three phase induction motor dynamic modeling and behavior estimation lauren atwell jing wang, dr....
TRANSCRIPT
![Page 1: Three Phase Induction Motor Dynamic Modeling and Behavior Estimation Lauren Atwell Jing Wang, Dr. Leon M. Tolbert Auburn University, University of Tennessee](https://reader035.vdocuments.us/reader035/viewer/2022062315/56649dba5503460f94aaaa39/html5/thumbnails/1.jpg)
Three Phase Induction Motor Dynamic
Modeling and Behavior Estimation
Lauren AtwellJing Wang, Dr. Leon M. Tolbert
Auburn University, University of Tennessee
Final PresentationJuly 17, 2014
![Page 2: Three Phase Induction Motor Dynamic Modeling and Behavior Estimation Lauren Atwell Jing Wang, Dr. Leon M. Tolbert Auburn University, University of Tennessee](https://reader035.vdocuments.us/reader035/viewer/2022062315/56649dba5503460f94aaaa39/html5/thumbnails/2.jpg)
Outline
• Background• Research Purpose• Research Details and Schedule
Motor Model Matlab Motor Simulation Results Conclusions
2
![Page 3: Three Phase Induction Motor Dynamic Modeling and Behavior Estimation Lauren Atwell Jing Wang, Dr. Leon M. Tolbert Auburn University, University of Tennessee](https://reader035.vdocuments.us/reader035/viewer/2022062315/56649dba5503460f94aaaa39/html5/thumbnails/3.jpg)
Background
• Induction motors are widely used in industrial applications: they are rugged, reliable, and very efficient (from 85-97%).
• Motor rotor speed / torque characteristics are controlled by motor drive for smooth transition / accurate behavior / stable operations.
• While testing power electronics motor drive, induction motor dyno set requires mechanical load for different operating points, have a large footprint, and do not allow for variations in motor parameters. Approximately $3200 Weigh 286 lbs. each
3
![Page 4: Three Phase Induction Motor Dynamic Modeling and Behavior Estimation Lauren Atwell Jing Wang, Dr. Leon M. Tolbert Auburn University, University of Tennessee](https://reader035.vdocuments.us/reader035/viewer/2022062315/56649dba5503460f94aaaa39/html5/thumbnails/4.jpg)
Research Purpose
• Induction motor modeling application: Estimation of motor behavior for closed loop control in motor
drive design Induction motor behavior emulation for substituting dyno set with
flexible converter
• Verify my motor model with Matlab Simulink’s inherent integrated induction motor model Matlab’s motor uses a dq reference frame that is more useful for
motor drive design (rotor angle oriented, synchronous speed) My model uses a dq reference frame that is easier for load
emulation (voltage angle oriented, synchronous speed), while not different in abc domain behavior
4
![Page 5: Three Phase Induction Motor Dynamic Modeling and Behavior Estimation Lauren Atwell Jing Wang, Dr. Leon M. Tolbert Auburn University, University of Tennessee](https://reader035.vdocuments.us/reader035/viewer/2022062315/56649dba5503460f94aaaa39/html5/thumbnails/5.jpg)
Research Details and Schedule
• Weeks 1-3 Background knowledge
• Weeks 4-5 abc to dq coordinates dq reference frames Simulink
• Week 6 Building my model Verify with Matlab’s motor
• Week 7 Simulation Structure Simulation Results
Ideal Conditions Load Variations Vdq Filtering Snchronous Frequency
5
![Page 6: Three Phase Induction Motor Dynamic Modeling and Behavior Estimation Lauren Atwell Jing Wang, Dr. Leon M. Tolbert Auburn University, University of Tennessee](https://reader035.vdocuments.us/reader035/viewer/2022062315/56649dba5503460f94aaaa39/html5/thumbnails/6.jpg)
Background Knowledge
• Layout Stator and rotor
• Math behind a squirrel-cage induction motor Electrical Mechanical Torque
6
![Page 7: Three Phase Induction Motor Dynamic Modeling and Behavior Estimation Lauren Atwell Jing Wang, Dr. Leon M. Tolbert Auburn University, University of Tennessee](https://reader035.vdocuments.us/reader035/viewer/2022062315/56649dba5503460f94aaaa39/html5/thumbnails/7.jpg)
Schedule
• Weeks 1-3 Background knowledge
• Weeks 4-5 abc to dq coordinates dq reference frames Simulink
• Week 6 Building my model Verify with Matlab’s motor
• Week 7 Simulation Structure Simulation Results
Ideal Conditions Load Variations Vdq Filtering Snchronous Frequency
7
![Page 8: Three Phase Induction Motor Dynamic Modeling and Behavior Estimation Lauren Atwell Jing Wang, Dr. Leon M. Tolbert Auburn University, University of Tennessee](https://reader035.vdocuments.us/reader035/viewer/2022062315/56649dba5503460f94aaaa39/html5/thumbnails/8.jpg)
abc to dq Coordinates
• Voltage is supplied with three-phase AC• abc αβ dq• dq coordinates allow all values to be
constant
8
c
b
f
f
f
f
f a
2
3
2
30
2
1
2
11
3
2
ϕ= angle between dq and
αβ reference frames
![Page 9: Three Phase Induction Motor Dynamic Modeling and Behavior Estimation Lauren Atwell Jing Wang, Dr. Leon M. Tolbert Auburn University, University of Tennessee](https://reader035.vdocuments.us/reader035/viewer/2022062315/56649dba5503460f94aaaa39/html5/thumbnails/9.jpg)
DQ Reference Frames
• Three reference frames: Synchronous
Reference is rotating at synchronous speed Two types:
• Rotor» Have to find the rotor angle (encoder or estimated)» More applicable for motor drive design» Matlab’s integrated model uses this reference frame
• Stator synchronous» Use PLL to find the voltage angle» More applicable for load emulation» My model uses this reference frame
Stator (or Stationary) d-axis is fixed to the stator phase-A winding
Rotor d-axis is rotating at the same relative speed as the rotor phase-A
winding
9
![Page 10: Three Phase Induction Motor Dynamic Modeling and Behavior Estimation Lauren Atwell Jing Wang, Dr. Leon M. Tolbert Auburn University, University of Tennessee](https://reader035.vdocuments.us/reader035/viewer/2022062315/56649dba5503460f94aaaa39/html5/thumbnails/10.jpg)
Simulink
• Learned to use Simulink• Building a simulation using Simulink’s integrated
induction motor Per-unit system DQ coordinates PWM block for voltage inputs Simulink’s motor is in the rotor synchronous reference Analyze the stator currents in dq, rotor speed and
torque results
10
![Page 11: Three Phase Induction Motor Dynamic Modeling and Behavior Estimation Lauren Atwell Jing Wang, Dr. Leon M. Tolbert Auburn University, University of Tennessee](https://reader035.vdocuments.us/reader035/viewer/2022062315/56649dba5503460f94aaaa39/html5/thumbnails/11.jpg)
Matlab Model
11
![Page 12: Three Phase Induction Motor Dynamic Modeling and Behavior Estimation Lauren Atwell Jing Wang, Dr. Leon M. Tolbert Auburn University, University of Tennessee](https://reader035.vdocuments.us/reader035/viewer/2022062315/56649dba5503460f94aaaa39/html5/thumbnails/12.jpg)
Simulation Results—MATLAB
12
Torque @ no load
Time (sec)
Rotor Speed
Time (sec)
Spe
ed
(ra
d/s
)To
rqu
e (
Nm
)
![Page 13: Three Phase Induction Motor Dynamic Modeling and Behavior Estimation Lauren Atwell Jing Wang, Dr. Leon M. Tolbert Auburn University, University of Tennessee](https://reader035.vdocuments.us/reader035/viewer/2022062315/56649dba5503460f94aaaa39/html5/thumbnails/13.jpg)
Simulation Results—MATLAB
13
Iabc
Time (sec)
Cur
ren
t (A
)
Idq
Time (sec)
Cur
ren
t (A
)
![Page 14: Three Phase Induction Motor Dynamic Modeling and Behavior Estimation Lauren Atwell Jing Wang, Dr. Leon M. Tolbert Auburn University, University of Tennessee](https://reader035.vdocuments.us/reader035/viewer/2022062315/56649dba5503460f94aaaa39/html5/thumbnails/14.jpg)
Schedule
• Weeks 1-3 Background knowledge
• Weeks 4-5 abc to dq coordinates dq reference frames Simulink
• Week 6 Building my model Verify with Matlab’s motor
• Week 7 Simulation Structure Simulation Results
Ideal Conditions Load Variations Vdq Filtering Snchronous Frequency
14
![Page 15: Three Phase Induction Motor Dynamic Modeling and Behavior Estimation Lauren Atwell Jing Wang, Dr. Leon M. Tolbert Auburn University, University of Tennessee](https://reader035.vdocuments.us/reader035/viewer/2022062315/56649dba5503460f94aaaa39/html5/thumbnails/15.jpg)
Building My Model
• Mathematical manipulation to be able to use available inputs/outputs.
• Uses ideal conditions (Vqs=1, Vds=0, Vqr=0, Vdr=0, wsyn = 1, no load) to verify it is producing expected waveforms compared with the simulation results from Matlab one.
15
![Page 16: Three Phase Induction Motor Dynamic Modeling and Behavior Estimation Lauren Atwell Jing Wang, Dr. Leon M. Tolbert Auburn University, University of Tennessee](https://reader035.vdocuments.us/reader035/viewer/2022062315/56649dba5503460f94aaaa39/html5/thumbnails/16.jpg)
Motor Model
16
Electrical Sub-Model
Synchronous reference
![Page 17: Three Phase Induction Motor Dynamic Modeling and Behavior Estimation Lauren Atwell Jing Wang, Dr. Leon M. Tolbert Auburn University, University of Tennessee](https://reader035.vdocuments.us/reader035/viewer/2022062315/56649dba5503460f94aaaa39/html5/thumbnails/17.jpg)
Motor Model
17
Torque Sub-Model
Mechanical Sub-Model
![Page 18: Three Phase Induction Motor Dynamic Modeling and Behavior Estimation Lauren Atwell Jing Wang, Dr. Leon M. Tolbert Auburn University, University of Tennessee](https://reader035.vdocuments.us/reader035/viewer/2022062315/56649dba5503460f94aaaa39/html5/thumbnails/18.jpg)
Matlab Model
18
Matlab Motor internal structure
My MotorInternal structure
![Page 19: Three Phase Induction Motor Dynamic Modeling and Behavior Estimation Lauren Atwell Jing Wang, Dr. Leon M. Tolbert Auburn University, University of Tennessee](https://reader035.vdocuments.us/reader035/viewer/2022062315/56649dba5503460f94aaaa39/html5/thumbnails/19.jpg)
Schedule
• Weeks 1-3 Background knowledge
• Weeks 4-5 abc to dq coordinates dq reference frames Simulink
• Week 6 Building my model Verify with Matlab’s motor
• Week 7 Simulation Structure Simulation Results
Ideal Conditions Load Variations Vdq Filtering Snchronous Frequency
19
![Page 20: Three Phase Induction Motor Dynamic Modeling and Behavior Estimation Lauren Atwell Jing Wang, Dr. Leon M. Tolbert Auburn University, University of Tennessee](https://reader035.vdocuments.us/reader035/viewer/2022062315/56649dba5503460f94aaaa39/html5/thumbnails/20.jpg)
Simulation Structure
20
Ideal Mathematical Model
Mathematical Model with
PWM Inverter
MATLAB Model with PWM Inverter
![Page 21: Three Phase Induction Motor Dynamic Modeling and Behavior Estimation Lauren Atwell Jing Wang, Dr. Leon M. Tolbert Auburn University, University of Tennessee](https://reader035.vdocuments.us/reader035/viewer/2022062315/56649dba5503460f94aaaa39/html5/thumbnails/21.jpg)
Simulation Results—Ideal Conditions
21
Torque @ no load
Time (sec)
Torq
ue
(Nm
)
Rotor Speed
Time (sec)
Spe
ed
(ra
d/s
)
![Page 22: Three Phase Induction Motor Dynamic Modeling and Behavior Estimation Lauren Atwell Jing Wang, Dr. Leon M. Tolbert Auburn University, University of Tennessee](https://reader035.vdocuments.us/reader035/viewer/2022062315/56649dba5503460f94aaaa39/html5/thumbnails/22.jpg)
Simulation Results—Ideal Conditions
22
Iabc
Time (sec)
Cur
ren
t (A
)
Idq
Time (sec)
Cur
ren
t (A
)
![Page 23: Three Phase Induction Motor Dynamic Modeling and Behavior Estimation Lauren Atwell Jing Wang, Dr. Leon M. Tolbert Auburn University, University of Tennessee](https://reader035.vdocuments.us/reader035/viewer/2022062315/56649dba5503460f94aaaa39/html5/thumbnails/23.jpg)
Simulation Results—Load Variations
23
Time (sec)
Torq
ue
(Nm
)
Time (sec)
Spe
ed
(ra
d/s
)
![Page 24: Three Phase Induction Motor Dynamic Modeling and Behavior Estimation Lauren Atwell Jing Wang, Dr. Leon M. Tolbert Auburn University, University of Tennessee](https://reader035.vdocuments.us/reader035/viewer/2022062315/56649dba5503460f94aaaa39/html5/thumbnails/24.jpg)
Simulation Results—Load Variations
24
Iabc
Time (sec)
Cur
ren
t (A
)
Idq
Time (sec)
Cur
ren
t (A
)
![Page 25: Three Phase Induction Motor Dynamic Modeling and Behavior Estimation Lauren Atwell Jing Wang, Dr. Leon M. Tolbert Auburn University, University of Tennessee](https://reader035.vdocuments.us/reader035/viewer/2022062315/56649dba5503460f94aaaa39/html5/thumbnails/25.jpg)
Simulation Results-Vdq Filtering
25
MATLABModel
Time (sec)
Vo
ltag
e (
V)
MyModel
Time (sec)
Vo
ltag
e (
V)
![Page 26: Three Phase Induction Motor Dynamic Modeling and Behavior Estimation Lauren Atwell Jing Wang, Dr. Leon M. Tolbert Auburn University, University of Tennessee](https://reader035.vdocuments.us/reader035/viewer/2022062315/56649dba5503460f94aaaa39/html5/thumbnails/26.jpg)
Simulation Results—Synchronous Frequency
26
Fre
qu
en
cy (
Hz)
Time (sec)
Frequency @ ωfilter = 1730 rad/s
![Page 27: Three Phase Induction Motor Dynamic Modeling and Behavior Estimation Lauren Atwell Jing Wang, Dr. Leon M. Tolbert Auburn University, University of Tennessee](https://reader035.vdocuments.us/reader035/viewer/2022062315/56649dba5503460f94aaaa39/html5/thumbnails/27.jpg)
Conclusions
• Established dynamic induction motor model behaviors have been verified for torque and rotor speed characteristics, regardless of supply
• Established dynamic induction motor model enables flexible structure for various input conditions as well as dynamic behavior observation and estimation
27
![Page 28: Three Phase Induction Motor Dynamic Modeling and Behavior Estimation Lauren Atwell Jing Wang, Dr. Leon M. Tolbert Auburn University, University of Tennessee](https://reader035.vdocuments.us/reader035/viewer/2022062315/56649dba5503460f94aaaa39/html5/thumbnails/28.jpg)
Acknowledgements
This work was supported primarily by the Engineering Research Center
Program of the National Science Foundation and the Department of Energy
under NSF Award Number EEC-1041877 and the CURENT Industry Partnership
Program.
28