A SINGLE-INVERTER MULTI-MOTOR SYSTEM BASED ON DIRECT TORQUE CONTROL

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1 U.P.B. Sci. Bull., Sris C, Vol. 76, Iss., 014 ISSN A SINGLE-INVERTER MULTI-MOTOR SYSTEM BASED ON DIRECT TORQUE CONTROL Hg WAN 1, Yuwi PAN This papr prsts a mthod of cotrollig multi motors ad dducs a uivrs quatio basd o th dirct torqu cotrol with a sigl ivrtr. Ad th simulatio rsults hav vrifid th rsult of thortical aalysis. Through th simulatio ad xprimtal rsarch, th fasibility of sigl-ivrtr multi-motor DTC systm has b vrifid. Kywords: dirct torqu cotrol, sigl-irtr multi-motor, avrag algorithm 1. Itroductio I covtioal idustrial applicatios, o motor is grally driv by o ivrtr. With th rapid dvlopmt of modr idustry, covtioal siglivrtr sigl-motor systm caot satisfy th d of idustrial applicatios such as lctrical railway ad high powr driv systms. Multi-motor systm ca driv multipl motors simultaously ad coordiatly. I cosidrig of th diffrt fild of cotrollig dual motors simultaously, thr ar thr cotrol stratgis: dual-ivrtr dual-motor systm (idpdt cotrol of dual motors); dual-ivrtr dual-motor systm (coordiat cotrol of dual motors); siglivrtr dual-motor systm. Th applicatio of sigl-ivrtr dual-motor systm ca mak th whol systm low cost, flxibl opratio, high compactss ad high rliability. Dirct torqu cotrol (DTC) tchology is a w ad high fficit motor cotrol schm followig of vctor cotrol [1]. Basd o th basic thory of dirct torqu cotrol, i ordr to implmt th sigl-ivrtr multi-motor systm, a iovativ mthod basd o th avrag fild-oritd dirct torqu cotrol schm is proposd. Th fasibility of th sigl-ivrtr multi-motor DTC systm is vrifid with th hlp of PSIM. By all kids of disturbac, both th stabl rspos ad th trasit rspos prform wll, which ca satisfy th rquirmts of th cotrol charactristics. Cosidrig th high stabl ad trasit prformac of DTC schm, th projct aims to succssfully apply this tchology to high-powr ad high-spd lctric locomotiv, subway ad urba trolly i th trasmissio systm [-3]. 1 Shaghai Istitut of Tchology, -mail: hgwa@hotmail.com East Chia Uivrsity of Scic ad Tchology,-mail: payw083@gmail.com

2 08 Hg Wa, Yuwi Pa Exprimtal ad simulatio rsults vrify that th sigl-ivrtr multimotor DTC systm ca driv diffrc motors with diffrt loads. Ad usig th TMS30F8335 DSP as cor of th systm to build th hardwar cotrol platform, which ca b usd to grat th PWM (puls width modulatio) wavs, raliz th algorithm, AD covrsio ad fault dtctio, th this tchology will b usd i th ral lif i th d.. DTC Stratgy of th Ivrtr Drivig Sts of Iductio Motors At first, th dyamic modl of th iductio motor DTC has b stablishd, its quatios [4-5] ar dscribd blow: Voltag quatio: vsd = Rsisd + p sd ω s sq vsq = Rsisq + p sq + ω s sd (1) 0 = Ri r rd + p rd ( ωs ωr) rq 0 = Ri r rq + p rq + ( ωs ωr) rq Flux quatio: sd = Lsisd + Lmird sq = Lsisq + Lmirq () rd = Lrird + Lmisd rq = Lrirq + Lmisq Torqu quatio: Lm Lm T = p ( isq rd isdrq ) = p ( is φr ) (3) Lr Lr whr vs is th stator voltag of th statioary α β pla; i s ad i r ar th stator ad rotor currt; s ad r ar th stator ad rotor flux; Ls, Lr, Lmar slfiductac ad mutual-iductac. Wh o ivrtr drivs svral motors, th currt distortio of ach motor will b ubalac whthr th load chags or ot. Accordig to th covtioal DTC thory, th magtic torqu of ach motor with diffrt load is diffrt; also ach rotor flux agl is diffrt. So w hav to improv th covtioal DTC to mt th d of multi-motor systm..1 Th Currt ad Voltag Modl of th Paralll Modls I a sigl-ivrtr drivig doubl motors DTC systm, th two motors ru i paralll, th iput voltag of two motors ar sam. But du to th diffrc i thir workig stat, load situatio ad loss; th currt distributio of th two motors is ubalac.

3 A sigl-ivrtr multi-motor systm basd o dirct torqu cotrol 09 I th thortical drivatio procss, a avrag algorithm has b obtaid [6]-[9]. Th currt of ach motor ca b calculatd i trms of currt s avrag valu ad th diffrc of th two motor s currts. Th th ivrtrs ca b cotrolld to driv th motors ormally accordig to th fdback. Th rlatioship of th diffrt motor currt is show i Fig.1. Δis1 Δis3 Δis34 Δis(-1) Fig.1 th currt rlatioship of diffrt motors Th, 1 is = ( is 1 + is + is ) (4) is i s1 Δ is ; 1 = is i 3 s1 Δ is ; 13 =... (5) is i j si Δ is ; ij =... is is 1 Δ is( 1) = ;( i, j = 1..., i < j) So, is = i 1 s + ( Δis Δi 1 s13... Δis 1 ); is = i s + ( Δis Δi 1 s3... Δis ); (6)... is = i s + ( Δ is +Δ i 1 s... +Δis ( 1) ); Similarly, th voltag modl of diffrt motors ca also b adoptd through th avrag algorithm.

4 10 Hg Wa, Yuwi Pa US1 = US + ( Δ US1 +Δ US13 + +ΔUS1 ) US = US + ( Δ US +Δ US3 + +ΔUS ) (7) US = US + ( Δ US +Δ US3 + +ΔUS( + 1) ) whr, U U1 U3 U U 1 j Ui U U 1 Δ U1 = ; Δ U13 = ;...; Δ Uij = ;...; Δ U( 1) = ;( i, j = 1..., i< j). Th Flux ad Torqu Modl of Diffrt Motors By th us of th avrag algorithm, th diffrt motors flux modl ca b obtaid from basic flux of th ma ad diffrc valu [10-1]: Fig. th rotor flux modl of diffrt motors From th quatio (1), (): d U S is RS dt = (8) whr is th coordiat of flux, U is voltag vctor, is is stator currt vctor, R S is th stator rsistac, th avrag diffrt motors: φr1+ φr φr φr = ; (9) 1 ( Δ φr = Δφ Δφ Δφ1 ); ( Δ φr = Δφ Δφ Δφ );... (10) ( 1... Δ φr = Δ φ +Δ φ + +Δφ( 1) );

5 A sigl-ivrtr multi-motor systm basd o dirct torqu cotrol 11 For th torqu modl of diffrt motors is th sam from ach iductio motor, usig th quatio (8), ach motor torqu formula will b accumulatd by usig avrag algorithm. By mas of calculatig th avrag torqu through th avrag valu ad diffrc valu of th flux, th torqu quatio ca b got with th avrag torqu ad diffrc valu of ach motor ad som motor paramtrs: Lm Lm T = p T ( p Δ T1 +Δ T13 +Δ T1 +Δ T1 +Δ T13 +Δ T + ΔT( 1) (11) Lr Lr whr T 1, T,..., T ar th ach motor torqu rspctivly. T ( ) ( ) ( ) 1+ T T T T 1 T3 T T 1 j T i T = ; Δ T 1 = ; Δ T 13 = ;...; Δ Tij = ; (1) ( T T ( 1) )...; Δ T ( 1) = ;( i, j = 1..., i < j) Lm whr th motor paramtr M = ca b got accordig to th avrag L r algorithm: ΔM1 ΔM ΔM A = ; (13) M +Δ M1 M +Δ M M +ΔM 1 M1 M M3 M M = ; (14) L r1 L r L r3 L r ΔM j ΔM i M ij = ;( i, j = 1..., i < j) ; (15) M +Δ M j M +ΔM i I th practical applicatios, th rail traffic grally uss oly o ivrtr to drag two motors. Wh th umbr of motors is, it mas th sigl covrtr drivs two motors, th th cotrol voltag, torqu ad flux ca b got. Usig th diffrtial valu formula, vry Δ i th DTC systm ca b dalt through avrag algorithm: 1 is = Ps Qr = Ps Qr + ( ΔP1Δ s 1+ΔPΔs) ( ΔQ1Δ r1+δqδr) (16) Lm 1 0 L 1 0 m whr : P = σ, Q = σ Ls Lr 0 1 LL s r 0 1, σ = 1 Lm /( LL s r) 1 s = ( us Rsis) dt = us Rsis + ( ΔR1Δ is1 +ΔRΔis) dt (17) 1 T = p( s is) = p s is + ( Δ s 1 Δ is 1 +Δ s Δ is) p ( s s s s ) = αi β βi α (18) 1 1 = p sαisβ sβis α + ( Δs α1δ isβ1+δs αδisβ) ( Δsβ1Δ is α1 +ΔsβΔis α)

6 1 Hg Wa, Yuwi Pa For th paramtrs of th two motors ar sam, th stator rsistac, stator ad rotor iductac ad mutual iductac ar all qual, th ths Δ paramtrs ar zro i th diffrc formula. As a rsult, th abov quatio ca b simplifid as: i = P Q = P Q (19) s s r s r ( us R i ) dt ( us R i ) dt ( ) ( ) ( α β β α ) ( α β β α ) (0) = = s s s s s T = i = i = i i = i i (1) p s s p s s p s s s s p s s s s β Δ Fig.3 th avrag stator flux vctor of th two iductio motors As show i Fig.3, th avrag flux formula i th α β pla ca b got rspctivly: s α1+ s α sα = () sβ1+ sβ sβ = (3) From th abov formula, w ca fid if th paramtr of th iductio motors hav o diffrc i spd; th diffrt motors ca b rgardd as o motor. 3. Th Simulatio Rsarch of th Sigl-Ivrtr Dual Motor Systm Accordig to th thatrical aalysis, th simulatio modl of th siglivrtr dual-motor DTC systm has b built i PSIM (show i Fig.4). Th motor paramtrs ad simulatio rsults ar show i Tabl 1, Fig.5 ad Fig.6. α Rs / Ω Motor paramtr L / mh R / Ω L / mh L / mh p s r r m Tabl

7 A sigl-ivrtr multi-motor systm basd o dirct torqu cotrol 13 Bag-Bag Bag-Bag Switch Stat Slctio Ivrtr Flux Positio Estimat Torqu & Flux Obsrvr M1 Avrag Algorithm Torqu & Flux Obsrvr Fig.4 Th basic structur of sigl-ivrtr dual-motor DTC systm M Fig.5 shows th spd ad currt wavform of th two motors. Th giv spd is 0 r/s ad th giv loads ar 0. (a) Fig.5 (a) spd wavform of dual motors

8 14 Hg Wa, Yuwi Pa (b) Fig.5 (b) currt wavform of dual motors I th figur, th sigl-ivrtr dual-motor DTC systm prforms wll i trasit rspos. Th loads of th two motors ar diffrt, load1 is 0.1 Nm, load is 0.4 Nm; th giv spd is 0r/s. I th simulatio procss, th giv spd is turd to 8r/s suddly. Th simulatio rsults ar show i Fig.6. (a) Fig.6 (a) spd wavform of dual motors

9 A sigl-ivrtr multi-motor systm basd o dirct torqu cotrol 15 (b) Fig.6 (b) torqu wavform of dual motors From th simulatio rsult, th whol systm prforms wll i trasit rspos ad i followig th giv spd. As show i Fig.6 (a), th rd li is th spd of motor1; th blu li is th spd of motor. Wh th giv spd is addd to 8 r/s suddly, both th two motors ca follow th giv spd quickly. So th sigl-ivrtr dual-motor DTC systm has favorabl static ad dyamic prformac. 4. Th Exprimtal Rsarch of Sigl-Ivrtr Dual-Motor DTC Systm Th systm uss TMS30F8335-DSP to implmt a cotrol platform, ad which ca produc vctor cotrollig PWM wav, th ralizatio of th algorithm, AD trasform, ad fault dtctio tc. 4.1 Th Hardwar Architctur of th Cotrol Systm This systm sparats ach fuctio modularly by th form of circuit board. Th hardwar architctur of this systm icluds mai cotrol circuit, sigal iput circuit, PC commuicatio circuit. Th mai cotrol circuit is rsposibl for th ralizatio of cotrol algorithm; mai circuit cotrol th iductio motors by th istructio of th cotrollig circuit; sigal iput circuit is rsposibl for th xtral aalogu iputs ad spd dtctio; th commuicatio card is coctd to th PC to tst ad dbug asily with PC. Itlligt powr modul (IPM) is usd as th sigl ivrtr. Th whol systm icluds th mai circuit, spd dtctio circuit, systm protctio ad othr priphral circuit dsig. Th hardwar architctur diagram of th cotrol systm is show i Fig.7.

10 16 Hg Wa, Yuwi Pa Fig.7 th hardwar architctur diagram of th systm 4. Th Prototyp Implmtatio of th Whol Systm Th whol prototyp icluds cotrol platform, IPM modul, spd ad currt dtctio board, dbug board, rlays, spd ssors, loads ad PC. Th photos of th prototyp ad multi-motor systm ca b s i Fig.8. Fig.8(a) shows th hardwar implmtatio of th cotrol systm which icluds cotrol board, spd ad currt dtctio board ad Fig.8(b) shows th photo of multi-motor systm which icluds 4 AC motors. (a) (b) Fig.8 (a) Photo of th cotrol systm (b) Photo of th multi-motor systm

A sigl-ivrtr multi-motor systm basd o dirct torqu cotrol 17 4.3 Th Exprimtal Rsults ad Aalysis Th motor paramtrs i th xprimt ar th sam with th paramtrs i simulatio rsarch.

Wh th giv spd is 1100 r/mi, th load of motor1 is 1 Nm, th load of motor is 3 Nm. Th xprimtal rsults ar show i Fig.9 ad Fig.10. (a) (b) Fig.

10 (a) stator currt wavform of motor1 (b) stator currt wavform of motor Wh th loads ar diffrt, motor1 ca rach th giv spd quickr.

So from th xprimtal rsults, th prototyp of sigl-ivrtr dual-motor DTC systm prforms wll i both stabl ad trasit procss, but it still has torqu rippl. 5.

11 A sigl-ivrtr multi-motor systm basd o dirct torqu cotrol Th Exprimtal Rsults ad Aalysis Th motor paramtrs i th xprimt ar th sam with th paramtrs i simulatio rsarch. Choosig th magtic powr as th load, th th load ca b chagd by adjustig its currt. Th samplig frqucy is 0 KHZ. Wh th giv spd is 1100 r/mi, th load of motor1 is 1 Nm, th load of motor is 3 Nm. Th xprimtal rsults ar show i Fig.9 ad Fig.10. (a) (b) Fig.9 (a) spd wavform (b) torqu wavform (a) (b) Fig.10 (a) stator currt wavform of motor1 (b) stator currt wavform of motor Wh th loads ar diffrt, motor1 ca rach th giv spd quickr. Ad th stady spd of motor1 is largr tha th stady spd of motor. Th stator currts of dual motors ar show i Fig.10. So from th xprimtal rsults, th prototyp of sigl-ivrtr dual-motor DTC systm prforms wll i both stabl ad trasit procss, but it still has torqu rippl. 5. Coclusios This papr is focusd o a w cotrol stratgy basd o th DTC ad a avrag algorithm to raliz th avrag motor cotrol. I this papr, th DTC cotrolld multi-motor algorithm is giv. Th fasibility of th thory is provd through th simulatio ad xprimt rsarch. Both simulatio ad xprimtal rsults hav vrifid that th purposd cotrol stratgy ca prform wll i trasit rspos ad robustss with ubalacd load. Th multi-motor spd ca quickly follow th giv spd; th risig tim ad adjust tim ar short; th ovrshoot is small ad has bttr fficicy, which ralizs th

12 18 Hg Wa, Yuwi Pa coordiativ opratio of ach motor. Th applicatio of sigl-ivrtr dualmotor systm ca mak th whol systm low cost, flxibl opratio, high compactss ad high rliability. R E F E R E N C E S [1] I. Takshashi, T. Noguchi. A w quick-rspos ad high fficicy cotrol stratgy of a iductio motor, IEEE Tras. O Idustrial Applicatio, 1986,(5): [] J. M. Millr, A. R. Gal, P. J. Mcclr, F. Loardi, J. H. Lag, Startr altrator for hybrid lctric vhicl: Compariso of iductio ad variabl rluctac machis ad drivs, IEEE- IAS Aual Mtig,1998,pp [3] Huag Wxi, Hu Yuw, Rsarch of th DTC cotrol stratgy for cag-typ iductio grator, Trasactios of chia lctro tchical socity, 00,17(5): [4] U. Baadr, M. Dpbrock, G. Girs. Dirct Slf Cotrol(DSC) of Ivrtr-Fd Iductio Machi: A Basis of Spd Cotrol Without Spd Masurmt, 199,8(3): [5] T. Habtlr, F. Profumo, M. Pastorlli. Dirct Torqu Cotrol of Iductio Machi Usig Spac Vctor Modulatio, 199,8(5): [6] Matsumoto Y, Osawa C, Mizukami, t al. A stator-flux-basd vctor cotrol mthod for paralll-coctd multipl iductio motors fd by a sigl Ivrtr. Procdigs of IEEE APEC 98,1998,: [7] Ahmad Asri Abd Samat, Dahama Ishak, Spd- ssorlss cotrol of paralll- coctd PMSM fd by a sigl ivrtr usig MRAS. 01 IEEE Itratioal Powr Egirig ad Optimizatio Cofrc, PEOCO 01 - Cofrc Procdigs, 01: [8] M. B. Baa, Goharrizi A. Yazdapaah, Two machi sigl ivrtr drivig systm for lctrical vhicls. 011 Itratioal Cofrc o Elctrical Machis ad Systms, ICEMS 011, 011. [9] Matsus K., Kawai H., Kouo Y., Oikawa J.. Charactristics of spd ssorlss vctor cotrolld dual iductio motor driv coctd i paralll fd by a sigl ivrtr. IEEE Trasactios o Idustry Applicatios, 004,40(1) : [10] Kim Jog-Soo, Cho Gyu-Yog, L Byoug-Kuk, Dvlopmt of sigl covrtr ad sigl ivrtr topology ad cotrol algorithm for photovoltaic-ful cll hybrid systm. 010 Itratioal Powr Elctroics Cofrc - ECCE Asia -, IPEC 010, 010: [11] Chiasso Joh, Sto Dabig, Fapig Su, Cotrol of two PM liar motors with a sigl ivrtr: Applicatio to lvator doors, Mchatroics, 005, 15(1): [1] Jos Marti, Vukosavic Sloboda N., Paralll-coctd multiphas multidriv systms with sigl ivrtr supply, IEEE Trasactios o Idustrial Elctroics, 009, v56, 6: [13] M. Acampa, A. Dl Pizzo, D. Iaizzi, Optimizd cotrol tchiqu of sigl ivrtr dual motor AC-brushlss drivs, 008, Procdigs of th Uivrsitis Powr Egirig Cofrc, 008, 008 Procdigs of th 43rd Itratioal Uivrsitis Powr Egirig Cofrc, UPEC 008

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