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magnet
material
affect
directly
the
performance of the motor and proper knowledge is required for the selection of
the materials and for understanding PM motors. The materials such as alnico-5,
ferrites (ceramics), samarium -cobalt, and neodymium boron iron are available as PMs
for use in machines. The particular choice of magnets and other design factors is
important, but does not directly influence the basic principles of power converter
control.
BLDC has a trapezoidal-shaped back EMF and is designed to develop trapezoidal back
EMF waveforms. It has:
applications because of the limitation that the magnets will fly apart during high-speed
operations. These motors are considered to have small saliency, thus having practically
equal inductances in both quadrature and direct axes. For a surface permanent magnet
motor,
Ld =
to the mutual reaction torque of synchronous motors. These motors are considered
to have saliency with q axis inductance ( Lq ) greater than the d axis inductance (
Ld ) ( L q
> Ld
and lamination has been chosen. The Fig 2.3 shows the Interior PM synchronous
machine.
They have high torque to inertia (lower weight). That is better dynamic
reliability.
Avoidance of brushes and slip rings makes the machine less audible noise, longer
life, Sparkles (no fire hazard) and is used for high speed applications.
Efficient heat dissipation.
10
Even though PM machines have aforementioned merits, they have the following
demerits:
2.6 Applications
Among many applications of PM synchronous motor, here some of the following:
Robotics and factory automation (servo drives)
pick and place robots (Motion control
positioning tablets
automatic guided vehicle
Computer and office equipment
copier and microfilm machines
printers/plotters
tape drivers
Appliances
Washers
Blowers
Compressors
Heating
Ventilation and air conditioning, etc.
11
negligible
Permanent magnets behave linearly.
Neutral point is isolated.
There are no field current dynamics
Clarke Transformation
b
c
12
1
2
3
2
1
i
2
=
3
i
0
[]
][ ]
1 i
a
2
ib
3
ic
2
(2.1)
[][
][ ]
id
i
= cos sin
sin
cos
iq
i
(2.2)
machine with the equations of the damper windings and field dynamics removed. This
chapter deals with the detailed modeling of a permanent magnet synchronous motor [3].
The model of PMSM without damper winding has been developed on rotor
reference frame using the following assumptions [3]:
1) Saturation is neglected.
2) The induced EMF is sinusoidal.
3) Core losses are negligible.
4) There are no field current dynamics.
It is also be assumed that rotor flux is constant at a given operating point and
concentrated along the d axis while there is zero flux along the q axis, an assumption
similarly made in the derivation of indirect vector controlled induction motor drives.
The rotor reference frame is chosen because the position of the rotor magnets
determine independently of the stator voltages and currents, the instantaneous induced
emf and subsequently the stator currents and torque of the machine. When rotor
references frame are considered, it means the equivalent q and d axis stator windings are
transformed to the reference frames that are revolving at rotor speed. The consequences is
that there is zero speed difference between the rotor and stator magnetic fields and the
stator q and d axis windings have a fixed phase relationship with the rotor magnet axis
which is the d axis in the modeling. The stator equations of the induction machine in the
rotor reference frames using flux linkages are taken to derive the model of the PMSM as
shown in Fig 2.7.
14
(2.3)
v qs =R s iqs + qs+ r ds
(2.4)
Where,
qs =L q i qs
(2.5)
ds =Ld ids + af
(2.6)
af
i ds=
( v dsR s ids +r Lq i qs )
(2.7)
Ld
15
iqs =
(2.8)
Lq
By substituting the equations 2.5 and 2.6 in equations 2.3 and 2.4 we get the state space
modeling of the PMSM
( )(
)( ) ( )
v qs = Rs + Lqs r Ld s i qs + r af
r Lqs R s + L ds i ds
v ds
af
(2.9)
With the help of equations and the laid-down assumptions, d-axis and q-axis equivalent
circuits of PMSM can be developed which are shown in Figs 2.8 and 2.9.
T e=
3P
( i i )
2 2 ds qs qs ds
(2.10)
Then T e becomes
T e=
3P
( L L ) i + i
2 2 [ d q ds af qs ]
(2.11)
16
d r
dt
(2.12)
1
(
Js+ B )
L
s+1
(R )
K
1
1+
(
Js + B )
L
s
+1
(R )
m
(2.13)
Where K =P af
m
K
=
m
L
s+1 ( Js +B )+ K
R
(2.14)
m
K
=
m L 2 L
J s + B+J s+ B+ K
R
R
(2.15)
Open loop transfer function is given by
G OL ( s )=
( RL S+1) ( JS +B )
(2.16)
Where K =P af
K
L 2 L
J s + B+J s+ B
R
R
(2.17)
1/Ld
Rd
1/Ld
Rd
3
Iq
Product
2
Wr
Lq
Lq
18
1
s
Integrator
1
Id
The q-axis model of PMSM given by equation 2.8 can be implemented in MATLAB as
shown in Fig.2.12
1
Vq
1/Lq
Rq
Rq
LmIfr
1/Lq
1
s
In tegrator
Iq
Lm Ifr
3
Id
Product
2
Ld
Wr
Ld
From the above two models we could implement an electrical circuit model of
PMSM i.e shown in Fig 2.13.
Vq
Vq
Wr
Iq
Id
qaxi s m odel
3
Vd
1
Iq
2
Id
Vd
Wr
We
Id
Iq
daxi s m odel
( T e B rT l )
J
(2.18)
From the equation 2.12 the mechanical model of PMSM is implemented as shown in
Fig.2.14.
19
3
We
2
Te
1
s
1/J
1/J
Integrator
P/2
Gain1
1
s
1
T heta
Integrator1
TL
Wm
From the eqn. 2.11 of torque equation the MATLAB model is implemented as shown in
Fig.2.15
1
Iq
-KProduct
Ld
-K-
2
Id
Gai n3
-K-
1
Te
Lq
-KLmIfr
20
control or field oriented control. In this project work Field oriented control technique
along rotor flux oriented has been implemented shown in shaded path of Fig 2.16.
Scalar
Based
Speed
PMSM
Control
Volts/Hertz
Rotor
Flux
Oriented
of the armature winding currents as the coils pass the brush position that the armature
current distribution is fixed in space no matter what rotor speed exists. The field flux and
armature mmf are maintained in a mutually perpendicular orientation independent of
rotor speed. The result of this orthogonality is that the field flux is unaffected by the
armature current. i.e the field flux and the armature mmf are decoupled.
22
The ease of applying direct electromagnetic torque, Tem control in the (d,
q) reference frame.
3
T em= P m i q
2
(2.20)
By maintaining the amplitude of the rotor flux (m) at a fixed value we have a
linear relationship between torque and torque component (iq). We can then control
the torque by controlling the torque component of stator current vector.
2.11 Inverter
It is a static power electronic device which converts D.C supply into A.C supply
with variable voltage and variable frequency. As the output voltage and frequency of the
inverter are controllable they play an important role in the adjustable speed drive system
employing any rotating electrical machine.
Line Commutated
Force Commutated
i) Auxiliary Commutated Inverters
ii) Complementary Commutated Inverters
(c)
3
Load Commutated
Series Inverters
(b)
Parallel Inverters
(c)
Half Bridge
23
ii)
4
Full Bridge
(b)
Depending on the type of d.c. source supplying the inverter, they can be classified
as voltage source inverters (VSI) or current source inverters (CSI). In practice, the d.c.
source is usually a rectifier, typically of the three phase bridge configuration, with d.c.
link connected between the rectifier and the inverter.
The output voltage control with this method can be obtained without any
additional components.
With this method, lower order harmonics can be eliminated or minimized along
with its output voltage control. As higher order harmonics can be filtered easily,
the filtering requirements are minimized.
PWM inverters are quite popular in industrial applications. PWM techniques are
characterized by constant amplitude pulses. The width of these pulses is however
modulated to obtain inverter output voltage control and to reduce its harmonic content.
PWM techniques are classified on the basis of voltage or current control, feed
forward or feedback methods, carrier or non-carrier based control etc.
The Classification of the PWM techniques given as follows:
In this thesis
resultant flux due to all three windings is, however, fixed at 1.5 times the peak magnitude
due to individual phase windings. The resultant flux is commonly known as the
synchronously rotating flux vector.
Now, in analogy with the fluxes, if a three-phase sinusoidal and balanced voltages given
by the equations 2.21,2.22 & 2.23.
V a=V m cos t
(2.21)
2
3
(2.22)
2
3
(2.23)
V b=V m cos t
V c =V m cos t +
is applied to the windings of a three-phase machine, a rotating voltage space vector may
be takes place. The resultant voltage space-vector will be rotating uniformly at the
synchronous speed and will have a magnitude equal to 1.5 times the peak magnitude of
the phase voltage.
Let these voltages be applied to the windings of a three-phase ac machine. Now,
during each time period of the phase voltages six discrete time instants can be identified.
26
27
28
Switching vectors
Sa(t)
Sb(t)
Sc(t)
Van
Vbn
Vcn
V0
V1
2/3
-1/3
-1/3
V2
1/3
1/3
-2/3
V3
-1/3
2/3
-1/3
V4
-2/3
1/3
1/3
V5
-1/3
1/3
2/3
V6
1/3
-2/3
1/3
V7
The voltage space vector is synthesized by time weighted averaging of the two
adjacent basic non-zero voltage vectors that form the sector in which the reference
voltage space vector to be synthesized lies. Thus if the reference voltage space vector lies
in the first sector, voltage space vector V1 is active for duration T1 and voltage space
vector V2 is active for duration T2 within the switching period Ts as shown in Fig 2.21.
29
The desired three phase voltages at the output of the inverter could be represented by an
equivalent vector V(t) rotating in the counter clockwise direction.
V2 (010)
V(t)
V1 (001)
O
T1
T
T
T
V 1+ 2 V 2+ 0 V 0+ 7 V 7
TS
TS
TS
TS
(2.24)
Based on the principle of SVPWM , the simulation model for generating SVPWM
wave forms mainly include the sector judgment model, calculation of operation time of
fundamental vectors, calculation of switching time (duty cycle) and generation model of
SVPWM waveforms.
30
Phase A voltage(volts)
200
Voltage(volts)
100
0
-100
-200
0.05
0.1
Time(sec)
0.15
0.2
0.25
0.2
0.25
0.2
0.25
Phase B voltage
200
V
o
lta
g
e
(v
o
lts
)
100
0
-100
-200
0.05
0.1
Time(sec)
0.15
200
V
o
lta
g
e
(vo
lts)
100
0
-100
-200
0.05
0.1
Time(sec)
0.15
Voltage(volts)
200
0
-200
0.05
0.1
Time(sec)
0.15
0.2
0.25
The speed response of the motor without controller is shown in the Fig 2.23.
Without controller the speed response is having many oscillations and it settled at 0.15
sec time which is very large settling time. At the time of starting the speed of the motor is
very high. For proper control of the speed PI control technique and Fuzzy Logic control
have implemented and discussed in preceding chapters.
Speed of PMSM without controller
1500
1000
S
p
e
e
d
(ra
d
/se
c)
500
0
-500
-1000
-1500
0.05
0.1
0.15
Time(sec)
0.2
0.25
0.3
2.15 SUMMARY
In this chapter the operation of PMSM, its advantages and applications are
discussed. The state space and transfer function modeling of the PMSM are derived.
32
Different types of control strategies of PMSM are listed and mainly focused on the vector
control technique. The advantages of the PWM techniques are listed and explained space
vector pulse width modulation technique in detail. Finally the simulation results for the
output voltage of the inverter are shown.
33