CHAPTER 2

PERMANENT MAGNET SYNCHRONOUS MOTOR

1.1 Introduction Different types of motor has been using in industry for different applications and purposes. Some motor types are more suited for specific application than other types. Electric motors are divided into several categories like alternating current (AC) motors,direct current (DC) motors, and universal motors etc. Electric motor can be a synchronous or asynchronous. Major differences between these two are

Synchronous motor has got permanent magnet in it while Asynchronous has non permanent magnet.

In Asynchronous motors the mechanical speed of the rotor is generally different from the speed of the revolving magnetic field while Synchronous motors rotate at the same.

Ac motors has a common use in industry then others. Generally two types of Ac motor drives for
permanent magnet(Synchronous) type of motors are available in industry These are Permanent Magnet

Synchronous Motor (PMSM) drive with a sinusoidal flux distribution and the brushless dc motor drive with a trapezoidal flux distribution. The PMSM has numerous advantages over other machines that are conventionally used for ac servo drives. The stator current of the induction motor (IM) contains magnetizing as well as torque-producing components. The use of the permanent magnet in the rotor of the PMSM makes it unnecessary to supply magnetizing current through the stator for constant air-gap flux; the stator current need only be torque producing. Hence for the same output, the PMSM will operate at a higher power factor (because of the absent of magnetizing current).and will be more efficient than Induction Motor. The development of the PMSM was to remove the foregoing

disadvantages of the Synchronous Motor by replacing its field coil, DC power supply and slip rings with a permanent magnet [3] The PMSM can be thought of as a cross between an AC induction motor and a brushless DC motor (BLDC). They have rotor structures similar to BLDC motors which contain permanent magnets. However, their stator structure resembles that of its AC Induction Motor(ACIM) cousin, where the windings are constructed in such a way as to produce a sinusoidal flux density in the air gap of the machine. As a result, they perform best when driven by sinusoidal waveforms. However, PMSM motors provide higher power density for their size compared to ACIMs. This is because with an induction machine, part of the stator current is required to "induce" rotor current in order to produce rotor flux. These additional currents generate heat within the motor. However, the rotor flux is already established in a PMSM by the permanent magnets on the rotor. Generically surface of the rotor in PMSMs has permanent magnet mounted on it. Because of this the motor seems magnetically round, and the reactive force among rotors magnets and stators electromagnets generates the motor torque. The result of this is the optimum torque of angle of 90 degrees by regulating the d-axis current to zero.

2.2 Dynamic Model of PMSM

The PMSM used is a surface mounted design and therefore has very low saliency. Thus, its dynamics can be reproduced quite accurately by the nonsalient model of (1)(4) in the dq coordinate system [11]

did/dt=1/Ls[Vd Rsid + PLsmiq] diq/dt=1/Ls[Vq Rsiq PLsmid Kem/3 dm/dt=1/J[T load Bm] T =3/2 Keiq.

(1) (2) (3) (4)

A description of the symbols used for this model and for an equivalent model in three phase coordinates [11], [12] is found in the nomenclature.

2.3 Control Schemes for PMSM PMSM control schemes can be classified into scalar and vector. Scalar control is based on relationships which are valid on steady-state response. In scalar control, amplitude and frequency of the controlled variables are considered while in vector control, amplitude and frequency of controlled space vector are considered. The vector control based on relationships which are valid in transient response and which is essential for proper torque and speed control.

Fig. 1.1: Common Control Techniques Used For PMSM. 2.3.1 Scalar Control
In scalar control, only magnitude and frequency of the voltage and current signal are controlled. Scalar control has a major use where several motors are connected in parallel and driven by the same inverter. The simplest control scheme in scalar control is Volts/Hertz control. This scheme is an open loop scheme and doesnt use any feedback loops. The idea is to keep stator flux constant at rated value so that the motor develops rated torque/ampere ratio over its entire speed range.

2.3.2 Vector Control

There are several disadvantages of scalar control strategy like there is a coupling between the motor flux and torque. If this inherent coupling doesnt consider then it affects the response of the system and might be system become instable. However, in vector control scheme the magnitude as well as the mutual angle between stator and rotor flux are considered. 2.3.2.1 Direct Torque Control(DTC) In 1980s, for torque and flux control of induction motors, direct torque control strategy was introduced. In basic principle of DTC, voltage vectors are directly selected according to the difference between reference and actual value of torque and flux linkage. Hysteresis comparators are used to

compare the errors in torque and flux. By depending onto the hysteresis compensator voltage vector can be selected from the table. There are so many advantages of DTC for that it is getting popularity in the market but we cannot ignore its disadvantages. Major Advantages of the DTC are low complexity and there is only need of one parameter which is stator resistance. There is no any need of generating pulse width modulated signals. Instead of PWM signals one of the six VSI voltage vectors is applied during the whole sample period. Without any external knowledge of rotor position, calculations can easily be done in a stationary reference frame. But at the start up of motor the rotor position must be acknowledged. In digital implementation of DTC, it requires low computational power. Its control structure is quite simple and it is very easy to implement. The overall system possess good dynamic response but it shows quite poor performance in steady state because there is not the authentic selection criteria of voltage. Because of that this control technique produces high ripples in stator current, flux linkages and torque. This problem can be resolved by increasing the sampling frequency because its simple structure makes it possible to execute every computational cycle in short time period and at high sampling frequency. If you double the sampling frequency the ripple would become half. But we will face problem in power switches used in inverters for generating such high sampling frequencies. To overcome this we have to pay high cost on our inverters. So, there is another well established vector control technique,Field Oriented control(FOC) which is quite cheap to implement and produces low ripples in stator current, flux linkages and torque. 2.3.2.1 Field Oriented Control(FOC)

Field oriented Control (FOC) technique comes in front of the world in the beginning of 1970s. Field orientation lead to the vector control of currents and voltages in control of the spatial orientation of the electromagnetic fields in the machine. Field Oriented Control usually refers to controllers which maintain a 90 electrical angle between rotor and stator field components. There is another orientation in which system departs from the 90 orientation which refers to angle control and field angle control.

2.4

FOC for PMSM Sensorless Field Oriented Control of PMSM Motors

Designers can expect environmental demands to continue to drive the need for advanced motor control techniques that produce energy efficient air conditioners, washing machines and other home appliances. Until now, sophisticated motor control solutions have only been available from proprietary sources. However, the implementation of advanced, cost-effective motor control algorithms is now a reality thanks to the new generation of Digital Signal Controllers (DSCs). An air conditioner, for example, requires fast response for speed changes in the motor. Advanced motor control algorithms are needed to produce quieter units that are more energy efficient. Field Oriented Control (FOC) has emerged as the leading method to achieve these environmental demands. This application note discusses implementation of a sensorless FOC algorithm for Permanent Magnet Synchronous Motors (PMSMs) using the Microchip dsPIC

DSC family.

Why Use the FOC Algorithm? The traditional control method for BLDC motors drives the stator in a six-step process, which generates oscillations on the produced torque. In sixstep control, a pair of windings is energized until the rotor reaches the next position, then the motor is commutated to the next step. Hall sensors determine the rotor position to electronically commutate the motor. Advanced sensorless algorithms use the back-EMF generated in the stator winding to determine the rotor position. The dynamic response of six-step control (also called trapezoidal control) is not suitable for washing machines because the load is changing dynamically within a wash cycle, and varies with different loads and selected wash cycle. Further, in a front load washing machine, the gravitational power works against the motor load when the load is on the top side of the drum. Only advanced algorithms such as FOC can handle these dynamic load changes. This application note focuses on the PMSM-based sensorless FOC control of appliances because this control technique offers the greatest cost benefit in appliance motor control. The sensorless FOC technique also overcomes restrictions placed on some applications that cannot deploy position or speed sensors because the motor is flooded, or because of wire harness placement constraints. With a constant rotor magnetic field produced by a permanent magnet on the rotor, the PMSM is very efficient when used in an appliance. In addition, its stator magnetic field is generated by sinusoidal distribution of windings. When compared to induction motors, PMSM motors are powerful for their size. They are also electrically less noisy than DC motors, since brushes are not used.

PMSM not perform well with open-loop scalar V/Hz control rather than ACIM, as there is no rotor coil to provide mechanical damping in transition conditions. Among all the techniques used with PMSMs, Field Oriented Control is the most popular technique, because the torque ripple can be extremely low rather than in ACIMs. .

Some PMSMs have magnets, buried inside rotor structure, which causes the radial flux to be more concentrated at some spatial angles as compared to others. These motors are known as Permanent magnet or IPM motors. The concentration in some angles rise another torque component , known as reluctance torque. This torque is generated by the change of motor inductance along the concentrated and non concentrated flux paths. Because of this the optimum FOC torque angle will increases to more than 90 degree. The d-axis current requires to be regulated to be a fixed negative ratio of the q-axis current. The flux density along the d-axis is reduced by the field weakening in negative d-axis current, due to this the core loses gets partially lowers. This result, IPM motors boast even higher for a given frame size. These motors are getting increasingly popular as traction motors in hybrid vehicles, also in variable speed applications for appliances and HVAC. The saliency provided by IPM motor is also beneficial for sensor less control applications. This feature can be used to calculate the rotor position while idle and low operating conditions. As the motor speed up the sensor less FOC designs use this saliency mapping at slow speed, and then transition back to a back-EMF observer model.

Fig. 1.2: Field Oriented Control of Permanent Magnet Synchronous Machines scheme with speed AW PI.

Fig. 1.2 illustrates the speed and control loops when driving a PMSM with well known FOC scheme [1].In motion control, the abc to ab transformation is widely used, known as a Clarke and ab to dq transformation or Park. These transformations allow to simplify the 3 phase system to a 2 phase one, where d axis current components controls directly the flux-linkage and q controls torque. Moreover, SISO linear controllers might be easily applied [5]. The electrical part of PMSM is modeled in the dq frame coordinate [1] by the following set of equations.

d/dt. id=Vd/Ld R/Ld.id + Lq/Ld.e.iq d/dt. iq= Vq/Lq R/Lq.iq Ld/Lq.e.id m.e/Lq

(5) (6)

Finally, a third equation (3) which models the electromechanical PMSM torque is needed to complete the model.

Te = 3/2.P . [m.iq +(Ld-Lq).id.iq ]

(7)

As from equation (5) Permanent magnet( m) is providing the flux so there is no need of creating the flux and d axis is exactly aligned with it. So, q current component directly controls the motor torque as equation (5) shows if d current is kept to zero. FOC is composed of two inner current loops and an outer speed control loop. Two identical PI controllers are controlling the inner and outer loops. The speed control loop will be connected in cascade with torque, i.e. q current, control loop as shown in Fig. 1.1. PI tuning can be perform independently because the current loop dynamics are faster than the speed loop.Furthermore,from above mathematical equations it can be clearly seen that there are non linear terms in the model.So it has to be linearized for tuning PI parameters. Linear PI controllers for inner and outer loops are designed and simulated, which are presented in further chapters.

2.4

Summary

In this chapter dynamic model of motor was presented. The equations which are in dq reference frame would be used for simulations. From the torque equation, it can be seen that electromagnetic torque in PMSM is determined by iq. So d axis current component directly conrols the flux linkage and q controls torque. This chapter reviews some of the control strategies for PMSM motor. Volts/hertz control being the simple one in scalar
control, it is used where speed control is needed, like when several motors are driven in parallel by a single inverter. And where exact torque and flux control are not essential. Vector control is used for high performance in control of torque and flux of the motor. Generally two techniques FOC and DTC are used for vector control. DTC technique is simple, robust and offer good dynamic performance but FOC technique gives best performance in terms of ripples level which is more suited for PMSM control. The only need to reduce complexity and adding more robustness. Due to its good performance in ripples level and

dynamic response this is going to be used for classical control design of PMSM in further chapters. FOC scheme has been described in detail in this chapter.