magnetic
axis of phase a
i
a
=0
4
3
2
1
7
6
5
4
3
2
1
7
6
5
=
(a) (b)
Figure 2-1 Stator windings.
Sinusoidally-Distributed Stator Windings
(1) ( ) sin
2
s
s
N
n =
0
(2) ( ) i cos
s
a a
g
N
H
p
=
A
( )
(4) ( ) ( ) i cos
o s
a o a a
g
N
B H
p
= =
A
( ) ( )
(3) i cos
s
a g a a
N
F H
p
= = A
2-3 Copyright, Ned Mohan, 2001 Reference: Advanced Electric Drives
www.MNPERE.com
Figure 2-2 Three-phase windings.
a
' a
b
' b
c
' c
a
i
b
i
c
i
axis a
axis b
axis c
/ j4 3
e
/ j2 3
e
j0
e
b
b
i
a
i
c
i
c
a
(a)
(b)
Three-Phase Sinusoidally-Distributed Windings
2-4 Copyright, Ned Mohan, 2001 Reference: Advanced Electric Drives
www.MNPERE.com
n
b
c
a
i
a
a ax is
i
a
i
a
A
r
leakage
magnetizing
(a)
(b)
Figure 2-3 Single-phase magnetizing inductance and leakage
inductance.
Single-Phase Magnetizing Inductance
,1 m phase
L
,
,
,1
,
(1)
a leakage
a a
s self
a a a
i only
a
L L
s m phase
magnetizing
L
i i i
= = +
A
, ,1
(2)
s self s m phase
L L L
= +
A
2
,1
(3) ( )
o s
m phase
g
r N
L
p
=
A
A
2-5 Copyright, Ned Mohan, 2001 Reference: Advanced Electric Drives
www.MNPERE.com
n
b
c
a
i
a
b
Figure 2-4 Mutual inductance .
Stator Mutual Inductance
mutual
L
0,
,
(1)
b
mutual
a
i i rotor open
b c
L
i
=
=
,1
1
(3)
2
mutual m phase
L L
=
, ,
(2) cos(120 )
o
b duetoi a magnetizing duetoi
a a
=
2-6 Copyright, Ned Mohan, 2001 Reference: Advanced Electric Drives
www.MNPERE.com
a axis
b axis
c axis
m
i
a
i
b
i
c
i
A
i
C
i
B
A axis
B axis
C axis
m
( ) a
i
a
i
b
i
c
+
+
+
v
a
v
b
v
c
R
s
+
+
v
A
= 0
v
B
= 0
v
C
= 0
R
r
i
A
i
B
i
C
Stator circuit Rotor circuit
( ) b
+
Figure 2-5 Rotor circuit represented by three-phase windings.
(b)
Equivalent Windings in A Squirrel-Cage Rotor
,1
3
(2)
2
m m phase
L L
=
2
3
(3) ( )
2
o s
m
g
r N
L
p
=
A
A
(4)
s s m
L L L = +
A
(1) ( ) ( ) ( ) 0
A B C
i t i t i t + + =
(1) ( ) ( ) ( ) 0
a b c
i t i t i t + + =
,1
3
(2)
2
m m phase
L L
=
(3)
r r m
L L L = +
A
,1
(4) cos
aA m phase m
L L
=
Stator
Rotor
2-7 Copyright, Ned Mohan, 2001 Reference: Advanced Electric Drives
www.MNPERE.com
( )
s
F t
JJG
( )
s
F
t
( )
a
F t
JJG
( )
b
F t
JJG
( )
c
F t
JJG
axis c
axis b
axis a
c
i =
b
i =
a
i = +
( )
a
F t
JJG
( )
b
F t
JJG
( )
c
F t
JJG
axis c
axis b
axis a
(a)
(b)
Figure 2-6 Space vector representation of mmf.
Review of Space Vectors
( ) ( ) ( ) ( )
a a a a
s a b c
F t F t F t F t = + +
G G G G
2-8 Copyright, Ned Mohan, 2001 Reference: Advanced Electric Drives
www.MNPERE.com
Figure 2-7 Physical interpretation of stator current space vector.
a
' a
b
' b
c
' c
a
i
b
i
c
i
axis a
axis b
axis c
/ j4 3
e
/ j 2 3
e
j0
e
s
I
at time t
magnetic axis of
hypothetical winding
with current
s
I
axis a
(a) (b)
s
i
G
Physical Interpretation of Current Space Vector
( )
0 2 / 3 4 / 3
(1) ( ) ( ) ( ) ( ) ( )
j t
i a j j j
s
s a b c s
i t i t e i t e i t e I t e
= + + =
G
(2) ( ) ( / ) ( )
a a
s s s
F t N p i t =
G
G
2-9 Copyright, Ned Mohan, 2001 Reference: Advanced Electric Drives
www.MNPERE.com
( )
0 2 / 3 4 / 3
( ) ( ) ( ) ( ) ( )
j t
v a j j j
s
s a b c s
v t v t e v t e v t e V t e
= + + =
G
( )
0 2 / 3 4 / 3
( ) ( ) ( ) ( ) ( )
j t
a j j j
s
s a b c s
t t e t e t e t e
= + + =
G
Voltage and Flux-Linkage Space Vectors
2-10 Copyright, Ned Mohan, 2001 Reference: Advanced Electric Drives
www.MNPERE.com
Figure 2-8 Relationship between space vector and phasor in sinusoidal steady state.
a j
s s
i I e
=
G
@ t 0 =
(b)
axis a
ref
a a
I I =
(a)
Relationship between space vector and phasor in
sinusoidal steady state
0
3
2
a
s a
t
i I
=
=
G
3
2
s a
I I =
2-11 Copyright, Ned Mohan, 2001 Reference: Advanced Electric Drives
www.MNPERE.com
i
a
i
b
i
c
+
v
c
+
v
b
+ v
a
a
t ( )
b
t ( )
c
t ( )
a axis
c axis
b axis
e
j0
e
j4 3 /
e
j2 3 /
G
G
K
G
i
s s,i
s s,i
B
F
s
s
,
,
at time t ' '
Figure 2-9 All stator space vectors are collinear (Rotor open-circuited).
All stator space vectors are collinear (Rotor open-circuited)
,
due to leakage flux due to magnetizing flux
( ) ( ) ( ) ( )
a a a a
s s m s s s
s i
s
t L i t L i t L i t = + =
A
G
G G G
2-12 Copyright, Ned Mohan, 2001 Reference: Advanced Electric Drives
www.MNPERE.com
a axis
b axis
c axis
m
i
A
i
C
i
B
A axis
B axis
C axis
m
,
,
,
, B
r r i
r
F
r r i
r
i
G
G
K
G
at time t ' '
Figure 2-10 All rotor space vectors are collinear (Stator open-circuited).
a axis
b axis
c axis
m
i
A
i
C
i
B
A axis
B axis
C axis
m
,
,
,
, B
r r i
r
F
r r i
r
i
G
G
K
G
at time t ' '
Figure 2-10 All rotor space vectors are collinear (Stator open-circuited).
All rotor space vectors are collinear (Stator open-circuited)
,
due to leakage flux due to magnetizing flux
( ) ( ) ( ) ( )
A A A A
r r m r r r
r i
r
t L i t L i t L i t = + =
A
G
G G G
2-13 Copyright, Ned Mohan, 2001 Reference: Advanced Electric Drives
www.MNPERE.com
Making the case for dq-axis analysis
(3) ( ) ( ) ( )
j a a A
m
s s s m r
t L i t L i t e
= +
G
G G
(2) ( ) ( )
j a A
m
r r
i t i t e
=
G G
a axis
b axis
c axis
m
i
a
i
b
i
c
i
A
i
C
i
B
A axis
B axis
C axis
m
( ) a
i
a
i
b
i
c
+
+
+
v
a
v
b
v
c
R
s
+
+
v
A
= 0
v
B
= 0
v
C
= 0
R
r
i
A
i
B
i
C
Stator circuit Rotor circuit
( ) b
+
Figure 2-5 Rotor circuit represented by three-phase windings.
(b)
(1) ( ) ( )
a a a
s s s m r
t L i t L i = +
G
G G
(4) ( ) ( ) ( )
a a a
s s s
s
d
v t R i t t
dt
= +
G
G
G
3-1 Copyright, Ned Mohan, 2001 Reference: Advanced Electric Drives
www.MNPERE.com
Chapter 3
Dynamic Analysis of Induction
Machines in Terms of dq-
Windings
3-2 Copyright, Ned Mohan, 2001 Reference: Advanced Electric Drives
www.MNPERE.com
Representation of Stator MMF by Equivalent dq Windings
2 / 3 4 / 3
(2) ( ) ( ) ( ) ( )
a j j
s a b c
i t i t i t e i t e
= + +
,
(3) ( ) ( )
a a
s
s s
N
F t i t
p
=
, ,
( )
3/ 2
(4)
d
s s
sd sq s
N N
i ji i
p p
+ =
,
( )
2
(5)
3
d
sd sq s
i ji i + =
,
2
,1
,1
(1) winding magnetizing inductance =( 3/ 2)
(3/ 2)
(using Eq. 2-12)
m phase
m phase
m
dq L
L
L
=
=
axis a
axis b
axis c
s
i
,
a
i
b
i
c
i
at t
axis a
axis b
axis c
s
i
,
at t
axis d
axis q
sd
i
sq
i
axis a
axis b
axis c
s
i
,
at t
axis d
axis q
projection
projection
sq
2
i
3
=
projection
projection
sd
2
i
3
=
(a)
(b) (c)
3
2
s
N
Figure 3-1 Representation of stator mmf by equivalent dq winding currents.
da
da
rq
i
a axis
d
d axis
q axis
B axis A axis
m
da
r
i
,
rd
i
projection
2
projection
3
rq
i =
projection
2
projection
3
rd
i =
3-4 Copyright, Ned Mohan, 2001 Reference: Advanced Electric Drives
www.MNPERE.com
a axis
stator
A axis
rotor
d axis
m
i
sd
i
sq
q axis
at t
i
rq
i
rd
m
,
i
s
,
i
r
3
2
i
sd
3
2
i
sq
3
2
i
rq 3
2
i
rd
d
da
dA
3
2
s
N
3
2
s
N
3
2
s
N
Figure 3-3 Stator and rotor mmf representation by
equivalent dq winding currents.
a axis
a axis
stator
A axis
A axis
rotor
d axis
d axis
m
i
sd
i
sd
i
sq
i
sq
q axis
q axis
at t at t
i
rq
i
rq
i
rd
i
rd
m
,
i
s
,
i
s
,
i
r
,
i
r
3
2
i
sd
3
2
i
sd
3
2
i
sq
3
2
i
sq
3
2
i
rq
3
2
i
rq 3
2
i
rd
3
2
i
rd
d
da
dA
3
2
s
N
3
2
s
N
3
2
s
N
Figure 3-3 Stator and rotor mmf representation by
equivalent dq winding currents.
Figure 3-3 Stator and rotor representation by equivalent dq winding currents. The
dq winding voltages are defined as positive at the dotted terminals.
Note that the relative positions of the stator and the rotor current
space vectors are not actual, rather only for definition purposes.
Mutual Inductance between dq Windings on the Stator
and the Rotor
sd s sd m rd
L i L i = +
sq s sq m rq
L i L i = +
rd r rd m sd
L i L i = +
rq r rq m sq
L i L i = +
3-5 Copyright, Ned Mohan, 2001 Reference: Advanced Electric Drives
www.MNPERE.com
Figure 3-4 Transformation of phase quantities into dq winding quantities.
[ ]
abc dq s
T
a
i
b
i
c
i
sd
i
sq
i
(a) stator
[ ]
ABC dq r
T
A
i
B
i
C
i
rd
i
rq
i
(b) rotor
da
dA
dA
[ ]
abc dq s
T
a
i
b
i
c
i
sd
i
sq
i
(a) stator
[ ]
ABC dq r
T
A
i
B
i
C
i
rd
i
rq
i
(b) rotor
da
dA
[ ]
2 4
( )
cos( ) cos( ) cos( )
( )
2
3 3
( )
( )
2 4 3
sin( ) sin( ) sin( )
( )
3 3
a
da da da
sd
b
sq
da da da
c
T
s abc dq
i t
i t
i t
i t
i t
(
(
(
(
(
= (
(
(
(
(
(
_
| |
2 4
( )
cos( ) cos( ) cos( )
( )
2
3 3
( )
( )
2 4 3
sin( ) sin( ) sin( )
( )
3 3
A
dA dA dA
rd
B
rq
dA dA dA
C
T
r
ABC dq
i t
i t
i t
i t
i t
(
(
(
(
(
= (
(
(
(
(
(
_
Mathematical Relationship between dq and phase Winding
Variables
3-6 Copyright, Ned Mohan, 2001 Reference: Advanced Electric Drives
www.MNPERE.com
-axis a
-axis d
-axis
-axis
da
-
-
-
-
s
,
sd
i
sq
i
s
i
s
i
- axis q
Figure 3-5 Stator and equivalent windings. dq
d
(1)
s s s s
d
v R i
dt
= +
(2)
s s s s
d
v R i
dt
= +
_ _ _
(4)
s s s s
d
v R i
dt
= +
,
,
,
_ _
(6) ; etc.
j
da
s s dq
v v e
=
, ,
_
(5) ; etc.
s dq sd sq
v v jv = +
,
Derivation of Stator Voltages in dq Windings
_
(3) ; etc.
s s s
v v jv
= +
,
3-7 Copyright, Ned Mohan, 2001 Reference: Advanced Electric Drives
www.MNPERE.com
_ _ _ _
(2)
s dq s s dq s dq d s dq
d
v R i j
dt
= + +
, ,
,
,
(3)
sd s sd sd d sq
d
v R i
dt
= +
(4)
sq s sq sq d sd
d
v R i
dt
= + +
[M ]
rotate
0 1
(5)
1 0
sd sd sd sd
s d
sq sq sq sq
v i
d
R
v i
dt
( ( ( (
(
= + +
( ( ( (
(
_
Derivation of Stator Voltages in dq Windings (continued)
_ _ _
(1)
s s s s
d
v R i
dt
= +
,
,
,
3-8 Copyright, Ned Mohan, 2001 Reference: Advanced Electric Drives
www.MNPERE.com
-axis a
-axis d
-axis
-axis
da
-
-
-
-
r
,
rd
i
rq
i
r
i
r
i
- axis q
Figure 3-6 Rotor and equivalent windings. dq
d
-axis A
dA
( ( ( (
(
= + +
( ( ( (
(
_
3-9 Copyright, Ned Mohan, 2001 Reference: Advanced Electric Drives
www.MNPERE.com
[M ]
rotate
0 1
1 0
sd sd sd sd
s d
sq sq sq sq
v i
d
R
v i
dt
( ( ( (
(
=
( ( ( (
(
_
[M ]
rotate
0 1
1 0
rd rd rd rd
r dA
rq rq rq rq
v i
d
R
v i
dt
( ( ( (
(
=
( ( ( (
(
_
Obtaining Flux Linkages: Voltages as Inputs
| |
_ _ _ rotate _
[ ] [ ] [ ] M [ ]
s dq s dq s s dq d s dq
d
v R i
dt
=
| |
_ _ _ rotate _
[ ] [ ] [ ] M [ ]
r dq r dq r r dq dA r dq
d
v R i
dt
=
_ s dq
v
_ r dq
v
_ s dq
_ r dq
rotate
[M ]
rotate
[M ]
1
s
1
s
s
R
r
R
dA
_ s dq
d
dt
_ r dq
d
dt
1
[ ] M
Eq. 3-62
dq
i
_ s dq
i
_ r dq
i
Figure 3-7 Calculating winding flux linkages and currents. dq
3-10 Copyright, Ned Mohan, 2001 Reference: Advanced Electric Drives
www.MNPERE.com
a axis
d axis
q axis
rq
i
rd
i
sq
i
d
d
add
subtract
due to and
sq rq
i i
due to
rq
i
leakage flux
-
- -
Figure 3-8 Torque on the rotor -axis. d
a axis
d axis
q axis
rq
i
rd
i
sq
i
d
d
add
subtract
due to and
sq rq
i i
due to
rq
i
leakage flux
-
- -
a axis
d axis
q axis
rq
i
rd
i
sq
i
d
d
add
subtract
due to and
sq rq
i i
due to
rq
i
leakage flux
-
- -
Figure 3-8 Torque on the rotor -axis. d
Electromagnetic Torque on the Rotor d-Axis
0
3/ 2
(1) ( )
s r
rq sq rq
g m
mmf
N L
B i i
p L
| |
= +
|
|
\ .
/
_
,
3/ 2
(2)
2
s
d rotor rq rd
N p
T r B i
p
| |
=
|
|
\ .
/
2
0
,
3/ 2
(3) ( )
2
s r
d rotor sq rq rd
g m
N p L
T r i i i
p L
| |
| |
= +
|
|
|
|
\ .
\ .
/
/
2
0
,
3
(4) ( )
2 2
s r
d rotor sq rq rd
g m
L
m
N p L
T r i i i
p L
| |
| |
|
= +
|
|
\ .
\ .
/
/
_
,
(5) ( )
2 2
d rotor m sq r rq rd rq rd
rq
p p
T L i L i i i
= + =
_
3-11 Copyright, Ned Mohan, 2001 Reference: Advanced Electric Drives
www.MNPERE.com
rq
i
rd
i
q
add
subtract
due to and
sd rd
i i
due to
rd
i
leakage flux
q axis
d axis
a axis
sd
i
q
-
-
-
Figure 3-9 Torque on the rotor -axis. q
rq
i
rd
i
q
add
subtract
due to and
sd rd
i i
due to
rd
i
leakage flux
q axis
d axis
a axis
sd
i
q
-
-
-
rq
i
rd
i
q
add
subtract
due to and
sd rd
i i
due to
rd
i
leakage flux
q axis
d axis
a axis
sd
i
q
-
-
-
Figure 3-9 Torque on the rotor -axis. q
Electromagnetic Torque on the Rotor q-Axis
,
( )
2 2
q rotor m sq r rq rq rd rq
rd
p p
T L i L i i i
= + =
_
, ,
(1)
em d rotor q rotor
T T T = +
(2) ( )
2
em rq rd rd rq
p
T i i =
(3) ( )
2
em m sq rd sd rq
p
T L i i i i =
(4)
em L
mech
eq
T T d
dt J
=
Net Electromagnetic Torque
3-12 Copyright, Ned Mohan, 2001 Reference: Advanced Electric Drives
www.MNPERE.com
Equivalent d and q Axis Equivalent Circuits
( )
sd s sd d sq s sd m sd rd
d d
v R i L i L i i
dt dt
= + + +
/
( )
sq s sq d sd s sq m sq rq
d d
v R i L i L i i
dt dt
= + + + +
/
0
( )
rd r rd dA rq r rd m sd rd
d d
v R i L i L i i
dt dt
=
= + + +
/
0
( )
rq r rq dA rd r rq m sq rq
d d
v R i L i L i i
dt dt
=
= + + + +
/
s
R
+
+
+
+
s
R
s
L
/
s
L
/
r
L
/
r
L
/
m
L
m
L
sd
v
sq
v
d sd
d sq
sd
i
sq
i
dA rq
dA rd
rd
v
rq
v
+
sd
d
dt
sq
d
dt
+
rd
d
dt
rq
d
dt
(a) -axis d
(b) -axis q
1 2
1 2
1 2
1 2
1
2
1
2
Figure 3-5 -winding equivalent circuits. dq
rd
i
rq
i
r
R
r
R
Figure 3-10 dq-winding equivalent circuits.
3-13 Copyright, Ned Mohan, 2001 Reference: Advanced Electric Drives
www.MNPERE.com
Figure 3-11 Per-phase equivalent circuit in steady state.
+
(at )
a
V
+
s
j L
/
ma
I
ma
E
ra
I
a
I
s
R
r
j L
/
r
R
s
( )
m m
j L jX =
A
I
Per-Phase Equivalent Circuit
_ _ _
(1)
s dq s s dq syn s dq
v R i j = +
,
,
,
_ _
(4) 0
r
dq sy r n r dq
R
i j
s
= +
,
,
_ _ _ _ _
(2) ( )
s dq s s dq syn s s dq syn m s dq r dq
v R i j L i j L i i = + + +
/
, , , ,
,
_ _ _ _
(5) 0 ( )
r
r dq syn r r dq syn m s dq r dq
R
i j L i j L i i
s
= + + +
/
, , , ,
(3) ( )
a s a syn s a syn m a A
V R I j L I j L I I = + + +
/
(6) 0 ( )
r
a syn r A syn m a A
R
I j L I j L I I
s
= + + +
/
3-14 Copyright, Ned Mohan, 2001 Reference: Advanced Electric Drives
www.MNPERE.com
Obtaining Currents from Flux Linkages
[ ]
sd s m sd
rd m r rd
L
L L i
L L i
( ( (
=
( ( (
_
[ ]
sq sq
s m
m r rq rq
L
i
L L
L L i
( (
(
=
( (
(
( (
_
[ ]
0 0
0 0
0 0
0 0
sd sd
s m
sq sq
s m
m r rd rd
m r rq rq
M
i
L L
i
L L
L L i
L L i
( (
(
( (
(
( (
(
=
( (
(
( (
(
(
( (
_
1
[ ]
sd sd
sq sq
rd rd
rq rq
i
i
M
i
i
( (
( (
( (
=
( (
( (
( (
3-15 Copyright, Ned Mohan, 2001 Reference: Advanced Electric Drives
www.MNPERE.com
Induction Motor Model
_ s dq
v
_ r dq
v
_ s dq
_ r dq
rotate
[M ]
rotate
[M ]
1
s
1
s
s
R
r
R
dA
_ s dq
d
dt
_ r dq
d
dt
1
[ ] M
Eq. 3-62
dq
i
_ s dq
i
_ r dq
i
em
T
L
T
Eq. 3-47
1
eq
sJ
mech
2
p
3
(0)
2
j
i
a a i s a
I
s
I I i I e
= =
,
2 2 3
2 2 3
(
(
(
(
(
(
=
(
(
(
(
( (
Calculation of Steady State Initial Conditions
Using Voltage Equations
3-18 Copyright, Ned Mohan, 2001 Reference: Advanced Electric Drives
www.MNPERE.com
Simlink-based dq-Axis Simulation of Induction Motor
3-19 Copyright, Ned Mohan, 2001 Reference: Advanced Electric Drives
www.MNPERE.com
Simulation Results
4-1 Copyright, Ned Mohan, 2001 Reference: Advanced Electric Drives
www.MNPERE.com
Chapter 4
Vector Control of Induction-
Motor Drives: A Qualitative
Examination
4-2 Copyright, Ned Mohan, 2001 Reference: Advanced Electric Drives
www.MNPERE.com
DC Motor Drive
a
S
S N
a
N
em
T
f
P
P
U
+
a
e
a
v
a
L
a
R
a
i
+
a
i
0
0
t
em T a
T k i =
em
T
t
T
em
= k
T
i
a
4-3 Copyright, Ned Mohan, 2001 Reference: Advanced Electric Drives
www.MNPERE.com
Brushless DC Motor Drive
( )
r
B t
JJG
( )
s
i t
JG
o
90
N
S
axis a
m
s
I
0
0
t
em T s
T k I =
em
T
t
em T S
T k I =
4-4 Copyright, Ned Mohan, 2001 Reference: Advanced Electric Drives
www.MNPERE.com
Vector-Controlled Induction
Motor Drive
axis a
'( )
r
i t
JJG
'( )
r
F t
JJJG
( )
r
B t
JJG
( )
r
F t
JJG
( )
ms
B t
JJJJG
( )
lr
B t
JJJG
r
( )
s
v t
JJG
speed feedback
current
feedback
Tacho
IM
P
P
U
( ) perpendicuar to ( ) and ( )
r r r
B t F t F t
G G G
'
(keeping constant)
em T r r
T k I B =
4-5 Copyright, Ned Mohan, 2001 Reference: Advanced Electric Drives
www.MNPERE.com
Analogy to a Current-Excited
Transformer With a Shorted
Secondary
,
2
m i
,
1
m i
1
i
l 2
N:N
shown explicitly
2
R
short
net = 0
2
v 0 = 2
R
2
i
0
t
1
i
+ -
2 2
(0 ) = (0 ) = 0
1 2
+ + +
m,i m,i 2
(0 ) = (0 ) + (0 )
A
+ +
m
2 1
2
L
i (0 ) = i (0 )
L
4-6 Copyright, Ned Mohan, 2001 Reference: Advanced Electric Drives
www.MNPERE.com
Analogy to a Current-Excited
Transformer With a Shorted
Secondary
2 1
2
(0 ) (0 )
m
L
i i
L
+ +
=
2
2 2
( ) (0 )
t
i t i e
+
=
2
2
2
L
R
=
mi ,
2
mi ,
1
i
1
i
1
i
2
N
1
N
2
net =0
R
2
A
2
= +
mi mi , ,
1 2 2
A
0
t
t =
+
0
short
R shown licitly
2
exp
( ) a
i
2
+
+
L
m
L
A
2
+
e
2
N
d
dt
L
di
dt
A
A
2
2
2
=
N
d
dt
L
di
dt
mi
m
,
2 2
=
Note
d
dt
mi
:
,
1
0 =
t >0
( ) b
0
0
i
2
i
1
t
t
L
L
i
m
2
1
0
+
d i
( ) c
Figure 4-5 Analogy of A Current-Excited Transformer
with a Short-Circuited Secondary;
0
1 2
N N =
2 2 m
L L L = +
A
4-7 Copyright, Ned Mohan, 2001 Reference: Advanced Electric Drives
www.MNPERE.com
R
1
R
2
i
2
i
2
0
0
t
t
i
m
i
1
i
1
L
A
1
L
A
2
L
m
N N N
1 2
= =
Figure 4-6 Equivalent-Circuit Representation of the Current-Excited
Transformer with a Short-Circuited Secondary.
Using the Transformer Equivalent Circuit
2 1 1
2 2
(0 ) (0 ) (0 )
m m
m
L L
i i i
L L L
+ + +
= =
+
A
2 2
1 1
2 2
(0 ) (0 ) (0 )
m
m
L L
i i i
L L L
+ + +
= =
+
A A
A
2
2 2
( ) (0 )
t
i t i e
+
=
4-8 Copyright, Ned Mohan, 2001 Reference: Advanced Electric Drives
www.MNPERE.com
d- and q- Axis Winding
Representation
sd s
2
i = the projection of i (t) vector along the d-axis
3
G
sq s
2
i = the projection of i (t) vector along the q-axis
3
G
a axis
stator
A axis
rotor
d axis
m
i
sd
i
sq
q axis
at t
i
rq
i
rd
m
G
i
s
G
i
r
3
2
i
sd
3
2
i
sq
3
2
i
rq 3
2
i
rd
d
da
dA
3
2
s
N
3
2
s
N
3
2
s
N
Figure 3-3 Stator and rotor mmf representation by
equivalent dq winding currents.
a axis
a axis
stator
A axis
A axis
rotor
d axis
d axis
m
i
sd
i
sd
i
sq
i
sq
q axis
q axis
at t at t
i
rq
i
rq
i
rd
i
rd
m
G
i
s
G
i
s
G
i
r
G
i
r
3
2
i
sd
3
2
i
sd
3
2
i
sq
3
2
i
sq
3
2
i
rq
3
2
i
rq 3
2
i
rd
3
2
i
rd
d
da
dA
3
2
s
N
3
2
s
N
3
2
s
N
Figure 3-3 Stator and rotor mmf representation by
equivalent dq winding currents.
Figure 3-3 Stator and rotor representation by equivalent dq winding currents. The
dq winding voltages are defined as positive at the dotted terminals.
Note that the relative positions of the stator and the rotor current
space vectors are not actual, rather only for definition purposes.
4-9 Copyright, Ned Mohan, 2001 Reference: Advanced Electric Drives
www.MNPERE.com
Initial Flux Buildup Prior to
axis q
axis d
sq
i 0 =
sd
i
t 0
,
sd
m i
s
i
JG
r
B
JJG
t 0
=
sd
i
- - -
a m,rated b c m,rated
1
i (0 ) = I and i (0 ) = i (0 ) = - I
2
-
sd ms,rated m,rated m,rated
2 2 3 3
i (0 ) = I = ( I ) = I
3 3 2 2
sq
i = 0
-
t = 0
4-10 Copyright, Ned Mohan, 2001 Reference: Advanced Electric Drives
www.MNPERE.com
Step Change in Torque at
m
0 =
+
= t 0
r
B
JJG
sd
i
net = 0
axis a
slip
lr
,
r
m i
,
sq
m i
slip
sq
i
sq
i
sd
i
0
t
m
= 0
i
sd
unchanged
Step-change in i
sq
q,net
= 0
sq r
+ + +
m,i m,i r
(0 ) = (0 ) + (0 )
A
m
em r sq
r
L
T B , i
L
-
t = 0
4-11 Copyright, Ned Mohan, 2001 Reference: Advanced Electric Drives
www.MNPERE.com
Flux Densities at
+
t = 0
r
B
JJG
t 0
+
=
r
lr
B
JJJG
ms
B
JJJJG
axis a
4-12 Copyright, Ned Mohan, 2001 Reference: Advanced Electric Drives
www.MNPERE.com
Transformer Analogy Voltage
Needed to Prevent the Decay of
Secondary Current
+
2
i
( ) ( )
2 2 2
v R i 0 u t
+
=
2
R
m
i
m
L
l 2
L
l1
L
( )
1
i u t
1
R
t 0 >
4-13 Copyright, Ned Mohan, 2001 Reference: Advanced Electric Drives
www.MNPERE.com
Currents and Fluxes at Sometime
Later t > 0, Blocked Rotor
m
0 =
t 0 >
r
B
JJG
sd
i
net = 0
axis a
slip
lr
,
r
m i
,
sq
m i
sq
i
slip
sq
i
axis d
axis q
r m r sq
slip
r
R , (L /L )i
B
4-14 Copyright, Ned Mohan, 2001 Reference: Advanced Electric Drives
www.MNPERE.com
Vector-Controlled Condition
With a Rotor Speed
m
t 0 >
r
B
JJG
sd
i
net = 0
axis a
syn
lr
,
r
m i
,
sq
m i
sq
i
syn
sq
i
axis d
axis q
m
syn m slip
= +
4-15 Copyright, Ned Mohan, 2001 Reference: Advanced Electric Drives
www.MNPERE.com
Torque, Speed, and Position
Control
(measured)
/ d dt
encoder
Motor
PPU
regulated
current
to
abc
dq
to
dq
abc
*
a
i
*
b
i
*
c
i
a
i
b
i
c
i
sd
i
sq
i
em
T
r
B
r
B
calculations
m
(measured)
m
m
em
T
(measured)
(calculated)
P PI PI
+ +
+
PI
m
(measured)
*
r
B
r
B
m
r
B (calculated)
*
sd
i
*
sq
i
*
m
*
m
*
em
T
(measured)
m
4-16 Copyright, Ned Mohan, 2001 Reference: Advanced Electric Drives
www.MNPERE.com
Figure 4-14 (a) Block diagram representation of hysteresis current control;
(b) current waveform.
T
1
k
*
s
I
*
em
T
*
( )
a
i t
*
( )
b
i t
*
( )
c
i t
( )
A
q t
phase a
( )
a
i t
d
V
+
( )
m
t
+
(a)
(b)
reference current
actual current
t 0
. From Eq 10 6
using Eqs. 10-11 and 10-12
Power-Processing Unit (PPU)
5-1 Copyright, Ned Mohan, 2001 Reference: Advanced Electric Drives
www.MNPERE.com
Chapter 5
Mathematical Description of Vector
Control
5-2 Copyright, Ned Mohan, 2001 Reference: Advanced Electric Drives
www.MNPERE.com
a axis
stator
A axis
rotor
d axis
m
i
sd
i
sq
q axis
at t
i
rq
i
rd
m
G
i
s
G
i
r
3
2
i
sd
3
2
i
sq
3
2
i
rq 3
2
i
rd
d
da
dA
3
2
s
N
3
2
s
N
3
2
s
N
Figure 3-3 Stator and rotor mmf representation by
equivalent dq winding currents.
a axis
a axis
stator
A axis
A axis
rotor
d axis
d axis
m
i
sd
i
sd
i
sq
i
sq
q axis
q axis
at t at t
i
rq
i
rq
i
rd
i
rd
m
G
i
s
G
i
s
G
i
r
G
i
r
3
2
i
sd
3
2
i
sd
3
2
i
sq
3
2
i
sq
3
2
i
rq
3
2
i
rq 3
2
i
rd
3
2
i
rd
d
da
dA
3
2
s
N
3
2
s
N
3
2
s
N
Figure 3-3 Stator and rotor mmf representation by
equivalent dq winding currents.
Figure 5-1 Stator and rotor mmf representation by equivalent dq winding currents.
The d-axis is aligned with
r
G
.
Motor Model with the d-Axis Aligned with the Rotor
Flux Linkage Axis
( ) 0
rq
t =
m
rq sq
r
L
i i
L
=
( ) 0
rq
d
t
dt
=
5-3 Copyright, Ned Mohan, 2001 Reference: Advanced Electric Drives
www.MNPERE.com
s
R
+
+
+
+
s
R
s
L
A
s
L
A r
L
A
r
L
A
m
L
m
L
sd
v
sq
v
d sd
d sq
sd
i
sq
i
dA rd
0
rd
v =
0
rq
v =
+
sd
d
dt
sq
d
dt
+
+
rd
d
dt
0
rq
d
dt
=
(a) -axis d
(b) -axis q
rd
i
rq
i
r
R
r
R
rq
i
Figure 5-2 Dynamic circuits with the d-axis aligned with
r
G
.
Dynamic Circuits with the d-Axis Aligned with the
Rotor Flux Linkage Axis
Calculation of
:
dA
rq
m
dA r sq
rd r rd
i
L
R i
= =
Calculation of Torque
2 2
m
em rd rq rd sq
r
L p p
T i i
L
= =
:
em
T
5-4 Copyright, Ned Mohan, 2001 Reference: Advanced Electric Drives
www.MNPERE.com
r
L
A
m
L
sd
i
+
rd
d
dt
rd
i
r
R
Figure 5-3 The d-axis circuit simplified with a current excitation.
D-Axis Rotor Flux Dynamics
(1) ( ) ( )
m
rd sd
r r
sL
i s i s
R sL
=
+
(2)
rd r rd m sd
L i L i = +
(3) ( ) ( )
(1 )
m
rd sd
r
L
s i s
s
=
+
(4)
rd m
rd sd
r r
L d
i
dt
+ =
5-5 Copyright, Ned Mohan, 2001 Reference: Advanced Electric Drives
www.MNPERE.com
Motor Model
0
( ) 0 ( )
t
da d
t d = +
r
Figure 5-4 Motor model with d-axis aligned with .
G
rd
rd
1
m
r
L
s +
r
D
N
N/D
1/ s
da
em
T
m
mech
dA
m
L
sq
i
sd
i
2
m
r
L p
L
2
p
rd
+
+
5-6 Copyright, Ned Mohan, 2001 Reference: Advanced Electric Drives
www.MNPERE.com
Simulation with d-Axis Aligned with the Rotor Flux Linkage
(line-fed machine; achieving vector control is not an objective)
5-7 Copyright, Ned Mohan, 2001 Reference: Advanced Electric Drives
www.MNPERE.com
Figure 5-6 Results of Example 5-1.
Simulation Results match that of Example 3-3
5-8 Copyright, Ned Mohan, 2001 Reference: Advanced Electric Drives
www.MNPERE.com
Vector-Controlled Induction Motor with a CR-PWM Inverter
Figure 5-7 Vector-controlled induction motor with a CR-PWM Inverter.
em
T
i
sd
*
i
sq
*
i
a
*
i
b
*
i
c
*
Current
Regulated
PPU
Motor
( )
mech
measured
mech
model
Motor
of Fig.49
sd
i
sq
i
i
a
i
b
i
c
Encoder
Transformations
Transformations
d
dt
Eq. 107
Eq. 103
Motor Model
(Fig. 5-4)
abc
to
dq
dq
to
abc
rd
da
da
da
Fig. 5-4
mech
mech
(measured)
mech
mech
em
T
(calculated)
P PI PI
+ +
+
PI
mech
*
rd
*
rd
mech
rd
(calculated)
*
sd
i
*
sq
i
*
mech
*
mech
*
em
T
(measured)
da
mech
mech
k
( )
sq
i s
i
p
k
k
s
+
1
eq
sJ
*
mech
em
T
5-11 Copyright, Ned Mohan, 2001 Reference: Advanced Electric Drives
www.MNPERE.com
Simulation of CR-PWM Vector Controlled Drive
using Simulink
5-12 Copyright, Ned Mohan, 2001 Reference: Advanced Electric Drives
www.MNPERE.com
Figure 5-11 Simulation results of Example 5-2.
Simulation Results of a Vector Controlled
Induction Motor Drive
5-13 Copyright, Ned Mohan, 2001 Reference: Advanced Electric Drives
www.MNPERE.com
Calculation of Stator Voltages in Vector Control
2
(1) 1
m
s r
L
L L
=
(2)
m
sd s sd rd
r
L
L i
L
= +
(3)
sq s sq
L i =
,
(5)
m
sq s sq s sq d rd d s sd
r
v
sq v
sq comp
L d
v R i L i L i
dt L
= + + +
Figure 5-12 Vector control with applied voltages.
i
sd
*
i
sq
*
PI
PI
+
+
+
+
+
+
i
sd
i
sq
i
a
i
c
i
b
v
a
*
v
b
*
v
c
*
Motor
v
sd
*
v
sq
*
Transformations
Motor
Model
i
sd
i
sq
Encoder
mech
( ) mech measured
Transformations
Modulated
Space
Vector
PPU
rd
em
T
da
da
, sd comp
v
, sq comp
v
sd
v
sq
v
,
(4)
m
sd s sd s sd rd d s sq
r
v
sd v
sd comp
L d d
v R i L i L i
dt L dt
= + +
5-14 Copyright, Ned Mohan, 2001 Reference: Advanced Electric Drives
www.MNPERE.com
Figure 5-13 Design of the current-loop controller.
( )
sd
i s
( )
sd
v s
*
( )
sd
i s
PI
1
s s
R s L +
Design of the Current-Loop Controller
(1)
sd s sd s sd
d
v R i L i
dt
= +
(2)
sq s sq s sq
d
v R i L i
dt
= +
1
(3) ( ) ( )
sd sd
s s
i s v s
R s L
=
+
1
(4) ( ) ( )
sq sq
s s
i s v s
R s L
=
+
5-15 Copyright, Ned Mohan, 2001 Reference: Advanced Electric Drives
www.MNPERE.com
Simulation of Vector Controlled Drive with supplied Voltages
5-16 Copyright, Ned Mohan, 2001 Reference: Advanced Electric Drives
www.MNPERE.com
Figure 5-15 Simulation results of Example 5-3.
Simulation Results of Vector Controlled Drive with supplied
Voltages
6-1 Copyright, Ned Mohan, 2001 Reference: Advanced Electric Drives
www.MNPERE.com
Chapter 6
Detuning Effects in Induction Motor
Vector Control
6-2 Copyright, Ned Mohan, 2001 Reference: Advanced Electric Drives
www.MNPERE.com
sd
i
0
sq
i =
r
G
-axis a
-axis d
-axis q
0 t
=
-
Figure 6-1 windings at 0 . dq t =
Initial conditions
0 t
=
*
sd sd
i i =
,
0
da da est
= =
6-3 Copyright, Ned Mohan, 2001 Reference: Advanced Electric Drives
www.MNPERE.com
-axis d
-axis
est
d
-axis a
-axis q
-axis
est
q
_ s dq
i
G
sd
i
*
sd
i
*
sq
i
sq
i
sd
i
*
sd
i
*
sq
i
sq
i
, da est
da
0 t >
Figure 6-2 windings at 0; drawn for 1. dq t k
> <
-axis d
-axis
est
d
-axis a
-axis q
-axis
est
q
_ s dq
i
G
sd
i
*
sd
i
*
sq
i
sq
i
sd
i
*
sd
i
*
sq
i
sq
i
, da est
da
0 t >
-axis d
-axis
est
d
-axis a
-axis q
-axis
est
q
_ s dq
i
G
sd
i
*
sd
i
*
sq
i
sq
i
sd
i
*
sd
i
*
sq
i
sq
i
, da est
da
0 t >
Figure 6-2 windings at 0; drawn for 1. dq t k
> <
Effect of Detuning due to Incorrect Rotor Time Constant
,
(1)
r
r est
k
=
( )
( ) , ,
,
_
_ _
(3)
j
j d d est d est
da da est
err
s dq
s dq s dq
i i e i e
= =
G G G
,
(4)
err da da est
=
, * *
_
(2)
d est
sd sq
s dq
i i ji = +
G
6-4 Copyright, Ned Mohan, 2001 Reference: Advanced Electric Drives
www.MNPERE.com
* *
(3) cos sin
sd sd err sq err
i i i = +
* *
(4) cos sin
sq sq err sd err
i i i =
-axis d
-axis
est
d
-axis a
-axis q
-axis
est
q
_ s dq
i
G
sd
i
*
sd
i
*
sq
i
sq
i
sd
i
*
sd
i
*
sq
i
sq
i
, da est
da
0 t >
Figure 6-2 windings at 0; drawn for 1. dq t k
> <
-axis d
-axis
est
d
-axis a
-axis q
-axis
est
q
_ s dq
i
G
sd
i
*
sd
i
*
sq
i
sq
i
sd
i
*
sd
i
*
sq
i
sq
i
, da est
da
0 t >
-axis d
-axis
est
d
-axis a
-axis q
-axis
est
q
_ s dq
i
G
sd
i
*
sd
i
*
sq
i
sq
i
sd
i
*
sd
i
*
sq
i
sq
i
, da est
da
0 t >
Figure 6-2 windings at 0; drawn for 1. dq t k
> <
Effect of Detuning due to Incorrect Rotor Time Constant
(continued)
( )
( ) , ,
,
_
_ _
(1)
j
j d d est d est
da da est
err
s dq
s dq s dq
i i e i e
= =
G G G
, err da da est
=
, * *
_
(2)
d est
sd sq
s dq
i i ji = +
G
6-5 Copyright, Ned Mohan, 2001 Reference: Advanced Electric Drives
www.MNPERE.com
Estimated Motor Model (Rotor Blocked)
*
sd
i
*
sq
i
dq
to
abc
CR-
PWM
Inv.
*
a
i
*
b
i
*
c
i
a
i
b
i
c
i
abc
to
dq
sd
i
sq
i
1
m
r
L
s +
m
L
r
D
N
N
D
dA
1
s
dA
rd
, rd est
,
1
m
r est
L
s +
, r est
, dA est
, dA est
abc
to
dq
m
L
N
D
, dA est
N
D
1
s
*
, sd est sd
i i =
*
, sq est sq
i i =
(ideal)
Estimated Motor Model
(Rotor Flux and Slip Estimator)
Actual Motor Model
Figure 6-3 Actual and the estimated motor models (blocked-rotor).
6-6 Copyright, Ned Mohan, 2001 Reference: Advanced Electric Drives
www.MNPERE.com
Simulation of Vector Control with Estimated Motor Parameters
6-7 Copyright, Ned Mohan, 2001 Reference: Advanced Electric Drives
www.MNPERE.com
Figure 6-5 Simulation results of Example 6-1.
Effect of Detuning in Dynamic and Steady States
6-8 Copyright, Ned Mohan, 2001 Reference: Advanced Electric Drives
www.MNPERE.com
-axis d
-axis
est
d
-axis a
-axis q
-axis
est
q
_ s dq
i
G
sd
i
*
sd
i
sq
i
*
sq
i
da
, da est
0 t >
Figure 6-6 windings at 0; drawn for 1. dq t k
> <
, i est
s
i
s
=
*
,
*
1
,
sq
dA est
sd
i
i
r est
=
*
*
,
,
1 1
sq sq
r est r sd
sd
dA
dA est
i i
i
i
2 2
2 2 * *
_
sd sq sd sq s dq
i i i i I + = + =
6-9 Copyright, Ned Mohan, 2001 Reference: Advanced Electric Drives
www.MNPERE.com
-axis d
-axis
est
d
-axis a
-axis q
-axis
est
q
_ s dq
i
G
sd
i
*
sd
i
sq
i
*
sq
i
da
, da est
0 t >
Figure 6-6 windings at 0; drawn for 1. dq t k
> <
, i est
s
i
s
+
=
+
* *
sq
sd
sq sd
i
i
k
i i
=
1 1
tan ( ) tan ( )
err
m k m
=
, err i est i
s s
=
2
* 2
1
1 ( )
em
em
T m
k
T k m
+
=
+
7-1 Copyright, Ned Mohan, 2001 Reference: Advanced Electric Drives
www.MNPERE.com
Chapter 7
Space-Vector Pulse-Width-
Modulated (SV-PWM) Inverters
Advantages
Full Utilization of the DC Bus Voltage
Same simplicity as the Carrier-Modulated PWM
Applicable in Vector Control, DTC and V/f Control
7-2 Copyright, Ned Mohan, 2001 Reference: Advanced Electric Drives
www.MNPERE.com
Synthesis of Stator Voltage Space Vector
Figure 7-1 Switch-mode inverter.
a
q
b
q
c
q
+
d
V
a
b
c
N
+
a
v
b
v
+
c
v
+
a
i
b
i
c
i
0 2 / 3 4 / 3
(1) ( ) ( ) ( ) ( )
a j j j
s a b c
v t v t e v t e v t e
= + +
G
(2) ; ;
a aN N b bN N c cN N
v v v v v v v v v = + = + = +
0 2 / 3 4 / 3
(3) 0
j j j
e e e
+ + =
0 2 / 3 4 / 3
(4) ( )
a j j j
s aN bN cN
v t v e v e v e
= + +
G
0 2 / 3 4 / 3
(5) ( ) ( )
a j j j
s d a b c
v t V q e q e q e
= + +
G
7-3 Copyright, Ned Mohan, 2001 Reference: Advanced Electric Drives
www.MNPERE.com
0 7
Figure 7-2 Basic voltage vectors ( and not shown). v v
G G
-axis a
s
v
G
1
(001) v
G
3
(011) v
G
2
(010) v
G
6
(110) v
G
4
(100) v
G
5
(101) v
G
sector 1
sector 2
sector 3
sector 4
sector 5
sector 6
Basic Voltage Vectors
0
0
1
2 / 3
2
/ 3
3
4 / 3
4
5 / 3
5
6
7
(000) 0
(001)
(010)
(011)
(100)
(101)
(110)
(111) 0
a
s
a j
s d
a j
s d
a j
s d
a j
s d
a j
s d
a j
s d
a
s
v v
v v V e
v v V e
v v V e
v v V e
v v V e
v v V e
v v
= =
= =
= =
= =
= =
= =
= =
= =
G G
G G
G G
G G
G G
G G
G G
G G
7-4 Copyright, Ned Mohan, 2001 Reference: Advanced Electric Drives
www.MNPERE.com
Synthesis of Voltage Vector in Sector 1
0
1
j
d
v V e =
G
/ 3
3
j
d
v V e
=
G
j
s
s s
v V e
=
G
s
1
xv
G
3
yv
G
Figure 7-3 Voltage vector in sector 1.
1 3
1
(1) [ 0]
a
s s s s
s
v xT v yT v zT
T
= + +
G G G
1 3
(2)
a
s
v xv yv = +
G G G
(3) 1 x y z + + =
0 / 3
(4)
j j j
s
s d d
V e xV e yV e
= +
7-5 Copyright, Ned Mohan, 2001 Reference: Advanced Electric Drives
www.MNPERE.com
Synthesis using Carrier-Modulated PWM
0 7
Figure 7-4 Waveforms in sector 1; . z z z = +
s
T
/ 2
s
T
7
z
0
/ 2 z
0
/ 2 z
/ 2 y
/ 2 y
/ 2 x / 2 x
aN
v
bN
v
cN
v
0
0
0
d
V
d
V
d
V
0
, control a
v
tri
v
, control b
v
, control c
v
,
,
,
/ 2
/ 2
/ 2
control a
a k
d
tri
control b
b k
d
tri
control c
c k
d
tri
v
v v
V
V
v
v v
V
V
v
v v
V
V
=
max( , , ) min( , , )
2
a b c a b c
k
v v v v v v
v
+
=
( ) ( ) ( ) 0
a b c
v t v t v t + + =
7-6 Copyright, Ned Mohan, 2001 Reference: Advanced Electric Drives
www.MNPERE.com
Synthesis of Space Vector using Carrier-Modulated
PWM in Simulink
7-7 Copyright, Ned Mohan, 2001 Reference: Advanced Electric Drives
www.MNPERE.com
Figure 7-6 Simulation results of Example 7-1.
Control Waveforms for Carrier Pulse-Width-Modulation
7-8 Copyright, Ned Mohan, 2001 Reference: Advanced Electric Drives
www.MNPERE.com
Limit on the Amplitude of the Stator Voltage
Space Vector
,max
,max
(4) ( ) 3 0.707
2 2
phase
d
LL d
V
V
V rms V = = =
,max
3
(5) ( ) 0.612
2 2
LL d d
V rms V V = =
(sinusoidal PWM)
0
30
,max
s
V
d
V
d
V
(1) ( )
j t
a syn
s s
v t V e
=
G
0
,max
60 3
(2) cos( )
2 2
s d d
V V V = =
,max ,max
2
(3)
3
3
d
phase s
V
V V = =
8-1 Copyright, Ned Mohan, 2001 Reference: Advanced Electric Drives
www.MNPERE.com
Chapter 8
Direct Torque Control (DTC) and
Encoder-less Operation of
Induction Motors
8-2 Copyright, Ned Mohan, 2001 Reference: Advanced Electric Drives
www.MNPERE.com
DTC System Overview
Measured Inputs: Stator Voltages
and Currents
Estimated Outputs: 1) Torque, 2)
Mechanical Speed, 3) Stator Flux
Amplitude and 4) its angle
+
d
V
a
q
b
q
c
q
a
i
b
i
c
i
IM
PI
+ +
*
mech
mech
*
em
T
*
em
T
s
Estimator
Selection
of
s
v
( )
s
t
( )
s
t T
s
v T
i
( ) ( )
r r
t t T
-axis a
Rotor -axis A
A
r
2
sin
2
m
em s r sr
L p
T
L
=
sr s r
=
8-4 Copyright, Ned Mohan, 2001 Reference: Advanced Electric Drives
www.MNPERE.com
2
2 3
2
em
slip r
r
T
R
p
=
m r slip
=
(2/ )
mech m
p =
( ) ( ) ( )
t
j
s
s s s s s s
t T
t t T v R i d e
= + =
( )
j
r
r
r s s s r
m
L
L i e
L
= =
( ) ( )
r r
r r
t t T d
dt T
= =
Im( )
2
conj
em s s
p
T i =
2
1
m
s r
L
L L
=
Calculation of Stator Flux:
Calculation of Rotor Flux:
where
Estimating Torque:
Estimating Mechanical Speed:
s s s s
d
v R i
dt
= +
3
(011) v
2
(010) v
6
(110) v
4
(100) v
5
(101) v
b-axis
c-axis
1
2
3
4
5
6
Figure 8-3 Inverter basic vectors and sectors.
8-6 Copyright, Ned Mohan, 2001 Reference: Advanced Electric Drives
www.MNPERE.com
Stator Voltage Vector Selection in Sector 1
sector 1
s
1
v
3
v
2
v
4
v
5
v
6
v
1
v
3
v
2
v
4
v
5
v
6
v
1
v
3
v
2
v
4
v
5
v
6
v
sector 1
s
1
v
3
v
2
v
4
v
5
v
6
v
3
v
2
v
4
v
5
v
em
T
a-axis
1
(001) v
3
(011) v
2
(010) v
6
(110) v
4
(100) v
5
(101) v
b-axis
c-axis
1
2 3
4
5
6
Figure 8-3 Inverter basic vectors and sectors.
8-8 Copyright, Ned Mohan, 2001 Reference: Advanced Electric Drives
www.MNPERE.com
Effect of Zero Stator Voltage Space Vector
s
( ) ( )
s s
t t T
-axis a
Rotor -axis at t- t A
A
r
Rotor -axis at t A
( )
r
t T
( )
r
t
m
sin ( )
sr s r
( )
em s r
T k
0
s
0
A
r
A
r m r m
= +
( )
em m
T k
8-9 Copyright, Ned Mohan, 2001 Reference: Advanced Electric Drives
www.MNPERE.com
DTC in Simulink
8-10 Copyright, Ned Mohan, 2001 Reference: Advanced Electric Drives
www.MNPERE.com
Fig. 2 Torque Waveforms.
8-11 Copyright, Ned Mohan, 2001 Reference: Advanced Electric Drives
www.MNPERE.com
Fig. 3 Speed Waveforms.
8-12 Copyright, Ned Mohan, 2001 Reference: Advanced Electric Drives
www.MNPERE.com
Fig. 4 Stator Flux.
8-13 Copyright, Ned Mohan, 2001 Reference: Advanced Electric Drives
www.MNPERE.com
Fig. 5 Stator and Rotor Fluxes.
9-1 Copyright, Ned Mohan, 2001 Reference: Advanced Electric Drives
www.MNPERE.com
Chapter 9
Vector Control of Permanent-
Magnet Synchronous-Motor Drives
9-2 Copyright, Ned Mohan, 2001 Reference: Advanced Electric Drives
www.MNPERE.com
Non-Salient Permanent-Magnet Synchronous Motor
sd s sd fd
L i = +
sq s sq
L i =
axis c
axis a
axis b
N
S
b
i
a
i
c
i
m
( ) a
axis c
axis a
axis b
N
S
b
i
a
i
c
i
m
r
B
,
' a
a
-axis q
( ) b
-axis d
Figure 9-1 Permanent-magnet synchronous machine (shown with =2). p
9-3 Copyright, Ned Mohan, 2001 Reference: Advanced Electric Drives
www.MNPERE.com
sd s sd sd m sq
d
v R i
dt
= +
sq s sq sq m sd
d
v R i
dt
= + +
2
m mech
p
=
( )
2
em sd sq sq sd
p
T i i = [( ) ]
2 2
em s sd fd sq s sq sd fd sq
p p
T L i i L i i i = + =
em L
mech
eq
T T d
dt J
=
Non-Salient Permanent-Magnet Synchronous Motor
(Continued)
9-4 Copyright, Ned Mohan, 2001 Reference: Advanced Electric Drives
www.MNPERE.com
sd s sd m s sq
v R i L i =
Per-Phase Steady Stead Equivalent Circuit
sq s sq m s sd m fd
v R i L i = + +
3/ 2
s s s m s s m fd
e
fs
v R i j L i j = + +
,
, ,
,
_
2
3
a s a m s a m fd
E
fa
V R I j L I j = + +
_
2
3
fa fd m E m
k
E
E k = =
_
2
3
E fd
k =
s
R
a
V
m m
L
m s
L
m ls
L
( )
fa fa E m
E E k =
+
a
I
+
Figure 9-2 Per-phase equivalent circuit in steady state ( in elect. rad/s)
m
*
sq
i
*
sd
i
( )
2
m mech
p
=
sensor
position
abc
to
dq
+
+
+
( )
m s sd fd
L i +
m s sq
L i
*
sd
v
*
sq
v
Inverter
PWM
i
p
k
k
s
+
m
sq
i
sd
i
decoupling
terms
1
s
to
abc
dq
*
a
v
i
p
k
k
s
+
*
b
v
*
c
v
9-6 Copyright, Ned Mohan, 2001 Reference: Advanced Electric Drives
www.MNPERE.com
Vector Control of a Permanent-Magnet Synchronous-
Motor Drive
9-7 Copyright, Ned Mohan, 2001 Reference: Advanced Electric Drives
www.MNPERE.com
Figure 9-5 Simulation results of Example 9-1.
Simulation Results
9-8 Copyright, Ned Mohan, 2001 Reference: Advanced Electric Drives
www.MNPERE.com
Salient-Pole Synchronous Machine
sd md s
L L L = +
/
sq mq s
L L L = +
/
fd md fd
L L L = +
/
rd md rd
L L L = +
/
rq mq rq
L L L = +
/
sd sd sd md rd md fd
L i L i L i = + +
sq sq sq mq rq
L i L i = +
rd rd rd md sd md fd
L i L i L i = + +
rq rq sq mq sq
L i L i = +
fd fd d md sd md rd
L i L i L i = + +
-axis a
-axis d
-axis b
-axis q
-axis c
-axis a
-axis d
-axis q
sq
i
rq
i
rd
i
sd
i
fd
i
( ) a
( ) b
Figure 9-6 Salient-pole machine.
9-9 Copyright, Ned Mohan, 2001 Reference: Advanced Electric Drives
www.MNPERE.com
sd s sd sd m sq
d
v R i
dt
= +
sq s sq sq m sd
d
v R i
dt
= + +
( 0)
rd rd rd rd
d
v R i
dt
=
= +
( 0)
rq rq rq rq
d
v R i
dt
=
= +
fd fd fd fd
d
v R i
dt
= +
Winding Voltages
+
( ) -axis a d
( ) -axis b q
sd
v
sq
v
sq
i
sd
i
rq
i
rd
i
fd
i
rd
v
rq
v
fd
v
s
R
m sq
s
L
/ rd
L
/
rd
R
md
L
s
R
m sd
s
L
/
rq
L
/
rq
R
mq
L
f
L
/ fd
R
Figure 9-7 Equivalent circuits for a salient-pole machine.
9-10 Copyright, Ned Mohan, 2001 Reference: Advanced Electric Drives
www.MNPERE.com
field+damper in d-axis saliency
[ ( ) ( ) ]
2
em md fd rd sq sd sq sd sq rq sd
mq
p
T L i i i L L i i L i i = + +
_ _
Electromagnetic Torque
( )
2
em sd sq sq sd
p
T i i =
sd sd sd md rd md fd
L i L i L i = + +
sq sq sq mq rq
L i L i = +
9-11 Copyright, Ned Mohan, 2001 Reference: Advanced Electric Drives
www.MNPERE.com
Space Vector Diagram in Steady State
sd sd sd md fd
L i L i = +
sq sq sq
L i =
sd s sd m sq sq
v R i L i =
sq s sq m sd sd m md fd
v R i L i L i = + +
sd sq s sd s sq m sd sd m md fd m sq sq
v jv R i jR i j L i j L i L i + = + + +
2
3
sd sq s
v jv v + =
,
2
3
sd sq s
i ji i + =
,
Figure 9-8 Space vector and phasor diagrams.
-axis d
-axis q
sd
v
2/ 3
s
v
,
2/ 3
s
i
,
sq
v
a
V
a
I
Re
Im
( ) a
( ) b
10-1 Copyright, Ned Mohan, 2001 Reference: Advanced Electric Drives
www.MNPERE.com
Chapter 10
Switched-Reluctance Motor (SRM)
Drives
10-2 Copyright, Ned Mohan, 2001 Reference: Advanced Electric Drives
www.MNPERE.com
mech
o
0
mech
=
d
a
a
d
c
c
b
b
Figure 10-1 Cross-section of a four-phase 8/6 switched reluctance machine.
Cross-Section of a Switched-Reluctance Machine
10-3 Copyright, Ned Mohan, 2001 Reference: Advanced Electric Drives
www.MNPERE.com
mech
o
0
mech
al
=
=
b
a
a
b
c c
d
d
mech
o
0
mech
=
b
a
a
b
c c
d
d
un
(a) (b)
Figure 10-2 Aligned position for phase a; (b) Unaligned position for phase a.
Aligned and Unaligned Positions for Phase-a
10-4 Copyright, Ned Mohan, 2001 Reference: Advanced Electric Drives
www.MNPERE.com
unaligned position
aligned position
(V-sec)
a
(A)
a
i
Figure 10-3 Typical flux-linkage characteristics of an SRM.
Typical Flux-Linkage Characteristics
10-5 Copyright, Ned Mohan, 2001 Reference: Advanced Electric Drives
www.MNPERE.com
Figure 10-4 Calculation of torque.
a
a
i
1
I
1
0
1
2
1
1 mech
+
Calculation of Torque
mech em mech
W T =
1 2
(1 2 1)
elec
W area =
2 1
(0 2 0) (0 1 0)
storage
W area area =
mech elec storage
W W W =
1 2 2 1
1 2 1 2
(0 1 2 0)
2
(1 2 1) { (0 2 0) (0 1 0)}
{ (1 2 1) (0 1 0)} (0 2 0)
(0 1 2 0)
em
area
T area area area
area area area
area
=
= +
=
(0 1 2 0)
em
mech
area
T
=
constant
em
mech
i
a
W
T
,
( )
em a
T
Nm
( )
a
e V
(deg)
mech
un
un
al
al
= +
a a
a mech mech
mech mech
i i
a a
mech
d
e
dt
= =
,
(Nm)
em a
T
on
un
on
un
on
un
off
al
off
al
off
al
off
al
on
un
em
T
, em a
T
, em b
T
, em c
T , em d
T
(Nm)
Figure 10-6 Performance with a power-processing unit.
Performance with a Power Processing Unit
10-8 Copyright, Ned Mohan, 2001 Reference: Advanced Electric Drives
www.MNPERE.com
Figure 10-7 Flux-linkage trajectory during motoring.
0
em
W
a
i
a
f
W
unaligned
position
aligned
position
off
+
i
( , ) i
mech
iR
Figure 10-9 Estimation of rotor position.
Determining Rotor Position for Encoder-less
Operation
10-11 Copyright, Ned Mohan, 2001 Reference: Advanced Electric Drives
www.MNPERE.com
position
s
*
mech
ref
I
PI
current
controller
power
converter
gate
signals
a
mech