Transcript FEEE
Southern Taiwan University of Science and Technology Reporter: Nguyen Phan Thanh ID Student: DA220202 FEEE Ensuring Enhanced Education Permanent Magnet Synchronous Motors Contents • Introduction • Mathematical model of PMSM • Sensor Control Architechture • High performance motor control application 2 FEEE Ensuring Enhanced Education Permanent Magnet Synchronous Motors Introduction PM synchronous motors are widely used in industrial servo-applications due to its high-performance characteristics. Compact High efficiency (no excitation current) Smooth torque Low acoustic noise Fast dynamic response (both torque and speed) A synchronous motor differs from an asynchronous motor in the relationship between the mechanical speed and the electrical speed. 3 FEEE Ensuring Enhanced Education Permanent Magnet Synchronous Motors Introduction 4 FEEE Ensuring Enhanced Education Permanent Magnet Synchronous Motors Introduction 2-axis reference frame:The stator and rotor equations are referred to a common frame of reference • Stator (stationary) reference frame : non-rotating • Synchronous reference frame: d, q axis rotates with the synchronous angular velocity 5 FEEE Ensuring Enhanced Education Permanent Magnet Synchronous Motors Introduction • The stator reference axis for the a-phase direction: maximum mmf when a positive a-phase current is supplied at its maximum level. • The rotor reference frame: -D-axis: permanent magnet flux -Q-axis: 90 degree ahead of d-axis The d-q model has been used to analyze reluctance synchronous machines. 6 FEEE Ensuring Enhanced Education Permanent Magnet Synchronous Motors Introduction • As the motor spins, there is an angle between rotor magnetic field and stator magnetic field • If these two magnetic fields are not ninety degrees from each other, there will be an offset angle between Back EMF and Current: =>the torque production at a given input power will not be the maximum 7 FEEE Ensuring Enhanced Education Permanent Magnet Synchronous Motors Introduction • With this animation we can see how the commutation angle is always ninety degrees ahead of the rotor. • On the left we see how the motor spins with Field Oriented Control. • On the voltage diagrams we show how the output voltages have a sinusoidal shape. • On the lower right we see the rotor angle changing from minus pi (minus one eighty degrees) to plus pi (plus one eighty degrees). 8 FEEE Ensuring Enhanced Education Permanent Magnet Synchronous Motors Introduction • With this animation we can see how the commutation angle is always ninety degrees ahead of the rotor. • On the left we see how the motor spins with Field Oriented Control. • On the voltage diagrams we show how the output voltages have a sinusoidal shape. • On the lower right we see the rotor angle changing from minus pi (minus one eighty degrees) to plus pi (plus one eighty degrees). 9 FEEE Ensuring Enhanced Education Permanent Magnet Synchronous Motors Introduction • With this animation we can see how the commutation angle is always ninety degrees ahead of the rotor. • On the left we see how the motor spins with Field Oriented Control. • On the voltage diagrams we show how the output voltages have a sinusoidal shape. • On the lower right we see the rotor angle changing from minus pi (minus one eighty degrees) to plus pi (plus one eighty degrees). 10 FEEE Ensuring Enhanced Education Permanent Magnet Synchronous Motors Introduction • With this animation we can see how the commutation angle is always ninety degrees ahead of the rotor. • On the left we see how the motor spins with Field Oriented Control. • On the voltage diagrams we show how the output voltages have a sinusoidal shape. • On the lower right we see the rotor angle changing from minus pi (minus one eighty degrees) to plus pi (plus one eighty degrees). 11 FEEE Ensuring Enhanced Education Permanent Magnet Synchronous Motors Introduction • With this animation we can see how the commutation angle is always ninety degrees ahead of the rotor. • On the left we see how the motor spins with Field Oriented Control. • On the voltage diagrams we show how the output voltages have a sinusoidal shape. • On the lower right we see the rotor angle changing from minus pi (minus one eighty degrees) to plus pi (plus one eighty degrees). 12 FEEE Ensuring Enhanced Education Permanent Magnet Synchronous Motors Introduction • With this animation we can see how the commutation angle is always ninety degrees ahead of the rotor. • On the left we see how the motor spins with Field Oriented Control. • On the voltage diagrams we show how the output voltages have a sinusoidal shape. • On the lower right we see the rotor angle changing from minus pi (minus one eighty degrees) to plus pi (plus one eighty degrees). 13 FEEE Ensuring Enhanced Education Permanent Magnet Synchronous Motors Mathematical model of PMSM The mathematical model of PMSM is constructed based on the rotating d-q frame fixed to the rotor, described by the following equations: Where: •vd, vq are the d and q axis voltages •id, iq are the d and q axis currents •Rs is the phase winding resistance •Ld, Lq are the d and q axis inductance • is the rotating speed of magnet flux • is the permanent magnet flux linkage. 14 FEEE Ensuring Enhanced Education Permanent Magnet Synchronous Motors Mathematical model of PMSM 15 FEEE Ensuring Enhanced Education Permanent Magnet Synchronous Motors Operation of PMSM Motor + Command Pulse + Kp Deviation Counter _ Gain _ Position Gain + Kv _ Speed Gain M Ki Current Current Feedback Speed Feedback Speed detection E Pulse Feedback Encoder Closed_loop Control 16 FEEE Permanent Magnet Synchronous Motors Ensuring Enhanced Education Sensor Control Architechture * r Speed loop Speed Controller + Current controller iq* PI + — id* 0 vq Park-1 v d,q — vd , v PI + Current loop modify Clark-1 vref 1 , vref 2 SVPWM v a,b,c ref 3 DC Power PWM1 PWM2 PWM3 PWM4 PWM5 PWM6 Inverter — iq d,q id , Park r sin /cos of Flux angle 1-Z-1 PI, Fuzzy, Neural network are used to the speed loop of PMSM drive i , i a,b,c ia ib ic iu A/D convert iv Clark e r QEP A B Z Encoder Vector control is used to the current loop of PMSM drive to let it reach the linearity and decouple characteristics. 17 PMSM FEEE Permanent Magnet Synchronous Motors Ensuring Enhanced Education Sensor Control Architechture * r Speed loop Speed Controller + Current controller iq* PI + — id* 0 vq Park-1 v d,q — vd , v PI + Current loop modify Clark-1 vref 1 , vref 2 SVPWM v a,b,c ref 3 DC Power PWM1 PWM2 PWM3 PWM4 PWM5 PWM6 Inverter — iq d,q id , Park r sin /cos of Flux angle 1-Z-1 i , i a,b,c ia ib ic iu A/D convert iv Clark e r QEP A B Z PMSM Encoder The entire process is illustrated in this block diagram, including coordinate transformations, PI iteration, transforming back and generating PWM 18 FEEE Permanent Magnet Synchronous Motors Ensuring Enhanced Education Sensor Control Architechture * r Speed loop Speed Controller + Current controller iq* PI + — id* 0 vq Park-1 v d,q — vd , v PI + Current loop modify Clark-1 vref 1 , vref 2 SVPWM v a,b,c ref 3 DC Power PWM1 PWM2 PWM3 PWM4 PWM5 PWM6 Inverter — iq d,q id , Park r sin /cos of Flux angle 1-Z-1 i , i a,b,c ia ib ic iu A/D convert iv Clark e r QEP A B Z PMSM Encoder •The Id reference controls rotor magnetizing flux •The Iq reference controls the torque output of the motor •Id and Iq are only time-invariant under steady-state load conditions 19 FEEE Permanent Magnet Synchronous Motors Ensuring Enhanced Education Sensor Control Architechture * r Speed loop Speed Controller + Current controller iq* PI + — id* 0 vq Park-1 v d,q — vd , v PI + Current loop modify Clark-1 vref 1 , vref 2 SVPWM v a,b,c ref 3 DC Power PWM1 PWM2 PWM3 PWM4 PWM5 PWM6 Inverter — iq id d,q , Park r sin /cos of Flux angle 1-Z-1 i , i a,b,c ia ib ic iu A/D convert iv Clark e r QEP A B Z PMSM Encoder •The outputs of the PI controllers provide Vd and Vq, which is a voltage vector that is sent to the motor. •A new coordinate transformation angle is calculated based on the motor speed, rotor electrical time constant, 20 Id and Iq. FEEE Permanent Magnet Synchronous Motors Ensuring Enhanced Education Sensor Control Architechture * r Speed loop Speed Controller + Current controller iq* PI + — id* 0 vq Park-1 v d,q — vd , v PI + Current loop modify Clark-1 vref 1 , vref 2 SVPWM v a,b,c ref 3 DC Power PWM1 PWM2 PWM3 PWM4 PWM5 PWM6 Inverter — iq d,q id , Park r sin /cos of Flux angle 1-Z-1 i , i a,b,c ia ib ic iu A/D convert iv Clark e r QEP A B Z PMSM Encoder •The Vd and Vq output values from the PI controllers are rotated back to the stationary reference frame, using the new angle. •This calculation provides quadrature voltage values vα and vβ. 21 FEEE Permanent Magnet Synchronous Motors Ensuring Enhanced Education Sensor Control Architechture * r Speed loop Speed Controller + Current controller iq* PI + — id* 0 vq Park-1 v d,q — vd , v PI + Current loop modify Clark-1 vref 1 , vref 2 SVPWM v a,b,c ref 3 DC Power PWM1 PWM2 PWM3 PWM4 PWM5 PWM6 Inverter — iq d,q id , Park r sin /cos of Flux angle 1-Z-1 i , i a,b,c ia ib ic iu A/D convert iv Clark e r QEP A B Z PMSM Encoder •The vα and vβ values are transformed back to 3-phase values va, vb, vc. •The 3-phase voltage values are used to calculate new PWM duty-cycle values that generate the desired voltage vector. 22 FEEE Permanent Magnet Synchronous Motors Ensuring Enhanced Education Sensor Control Architechture * r Speed loop Speed Controller + Current controller iq* PI + — id* 0 vq Park-1 v d,q — vd , v PI + Current loop modify Clark-1 vref 1 , vref 2 SVPWM v a,b,c ref 3 DC Power PWM1 PWM2 PWM3 PWM4 PWM5 PWM6 Inverter — iq d,q id , Park r sin /cos of Flux angle 1-Z-1 i , i a,b,c ia ib ic iu A/D convert iv Clark e r QEP A B Z Encoder The transformation angle, theta, and motor speed are coming from an optical encoder mounted on the shaft of the motor. 23 PMSM FEEE Ensuring Enhanced Education Motor Permanent Magnet Synchronous Motors Driver Controller 24 FEEE Ensuring Enhanced Education Permanent Magnet Synchronous Motors High performance motor control application Industrial drives, e.g., pumps, fans, blowers, mills, hoists, handling systems Elevators and escalators, people movers, light railways and streetcars (trams), electric road vehicles, aircraft flight control surface actuation 25 FEEE Ensuring Enhanced Education Permanent Magnet Synchronous Motors 26