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Motor Modeling
Motor Model
Dynamical Equations
dd
vd Rs id
me q
dt
vq Rs iq
dq
dt
me d
did
1
vd Rsid me Lqiq
dt Ld
1
vq Rs iq me Ld id me PM
dt Lq
diq
dm 1
Te TL Dmm
dt
J
d m
m
dt
where
Te iq P PM id Ld Lq
4
me
P
m
2
Controller in SimuLink
Governing Equations
PID controller can be designed as:
m* m k p e k i e k d e
m
where
e m mref m
e m mref m
e m mref m
From
(1)
Te J
d m
D m m TL
dt
(2)
(3)
Te K T i q
where
iq
Te
KT
d m
dt
KT
3P
PM ( L d L q ) i d
4
d m
D m m TL
dt
KT
(4)
d m*
d m
J
D m m* (Te J
D m m )
dt
dt
KT
J / t Dm *
Te
J
m m
m
KT KT
KT
Eq. (3)
Eq. (1)
J / t Dm
J
( k p e m k i e m k d e m )
m
iq
KT
KT
~
~
~
J
i q* i q
m k p e m k i e m k d e m
KT
~
~
~
J / t Dm
where k p Ck p k i Ck i k d Ck d
C
KT
Adaptive for
different values of
J, t, Dm and KT.
d
d q r
dt
d
q d r
v q R s iq
dt
v d R s id
d L d i d PM
q L q iq
*
Note: we set the desired direct current i d 0
Angular
Velocity
Tracking