A space vector concept for deriving the switching times for pulsewidth-modulated voltage source inverters is compared with the conventional sinusoidal concept. The switching times are deducted from assumptions for minimum current distortion, the resulting mean voltage values are shown, and the differences between these and the established sinusoidal PWM (pulse-width modulator) are elaborated. Based on an analytical calculation the current distortions and torque ripples are evaluated and compared with the values obtained with the conventional method. The space vector representation results in lower current harmonics and possibly a higher modulation index. A modulator based on an 8086 microprocessor has been implemented, and its performance is reported. >

Analysis and realization of a pulsewidth modulator based on voltage space vectors

A model-reference adaptive system (MRAS) for the estimation of induction motor speed from measured terminal voltages and currents is described. The estimated speed is used as feedback in a vector control system, thus achieving moderate bandwidth speed control without the use of shaft-mounted transducers. This technique is less complex and more stable than previous MRAS tacholess drives. It has been implemented on a 30 hp laboratory drive, where its effectiveness has been verified. >

Adaptive speed identification for vector control of induction motors without rotational transducers

Controlled induction motor drives without mechanical speed sensors at the motor shaft have the attractions of low cost and high reliability. To replace the sensor the information on the rotor speed is extracted from measured stator voltages and currents at the motor terminals. Vector-controlled drives require estimating the magnitude and spatial orientation of the fundamental magnetic flux waves in the stator or in the rotor. Open-loop estimators or closed-loop observers are used for this purpose. They differ with respect to accuracy, robustness, and sensitivity against model parameter variations. Dynamic performance and steady-state speed accuracy in the low-speed range can be achieved by exploiting parasitic effects of the machine. The overview in this paper uses signal flow graphs of complex space vector quantities to provide an insightful description of the systems used in sensorless control of induction motors.

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Sensorless control of induction motor drives

A control system and method for simultaneously regulating the operation of a plurality of different types of switching power converters. The system utilizes in regulating the power converters sampled data and nonlinear feedback control loops.

Power converter circuitry and method

This paper describes a new approach to estimating induction motor speed from measured terminal voltages and currents for speed-sensorless vector control. The proposed approach is based on observing the instantaneous reactive power of the motor. The estimated speed is used as feedback in an indirect vector control system. The described technique is very simple and robust to variations of motor parameters. The new approach is not dependent upon the knowledge of the value of the stator resistance, nor is it affected by stator resistance thermal variations. Furthermore, pure integration of sensed variables, in principle, is not required at all. Therefore, this new method can achieve much wider bandwidth speed control than previous tacholess drives. The effectiveness is verified by simulation and experiment. >

Robust speed identification for speed sensorless vector control of induction motors

The utilization of the squirrel cage induction motor as an autonomous induction generator is briefly reviewed. In view of potential new applications, the discussion focuses on a simple exciter scheme based on using a static reactive power generator implemented with fixed capacitors and thyristor controlled inductors. The feasibility of the proposed scheme with naturally commutated thyristors is verified by measurements on a test setup employing a standard 15-hp induction motor.

Static Exciters for Induction Generators

In certain types of adjustable frequency induction motor drives, optimal control of the motor can be best implemented by using information on the motor slip frequency. Unfortunately, this generally requires the use of an electromechanical speed transducer coupled to the shaft. The presence of this transducer spoils the general characteristics of ruggedness and mechanical simplicity typical of an ac drive. This paper discusses an improved method of obtaining the slip information without the use of rotary transducers of any kind. By sensing the electrical quantities applied to the motor (voltages, currents, and phases) and by performing simple signal processing operations on the sensed quantities, an analog signal proportional to the slip level is derived and used in motor control functions.

Variable Speed induction Motor Drives Use Electronic Slip Calculator Based on Motor Voltages and Currents

Pulse width modulation is produced by digital means. Pulse width modulated waves are stored digitally in a memory and retrieved under control of a voltage signal in order to generate a pulse width modulated wave of predetermined pattern for any discrete value of successive desired output voltage levels. Optimal waveforms are selected and stored which extend only for one quadrant but an alteration of the addressing code based on symmetry yields the mirror image of the stored quadrant while sign modification provides symmetry about the abscissa axis. Also, only a single phase is stored and phase shifting by code alteration of the coded information provides the other phases after retrieval. The notches characterizing a particular pattern are stored in the form of a digital representation one level along several possible levels defining subdivisions of a given time interval which is itself a submultiple of the total duration of the stored quandrant. A comparator responsive to a series of ramp signals detects in real time the stored levels thereby to effect switching from one state to the other and define one edge of a notch. The notches may extend over several of the ramp signals. The invention provides, with substantially the same hardware, for a fixed pattern mode of operation in the normal frequency range, and for a free running triangulation mode for the lower frequency range. The invention applies to the field of induction motor drives with adjustable speed.

Digital apparatus for synthesizing pulse width modulated waveforms and digital pulse width modulated control system

The performance of inverter drives, which use the pulsewidth modulated (PWM) technique to control motor applied voltage and frequency, are critically influenced by the choice of the modulation policy used in the control circuits. This paper deals with practical inverter drives for squirrel cage induction motors and presents some basic considerations on modulation requirements. The advantages and limitations of popular modulation methods are discussed, and an improved modulation scheme, which allows us to extend the practical speed range of PWM ac drives, is presented.

Pulsewidth Modulated Inverter Motor Drives with Improved Modulation

In order to maintain low telephone interference (IT factor) during its normal operation and to establish rapid-post-fault voltage support to preserve the integrity of electric power transmission lines in the presence of degraded system impedance and harmonic instability, amplitude detection in a transmission voltage regulator (static VAR generator, SVG) is provided based on real time conventional, or fast, Fourier analysis, data samples being used to establish the fundamental voltage amplitude and collected during a specific, frequency tracking sliding window that precedes the amplitude reading by one line voltage cycle of the transmission line. The number of samples in the window is an integer multiple of the line frequency and, in the case of conventional analysis, the pulse number of the switching power circuit is used in the SVG. The amplitude value is updated after each sampling by shifting (sliding) the one cycle sample data base in a first in - first out manner.

Alberto Abbondanti

Papers

Static Exciters for Induction Generators

Variable Speed induction Motor Drives Use Electronic Slip Calculator Based on Motor Voltages and Currents

Digital apparatus for synthesizing pulse width modulated waveforms and digital pulse width modulated control system

Pulsewidth Modulated Inverter Motor Drives with Improved Modulation

Transmission line voltage detector for static VAR generator