Induction Motor Vector Control or Field

Oriented Control
By
M.Kaliamoorthy
Department of Electrical Engineering

Outline
Introduction
Analogy to DC Drive
Principles of Field Orientation Control
Rotor Flux Orientation Control
Indirect Rotor Flux Orientation (IRFO)
Direct Rotor Flux Orientation (DRFO)

Stator Flux Orientation Control

Direct Stator Flux Orientation (DSFO)
References
2

Introduction
Induction Motor (IM) drives are replacing DC drives
because:
Induction motor is simpler, smaller in size, less maintenance
Less cost
Capability of faster torque response
Capability of faster speed response (due to lower inertia)

DC motor is superior to IM with respect to ease of control

High performance with simple control
Due to decoupling component of torque and flux

Introduction
Induction Motor Drive
Scalar Control
Control of current/voltage/frequency
magnitude based on steady-state
equivalent circuit model
ignores transient conditions

for low performance drives

Simple implementation
Inherent coupling of torque and flux
Both are functions of voltage and
frequency
Leads to sluggish response
Easily prone to instability

Vector Control or Field Orientation

Control
control of magnitude and phase of
currents and voltages based on
dynamic model
Capable of observing steady state
& transient motor behaviour
for high performance drives
Complex implementation
Decoupling of torque and flux
similar to the DC drive
Suitable for all applications previously
covered by DC drives
4

Analogy to DC Drive
In the DC motor: Te = k f Ia
f controlled by controlling If
If same direction as field f
Ia same direction as field a
Ia and f always perpendicular
and decoupled
Hence, Te = k f Ia

= k If Ia sin 90
= k(If x Ia)

Keeping f constant, Te
controlled by controlling Ia
Ia, If , a and f are space vectors
5

Analogy to DC Motor
In the Induction Motor:
s
c

Te = kr x s

s produced by stator currents

r produced by induced rotor
currents
Both s and r rotates at
synchronous speed s
Angle between s and r
varies with load, and motor
speed r
Torque and flux are coupled.
6

Analogy to DC Motor
Induction Motor torque equation :

3P
Te
s is
22
3 P Lm
Te
r is
2 2 Lr

(1)

(2)

Compared with DC Motor torque equation:

Te k I f I a k f ia sin 90 k f i a
'

(3)

Hence, if the angle betweens orr andis is made to be

90, then the IM will behave like a DC motor.
7

Principles of Field Orientation Control

Hence, if the angle betweens orr andis is made to be
90, then the IM will behave like a DC motor.

Achieved through orientation (alignment) of rotating dq frame

on r or s

Rotor-Flux
Orientation Control

Stator-Flux
Orientation Control
8

Principles of Field Orientation Control

Rotor-Flux
Orientation Control

Stator-Flux
Orientation Control

qs

qs

qr

qs

is
r
r
isq

dr
s
i sq

r
sd

ds

3 P Lm
Te
( rd isq rq isd )
2 2 Lr

is
ds

s
i sd

ds

3P
Te
( sd isq sq isd )
22
9

Principles of Field Orientation Control

Summary of field orientation control on a selected flux vectorf
(i.e. either r , s or m):

In revolving (rotating) dfqf - reference frame, obtain

isqf* from given rotor speed reference r* (via speed controller)
isdf* from given flux reference f*
Determine the angular position f of f (i.e. reference frame
orientation angle)
used in the dfqf dsqs conversion from vsdqf* (output of
isdqf* current controller) to vsdqs*.
In the stationary dsqs - frame, obtain the reference stator voltages
vabcs*
fed to the PWM inverter feeding the IM from vsdqs* using the
dsqs abc transformation.
10

Rotor Flux Orientation Control

qs

d- axis of dq- rotating frame

is aligned with r . Hence,

qr

is
r
r
isq

dr

r
rd

rqr 0

(4)
(5)

Therefore,
3 P Lm
r
Te
( rd isq ) (6)
s
d
2 2 Lr
r
i
sq = torque producing current Similar to
Decoupled
r
i sd

r
sd

i = field producing current

ia & if in
DC motor

torque and
flux control
11

Rotor Flux Orientation Control

From the dynamic model of IM, if dq- frame rotates at general
speed g (in terms of vsd, vsq, isd, isq, ird, irq) :
vsd Rs SLs

vsq g Ls
vrd
SLm

vrq ( g r ) Lm

g Ls
Rs SLs
( g r ) Lm
SLm

SLm
g Lm
Rr ' SLr
( g r ) Lr

g Lm isd

SLm
isq (7)
( g r ) Lr ird

Rr ' SLr irq

r rotates at synchronous speed s

Hence, drqr- frame rotates at s
Therefore, g = s
These voltage equations are in terms of isd, isq, ird, irq
Better to have equations in terms of isd, isq, rd, rq

(8)

12

Rotor Flux Orientation Control

Rotor flux linkage is given by: rdq Lmisdq L'r irdq
From (9):
rdq Lm

irdq

'
r

'
r

isdq

(9)
(10)

Substituting (8) and (10) into (7) gives the IM voltage

equations rotating at s in terms of vsd, vsq, isd, isq, rd, rq:
vsdr Rs SLs
sLs
r
Rs SLs
vsq sLs
vrdr Rr ' Lm Lr '
0
r
0
Rr ' Lm Lr '
vrq

S Lm Lr '
s Lm Lr '
Rr ' Lr ' S

sl

s Lm Lr ' isdr
r

SLm Lr ' isq

r
rd
sl
r
Rr ' Lr ' S rq
(11)
13

Rotor Flux Orientation Control

Since rqr 0 , hence the equations in rotor flux
orientation are:
Lm d r (12)
d r
r
v R i Ls isd sLs isq s
rd
dt
Lr ' dt
L
d
(13)
vsqr Rs isqr Ls isqr sLs isdr s m rdr
dt
Lr '
r
sd

r
s sd

Rr r d r Lm
v 0 rd rd
Rr isdr
Lr '
dt
Lr '
r
rq

v 0 sl
r
rq

r
rd

Lm

Rr isqr
Lr '

Important equations for

Rotor Flux Orientation Control!

(14)
(15)

Note:
Total leakage factor =
2

L
1 m '
Ls Lr
sl = slip speed (elec.)
14

Rotor Flux Orientation Control

r
rdr Lm imrd

Let
Using (16), equation (14) can be rearranged to give:
i

r
sd

r
mrd

Lr ' d r

imrd
Rr dt

(16)

(17)

r
imrd
is called the equivalent magnetising current or field
current
Lr '
r
r
(18)
Hence, from (17): isd 1 S r imrd where r R
r
Under steady-state conditions (i.e. constant flux):
r
isdr imrd

(19)

15

Rotor Flux Orientation Control

qs

r rotates at synchronous speed s

drqr- frame also rotates at s
Hence,

qr

is
r
r
isq

dr

r
i sd

ds

dq- reference frame

orientation angle

s dt
r

For precise control, r must be

(20)
obtained at every instant in time
Leads to two types of control:

Indirect Rotor Flux

Orientation
Direct Rotor Flux
Orientation
16

Indirect Rotor Flux Orientation (IRFO)

Orientation angle: r s dt
Synchronous speed obtained by adding slip speed and
electrical rotor speed
r s dt sl r dt
(21)
Slip speed can be obtained from equation (15):

Lmisqr

isqr

Lm Rr r
sl
i
r
r sq
r
Lr ' rd
r rd r imrd
r
r
Under steady-state conditions (imrd isd ):

(22)

sl

isqr

r
r sd

(23)

17

Indirect Rotor Flux Orientation (IRFO)

- implementation
Closed-loop implementation under constant flux condition:

1. Obtain isdr* from r* using (16):

r *

r *
isdr * imrd
rd
(24)
Lm
Obtain isqr* from outer speed control loop since isqr*
Tm* based on (6):
*

Te
3 P Lm
r*
(25)
isq r* wherekt
kt isd
2 2 Lr
Obtain vsdqr* from isdqr* via inner current control
loop.

18

Indirect Rotor Flux Orientation (IRFO)

- implementation
Closed-loop implementation under constant flux condition:

2. Determine the angular position r using (21) and

(23):

r*

i
P
sq
*
s dt sl r dt r* m dt
i

2
r sd

(26)

where m is the measured mechanical speed of the

motor obtained from a tachogenerator or digital
encoder.
r to be used in the drqr dsqs conversion of
stator voltage (i.e. vsdqr* to vsdqs* concersion).
19

Indirect Rotor Flux Orientation (IRFO)

- implementation

drqr dsqs transformation

Rotating frame (drqr)

isdr*
r*
Eq. (24) +
isqr* r* +
PI +

Staionary frame (dsqs)

vsdr*
vsq

ejr

PI

isdr* isqr*

Eq. (23)
NO field
weakening
(constant flux)

slip
+

vsd

s*

r
r
+

isdr
isqr

vas*

vsqs*

PI
r*

2-phase (dsqs )
to 3-phase (abc)
transformation

2/3

vcs*

isqs

PWM
VSI

IRFO
Scheme
P/2

ias

isds

e-jr

vbs*

3/2

ibs
ics
20

Indirect Rotor Flux Orientation (IRFO)

- implementation
drqr dsqs transformation
vsqs*

vsdr*
vsqr*

ejr

vsds*

xsds cos r
s
xsq sin r

sin r xsdr

cos r xsqr

dsqs drqr transformation

isdr
isqr

isds

e-jr

isqs

xsdr cos r
r
xsq sin r

sin r xsds

cos r xsqs

21

Indirect Rotor Flux Orientation

(IRFO) - implementation

2-phase (dsqs ) to 3-phase (abc) transformation:

vas*

vsqs*
vsd

s*

2/3

1 s
xabc Tabc
xdq

vbs*

vcs*

3-phase (abc) to 2-phase (dsqs ) transform is given by:

ias

isds
isq

3/2

s
xdq
Tabc xabc

ibs
ics

where:

Tabc

1 0 0
1 1
0 3 3

and

1
Tabc

1 0
12 23
12 23

22

Example IRFO Control of IM

An induction motor has the following
parameters:
Parameter

Symbol

Value

Rated power

Prat

30 hp (22.4 kW)

Stator connection

Delta ()

No. of poles

Rated stator phase

voltage (rms)

Vs,rat

230 V

Rated stator phase

current (rms)

Is,rat

39.5 A

Rated frequency

frat

60 Hz

Rated speed

nrat

1168 rpm
23

Example IRFO Control of IM ctd.

Parameter

Symbol

Value

Rated torque

Te,rat

183 Nm

Stator resistance

Rs

0.294

Stator self
inductance
Referred rotor
resistance

Ls

0.0424 H

Rr

0.156

Referred rotor self

inductance

Lr

0.0417 H

Mutual inductance

Lm

0.041 H

24

Example IRFO Control of IM ctd.

The motor above operates in the indirect rotor field orientation (IRFO)
scheme, with the flux and torque commands equal to the respective
rated values, that is r* = 0.7865 Wb and Te* = 183 Nm. At the
instant t = 1 s since starting the motor, the rotor has made 8
revolutions. Determine at time t = 1s:

1.
2.
3.
4.

the stator reference currents isd* and isq* in the dq-rotating frame
the slip speed sl of the motor
the orientation angle r of the dq-rotating frame
the stator reference currents isds* and isqs* in the stationary dsqs
frame
5. the three-phase stator reference currents ias*, ibs* and ics*

25

Example IRFO Control of IM ctd.

Answers:

26

Indirect Rotor Flux Orientation (IRFO)

field weakening
Closed-loop implementation under field weakening
condition:
Employed for operations above base speed
DC motor: flux weakened by reducing field current if
vf
Lf d
if
if
imrd*
Rf
R f dt
Compared with eq. (17) for IM:
imrd (rated)
L
'
d
r
r
isdr imrd
r
imrd
Rr dt
IM: flux weakened by reducing imrd
r (base)
(i.e. equivalent magnetising current
or field current)

27

Indirect Rotor Flux Orientation (IRFO)

field weakening implementation
With field
weakening

r*

Rotating frame (drqr) Staionary frame (dsqs)

imrd r *
+
imrd

1
1 S r

isd

PI
r* +

r*

PI
-

+
isqr* +

imrdr*r

vsdr*

PI
vsqr*

ejr

PI

isq *

Eq. (22)

vsqs*

slip

r
r

Same as
in slide 20

isdr
isqr

vsds*

isds
e-jr

isqs
28

Indirect Rotor Flux Orientation

(IRFO) Parameter sensitivity
Mismatch between IRFO Controller and IM may occur
due to parameter changes with operating conditions (eg.
increase in temperature, saturation)

Mismatch causes coupling between T and producing

components
Consequences:
r deviates from reference value (i.e. r*)
Te deviates in a non-linear relationship from command
value (i.e. Te*)
Oscillations occurs in r and Te response during torque
transients (settling time of oscillations = r)
29

Direct Rotor Flux Orientation (DRFO)

Orientation angle:
tan
r

rq

rd

(27)

obtained from:
1. Direct measurements of airgap fluxes mds and mqs
2. Estimated from motors stator voltages vsdqs
and stator currents isdqs
Note that: s 2 s 2
r
rd
rq

(28)
30

Direct Rotor Flux Orientation (DRFO)

Direct measurements mds & mqs

1. Direct measurements of airgap fluxes mds and mqs

mds and mqs measured using:

Hall sensors fragile

flux sensing coils on the stator windings voltages induced in
coils are integrated to obtain mds and mqs

The rotor flux r is then obtained from:

s
s
L'r
'
(29)
rdq
mdq Llr isdq
Lm
Disadvantages: sensors are inconvenient and spoil the
ruggedness of IM.
s

31

Direct Rotor Flux Orientation (DRFO)

Direct measurements mds & mqs

Rotating frame
isdr*
r*
Eq. (24) +
isqr* r* +
PI +
-

NO field
weakening
(constant flux)

(drqr)

Stationary frame

vsdr*
vsq

r*

ejr

PI

DRFO r
Scheme tan-1
isdr
isqr

r
e-jr

vsd

s*

2/3

vbs*

vcs*

mds
rds
rqs Eq. (29) mqs

P/2

PWM
VSI

ias

isds
isqs

Flux sensing coils

arranged in quadrature

vas*

vsqs*

PI

(dsqs)

3/2

ibs
ics
32

Direct Rotor Flux Orientation (DRFO)

Estimated from vsdqs & isdqs
2. Estimated from motors stator voltages and currents
sds and sqs obtained from stator voltage equations:

sdq vsdq Rs isdq sdq 0

The rotor flux r is then obtained from:
s

(30)

s
s
L'r
rdq
sdq Ls isdq
(31)
Lm
Disadvantages: dc-drift due to noise in electronic
circuits employed, incorrect initial values of flux vector
components sdq(0)
s

33

Direct Rotor Flux Orientation (DRFO)

Estimated from vsdqs & isdqs
2. Estimated from motors stator voltages and currents
This scheme is part of sensorless drive scheme
using machine parameters, voltages and currents to
estimate flux and speed

sdqs calculations (eq. 30) depends on Rs

Poor field orientation at low speeds ( < 2 Hz), above 2 Hz,
DRFO scheme as good as IRFO
Solution: add boost voltage to vsdqs at low speeds

Disadvantages: Parameter sensitive, dc-drift due to

noise in electronic circuits employed, incorrect initial
values of flux vector components sdq(0)
34

Direct Rotor Flux Orientation (DRFO)

Estimated from vsdqs & isdqs
Rotating frame (drqr) Stationary frame (dsqs)
isdr*
r*
Eq. (24) +
isqr* r* +
PI +
-

NO field
weakening
(constant flux)

vsdr*

PI
vsq

r*

ejr

PI

DRFO r
Scheme tan-1
isdr
isqr

vas*

vsqs*

r
e-jr

vsd

s*

2/3

vbs*

vcs*

PWM
VSI

sds
rds
vsdqs
rqs Eq. (31) sqs Eq. (30) isdqs
m

P/2

ias

isds
isqs

3/2

ibs
ics
35

Direct Rotor Flux Orientation (DRFO)

field weakening implementation
With field
weakening

r*

Rotating frame (drqr) Stationary frame (dsqs)

imrd r *
+
imrd

1
1 S r

isd

PI
r* +

r*

PI
-

+
isqr* +

vsdr*

vsqs*

PI
vsqr*

ejr

PI

tan-1
isdr
isqr

r
e-jr

vsds*
rds
rqs
r

Same as
in
slide
26 or 29

isds
isqs
36

Stator Flux Orientation Control

d- axis of dq- rotating frame
is aligned with s. Hence,

qs
qs

is
s

s
i sq

ds

sds s

(32)

(33)

s
sq

Therefore,

s
sd

ds

s
i
sq = torque producing current

i sds = field producing current

3P
Te
( sd isq )
22
Similar to
ia & if in
DC motor

(34)

Decoupled
torque and
flux control
37

Stator Flux Orientation Control

From the dynamic model of IM, if dq- frame rotates at general
speed g (in terms of vsd, vsq, isd, isq, ird, irq):
vsd Rs SLs

vsq g Ls
vrd
SLm

vrq ( g r ) Lm

g Ls
Rs SLs
( g r ) Lm
SLm

SLm
g Lm
Rr ' SLr
( g r ) Lr

g Lm isd

SLm
isq (7)
( g r ) Lr ird

Rr ' SLr irq

s rotates at synchronous speed s

Hence, dsqs- frame rotates at s
Therefore, g = s
These voltage equations are in terms of isd, isq, ird, irq
Better to have equations in terms of isd, isq, sd, sq

(8)

38

Stator Flux Orientation Control

Stator flux linkage is given by: sdq Lsisdq Lmirdq
From (9):
sdq L

irdq

Lm

Lm

isdq

(35)
(36)

Substituting (8) and (36) into (7) gives the IM voltage

equations rotating at s in terms of vsd, vsq, isd, isq, sd, sq:
vsds
Rs
0
s
0
Rs
vsq
vrds Ls 1 S r
sl rLs
s
Ls 1 S r
vrq sl rLs

1 S r
sl r

s isds

S isqs
s
sl r sd
s
1 S r sq
(37)
39

Stator Flux Orientation Control

Since 0 , hence the equations in stator flux
orientation are:
d s
s
s
vsd Rs isd sd
(38)
dt
s
sq

vsqs Rsisqs s sds

vrds 0 sds r

(39)

d s
d

sd Ls isds r isds sl r Ls isqs (40)

dt
dt

d s
s
v 0 Ls isq r isq sl r sds Ls isds
dt

s
rq

Important equations for

Stator Flux Orientation Control!

(41)

40

Stator Flux Orientation Control

Equation (40) can be rearranged to give:

1 S r sds 1 Sr Lsisds slr Lsisqs

(42)

s
s

sd should be independent of torque producing current s q

s
s

i
From (42), sd is proportional to sd and is qs .
s
s

Coupling exists between sd and is q .

s
i
Varying s q to control torque causes change in sd

Torque will not react immediately to isqs

41

Stator Flux Orientation Control

Dynamic Decoupling
De-coupler is required to

s
sd

overcome the coupling between

s

no effect on sd )
s*
Provide the reference value foris d

s
sq

and i

(so

s
that sq

has

Rearranging eq. (42) gives:

isds*
s*

1 sds*
*
S
sl isqs*
r Ls

1
S

(43)

isq can be obtained from outer speed control loop

However, eq. (43) requires sl*
42

Stator Flux Orientation Control

Dynamic Decoupling
sl* can be obtained from (41):
sl *

s*
sd

1
S
r

i s*

(44)

isds*
Ls
*

in (43) and (44) is the reference stator flux vector s

s*
sd

sq

Hence, equations (43) and (44) provide dynamic decoupling

s
of the flux-producing iss*
and
torque-producing
i
sq currents.
d

43

Stator Flux Orientation Control

Dynamic Decoupling
Dynamic decoupling system implementation:
s*

1
Ls

isqs*

from speed
controller

isds*
isqs*

r
x

sl*

s*
isd
Ls
*
s

44

Stator Flux Orientation Control

dsqs- frame also rotates at s
For precise control, s must be
obtained at every instant in time
Leads to two types of control:

qs
qs

is
s

s
i sq

s
i sd

dq- reference frame

orientation angle

ds

Indirect Stator Flux

Orientation
Direct Stator Flux
Orientation
s easily estimated from motors
stator voltages vsdqs and stator
ds
currents isdqs

Hence, Indirect Stator Flux

Orientation scheme
unessential.

45

Direct Stator Flux Orientation (DSFO) implementation

Closed-loop implementation:

1. Obtain isds* from s control loop and dynamic

decoupling system shown in slide 38.
Obtain isqs* from outer speed control loop since
isqr* Te* based on (34):
*

Te
3P
i s* wherekt
(45)
kt isd
22
Obtain vsdqs* from isdqs* via inner current control
loop.
s*
sq

46

Direct Stator Flux Orientation (DSFO) implementation

Closed-loop implementation:

2. Determine the angular position s using:

tan
s

sq
1

(46)

sd s

sds and sqs obtained from stator voltage equations:

sdq vsdq Rs isdq sdq 0

s

Note that:

s2

s sd sq

s2

(47)
(48)

Eq. (48) will be used as feedback for the s control loop

47

Direct Stator Flux Orientation (DSFO) implementation

Closed-loop implementation:

3. s to be used in the dsqs dsqs conversion of

stator voltage (i.e. vsdqs* to vsdqs* concersion).
s estimated from pure integration of motors stator voltages
equations eq. (47) which has disadvantages of:
dc-drift due to noise in electronic circuits employed
incorrect initial values of flux vector components sdqs(0)

Solution: A low-pass filter can be used to replace the pure

integrator and avoid the problems above.
48

Direct Stator Flux Orientation (DSFO) implementation

r
r* +
s*

isqs*
+

PI

Decoupling
system
+ i s*
sd
1

PI

- | |

vsqs*
vsds*

PI
s

tan-1

isqs

Eq. (48)
sds sqs

ejs

isds

e-js

vsds*
sds

2/3

PWM
VSI

vbs*

vcs*

vsdqs
Eq. (47) isdqs

sqs
ias

isqs
isds

m
vas*

vsqs*

PI

+
-

P/2

3/2

ibs

ics

Rotating frame (dsqs ) Stationary frame (dsqs )

49

References
Trzynadlowski, A. M., Control of Induction Motors, Academic
Press, San Diego, 2001.
Krishnan, R., Electric Motor Drives: Modeling, Analysis and
Control, Prentice-Hall, New Jersey, 2001.
Bose, B. K., Modern Power Electronics and AC drives, PrenticeHall, New Jersey, 2002.
Asher, G.M, Vector Control of Induction Motor Course Notes,
University of Nottingham, UK, 2002.

50