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Lecture 20 Current Regulation 2024 Annotated

The document discusses various current control methods used in electric motor drives, including hysteresis, PI, and predictive controllers, primarily for static converters. It highlights the differences between motor control and current control, emphasizing the use of linearized models for current control across different machine types. Additionally, it covers the implementation of current controllers in dq reference frames and the design of PI controllers for induction and permanent magnet synchronous motors.

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KathaPandey
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8 views14 pages

Lecture 20 Current Regulation 2024 Annotated

The document discusses various current control methods used in electric motor drives, including hysteresis, PI, and predictive controllers, primarily for static converters. It highlights the differences between motor control and current control, emphasizing the use of linearized models for current control across different machine types. Additionally, it covers the implementation of current controllers in dq reference frames and the design of PI controllers for induction and permanent magnet synchronous motors.

Uploaded by

KathaPandey
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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Lecture 20

Current Control Methods


Hysteresis Controller, PI Current Controller, PI with
Feedforward, Predictive Controller,
PR Controller
Primarily used for
Active front End of
Static Converters

ECE 732 Dynamics and Control of Electric Machines


Instructor: Prof. Iqbal Husain
Dept. of ECE
North Carolina State University
Electric Motor Drive
HARDWARE
SENSORS

DC LINK DC LINK ESTIMATION


VOLTAGE VOLTAGE POWER SOURCE
ESTIMATION MEASUREMENT CONTROL

∗ ∗ ∗ −
MOTOR CURRENT POWER MOTOR
+
CONTROLLER CONTROLLER CONVERTER DYNAMICS

AC MOTOR

CURRENT MEASUREMENT
+
ESTIMATION − DYNAMICS

CURRENT MEASUREMENT

VELOCITY POSITION POSITION


ESTIMATION ESTIMATION MEASUREMENT

2
Motor Control Vs Current Control
• Motor Control – MTPA or Field Weakening or MTPV
An algorithm to translate the reference torque to reference current and is dependent of
the machines model and requires understanding of machine operation and
characteristics. Heavily dependent upon machine type and its characteristics – PM vs. IM
vs. RM.
∗ Reference ∗
Current
Generation

• Current Control – Linearized model of the machine to represent


electrical dynamics of the machine. Similar for all machine topologies –
may differ slightly (explained later)

∗ ∗
+
−
Current Controller Power Converter Motor

3
Current Control Methods
 The PWM methods use current feedback and generate PWM signals in a
closed loop fashion.
 Types of controller: Hysteresis controller, ramp comparison controller, PI
current controller, predictive current controller etc.

Current Control in the abc Reference Frame

Reference
Speed iq* *
iabc
Speed current Driver
+ - controller 2  3 controller Circuits
id *
Speed
Feedback  rotor iabc To Inverter
postion 

• Outer loop controller generates dq current commands


• Current controlled in the inner most loop

4
Current Regulators

Feedforward Control Feedback Control


(PI with Feedforward)
• Hysteresis
• PI
• Predictive –Deadbeat

5
Hysteresis Current Controller
 The error between measured current and the reference current is compared with a
hysteresis band.
 If the current error is within the band then PWM output remains unchanged.
If the error exceeds the band, then the PWM output is reversed forcing a sign change of
the slope of di/dt.

h is hysteresis band

Conditions for Sliding


Mode Control:
1) Reaching condition
2) Siliding condition

Hysteresis current control


and PWM output.
6
Hysteresis Current Controller: Three-phase AC Currents
Advantages:
• Simple
• Provides good current control

• Typical or expected behavior of the three phase hysteresis controller is to confine


operation to the interior hexagonal region.
• Whenever the current error touches one of the switching lines that inverter leg is
switched driving the current error in that leg in the opposite direction.
Hysteresis Current Controller: Three-phase AC Currents
Disadvantages:
• Highly variable PWM frequency; low frequency always exist in spectrum

Current error to twice the band Limit cycle problems


Current control in the dq reference frame
Phase
Reference
Speed iq* vd * Transformation
Speed Voltage
Current 2  3 Driver
+ - controller Controller
Controller Circuits
id * vq * *
vabc
rotor
Speed To Inverter
Feedback iq id postion

2  3 iabc

 Current controller implemented in the dq reference frame


 Current feedback used to derive voltage commands which are implemented
using a current regulated PWM inverter
 Types of controller: PI current controller, predictive current controller
 Easier to tune PI parameters if PI current controllers are used in the dq
reference frame where the variables are dc.
Induction Machine:
Current to Voltage Command Conversion
Induction Machine dq stator voltage equations: Objective is to express
and in terms of
stator current & rotor
flux because these are
what is available in the
controller

[Eliminating ]

σ =
In the rotor flux reference frame under vector controlled conditions:

Substituitng and in the stator voltage equations:

Controller
calculates
these

• The first 2 terms in the above 2 equations are due to or and their derivatives,
while the other term can be considered as disturbances .
• PI regulators can be designed accordingly.
PI Current Controller in dq Ref. Frame
PI controllers can be designed to generate and and add the
feedforward compensating terms to derive and commands

To design the PI controller, we will assume that the compensation is perfect.


d-axis current controller design
PI Controller Plant
∗
1
+− +
+ σ
PMSM dq model
Voltage equations the dq reference frame:
d
vq  Riq  q   r d
dt
d
vd  Rid  d  r q
dt
q  Lq iq
where
d  Ld id   f

Lq  Lls  Lmq and Ld  Lls  Lmd

Torque: Te 
3P
22

 f iq  ( Ld  Lq )id iq 
PMSM PI Current Controller
dq based PI Controller Design
• Current commands converted to voltage commands
• PI controller with feedforward compensation used based on linearized plant
transfer function

d f did
v  vd  w( Lq * iq ) 
'
d  Rs id  Ld
dt dt

id 1 (1 Ld )
 
v d' r  sLd s  (r Ld )

diq
vq'  vq   r ( Ld * id   f )  Rs iq  Lq
dt

iq 1 (1 Lq )
 
v q' Rs  sLq s  ( Rs Lq )

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