ACIM Slip Speed Estimator

Calculate slip speed of AC induction motor

Since R2020b

Libraries:
Motor Control Blockset / Controls / Control Reference
Motor Control Blockset HDL Support / Controls / Control Reference

Description

The ACIM Slip Speed Estimator block computes the mechanical slip speed (difference between the synchronous speed and rotor speed) of the induction motor.

The block accepts the reference values of d- and q-axis currents and outputs the computed slip speed of the induction motor.

Equations

These equations describe the utilization of the slip speed value for field-oriented control (FOC) of the induction motor:

$τ_{r} = (\frac{L_{r}}{R_{r}})$

$ω_{e_slip} = (\frac{L_{m} \cdot i_{sq}^{r e f}}{τ_{r} \cdot λ_{rd}})$

$ω_{e} = ω_{r} + ω_{e_s l i p}$

$θ_{e} = \int ω_{e} \cdot d t = \int (ω_{r} + ω_{e_s l i p}) \cdot d t = θ_{r} + θ_{s l i p}$

If we keep the rotor flux as constant and the d-axis is aligned to the rotor flux reference frame, then we can imply:

$λ_{rd} = L_{m} i_{s d}$

This block implements the preceding calculations as:

$ω_{s l i p} = (\frac{1}{p}) (\frac{1}{τ_{r}}) (\frac{i_{s q}^{r e f}}{i_{s d}^{r e f}})$

For detailed set of equations and assumptions, see Mathematical Model of Induction Motor.

where:

$ω_{e_slip}$ is the electrical slip speed of the rotor (Radians/ sec).
$ω_{slip}$ is the mechanical slip speed of the rotor (Radians/ sec).
$ω_{e}$ is the electrical speed corresponding to frequency of stator voltages (Radians/ sec).
$ω_{m}$ is the rotor mechanical speed (Radians/ sec).
$ω_{r}$ is the rotor electrical speed (Radians/ sec).
$L_{m}$ is the magnetizing inductance of the motor (Henry).
$R_{r}$ is the rotor resistance referred to stator (Ohms).
$i_{s d}^{r e f}$ and $i_{s q}^{r e f}$ are the reference stator d- and q-axis currents (Amperes).
$τ_{r}$ is the rotor time constant (sec).
$λ_{r d}$ is the d-axis flux linkage of the rotor (Weber).

Examples

Field-Oriented Control of Induction Motor Using Speed Sensor

Implements the field-oriented control (FOC) technique to control the speed of a three-phase AC induction motor (ACIM). The FOC algorithm requires rotor speed feedback, which is obtained in this example by using a quadrature encoder sensor. For details about FOC, see Field-Oriented Control (FOC).

Open Model

Ports

Input

expand all

I_sd^ref — Reference d-axis stator current
scalar

Reference d-axis stator current.

Data Types: single | double | fixed point

I_sq^ref — Reference q-axis stator current
scalar

Reference q-axis stator current.

Data Types: single | double | fixed point

Output

expand all

⍵_m^slip — Slip speed of induction motor
scalar

Mechanical slip speed of the rotor that the block computes.

Data Types: single | double | fixed point

Parameters

expand all

Number of pole pairs — Number of pole pairs available in motor
`2` (default) | scalar

Number of pole pairs available in the induction motor.

Rotor resistance (Ohm) — Rotor resistance of motor
`1.05` (default) | scalar

Rotor resistance of the induction motor in Ohms.

Rotor leakage inductance (H) — Leakage inductance of rotor winding
`6.81e-3` (default) | scalar

Inductance due to leakage flux linked to the rotor winding (in Henry).

Magnetizing inductance (H) — Magnetizing inductance of induction motor
`30e-3` (default) | scalar

Inductance due to the magnetizing flux (in Henry).

Output saturation (rpm) — Saturation value for the block output
`150` (default) | scalar

Saturation value for the block output (in rpm).

Input units — Unit of input values
`Per-Unit (PU)` (default) | SI Units

Unit of the input values.

Base speed (rpm) — Base speed for per-unit system
`1500` (default) | scalar

Base speed (in rpm) for per-unit system.

Dependencies

To enable this parameter, set Input units to Per-Unit (PU).

Extended Capabilities

C/C++ Code Generation
Generate C and C++ code using Simulink® Coder™.

HDL Code Generation
Generate VHDL, Verilog and SystemVerilog code for FPGA and ASIC designs using HDL Coder™.

HDL Coder™ provides additional configuration options that affect HDL implementation and synthesized logic.

HDL Architecture

This block has one default HDL architecture.

HDL Block Properties


ConstrainedOutputPipeline	Number of registers to place at the outputs by moving existing delays within your design. Distributed pipelining does not redistribute these registers. The default is `0`. For more details, see ConstrainedOutputPipeline (HDL Coder).
InputPipeline	Number of input pipeline stages to insert in the generated code. Distributed pipelining and constrained output pipelining can move these registers. The default is `0`. For more details, see InputPipeline (HDL Coder).
OutputPipeline	Number of output pipeline stages to insert in the generated code. Distributed pipelining and constrained output pipelining can move these registers. The default is `0`. For more details, see OutputPipeline (HDL Coder).
SharingFactor	Number of functionally equivalent resources to map to a single shared resource. The default is 0. See also Resource Sharing (HDL Coder).

Fixed-Point Conversion
Design and simulate fixed-point systems using Fixed-Point Designer™.

Version History

Introduced in R2020b

ACIM Slip Speed Estimator

Description

Equations

Examples

Field-Oriented Control of Induction Motor Using Speed Sensor

Ports

Input

I_sd^ref — Reference d-axis stator current
scalar

I_sq^ref — Reference q-axis stator current
scalar

Output

⍵_m^slip — Slip speed of induction motor
scalar

Parameters

Number of pole pairs — Number of pole pairs available in motor
`2` (default) | scalar

Rotor resistance (Ohm) — Rotor resistance of motor
`1.05` (default) | scalar

Rotor leakage inductance (H) — Leakage inductance of rotor winding
`6.81e-3` (default) | scalar

Magnetizing inductance (H) — Magnetizing inductance of induction motor
`30e-3` (default) | scalar

Output saturation (rpm) — Saturation value for the block output
`150` (default) | scalar

Input units — Unit of input values
`Per-Unit (PU)` (default) | SI Units

Base speed (rpm) — Base speed for per-unit system
`1500` (default) | scalar

Dependencies

Extended Capabilities

C/C++ Code Generation
Generate C and C++ code using Simulink® Coder™.

HDL Code Generation
Generate VHDL, Verilog and SystemVerilog code for FPGA and ASIC designs using HDL Coder™.

Fixed-Point Conversion
Design and simulate fixed-point systems using Fixed-Point Designer™.

Version History

See Also

Topics

ACIM Slip Speed Estimator

Description

Equations

Examples

Field-Oriented Control of Induction Motor Using Speed Sensor

Ports

Input

Isdref — Reference d-axis stator current scalar

Isqref — Reference q-axis stator current scalar

Output

⍵mslip — Slip speed of induction motor scalar

Parameters

Number of pole pairs — Number of pole pairs available in motor 2 (default) | scalar

Rotor resistance (Ohm) — Rotor resistance of motor 1.05 (default) | scalar

Rotor leakage inductance (H) — Leakage inductance of rotor winding 6.81e-3 (default) | scalar

Magnetizing inductance (H) — Magnetizing inductance of induction motor 30e-3 (default) | scalar

Output saturation (rpm) — Saturation value for the block output 150 (default) | scalar

Input units — Unit of input values Per-Unit (PU) (default) | SI Units

Base speed (rpm) — Base speed for per-unit system 1500 (default) | scalar

Dependencies

Extended Capabilities

C/C++ Code Generation Generate C and C++ code using Simulink® Coder™.

HDL Code Generation Generate VHDL, Verilog and SystemVerilog code for FPGA and ASIC designs using HDL Coder™.

Fixed-Point Conversion Design and simulate fixed-point systems using Fixed-Point Designer™.

Version History

See Also

Topics

I_sd^ref — Reference d-axis stator current
scalar

I_sq^ref — Reference q-axis stator current
scalar

⍵_m^slip — Slip speed of induction motor
scalar

Number of pole pairs — Number of pole pairs available in motor
`2` (default) | scalar

Rotor resistance (Ohm) — Rotor resistance of motor
`1.05` (default) | scalar

Rotor leakage inductance (H) — Leakage inductance of rotor winding
`6.81e-3` (default) | scalar

Magnetizing inductance (H) — Magnetizing inductance of induction motor
`30e-3` (default) | scalar

Output saturation (rpm) — Saturation value for the block output
`150` (default) | scalar

Input units — Unit of input values
`Per-Unit (PU)` (default) | SI Units

Base speed (rpm) — Base speed for per-unit system
`1500` (default) | scalar

C/C++ Code Generation
Generate C and C++ code using Simulink® Coder™.

HDL Code Generation
Generate VHDL, Verilog and SystemVerilog code for FPGA and ASIC designs using HDL Coder™.

Fixed-Point Conversion
Design and simulate fixed-point systems using Fixed-Point Designer™.