Induction motor flux and torque control with rotor flux estimation
A rotor flux estimator is provided. The rotor flux estimator includes an estimation module that generates a first rotor flux vector expressed in a phase voltage reference frame and a second rotor flux vector expressed in the phase voltage reference frame, from a stator voltage vector expressed in a phase voltage reference frame, a rotational speed of a rotor, and a stator current vector expressed in the phase voltage reference frame. The estimation module includes at least one processor and the estimation module includes a rotor flux current model and a rotor flux voltage model.
1. A rotor flux estimator in an induction motor controller to control an induction motor, comprising:
an estimation module that generates a first rotor flux vector expressed in the phase voltage reference frame and a second rotor flux vector expressed in the phase voltage reference frame, from a stator voltage vector expressed in a phase voltage reference frame, a rotational speed of a rotor, and a stator current vector expressed in the phase voltage reference frame;
the estimation module including at least one processor, the estimation module implemented in hardware, firmware, or software executing on the at least one processor; and
the estimation module including a rotor flux current model, a rotor flux voltage model, and an estimator regulator that has a rotor speed-independent gain and forms an estimation correction factor for the rotor flux voltage model, wherein the estimation correction factor is used to control operation of the induction motor.
2. The rotor flux estimator of claim 1 , further comprising:
a stator phase current reference frame to phase voltage reference frame vector rotation module that transforms a stator current of at least two phases to the stator current vector expressed in the phase voltage reference frame.
3. The rotor flux estimator of claim 1 , further comprising:
a rotor flux magnitude calculator that calculates an estimated rotor flux magnitude from the first rotor flux vector.
4. The rotor flux estimator of claim 1 , wherein applications of the rotor flux current model and the rotor flux voltage model are lookup-table-based.
5. The rotor flux estimator of claim 1 , wherein applications of the rotor flux current model and the rotor flux voltage model are real-time-calculation-based.
6. The rotor flux estimator of claim 1 , wherein:
a proportional-integral (PI) controller forms an error term from a difference between the first rotor flux vector and the second rotor flux vector; and
an output of the PI controller is applied as a correction factor to the rotor flux voltage model.
7. The rotor flux estimator of claim 1 , wherein the rotor flux current model and the rotor flux voltage model are in cooperation with a regulator in production of the second rotor flux vector.
8. A rotor flux estimator in an induction motor controller to control an induction motor, comprising:
a first module that generates, Via application of a rotor flux current model, a first rotor flux vector expressed in a phase voltage reference frame from a stator current vector expressed in the phase voltage reference frame and a rotational speed of a rotor;
a second module that generates, via application of a rotor flux voltage model, a second rotor flux vector expressed in the phase voltage reference frame from a stator voltage vector expressed in the phase voltage reference frame, the stator current vector expressed in the phase voltage reference frame, and an estimation correction factor;
an estimator regulator that has gain independent of the rotational speed of the rotor and generates the estimation correction factor from the first rotor flux vector expressed in the phase voltage reference frame and the second rotor flux vector expressed in the phase voltage reference frame, wherein at least one from a set consisting of: the first module, the second module, and the estimator regulator, includes a processor; and
wherein the estimation correction factor is used to control operation of the induction motor.
9. The rotor flux estimator of claim 8 , wherein:
the estimator regulator includes a PI (proportional-integral) controller having as inputs the first rotor flux vector and the second rotor flux vector; and
the PI controller has as an output the estimation correction factor.
10. The rotor flux estimator of claim 8 , wherein the estimator regulator includes:
a difference module that generates a difference between the first rotor flux vector and the second rotor flux vector;
a proportional module that generates a first term proportional to the difference between the first rotor flux vector and the second rotor flux vector;
an integral module that generates a second term proportional to an integral of the difference between the first rotor flux vector and the second rotor flux vector; and
a summation module that generates the estimation correction factor as a summation of the first term and the second term.
11. The rotor flux estimator of claim 8 , further comprising:
a rotor flux magnitude calculator that receives the first rotor flux vector and generates an estimated rotor flux magnitude based upon a lookup table or a real-time calculation.
12. The rotor flux estimator of claim 8 , further comprising:
a stator flux calculator that generates a stator flux vector expressed in the phase voltage reference frame from the second rotor flux vector expressed in the phase voltage reference frame and the stator current vector expressed in the phase voltage reference frame; and
a rotor current calculator that generates a rotor current vector expressed in the phase voltage reference frame from the first rotor flux vector expressed in the phase voltage reference frame and the stator flux vector expressed in the phase voltage reference frame.
13. The rotor flux estimator of claim 8 , further comprising:
a stator flux calculator that generates a stator flux vector expressed in the phase voltage reference frame from the second rotor flux vector expressed in the phase voltage reference frame and the stator current vector expressed in the phase voltage reference frame, the stator flux calculator including a model of inductances for windings of an induction motor.
14. The rotor flux estimator of claim 8 , further comprising:
a stator flux calculator that generates a stator flux vector expressed in the phase voltage reference frame from the second rotor flux vector expressed in the phase voltage reference frame and the stator current vector expressed in the phase voltage reference frame; and
a torque calculator that generates an estimated torque from the stator flux vector expressed in the phase voltage reference frame and the stator current vector expressed in the phase voltage reference frame.
15. The rotor flux estimator of claim 8 , further comprising:
a stator flux calculator that generates a stator flux vector expressed in the phase voltage reference frame from the second rotor flux vector expressed in the phase voltage reference frame and the stator current vector expressed in the phase voltage reference frame; and
a stator flux angle calculator that generates an estimated stator flux angle from the stator flux vector expressed in the phase voltage reference frame.
16. A method of estimating rotor flux, performed by a module in an induction motor controller to control an induction motor, the module implemented in hardware, firmware or software executing on a processor, the method comprising:
producing a first rotor flux vector, expressed in a phase voltage reference frame, from a stator current vector expressed in the phase voltage reference frame and a rotational speed of a rotor, via application of a rotor flux current model;
producing a second rotor flux vector, expressed in the phase voltage reference frame, from the stator current vector expressed in the phase voltage reference frame, a stator voltage vector expressed in the phase voltage reference frame, and an estimation correction factor, via application of a rotor flux voltage model;
producing the estimation correction factor from a difference between the first rotor flux vector and the second rotor flux vector, with the estimation correction factor having a gain that is independent of the rotational speed of the rotor, wherein at least one method operation is executed through a processor; and
controlling operation of the induction motor based on the estimation correction factor.
17. The method of claim 16 , wherein producing the estimation correction factor includes:
producing an integration of the difference between the first rotor flux vector and the second rotor flux vector; and
summing a first term proportional to the difference between the first rotor flux vector and the second rotor flux vector and a second term proportional to the integration of the difference between the first rotor flux vector and the second rotor flux vector.
18. The method of claim 16 , further comprising:
producing a rotor flux magnitude from the first rotor flux vector; and
producing a stator flux angle from the stator current vector expressed in the phase voltage reference frame and the second rotor flux vector.
19. The method of claim 16 , further comprising:
producing a torque from the stator current vector expressed in the phase voltage reference frame and the second rotor flux vector.
20. The method of claim 16 , further comprising:
producing a rotor current vector from the stator current vector expressed in the phase voltage reference frame, the first rotor flux vector, and the second rotor flux vector.