Design and Implementation of Speed Controller with Anti-Windup Scheme for Three Phase Induction Motor Used in Electric Vehicle

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1 Intnatonal Jounal of Comput Applcatons ( Volum 89 No 9, Mach 2014 Dsgn and Implmntaton of Spd Contoll wth Ant-Wndup Schm fo Th Phas Inducton Moto Usd n Elctc Vhcl Pasun Msha QHS (T CSIR-CMERI, Inda ABSTRACT Dsgn of labl and obust contoll fo lctc vhcl n uban and sub uban aas s vy much challngng task du to tm vayng load toqu qumnt at th whl of th vhcl. In ths pap ndct fld ontd vcto contol of nducton moto, PI spd contol wth ant-wndup schm and hystss cunt contol schm hav bn poposd fo th phas nducton moto v tan and smulatd n MATLAB Platfom. Fo ts hadwa mplmntaton, a laboatoy lvl xpmntal st up has bn buld up and th contol logc has bn tstd succssfully by pfomng a no of xpmnts at dffnt opatng condtons. Kywods Elctc Vhcl, Th Phas Inducton Moto, IFOC, Antwndup PI contoll, Hystss Cunt Contoll 1. INTRODUCTION Th us of IC ngn n th v ncasng flt of wold vhcls has bn qustond n cnt tms du to th ncasng concns of global wamng. Batty opatd Elctc vhcl [1], [2] s th bst soluton to mtgat ths nvonmntal polluton, patculaly n lag uban and sububan aas. In mdum wght lctc vhcls dsgnd fo typcal uban and sub uban aas, fqunt acclatons and dclatons can occu bcaus of th hug taffc, sgnal lghts and oth oad condtons. Ths acclatons and dclatons fom th ntmttnt pats of th load, whl th fcton and a ag fom th contnuous pats of th load fo th v moto [3], [4]. So a obust spd contoll has to b dsgnd fo th populson moto to cat to th qumnts of tm vayng chaactstcs of oad load to un th vhcl ffcntly, lably and safly. In ths wok 5 HP, 415 Volt, 2830 pm, th phas nducton moto has bn consd to b th populson v [5], [6]. In vaous contol tchnqus [7] fo th contol of th nvt-fd nducton moto, t s sn that thy povd good stady stat but poo dynamc spons. Th ason bhnd ths poo dynamc spons was found to b that th a gap flux lnkags changs fom th st valus not only n magntud but also n phas. Th Oscllatons n th a gap flux lnkags cat n oscllatons n lctomagntc toqu and f t s not takn ca, t wll b flctd as spd oscllatons [8]. Futh, a gap flux vaatons sult n hgh amount of stato cunts, qung hgh pow atng convt and nvt sultng n th ncas of cost. But ths ssus w takn nto consaton n Fld ontd contol (FOC of nducton moto [7], [8]. It s vy smla to th contol of spaatly xctd fully compnsatd DC moto wh flux s contolld ndpndntly. If th flux s mantand constant, contbuts to an ndpndnt contol of toqu. Ths pap s oganzd n sx sctons. Scton 2 dscbs th tm vayng load toqu qumnts at th whl of lctc vhcl on Indan oads. Scton 3 psnts th pncpl and vaton of ndct fld ontd contol schm wth ant-wnd-up PI spd contoll and hystss cunt contoll. Th MATLAB Smulaton sults of th v tan a shown n scton 4 and analyzd n dtals at dffnt vng condtons of th vhcl. Scton 5 psnts th laboatoy lvl xpmntal stup and valdaton of th poposd contol schm n hadwa followd by concluson n scton INDIAN DRIVE CYCLE AND TIME VARYING LOAD AT WHEEL Indan Dv Cycl [3], as shown n fgu 1, has bn consd as th standad vng pattn of th vhcl on Indan oads and dynamcs of th th whld mdum wght vhcl [9], [10] has bn smulatd by consng dffnt paamts of a al lf vhcl and Indan oad condtons. Fg 1: Vhcl vng pattn on Indan Dv cycl (IDC Fg 2: Toqu at th whl of vhcl on Indan Dv Cycl 19

2 Intnatonal Jounal of Comput Applcatons ( Volum 89 No 9, Mach 2014 Usng al lf vhcl paamts [9],[10], whl toqu vsus whl spd cuvs, as shown n fgu, 2 a plottd at zo dg oad gadnt on IDC. Th toqu has two componnts: contnuous and ntmttnt toqu, wh th contnuous toqu s qud to ovcom aodynamc ag and ollng sstanc foc and th tansnt toqu s qud to ovcom ntal focs du to acclaton and gadng. 3. FIELD ORIENTED CONTROL OF INDUCTION MOTOR (FOC A obust nducton moto contoll has to b dsgnd poply n o to adss ths fquntly vayng typcal load toqu dmands at th whl of th vhcl to un th vhcl ffcntly, labl, safly. In ths wok authos hav poposd ndct fld ontd contol schm [11] fo th th phas nducton moto whos shaft s connctd to th whl of th vhcl though tansmsson ga aangmnt. H authos hav consd 5:1 fxd ga ato n smulaton. 3.1 Pncpl of IFOC Autho consd d-q modl of th nducton machn n th fnc fam otatng at synchonous spd ω [7], [8]. Th fld-ontd contol mpls that th ds componnt of th stato cunt would b algnd wth th oto fld and th qs componnt would b ppndcula to ds n synchonouy otatng fnc fam.ths was accomplshd by choosng ω as spd of th oto flux and lockng th phas of th fnc fam systm such that th oto flux would b algnd pcy wth th d axs, as llustatd n Fgu blow. Now th stato cunts w tansfomd nto q and d axs cunts n th synchonous fnc fams by usng th blow mntond tansfomaton n quaton 1. cos( cos( 2 /3 cos( 2 /3 as ds 2 3 sn( sn( 2 /3 sn( 2 /3 bs qs cs Fg 3: Phaso dagam of FOC In fgu 3, t has bn shown that ds and qs n synchonous fnc fam hav only dc componnts n stady stat, bcaus th latv spd wth spct to that of th oto fld s zo. Th oto flux-lnkags phaso has a spd qual to th sum of th oto and p spds, whch s qual to th synchonous spd. Cucal to th mplmntaton of vcto contol, thn, s th acqung of th nstantanous oto flux phaso poston (θ. Ths fld angl can b wttn a (2 Wh, θ s th oto poston and θ s th p angl. In tms of th spds and tm, th fld angl s wttn as (1 ( dt dt (3 Th fld angl was obtand by usng oto poston masumnt and patal stmaton wth only machn paamts but not any oth vaabls, such as voltags. Us of ths fld angl ld to a class of contol schms whch was known as Indct Vcto Contol [7], [8]. 3.2 Dvaton of IFOC D axs oto As fo squl cag nducton moto oto s shot ccutd, th oto d axs voltag quaton has bn wttn as V R p q 0 (4 Wh, p spd and = spd of oto flux vcto (synchonous spd and = spd of oto. As s along th d axs of th fnc fam so t was dd not hav consd that and =0, as q any componnt along q axs du to th othogonal popts. So, quaton 4 has bn wttn as R p 0, h all th vaabls a fd to stato sd. As o constant so aft puttng ths condton w gt th followng sults as p 0, t mpls R 0 and = Q axs oto As fo squl cag nducton moto oto s shot ccutd, th oto d axs voltag quaton has bn wttn as V R p q q q 0 (5 As q =0, so th quaton 5 has bn wttn as R q 0 It mpls (R q Now L L q q m qs 0 and L m q L qs Agan L L as m ds 0 thn L m ds (6 Fnally, aft smplfcaton w got p spd 1 qs ds Wh, L s oto tm constant Toqu Equaton Toqu xpsson has bn wttn as (7 20

3 Intnatonal Jounal of Comput Applcatons ( Volum 89 No 9, Mach P T L ( m qs ds q (8 2 2 Rplacng and q n tms of and q 3 P L T m ( qs ds q (9 2 2 L Puttng th condton =0, mpls that q 3 P L T m ( qs ( L Now f ths two cunts a contolld thn th spd and toqu of nducton moto wll also b contolld. But ths two cunts ( qs, ds a hypothtcal so thy hav to b tansfomd nto actual cunts ( a, b, c wth th hlp of fo cunt contol. cos( sn( as ds cos( 2 /3 sn( 2 /3 bs qs cos( 2 /3 sn( 2 /3 cs ( Block Dagam Rpsntaton Basc block dagam of th contol logc s shown as Fgu 4. So th closd loop systm can b psntd n th block dagam as shown n fgu 5. Fg 5: Smplfd psntaton of spd contoll PI Contoll wth Ant-Wndup Schm In a nomal PI contoll, wndup s a poblm whch ass f th nput o to th contoll s lag o mans nonzo fo a long tm. Th output of contoll may satuat th bcaus of ths asons whch maks th ntgato output kp on accumulatng. Un ths satuaton condtons, th contoll may gv dlayd spons to any chang n th nput and ths dlay would b mo f th contoll gos nto dp satuaton lvl. So w hav to mploy ant-wndup statgy to pvnt th contoll fom gong nto dp satuaton and to chck wndup of contoll output. To lmnat ths, t s ncssay to chck th ntgaton pocss dung such stuatons whch s n gnal known as antwndup [12]. Fg 6: Block dagam psntaton of a PI contoll wth ant-wndup schm Fg 4: Block dagam of Inducton Moto v wth IFOC Spd contol of Inducton Moto has two loops as shown n th Fgu Out Spd Loop Contol Out spd loop s govnd by th followng mchancal quaton: d T m T L J B dt m (12 Wh, ωm whch s th mchancal spd, T s th shaft lctomchancal toqu, whch s contol nput to th systm, TL s th load toqu, whch s th dstubanc nput to th systm, J & B a plant paamts momnt of nta and coffcnt of fcton spctvly. Rpsntng th quaton n tansf functon fom, T (s T L (s (JsB m (s (13 Th condtonal ntgaton mthod, shown n Fgu 4.7, has bn adoptd by stoppng th ntgaton pocss whn th output y has achd th satuaton lmt. Ths nsus that whl th contoll as shown n fgu 6 s xpncng satuaton th s no futh ncas n th valu of output y. If th o ducs blow ctan lvl fo whch output coms out of satuaton, th ntgato stats wokng agan Inn cunt contol loop Hystss o Bang-Bang Cunt Contoll: Th hystss modulaton [13], [14] s a fdback cunt contol mthod wh th moto actual cunt tacks th fnc cunt wthn a hystss band. Th contoll gnats snusodal fnc cunt of dsd magntud and fquncy whch thn s compad to th actual moto ln cunt. If cunt xcds th upp lmt of th hystss band, th upp swtch of th nvt am s tund off and th low swtch s tund on. As a sult, th cunt stats to dcay. If th cunt passs th low lmt of th hystss band, th low swtch of th nvt am s tund off and th upp swtch s tund on. As a sult, th cunt gts back nto th hystss band. Hnc, th actual cunt s focd to tack th fnc cunt wthn th hystss band as shown n fgu 7. 21

Intnatonal Jounal of Comput Applcatons (0975 8887 Volum 89 No 9, Mach 2014 Fg 7: Pncpl of Hystss Contol 4.

4 Intnatonal Jounal of Comput Applcatons ( Volum 89 No 9, Mach 2014 Fg 7: Pncpl of Hystss Contol 4. SIMULATION RESULTS Th whol v tan was smulatd n MATLAB/SIMULINK wh w usd th moto paamts and contoll paamts as mntond n Tabl I to III. Fg 8: Rfnc spd of Inducton Moto (pm vs tm (sc n IFOC on IDC wth (5:1 ga ato Tabl I: Moto nam plat dtals Moto Paamt Valu Ratd pow output 3.7 kw Ratd Voltag (volt 415±10 % Ratd Cunt (Amp 7.1 Ratd Fquncy (Hz 50±5 % Effcncy (% 84% Ratd Spd (pm 2830 Insulaton Class F Conncton Dlta Tabl II: Moto paamts Moto Paamt P phas stato sstanc P phas oto sstanc fd to stato P phas magntzng nductanc P phas stato lakag nductanc P phas oto lakag nductanc fd to stato Valu 4.33 ohm 5.46 ohm 1 H mh mh Fg 9: Actual spd of Inducton Moto (pm vs tm (sc n IFOC on IDC wth (5:1 ga ato Tabl III: contoll and smulaton paamts Ral Tm Smulaton Paamt Valu Kp of Spd Contoll 1 K of Spd Contoll 1 Upp Lmt of PI Spd Contoll +25 Upp Lmt of PI Spd Contoll -25 Hystss contoll band 0.1 Samplng Tm (Ts 1-4 Fom fgus 8 and 9, t has bn obsvd that th actual spd of th moto s xactly tackng th fnc spd of IDC. It nsus that th spd contoll s wokng fn. Fg 10: 3 phass actual and fnc cunt (amp vs tm (sc tackng of Inducton Moto n IFOC on IDC 22

Intnatonal Jounal of Comput Applcatons (0975 8887 Volum 89 No 9, Mach 2014 Fg 11: Zoomd 3 phass actual and fnc cunt (amp vs tm (sc tackng of Inducton

Th w som amount of ppls n th cunt but ts un lmt.

Fgu 12 dpcts th total toqu of th moto and load toqu at th moto shaft obtand fom th vhcl dynamcs smulaton.

In pactcal stuaton du to hgh nta, t wll not cat any poblm.

EXPERIMENTAL RESULTS Th xpmnts w cad out on th dvlopd tst bnch as shown n fgu 15 usng th MATLAB/ Ral Tm Wndows Tagt platfom though Data Acquston Cad

1 Spd Contoll Fgu 16 dpcts th spd spons of th nducton moto at 700 and 1000 pm.

5 Intnatonal Jounal of Comput Applcatons ( Volum 89 No 9, Mach 2014 Fg 11: Zoomd 3 phass actual and fnc cunt (amp vs tm (sc tackng of Inducton Moto n IFOC on IDC Fgu 10 and 11 dpcts th cunt tackng capablty of th cunt contoll n th phass (a,b,c of th nducton moto. Th w som amount of ppls n th cunt but ts un lmt. It was also obsvd that dung acclaton of th vhcl, cunt dmand by th moto wll ncas as shown n fgu 10 and 11. Fgu 12 dpcts th total toqu of th moto and load toqu at th moto shaft obtand fom th vhcl dynamcs smulaton. Though th w som ppls n th toqu pofl du to ppls n th cunt but t was not affctng th spd of th moto. In pactcal stuaton du to hgh nta, t wll not cat any poblm. Fg 13: Total toqu and load toqu pofl at suddn jk on oad (IDC Fg 14: Cunt Contoll pfomanc at suddn jk on oad fo 0.5 sc 5. EXPERIMENTAL RESULTS Th xpmnts w cad out on th dvlopd tst bnch as shown n fgu 15 usng th MATLAB/ Ral Tm Wndows Tagt platfom though Data Acquston Cad (DAQ btwn xpmntal stup and PC to tst th functonalty of all th pow lctonc ccuts and assocatd contol schms. 5.1 Spd Contoll Fgu 16 dpcts th spd spons of th nducton moto at 700 and 1000 pm. It has bn obsvd that actual spd of th nducton moto n ths contol schm was followng th fnc spd command. So h out loop of th poposd contol schm at low spd has bn valdatd. Fg 12: Elctomagntc toqu (low and load toqu (upp (Nm vs tm (sc of Inducton Moto n IFOC on IDC Contoll Pfomanc dung jk n suddn bump on oad: In fgu 13-14, t has bn obsvd that whn a 10 Nm load toqu was appld fo 0.5 sc (jk n IDC load toqu pofl, moto cunt dmand was ncasd du to hgh toqu qumnt but th spd contoll and cunt contoll w also wokng fn un ths unwantd stuaton n th oad pofl. Fgu 16: Spd Tackng (Actual (Yllow and Rfnc (Blu Spd of Inducton moto at 700 pm and 1000 pm (X axs: 1dv = 5s Y axs: 1 dv = 5Volt=500 pm 23

Intnatonal Jounal of Comput Applcatons (0975 8887 Volum 89 No 9, Mach 2014 Fgu 17 dpcts th spd spons of th nducton moto at 1200, 2000 and 2500 pm.

So h out loop of th poposd contol schm at mdum spd and hgh spd has bn valdatd.

and Rfnc (Blu Spd of Inducton moto at 2000 and 2500pm (X axs: 1dv = 5s Y axs: 1 dv = 500 mv=500 pm Fgu 18 dpcts th spd tackng accuacy of th contoll

3 Pfomanc of th Contoll at 1 kw, 2 kw Load: Fgu 20 dpcts th contoll pfomanc whn two and fou 500 watt, 250 volt bulb loads w connctd acoss th DC gnato.

It gnats voltag whch was gvn to th bulb to glow. It has bn also obsvd that satsfactoy spd tackng was occud whn 1 kw and 2 kw sstv loads w connctd.

2 Cunt Contoll Pfomanc of th cunt contoll a shown n fgu 19 fo th th phass of th nducton moto and t has bn obsvd that actual cunt was tackng th fnc cunt

contoll at dffnt condtons. A laboatoy lvl xpmntal stup was dvlopd and no of xpmnts had bn pfomd to vfy th wokng of ccut topology and contol schm.

6 Intnatonal Jounal of Comput Applcatons ( Volum 89 No 9, Mach 2014 Fgu 17 dpcts th spd spons of th nducton moto at 1200, 2000 and 2500 pm. It has bn obsvd that actual spd of th nducton moto n ths contol schm was followng th fnc spd command. So h out loop of th poposd contol schm at mdum spd and hgh spd has bn valdatd. Fg 19: a, b, c phass actual (gn and fnc (volt cunt of th moto at 1000 pm(x axs: 1dv = 10 ms Y axs: 1 dv = 2V =20 amp Fg 17: Spd Tackng (Actual (Yllow and Rfnc (Blu Spd of Inducton moto at 2000 and 2500pm (X axs: 1dv = 5s Y axs: 1 dv = 500 mv=500 pm Fgu 18 dpcts th spd tackng accuacy of th contoll dung abtay spd vaaton btwn 0 and 800 pm. It has bn obsvd that actual spd of th nducton moto n ths contol schm was followng th fnc spd command. So h out loop of th poposd contol schm at abtay spd vaaton has bn valdatd. 5.3 Pfomanc of th Contoll at 1 kw, 2 kw Load: Fgu 20 dpcts th contoll pfomanc whn two and fou 500 watt, 250 volt bulb loads w connctd acoss th DC gnato. Whn th moto was otatng at ctan spd, DC moto also otatd at that spd and bcaus of th DC moto was opatd as DC gnato usd n ths applcaton. It gnats voltag whch was gvn to th bulb to glow. It has bn also obsvd that satsfactoy spd tackng was occud whn 1 kw and 2 kw sstv loads w connctd. Fg 18: Spd Tackng (Actual (Yllow and Rfnc (Blu Spd of Inducton moto at 0 to 800 pm(x axs: 1dv = 10s Y axs: 1 dv = 2V= 200 pm 5.2 Cunt Contoll Pfomanc of th cunt contoll a shown n fgu 19 fo th th phass of th nducton moto and t has bn obsvd that actual cunt was tackng th fnc cunt xactly. Fg 20: Spd Tackng (Actual (Yllow and Rfnc (Blu Spd of Inducton moto at 1200 pm at 1 kw load, 1500 pm at 2 kw load (X axs: 1dv = 2.5s,Y axs: 1 dv = 500 mv= 500 pm 6. CONCLUSION In ths pap a sutabl, obust spd contoll fo EV has bn poposd, and smulatd n MATLAB/SIMULINK by takng nto consaton of wndup phnomnon n PI spd contoll at dffnt condtons. A laboatoy lvl xpmntal stup was dvlopd and no of xpmnts had bn pfomd to vfy th wokng of ccut topology and contol schm. Th sults ndcat th fulfllmnt of contol objctvs. Th moto s acclatng and dclatng as p th spd command and th cunt tackng s satsfactoy. Fom th sults t has bn concludd that th ccut topology and ts contol schm s wokng fn to cat to th qumnts of load toqu at th whl of th vhcl on Indan oads. 7. REFERENCES [1] C. C. Chan, Th stat of th at of lctc and hybd vhcls, Poc. IEEE, vol. 90, no. 2, pp , Fb

7 Intnatonal Jounal of Comput Applcatons ( Volum 89 No 9, Mach 2014 [2] C. C. Chan, Th past, psnt and futu of lctc vhcl dvlopmnt, n Poc. IEEE 1999 Int. Conf. Pow Elctoncs and Dv Systms, vol. 1, pp ,July [3] P.Msha, S.Saha, H.P.Ikkut, A Mthodology fo Slcton of Optmum Pow Ratng of Populson Moto of Th Whld Elctc Vhcl on Indan Dv Cycl (IDC, Intnatonal Jounal on Thotcal and Appld Rsach n Mchancal Engnng,Volum2,Issu-1,2013, pp , ISSN: [4] P.Msha, S.Saha, H.P.Ikkut, Slcton of Populson Moto and Sutabl Ga Rato fo Dvng Elctc Vhcl on Indan Cty Roads, IEEE Intnatonal Confnc on Engy Effcnt Tchnologs fo Sustanablty (ICEETS 13, pp , Apl, 2013, ISBN: [5] G. Nanda, N. C. Ka, A suvy and compason of chaactstcs of moto vs usd n lctc vhcls, n Poc. Can. Conf. Elct. Comput. Eng, pp , May [6] W. Xu and J.G. Zhu, Suvy on lctcal machns n lctcal vhcls, n Poc. Int. Conf. on Appld Supconductvty and Elctomagntc Dvcs, Spt. 2009, pp [7] B. K. Bos, Mon Pow Elctoncs and Ac Dvs, Pntc Hall PTR, 2002, ISBN , [8] R. Kshnan, Elctc moto vs: Modlng, Analyss, and Contol, Pntc Hall, 2001,ISBN , [9] M Ehsan, Y Gao, S. E. Gay, Al Emad, Mon Elctc, Hybd Elctc, and Ful Cll Vhcls: J. Fundamntals, Thoy, and Dsgn, CRC pss, ISBN: [10] Lamn, J.Lowy, Elctc Vhcl Tchnology Expland, John Wly & SonsLtd, ISBN-10: Dc, [11] R. J. Kkman, T. M. Rowan, and D. Lggat, Indct Fld-Ontd Contol of An Inducton Moto n Th Fld Waknd Rgon, IEEE Tans. Industy Applcatons, Vol. 28, No. 4,.pp [12] M. Rhan, A. Ahmd, N. Iqbal, M.S. Naz, Expmntal compason of dffnt ant- wndup schms fo an AC moto spd contol systm, IEEE, ICET, pp , 19-20Oct, [13] D. G. Holms, B. P. McGath, and S. G. Pak, Cunt gulaton statgs fo vcto-contolld nducton moto vs, IEEE Tans. Ind. Elcton., vol. 59, no. 10, pp , Oct [14] IJCA TM : 25

dspace implementation of Fuzzy Logic based Vector Control of Induction Motor

dspace implementation of Fuzzy Logic based Vector Control of Induction Motor 1 dspace mplmntaton of Fuzzy Logc basd Vcto Contol of Inducton Moto B.Subudh 1, Ansh Kuma A.K and D. Jna Dpatmnt of Elctcal Engnng Natonal Insttut of Tchnology Roukla bdyadhantkl@gmal.com Abstact- Vcto