Ia Ia armature mmf ~ Ia torque field flux ~ If + Ra + Ia T - PowerPoint PPT Presentation

If Ia Ia armature mmf ~ Ia torque field flux ~ If + Ra + Ia T = k � f Ia V a = k � � � - f r -

STATOR Rr Ld FIELD + + + 3 phase V Id - C S I S M Vr Vi 50 Hz - - If � r w Vr Rotor position (phase control stator current)

IRs V jXs Rs + I j Xs I + Ep V I � - - Ep EpIcos � Te = 3Np = K t fIcos � � � r 2

2 � Re = Rr Rs 6 + 2 Ii I � + + � Ve= Vr Epcos � V cos � 3 - - - Ep=Ke f � � r

I V � V � j Xs I � j Xs I I Ep Ep (b) (a)

Rs qo I d-axis Vso Rs do I jXq qo I q-axis I qo � jXd do I Ido Epo=-XdmIfo Iso =- oLdmIfo � (or E po = j oLdm fo) I � salient pole SM Ifo Rs qo I Vso Rs do I d-axis jXs qo I jXs so I Iqo q-axis � Epo=-XmIfo jXs do I =- oLmIfo � Ido (or E po = j oLm fo) I � Iso Ifo smooth rotor SM

d Vso jXq qo = jXqIqo I I qo=Iqo= so I q � � p NpEpoIso 3 3 Teo=- NpLdmIfoIqo = 2 � o 2 Ifo = jIfo

Te -p(Ldm+Lfkd ) � Rkd+pLkd Ikd(t) + If Ikd(t) + Te 3NpLdm - X 2 -If Iq t

Ldc Stator Field 3 phase C S I S M 50 Hz � r � o torque reference Ii Rotor position current phase controller controller w) ( -control) (Iq � � w=0 commutation delay compensation

stator field 3 phase CRPWM S M 50 Hz w w w ia ib ic torque reference sin r � transformation w) (Iq rotor rotor position to stator field component cos r � w) (Id

d Is j Ls Vs Rs � jXs s I + + Ep Vs q - Ep - Is (b) (a) Ir Ir = jIf Is j Ls + � Rs � Ir = jIf j Ldm Vs � - (c)

E � Is Ir jXr � I r + - r I + j Ls � + + � j Lr � � Ir Er Es Rr E � Vs j Lml � Er s Im Is - - - - � r � m (b) (a)

Is Is � Rs s I + Vs + j �� Ls=j L s � � j Xs s � I Rs 2 ( r=-Lm s ) Lm Rr L2 . Lm I I � . Lr m s Is � Vs j Lm � s E r =j � I Er � � � Lr L2 Lr Is � r Is � - Is - � rs (a) (b)

Is � Er � � Is � Is,s>0 Is,s=0 Is,s<0

d Irq=-LmIsq Isq Lr q Isd Is � rd

Stator 3 phase CRPWM C S I IM IM 50 Hz Electrical and w w w ia ib ic mechanical motor signals electrical � r Ii sin r � amplitude torque reference phase and Transformation control control w ) mechanical (Isq from motor signals synchronous � r to stator flux reference reference | |w cos r � � w w ) I (Isd (b) (a)

� � � ra, rb, rc motor | r| � signals of FO C (inputs) arg � r = r � � � r , � � r “field orienter” “rotor flux computer” (resolver) ( rq)2 + ( rd)2 | r|= √ � � � motor signals CFO (inputs) � r = tan-1 � rq � rd “Flux-computer” and “field orienter”

c c ⌠ b b � s = ( Vs - RsIs)dt IM IM ⌡ a a r = Lr ( s- LsIs) � � � Lm ia ib ic � � m � r air-gap CFO � r flux � � m � r CFO � r (b) (a)

3 phase 50 Hz 3 phase 50Hz Basic FO control Basic FO control inside dashed lines current within dashed lines control - + w w w Tw Isq Is ia w torque + Tw Isq + controller w torque ib - T-1 controller CRPWM w phase resolver w CSI Isd - w � o ic control � Isd w � r flux � r flux controller controller w � r + w � r � r - + T - T � r motor torque � r motor CFO signals calculaton torque CFO signals calculation I M Isq Isq � r � r � r � r Ia Ia Ib T Ib Ic T Ic (a) (b)

w Isq (desired torque) Rr x Lr w ÷ � s w Isd 1 (desired flux) 1+p Lr Rr

w w Isq ia (torque reference) w ib T-1 CRPWM w w Isd (flux reference) ic w � r w � s � s slip 1 calculation p + + � ri Lr Rr I M � r

CSI � r � o current controller I - + Iw |Iw| resolver �� � r � + + + slip calculation W � s w w Isd Isq flux torque reference reference

Isq1 Isq2 �� �� �� Isd Is2 Is1 e Is � r

a2Lr-a m) L j �� Ls-a m) L j �� Rs + , Ir/a=Ir Is , Vs j aLm � a2Rr/s= Rr /s -