Modified Indirect Vector Control Technique for Current-Source Induction Motor Drive

IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS, VOL. 48, NO. 6, NOVEMBER/DECEMBER 2012 2433

Modified Indirect Vector Control Technique forCurrent-Source Induction Motor Drive

Ahmed K. Abdelsalam, Member, IEEE, Mahmoud I. Masoud, Mostafa S. Hamad, and Barry W. Williams

Abstract—Medium-voltage (MV) drives are generally based oneither voltage-source inverters or current-source inverters (CSIs).CSIs feature simple topology, motor-friendly waveforms, powerreversal capability, and short-circuit-proof protection; hence, theyare widely used as high-power MV drives. Direct vector control(DVC) CSI drives ensure improved performance by decoupledcontrol of the machine flux and torque using two independentcontrol loops. Despite the excellent performance of DVC, thisscheme faces practical challenges, like dc offset in the stator modeland machine parameter dependence. Conventional indirect vectorcontrol (IVC) CSI drives are known for reduced computationalburden and less machine dependence. However, conventional-IVCCSI drives exhibit poor dynamic response and transient fieldmisorientation due to the absence of a dedicated flux control loop.In this paper, a modified IVC technique is proposed featuringsuperior decoupling and field orientation using only two extraproportional–integral current controllers with additional motorcurrent feedback signals. The proposed-technique effectiveness isexamined experimentally, on a scaled low-voltage prototype, aswell as using simulation results.

Index Terms—Current-source inverter (CSI), field orientation,indirect vector control (IVC), medium-voltage (MV) drives.

NOMENCLATURE

C Current-source inverter (CSI) outputcapacitive filter, in farads.

iec_ds, iec_qs CSI capacitor currents in the d−q rotat-ing frame, in amperes.

i∗dc, idc Reference and actual dc-link currents,in amperes.

iem_dr, iem_qr Motor rotor currents in the d−q rotatingframe, in amperes.

Manuscript received November 30, 2011; revised March 5, 2012; acceptedApril 25, 2012. Date of publication November 16, 2012; date of current versionDecember 31, 2012. Paper 2011-IDC-557.R1, approved for publication in theIEEE TRANSACTIONS ON INDUSTRY APPLICATIONS by the Industrial DrivesCommittee of the IEEE Industry Applications Society.

A. K. Abdelsalam and M. S. Hamad are with the Arab Academy for Science,Technology and Maritime Transport, Alexandria, Egypt (e-mail: [email protected]; [email protected]).

M. I. Masoud is with the Faculty of Engineering, Alexandria University,Alexandria, Egypt, and also with the Department of Electrical and ComputerEngineering, College of Engineering, Sultan Qaboos University, Muscat, Oman(e-mail: [email protected]; [email protected]).

B. W. Williams is with the University of Strathclyde, Glasgow, G1 1XW,U.K. (e-mail: [email protected]).

Color versions of one or more of the figures in this paper are available onlineat http://ieeexplore.ieee.org.

Digital Object Identifier 10.1109/TIA.2012.2227132

iem_ds, iem_qs Motor stator currents in the d−q rotat-ing frame, in amperes.

ie∗m_ds, ie∗m_qs Motor stator reference currents in thed−q rotating frame, in amperes.

ism_ds, ism_qs Motor stator currents in the d−q sta-tionary frame, in amperes.

ie∗s_ds, ie∗s_qs CSI reference input currents in the d−qrotating frame, in amperes.

Kp_speed, Ki_speed Motor speed proportional–integral (PI)controller constants.

Kp_d, Ki_d Motor current d-axis PI controllerconstants.

Kp_q, Ki_q Motor current q-axis PI controllerconstants.

Ldc DC-link inductance, in henrys.Lds, Lqs Motor stator inductances in the d−q

frame, in henrys.Ldr, Lqr Motor rotor inductances in the d−q

frame, in henrys.Ls, Lr, Lm Motor stator, rotor, and mutual induc-

tances, in henrys.mabc CSI three-phase modulating signals.me

d, meq CSI modulating signals in the d−q ro-

tating frame.N ∗

r , Nr Motor reference and actual speed sig-nals, in revolutions per minute.

P Motor number of pair poles.p Differential operator.Rs, Rr Motor stator and rotor resistances, in

ohms.T Motor developed torque, in newton

meters.Vc CSI capacitor voltage, in volts.vinv_a, vinv_b, vinv_c Inverter three phase voltages, in volts.veinv_ds, veinv_qs Inverter voltages in the d−q rotating

frame, in volts.vsinv_ds, vsinv_qs Inverter voltages in the d−q stationary

frame, in volts.vm_a, vm_b, vm_c Motor stator three phase voltages, in

volts.vem_ds, vem_qs Motor stator voltages in the d−q rotat-

ing frame, in volts.vsm_ds, vsm_qs Motor stator voltages in the d−q sta-

tionary frame, in volts.λsdr, λs

qr Motor rotor flux linkages in the d−qstationary frame, in webers.

λs/dr, λs/

qr Motor rotor flux linkages in the d−qstationary frame, in webers.

0093-9994/$31.00 © 2012 IEEE

2434 IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS, VOL. 48, NO. 6, NOVEMBER/DECEMBER 2012

I. INTRODUCTION

TODAY’S most high-power applications, ranging fromunderground mines to submersible pumps, require

medium-voltage (MV) drives [1], [2]. MV drives are mainlyvoltage-source inverter (VSI) dependent [3], [4]. However,recent proposed MV high-power drives utilize CSI-basedtopologies [5], [6].

The motor-friendly voltage waveforms, inherent short-circuit-proof protection, and power reversal capability of CSIsease their penetration of the high-power MV drive mar-ket [7], [8]. Modern online pulsewidth-modulation (PWM)techniques, unity-power-factor operation, and near-sinusoidalinputs/outputs make CSI utilization as MV drive promising[9], [10].

Constant voltage-to-frequency ratio (V/f) operation is thesimplest traditional control technique for CSI drives [11]–[24].Open-loop V/f operation shows acceptable steady-state perfor-mance but exhibits poor dynamic response [11]–[15]. Hence,closed-loop V/f operation shows better transient and steady-state behavior with additional stator voltage control loop[16]–[24].

For faster response, vector control technique presents thesolution for CSI drive control. The vector control techniquerelies on decoupling the machine flux and torque control vari-ables; hence, dc machine performance can be achieved. Rotorflux orientation is of special interest since it offers naturaldecoupling. The stator current amplitude must be equal, exceptfrom a scaling factor, to the modulus of the demanded statorcurrent vector, and the phase must be equal to the sum of theposition of the rotor flux vector and the demanded angulardisplacement between the stator current and the rotor fluxvectors. This displacement is commonly referred to as torqueangle. Instantaneous orientation of the stator current vectorwith respect to the rotor flux, as required by torque and fluxdemands, can be achieved by either direct vector control (DVC)or indirect vector control (IVC) techniques [10].

In the so-called DVC [6], [25]–[34], the phase is determinedby detecting the position of the rotor flux and by adding it tothe demanded torque angle. The rotor flux position is mainlydetected by estimating the rotor flux d−q components usingvarious estimators. Model reference adaptive system estimatorsare common and typically based on rotor flux [35], rotor fluxderivative [36], [37], stator voltages [38], modified stator model[39], full-order observers [40], [41], reduced-order nonlinearobservers [42], [43], Kalman filter observers [44], [45], orsliding-mode observers [46], [47]. All are common in their highcomputational burden.

On the contrary, in IVC [48]–[57], the rotor flux positionis not detected, and the stator current vector is forced intothe demanded position by imposing a proper value to itsslip frequency. This value is calculated by the drive con-trol system on the basis of the relationship which existsbetween the stator current slip frequency and the torqueangle. Once the slip frequency is calculated, it is addedto the mechanical speed to obtain the stator current fre-quency, and the latter is integrated to get the stator currentphase.

Conventional IVC exhibits moderate dynamic performanceand stability due to the absence of the flux control loop and rotorresistance dependence. A slip compensator was presented andreduced the torque ripples at low-speed ranges [50]. For betteroperation, the output capacitor filter current must be consideredin the control system [51]. Other high-computational-burdentechniques compensate the capacitor filter current and torquepulsations by damping the stator current oscillations [54], [55].Satisfactory results are achieved using a variant hysteresiscontroller where a coefficient of derivative of a real motor’scurrents is added to the reference ones with the probability ofinstability due to derivative usage [57].

In this paper, a modified IVC technique for a CSI driveis proposed. The presented technique is capable of achievingcomplete field orientation as well as superior transient andsteady-state performance utilizing only two extra added currentPI controllers with additional motor current feedback signals.

This paper is organized into five sections. Following theintroduction, conventional-IVC CSI performance is investi-gated clarifying the transient misorientation problem in thesecond section. The proposed-modified-IVC CSI is presentedin the third section illustrating complete decoupling and fieldorientation capability. The robustness of the proposed techniqueagainst motor parameter variations is investigated in the fourthsection. Finally, a conclusion is given in the fifth section.

II. CONVENTIONAL IVC TECHNIQUE FOR

CSI INDUCTION MOTOR DRIVES

In general, IVC is characterized by the removal of the fluxcontrol loop and the generation of the electrical transformationangle indirectly from the motor d−q current commands, similarto the IVC VSI drives. The same technique can be applied toCSI-based induction motor drives.

A. Theory of Operation

Fig. 1 shows the conventional-IVC block diagram of a CSIinduction motor drive. Similar to VSI conventional IVC, aspeed PI controller generates the reference torque command

T ∗ =

(Kp_speed +

Ki_speed

s

)(N ∗

r −Nr). (1)

The torque and rotor flux reference commands are utilized togenerate the motor d−q reference currents

ie∗

m_ds =/λe∗

r /

Lm(2)

ie∗

m_qs =T ∗[

32P2

Lm

Lrλe∗dr

] (3)

ωslip =Rr

Lr·ie

∗m_qs

ie∗

m_ds(4)

ωe =ωslip + ωr (5)

θe =

∫ωe. (6)

ABDELSALAM et al.: MODIFIED IVC TECHNIQUE FOR CURRENT-SOURCE INDUCTION MOTOR DRIVE 2435

Fig. 1. Conventional-IVC CSI drive.

Fig. 2. Conventional-IVC PWM CSI drive simulation results: (a) Reference and actual motor speeds, (b) developed electromagnetic torque, (c) d-axis referenceand actual motor current components in the synchronously rotating frame, (d) q-axis reference and actual motor current components in the synchronously rotatingframe, and (e) estimated rotor flux d−q components in the synchronously rotating frame.


The output voltage from the CSI is near sinusoidal, due tothe capacitor bank filter action. The capacitor d−q fundamentalcurrent components can be calculated from the capacitor volt-ages and the electrical angular frequency

iec_ds = − ωeCveinv_qs (7)

iec_qs =ωeCveinv_ds. (8)

Since the motor and its associate capacitor bank behave asthe CSI’s load, the capacitor d−q current components are calcu-lated and added to the motor d−q reference currents to generatethe dc-link reference current. The rectifier current controlleris responsible for adjusting the dc-link current amplitude. Thedc-link reference current must be greater than the inverterreference current

ie∗

s_ds = ie∗

m_ds + iec_ds (9)

ie∗

s_qs = ie∗

m_qs + iec_qs (10)

i∗dc =Kdc

√(ie

∗s_ds

)2

+(ie∗s_qs

)2(11)

where Kdc > 1.Since the CSI is used to control the frequency and phase

of the output three-phase currents, the modulating signals tothe CSI must have a unity peak. A unit vector generation isneeded to generate the modulating signals from the referenced−q currents. The modulating signals in the rotating refer-ence frame (me

dq) are dc quantities. After transformation fromsynchronously rotating reference frame to stationary referenceframe, the resultant modulating signals in the stationary ref-erence frame (mabc) are three-phase sinusoidal signals withunity peak values. The frequency and phase of these signals canbe changed by varying their components in the synchronouslyrotating frame (me

dq)

med =

ie∗

s_ds√(ie

∗s_ds

)2

+(ie∗s_qs

)2 (12)

meq =

ie∗

s_qs√(ie

∗s_ds

)2

+(ie∗s_qs

)2 . (13)

As the function of the CSI is to adjust the phase andfrequency of the motor current for the conventional IVC, thetransformation angle is generated in a feedforward mannerdepending on the reference commands. The processes of dc cur-rent reference generation, modulating signal generation, dc-linkcurrent control, and CSI control are similar to the DVC. Themain advantage of the IVC is that there is no flux estimation,so the control process is simpler and less sensitive to machineparameter variations.

B. Simulation Results

The system under study is a scaled low-voltage model, whoseparameters are listed in Appendix A, of a typical 3.3-kV MV

Fig. 3. Conventional-IVC PWM CSI drive experimental results: (a) Mo-tor reference and actual speeds, (b) developed electromagnetic torque,(c) d-axis reference and actual motor current components in the synchronouslyrotating frame, (d) q-axis reference and actual motor current components in thesynchronously rotating frame, and (e) estimated rotor flux d−q components inthe synchronously rotating frame. (a) 200 r/min/div; 2 s/div. (b) 30 N · m/div;2 s/div. (c) 5 A/div; 2 s/div. (d) 5 A/div; 2 s/div. (e) 0.5 Wb/div; 2 s/div.

drive. Conventional-IVC PWM CSI drive performance analysisis carried out by examining the drive system at various loadingconditions. A reference step speed command of 1000 r/min(rated speed) is generated, and a load of 20 N · m (0.57 p.u.) isapplied after 6 s, followed by another load increase to 35 N · m(1 p.u.) after 10 s. The switching frequency is 1 kHz, to matcha practical MV drive. Tracking of the motor actual speed to thereference command at start-up and during loading conditionsis shown in Fig. 2(a)–(e), respectively. The simulation results,obtained using MATLAB/SIMULINK, show that the rotor fluxcomponents suffer misorientation as a nonzero value in theq-axis of the rotor flux exists. Therefore, rotor flux and motortorque are not decoupled. The main reason for this misorienta-tion is that there is no feedback, neither from the rotor flux, likein DVC, nor from the motor d−q current components, like inIVC of the VSI.

This explains the random start-up behavior of the rotor fluxand the mismatch between the reference and actual d−q motorcurrents. Therefore, the generated inverter current commandspresent only the required current vector magnitude but do not


Fig. 4. Proposed-modified-IVC PWM CSI drive.

Fig. 5. Proposed-modified-IVC PWM CSI drive simulation results: (a) Reference and actual motor speeds, (b) developed electromagnetic torque, (c) d-axisreference and actual motor current components in the synchronously rotating frame, (d) q-axis reference and actual motor current components in the synchronouslyrotating frame, and (e) estimated rotor flux d−q components in the synchronously rotating frame.


contain any information on how this amplitude should be sharedbetween the motor and the capacitor bank.

The decomposition of the inverter current vector to d−qcomponents and the splitting of the motor and capacitorcomponents are determined from the capacitor and the mo-tor impedance ratio (current divider rule) at the operatingfrequency.

The misorientation in the d−q frame and the absence of theflux loop do not enable conventional IVC from attaining therated flux level despite the load variation; hence, full load torquecould not be achieved at the rated speed.

C. Experimental Results

A test rig, whose photograph is shown in Appendix B, isprepared to verify the simulation results. The experimentalsetup illustrates the scaled-down system performance underconventional-IVC CSI.

Typical experimental results for the system performance,under the simulation’s same test conditions, are shown in Fig. 3.Matching with the simulation results, it is proven that theconventional-IVC CSI operation cannot guarantee the requiredfield orientation for the motor, as the actual d−q currentcomponents are not compelled to match the motor referenced−q components. The motor reference and actual currents arenot matched, and there still exists a nonzero value for thequadrature component of the rotor flux. As the rated flux levelcannot be ensured in conventional IVC due to misorientation,rated torque could not be acquired at rated speed. To overcomethe misorientation in the conventional-IVC PWM CSI drive,modification is mandatory.

III. PROPOSED MODIFIED IVC TECHNIQUE FOR CSIINDUCTION MOTOR DRIVES

The misorientation problem occurs in the conventional-IVCCSI drive because of the mismatch between the motor referenceand actual currents (as there are no separate dedicated currentcontrollers on the d−q current components).

A. Theory of Operation

The idea behind the proposed IVC is to vary the phase ofthe inverter output current until the error between the referenceand the actual d−q motor current components becomes mini-mal. At this point, field orientation is achieved similar to thatof VSI IVC. The inverter output current phase is compelledto change by adding extra two control loops for the d−qmotor current components, thus varying the d−q modulat-ing signals of the CSI which are responsible for the inverteroutput current phase and frequency variation. The block dia-gram of the proposed-IVC PWM CSI drive, with the modifiedcurrent control surrounded by a dotted rectangle, is shownin Fig. 4.

The CSI modulating signal is not generated from thereference inverter current commands, like the conventional

Fig. 6. Proposed-modified-IVC PWM CSI drive experimental results:(a) Reference and actual motor speeds, (b) developed electromagnetic torque,(c) d-axis reference and actual motor current components in the synchronouslyrotating frame, (d) q-axis reference and actual motor current components in thesynchronously rotating frame, and (e) estimated rotor flux d−q components inthe synchronously rotating frame. (a) 200 r/min/div; 2 s/div. (b) 20 N · m/div;2 s/div. (c) 5 A/div; 2 s/div. (d) 5 A/div; 2 s/div. (e) 0.5 Wb/div; 2 s/div.

IVC, but is now generated from the PI treated error sig-nals between the reference and actual d−q motor currentcomponents

me/d =

(Kp_d +

Ki_d

s

)·(ie

∗

m_ds − iem_ds)

(14)

me/q =

(Kp_q +

Ki_q

s

)·(ie

∗

m_qs − iem_qs). (15)

Therefore, the phase of the inverter current command isvaried until the reference and actual d−q motor current com-ponents are nearly equal. Field orientation and decoupling arethus achieved.

B. Simulation Results

The system is examined under the same loading conditionsas used in the conventional-IVC system. The simulation andexperimental results for the proposed system are shown inFigs. 5 and 6, respectively. The simulation results show thatthe field orientation is achieved by adding d−q motor current


Fig. 7. Motor parameter variation effect (0.75 and 1.25 p.u.): (a) Effect of stator resistance variation, (b) zoom of (a), (c) effect of stator leakage inductancevariation, (d) zoom of (c), (e) effect of rotor leakage inductance variation, (f) zoom of (e), (g) effect of rotor resistance variation, and (h) effect of mutualinductance variation.

control loops, as the flux quadrature component tends to zero.These control loops keep changing the inverter current vectorphase, by changing the inverter d−q modulating signals, until

the motor d−q current commands are fulfilled; consequently,orientation is achieved. Hence, as a result for complete de-coupling under the proposed IVC technique, rated torque can


TABLE IMOTOR AND FILTER PARAMETERS

be achieved at rated speed, showing the proposed-techniqueenhanced performance.

C. Experimental Results

The experimental results shown in Fig. 6 verify the en-hanced performance of the proposed technique. The added PIcontrollers force the CSI current d−q components to vary thephase until complete decoupling is achieved. This is shown inFig. 6(e), where the q-axis rotor flux component tends to zerodespite the loading conditions; hence, the rotor flux is orientedtotally in the d-axis.

IV. MOTOR PARAMETER VARIATION EFFECT

The performance of the proposed IVC technique is examinedagainst motor parameter variations. The system results areshown in Fig. 7, where the rotor flux components in the d−qrotating reference frame are illustrated under varying motorparameters.

It can be shown that the proposed IVC technique is robustagainst the variations of the motor stator resistance and theleakage stator and rotor inductances as shown in Fig. 7(a)–(f),respectively.

Only the system performance is degraded under the varia-tions of the rotor resistance and the mutual inductance as shownin Fig. 7(g) and (h).

Hence, the proposed IVC presents a robust perfor-mance against motor parameter variations that resembles theconventional-IVC one.

V. CONCLUSION

Conventional IVC has been investigated as a PWM CSI drivecontrol technique. The simulation and experimental resultsof this system have shown acceptable performance. However,conventional IVC incurs transient field misorientation prob-lem. Therefore, a modified IVC has been proposed, whichgives proper field orientation with simple implementation usingonly two extra added current PI controllers with additional

Fig. 8. Low-voltage scaled prototype.

motor current feedback signals. Moreover, motor parametervariation effect has been analyzed, showing acceptable robust-ness of the proposed technique. The proposed-modified-IVCenhanced performance has been verified by simulation andexperimentation.

APPENDIX A

The motor and filter parameters are listed in Table I.

APPENDIX B

The low-voltage scaled prototype is shown in Fig. 8.

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Ahmed K. Abdelsalam (M’10) received the B.Sc.and M.Sc. degrees from the Faculty of Engineering,Alexandria University, Alexandria, Egypt, in 2002and 2006, respectively, and the Ph.D. degree in elec-trical engineering from the Faculty of Engineering,University of Strathclyde, Glasgow, U.K., in 2009.

From 2010 to 2011, he was a Postdoctoral Re-search Associate with the Department of Electricaland Computer Engineering, Texas A&M Universityat Qatar, Doha, Qatar. Since March 2011, he hasbeen an Assistant Professor with the Arab Academy

for Science, Technology and Maritime Transport, Alexandria. His researchinterests include motor drives, power quality, distributed generation, and powerconverters for renewable energy systems.

Dr. Abdelsalam is a member of the IEEE Power Electronics and IEEE Indus-trial Electronics Societies and the Institution of Engineering and Technology,U.K.

Mahmoud I. Masoud was born in Alexandria,Egypt, in 1974. He received the B.Sc. and M.Sc.degrees from the Faculty of Engineering, AlexandriaUniversity, Alexandria, in 1996 and 1999, respec-tively, and the Ph.D. degree from Heriot-Watt Uni-versity, Edinburgh, U.K., in 2003.

From 2003 to 2007, he was a Lecturer with theElectrical Engineering Department, Faculty of Engi-neering, Alexandria University. From February 2007to August 2009, he was a Research Fellow with thePower Electronics and Energy Conversion Group,

Department of Electronic and Electrical Engineering, University of Strathclyde,Glasgow, U.K. In June 2009, he was promoted to Associate Professor inthe Electrical Engineering Department, Faculty of Engineering, AlexandriaUniversity. From 2009 to 2011, he was an Associate Professor with BeirutArab University, Beirut, Lebanon. Since January 2012, he has been with theDepartment of Electrical and Computer Engineering, College of Engineering,Sultan Qaboos University, Muscat, Oman. His research interests include powerelectronics and electrical machine drives.

Mostafa S. Hamad received the B.Sc. and M.Sc.degrees from the Faculty of Engineering, AlexandriaUniversity, Alexandria, Egypt, in 1999 and 2003,respectively, and the Ph.D. degree in electrical engi-neering from the Faculty of Engineering, Universityof Strathclyde, Glasgow, U.K., in 2009.

Since January 2010, he has been an AssistantProfessor with the Arab Academy for Science, Tech-nology and Maritime Transport, Alexandria. His re-search interests include motor drives, power quality,flexible ac transmission systems, and renewable en-

ergy systems.

Barry W. Williams received the M.Eng.Sc. de-gree from The University of Adelaide, Adelaide,Australia, in 1978 and the Ph.D. degree from theUniversity of Cambridge, Cambridge, U.K., in 1980.

After seven years as a Lecturer at Imperial Col-lege, University of London, London, U.K., he wasappointed Chair of Electrical Engineering at Heriot-Watt University, Edinburgh, U.K., in 1986. He is cur-rently a Professor with the University of Strathclyde,Glasgow, U.K. His teaching covers power electronics(for which he has a free Internet textbook) and drive

systems. His research activities include power semiconductor modeling andprotection, converter topologies, soft switching techniques, and application ofASICs and microprocessors to industrial electronics.

Documents

Modified Indirect Vector Control Technique for Current-Source Induction Motor Drive