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NONLINEAR CONTROL OF INDUCTION

MOTOR
Z. Krzeminski
D rl"/rlll/l'//I of' f/n/rim / EI/Kill/·/'/m.!!:. T erhl/ic!I/ Clli,'rrsiII IIf C: ~SIIl(//lI1t'(f.
C :rslllChll<l'II. PII/ruu/

Abstract. Principles of nonlinear control of an induction motor with

field-oriented coordinate system are presented. A new multi-scalar
model of the induction motor is introduced, to which nonlinear control
system has been applied. The new control system is compared with the
field-oriented system.
Ke~vords. Nonlinear control systems; a.c. motors; electric drives;
feedback ; modelling; multivariable systems

IN'rFtODUcnON speed Wa are as follows:

The last achievements of differential d"Ws
geometry make it possible to answer the Us RsIs + ( f t ' + j Wa47s /5/
question whether nonlinear multidimentio-
nal system of the form
d '+' r
x = f/x! + g/u/ /1/ o = RrIr + ( f t ' + j/W a - w/\..V
r r /6/
where x is vector of state variables and where us' is, I r , '+'5' '+-'r' are voltage,
u is vector of control, is transformable current and flux apace vectors of stator
by the nonlinear change of coordinates
and rotor, respectively, Rs and Rr are
y = y/x! /2/ stator and rotor resistances.
and nonlinear feedback The next mechanical equilibrium equation
completes description of the induction
u = u/x,v/ /3/ motor
into the linear system d Wr
- = Im/ ,+,*T
Jdt 5 5
/ - m0 /7/
y = Ay + Bv /4/
where A and B are constant matrices. where '+'~ is the conjugate complex of
vector ~s' J is moment of inertia and
As has been shown by !(rzeminski /1983/,
a change of coordinates and nonlinear mo is load torque.
feedback can transform a system with an I t ha s been sholm by Dlaschke /1971/ that
induction motor fed by a current source the induction motor can be controlled in
inverter into two linear subsystems. the same way as a separately exc1ted com-
This idea is extended in the paper on an pensated dc motor when the coordinate
induction motor controlled by the field- system is connected with the rotor field
oriented method and generalized by intro- vector. Co~~only, d-q coordinates are
ducing a new multi-scalar model of the used in such cases and the vector of ro-
induction motor. tor flux has only a d-component as it has
been shown in Fig. 1. Equations /5/-/7/
DESCRIPTION OF INDUCTION MOTOR take the following forms for the compo-
IN FIELD-OHIENTED FRAME nents:

The space vector method, developed by d "+'Sd

Kovacs and Racz /1959/, has been used in ~ - Rsisd + W1 '+'sq + u sd /8/
this paper to describe the induction mo-
tor. All assumptions, which are accepted d \j./sg
in the generalized electric machine
dt - R5 i sq - W1 Y-'Sd + u sq /9/
theory have also been accepted in this
paper. d I.J.l
rd - Rr i rd /10/
Voltage equations of the stator and rotor ""dt"'
space vectors, defined in a frame of re-
ference rotating with an arbitrary angle

:157
35R Z. Krzc lllinski

NONLINEAR CONTHOL OF FIELD-

ORIENTED SYSTEM

Nonlinear control proposed here gives the

If the magnetic path is assumed to be li- possibility of eliminating the interac-
near, the following relationshi~ may b~ tions in /18/ and /19/.
written for the elimination of '+' sand ir
components: Controls of the forms

L LrLm
w.
~sd== y;- 1
sd + L m "Vrd /12/ Rrw 'f-i.d + y d/
r r
/22/
w
If'sq -i /13/
Lr sq u
sq
L m. 1
i rd -
Lr sd +
-1
Lr '+'rd /14/ where Yd and yq are new inputs, transform
/18/ and /19/ into linear differential
equations:
/15/

di /24/
Lr d 'Vsg
~ /16/
dt w dt
dis Lr
where ~dt =- s w sq + Y q
R -i /25/

/17/ Using Yd and Yq as new inputs, controllers

can be applied to improve dynamic proper-
and Ls' L r , Lm are stator, rotor and mutu- ties of controlling the components of fs.
al inductances. The angular velocity of the frame of refe-
rence W can be computed from equation
Thus for components of is and l.J.J r the fo- 1
llowing equations can be derived from RrLm isd
/8/-/i6/: W1 = ~ 4J + Wr /26/
rd

resulting from the separ a tion of /2/ into

real and imaginary components.

R L L
r /18/ L IlPTtOVED NONLINSAR CONTHOL OF
-LJ!!.
+ wLr y.;rd + -tl\V s d
FIELD OIlI EN'rED SYSTE;\1

di L Although nonlinear controls /22/ and /23/

~ - [l..Li - W i - eliminate interactions betwecn control
dt s w sq 1 sd schemes of i s d and i sq , the whole system
remains coupled as the torque is a product
+ ~Sq /19/ of ljJ d and i
r sq
• If rotor flux is reduced,
the time constant in /21/ changes and an
d I.jJrd adaptive controller for speed control is
--;rr- /20/ required. This problem can be overcome by
nonlinear change of coordinates and nonli-
near feedback linearizing system. The po-
d '+'r ssibility of such control can be checked
d't /21/ by applying the theorem o f Jakubczyk and
Respondek /1980/ to the system described
by /18/-/21 / . As extensive mathematical
The concept behind field-oriented control methods of differential geometry must be
is that rotor flux can be controlled used for this, only main results are given
according to /20/, with isd acting as con- in this paper.
trol input. Component i serve as an in-
sq Let new variable x, replacing isq in the
put in order to control the torque as a
model of the induction motor, be chosen
product of and i as follows
rd sq
Unfortunately transition from field-orien-
ted voltage components u and u to /27/
sd sq
current components described by /18/ and
/19/ involves leakage time constants and Then
interactions, which must be compensated
for by a control. PI controllers are /28/
usually used to control stator current
components.
and using / 27 / , /i9/ and /20/
 :-'; o lllille ar COlllro l o f' Indu ctio n i\Io lO r 359

R L Lm xiSd Lm 2 L
dx
<IT /Lrr + Rs !../x + R - - - - W1 i sd
'+'rd -
W I.jI
1-W rd
+...!.. lIJ u
w T rd sq /29/
w' rLr \Vrd
The equations /i8/ and /21/ take the
forms: forming variables is usually the most
complicated part of a control system with
the induction motor, even although no
nonlinear control is applied,
This disadvantage can be avoided when new
variables are used for describing the in-
/30/ duction motor. In this paper it is propo-
sed to choose new vari ab l e s as follows:
x W /39/
11 r
/31/
x 12 'Vrxisy - 'ti-yisx /40/
The equation /20/ remains unchanged. x I.}'2
21 r /41/
The nonlinear controls of the form
x 22 'Vrxisx + 4{y i sy /42/

where x,y denote axis of a frame of refe-

rences rotating with arbitrarily-chosen

u /33/
sq

transforms the system described by /29/ , ang le speed. Usually W = 0 is recomen-

/30/, /3i/ and /20/ into two linear sub- ded for simplification a of measurements.
systems: The new va riables a r e sc a l ar an d a re used
in a new multi-sc a l a r model of the induc-
- electromagnetic subsystem tion motor.
d'V rd Differentiation of /39/-/42/ using diffe-
/31 / r ential equations for compon ents in the
~ frame of reference x ,y g ive s the next
equations for a new multi-scalar model of
the induction motor :
/35/
/4 3/
- mechanical subsystem
dw r Lm 1
~- /36/
dt r
J'Do
/44/
dx Rr Lr
(IT - /Lr + Rs7 x + v 2 /37/ /45/

The transformation is loc a l a nd the model R Lm

given by /34/-/37/ i s true only for T x + x x _r_'X +
x 22 11 i2 + "Lr 2i
'+'rd ;, 0 /38/

Controllers for the subsystems c a n be /4 6/

synthesed using well-known me thods of tile
linear system theory,
where
NONLtN EAlt CON mOL i,'orr HULTI- It w + Rs L2r - Rr L2
SCALAR ;.JODEL OF I NDUCTION MOTOR r m /47/
Tx wLr
As presented in the previous section, the
field-oriented sys tem with nonlinear con- u /48/
trol requires the tr un s formation of va- 1 4IrxUsy - 4JryUsx
riables measured in fixed coordinates,
into variables in a frame of reference u 4{.x u rx + 41ryusy /4 9/
2
rot a ting with a ngu l a r spe e d l' Output
variables of controller s mu s t be tr a ns- Ther e a re onl y fo ur diff erenti a l equa tions
formed fro m the rot a ting frame of refe- for describing the induction motor. The
rence into fixed coordina tes, The part of exact positioning of th e motor flux and
system for comput a tions defining the po- stator current vectors is not important
sition of frame of reference and trans- as /43/-/46/ fully describe the static
360
and dynamic properties of the induction
motor. It may be interpreted that the mo-
tor torque does not depend on the posi-
tion of the rotor flux and stator current
vectors in any frame of reference, but on
the mutual position of these vectors. The
vector product x and the scalar product
12
x of rotor flux and stator current vec-
22
tors and the square of rotor flux x are
21
chosen as the new variables. These three
variables fully describe the values of
flux and current vectors and thelr mutual
position, because
The new inputs u 1 and u 2 are the vector
product and the scalar product of the ro-
tor flux vector and the stator voltage
vector. If components of the rotor flux
vector are measured in an arbitrary co-
ordinate system, components of the stator
voltage vector c a n be computed as follows
u 2 \.jJrx - u 1 \.Vrl
u sx 2 /51/
r In the field-oriented system, current
u 1 ~rx + u 2 \Vrl
u sy 2 /52/
r
As with fi e ld-oriented systems, the regu-
lators can be applied for control of x 12
and x 22 to compensate for interactions
and nonlinearities, but in this paper
nonlinear control of the next form is
proposed:
w Lm
u x
1 Lr [xu 2lx2 2 + \V/
u2 ~/ - x x -
L x 2 + x 222
n-ill 12
Lr 11 12 rLr x 21
The controls /53/ and /54/ transform sys-
tem /43 / -/46/ into two independent sub-
systems:
- mecha nical subsystem
- electromagnetic subsystem
Controllers for the subsystems can be
synthe tized using methods of control of
Z. Krzt'lllinski
linear systems.
CO~~ARISON OF FIELD-ORIENTED
AND NEW SYSTEMS
In a "classical" field-oriented system,
nonlinearites exist in differential equa-
tions for the components of the current
vector which can be compensated by suita-
ble nonlinear control.
Although even if nonlinearities in diffe-
rential equations for the current vector
components in the field-oriented system
a re compensated by the control, the non-
linearity in the differential equation
/50/ for the rotor speed remains and requires
an adaptive controller when the rotor
flux is reduced.
More complicated system of differential
equ a tions appear if new variables are
chosen in form /27/ for the field-orien-
ted system or in form /39/-/42/ for the
multi-scalar model system. The main bene-
fit of these systems is that the motor
torque is the st a te variable which causes
independence of speed control on the
actual value of the rotor field.
vector components are computed as follows
[ ~SdJ cos~ Sin~l
[ /59/
Isq - sin~ cos~
where
4/rCi
cos~ /60/
4/r
sinq 'JIrt?>
/61/
+ m1 ] /53/ \.j.Jr
+
\V,r = V\t{~+ 1.+1 2
r~
/62/
No computations similar to /60/ -/62/ are
needed for a system with nonlinear change
/54/ of coordinates and transformations /40/
ane! /42/ are similar to /59/ in comple-
xity.
Nonlinear control to compensate for non-
linearities in the described system with
a nonlinear c!1ange of variables, is more
complex when such a system is based on a
field-oriented method. "lore calculations
/55/ are required for controls /32/ and /33/
than for / 53/ and / 54/. In addition, the
variable 4./ , which requires extraction
r 2
of square root from yJr' must be computed
/56/ for controls /32/ a nd /33/ . This disad-
vantag e is aVOided in the system with
proposed new variab les /40/-/42/.
For field-oriented system with nonlinear
/57/ change of variable according to /27/ this
change is further development of the sys-
tem which made it the most complicated of
the three systems with nonlinear control
/5 8/ here presented.
Further possibility is that the other
pair of spa ce vectors can be chosen as
 Nonlin ear Co ntro l o f Indu ct ioll 1\10101'
a basis for nonlinear change of coordina-
tes which increases flexibility of nonli-
near control as applied to the induction
motor fed from current or voltage source
inverters.
RESULTS OF SIMULATION
The scheme of the control system with
multi-scalar model of the induction motor
has been shown in Fig. 2. Additional ele-
ments have been introduced to assure the
starting of the system when the motor is
unexcited and division by zero appears in
equations for control. Proportional feed-
back was applied to the electromagnetic
subsystem and PI controllers to the me-
chanical subsystem.
The starting of the system shown in
Fig. 2 was digit a lly simulated and re-
sults have been shown in Fig. 3. The full
independence of subsystems dynamics is
apparent.
d
Fig. 1. Space vectors in the field-
oriented frame of references
I 5 I
t U1
NF U2
'---
XZt!:tL ESC
X11& MSC
Fig. 2. Simulated control system, IM - induction motor, NCC - nonlinear change of
controls, NCV - nonlinear feedback, ESC - electromagnetic subsystem controller,
MSC - mechanical subsystem controller, S - system for first part of starting
36 1
CONCLUSION
The nonlinear control of the induction
motor gives the possibility of avoiding
instabilities which occur in certain con-
ditions in the field-oriented system.
From the presented systems with nonlinear
control, the system with the multi-scalar
model of induction motor gives all the
advantages of nonlinear control and its
degree of complication is comparable with
a classical field-oriented system.
REFERENCES
Blaschke, F. /1971/. Das Prinzip der
Feldorientierung , die Grundlage fur
die TRANSVECTOR-Regulung von Dreh-
feldmaschine. Siemens Z., vol. 45,
757-760. --
Jakubczyk, B., and Respondek, W. /1980/.
On linearization of control systems.
nUll. Acad. Polon. Sci. Ser. Sci.
"lath., XXVIII, 517-522.
Kovacs, K. P., and Racz, I. /1959/.
Transiente Vorgange in Wechselstrom-
maschinen. Vertrag der Ungarischen
Akademie der Wiesenschaften, Buda-
pest.
Krzeminski, Z. / 1983/. Doctoral thesis.
L6dz.
U,scx.
NCC Us/3 IM
t 'frcx. ~(3 (sex. lS~ Wr
XZ1
X22
X11 NCV
X12
362 Z. Krzem inski

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0.1
I.0.2 ,
0..3 M
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i(s)
Lsex.
1

0.1 0.2 t(s)

-1
(jIra.
1

t(s)
-1
US tX
1

0.1 0.2 t(s)

-1

x12 It
01
[
02
,
0.3
L..
at{
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t(s)
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0.1
'~,
0.2 0.3 0'1
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t(S)
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o.q
•
xZ1 01 0.2 0.3 t(s)

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Fig. 3. Transients for starting of simulated

system, x2iref = const.