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Vector Control of Permanent Magnet Synchronous Motor (PMSM) Controllers design step by step Author: Tshibain Tshibungu Simsmart Technologies Inc. Brossard, Quebec Canada
Voltage equations for Wye grounded through impedance motor under balanced conditions are given by: (1) (2) Fluxes linkages are given by: (4) (5) Where the peak of the flux induced in the stator windings by the permanent magnets
The developed torque motor is being given by: (6) The mechanical torque equation is given by: (7)
3 Where Equations (4)-(5) into (1), (2) and (6) gives: (8) (9) (10) For a constant torque angle control torque will be: , we have . Hence, the electromagnetic
(11) Where
Thus, the PI controllers that control both current axes (d and q) are calculated using the IMC (Internal Model Control) and are given as follows: For q axis
Switching frequency A feed forward compensation is done in order to calculate below). and (see diagram block
Poles placement method We assume that the closed loop transfer function of q axis current is faster (as for a hysteresis current control scheme), so (15) Hence, the closed loop transfer function is given as follows: (16) By placing poles at we have: and and it will be assumed that is the dominant pole,
Thus, we have:
Symmetrical optimum method Starting with equation (14) and knowing near crossover frequency, we have:
Hence, the closed loop transfer function is a third order model given as:
Hence, we have:
In order, to avoid a big overshoot the following filter should be placed after the speed reference:
Where
Where
Resonant frequency Maximum frequency output The damping resistance is selected as follows:
The quality factor should be in the range of Hence, for a desired , we have:
2. PROCESSES DATA
Example I A PMSM has the following parameters:
A DC source supplies the motor through an inverter. At t = 0 s the reference speed is set to 150 rad/s and reverse to -100 rad/s at t = 0.25 s. The maximum torque allows is 12 Nm. Simulate the motor drives using a voltage and current source drive PMSM. Repeat voltage source drives PMSM with an input LC filter. Example II A PMSM has the following parameters: ,
A DC source supplies the motor through an inverter. At t = 0 s the reference speed is set to 250 rad/s and reverse to -250 rad/s at t = 0.25 s. Simulate voltage source drives PMSM with an input LC filter. Example III A PMSM has the following parameters:
A DC source supplies the motor through an inverter. At t = 0 s the reference speed is set to 120 rad/s. Simulate voltage source drives PMSM with an input LC filter.
Thus,
Case 1: Voltages source Inverter (VSI) drives PMSM Current controller design
Selecting
10 Case 2: Currents Source (CSI) drives PMSM The hysteresis control will be used where Using the poles placement method at . So, only the speed controller is designed. and , we have:
Case 3: Voltages source Inverter drives PMSM with LC filter Assuming as the maximum frequency output by the inverter, which indirectly the maximum speed of the PMSM, the inductance is selected using the maximum voltage drop allowed
Where
Where
Resonant frequency Maximum frequency output So, selecting should be in the range of: and knowing that , the resonant frequency
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The quality factor should be in the range of Hence, for Current controller design
The capacitor and resistor of the filter can be ignored when designing the current controllers. Hence, we have:
Selecting
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Example II
Motor parameters , , ,
Thus,
Input LC filter design Assuming as the maximum frequency output by the inverter, which indirectly the maximum speed of the PMSM, the inductance is selected using the maximum voltage drop allowed
Where
Where
12
13 So, selecting should be in the range of: and knowing that , the resonant frequency
Hence, for Current controller design The capacitor and resistor of the filter can be ignored when designing the current controllers. Hence, we have:
Selecting
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Example III
Motor parameters The max torque is
, , Thus,
Input LC filter design Assuming as the maximum frequency output by the inverter, which indirectly the maximum speed of the PMSM, the inductance is selected using the maximum voltage drop allowed
Where
14
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Hence, for Current controller design The capacitor and resistor of the filter can be ignored when designing the current controllers. Hence, we have:
Selecting
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4. SIMULATION PARAMETERS
The simulation was run in time domain with sample time of
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5. PROCESSES REPRESENTATION IN ES V6
Case of VSI drives PMSM without LC filter
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Conclusion This document shows: How to design controllers for PMSM drives, How to design LC filter. NB: All these test cases where simulated also using others well known software.
NB In this document: VSI (Voltage-Sourced Inverter) is simply means Voltages Control Inverter (VCI), CSI (Current-Sourced Inverter) is simply means Currents Control Inverter (VCI).
7. REFERENCE BOOKS
1. Voltage-Sourced Converters in Power Systems. Modeling,Control, and Applications. A. Yazdani / R. Iravani. 2. Electric Motor Drives. Modeling, Analysis, and Control. R. Krishnan. 3. High Performance Control of AC Drives with Matlab/Simulink Models. H. Abu-Rub, A. Iqbal, J. Guzinski.
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