Simulation of a Vector-Controlled Permanent

Magnet Synchronous Motor Drive

By
Asish Kumar Mondal
Registration No. 210608010 of 2008-09
Roll No. 160806010
Under the Supervision of
Dr. Kaushik Mukherjee
Dr. Mainak Sengupta
A
Thesis
Submitted in partial fulllment
for the requirements for the degree of
Master of Engineering (Electrical Engineering)
Specialization: Power Electronics and Drives
Department of Electrical Engineering
Bengal Engineering and Science University,
Shibpur
Howrah - 711103
West Bengal, India
May 2011
Dedicated to my parents
i
BENGAL ENGINEERING AND SCIENCE UNIVERSITY
HOWRAH-711103
FOREWORD
We hereby forward the thesis entitled Simulation of a Vector-Controlled
Permanent Magnet Synchronous Motor Drive submitted by Asish Kumar
Mondal (Registration No. 210608010 of 2008-2009) as a bona-de record of the
project work carried out by him under our supervision, in partial fulllment of the
requirements for the award of the degree of Master of Engineering in Electrical
Engineering (Specialization: Power Electronics and Drives) from this University.
Dr. Kaushik Mukherjee Dr. Mainak Sengupta
(Supervisor) (Supervisor)
Dept.of Electrical Engineering Dept.of Electrical Engineering
Bengal Engineering and Science University Bengal Engineering and Science University
Howrah-711103 Howrah-711103
Forwarded by:
Dr. Sukumar Chandra Konar Dr. Amit K. Das
(Prof. and Head) (Prof. and Dean, FE & T)
Dept.of Electrical Engineering Bengal Engineering and Science University
Bengal Engineering and Science University Howrah-711103
Howrah-711103
ii
BENGAL ENGINEERING AND SCIENCE UNIVERSITY
HOWRAH-711103
CERTIFICATE OF APPROVAL
We hereby approve the thesis entitled Simulation of a Vector-
Controlled Permanent Magnet Synchronous Motor Drive submitted by
Asish Kumar Mondal (Registration No. 210608010 of 2008-2009) as a bona-
de record of the project work carried out by him under the supervision of Dr.
Kaushik Mukherjee and Dr. Mainak Sengupta in partial fulllment of the
requirements for the degree of Master of Engineering in Electrical Engineering
(Specialization: Power Electronics and Drives) from this University.
BOARD OF EXAMINERS

iii
BENGAL ENGINEERING AND SCIENCE UNIVERSITY
HOWRAH-711103
ACKNOWLEDGEMENTS
I must take this opportunity to place on record my deep sense of respect
and gratitude to Dr. Kaushik Mukherjee and Dr. Mainak Sengupta, who have in-
troduced me in the present area of work and guided me in this work. I also wish to
thank Prof. Debjani Ganguly and Dr. Prasid Syam for helping me with dierent
suggestions.I am also thankful to Dr. Sukumar Chandra Konar, Prof. and Head,
Dept. of EE, BESU, Shibpur, for providing the necessary support and infrastruc-
ture. I am also indebted to Mr. Molay Roy, Dinesh Paswan, Chandrasekher Roy,
Dipankar Debnath, Rakesh Roy, and also Mr. Avijit Ghose for helping me a lot
in continuing the work. Last but not the least, I am grateful to the Almighty for
presenting me one of the best parents in this world.
(Asish Kumar Mondal)
Reg. No. 210608010
Roll No. 160806010
Bengal Engineering and Science University
Date:
iv
Abstract
This project is primarily aimed at developing a fully-operational laboratory pro-
totype of a VSI-fed vector-controlled PMSM drive built around an indigenously
developed motor 1kW, 48 V DC, 4-pole, 2000 rpm PMSM. A model of the motor
fed through a sinusoidal pulse width modulated (SPWM) inverter system operat-
ing with rotor position information, is rst developed. A vector control scheme
utilizing feedforward compensation technique is next proposed. The entire system
is next simulated oine in the MATLAB-SIMULINK software environment. The
steady state and dynamic performance results have been presented. Finally, the
system is partially simulated in real time on a Field Programmable Gates Array
(FPGA) based platform built around an Altera Cyclone EP1C12Q240C8 device
with Alteras Quartus II software. Oscilloscopic records of the real-time simulated
system have been obtained also.
v
Contents
1 Introduction 1
1.1 General discussions . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
1.1.1 PMSM and brush-less versus brushed DC motors . . . . . . 2
1.2 Permanent Magnet Synchronous Motor Drives . . . . . . . . . . . 3
1.2.1 Permanent Magnet Synchronous Motor . . . . . . . . . . . 3
1.2.2 Inverter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
1.2.3 Position Sensor . . . . . . . . . . . . . . . . . . . . . . . . . 5
1.2.4 Control unit . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
1.3 Motivation for the Present Work . . . . . . . . . . . . . . . . . . . 6
1.4 Relevance and signicance of the project undertaken . . . . . . . . 7
1.5 Organization of the thesis . . . . . . . . . . . . . . . . . . . . . . . 7
2 Mathematical models and theory of vector control of Permanent
Magnet Synchronous Machines 8
2.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
2.2 Mathematical Model of a PMSM . . . . . . . . . . . . . . . . . . . 8
2.3 Mathematical model of three phase inverter . . . . . . . . . . . . . 12
2.4 SPWM in three phase inverter . . . . . . . . . . . . . . . . . . . . 14
2.5 Theory of Vector-Controlled PMSM . . . . . . . . . . . . . . . . . 16
2.6 Feed-forward compensation for achieving Vector-Control . . . . . 17
3 Design of controllers and O-line Simulation of a Vector-Controlled
PMSM Drive 20
3.0.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . 20
3.1 Design of controllers . . . . . . . . . . . . . . . . . . . . . . . . . . 21
3.2 Simulation of the developed vector control strategy . . . . . . . . . 23
3.3 Simulation in MATLAB-SIMULINK platform and results . . . . . 24
4 Online or Real Time Simulation of a vector controlled PMSM
drive 33
4.1 Real time simulation . . . . . . . . . . . . . . . . . . . . . . . . . . 33
4.2 Integration Methods . . . . . . . . . . . . . . . . . . . . . . . . . . 35
vi
4.2.1 Backwards Eulers Method . . . . . . . . . . . . . . . . . . 35
4.3 Simulation of a series R-L-C Circuit . . . . . . . . . . . . . . . . . 36
4.3.1 FPGA design les . . . . . . . . . . . . . . . . . . . . . . . 38
4.3.2 Results . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
4.4 Simulation of a vector controlled PMSM drive in FPGA platform . 41
4.5 Developments of a Model of the PMSM in FPGA . . . . . . . . . . 41
4.5.1 Normalized Equations . . . . . . . . . . . . . . . . . . . . . 41
4.5.2 Testing of the PMSM Block . . . . . . . . . . . . . . . . . . 42
4.6 Three-Phase Sine-PWM Inverter . . . . . . . . . . . . . . . . . . . 43
4.6.1 Implementation of Three-Phase Sine-PWM Inverter in FPGA 43
4.6.2 Carrier Generation . . . . . . . . . . . . . . . . . . . . . . . 43
4.6.3 Generation of Phase and Line voltage waveforms . . . . . . 44
4.7 Design of two phase to three phase Transformation in FPGA . . . 48
4.7.1 Testing of two phase to three phase Transformation Block . 48
4.7.2 Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
4.8 Design of three phase to two phase Transformation in FPGA plat-
form . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
4.8.1 Testing of three phase to two phase transformation block . 50
4.8.2 Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
4.9 PI controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
5 Conclusions and Scope for future work 55
5.1 General Conclusions . . . . . . . . . . . . . . . . . . . . . . . . . . 55
5.2 Future work . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
appendices 56
A 57
A.1 Parameters and specications of the PMSM under study . 57
B 58
B.1 Block diagram and specications of the FPGA kit . . . . . 58
vii
List of Figures
1.1 Permanent Magnet Synchronous Motor Drives . . . . . . . . . . . 3
1.2 Permanent Magnet Synchronous Motor . . . . . . . . . . . . . . . 4
1.3 Three phase inverter . . . . . . . . . . . . . . . . . . . . . . . . . . 5
2.1 PMSM model block in D-Q reference frame, denoting input and
output variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
2.2 Cross sectional view showing 3 phase winding in stator and perma-
nent magnet in rotor and the rotor reference frame. . . . . . . . . . 10
2.3 D-axis equivalent circuit of the PMSM . . . . . . . . . . . . . . . 11
2.4 Q-axis equivalent circuit of the PMSM . . . . . . . . . . . . . . . 12
2.5 Mathematical model of the 3 phase 2 level voltage source inverter. 12
2.6 Three-Phase two level Sine-PWM Inverter with three phase load. 13
2.7 SPWM strategy in of a 3 phase, 2 level VSI . . . . . . . . . . . . . 15
2.8 Three-Phase two level Sine-PWM Inverter logic and phase and line
voltage waveform. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
2.9 D-axis system representation of the PMSM considering feedforward
compensation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
2.10 Q-axis system representation of the PMSM considering feedforward
compensation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
3.1 D-axis current control loop (system) to achieve vector control of
PMSM. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
3.2 Control system of the Fig3.1in simplied pole-zero form. . . . . . . 21
3.3 Control system of the Fig3.1 after pole-zero cancelation. . . . . . . 22
3.4 Model of the Vector-Controlled PMSM drive. . . . . . . . . . . . . 22
3.5 Q-axis current control loop (system) to achieve vector control of
PMSM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
3.6 Simulated i
r
ds
response with time, as i
r
ds
(reference value of D-axis
armature current) for the Vector-Controlled PMSM drive is kept
at zero all throughout but step increment in i
r
qs
are given, rst at
starting and then at 7 seconds, on load. Load setting are: T
L
= 0
and f = 0.0606Nm-sec/radian.(value corresponding to about rated
torque at rated speed.) . . . . . . . . . . . . . . . . . . . . . . . . 26
viii
3.7 Simulated i
r
qs
response with time, for the Vector-Controlled PMSM
drive, with i
r
ds
is kept at zero all throughout but step increment of
1Amps. in i
r
qs
is given, rst at starting and then again a further in-
crement of 1 Amps. (nally to 2 Amps.) is introduced at 7 seconds,
on load. Load setting are same as mentioned in Fig.3.6 . . . . . . . 27
3.8 Same i
r
ds
(top) and i
r
qs
(bottom) response as given in Fig.3.6 and
Fig.3.7 with time scale expanded in and around 7 seconds (instant
at which i
r
qs
is given a step increment to 2Amps. nally from 1Amps.) 28
3.9 Simulated T
e
(instantaneous electromagnetic torque) response with
time for the Vector-Controlled PMSM drive, with operating condi-
tions remaining same as mentioned in Fig. 3.6 . . . . . . . . . . . 29
3.10 Same T
e
waveform with time as that of Fig.3.9, but with time scale
expanded in and around 7 seconds (instant at which i
r
qs
is given a
step increment to 2Amps. nally from 1Amps.) . . . . . . . . . . . 30
3.11 Simulated
r
(electrical Speed in rad/sec) response with time for the
Vector-Controlled PMSM drive for operating conditions as detailed
under the caption of Fig.3.6 . . . . . . . . . . . . . . . . . . . . . 31
3.12 Simulated phase current waveforms of the PMSMs armature (i
a
,
i
b
, i
c
) during steady state. . . . . . . . . . . . . . . . . . . . . . . 32
4.1 Triggering Timing . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
4.2 Block Diagram of Backwards Eulers Method . . . . . . . . . . . . 35
4.3 Series RLC Circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
4.4 FPGA design le of a series RLC circuit . . . . . . . . . . . . . . 38
4.5 Transient waveforms of circuit current and input applied voltage for
V
g
= 100V , R = 10, L = 20mH and C is forced to a value very
very high, i.e. representing a series R-L circuit case. . . . . . . . . 39
4.6 Transient waveforms of the real-time simulated capacitor voltage
and input applied voltage for V
g
= 100V , R = 10, L = 20mH,
C = 4uF in a series R-L-C circuit. . . . . . . . . . . . . . . . . . . 40
4.7 Transient waveform of i
q
in matlab simulink with no load and v
d
=20V
v
q
=150V. Peak value of the waveform is 18 Amps or 1.8 pu . . . . 43
4.8 Simulated transient waveform of i
q
in FPGA with no load and 0.04pe-
runit v
d
and 0.3perunit v
q
Peak value of the waveform is 1.8 pu(5
volt is one pu) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
4.9 Transient waveform of i
d
in matlab simulink with no load and v
d
=20V
and v
q
=150V. Peak value of the waveform is 9 Amps or 0.9 pu and
steady state value is 0.43pu . . . . . . . . . . . . . . . . . . . . . . 45
4.10 Simulated transient waveform of i
d
in FPGA with no load and 0.04pe-
runit v
d
and 0.3perunit v
q
. Peak value of the waveform is 0.9 pu (5
volt is one pu) and steady state value is 0.43pu . . . . . . . . . . . 46
4.11 Transient waveform of electrical speed(in rad/sec ) in matlab simulink
with no load and v
d
=20V and v
q
=150V . . . . . . . . . . . . . . . 47
ix
4.12 Simulated transient waveform of electrical speed(in rad/sec )in FPGA
with no load and 0.04 per unit v
d
and 0.3 per unit v
q
. . . . . . . . 48
4.13 Block diagram of carrier generation . . . . . . . . . . . . . . . . . 49
4.14 Triangle Carrier . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
4.15 A phase voltage of a sine PWM inverter with 50Hz reference signal
and 1pu dc link voltage. . . . . . . . . . . . . . . . . . . . . . . . . 50
4.16 Gate pulse for the switching device T
1
. . . . . . . . . . . . . . . . . 51
4.17 FFT analysis of the signal in Fig 4.16. in Tektronix oscilloscope(TDS-
1001). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
4.18 Output of the two phase to three phase transformation block. A
phase in channel 1 and B phase in channel 2 . . . . . . . . . . . . 53
4.19 Output result of the three phase to two phase transformation block.
It is connected with a two phase to three phase transformation
block. In put of the two phase to three phase transformation block
v
(
d)=2.5v and v
(
q)=2.5v. . . . . . . . . . . . . . . . . . . . . . . . 54
B.1 Block diagram of the FPGA kit. . . . . . . . . . . . . . . . . . . . 58
x
Chapter 1
Introduction
1.1 General discussions
The availability of high energy density permanent magnets (PM) has ushered
in the era of high-performance drives using PM motors. The drawbacks of the
commutator-brush assembly of the conventional DC motors has narrowed down
the option to the use of Permanent Magnet Synchronous Motors (PMSM) and
Brushless DC motors (BLDC).
BLDC motors and PMSM can potentially be deployed in any area currently ful-
lled by brushed DC motors. Cost and control complexity prevent PMSM and
BLDC motors from replacing brushed motors in most common areas of use. Nev-
ertheless, BLDC motors have come to dominate many applications: Consumer
devices such as computer hard drives, CD/DVD players, and PC cooling fans use
BLDC motors exclusively. Low speed, low power brushless DC motors are used
in direct-drive turntables for analog audio records to name a few applications.
Application of high power BLDC motors are found in electric vehicles, hybrid
vehicles and some industrial machinery. The Segway Scooter, a two-wheeled, self-
balancing electric vehicle, is an example. An established commercial product in
the form of the Vectrix Maxi-Scooter also uses BLDC technology. A number of
electric bicycles use BLDC motors that are sometimes built right into the wheel
hub itself. As elsewhere, researchers in the Department of Electrical Engineering,
BESU, Shibpur, also initiated eorts towards developing prototypes of PMSM
and BLDC drive started around the year 2004. A complete set-up is in operation
around a motor that was also fully designed and fabricated in the laboratory. The
present project is a part of a journey forward.
1
1.1.1 PMSM and brush-less versus brushed DC mo-
tors
Brushed DC motors have been in commercial use since 1886. BLDC motors,
however have only been commercially possible since 1962. Limitations of brushed
DC motors overcome by BLDC motors include lower eciency and susceptibility of
the commutator assembly to mechanical wear and consequent need for servicing,
at the cost of potentially less rugged and more complex and expensive control
electronics [1].
In the BLDC motor, the electromagnets do not move; instead, the permanent
magnets rotate and the armature remains static. This gets around the prob-
lem of how to transfer current to a moving armature. In order to do this, the
brush-system/commutator assembly is replaced by an electronic controller. The
controller performs the same timed power distribution found in a brushed DC
motor, but using a solid-state circuit rather than a commutator/brush system [1].
Because of induction of the windings, power requirements, and temperature
management, some interface circuitry is necessary between digital controller and
motor. The multiple transitions between high and low voltage levels are crude ap-
proximations to a trapezoid or (ideally) a sinusoid; they reduce harmonic content
[1]. BLDC motors oer several advantages over brushed DC motors, including
higher eciency and reliability, reduced noise, longer lifetime (no brush and com-
mutator erosion), elimination of ionizing sparks from the commutator, more power,
and overall reduction of electromagnetic interference (EMI) [1]. With no windings
on the rotor, they are not subjected to centrifugal forces, and because the wind-
ings are supported by the housing, they can be cooled by conduction, requiring no
airow inside the motor for cooling. This in turn means that the motors internals
can be entirely enclosed and protected from dirt or other foreign matter.
The maximum power that can be applied to a PMSM motor is exception-
ally high, limited almost exclusively by heat, which can weaken the magnets
(Neodymium-iron-boron magnets typically have Curie Temperatures of 310
0
C).
A PMSM motors main disadvantage is higher cost, which arises from two issues.
First, PMSM motors require complex electronic speed controllers to run. Brushed
DC motors can be regulated by a comparatively simple controller, such as a rheo-
stat (variable resistor). However, this reduces eciency because power is wasted
in the rheostat. Second, some practical uses have not been well developed in the
commercial sector. For example, in the Radio Control (RC) hobby, even commer-
cial brushless motors are often hand-wound while brushed motors use armature
coils which can be inexpensively machine-wound [1].
PMSM motors are often more ecient at converting electricity into mechanical
power than brushed DC motors. This improvement is largely due to the absence
of electrical and friction losses due to brushes. The enhanced eciency is greatest
in the no-load and low-load region of the motors performance curve. Under high
mechanical loads, PMSM motors and high-quality brushed motors are comparable
2
in eciency.
Vector drives are DC controllers that take the extra step of converting back
to AC for the motor; they are sophisticated inverters. The DC-to-AC conversion
circuitry is usually expensive and less ecient, but these have the advantage of
being able to run smoothly at very low speeds or completely stop (and provide
torque) in a position not directly aligned with a pole. Motors used with a vector
drive are typically called AC motors. When running at low speeds and under load,
they dont cool themselves signicantly; temperature rise has to be allowed for.
A motor can be optimized for AC (i.e. vector control) or it can be optimized for
DC (i.e. block commutation). A motor which is optimized for block commutation
will typically generate trapezoidal EMF. One can easily observe the shape of the
EMF by connecting the motor wires (at least two of them) to a scope and then
hand-cranking/spinning the shaft.
1.2 Permanent Magnet Synchronous Motor
Drives
Permanent Magnet Synchronous Motor Drives consists of four main components,
the Permanent Magnet (PM) motor, inverter, control unit and the position sensor.
Figure 1.1: Permanent Magnet Synchronous Motor Drives
1.2.1 Permanent Magnet Synchronous Motor
A permanent magnet synchronous motor (PMSM) is a motor that uses permanent
magnets to produce the air gap magnetic eld rather than using electromagnets.
3
These motors have signicant advantages, attracting the interest of researchers
and industry for use in many applications.
Figure 1.2: Permanent Magnet Synchronous Motor
1.2.2 Inverter
Voltage Source Inverters are power electronics converters where the average power
ows from the DC voltage side to AC voltage side with variable frequency and
magnitude. They are very commonly used in adjustable speed drives and are char-
acterized by a well dened switched voltage waveform in the terminals. The AC
voltage frequency can be variable or constant depending on the application. Three
4
Figure 1.3: Three phase inverter
phase inverters consist of six power switches connected to a DC voltage source.
The inverter switches must be carefully selected based on the requirements of op-
eration, ratings and the application. There are several devices available today and
these are thyristors, bipolar junction transistors (BJTs), Metal Oxide Semicon-
ductor Field Fect Transistors (MOSFETs), Insulated Gate Bipolar Transistors
(IGBTs), Gate Turn O Thyristors (GTOs) and Integrated Gate Commutated
Thyristors (IGCT). MOSFETs and IGBTs are preferred by industry because of
the MOS gating permits high power gain and control advantages. While MOSFET
is considered a universal power device for low power and low voltage applications,
IGBT has wide acceptance for motor drives and other application in the low and
medium voltage and power ranges. The power devices when used in motor drives
applications require an inductive current path provided by antiparallel (freewheel-
ing) diodes when the switch is turned o. Inverters with antiparallel diodes are
shown in g. 1.3.
1.2.3 Position Sensor
Operation of permanent magnet synchronous motors requires position sensors in
the rotor shaft when operated without damper winding. The need of knowing
the rotor position requires the development of devices for position measurement.
There are four main devices for the measurement of position, the potentiometer,
linear variable dierential transformer, optical encoder and resolvers. The ones
most commonly used for motors are encoders and revolvers. Depending on the ap-
plication and performance desired by the motor a position sensor with the required
accuracy can be selected.
5
Optical Encoders
The most popular type of encoder is the optical encoder, which consists of a rotat-
ing disk, a light source, and a photo detector (light sensor). The disk, is mounted
on the rotating shaft, has coded patterns of opaque and transparent sectors. As
the disk rotates, these patterns interrupt the light emitted onto the photo detector,
generating a digital pulse or output signal. Optical encoders oer the advantages
of digital interface. There are two types of optical encoders, incremental encoder
and absolute encoder.
Incremental encoders
Incremental encoders have good precision and are simple to implement but they
suer from lack of information when the motor is at rest position and in order
for precise position the motor most be stop at the starting point. The most
common type of incremental encoder uses two output channels (A and B) to sense
position. Using two code tracks with sectors positioned 90
0
degrees out of phase,
the two output channels of the quadrature encoder indicate both position and
direction of rotation. If A leads B, for example, the disk is rotating in a clockwise
direction. If B leads A, then the disk is rotating in a counter-clockwise direction.
It can be noted that for vector control with sinusoidal pulse width modulated
(SPWM) inverter or Spcae Vector Pulse Width Modulated (SVPWM) inverter,
rotor position information at very high resolutions and with great accuracy is a
must. This is often achieved by incremental encoders.
1.2.4 Control unit
The controller is the heart of the drives system. In modern days micro-controllers,
microprocessors, digital signal processors (DSP) and FPGA based processors are
used to provide the intelligence of the drive system. Control unit senses the present
state of the system and take the necessary action according to the control require-
ment.
1.3 Motivation for the Present Work
The present work is a continuation of eorts to develop high-performance PMSM
and BLDC drives in the Department of Electrical Engineering of this University.
It may be mentioned here that the prototype motor used in this work has been
fully designed and fabricated here as a part of a previous postgraduate work.
The motor thus developed was later on used in another subsequent post-graduate
work to successfully develop a PMSM drive system. However, in that work the
inverter was run in the 120
O
conduction mode with inverter switching obviously
controlled through rotor-position feedback. The next target set was to develop a
6
high-performance PMSM drive with vector control. Of course, the inverter then
has to operate with an appropriate PWM logic. Also, voltage and current sensing
and feedback need to be implemented. The rst step towards development of
such a drive may be to verify its projected performance through both o-line and
realtime simulation. Hence this project.
1.4 Relevance and signicance of the project
undertaken
As outlined in the abstract, the vector control scheme presented in this thesis,
rests on a feed-forward compensation technique. It will be seen later that the
results thus obtained are extremely encouraging and remove certain short-comings
of the scheme presented in the previous work. This can be looked upon as a
contribution of this thesis. It is conjectured that when this scheme will be tried
on the practical set-up accurate results will be obtained having both very good
steady-state performance and excellent dynamic response.
1.5 Organization of the thesis
The thesis is organized in ve chapters.
After the present introductory chapter, Chapter 2 deals with the modelling
of the PMSM drive system consisting of a model of the machine in Parks D-Q
reference frame [4] and model of the inverter operating with sinusoidal PWM logic.
Finally a brief theory of vector-control vis-a-vis the PMSM drive is presented.
Chapter 3 deals with o-line simulation of the PMSM drive system in MAT-
LAB Simulink software. The design of the PI-controllers is also presented.
Chapter 4 presents modelling of the PMSM drive in discrete domain leading
to a real time simulation of the same drive system. This exercise in done on an
FPGA platform built around an Altera Cyclone EPIC12Q device and Quartus II
software.
Chapter 5 presents general concluding comments on the present work done.
It also discusses the scope for future work in the related eld.
7
Chapter 2
Mathematical models and
theory of vector control of
Permanent Magnet
Synchronous Machines
2.1 Introduction
The Permanent Magnet Synchronous Machine (PMSM) is 3 phase synchronous
machine with a balanced 3 phase distributed winding in the stator and a permanent
magnet in the rotor [2]. As no electrical power is to be fed into the rotor (for
absence of winding in rotor), no slipring-brushes are required. This improves the
ruggedness of the machine and all problem related to presence of slip-ring-brush
assembly are therefore absent in this machine. For this reason, sometimes, in some
literatures, PMSMs are also described as Brushless DC (BLDC) machine. The
construction of a BLDC machine is also similar to that of a PMSM with the only
exception in the design that a BLDC machine exhibits a near-trapezoidal induced
EMF distribution with time, whereas, a PMSM exhibits a near-sinusoidal induced
EMF distribution [3]. Mathematical model for electromechanical analysis of a
PMSM can be formulated in the standard a-b-c frame [4] or in the Parks D-Q
rotor reference frame [4]. In the present model, the Parks D-Q rotor reference
frame has been used and is hence described next.
2.2 Mathematical Model of a PMSM
The stator of the PMSM and the wound rotor synchronous motor (SM) with ar-
mature in stator are similar. In addition there is no dierence between the back
emf produced by a permanent magnet in a PMSM and that produced by an ex-
8
cited coil in a SM. Hence the mathematical model of a PMSM is similar to that of
the wound rotor SM. The rotor frame of reference is chosen because the PMSM 3
phase armature winding is fed from a 3 phase voltage source inverter (VSI), which
is switched in synchronism with the rotor position information of the PMSM.
Hence the frequency of the voltage or current in the PMSM armature winding at
all instants is same as the electrical speed of the machine; electrical speed being
related to mechanical speed through the no. of poles of the machine. Making a
synchronous machine run in this way is the self-synchronous mode of operation,
which was initially proposed by Sato et al [5]. The following assumptions are made
which deriving the D-Q model of the PMSM in rotor reference frame :
1. Saturation is neglected.
2. The back emf is sinusoidal.
3. Eddy currents and hysteresis losses are negligible.
The mathematical model is presented as a block in Fig. 2.1, where the three
Figure 2.1: PMSM model block in D-Q reference frame, denoting input and
output variables
armature phase voltages (machine assumed to be star connected), load torque pa-
rameters are input variables to the motor; and the armature current, electromag-
netic torque, electrical speed, mechanical speed and rotor position are considered
output variables. The rotor position is fed back as an input variable to the motor
model. With the assumptions, the important equations of the PMSM in the rotor
reference frame are [4]:
v
r
qs
= (R
s
+ pL
q
)i
r
qs
+
r
L
d
i
r
ds
+
r

0
(2.1)
v
r
ds
= (R
s
+ pL
d
)i
r
ds

r
L
q
i
r
qs
(2.2)
T
e
= (
3
2
)(
P
2
)[
0
i
r
qs
+ (L
d
L
q
)i
r
qs
i
r
ds
] (2.3)
T
e
= J(
2
P
)
d
dt

r
+ f(
2
P
)
r
+ T
L
(2.4)
9
Figure 2.2: Cross sectional view showing 3 phase winding in stator and
permanent magnet in rotor and the rotor reference frame.

r
=

t
0

r
(t)dt (2.5)
Where,
v
r
qs
is the Q-axis armature voltage of the motor in rotor reference frame.
v
r
ds
is the D-axis armature voltage of the motor in rotor reference frame.
R
s
is the stator resistance and L
d
, L
q
are the D-axis and Q-axis synchronous in-
ductances respectively.
i
r
qs
is the Q-axis armature current of the motor in rotor reference frame.
i
r
ds
is the D-axis armature current of the motor in rotor reference frame.

r
is the electrical speed of the motor in radian per second.
T
e
is instantaneous electromagnetic torque of the motor.

0
is the peak value of per phase ux linkage of the permanent magnet rotor,
referred to stator, in rotor reference frame.
J is the moment of inertia of the motor with load.
f is the viscous damping coecient of the motor. and P is number of poles.

r
, the instantaneous rotor position, has been described in Fig. 2.2
v
r
ds
, v
r
qs
are obtained from the three armature phase voltages (v
an
,v
bn
and v
cn
)
10
through the Parks transformation dened below:

v
r
qs
v
r
ds
v
0

=
2
3

cos(
r
) cos(
r
120
0
cos(
r
+ 120
0
sin(
r
) sin(
r
120
0
) sin(
r
+ 120
0
)
1
2
1
2
1
2

v
an
v
bn
v
cn

(2.6)
abc variables are obtained from dq variables through inverse Park transform dened
below:

v
an
v
bn
v
cn

cos(
r
) sin
r
cos(
r
120
0
) sin(
r
120
0
)
cos(
r
+ 120
0
) sin(
r
+ 120
0
)

v
r
qs
v
r
ds

(2.7)
The same Parks transformation matrix and its inverse are not only applicable
to relate the three phase armature voltages and the corresponding D-Q voltages,
but they are also applicable for the corresponding currents and ux linkages.
The total input power to the machine in terms of abc variables is
Power = v
an
i
a
+ v
bn
i
b
+v
cn
i
c
(i
a
, i
b
, i
c
are the PMSM armature phase currents
and output power in motoring mode, motoring torque are assumed positive)
while, in terms of d, q variables
Power = 3(v
r
ds
i
r
ds
+ v
r
qs
i
r
qs
)/2
The zero sequence variables are not considered as armature of motor is assumed
star connected and balanced operation would occur. With the help of equations
2.1, 2.2 and the laid-down assumptions, d-axis and q-axis equivalent circuits of
PMSM can be developed which are shown in Fig.s 2.3 and 2.3.
Figure 2.3: D-axis equivalent circuit of the PMSM
11
Figure 2.4: Q-axis equivalent circuit of the PMSM
2.3 Mathematical model of three phase in-
verter
In application such as uninterruptible ac power supplies and ac motor drives,
three-phase inverters are commonly used to supply three phase load. The PMSM
armature winding is to be supplied from a 3 phase VSI whose power electronics
devices (switches) would be switched according to the rotor position information
for achieving Vector-Control. The power circuit of a typical 3 phase, 2 level VSI
Figure 2.5: Mathematical model of the 3 phase 2 level voltage source inverter.
catering to a 3 phase armature winding of a 3 phase AC motor is shown in Fig.2.6.
The inverter devices marked as T
1
, T
2
, T
3
, T
4
, T
5
, T
6
are to be switched to achieve
Vector-Control as per a Sinusoidal Pulse Width Modulation (SPWM) strategy.
For such a strategy, at any point of time, in Fig.2.6, either two top devices and
one bottom devices (not belonging to the same leg) are gated on or, two bottom
devices and one top devices (not belonging to the same leg) are gated on. No two
devices of one leg of the inverter should be gated on at the same time as this would
12
short circuit the DC bus voltage V
dc
. To derive the mathematical model of such an
inverter, three Boolean variables S
a
, S
b
and S
c
are conceived here; each denoting
the state of conducting device (switch) of a particular leg (i.e. a or b or c accord-
ingly). The Boolean variable S
a
can assume a value of either 0 or 1. The state
S
a
=0 will mean that bottom device (T
4
) for inverter leg a would be conducting,
and, S
a
=1 will mean that top device (T
1
) for the same leg a would be conduct-
ing. Same logic holds good for the Boolean variables S
b
, and S
c
denoting the
switching states of inverter legs b and c respectively. The mathematical model
of the 3 phase, 2 level VSI, as shown in Fig2.5 as a block, should have the DC link
voltage (V
dc
), the 3 switching functions (Boolean variables) S
a
, S
b
and S
c
as input
variables and should have the 3 phase voltages v
an
, v
bn
and v
cn
as output variables.
The output variables of the inverter will form as the input phase voltages to be
fed to the PMSM armature winding (Star connected). From Fig.2.6, the 3 phase
Figure 2.6: Three-Phase two level Sine-PWM Inverter with three phase load.
13
voltages v
ao
, v
bo
and v
co
may be represented in terms of the switching functions as:
v
ao
= V
dc
S
a
v
bo
= V
dc
S
b
v
co
= V
dc
S
c
(2.8)
where, v
ao
is the voltage of point a with respect to -ve DC link bus. Sim-
ilar nomenclature is also applicable for other two phases. The 3 phase voltage
impressed on the star connected armature winding of PMSM (these are output
voltage of the inverter) can be represent as Now,
v
an
= v
ao
v
no
v
bn
= v
bo
v
no
v
cn
= v
co
v
no
(2.9)
Where v
no
= The voltage of the neutral point n with respect to the point o of
the DC bus. v
an
+ v
bn
+ v
cn
= v
ao
+ v
bo
+ v
co
3v
no
assuming that the machine
being balanced, v
an
+ v
bn
+ v
cn
= 0
so v
no
=
v
ao
+v
bo
+v
co
3
Hence inverter phase voltages can be expressed as:
v
an
= v
ao

v
ao
+ v
bo
+ v
co
3
=
2v
ao
v
bo
v
co
3
=
2S
a
(S
b
+ S
c
)
3
(2.10)
similarly
v
bn
=
2S
b
(S
c
+ S
a
)
3
(2.11)
and
v
cn
=
2S
c
(S
a
+ S
b
)
3
(2.12)
The above equation form the mathematical model of the 3 phase SPWM VSI,
which will be utilized later.
2.4 SPWM in three phase inverter
In Sinusoidal Pulse Width Modulation (SPWM) technique a sinusoidal control
signal at the desired frequency is compared with a triangular wave form. The
frequency of the triangular waveform decides the inverter switching frequency and
it is generally kept constant along with its amplitude. The objective of pulse
14
Figure 2.7: SPWM strategy in of a 3 phase, 2 level VSI
width modulation is to control the out put voltages in magnitude and frequency
with a constant input dc link voltage. To obtain balanced three phase output
voltages from a three phase PWM inverter, the same triangular voltage waveform
is compared with the three sinusoidal reference voltages (i.e. 120
0
out of phase),
as shown in the Fig.s 2.7 and 2.8.
15
Figure 2.8: Three-Phase two level Sine-PWM Inverter logic and phase and
line voltage waveform.
In the same gures, v
tri
is the triangular waveform and v
control,a
, v
control,b
and
v
control,c
are three reference sinusoids (each 120
0
out of phase). There are three
comparators, one for each phase. In a comparator of a particular phase, the cor-
responding phase reference sinusoid and the triangular wave are compared. Each
comparator output is taken and also complimented and ultimately these outputs
form as switching signals of the respective power electronics devices (switches) of
the inverter. Due to such a switching strategy, the representative pole voltages
(v
ao
, v
bo
) of legs a and b and the resultant line voltage v
ab
are shown in Fig.2.8.
2.5 Theory of Vector-Controlled PMSM
An separately excited DC motors, ux and armature current can independently
controlled by controlling separate controlled voltage source in the two separate
circuit. The electromagnetic torque in such motors can be written as, T
e
= K
t
i
a
.
There is an inherent decoupling in the operating mechanism of a conventional
compensated DC motor because the armature MMF are orthogonal in space [7].
16
Once rated ux is established in the separately excited DC motor by setting the
eld current, a sudden change caused in armature current causes the electromag-
netic torque to change extremely fast. Such fast dynamic torque response is not
possible in any AC motors with conventional low-cost controllers. Vector-Control
also synonymous with eld oriented control, when applied to PMSMs will result
in similar fast dynamic torque response, optimum torque at steady state and less
torque ripple. However cost increased to develop the controller is more as strategy
is not simple.
If i
r
ds
in a PMSM is controlled to remain zero at each instant, then, from equation2.3,
we nd
T
e
=
3
2
P
2

0
i
r
qs
(2.13)
Because
0
is constant, depending on the design of permanent magnet in a partic-
ular PMSM, the developed torque varies directly with i
r
qs
. Equation2.13 resembles
the torque equation of a conventional DC motor (with permanent magnet eld)
and i
r
qs
can be imagined to be similar to the armature current of a conventional
DC motor. The faster i
r
qs
can be changed, the faster T
e
changes. In practical
PMSMs, i
r
qs
can be changed very fast and hence developed torque can be changed
very fast, just as in a conventional DC motor.
As evident from equation 2.1, a dynamics in i
r
qs
is not only dictated by changing
i
r
qs
but also by i
r
ds
. Similarly, equation 2.2 suggests that a dynamics in i
r
ds
is also
dictated by i
r
qs
. In order to ensure that i
r
qs
and i
r
ds
vary independently in order to
ensure fast transient response a feed-forward compensation technique is discussed
next, which has been employed in this work.
2.6 Feed-forward compensation for achieving
Vector-Control
The three phase inverter to be used to feed the 3 phase PMSM armature would
be a VSI. We conceptually convert the three phase voltages to its equivalent two
phase voltages by applying the equation 2.6. and then apply these two voltages
to the PMSM D-Q model. From equation 2.4 we nd that, if we want to change
the torque of the machine then we have to change the i
r
qs
or i
r
ds
or both of the
motor. i
r
ds
has to be maintained zero to achieve vector control and hence i
r
qs
is
to be changed to vary the developed torque. Equation 2.2 and 2.1 show that the
q-axis voltage equation contains q-axis and as well as d-axis current quantities.
Also d-axis voltage equation contains q-axis current quantities. So, we rewrite the
equation (2.1) in the form shown below
v
r
qs

r
L
d
i
r
ds

0
= (R
s
+ pL
q
)i
r
qs
and assume
v
r
qs

r
L
d
i
r
ds

0
= v

qs
(2.14)
17
where v

qs
is assumed to be another conceptual Q-axis voltage such that
v

qs
= (R
s
+ pL
q
)i
r
qs
(2.15)
From equation 2.15 it can be said that the conceptual Q-axis voltage, v

qs
, now en-
tirely and independently dictates the i
r
qs
dynamics. v
r
qs
would therefore be related
to v

qs
by the equation,
v
r
qs
= v

qs
+
r
L
d
i
r
ds
+
r

0
(2.16)
Similarly if we rewrite the equation (2.2) in the form shown below
v
r
ds
+
r
L
q
i
r
qs
= (R
s
+ pL
d
)i
r
ds
and if we assume
v
r
ds
+
r
L
q
i
r
qs
= v

ds
(2.17)
so we can say , v

ds
= (R
s
+ pL
d
)i
r
ds
By similar logic, we can say now that a conceptual D-axis voltage, v

ds
, now entirely
and independently dictates the i
r
ds
dynamics. v
r
qs
would therefore be related to v

qs
by the equation,
v
r
ds
= v

ds

r
L
q
i
r
qs
(2.18)
Now, two Linear Time Invariant(LTI) single input single output (SISO) systems
can now be thought about, which together, would describe the PMSM. One of
this two would have v

ds
as input, i
r
ds
as output (Fig2.9) and the other would have
v

qs
as input and i
r
qs
as output(Fig2.10) equation and together form the basis for
feed-forward commentation which would be use in order to achieve vector control
of a PMSM drive reported in this work. The design of controllers for achieving
vector control together with the feed-forward compensation technique is described
in the subsequent chapter.
Figure 2.9: D-axis system representation of the PMSM considering feedfor-
ward compensation.
18
Figure 2.10: Q-axis system representation of the PMSM considering feedfor-
ward compensation.
19
Chapter 3
Design of controllers and
O-line Simulation of a
Vector-Controlled PMSM
Drive
3.0.1 Introduction
This chapter discusses the design of controllers along with the control stratgy to
implement vector control on a particular Permanent Magnet Synchronous Motor
(PMSM) through a 3 phase Sinusoidal Pulse Width Modulated (SPWM) Voltage
Source Inverter (VSI). Subsequently, the chapter discusses an o-line simulated
study of a vector control implementation of the PMSM drive performed through
MATLAB-SIMULINK software platform. The rating and the parameters of the
chosen PMSM are given in the appendix A.1. Motor rated input voltage is 400
Volts (line to line) which will be delivered from a three phase SPWM inverter.
The relation between line voltage and the DC link voltage can be expressed [3] as
V
LL1
= 0.612m
a
V
dc
(3.1)
where, V
LL1
is the fundamental component of the line voltage, V
dc
is the DC link
voltage and m
a
is the modulation index. We want to have linear modulation
(i.e. m
a
1) through out the operating zone of the vector-controlled drive to
ensure that current fed to the machine have low contents of lower order harmonics
in order to have as low torque ripple as possible. We would like to restrict the
maximum value of m
a
to 0.9. Required V
dc
to produce the rated voltage for the
PMSM is found to be 726.21 Volts. We have nally chosen V
dc
to be 750 Volts.
Considering 750 Volts DC link voltage and the power rating of the PMSM, a two
level inverter with Insulated Gate Bipolar Transistors (IGBT) should be opted for
implementation. Hence, we decided the switching frequency to be 5kHz. for the 3
20
phase SPWM inverter.
3.1 Design of controllers
For vector control strategy we ideally want to have i
r
ds
= 0 at each instant of
time. In order to achieve this, we should have a reference input i
r
ds
set at zero.
The block diagram of Fig.2.9 suggest that v

ds
should be controlled in a proper
way to control i
r
ds
. The nature of transfer function relating i
r
ds
(S) and v

ds
(S),
S being the Laplace operator, suggests that, if v

ds
(S) is made the output of a
Proportional-Integral(PI) controller, whose input should be the error between i
r
ds
and i
r
ds
, then at steady state, i
r
ds
can be made to track i
r
ds
, i.e. after the dynamics
is over (and it can be made quick), i
r
ds
should remain zero. The complete D-axis
control system is illustrated in Fig. 3.1.
Figure 3.1: D-axis current control loop (system) to achieve vector control of
PMSM.
Figure 3.2: Control system of the Fig3.1in simplied pole-zero form.
We now wish to have pole-zero cancelation in the control system of Fig. 3.1
21
Figure 3.3: Control system of the Fig3.1 after pole-zero cancelation.
Figure 3.4: Model of the Vector-Controlled PMSM drive.
(simplied form shown in Fig. 3.2). Hence,
(s +
K
id
K
pd
) = (s +
R
s
L
d
) (3.2)
hence,
K
id
K
pd
=
R
s
L
d
(3.3)
After pole-zero cancelation, the system of Fig. 3.2 reduces to that shown in Fig.
3.3.
As the switching frequency of the inverter is considered 5kHz, as the band-
width of the current loop is taken to be one order less, i.e. 500Hz. so,
L
d
K
pd
=
1
2 500
(3.4)
As the machine parameters (R
s
, L
d
) are known, equations 3.3 and 3.4 can be solved
for two unknowns, K
pd
and K
id
. Thus, the parameters of the D-axis current PI
22
controller of the PMSM under study are found to be:
K
pd
= 309.82 (3.5)
K
id
= 17269.79 (3.6)
Figure 3.5: Q-axis current control loop (system) to achieve vector control of
PMSM
Fig. 3.5 suggests that the mathematical relationship between v

qs
and i
r
qs
is
in similar form as that between v

ds
and i
r
ds
. With i
r
ds
maintained at zero (con-
trolled by the D-axis current control loop), the developed torque of the PMSM
drive should be controlled by varying i
r
qs
, as required. Hence, we must conceive
of a i
r
qs
(i
r
qs
reference), and we would like the i
r
qs
(actual Q-axis current) to track
i
r
qs
. Therefore, the Q-axis current control loop should look similar to the D-axis
current control loop and is shown in Fig. 3.5. Following design procedures exactly
similar to those followed for designing the D-axis current controller, setting the
bandwidth of this loop also at 500 Hz, the Q-axis current controller gains K
pq
and
K
iq
have been found as:
K
pq
= 201.24 (3.7)
K
iq
= 17210.64 (3.8)
3.2 Simulation of the developed vector con-
trol strategy
Fig. 3.4 shows the complete model of the developed vector controlled PMSM
drive. The input i
r
qs
stands for the reference value of the Q-axis current, which
would decide the value of the developed torque. The actual i
r
qs
of the PMSM is
sensed, fed back and is compared with i
r
qs
. The error is generated and is fed to
the Q-axis current controller. This controller is a PI controller and development of
this controller has been already discussed in section 3.1. The PI controller output
forms v

qs
and employing the feed forward technique presented in the section 2.6,
23
v
r
qs
is computed with the help of of sensed value of
r
and i
r
ds
. i
r
ds
, another input
to the drive, is the reference value of the D-axis current, which should be zero for
achieving the desired vector control. The actual i
r
ds
of the PMSM is sensed, fed
back and is compared with i
r
ds
. The error in D-axis current is generated and is
fed to the D-axis current controller. The design of this PI controller is already
detailed in section 3.1. The D-axis current controller output forms v

ds
. Employing
the feed forward commentation technique discussed in section 2.6, v
r
ds
is computed
with the help of of sensed value of
r
and i
r
ds
. The two inputs v
r
ds
and v
r
qs
, thus
formed, in ideal case, should be the actual v
r
ds
and v
r
qs
of the PMSM. This is
ensured through the 3 phase VSI controlled by the SPWM technique, described
earlier. The dq to abc transformation block of Fig. 3.4 accepts v
r
ds
and v
r
qs
and
r
of the PMSM as the three inputs and computes the corresponding a-b-c
variables v

control,a
, v

control,b
and v

control,c
, which would be required for implement-
ing the SPWM strategy, discussed in section 2.4. The SPWM inverter block of
Fig.3.4 accepts those three voltages. The DC link voltage value of 750 volts and
a triangular wave V
tri
of 5kHz. frequency are also fed to this block. Following
the SPWM strategy, as discussed during the model development of the SPWM in-
verter in section 2.4. v
an
, v
bn
and v
cn
are computed. These subsequently serve as
the 3 input stator terminal voltages of the PMSM. The PMSM block of Fig.3.4
receives those three voltages as its input along with
r
, the rotor position (which
is one of its output and is fed back) of the PMSM. The mathematical model of
the PMSM block is already discussed in the section 2.2. This block computes
its output variables i
r
ds
, i
r
qs
(actual D-axis and Q-axis values of PMSM armature
currents respectively),
r
,
r
and T
e
. These output variables are fed back to the
other blocks of Fig.3.4 as required for complete performance analysis.
3.3 Simulation in MATLAB-SIMULINK plat-
form and results
The control system of Fig.3.4, as explained in section 3.2, has been realized through
MATLAB-SIMULINK software and the results are presented in Fig.3.6, 3.7, 3.8,
3.9, 3.10, 3.11, 3.12.
i
r
ds
, i.e. the reference value of the D-axis current is continuously maintained at
zero. Initially a step signal of 1A is given as i
r
qs
and is maintained till 7 seconds.
The speed invariant component of the load torque (T
L
) setting is xed at zero. and
the value of f is set at 0.0606
Nmsec
radian
all throughout. These settings, representing
the total load on the machine, have been kept constant in view the rating of the
chosen PMSM under study. At 7 sec. another step change is introduced in i
r
qs
value. It is increased to 2A and then again maintained constant till the end of
simulation time, i.e. 15 seconds.
Fig. 3.6 shows the actual D-axis component of stator current of the PMSM
i.e. i
r
ds
, with time. Its mean value has been found to be remain almost constant at
24
zero with the PWM ripples riding on the mean value. It almost instantaneously
latches on to its reference value (almost with fraction of a millisecond). It has
been found to remain almost undisturbed even un and around 7 seconds when i
r
qs
has been suddenly increased. This proves the eectiveness of the vector control
strategy implemented through this simulation.
Fig. 3.7 shows the actual Q-axis component of stator current of the PMSM i.e.
i
r
qs
, with time. Its mean value has also been found to be latch on to its reference
value (i
r
qs
) of 1 Amps within fraction of a millisecond and remain undisturbed
thereafter. A high frequency PWM ripple rides on the mean value of 1 Amps.
At 7 seconds, when i
r
qs
is again step changed to 2 Amps. and the mean value of
the actual Q-axis current i
r
qs
has been again found to track its reference value at
steady-state. Fig. 3.8 provides a zoomed-in view of i
r
qs
when it increases form
1Amps and nally settles at 2Amps within a duration of about 0.0016 seconds.
This is as per the designed bandwidth of the Q-axis current control loop which has
been chosen as 500Hz. (after pole zero cancelation, described earlier, the forward
path transfer function of the Q-axis current loop has become
K
pq
SL
q
, i.e.
1
S0.00032
and 5 0.00032=0.0016 second.). Fig. 3.8 also shows that within the same time
interval, the mean value of i
r
ds
has changed insignicantly, proving the eectiveness
of the decoupled control achieved.
Fig. 3.9 shows the simulated waveform of the electromagnetic torque with
time. The mean value is found to change extremely fast in response to the i
r
qs
command. Fig.3.10 shows the time-expanded version of the same electromagnetic
torque waveform in and around 7 seconds (when i
r
qs
command is suddenly changed)
and the mean value of this is also found to settle within a duration of 0.0016 sec-
ond, which is the settling time of i
r
qs
. This again proves the eectiveness of the
vector control strategy implemented.
Fig.3.11 has the speed response of the PMSM drive with time and Fig.3.12
presents the three line current waveforms of the PMSM at steady state.
25
Figure 3.6: Simulated i
r
ds
response with time, as i
r
ds
(reference value of D-
axis armature current) for the Vector-Controlled PMSM drive is kept at
zero all throughout but step increment in i
r
qs
are given, rst at starting and
then at 7 seconds, on load. Load setting are: T
L
= 0 and f = 0.0606Nm-
sec/radian.(value corresponding to about rated torque at rated speed.)
26
Figure 3.7: Simulated i
r
qs
response with time, for the Vector-Controlled
PMSM drive, with i
r
ds
is kept at zero all throughout but step increment
of 1Amps. in i
r
qs
is given, rst at starting and then again a further increment
of 1 Amps. (nally to 2 Amps.) is introduced at 7 seconds, on load. Load
setting are same as mentioned in Fig.3.6
27
Figure 3.8: Same i
r
ds
(top) and i
r
qs
(bottom) response as given in Fig.3.6 and
Fig.3.7 with time scale expanded in and around 7 seconds (instant at which
i
r
qs
is given a step increment to 2Amps. nally from 1Amps.)
28
Figure 3.9: Simulated T
e
(instantaneous electromagnetic torque) response
with time for the Vector-Controlled PMSM drive, with operating conditions
remaining same as mentioned in Fig. 3.6
29
Figure 3.10: Same T
e
waveform with time as that of Fig.3.9, but with time
scale expanded in and around 7 seconds (instant at which i
r
qs
is given a step
increment to 2Amps. nally from 1Amps.)
30
Figure 3.11: Simulated
r
(electrical Speed in rad/sec) response with time
for the Vector-Controlled PMSM drive for operating conditions as detailed
under the caption of Fig.3.6
31
Figure 3.12: Simulated phase current waveforms of the PMSMs armature
(i
a
, i
b
, i
c
) during steady state.
32
Chapter 4
Online or Real Time
Simulation of a vector
controlled PMSM drive
4.1 Real time simulation
Real-time Simulation refers to simulating the equations describing the mathemati-
cal model of a physical system, which can execute at the same rate as actual time.
In other words, the model runs at the same rate as the actual physical system.
For example, if a motor starts from rest and settles to a steady speed after t
1

seconds due to application of a particular input voltage at a particular loading;

the real-time simulation of the system in a processor would comprise of solving
the mathematical equations governing the same system such that the solved out-
puts will be available to the user after t
1
seconds only. An o-line simulation
(MATLAB-SIMULATION based simulation) would typically takes much longer
time to solve the same equations to yield results.
In o-line simulation, the delay depends on the complexity and simulation
parameters. This is because the actual time involved in the calculation of the
variables is more. On the other hand, in Real-Time Simulation, the results are
produced almost instantly. This is possible if the system model is implemented
by an electronic circuit. For real-time simulation of comparatively less-complex
systems, a less costly alternative is required. A Field Programmable Gates Array
(FPGA) is a suitable platform for implementing such systems. The basic advantage
of an FPGA is that any module can be implemented on FPGA by its equivalent
circuit model.
This equivalent model is a combination of sequential logic elements and com-
binational logic element. The outputs of the combinational elements change state
whenever the inputs change, whereas the sequential output only changes state with
the transition of clock. During each clock cycle, the present states of the system
33
are calculated. The calculations are split into two stages as shown in Fig 4.1. In
the rst stage, the present states of the system are calculated using the previous
states of the system. In the second stage, the value are updated. For the purpose
of real time simulation, a programming device is required that can handle heavy
mathematical operations in very short time. The basic advantage of FPGA is that
it can be programmed in parallel. Thus the implementation of network equations
on an FPGA results in very short execution time.
Figure 4.1: Triggering Timing
34
4.2 Integration Methods
The dynamic systems may be represented generally in the form of Ordinary Dif-
ferential Equation.
dy
i
dt
= e
i
(x
j
, y
k
, t) (4.1)
Where x
j
(t) are the independent forcing functions, y
k
(t) are the state variables
and t the time as variable of integration (independent variable). The procedure for
solving a system of equations simply involves applying the one-step technique for
every equation at each step before proceeding to the next step. There are several
integration methods to solve the dierential equations viz. Back Eulers Method,
Heuns Method, Runge-Kutta Method etc. These methods dier in complexity.
Each integration method can be implemented by digital logic elements in FPGA.
Because of its simplicity, Backwards Eulers algorithm is widely used and is used
in the present work.
4.2.1 Backwards Eulers Method
In this method, the time axis is subdivided into several intervals. In each interval,
e
i
is approximated by a constant representing the average of e
i
in that interval.
A new value of y
i
is predicted using the slope (equal to the rst derivative at the
previous value) to extrapolate linearly over the step size t.
y
i
(n) = y
i
(n 1) + e
i
(n 1)* t
Figure 4.2: Block Diagram of Backwards Eulers Method
35
4.3 Simulation of a series R-L-C Circuit
Figure 4.3: Series RLC Circuit
36
An electrical series R-L-C circuit is shown in Fig 4.3. A transient current
and Voltages are established in the circuit when the switch is suddenly closed.
Equations that describe the transient behavior of the circuit 4.3 are The dierential
equations of a series R L C circuit are as shown in equations 4.2 and 4.3.
V
g
= Ri + Lpi + v
c
(4.2)
i = Cpv
c
(4.3)
Where, V
g
, R, L, C, i and v
c
are the applied voltage, series resistance, series
inductance, series capacitance and capacitor voltages respectively.
The equations are rst normalized with the help of arbitrary values V
b
, R
b
, where
i
b
= V
b
/R
b
. this two rst-order linear dierential equations that can be solved
using Eulers numerical methods. The equations are rst normalized with the
help of arbitrary values
V
g
V
b
=
R
R
b
i
i
b
+
L
R
b
p
i
i
b
+
v
c
V
b
(4.4)
i
i
b
= CR
b
p
v
c
V
b
(4.5)
With the following abbreviations,
V
g
V
b
= V

g
,
i
i
b
= i

,
R
R
b
= R

,
v
c
V
b
= v

c
,
L
R
b
=
LR
,
CR
b
=
CR
, a non-dimensional equation results:

LR
pi

CR
pv
c

1
1 0

1
0

V

g
(4.6)
Say, the parameters of the circuit are: V
g
= 100V , R = 10, L = 20mH, C = 4uF
So, the base values of the quantities are shown below:
Voltage(V
b
) 100V
Current(I
b
) 10A
R

100/10 = 10

LR
2e
3

CR
40e
6
Step time(dT) 25.6us
The p.u. (per unit) values chosen are shown below and the negative value are
taken as the ones complement of its corresponding positive value.
pu value Equivalent digital Value Equivalent decimal value
2pu 7FFF
h
32767
d
1pu 3FFF
h
16383
d
0pu 000
h
0
d
-1pu C000
h
49152
d
-2pu 8000
h
32768
d
37
4.3.1 FPGA design les
In the laboratory, an FPGA kit (Altera FPGA chip based) consisting of an FPGA
board, an interface card containing buers, Analog to Digital converter converters
(ADC), Digital to Analog converters (DAC), is present. The detailed specications
of this kit are furnished in Appendix B.1. The per-unitized equations described
in section 4.3 are programmed in this kit using the QUARTUS-II design tool of
Altera Corporation, which is a free software, downloadable from the website of
Altera Corporation. Fig.4.4 shows the printscreen image of a typical FPGA
design le. The FPGA digital outputs are converted into analog voltages through
the DAC of the FPGA kit.
The equation 4.6 are implemented in the said FPGA platform
Figure 4.4: FPGA design le of a series RLC circuit
38
4.3.2 Results
The results of the variables are fed to DAC and seen in the oscilloscope as shown
in Fig.s 4.5 and 4.6:
Figure 4.5: Transient waveforms of circuit current and input applied voltage
for V
g
= 100V , R = 10, L = 20mH and C is forced to a value very very
high, i.e. representing a series R-L circuit case.
39
Figure 4.6: Transient waveforms of the real-time simulated capacitor voltage
and input applied voltage for V
g
= 100V , R = 10, L = 20mH, C = 4uF in
a series R-L-C circuit.
40
4.4 Simulation of a vector controlled PMSM
drive in FPGA platform
Same dynamic model of the PMSM as mentioned in the chapter 2 will be used
to derive the vector-control algorithm in FPGA platform to decouple the d-axis,
q-axis quantities in the drive system. So we have to build dierent blocks of the
drive system for simulating the vector-control scheme in FPGA. We have developed
those blocks as mentioned in Fig. 3.4.
4.5 Developments of a Model of the PMSM
in FPGA
Mathematical model of the PMSM has been described in the section 2.1. Equations
2.1, 2.2, 2.3, 2.4 and 2.5 have to be normalized to developed a PMSM model in
FPGA. Parameters of the motor has been given in the Appendix A.1.
4.5.1 Normalized Equations
The step time of the system is chosen as 25.6 micro sec. The equation 2.1 is re-
peated here.
v
r
qs
= (R
s
+ pL
q
)i
r
qs
+
r
L
d
i
r
ds
+
r

0
Dividing the above equation by V
b
(base value of the Voltage) and rearranging
it, we can get
R
sp
i
r
qsp
+
Lq
Rb
d
dt
i
r
qsp
= v
r
qsp

b
Rb

rp
L
d
i
r
dsp

b
V b

rp
0
(sux p implies a per-unitized quantity)
if e
qsp
= v
r
qsp

b
Rb

rp
L
d
i
r
dsp

b
V b

rp
0
so, i
r
qsp
=
Rb
Lq

[e
qsp
R
sp
i
r
qsp
]dt
Using the Eulers Method of integration, the equation can be written as
i
r
qsp(n) = i
r
qsp
(n 1) +0.02v
r
qsp
0.0123
rp
(n 1)i
r
dsp
(n 1) 0.0161
rp
(n 1)
0.0022i
r
qsp
(n 1)
Note that, the sampling time T
s
for the implementation is chosen as 25.6 micro
sec
similarly other equations 2.2, 2.3, 2.4 and 2.5 can also be normalized in the form
shown bellow.
i
r
dsp
(n) = i
r
dsp
(n1) +0.013v
r
dsp
+0.00522
rp
(n1)i
r
qsp
(n1) 0.00143i
r
dsp
(n1)
41
T
ep
(n) = 0.4022i
r
qsp
(n) + 0.1086i
r
qsp
(n)i
r
dsp
(n)

rp
(n) =
rp
(n1)+[0.000476i
r
qsp
(n1)0.0000299
rp
(n1)0.00273T
lb
(n
1) + 0.0002i
r
qsp
(n 1)i
r
dsp
(n 1)]
ep(n) = ep(n 1) + 0.001708ep(n 1)
All the operations are basically arithmetic operations. The digital realization
for the above equations requires adders, subtractors, multipliers and dividers. All
these entities are available in the library of Quartus-II tool. Apart from these
arithmetic logic entities, D-Flip Flops are also needed for storing previous data
values, in the case of performing integration.
The base values of the quantities are shown below:
Voltage(V
b
) 500V
Current(I
b
) 10A
R
b
500/10 = 50
b 314.16rad/sec
Step time(dT) 25.6us
pu value Equivalent digital Value Equivalent decimal value
2pu 7FFF
h
32767
d
1pu 3FFF
h
16383
d
0pu 000
h
0
d
-1pu C000
h
49152
d
-2pu 8000
h
32768
d
4.5.2 Testing of the PMSM Block
The MATLAB-SIMULINK based model of the PMSM block has already been
developed and discussed. To that block, inputs v
d
, v
q
values are set at 20V and
150V respectively. So in FPGA per-unitized value of V d and V q will be 655 (0.04
per unit) and 4914 (0.3 per unit) respectively. We compare the output results
as obtained from the MATLAB-SIMULINK based developed simulation and that
obtained from real-time simulation through the FPGA kit.
42
Figure 4.7: Transient waveform of i
q
in matlab simulink with no load and
v
d
=20V v
q
=150V. Peak value of the waveform is 18 Amps or 1.8 pu
We have thus veried that the on-line and o-line simulation results match
closely with each other.
4.6 Three-Phase Sine-PWM Inverter
4.6.1 Implementation of Three-Phase Sine-PWM In-
verter in FPGA
The steps can be summarized as follows: 1.Generation of Triangle carrier
2.PWM generation
4.6.2 Carrier Generation
The carrier used for Sine-Triangle Modulation is a triangular waveform. In the
FPGA, it is generated digitally by using a counter. The triangular carrier, in
43
Figure 4.8: Simulated transient waveform of i
q
in FPGA with no load and
0.04perunit v
d
and 0.3perunit v
q
Peak value of the waveform is 1.8 pu(5 volt
is one pu)
analog methods is usually a bipolar signal. In digital implementation both the
modulating signal and the carrier used are unipolar in nature. Hence the peak of
the carrier is kept at 2 p.u. A binary up-down counter is congured as shown in
Fig.4.13 for generating the required carrier. 1 p.u is set as 3FFH. Since the carrier
peak is set at 2 p.u, the maximum count is 7FFH. The p.u value for the amplitude
of carrier is chosen based on the switching frequency required. In the FPGA
controller board used, the clock frequency is 20MHz. This means for counting
up to 7FFH, it takes 102.4us. The frequency of carrier and hence the switching
frequency used here is nearly 5 kHz. The period of the MSB of the 12-bit counter
is 204.8 us.
4.6.3 Generation of Phase and Line voltage waveforms
It can be concluded that the switching signals are having correct phase relation
with the phase-A control signals.
Now, to test the switching signals further, one real-time inverter is prepared in-
side FPGA and that real-time-inverter is switched with these generated switching
signals. The generated phase voltages of that real-time-inverter is shown in the
oscilloscope to check their relative phase relation and shape.
44
Figure 4.9: Transient waveform of i
d
in matlab simulink with no load and
v
d
=20V and v
q
=150V. Peak value of the waveform is 9 Amps or 0.9 pu and
steady state value is 0.43pu
Now, if Fig 2.6is noted,
v
ao
= V
dc
S
a
v
bo
= V
dc
S
b
v
co
= V
dc
S
c
(4.7)
where, v
ao
is the voltage of point a with respect to -ve DC link bus. Similar
nomenclature is also applicable for other two phases. Now, S
a
, S
b
, S
c
are switching
functions of the respective phases and also are the switching signals of T1, T3, T5
respectively. So, S
a
=1 when, T1 is ON and, S
a
= 0 when, T4 is ON. Similar logic
is applicable for other two phases. Now,
v
an
= v
ao
v
no
v
bn
= v
bo
v
no
v
cn
= v
co
v
no
v
an
+ v
bn
+ v
cn
= 0
(4.8)
45
Figure 4.10: Simulated transient waveform of i
d
in FPGA with no load and
0.04perunit v
d
and 0.3perunit v
q
. Peak value of the waveform is 0.9 pu (5
volt is one pu) and steady state value is 0.43pu
So, it can be calculated that
v
no
=
v
ao
+ v
bo
+ v
co
3
(4.9)
Hence inverter phase voltages can be expressed as: v
an
= v
ao

v
ao
+v
bo
+v
co
3
=
2v
ao
v
bo
v
co
3
=
v
ab
v
ac
3
So, in terms of line voltages, the phase voltages can be written as:
v
an
=
v
ab
v
ac
3
v
bn
=
v
bc
v
ba
3
v
cn
=
v
ca
v
cb
3
(4.10)
46
Figure 4.11: Transient waveform of electrical speed(in rad/sec ) in matlab
simulink with no load and v
d
=20V and v
q
=150V
Here the fundamental waveform amplitude in nearly 11 db. The amplitude is
displayed in dB, where 0dB is equal to 1 volts RMS. From the manual of Tektronix
TDS-1001 oscilloscope, we nd that
dB
V RMS
= 20log
V
RMS
1V
RMS
(4.11)
so, V
rms
= 10
11
20
=3.54
so the peak value of the output signal=

2 3.54 = 4.96
For the unipolar voltage switching peak value of v
ao
=V
dc
if m
a
=1[3].
1 Per unit value of V
dc
is equal to 5 volts and the peak value of this signal is 4.96
volt which is nearly equal.
47
Figure 4.12: Simulated transient waveform of electrical speed(in rad/sec )in
FPGA with no load and 0.04 per unit v
d
and 0.3 per unit v
q
4.7 Design of two phase to three phase Trans-
formation in FPGA
It is done by converting the three phase voltages and currents to dqo variables by
using Parks transformation. As shown in equation 2.7. For sine and cosine wave
generation 1024 samples per cycle are used. The phase shifted sine and cosine
values can be generated by a C or MATLAB program and it can be and stored
in the ROM congured in FPGA. The sine and cosine wave amplitude is chosen
as 1 p.u (3FFFh) six ROM are used to generate six phase shifted sin and cosine
wave.those sin and cosine wave are generated depending upon theta.
4.7.1 Testing of two phase to three phase Transforma-
tion Block
For testing this block we have taken v
d
=2.5v and v
q
=2.5v. and the frequency of
the theta is 38Hz. So the output v
(
a), v
(
b), and v
(
c) will be three 120
0
phase
shifted wave form with positive peak value 3.5v
4.7.2 Output
48
Figure 4.13: Block diagram of carrier generation
Figure 4.14: Triangle Carrier
After getting satisfactory output, we make this block as a top level entity for future
work.
4.8 Design of three phase to two phase Trans-
formation in FPGA platform
Three phase to two phase transformation block has made with the help of parks
transformation

v
q
v
d
v
0

=
2
3

cos(
r
) cos(
r
120
0
cos(
r
+ 120
0
sin(
r
) sin(
r
120
0
) sin(
r
+ 120
0
)
1
2
1
2
1
2

v
a
v
b
v
c

(4.12)
49
Figure 4.15: A phase voltage of a sine PWM inverter with 50Hz reference
signal and 1pu dc link voltage.
4.8.1 Testing of three phase to two phase transforma-
tion block
For testing of this block we connect the output of the two phase to three phase
transformation block, developed earlier. If this block is modeled properly, then
output of this block has to match with the input of the two phase to three phase
Transformation Block. We have found the same result to be true.
4.8.2 Output
50
Figure 4.16: Gate pulse for the switching device T
1
.
This block therefore will form a top level entity for future work.
4.9 PI controller
The design of d-axis and q-axis Current PI controller are done based on certain
considerations. The current loop is much faster that mechanical time constant (i.e.
mechanical inertia, J is assumed to be very heavy). Design of the PI controller has
been described in Chapter 2. Input of the d-axis and q-axis current PI controller is
current but output is voltage so we can write q-axis current PI controller equation
as follows.
v
r

qs
= K
pq
i
eq
+ K
iq

i
eq
dt
i
eq
is dierence between q-axis reference and actual current, if divide both side by
V
b
v
r

qsp
=
K
pq
R
b
i
eqp
+
K
iq
R
b

i
eqp
dt
similarly d-axis per-unitized PI controller equation will be
v
r

dsp
=
K
pd
R
b
i
edp
+
K
id
R
b

i
edp
dt
51
Figure 4.17: FFT analysis of the signal in Fig 4.16. in Tektronix
oscilloscope(TDS-1001).
52
Figure 4.18: Output of the two phase to three phase transformation block.
A phase in channel 1 and B phase in channel 2
53
Figure 4.19: Output result of the three phase to two phase transformation
block. It is connected with a two phase to three phase transformation block.
In put of the two phase to three phase transformation block v
(
d)=2.5v and
v
(
q)=2.5v.
54
Chapter 5
Conclusions and Scope for
future work
5.1 General Conclusions
This thesis is a record of simulation work, both o-line and in real-time, carried
out on a proposed closed loop PMSM drive to be implemented on an existing set-
up fully designed and fabricated in the laboratory. The fabrication and running
of the same with position feedback (so that the inverter devices can appropriately
switched) was already achieved by a previous post-graduate student with a 120
0
conduction mode inverter. It was intended that before implementing the vector
control scheme on the actual setup the same be checked through simulation both
o-line and real-time. The same was done due to certain short-coming in the
eorts of the present author and due to unforeseen circumstances, the practical
implementation of vector control could not be done. However, the hardware is
ready in all aspects, though not tested. Thus speed position encoders and hall
current sensors and voltage sensors have been installed.
As for the simulation work done rst the system model was developed. Dynamics
of the machine (electro-mechanical)and the power converter (electrical) were rep-
resented through appropriate equations. Once the model was developed, o-line
simulation of a vector controlled PMSM drive was done in MATLAB-SIMULINK
environment. The real-time simulation was done on FPGA platform as mentioned
earlier.
The present simulation work may help future researchers in their tests on the
practical set-up.
55
5.2 Future work
The following activities related to the future development aspects of the PMSM
drive, which may be taken up in future.
Complete real time simulation of the entire Vector-Controlled PMSM drive
within the FPGA platform.
Experimental hardware implementation of the Vector-Controlled PMSM
drive.
Successful running of a position sensorless scheme of the PMSM drive in
FPGA platform.
Estimating the torque and torque ripples of the PMSM at dynamic condition
by nite element methods (FEM) based techniques using ANSY S software
56
Appendix A
A.1 Parameters and specications of the PMSM
under study
The ratings and parameters of the machine are shown below:
4-pole, 1.5 KW, 400 Volts (L-L), 2.17 A, 1500rpm
stator-Armature: 3-phase, star-connected, per phase synchronous inductance, L
d
=0.09867, L
q
=0.06409 per phase, resistance(r
s
)=5.5.
Rotor-Field: permanent magnet with peak value of per phase ux linkage (
0
)=1.2814wb
turnes
J = 0.0581Kg m
2
, f
nl
= 0.0606Nmsec/radian.
57
Appendix B
B.1 Block diagram and specications of the
FPGA kit
Figure B.1: Block diagram of the FPGA kit.
Cyclone FPGA: This is the heart of the board in which all the algorithms are
implemented. The Cyclone IC details are given below:
58
Name FPGA
Part No EP1C12Q240C8
Manufacturer ALTERA
No of Pins 240
Package PQFP
No of Logic elements 12,080
No of PLL 2
Maximum clock frequency using PLL 275 MHz
Power supply required for core 1.5V
Power supply required for I/O 3.3V
Power supply required for PLL circuit 1.5V
Analog to digital converter(ADC): Analog to digital converter is used to convert
Analog signals to digital signals. In the FPGA kit we have used a Program for
interfacing the DAC to use its 4 channels. For this Program conversion time
increases to 10 micro seconds.The details of ADC are shown in table.
Name ADC
Part No AD7864 AS-1
Manufacturer ANALOG DEVICES
No of pins 44
Package MQFP
Power supply 5V
Input analog voltage levels -10V to +10V
Output analog voltage levels -10V to +10V
No of channels 4
59
Bibliography
[1] R. Krishnan, Electric Motor Drives: Modeling, Analysis, and Control,
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Magnet Motors (Monographs in Electrical and Electronic Engineering),
Magna Physics Publications, Oxford Science Publications, 1995
[3] N. Mohan, T. M. Undeland, W. P. Robbins, Power Electronics Converters,
Applications and Design, Second Edition, John Wiley and Sons, 1996
[4] P. C. Krause, Analysis of Electric Machinery, McGraw Hill, New York,
1996.
[5] N. Sato, A study of commutatorless motor, Electrical Engineering in Japan,
vol. 84, pp. 42-52, August 1964.
[6] Pragasan Pillay, R. Krishnan, Modeling of permanent megnet motor drives,
IEEE Tran. On Industrial electronics , Vol. 34, No. 4 pp. 537-541, NOV. 1988
[7] P.S. Bimbhra, Generalized theory of electrical machines, 4th edition ,
Khanna Publisher, 1987
60