SENSORLESS CONTROL OF AC/DC/AC CONVERTER-FED INDUCTION MOTOR WITH SLIDING-MODE OBSERVERS

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1 Pac Naukow Intytutu Mazyn, Napędów i Pomiaów Elktycznych N 62 Politchniki Wocławkij N 62 Studia i Matiały N induction moto, AC/DC/AC convt, nol contol, liding-mod vitual gid flux obv, liding-mod oto flux and pd obv Michał KNAPCZYK*, Kzyztof PIEŃKOWSKI* SENSORLESS CONTROL OF AC/DC/AC CONVERTER-FED INDUCTION MOTOR WITH SLIDING-MODE OBSERVERS Th pap pnt th liding-mod obv-bad nol contol of an AC adjutabl pd div with induction moto, voltag-ouc invt (DC/AC convt) and vibl AC/DC lin-id convt. Th nol contol i applid to both th AC/DC and DC/AC convt confining th numb of th ud tanduc and liminating th oto pd dict acquiition. Th vitual gid flux vcto timatd in th liding-mod obv yild obutn againt th lin voltag ditotion. Th obv of oto flux and pd of induction moto povid th innitivn to ctain xtnt of th fluctuation of th moto paamt. Th popod nol contol of th doubl-idd convt povid fou-quadant opation of th induction moto div at th accptabl computational ffot and thu at inxpniv cot of it hadwa alization. 1. INTRODUCTION Th modn fquncy convt a oftn quippd with th AC/DC lin-id convt in th fom of PWM ctifi, that intfac th gid with th invt-fd induction moto. Th PWM ctifi uually hav th am topology a th voltagouc invt. Hnc thi contol tchniqu can b bad on known mthod of vcto contol laboatd fo th induction moto [3, 4, 6]. Th pap pnt th dciption of th AC/DC/AC contol ytm fo th fouquadant opation of induction moto with th minimizd numb of no. In thi ytm th oto flux and pd of induction moto, a wll a th vitual gid flux a timatd uing th liding-mod obv. * Politchnika Wocławka, Intytut Mazyn, Napędów i Pomiaów Elktycznych, Wocław, ul. Smoluchowkigo 19, michal.knapczyk@pw.woc.pl, kzyztof.pinkowki@pw.woc.pl.

2 VECTOR CONTROL OF GRID AND MOTOR CONVERTER Th baic contol pincipl of gid and induction moto convt with fildointation appoach i pntd on Fig. 1. Th fild-ointd contol of induction moto with fquncy convt i bad on th dcompoition of th tato cunt vcto i into two ctangula componnt i d and i q in th ctangula coodinat fam d-q ointd with th otating oto flux vcto ψ (Fig.1a). Th amplitud of th oto flux vcto ψ i popotional to th i d componnt whil th moto toqu i contolld by th i q componnt of th tato cunt i. Th application of th vcto contol to th gid convt i bad on th aumption that th upply lin can b conidd a a vitual induction machin. Th iu of th vitual gid flux-ointd contol fo th AC/DC lin-id convt i bad on th dcompoition of th gid cunt vcto i g into two ctangula componnt i gd and i gq in th d-q coodinat fam ointd with th otating vitual gid flux vcto ψ g (Fig.1b). Th gid cunt vcto componnt i gq i popotional to th activ pow whil th componnt i gd i popotional to th activ pow. Thu th activ pow and activ pow can b contolld indpndntly. Th unity pow facto condition i mt whn th gid cunt vcto i g i ituatd ppndicula to th gid vitual flux vcto ψ g. a) b) Fig. 1. Dcompoition of cunt vcto in fild-ointd contol: a) fo tato cunt vcto i of induction moto and oto flux vcto ψ b) fo gid cunt vcto i and vitual gid flux vcto ψ g Th dvlopmnt tnd in indutial lctical div indicat th tndncy of an application of nol contol. Th nol contol in adjutabl pd div ha volvd fom th impl olution bad on th tat imulato (timato) up to th advancd tat obv uing numou diffnt appoach. Th tat obv a th adjutabl fnc ytm modl tund by th fdback ignal coming fom th contolld plant, o that th output timat follow thi al countpat.

3 422 Th xitnc of th fdback tandad ignal povid btt obutn of th obv againt th inaccuaci of th ytm paamt idntification. Th pap pnt a liding-mod appoach to dign th obut contol ytm of th induction moto convt and th gid convt. In od to timat th oto flux vcto and oto pd th liding-mod obv will b dignd. Th lidingmod mthodology will alo b ud to dign th vitual gid flux vcto fo th AC/DC lin-id convt. 3. SLIDING-MODE-BASED DESIGN OF ASYMPTOTIC OBSERVERS 3.1. SLIDING-MODE ROTOR FLUX VECTOR AND ROTOR SPEED OBSERVER Th liding-mod oto flux vcto and oto pd obv (1) i tictly bad on th modl of th induction moto dcibd in (α-β) coodinat fam [1, 2, 3, 5, 7]: diˆ diˆ dψˆ dψˆ = βηψˆ = βηψˆ = ηψˆ = ηψˆ + βωˆ ψˆ βωˆ ψˆ ˆ ω ψˆ + ˆ ω ψˆ γiˆ γiˆ + ηl i m + ηl i 1 + u σl m 1 + u σl (1) R = L η, L 2 m ρ = 1, L L L σl L m β =, 2 1 L m γ = R + R. 2 σl L wh R, L tato itanc and inductanc; R, L oto itanc and inductanc; L m magntizing inductanc; u, u tato voltag in (α β) coodinat fam; î, î th timatd componnt of tato cunt and ˆ ψ α, ˆ β th timatd componnt of oto flux in (α β) coodinat fam in liding-mod. Th timat of th lctical oto pd ˆω will b placd by th high-gain dicontinuou tm to aliz th liding motion (2): ( ) n ψ ˆ ω = ω 0 ign (2)

4 423 wh ω 0 i a poitiv contol gain. Th witching ufac n i dignd o that th timat in (1) convg to thi al countpat in th liding-mod (3): ( iˆ i ) ψˆ ( iˆ i ) ψˆ = 0 (3) n = Whn ω 0 i appopiatly lctd, th liding-mod i achd whn n = 0. Sinc th timatd lctical oto pd i a dicontinuou ignal it hould b low-pa filtd and dividd by th numb of pol pai in od to achiv an quivalnt continuou ignal of th xpctd oto pd [7] SLIDING-MODE VIRTUAL GRID FLUX OBSERVER Th tating-point of th dign pocdu of th liding-mod vitual gid flux obv [3,7] i bad on th th-pha modl of th AC/DC lin-id convt (4): diˆ R ˆ u ( 2K1 a K1b K1c ) + ˆ g dc = i (4) Lg 3 Lg 1 wh î, ê a th timatd gid cunt and gid ouc voltag in pha A pctivly. Th timat of th pha gid ouc voltag ê will b placd with th high-gain witching tm (5): g0 ( ) ˆ = ign (5) wh g0 i a poitiv contol gain. Th witching lin g i lctd o that th timat in (4) convg to thi al valu in th liding-mod (6): g i iˆ = 0 (6) g = By g0 lag nough th condition g =0 i fulfilld and liding-mod i achd. In od to achiv th vitual gid flux, th dicontinuou tm (5) hould b dictly intgatd without th pviou low-pa filting (7): ( i iˆ ) ˆ = g0 ign ψ (7) Th flux timat fo pha B and C may b achivd in imila mann [7].

5 SENSORLESS VECTOR CONTROL OF GRID AND MOTOR CONVERTER WITH SLIDING-MODE OBSERVERS Th dvlopd contol tuctu of AC/DC/AC convt-fd induction moto bad on liding-mod obv i pntd in Fig.2. Fig.2. Snol cunt contol of AC/DC/AC convt-fd induction moto bad on liding-mod obv Th pntd nol cunt contol of AC/DC/AC convt-fd induction moto bad on liding-mod obv ha bn validatd though th numou imulation. Th lctd imulation ult pntd in th paat pap [4] hav povn th good flxibility of th conidd contol ytm. 5. CONCLUSIONS Th pap pntd th liding-mod contol in appoach to dign of th obut aymptotic obv in nol contol ytm of th AC/DC/AC convt-fd induction moto. Th pupo wa th minimization of th numb of th voltag and cunt no and th limination of th oto pd tanduc in od to duc th

6 425 hadwa quipmnt. Th pntd nol cunt contol of AC/DC/AC convt-fd induction moto bad on liding-mod obv ha th good flxibility and povid th obutn againt th chang of ytm paamt. REFERENCES [1] AURORA C., FERRARA A., A liding-mod obv fo nol induction moto pd gulation, Intnational Jounal of Sytm Scinc, vol.38, no.11, Januay 2007, pp [2] INANC N., A nw liding-mod flux and cunt obv fo dict fild ointd induction moto div, Elctic Pow Sytm Rach, vol.63, no.2, Sptmb 2002, pp [3] KNAPCZYK M., PIEŃKOWSKI K., Sliding-mod Vitual Flux Ointd Contol of PWM ctifi with fixd witching fquncy, Pow lctonic and lctical div lctd poblm, Woclaw Univity of Tchnology, 2007, pp [4] KNAPCZYK M., PIEŃKOWSKI K., Simulation tudi of nol cunt contol of AC/DC/AC convt-fd induction moto with liding-mod obv, Poc. of SME 08, [5] LI J., XU L., ZHANG Z., An adaptiv liding-mod obv fo induction moto nol pd contol, IEEE Tanaction on Induty Application, vol.41, no.4, July/Augut 2005, pp [6] MALINOWSKI M., KAŹMIERKOWSKI M. P., HANSEN S., BLAABJERG F., MARQUES G. D., Vitual-Flux-Bad Dict Pow Contol of Th-Pha PWM Rctifi, IEEE Tanaction on Induty Application, Vol. 37, No. 4, July/Augut [7] UTKIN V., GULDNER J., SHI J., Sliding Mod Contol in Elctomchanical Sytm, Taylo & Fanci, STEROWANIE BEZCZUJNIKOWE SILNIKIEM INDUKCYJNYM Z PRZEKSZTAŁTNIKIEM AC/DC/AC Z ZASTOSOWANIEM OBSERWATORÓW ŚLIZGOWYCH W atykul pzdtawiono bzczujnikowy układ towania czętotliwościowgo ilnika indukcyjngo klatkowgo z pzkztałtnikim dwutonnym AC/DC/AC. Opiano zaady towania wktoowgo ilnikim indukcyjnym i pzkztałtnikim iciowym. Do towania wktoowgo pzkztałtnikim iciowym wykozytano witualny wkto tuminia ici opaty na analogii obwodów ici zailającj i ilnika indukcyjngo. Zaada bzczujnikowgo towania zotała opata na zatoowaniu obwatoów ślizgowych. Wpowadzono tymację zminnych tanu po toni pzkztałtnika iciowgo i pzkztałtnika ilnikowgo w clu zminimalizowania liczby nizbędnych czujników pomiaowych oaz wyliminowania pztwonika pędkości kątowj wału. Pzdtawiono opi matmatyczny ślizgowgo obwatoa witualngo wktoa tuminia ici oaz ślizgowgo obwatoa tuminia winika i pędkości kątowj ilnika indukcyjngo.

EFFICIENCY ANALYSIS OF INDIRECT VECTOR CONTROLLED THREE PHASE INDUCTION MOTOR DRIVE

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