Speed Sensorless Vector Control of Parallel Connected

Induction Motors

Yusuke KONO, Taketo FUSHIMI and Kouki MATSUSE

Dept. of Electrical Engineering Meiji University
1-1-1, Higashimita, Tama-ku, Kawasaki 214-8571
JAPAN
Phone I Fax : +8 1-44-934-7293
E-mail : matsuse@isc.meiji.ac.jp

Abstract-The purpose of this work is to present the speed

sensorless vector control method of the torque production
from each rotor of three induction motors with parallel
connected stator windings fed by a single inverter and to
discuss the performance of the system from simulation re-
sults. A control method for the parallel connected dual in- = AX BV, +
duction motor drive system was proposed by [ I]. The
method uses average and differential currents flowing into
I, =cx,
stator windings and rotor flux of dual induction motors. where
And we proposed the theory [2] that the adaptive rotor flux
observer for estimating the induction motor speed [3]-[5] I, =.i[ iqs]' : Stator current.
is applied to. The controll method of three induction mo-
tors proposed in this paper is the extension of the two in- @, = [@,+ @T ]T : Rotor flux.
duction motors controll method.
Key words: Three induction motors, Sensorless drives, V, = [vds vqs]' : Stator voltage.
Vector control
A,, = - { R , I ( Q L , ) + ( 1 - Q ) S r l Q } I = U , l b

1. Introduction A,, = M / ( Q L , L , ) { S , I - ~ , . J } = U , , ~ + U ~ , ~
Recent developments of Power Electronics tech-
A,, = -S,I + w,J = U r221+ i ! z j a J
nology have made various types of motor drive systems
available. In most of these motor drive systems, however,
a drive control system of multiple motors has been treated A2,=UI=u,.,,I B, = : l l ( ~ L , ) = b , I
to be composed of one inverter and one motor, assuming
one-to-one correspondence. If the number of inverters can C=[I 01 S,=l/z, U=S,M
be reduced, the advantages of lower cost and smaller size
compared to one inverter to one motor are available. Some
control methods of multiple induction motors have been
proposed [1][6][7].
At present, parallel connected multiple motors are R, , 3 : Stator and rotor resistance.
used in a railway drive and a rolling of steel drive. This
L, , L, : Stator and rotoir self-inductance.
paper presents a control method of parallel connected three
induction motors which is the extension of the two induc- M : Mutual inductance.
tion motors controll method we proposed[2].
Q : Leakage coefficient, Q = 1- M 2 I (L,L, )

2. Adaptive Flux Observer z, : Rotor time constant, z, = L, I R ,

[l]Description of Induction Motor or: Motor angular velocity.
An induction motor can be described by the fol-
lowing state equation in the stationary reference frame: The equation of torque production takes the form
(3).
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 by i which is the average of is,, is, and is3, and
AXl2, A i 2 3 and A$31 which are half the difference of
is,, is, and is, respectively. Equations(7), (8) and (9)
p : Pole pairs show the relation of these currents. As & is one third of
e : indicate the d- and q-axis rotating at a the input current i s , it is possible to control directly it
synchronous angular velocity with one inverter.

[2] Rotor Flux Observer

The adaptive flux observer, which estimates the
stator current and rotor flux simultaneously, is represented
by the following equation:

d
dt = Ai + svS+ ~
--i ( i- I,, ) (4)
where
where indicates the estimated values and G is - is2 -isl
the observer gain matrix, determined so that (4) is stable.
A4.2 =-
2
G is calculated by the following equation so that the ob- - io -is2
server poles are proportional to those of the induction Ais23 = -
motor (proportional constant k > 0 ) [ 5 ] : 2

[2] Flux Model of Dual Induction Motors

The formula of an induction motor for rotor flux
in a rotating frame of reference is given in (10).

d
-Q:
av = fif -{SJ + j(w -wr)}@: (10)

o : Excitation frequency

The equation of the average of each induction mo-

g, = c ( k - l ) q 2 , c=(oL,L,)lM tor for (10) takes the following form.
Fig.2 shows the rotor flux of three parallel con-
nected induction motors.
[3] Adaptive Scheme for Rotor speed
In order to eliminate rotational transducers, the mo-
tor speed is estimated by the following adaptive scheme.
This scheme can be proven using Lyapunov’s stability
theorem [3].

- )+ J - eiJ& ti
h r

where
=KP (cd6qr etqs6dr (eidqr (6)
0 Inverter

? .
eids=id--Id , eiqs=iq-iq

K p , K,: arbitrary positive gain.

3. Three Induction Motors

[l]Current Model ofThree Induction Motors
The flow of the stator currents isl ,is2,is. of the
parallel-connected three induction motors are shown in
Fig. 1. Fig. 1 Current flows for three parallel connected motors
The stator currents is, ,is,, is, can be represented
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 e=U , + U3, + U , ' AOl 2
3 -Au,,)

If the machine parameters of three induction mo-

tors are equal ( Grl= S,2 = Gr3 =Aol =A02 = Au3
= 0 ) and the rotor speeds of these induction motors are
equal ( AB,l = ABr2 = b-r3 = 0 ), (1 1) becomes (IO). This
indicates that three induction motors be considered as one
induction motor under these conditions.

[3] Torque of Three Induction Motors

Equation (1 2) for the average torque of three in-
duction motors can be derived from (3) for the each induc-
tion motor. This Equation can be also represented by only
the average torque, the differential torque and the machine
parameters.
If the machine parameters of two induction motors
are equal( A = MI, = Uz3= a31
= o 1, T' is equal to . E

( 9 - 3 A ) c - ( f i l 2 A T l 2 + &?23AE23+ &31AE31)
-
(9-2A) (13)

I
d-axis

Fig.2 Rotor flux vector for three parallel connected motors

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[4] Calculation of Reference Current
Equations (1 1) and ( 1 2 ) are separated into dq
componemts, where the positive d-axis correspond with
the average rotor flux (that is shown in Fig.2), in order to
calculate the reference current to control the average torque
of three induction motors.
The q-axis component of (12) for the average torque
is represented by the following equation.The average torque
can be controlled with this equation.
- A ~ ~ A +A&&AG~
G ~ -A&$AG:~))
The d-axis component of (1 1) for the average rotor
flux is represented by the following equation. The average
rotor flux can be controlled with this equation.
-( AarlATi, + Aa,2Ac2
+ AW,,AG,)
-(AulAzl + A ~ 2 A ~ 2 + A u 3 A ~ (15)
3))
Current Commald
I I
Fig.3 Configuration of proposed system
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where
* : indicates reference values.
4. System Configuration
The configuration of the proposed system is shown
in Fig.3. This system is used for the direct-field-oriented
control. The main components are three adaptive rotor flux
observers for each induction motor, calculating blocks of
two reference current values, a vector rotation block and a
current-regulated PWM voltage-source inverter. The sam-
pling period for the observers is 250 ,U Sec.
The stator current commands in the rotating frame
of reference are calculated from (14) and (15) in the calcu-
lating blocks. In the vector rotation block, the stator cur-
rent commands in the stationary reference frame are calcu-
lated using the observed rotor fluxes as following equa-
tions.
-.& = L8 cost7-;;
-
sine (16)
where
Estimated speeds are calculated from detected cur-
rents and voltages in the adaptive rotor flux observers. The
torque references of each induction motor are calculated
from the difference between speed reference and estimated
(14) speed by using PI control and P control. And the reference
of the average torque is calculated from (1 3).
5. Simulation Results
The rating of the induction motors used in simula-
tion is shown in Table. 1.
The load is set at 1 .O["] all the time in the simula-
tion shown in Figs.4 and 5. Figs.4 and 5 show the simula-
tion results under the condition that the speed command is
is a step-up function with values increasing from 400 to
500[r/min]. In Fig.4, the simulation uses the conventional
method. And the simulation uses the proposed method in
Fig.5. The conventional method is defined as the method
whose stator current commands are calculated simply from
the average of machine parameters and state parameters
for three induction motors. These equations take the fol-
lowing from.
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 where TAl3LE.l
Rating and parameteirs of induction motor
- M,+M,+M, ~ ~~ ~

L, =
3 Output 3.7[kW] R, 0 . 3 8 3 1 [ ~ ]
Poles 4 0.2367[~]
From Fig.4 and 5 , it is clear that the simulation re- Voltage 16O[V] M 32.11[mH]
sult of the proposed method is the same as that of the con- Current 20[A] L, 33.34[mH]
ventional method. This is because the machine parameters
and the rotor speeds of the three induction motors are equal Motor Speed 1500[rpm] 15, 33.34[mHl
to one another.
The motor speed command is set at 500[r/min] in
the simulation in Fig.6 and 7. Figs.6 and 7 show the simu-
lation results under the condition that in the beginning the
three induction motors have 1.O[Nm] load and the motorl
is given 10.O[”] load after 0.8[sec.]. In Fig.6, the simu- -
-
Actual1
Estimated1
lation uses the conventional method.And in Fig.7, the simu- B .... Actual 2

lation uses the proposed method. a“ 200

---..---
Estimated2
Actual3
Estimated3
Fig.6(a) shows that the torque production of mo-
0 - I
tor1 cannot follow the loads of motorl. Therefore, it is 0.0 0.5 1.0 1.5 2.0 2.5 3.0 3.5
clear that three parallel connected induction motors cannot lime(sec.1
be controlled by the conventional method. Fig.6(b) shows (a) Rotor Speed
the rotor speeds of each induction motor.
In the other hand Fig.7(a) shows that the torque pro- 40 1
ductions for each induction motor can follow the loads of
these motors. Therefore, it is clear that three parallel con-
nected induction motors can be controlled by the proposed
method. And Fig.7(b) shows that the rotor speeds of three e - Load 1
I-0 10
Load 2
induction motors are estimated accurately. Figs.7(d) ,(e)
and (f) show that the rotor fluxes of three induction motors
are estimated accurately. Fig.7(c) shows the stator current I I I
0.0 0.5 1.0 1.5 2.0 2.5 3.0 3.5
commands in the rotating frame of reference which are cal- hme[sec.]
culated from (14) and (15). (b) Torque
Fig.4 Conventional Method (Speed step response)
6.Conclusion
This paper presents following matters.
+A method of direct-field-oriented control of
parallel-connected three induction motors is
E, 600 I
presented. - Estimated 1
.... Actual 2
.... Estimated 2
+An adaptive rotor flux observer for estimat a“ 200 --- - Actual3
ing the rotor flux is applied to the method in Estimated 3

order to eliminate a flux sensor.

+ An adaptive scheme for rotor speed is added
to the adaptive rotor flux observer in order to
’
0.0 0.5 1.0 1.5 2.0
Time[sec.]
2.5 3.0 3.5

(a) Rotor Speed

eliminate a speed sensor.
The simulation results show that the pro 40
posed method is useful.
T
z
References
s -- Torque3
ee 10
- Load 1
..-. Load 2
[ 11PatricM. Kelecy and Robert D. Lorenz :“Control Meth-
odology for Single Inverter, Parallel Connected Dual In-
duction Motor Drives for Electric Vehicles”,IEEE, pp.987- i 1 I I
0.0 0.5 1.0 1.5 2.0 2.5 3.0 3.5
991,1994. lime[sec.]
[2]T.Fushimi, H.Natsume and K.Matsuse : “A Method of (b) Torque
Speed Sensorless Vector C o n t r o l o f Parallel Fig.5 Proposed Method (Speed step response)
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Connected Dual Induction Motors”,EPE’99, 1999 ouu
[3]H.Kubota, K.Matsuse and T.Nakano : “DSP-Based
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I
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Observer”,IEEE, pp. 1149-1154, 1996.

[S]H.Kubota, K.Matsuse and T.Nakano : “New adaptive 0.0 0.5 1.0 1.5 2.0 2.5 3.0 3.5
flux observer of induction motor for wide speed range motor Time[sec.]

drives”,in Conf. Rec. IEEE IECON’90 pp.92 1-926, 1990. (b) Rotor Speed
[6]YMatsumoto, C.Osawa, T.Mizukami and S.0zaki : “A
Stator-Flux-Based Vector Control Method for Parallel-Con-
nected Multiple Induction Motors Fed byA Single Inverter”,
APEC’98 1998.
[7]J.Okabe, A.Kumamoto and Y.Hirane : “Independent
Closed-Loop Control of Two Induction Motors Paralleled
to a Single Inverter and Its Application to an Automati-
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0I 0.0 0.5 1.0 1.5 2.0 2.5 3.0 3.5
lime[sec.]
(c) Stator Current Command

i
i!
P

04 I
I I I I I I I I I I I I I I I
0.0 0.5 1.0 1.5 2.0 2.5 3.0 3.5 0.6 0.7 0.8 0.9 1.0 1.1 1.2
lime(sec.1 Time[sec.]
(a) Torque (d) Rotor Flux (Motor 1)
800 V.”

[Command/
I

F
F e,.,.
r---------- I 0.4

0.0
*..-Actual2 B
g! 200
I
I
- Estimated1
I O I
-
.... Estimated2
-- Actual 3
- - Estimated3
I 1 I
2 -0.4

-0.8 + I I I I I
0.0 0.5 1.0 1.5 2.0 2.5 3.0 3.5 0.6 0.7 0.8 0.9 1.0 1.1 1.2
lime[sec.] Time[sec.]
(b) Rotor Speed (e) Rotor Flux (Motor 2)
Fig.6 Conventional Method (Torque step response)
n o .
1
12 -
1-1 I-Tnwel I
T
I
L
Z 8-
i!
P 4-

0-
I I I I I I I I I I I I I I

0.0 0.5 1.0 1.5 2.0 2.5 3.0 3.5 0.6 0.7 0.8 0.9 1.0 1.1 1.2
lime[sec.] Tm[sec.]
(a) Torque (f) Rotor Flux (Motor 3)
Fig7 Proposed Method (Speed step response) Fig.7 Proposed Method (Speed step response)

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