Sensorless Speed Control of Induction Motor Using MRAS

Transcription

1 Intenatonal Jounal of Recent Technology and Engneeng (IJRTE) ISSN: , Volume-1, Iue-5, Noembe 2012 Senole Speed Contol of Inducton Moto Ung MRAS G. Pydaju, M. Daaaadam Abtact : In ode to mplement the ecto contol technque, the moto peed nfomaton equed. Tachogeneato, eole o ncemental encode ae ued to detect the peed. Thee eno eque caeful mountng and algnment and pecal attenton equed wth electcal noe. Speed eno need addtonal pace fo mountng and mantenance and hence nceae the cot and the ze of the de ytem.thee poblem ae elmnated by peed enole ecto contol by ung model efeence adapte ytem. Model efeence adapte ytem a peed etmaton method hang two model namely efeence and adapte model.the eo between two model etmate nducton moto peed. Th poject popoe a Model Refeence Adapte Sytem (MRAS) fo etmaton of peed of nducton moto. An Inducton moto deeloped n tatonay efeence fame and Space Vecto Pule Wdth Modulaton (SVPWM) ued fo nete degn. PI contolle ae degned contollng pupoe. It ha good tackng and attan teady tate epone ey quckly whch hown n mulaton eult by ung MATLAB/SIMULINK. Keywod Senole ecto contol, Model Refeence Adapte Sytem (MRAS), Inducton moto, tatonay efeence fame, Speed etmaton. I. INTRODUCTION In ecent yea, the ecto contol theoy ha been eceng much attenton becaue of the bette teady and dynamc pefomance oe conentonal contol method n contollng moto toque and peed. In aou ecto contol cheme, the peed enole ecto contol ha been a eleant aea of nteet fo many eeache due to t low de cot, hgh elablty and eay mantenance. Thee ae two man paamete whch ae equed n peed enole ecto contol of nducton moto, thoe ae, the moto flux and peed etmaton. Thee paamete ae neceay fo etablhng the oute peed loop feedback and alo n the flux and toque contol algothm.. In ode to get good pefomance of enole ecto contol, dffeent peed etmaton method hae been popoed. Such a dect calculaton method, model efeence adapte ytem (MRAS), Obee (extended Kalman flte, luenbege etc), Etmato ung atfcal ntellgence etc. Out of aou peed etmaton method, MRAS-baed peed enole etmaton ha been commonly ued n AC peed egulaton ytem due to t good pefomance and eae of mplementaton. In ode to degn MRAS fo enole peed etmaton, ft we hae to model the nducton moto. In nducton moto, nput to moto ae tato cuent and oltage and output oto peed. That why whle choong efeence model fo Manucpt eceed on Noembe, G. Pydaju, PG Student, E.E.E Dept., Vgnan Inttute Of Infomaton Technology, Vakhapatnam, Andha Padeh, Inda. M. Daaaadam, Atant Pofeo,E.E.E Dept., Vgnan Inttute Of Infomaton Technology, Vakhapatnam, Andha Padeh, Inda. MRAS, we hae to fom oto flux equaton n the fom of tato de paamete. In adapte model, peed the adapte paamete. II. MODELING OF INDUCTION MOTOR IN STATOR REFERENCE FRAME Geneally, an IM can be decbed unquely n abtay otatng fame, tatonay efeence fame o ynchonouly otatng fame. The equed tanfomaton n oltage, cuent, o flux lnkage deed n a genealzed way. R.H. Pak, n the 1920, popoed a new theoy of electcal machne analy to epeent the machne n d q model.fo tanent tude of adjutable peed de, t uually moe conenent to mulate an IM and t conete on a tatonay efeence fame. Moeoe, calculaton wth tatonay efeence fame ae le complex due to zeo fame peed. The Equaton of the nducton moto n tatonay efeence fame can be epeented by ung flux lnkage a aable. Th nole the educton of a numbe of aable n the dynamc equaton. Een when the oltage and cuent ae dcontnuou the flux lnkage ae contnuou. The tato and oto flux lnkage n the tato efeence fame ae defned a L L q d q q L d L q m q L m d L m q (1) d L d Lmd 2.17 qm Lm( q q) (2) dm Lm( d d) Stato and oto oltage and cuent equaton ae a follow d q d q R d R q R d R q p p d q ω p q ω p d d q (3) Snce the oto wndng ae hot ccuted, the oto oltage ae zeo. Theefoe R d R q ω p 0 ω p 0 q d Fom (5), we hae d d q (4) pd ωq R (5) pq ωd q R By olng the equaton (4)-(6) we get the followng equaton 31

2 Senole Speed Contol Of Inducton Moto Ung MRAS d ( d Rd) dt (6) ( R dt (7) q q q) d Lωq LmdR R L Lωd LmRq R L (8) (9) d q q R d L q R L d. Lm L.( R L) q. Lm L.( R L) (10) (11) The electomagnetc toque of the nducton moto n tato efeence fame gen by 3 p Te Lm( qd dq ) (12) pl O m Te ( q d d q) (13) 2 2 L III. SVPWM INVERTER Poceng of the toque tatu output and the flux tatu output handled by the optmal wtchng logc. Fg (3) how the chematc dagam of oltage ouce nete. The functon of the optmal wtchng logc to elect the appopate tato oltage ecto that wll atfy both the toque tatu output and the flux tatu output. Fg 3: Schematc dagam of oltage ouce nete In ealty, thee ae only x nonzeo oltage ecto and two zeo oltage ecto a hown n Fg 3(a) & (b). (b) Fg: 3(a) Inete Swtchng Stage, (b) Swtchng oltage pace ecto. The machne oltage coepondng to the wtchng tate can be calculated by ung the followng elaton. moto lne and phae oltage ae ab a b bc b (14) c ca c a ab ca a (15) bc ab b 3 ca bc c 3 IV. IRECT VECTOR CONTROL The dect ecto contol depend on the geneaton of unt ecto gnal fom oto flux gnal. The pncple ecto contol paamete d*, and q*, whch ae dc alue n ynchonouly otatng fame, ae coneted to tatonay fame wth the help of a unt ecto coθ e and nθ e whch ae geneated fom flux ecto gnal.the eultng tatonay fame gnal ae then coneted to phae cuent command fo the nete. The flux gnal and ae geneated fom the machne temnal oltage and cuent. Bac block dagam of dect ecto contol hown n fg.4. ^ ^ d co θe, q nθe d co θ e ; n θ e q ^ Whee ecto epeented by magntude the unt ecto gnal (coθ e and nθ e), when ued fo ecto otaton. The geneaton of a unt ecto gnal fom feed back flux ecto ge the name dect ecto contol. (a) Fg 4. Bac block dagam of dect ecto contol V. SENSORLESS VECTOR CONTROL 32

3 Intenatonal Jounal of Recent Technology and Engneeng (IJRTE) ISSN: , Volume-1, Iue-5, Noembe 2012 Seno le ecto contol of nducton moto de eentally mean ecto contol wthout any peed eno. An ncemental haft mounted peed encode, uually an optcal type equed fo cloed loop peed o poton contol n both ecto contol and cala contolled de. Speed encode undeable n a de becaue t add cot and elablty poblem, bede the need fo a haft extenon and mountng aangement. Fg 5:Block Dagam of Seno le Contol of Inducton moto. The chematc dagam of contol tategy of nducton moto wth eno le contol hown n Fg 5.. Seno le contol nducton moto de eentally mean ecto contol wthout any peed eno [5]. The nheent couplng of moto elmnated by contollng the moto by ecto contol, lke n the cae of a a epaately excted moto. The nete pode wtchng pule fo the contol of the moto. The flux and peed etmato ae ued to etmate the flux and peed epectely. Thee gnal then compaed wth efeence alue and contolled by ung the PI contolle. VI. MODEL REFERENCING ADAPTIVE SYSTEM (MRAS) Ma a peed etmaton method. MRAS cheme whch le complex and moe effecte. The MRAS appoach ue two model. The model that doe not nole the quantty to be etmated (the oto peed, ω) condeed a the efeence model. The model that ha the quantty to be etmated noled condeed a the adapte model (o adjutable model). The output of the adapte model compaed wth that of the efeence model, and the dffeence ued to de a utable adapte mechanm whoe output the quantty to be etmated (the oto peed). The adapte mechanm hould be degned to aue the tablty of the contol ytem. make ue of edundancy of two-machne model of dffeent tuctue that etmate the ame tate aable. Both model ae efeed to n the tatonay efeence fame. whee the output of a efeence model compaed wth the output of an adjutable o adapte model untl the eo between the two model anh to zeo. Wth the coect alue of oto peed, the fluxe detemned fom the two model hould match. An adaptaton algothm wth P-I contol can be ued to tune the peed alue untl the two flux alue match. Refeence fame model flux equaton ae d dt d dt Adapte model flux equaton ae Adapte mechanm fo peed ω L ς k p ς A B ˆ [ ( R σ SL ) ] d d Lm L d k q ˆ q VII. DIRECT VECTOR CONTROL OF INDUCTION MOTOR DRIVE The Vecto Contol o Feld oentaton contol of nducton moto mulated MATLAB SIMULINK. platfom to tudy the aou apect of the contolle. The actual ytem can be modeled wth a hgh degee of accuacy n th package. It pode a ue nteacte platfom and a wde aety of numecal algothm. Th chapte dcue the ealzaton of ecto contol of nducton moto ung Smulnk block. Fg.8 how the Vecto contolled Inducton Moto block mulnk dagam fo mulaton. Th ytem contng of Inducton Moto Model, Thee Phae to Two phae tanfomaton block, Two phae to Thee phae block, Flux etmato block and Inete block. d d [ ( R σ SL ) ] q q Lm d Lm q dt T d Lm d dt T q d 1 ωd T 1 ωq d T q q Fg 7: block dagam of ma The bac block dagam of MRAS peed etmaton ytem hown n Fg 7. The model efeence appoach (MRAS) Fg 8: Smulnk Model of Dect Vecto Contolled Inducton moto A. Inducton Moto Model The moto modeled n tato efeence fame. The dynamc equaton ae gen by (1) to (14). By ung thee equaton 33

4 Senole Speed Contol Of Inducton Moto Ung MRAS we can deelop the nducton moto model n tato efeence fame. Fg.9 how the mulnk block dagam fo moto model. Input to th block ae dect and quadatue axe oltage and load toque. The output ae dect and quadate ax oto fluxe, dect and quadatue axe tato cuent, electcal toque deeloped and oto peed. Fg 11: Smulnk block dagam fo Model Refeencng Adapte Sytem D. Seno Le Contol Of Inducton Moto Fg.9: Smulnk block dagam fo nducton moto model B. Inete Fg 4 how the Voltage Souce Inete (VSI), t cont of an Optmal Swtchng Logc whch hown n Fg 10. The functon of the optmal wtchng logc to elect the appopate tato oltage ecto that wll atfy both the toque tatu output and the flux tatu output. Poceng of the toque tatu output and the flux tatu output handled by the optmal wtchng logc. Fg 10: Voltage Souce Inete C. Model Refeence Adapte Sytem (MRAS) Fg 11 how the mulnk block dagam Model Refeencng Adapte Sytem (MRAS). Whch cont Two block one called Refeence Model and othe Adapte Model. The oltage model tato-de equaton, (16) & (17) ae defned a a Refeence Model and the mulnk block dagam of Refeence Model hown n Fg11. The Adapte Model ecee the machne tato oltage and cuent gnal and calculate the oto flux ecto gnal, a ndcated by equaton, (18) and (19) whch hown n Fg 11. By ung utable adapte mechanm the peed ω, can be etmated and taken a feedback. Fg 12: Smulnk oot block dagam of Senole contol of nducton moto ung MRAS The Seno le contol of nducton moto ung Model Refeence Adapte Sytem (MRAS) mulated on MATLAB/SIMULINK - platfom to tudy the aou apect of the contolle. The actual ytem can be modeled wth a hgh degee of accuacy n th package. It pode a ue nteacte platfom and a wde aety of numecal algothm. Hee we ae gong to dcu the ealzaton of Seno le contol of nducton moto ung MRAS fo mulnk block. Fg. 12 how the oot-block mulnk dagam fo mulaton. Man ubytem ae the 3-phae to 2-phae tanfomaton, 2-phae to 3-phae tanfomaton, nducton moto model, Model Refeence Adapte Sytem (MRAS) and optmal wtchng logc & nete. VIII. SIMULATION RESULTS The mulaton of Vecto Contol of Inducton Moto done by ung MATLAB /SIMULINK. The eult fo dffeent cae ae gen below. (a) Dect Vecto contol: Refeence peed 100 ad/ec on no-load 34

5 Intenatonal Jounal of Recent Technology and Engneeng (IJRTE) ISSN: , Volume-1, Iue-5, Noembe 2012 Fg 13: 3-φ cuent, Speed, and Toque fo no-load efeence peed of 100 ad/ec SENSORLESS SPEED CONTROL USING MRAS a) unde no load :Refeence peed 100 ad/ec Fg 14:3-φ cuent, Speed, and Toque fo no-load efeence peed of 100 ad/ec b) tep appled at t0.5 ec: 157 ad/ec at 0.5 ec IX. CONCLUSION In th the, Senole contol of nducton moto ung Model Refeence Adapte Sytem (MRAS) technque ha been popoed. Senole contol ge the beneft of Vecto contol wthout ung any haft encode. In th the the pncple of ecto contol and Senole contol of nducton moto ae gen elaboately. Smulaton eult of Vecto Contol and Senole Contol of nducton moto ung MRAS technque wee caed out by ung Matlab/Smulnk. Fom the mulaton eult, the followng obeaton ae made. ) The tanent epone of the de fat,.e. we ae attanng teady tate ey quckly. ) By ung MRAS we ae etmatng the peed, whch ame a that of actual peed of nducton moto. Thu by ung eno le contol we can get the ame eult a that of ecto contol wthout haft encode. Hence by ung th popoed technque, we can educe the cot of de.e. haft encode cot, we can alo nceae the uggedne of the moto a well a fat dynamc epone can be acheed. REFERENCES [1] Abbondant, A. and Bennen, M.B. (1975). Vaable peed nducton moto de ue electonc lp calculato baed on moto oltage and cuent. IEEE Tanacton on Indutal Applcaton, ol. IA-11, no. 5: pp [2] Nabae, A. (1982). Inete fed nducton moto de ytem wth and ntantaneou lp etmaton ccut. Int. Powe Electonc Conf., pp [3] Jotten, R. and Maede, G. (1983). Contol method fo good dynamc pefomance nducton moto de baed on cuent and oltage a meaued quantte. IEEE Tanacton on Indutal Applcaton, ol. IA-19, no. 3: pp [4] Amtong, G. J., Atknon, D. J. and Acanley, P. P. (1997). A compaon of etmaton technque fo enole ecto contolle nducton moto de. Poc. Of IEEE-PEDS. [5] Wang yaonan,lu jntao,haung houdao(2007). peed enole ecto contol of nducton moto baed on MRAS theoy. [6] Dao hung anh; pham dnhtuc(2005). Model efeence adapte ytem baed enole contol of nducton moto. [7] Moden powe electonc and ac de by BIMAL K.BOSE [8] Electc moto de modelng, analy and contol by R.KRISHNAN. G.Pydaju wa bon n Studyng M.Tech (Powe And Indutal De) n Vgnan Inttute Of Infomaton Technology. And he eceed B.TECH (EEE) fom chatanya engneeng college. M.Daaaadam wa bon n 1987.He eceed h M.Tech (Compute Contolled Indutal Powe) degee n electcal and electonc fom NIT, Calcut. Receed B.TECH fom GIET engneeng college of JNTU Hydeabad. Peently he wokng A Atant Pofeo In Vgnan Inttute Of Infomaton Technology. Fg 16: 3 -φ cuent, Speed, and Toque fo tep gnal 35