Neuro-Speed Controller of Five Phase Induction Motor Driven Using Direct Torque Control Strategy

Transcription

1 ntenational Jounal of ChemTech Reeach CODEN (USA): JCRGG SSN: Vol.9, No.04 pp -6, 2016 Neuo-Speed Contolle of Five Phae nduction Moto Diven Uing Diect Toque Contol Stateg Salima Lekhchine 1 *, Taha Bahi 2, am Abadlia 2, Hamza Bouzeia 3 1 Unv. 20 Augut 19, Skikda, Fac. Sci & Tec. Skikda, Algeia 2 Unv. Badji Mokhta Annaba, Fac. Sci, LASA Lab. Annaba, 23000, Algeia 3 Unv. Hadj Lakhda, Batna, Fac. Sci & Tec. LEB Lab. Batna, Algeia Abtact: n thi pape, pefomance of five-phae induction moto contolled with diect toque contol tateg ae tudied. n ode to pefom the contol tem, a peed contolle baed on atificial neual netwok i deigned. Powe equied moto i enued via two level voltage ouce invete. Five-phae induction machine modeling and thei contol ae defined and decibed. The popoed cheme contol i imulated uing Matlab/Simulink oftwae in fou quadant opeation. Simulation eult have been illutated and he impove ignificantl behavio and dnamic epone, mainl, of the peed epone, quick electomagnetic toque and the ate of tato flux due to the popoed neuo-peed contolle deign. Kewod: Neuo-peed contolle, five-phae induction moto, diect toque contol, contol pefomance. ntoduction Cuentl man indutial application equie multi-phae voltage ouce invete (VS) feeding multi-phae machine. The vaiou apect coveed have included advantage of multi-phae machine ove thei thee-phae countepat, modelling and contol of multi-phae machine, thee-phae moto dive [1,2]. Howeve, the multiphae induction moto ae eaning inteet a viable altenative olution to a thee phae induction moto dive becaue he poee man advantage uch a le toque ipple, inceaing the fequenc of the toque pulation, educing the oto hamonic cuent, educing the cuent pe phae, etc [3-7]. Alo, b inceaing the numbe of phae, it i poible to educe the toque pe ampee fo the ame amount machine. Although the liteatue eview wa focue, geneall, on five-phae and ix-phae deigne [1, 8]. The configuation compiing two VS feeding five-phae induction moto (FPM) uing a diect toque contol (DTC) and a peed contolle baed on atificial neual netwok i featue invetigated in thi paticula wok. Fo thi eaon, modelling of FPM and VS ae developed. Diect toque contol tateg i baed on intantaneou pace vecto theo [9]. t i poible to contol diectl the tato flux and toque b electing an appopiate witching invete tate and conequentl, the voltage vecto accoding to the eo of tato flux and toque. The witching table DTC baed on the etimated tato flux poition, hteei contolle fo toque and flux geneate the available invete witching tate. DTC i one of the poweful contol fo high pefomance contol of electical moto dive. Thee-phae voltage ouce invete ha onl eight (8) voltage pace vecto that can be applied to a load, while in five-phae invete it ha Thit-two (32) poible voltage pace vecto. Thee i theefoe a geate flexibilit in contolling a five-phae moto. Thi contol tpe

2 Salima Lekhchine et al /ntenational Jounal of ChemTech Reeach, 2016,9(4),pp povide high pefomance of malle cuent with little flux and toque ipple due to the application of lage numbe of pace vecto. n the electical dive the intelligent contolle ha been pogeivel utilized to olve an complex contol poblem. n thi pape, a peed contolle baed on atificial neual netwok ha been inued in ode to pefom the contol pefomance. Numeou imulation tudie ae achieved fo dive uing diect toque contol pinciple and popoed intelligent peed contol. The oganization of thi pape i a follow. Section 2 i devied into two pat. The fit deal with the peentation of a five-phae induction moto model and a voltage ouce invete. n the econd pat, pincipal of DTC tateg i decibed in detail. Section 3 examined the deigning of the popoed neuo-peed contolle. Simulation tud pefomed at condition of fou quadant of peed mode opeation i peented in ection 4. Finall, a concluion i avowed. Five phae induction moto model The FPM ha five phae winding. The winding axe of five tato winding ae diplaced b 72 degee a hown in Fig.1. b ib Vb a a b Va ia Ve ie ia Va e ib c Vb Vc Vd id Ve ie e c Vd id d d Figue 1. Space epeentation of phae The voltage equation of the tato and oto moto ae given b (1) and (2), epectivel: [ V ] = [ R ][. ] [ V ] = [ R ][. ] Whee, [ V ] = [ ] d + d + [ ] [ v v v v v ] T a b c The electomagnetic toque (Г e ) i given b: p æ T d[ L, ] [ ] [ ö Ge = ç.. ] 2 è ø d e and [ V [ ] T ] = va vb vc vd ve (1) (2) (3) The ue of the tanfomation Pak given b (4), allow to tanfom a five phae tem (a, b, c, d and e), peented b the equation (1) et (2) in a two phae equivalent (d, q) otating fame to obtain a imple mathematical model [10, 11]. [ V ] = P(q ).[ ] idq V k (4)

3 Salima Lekhchine et al /ntenational Jounal of ChemTech Reeach, 2016,9(4),pp Whee: i = o, epectivel index fo tato and oto; k = a,b,c,d and e; index fo phae and, P( q) = 2 éco( q ). ëin( q ) co( q - 2. p /) in( q - 2. p / ) co( q - 4. p /) in( q - 4. p / ) co( q - 6. p /) in( q - 6. p / ) co( q - 8. p /) ù in( q - 8. p /) û Fo thi, we obtain the following tem: ì í V V î d q d d Vd = R. d + - w. d q Vq = R. q + - w. d d = 0 = R. d + - d q = 0 = R. q + - q d ( w - w ). ( w - w ). q d () Whee: d q d q = L = L = L = L d q d q + L + L + L m m + L m m d q d q whee R, R, L, L,L m ae epectivel tato eitance, oto eitance, tato inductance, oto inductance and mutual inductance. The epeentation of the phae in the coodinate d-q i how b the figue. 2. id d-axi Vd L id Vd L L Vq iq L Vq iq q-axi Figue 2. Phae in coodinate d-q So, the mechanical equation can be witten a follow: J dw k f = Ge - Gl - w p p (6) With, p. Lm Ge = ( d. q - q. d ) L (7) Whee J i total inetia; p i the numbe of pole pai; Г l i the load toque and k f i the fiction coefficient.

4 Salima Lekhchine et al /ntenational Jounal of ChemTech Reeach, 2016,9(4),pp Modeling of five-phae voltage ouce invete The five-phae voltage ouce invete (VS) i compied of five () leg eve one contain two powe witche (S k and S k, whee k=a, b, c, d,e ) a how in figue 3. Both powe witche Sa and Sa eg wok in complementail ie if the top one (Sa) i open (Sa=1) then the low witch (Sa ) i cloed (Sa =0) and vice vea. So, the output phae voltage can be computed uing the witching function aociated to one invete leg [8, 12]. Theefoe, it conideed the ame opeation with the othe leg it eult 32 poible tate: 30 nonzeo active voltage witching pace vecto togethe with 2 zeo pace vecto. S a S b S c S d S e Vdc C1 C2 V dc 2 a b c d e V dc 2 S a S b S c S d S e FPM Figue 3. Stuctue of five phae voltage ouce invete The voltage equation of five-phae VS. év v v v ëv a b c d e é 4 ù = û ë ù év v. v v ëv 4 û an bn cn dn en ù û (8) n geneal tem of witching tate, the phae voltage pace vecto of the -phae i given a follow elation and the poible tate vecto ae peented in Table Vdc vk = ( S a Whee, a = e + a. S j2p / b + a 2. S c + a -2. S + a Se and k = 0,1,2,3,4...,30,31. d (9) DTC method fo five-phae induction machine The aim of the DTC method i to compenate the eo between efeence and actual quantitie of toque and flux b electing appopiate voltage vecto fom the invete. Hteei contolle fo toque and flux ae ued to geneate the invete witching tate. Since the five phae voltage ouce invete ha five () leg and each witch take 2 tate ( 1 and 0 ), the five phae voltage ouce invete ha thit-two (32) witching combination [13, 14]. Conequentl, all poibilitie of electing combination ae given b Table 1 and the voltage pace vecto, a howing b figue 4.

5 Salima Lekhchine et al /ntenational Jounal of ChemTech Reeach, 2016,9(4),pp Table 1: v 0 v 1 v 1 v 1 v 1 v 1 v 1 v v 1 v 1 v 1 v 1 v 1 v 1 v 1 v v 1 v 1 v 1 v 1 v 1 v 1 v 1 v v 1 v 1 v 1 v 1 v 1 v 1 v 1 v V 4 V 3 V V 1 V 14 V 13 V 2 V 6 V 16 V 7 V 17 V 2 V 26 V 27 V 24 V 28 V 23 V 29 V 12 V 22 V 21 V 11 V 30 V 20 V 1 V 18 V 19 V 10 V 8 V 9 Figue 4. Space voltage vecto available DTC i baed on hteei compaato and witching table povide a fat toque epone. Howeve, in tead tate the toque ha lage ipple, due to the witching fequenc of the invete caued b the hteei band. DTC equie accuate knowledge of the amplitude and angula poition of the contolled flux with epect to the tationa tato axi in addition to the angula velocit fo the toque contol pupoe [1]. The pinciple of DTC opeation can alo be explained b analzing the tato voltage equation in the tato flux efeence fame [16, 17]. u = R i + d + jw (10) f thi expeion i epaated into the diect (α) and the quadatue component (β) of the tato voltage, the following expeion can be obtained: u u a b = R i a = R i b + + d d a b (11) (12) a: n the ame efeence fame fixed to the tato flux vecto the electomagnetic toque can be expeed 3. p Ge =. f 2 a i b ) (13)

6 Salima Lekhchine et al /ntenational Jounal of ChemTech Reeach, 2016,9(4),pp Combining the next expeion, we obtain the following toque expeion fom: 3. p. a Ge = ( ub -w a ) 2. R (14) Electomagnetic toque can be contolled b mean of the component of the tato voltage, unde adequate decoupling of the tato flux. DTC equie the etimation of tato flux and toque, which can be pefomed b mean of two diffeent phae cuent, the tate of the VS and the voltage level in the DC voltage bu. Thi wok popoe a DTC cheme fo an induction moto fed b two-level voltage ouce invete (VS). Thi etimation i baed in the tato voltage equation. = ò ( u - Ri ). (1) The following table give the contol vecto accoding to the output of the flux and toque egulato fo the ix (6) ecto fo each invete conideed and dedicated to the contol of FPM. The DTC tateg developed fo the five phae induction moto equie the etimation of the tato flux and toque which ae compaed to thei efeence value and the eulting eo ae fed to hteei contolle of tato flux and toque [18-22].The pinciple i to maintain the tato flux and toque within the limit of flux and toque hteei band b pope election of the tato pace voltage vecto duing each ampling peiod ( See Figue ), meaning witching table 2. otation of F V 4 V 3 DF (F ) ef V 4 V V 4 V 3 -DF V S 3 V 3 V 2 S 2 V 2 V 6 S 4 V 4 V 1 S 1 V 1 V V V 6 S S 6 V 2 1 cflux V 6 V 1 V 2 V1 (F ) ef - F V 6 V 1 -DF 0 DF Figue. Space voltage vecto evolution Table 2: Switching table Flux 1 0 Toque Secto 1 V 2 V 1 V 6 V 3 V 4 V Secto 2 V 3 V 2 V 1 V 4 V V 6 Secto 3 V 4 V 3 V 2 V V 6 V 1 Secto 4 V V 4 V 3 V 6 V 1 V 2 Secto V 6 V V 4 V 1 V 2 V 3 Secto 6 V 1 V 6 V V 2 V 3 V 4 Atificial Neual Netwok Speed eo i a eult of a compaion of actual peed and the moto efeence peed. Speed eo and change in peed eo ae given a ANN contolle input and the output i the electomagnetic toque (Гe*). The quadatue-axi tato cuent efeence i calculated fom electomagnetic toque equation.

7 Salima Lekhchine et al /ntenational Jounal of ChemTech Reeach, 2016,9(4),pp The idea i to eplace the P peed egulato b a imple neuo-contolle. Fo leaning, we ue the backpopagation algoithm Levenbeg-Maqua (LM) [16, 23, 24]. Each neual netwok fill a well defined function dependent the choen achitectue (numbe of hidden lae and the numbe of neuon in each hidden lae). The poblem i to find a tuctue that give bette eult. Fo thi, we made eveal tet to detemine the optimal achitectue netwok. The mot enible choice wa to take a neual netwok tuctue hidden lae containing thee to 20 neuon uing the activation function igmoid, how Fig.6. Figue 6. Stuctue of multilae peception Speed contol i baed on contolle of ANN (20 multi-phae). The multi lae pecepto, the numbe of hidden lae and hidden neuon i not known a pioi. Futhemoe, thee i no geneal ule fo pedicting the numbe of hidden Fig. 6 Scheme of neual peed contol neuon necea to achieve a pecified pefomance of the model. The popoed application, an ANN with a ingle lae with activation function tanig tpe i ued. n thi tep, the autho execute eveal tet and analzing the pefomance of the tem [2]. The neual netwok contolle conideed i hown in Fig. 7 have two neuon in input lae, 30 neuon in hidden lae and one neuon in output lae. w * T * n put + - lae w e e Hidden lae output lae Figue 7. Scheme of peed contol uing ANN Simulation and eult n thi ection, the imulation eult of toque, flux, and peed moto unde eveal condition ae epeented and dicued fo to invetigate the pefomance of the tem tudied. The block diagam in Fig 8 how the chematic dawing of five-phae moto diven uing DTC with an ANN peed contolle.

8 Salima Lekhchine et al /ntenational Jounal of ChemTech Reeach, 2016,9(4),pp W ef +- W DE nput lae Hidden lae o utput lae Speed Contolle Y Eo Toque + - Hteei Contol of Toque and Flux φef Eo flux + - ST ST S Switching Table 1 & Table 2 = = ia ib ic id ie FP M Vdc Secto detection Voltage Calculato Cuent Tanfomation b a Toque and Flux Etimate Figue 8. ANN peed contol of DTC fo FPM The imulation ae conideed to veif the pefomance of the DTC in contolling the peed of the machine. The dnamic behavio of the tem ha been teted unde diffeent peed and toque efeence illutate b figue 9. Figue 9. Speed and Toque load efeence The choice of thee efeence i fixed a to enue a good compehenion of the component of the contol moto in fou quadant opeation. Thu, the peed efeence i changed fom 0 to -0 d/ at t=1 econd and the toque i changed de 10Nm at 0Nm fo cae of poitive peed and in the cae of negative. The imulation model paamete of the five phae induction moto ae done in Table 4. The dnamic epone of the peed, electomagnetic toque, phae cuent and tato flux ae epeented in figue 10, 11, 12 and 13, epectivel. n figue 10, the peed follow the peed efeence ve well. Figue 11 illutate the toque in the condition of peed and load vaiation. Figue 12 how the evolution of the flux whee it i impotant to note, that the flux and toque can be contolled independentl. n fact, afte the fat flux epone, it etain it value depite the vaiation of the toque. t i notice a good dnamic epone of the five-phae cuent induction moto i how in figue 13 with the zoom.

9 Salima Lekhchine et al /ntenational Jounal of ChemTech Reeach, 2016,9(4),pp Table.3 - Simulation FPM paamete Five Phae nduction Moto (FPM): Paamete Smbol Value Unit Nominal powe P n 4.0 Kw Stato eitance R 3.72 Ω Roto eitance R 2.12 Ω Stato inductance L H Roto inductance L H Mutual inductance L m H Moment of inetia J Kg.m 2 Fiction coefficient B N.m./ad Pole numbe P Figue 10. Real and efeence peed Figue 11. Electomagnetic, etimated toque and load toque Figue 12. Flux moto

10 Salima Lekhchine et al /ntenational Jounal of ChemTech Reeach, 2016,9(4),pp Figue 13. Cuent phae of FPM Concluion Neuo-peed contolle wa pefoming five-phae induction machine diven uing diect toque contol witching tateg. Obtain eult veif the pupoe. A five leg voltage invete wa emotionall involved fivephae machine contolled with DTC method o a to intoduce towad povide a fat dnamic toque and flux. The popoed intelligent peed contolled often a high dnamic in peed epone. The popoed cheme can be applied alo to high powe multiphae dive contol tem. Refeence 1. Jone, M., A Novel Concept of a Multi-phae, Multi-moto Vecto Contolled Dive Stem, PhD Thei, Livepool John Mooe Univeit, Livepool, UK, Sul, K., Anali and Pediction of nvete Switching Fequenc in Diect Toque Contol of nduction Machine Baed on Hteei Band and Machine Paamete, EEE Tan. nd. Electon., Vol. 48, N o. 3, p. 4 3, Toliat, H. A., Anali and Simulation of Five-phae Vaiable Speed nduction Moto Dive Unde Ammetical Connection, EEE Tan. Powe Electonic, Vol. 13, N o. 4, p , Pavithan, K.N, Paimelalagan, R., and Kihnamuth, M., Studie on nvete-fed five-phae nduction Moto Dive, EEE Tan. Powe Electon., Vol. 3, N o. 3, p , Levi, E., Jone, M., Vukoavic, S. N. and Toliat, H. A., Stead- tate modeling of eie-connected five-phae and ix-phae two-moto dive, EEE Tan. on nd. Appl., Vol. 44, N o., Levi, E., Bojoi, R., Pofumo, F., Toliat, H. A., and Williamon, S.,Multiphae induction moto dive - a technolog tatu eview, Electic Powe Application, ET, Vol. 1, p. 4896, Ghanbai, D., Abjadi, N.R., Ghanbai, A., Diect Toque and Flux Contol of Five-Phae nduction Moto Uing Fuzz Logic, ntenational Jounal Of nnovative Reeach n Electical, Electonic, ntumentation And Contol Engineeing, Vol. 2, N 12, p , qbal, A., Modelling and contol of eie-connected five-phae and ix-phae two-moto dive, PhD Thei, Livepool John Mooe Univeit, Livepool, UK, Augut 200.

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