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Proceedings of the 2012 2nd International Conference on Computer and Information Application (ICCIA 2012)

Modeling and Simulation of Asynchronous Motor inÿÿ Coordinate System Based on

Matlab

Yiming Li, Yuebin Wang, Quanfeng Yan, Wei Huang Department of

Computer Hunan Institute of
Science and Technology Yueyang , China 414006 e-
mail:[email protected]

Abstract—Asynchronous motor has simple structure, low cost, comparable to DC According to the above idea asynchronous motor model is equivalently
motor control performance when using the vector control technology. This paper converted to DC motor model, and imitates control strategy of DC motor,
focuses on the three-phase asynchronous motor which accounts for most of the then gets the corresponding control amount, and then through the
proportion of the AC machines. Firstly, this paper builds the vector control system corresponding coordinate inverse transform, it can get the corresponding
of asynchronous motor, then reduces the mathematical models of asynchronous control amount of asynchronous motor , so that it can realize the control of
motor based oncoordinate system.
asynchronous. For the 2s/2r coordinate transformation, the current is seen
ÿÿ
as representative of the space vector of the magnetomotive force. The
At last the paper builds the simulation model of asynchronous coordinate system control system achieved through the coordinate transformation is referred to
and analyzes the
ÿÿ in Matlab/Simulink, and motor based on the paper gives as the vector control system (VC system) through the above process,. The
simulation results. The simulation results verify the correctness of the theory of principle schematic of VC system is shown in Figure1.
asynchronous motor based on
ÿÿ coordinate system.

Keywords- asynchronous motorcoordinate

ÿ mathematical model ÿ ÿÿ
systems simulation; ÿ

I. INTRODUCTION

After entering the 21st century, the energy supply is increasingly tense,
so it is very important to conserve electricity. Asynchronous motor has the
advantages of simple structure, and is easy to maintain, so it occupies a
significant market. At the same time, with the development of power
Figure1. The block diagram of VC system
electronics, micro-processor of motor control and the new theory of motor
control, the control technology of asynchronous motor is highly promoted. The given signal shown as Figure1 generates the control signals to
Asynchronous motor has simple structure, low cost, comparable to DC motor control the inverter through transform, and the VC system gets the input
control performance when using the vector control technology. signals of the input signal of iA, iB and iC for the asynchronous motor. It is
required to run at a specified input of the asynchronous motor. The VC
system offsets the rotation and anti-rotation transformation of dotted, and
Moreover, vector control of asynchronous motor has higher precision, wider the VC system is consistent with the speed-adjusting control process of DC
speed-regulating range and faster response[1][2]. So it is necessary to study motor, so the control performance of the vector control system can be
asynchronous motor and the paper builds the mathematical math of comparable to the DC speed control system.
asynchronous motor in coordinate system based on Matlab/Simulink.
ÿÿ The figure is expounded the basic ideas of vector control system, and
the actual electromagnetic calorimeter of asynchronous motor is very
II. THE BASIC THEORY OF VECTOR CONTROL SYSTEM FOR
complex, at last the asynchronous motor only uses the dynamic mathematical
ASYNCHRONOUS MOTOR
model to analyze itself. The rotor flux oriented vector control system (FOC,
The core idea of vector control AC motor by coordinate transformation Field Orientation Control System) is the successful application of the control
is equivalent to the DC motor. It is learned from the reference[1] that the scheme, and it is next to analyze the realization of FOC implementation.
three-phase stator currents of iAÿiB and iC become two-phase AC currents
of iÿ and iÿ. by 3/2 transformation. Then AC currents of iÿ and iÿ become DC
currents of id and iq by 2s/2r transform, and then AC motor is equivalent to The model of FOC is built in the MT coordinate system.
DC motor . The rotor flux of AC motor is ÿr, and it is equivalent to the In the MT coordinate system, the direction of d-axis is consistent with the
magnetic flux of DC motor. If the d-axis is oriented in the direction of ÿr, and direction of rotor flux linkage vector because the coordinate system of two-
at this time the dq coordinate system is also called MT coordinates. M phase synchronous rotating is based on the rotor flux orientation[3][4].
represents the magnetization, T represents the torque.

ÿ
== rrm
ÿ ÿ ÿ
ÿ ==ÿ 0 (first)
rd rtrq

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Proceedings of the 2012 2nd International Conference on Computer and Information Application (ICCIA 2012)

It can get the state equation of MT coordinate system based on the transform for asynchronous motor according to the above equations, and
theory of rotating coordinate system for asynchronous motor . the .model is shown as the figure2.

Ln
mp
Te = i rstÿ (2)
Lr

2 Figure2. The vector transformation and current decoupling mathematical

dÿ Lnmp np model of asynchronous motor
= i rstÿ ÿ

TL ÿ3ÿ
DT J.Lr J
From the type(1) it can learn that the excitation component and torque
component are coupled because Te is affected by the ist and ÿr. , On the
other hand, ÿr is affected by the ism, and Te is affected by the ism too. In
dÿ r first Lm order to realize complete decoupling, Te needs to eliminate the affection of
+ÿ= ÿ r i sm ÿ4ÿ ÿr in addition to the vector transformation. It can get the completely decoupled
Tdt r Tr system shown in Figure3 for setting the divider.

Lm
)(0+ÿÿ= ÿÿÿ r i st ÿ5ÿ
Tr
first

dism Lm LRLR
mrrs
+ 22
u sm ÿ6ÿ
ÿ=
ÿ r
ÿ

2
iism ++ÿ st
TLL LLrs L
first

DT ÿ rrs ÿ ÿ S

Figure3ÿThe decoupled vector control system with division links

2 2
di st Lm LRLR
mrrs
+ u st ÿ7ÿ
ÿ=
ÿÿ r
ÿ

2
ii
st
+ÿ ÿ
sm
III. THE SPEED-ADJUSTING THEORY OF VOLTAGE
DT ÿ LLrs ÿ LLrs first

ÿ L S
FREQUENCY RATIO CONTROL FOR ASYNCHRONOUS MOTOR

The type(5) can be turned into type(8) for ÿrt=0. Scalar control system is to control magnetmomotive force amplitude
and rotating speed in chart3, and do not control the angle between them.
The reason is that the amplitude and speed of rotation are scalar, hence the
iLstm scalar control system of voltage to frequency ration control(V/f) is based on
ÿÿÿ ==ÿ s (8)
Trrÿ
first

the steady state relationship between the control of open-loop system, and
has no torque control loop, so the system dynamic performance isn't good.
But this kind of control mode of the inverter has the advantages of simple
structure, low cost, reliable operation, convenient speed regulation, and it is
PT ÿ
smmrrr =+
ÿ iL ÿ9ÿ widely applied to the dynamic performance requirements of high speed,
small occasions, wind machine, water pump. The premise of motor speed-
adjusting control is to make full use of iron core and the wire of the motor,
and remain the core flux density and the current density of wires stable. The
Lm
ÿ r
= i sm (ten) effective value of phase electromotive force for three-phase asynchronous

PT
r +1 motor is shown as type(8).

pT
r +1
i sm = ÿ r
ÿ11ÿ
Lm S
= 2 ÿÿ
kNfE first mNss (8)

The type(11) shows that the rotor flux generated by the stator current If make flux keep rated value unchanged, the electromotive force and
excitation component only, nothing to do with the torque component, From frequency ratio should be kept unchanged.
this point of view, the excitation component and torque component of the
stator current is decoupled. The basic equation for the vector control is
type(1), (8), (10). It can get the mathematical model of vector

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Proceedings of the 2012 2nd International Conference on Computer and Information Application (ICCIA 2012)

E E SN When the motor operates in the steady state, the speed is

S
==const (9)
close to synchronous speed, and s is very small.
f first
f first N
So it can be neglected, and the type(13)can be recognized.
3n U sf
The rated value of flux is rated magnetomotive force, and T = p
)( f
S 2 first

ÿ
(13)
e
2ÿ Rr
the constant value is
E SN . It is known as constant voltage
first

From the type(13) it can be seen that the mechanical properties

f first N are parallel to descend when we change frequency for the same
frequency ratio control method because the magnetomotive force torque Te. It can also achieve very good speed regulation. On the
magnetic force and frequency ratio is constant value. other hand, it can ignore the stator winding and magnetic flux leakage
V/ f can be discussed by steady-state equivalent circuit because V/ f impedance drop when the electromotive force is high from the motor
is the control mode of steady-state relationship[5]. voltage balance equation, so it can be thought ÿ EU

' ss
.
Lsÿ ' Lr
I Rs Rr ÿ
Iÿr When the speed is low, the stator resistance Rs can't be ignored,
S

I0
Us and Es are very small with low frequency, and the stator impedance
' drop ratio increases, the stator power supply voltage by the partial
Rm
Rr pressure of Rs for generating magnetic flux of induction electromotive
Us Es S
force Es will become smaller, thereby causing the air gap flux
Shut up
weakening the maximum torque Temax reduced, with a load capacity
is reduced.
Therefore, in order to improve the low speed performance in low
speed on the voltage Us compensation[6][7].
Figure4. The steady-state equivalent circuit of asynchronous motor So it can get the U/ f curve from the above theory, then get the
block diagram of constant voltage frequency ratio control system
It can be obtained the type (10) from the formula of electromagnetic according to the operating frequency and the frequency converter
moment. theory principle to get the block diagram as follow as Figure5.
' ÿ
Pn 3 Rr 3 nEp Rsfr
Te == = me p
I
2' S 2 first
(ten)
r )( f 22 22
ÿÿ 11 S 2ÿ first
ÿ

)(LsR
r
+ ÿ first
ÿ

rÿ

The type(10) is strictly constant flux control equation of it can

the mechanical characteristics. If order dsdT
S
= 0/ ,
get the maximum torque equation as follow as type(11).

Figure5. The block diagram of variable frequency speed control system

3 np E 2
=
first

Te max 2 )(
S
ÿ
(11)
8ÿ Lf first rÿ
IV. MODELING AND SIMULATION OF ASYNCHRONOUS
MOTOR FOR VOLTAGE FREQUENCY RATIO CONTROL SYSTEM
It is easy to know that the maximum torque is constant BASED ON MATLB

when = const , and it can show the output capacity of A. The simulation parameters settings of asynchronous
Es f first
motor
motor torque is constant. It can achieve constant flux control The motor parameters are as follows: stator winding phase resistance: R
Es = ÿ 0.435 ; rotor winding phase resistance: R = ÿ 0.816 ; phase induction: LH
when = const , but the actual input of motor is stator
= 0.002 ; the rotational inertia of the stator and rotor: Kgm ; motor pole J = =
f first

J 1.99 2
r
phase voltage Us, and the stator winding EMF is difficult to measure S

directly, so to achieve precise control is not easy. pairs: P = 2 ; rated voltage:380V.

However, it can get type(12) from the formula(11)[6].
B. The simulation models of asynchronous motor in coordinate
system based on Matlab/ Simulink It can get the equations
P 3n
p
R' /3sRUn'2
T == =
me I 2' r rsp
of motor according to the mathematical model in coordinate system shown
e r ' 2
ÿÿ S ÿÿ R ÿ ÿ
11
ÿ ÿ ÿ
R + r
++ ÿ
ÿ ÿ
2 (LL '
)2 ÿ
(twelfth)
ÿÿ
as type(5) to type(9), and the subscript " 1 and the subscript " 2 types.
first ÿ S
S
1 sÿ rÿ
"
ÿÿ
ÿ ÿ ÿ
ÿ

represents the stator,

' "
3n U Rsf represents the rotor in the following
= p )( f S 2 first r

2ÿ 2' 2 '
+++
LLsRsR
( )( )2 rs sÿ
first
rÿ

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Proceedings of the 2012 2nd International Conference on Computer and Information Application (ICCIA 2012)

300
first

200
ÿ ÿ 1 111
ÿ=
)( iru
ÿ ÿ 100

p 0

(14) -100

first -200

ÿ )(iruÿÿ
ÿ= -300
ÿ 1 111
p 200

100
first

ÿ ÿ
ÿÿ=
2 2222 ( iru
ÿ ÿÿ
ÿÿ r ) 0

p -100

(15) -200
0 0.1 0.2 0.3 0.4 0.5 0.6

first

ÿ ÿ 2 2222
ÿÿ=
(iru ÿ ÿÿ
ÿÿ r ) Figure8. The simulation waveforms of ÿ current and ÿ current
p
first From the Figure7 and Figure8, it is easy to see the frequency of
iÿ ÿ=
(ÿ ÿ 2
iLr ÿ 2 ) modulated wave is 50Hz and amplitude modulation wave is 380 of the rated
Lm
first

value when the work frequency is 50Hz from the Figure10. At the same time,
(16)
first
the frequency of modulated wave is 40Hz and amplitude modulation wave
iÿ 2
ÿ=
(ÿ ÿ
iL S ÿ
) is 300 of the rated value when the working frequency is 40Hz from the
Lm
first first

Figure11. Thus changing the input frequency can change the inverter output
voltage amplitude and frequency, and it is to say that it can change the input
J dÿ
TT
Le += (17) of asynchronous motor. So it has been validated by changing the frequency
np DT to control asynchronous motor through above principle.

It may build the simulation model of the three-phase coordinate system

asynchronous motor in the ÿÿ shown as
Figure6[8].
V. CONCLUSION

According to working principle of the asynchronous motor,

the paper builds the mathematical model based on coordinate system, ÿÿ
and then builds the simulation model in the
Matlab/Simulink. At last the paper gives and analyzes the simulation results.
The simulation results demonstrate the validity of the theoretical analysis,
which provides a theoretical basis for the development for asynchronous
motor.

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Machinery Industry Press,2001 (In Chinese)
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Figure6. The simulation model of asynchronous motor in the ÿÿ coordinate. coordinate
Beijing: China Machine Press, 2003 (In Chinese)
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C. The simulation results and analysis
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0 0.1 0.2 0.3 0.4 0.5 0.6

Figure7. The simulation waveforms of motor speed torque and current for
asynchronous motor

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