: Eliminating the i d s oscillations in V/f for
6.6Kv-200A using damping factor

3.4 Simulation
The conventional V/f method simulation was carried
3000 i ; : ; ) ;. : :. . :. : :. out using the motor data shown in Table 1 and the
..... .............i.............p......................,...... i .

simulation results are shown in Fig. 7, note that the

~

:. .: j
i :
; , i i i ;
1000............... ............. ............. ............1.. ........+.............+ ;.............;.............
:. i :.
: i. i I :: : .. ! . : . simulation was carried out using a frequency step re-
. . .. ..
0 , : i j j ! , : : :
sponse (20Hz t)25Hz). Reference frequency (Fo)
and rotor speed (FR = , electromagnetic torque (Te), 2)
800 I
.
:
:
: :
. :
. / /
i Load torque(T') , flux current reference (iz,) , flux cur-
rent (&), torque current ( i n s )d-axis
, voltage (v:~), q-
axis voltage (vis) and flux deviation (A0 = tng-'(?))
-800: 1 I i I 1
i :

1
:

I i I are depicted in all simulation figures. Simulations were

0 0 2 0 4 0 6 08 1 1 2 1 4 1 6 1'8 2 carried out to verify the proposed system. First by set-
ting I(o2 = 0 and K D = ~ 4.0, we obtain the results
shown in Fig. 8. This completely eliminates the oscilla-
ae tions in i d s but makes the angular deviation A6 large.
Setting = Kol = 4.0 and T F D=~0.lsec will elim-
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2 inate the offset introduced by K D loop
~ (see Fig. 9). Fi-
nally, we applied the improved V/f method to the newly
Figure 7: Frequency step response 20Hz i+ 25Hz of the damped system as shown in Fig. 10. The simulation re-
V/F for 6.6kV IM sults are shown in Fig. 11. The depicted waveforms
are oscillations free. The proposed method contributed
to the improvement of the stability of the overall drive

0-7803-4503-7/98/$10.00 1998 IEEE 862

system.

..............

.......... I ,
i; ............. .........................
id
............ ............. ............. ............. ............. ..........................

............ ............ ............. ............. ......

+ .
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
Figure 10: New V/f using the damper as well as LO$
compensation

30 i i i i i i i i i

.. .. .. ... ... .. .. .. ..
.......... 1 5 ! , , , , , ., ., .: .., I
0 0.2 0.4 0.6 0.8 1 1.2 1.4 116 1.8 2
A0

20 ..I ............. * t.............i.......... .....<._..........<............-4..........."4............

3 0 j @ j l
~

i; . . ... ... ... .................i........ .I..............2..............

10 ...............i..............i........ ...............i...............;.
: ~
> > /

id :
0 .............;..
... .........;:

................
:
;
./
:
.............;
.i
:

.ii
: :
_
.;i............f i +. .............
: :

.;
. .. .. .. .. . .. ..i ..i
-10
Figure 9: Flux deviation compensation (KDZ= K D ~ ) 0 0.2 0.4 0.6 0.8 1 1 . 2 1.4 1.6 1.8 2
of the new V/f for 6.6Kv-200A
2000 ........................... .............
Fig. 12 shows a load torque impact response. The sys- ............. .......... ....... .......... ............
tem is stable and the response is not oscillating. How-

200&$"---
ever, there is a d-axis deviation. To compensate this
deviation we add to V i a -woLoi, factor. The results
are shown in Fig. 1.3. __-_ . . ..........I.................
i
... .
r.,_

4 Conclusion vd' 100 ............. .............;

.
_ i.............;
. .............j.............................+
. . .
..
.
. ....... .. .......
+
. .
_
v,' :
,:
..
1 . " / " /" 'i i .i :. . :

:
:
:
..: :
:: :
:: :
:: >
:: :
! :
j :
;
: : : : : : : : :

A method to allow the use of an improved V/f control 1

0
1
0.2 0.4 0.6 0.8
1 1 1
1
1 1
1.2 1.4 1.6 1.8 2
1 1 1

for high voltage IM[ motor was proposed. High voltage

IM are characterized by a low damping factor due to ............. ......... ............

their low resistance values. The V/f for low damping

factor IM resulted in oscillations in the current wave- -40 ..............
forms. The presence of these oscillations is undesirable 0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
as they prevent the use of any control based on deriva-
tives of measured quantities. The theoretical analysis of ........... .......... ............. ............
these oscillations was presented and a method to elim- A0
inate these oscillations was proposed. Simulations to
verify the proposed method were also carried out. The
effectiveness of the proposed approach lies in its ease of
implement at ion.
Figure 11: LO$ compensation of the new V/f method
for 6.6Kv-200A

0-7803-4503-7/98/$10.00 1998 IEEE 863

 . .
............................i................i.........................................................i..............i............................ ..........................i............i..............I............... ................................i...............i/ ..............
.: ..
:
..
:
.. .. / ! I /

. .
.
: .. . . . . . .

0 0.2 0.4 0.6 0.8 1 1.2 1 . 4 1.6 1 . 8 2 0 0.2 0.4 0.6 0 . 8 1 1.2 1.4 1.6 1.8 2

....................................... ........................ ........ ............. ........ ............ ......................... ............. ............. ............
i: ........................ i: 10 ....... ..........
id id
........ ............. ....... ............. .......

0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2 0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2

2000 .............. ............ ........ ........ ............. .......

3000j@jl
2000 .......................
. ......... . ......................................
~ .
:.
.............: ..............+.............:r..........
:

: .:: :.
: : /

.............I.,....... ...../....... :
: /
............. ............. .......................... T e 1000 ~
.
. . : : :
............
TL . .. .. .. ... . ,
. i
. f
.
0 i:. ;:. .....;:...............:/ ...............: / .:...............
i i
: / ....... , . ! :
: / ............... i
i .

-looo . . . .. .. .. .. .. .!
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1 . 8 2 0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2

. . ; ; ;
.
;
. ;
.. i
.. /
..
. : :
zoo++ . . . . . .. . .
vd' 1 .............. 4
4:............. :........................ ............. 4 ..........j............;............. .............
:

. . :
v** 0 , :..i :.
i
:.
i
:...
.
i
.!.
.
/
.j
/
.
.:
.:
.
. _. ,
..:
.
:
../
. . . . . .
. . ? .

-1oool , I
.
'
:
'
: :
'
: : : :

800 ; ; i ; ; : ..; ..; ..; ., . . . . ; !

. . . . :. :. .. .. ..
400- .........j ........+.+$. : . .............. ..........................+..........,; ............. , .
400. ......................................... _
I:.............i. ............;..............:
. i /
............i. ... . _. :.............
...: .: ~

.. : / / / /. !! ;!
: :
....+ +:..................................................
i /
:&, /
.. .. .. . .. .. .. .. .. Iq .. & ../
-400. ..............I..............; ............. .............;............
j.............;............;.............t.. .......................
< /! ..i ..i ..; :.; : .i .1:.............
.. ... i i j i .. ... .. - 4 o e .............;i.............1; ............ii..............i.i.............ii.............ij.............ii...........A.j .j
1
: :
. :
. :
. :
. :
. : : . / / .: .: :. .. :. . .
I I I I I I I -800 i I
I 0 0.2 0.4 0.6 0.8 1 1 . 2 114 116 1.8 2

............ *-..
0 ,3 ..............j ............ . ...'.............;----- .
: .
.. .. . . .
A0 A0

0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1 . 8 2 0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2

Figure 12: Load torque step response of the new V/f Figure 13: Load torque step response with woL0iqs com-
method for 6.6Kv-200A pensation

References
M. Daijyo, I. Hosono, H. Yamada and Y. Tunehiro,
"A method of improving performance characteris-
tics of general purpose inverter" IEEJ Transaction
D Vol. 109 No. 5, May 1988.
I. Hosono and N.Yamamura, "More stable opera-
tion for induction motor control system by exciting
current feed back" IEEJ Transaction D Vol. 114
No. 2, February 1995.

0-7803-4503-7/98/$10.00 1998 IEEE 864