Department of Electrical and Electronic Engineering

Advanced AC Drives
Permanent Magnet Machine Drives
Part VI
Control of PMSM Drives
Basic vector scheme and control design
Maximum Torque per Amp
Operating PM synchronous machines
Normal BLAC or PMSM is not able to operate from a fixed voltage and
frequency supply.
If actually required, then a squirrel-cage can be incorporated in the rotor for
starting. When gets to synchronous speed the cage is ineffective.
Can we operate from an open-Loop V-f drive where V=kf?
Theoretically yes.
V-f or V/Hz open loop control
No speed or position sensor required.
Increasing speed demand SLOWLY and smoothly. As f increases slowly zero to a speed
up to rated, the motor will run synchronously during the entire starting period. The voltage
V f so that V matches the increasing back emf with speed.
The rate of change of frequency will depend on the inertia of the drive. If rate of change is
too high the machine will not start and large torque oscillations occur.
The open loop nature of this control scheme makes it VERY poor in transient performance.
The speed of the PMSM can however be precisely controlled by the excitation frequency
without slip compensation as for IM.
Can be easily supplied from a general purpose V/Hz IM drive.
Cage winding can be used to improve stability and start-up.
Operating PM synchronous machines
Normal BLAC or PMSM is not able to operate from a fixed voltage and
frequency supply.
If actually required, then a squirrel-cage can be incorporated in the rotor for
starting. When gets to synchronous speed the cage is ineffective.
Can we operate from an open-Loop V-f drive where V=kf?
Theoretically yes.
In practice, this is rarely used, especially as vector control comes with almost
no extra cost
Vector control follows the same structure as that with the IM.
We orientate on the rotor flux which is just the direction of the magnet ie. the
flux angle is the same as the rotor position.
I
s
V
*
V

r
i
q
*
PI
i
d
* = 0
d/dt
i
q
i
d
e
r
PI
r
j
e
u
r
j
e
u
PI
2/3
3/2
e
r
*

r
Basic vector control of PM machine up to base speed
i.e. No field weakening
The scheme is identical to the IM except that the flux angle is the rotor position since the
magnet field is fixed on the rotor
Both d and q currents MUST be controlled. For a non-salient machine, i
d
* = 0
This provides for a simple way of controlling non-salient PMSM up to base speed:
This control strategy can also be used with salient PMSM. It works well, but does not operate at
full potential as reluctance torque component is not utilised.
P/2
Current loop control of all PMSM machines
i.e. Non-salient and salient
q q r
d
d s d d
i L
dt
di
L R i v e + =
m r d d r
q
q q q
i L
dt
di
L R i v + + + + = e e
The dynamic equations are:
For the i
d
loop design, the plant is just the 1
st
order linear terms since compensation terms
will be used in the implementation:
s L R
d s
+
1
PI
q q r
i L e
-
+
+
-
*
d
i
d
i
Similarly for the i
q
control loop design is the same. Note that L
q
will be used for the plant
q q r
i L e
m r d d r
i L + +e e
I
s
V
*
V
Inverter (power amplifier)
PM machine

r
i
q
*
PI
i
d
* = 0
d/dt
i
q
i
d
e
r
PI
r
j
e
u
r
j
e
u
2/3
3/2

r
The final scheme will have the rotational emf terms added as feed-forward (FF) terms in
the normal manner. All variables are available for the FF terms
As before, the FF terms are useful when speed is rapidly changing
Current loop control of all PMSM machines
i.e. Non-salient and salient
P/2
Field weakening Control of non-salient machine
For SM PMSMs, can field weaken by imposing NEGATIVE i
d
In IM, i
d
* began at rated value and was then reduced. In PMSM |i
d
*|increases
But if we increase i
d
* then the rated can be exceeded.
Therefore need a more sophisticated system see later
q q r
i L e
m r d d r
i L + +e e
I
s
V*
V
Inverter (power
amplifier)
PM machine

r
i
q
*
i
d
*
d/dt
i
q
i
d
e
r
r
j
e
u
r
j
e
u
2/3
3/2

r
PI
PI
2 2
max _ q d a
i i I + =
PI
e
r
*
V
FW
P/2
Salient Machines: Maximum Torque Per Amp strategy
For Salient PMSMs (buried or inset magnets), we can get increased torque by
applying a negative i
d
* even when we are NOT above base speed
This was because there is also a reluctance torque when
d q
L L =
)] ( [
q d q d q m
L L i i i k T + + =
Applying ve i
d
results in an advance angle

d
q
i
q
i
d
i

A
A + + +
=

i L
L i
m m
T
4
8
sin
2
2 2
1
max

i k
m
+
) (
2
2
q d
L L
i
k

max

The Torque in terms of is:

Which is maximum at:
(
(

+ = ) ( 2 sin
2
cos
2
q d m
L L
i
i k T
This is called the MTPA
strategy and should be used
Salient Machines: Maximum Torque Per Amp strategy
The optimum advance angle is a function of the total current |i|
Expected since reluctance torque is |i|
2
whilst magnet torque is |i|

d
q
i
q
i
d
i
For a given , can find
max_T
This gives and
d
i
q
i
2 2
q d
i i i + =
d
i
A 1 = i
A 2 = i
A 3 = i
q
i

A
A + + +
=

i L
L i
m m
T
4
8
sin
2
2 2
1
max

(
(

+ = ) ( 2 sin
2
cos
2
q d m
L L
i
i k T
Put
max_T
into the torque expression:
6N
1
=
A
T
13N
2
=
A
T
20N
3
=
A
T
d
i
q
i Create look up table with T input and , output
Hence for a given T, there is an optimum ,
q
i
d
i
Maximum Torque per Amp loci for various machines
1 shows MTPA locus for a non salient machine. Locus is on the q-axis as the d-axis
current component would not produce any torque.
2. If we had no magnets, (a synchronous reluctance machine), the angle from MTPA would
be such that -i
d
=i
q
for any T
3. The MTPA locus produced by a salient PMSM is a hybrid of the above thus the locus will
be in between the two loci above
- at low currents, reluctance torque is small; high currents it is large because |i|
2
Torque locus for a non salient PMSM MPTA locus for a synchronous reluctance
machine (salient PMSM without magnets)
| field
-T
generating
+T
motoring
q
i
d
i
0
0
loci of i for
maximum
torque per
amp
135
0
| |
1
max
sin 0
T

=
1
max
1
sin
2
T

(
=
(

Torque locus for a salient PMSM
0
0
+T
motoring
-T
motoring
0
i
( )
q q
i f T =
( )
d d
i f T =
d
i
q
i
6N
1
=
A
T
13N
2
=
A
T
20N
3
=
A
T
Torque mapping functions
For any (required) torque, there will be a value of id and iq that will
give the maximum torque per amp.
These are shown for both motoring and generating torque
These are stored in a look up table and inserted in the speed loop
The MTPA Scheme for Salient PMSM
And the control scheme becomes......
Department of Electrical and Electronic Engineering
Advanced AC Drives
Permanent Magnet Machine Drives
Part VII
Control of PMSM Drives
Operation in constant power region
Constant Power Applications 1 winding
T
1
, e
1
F, v
F, v
T
2
, e
2
r
1
r
2
2 2
/ r v = e
1 1
/ r v = e
2 2
Fr T =
1 1
Fr T =
Winding applications: paper, fabrics, fibres, rolling mills (metal plate rolling)
Wind at constant force and speed ie: P =Fv = constant
As radius increases, e reduces, T increases
Machine obviously rated at P
winding on to reel
Constant Power Applications 2 - traction
Cars, buses, trams, trains primarily inertial loads, dominated by the moment of inertia J
For an inertial load driven by a motor of a given power rating, the best T-e motor
characteristic for maximising acceleration to any speed is the constant power characteristic
Or: for best acceleration to any speed, a prime mover with a constant power characteristic
will result in the minimum motor power rating
Lower the value of e
base
the lower the motor power rating
Maximise the speed ratio e
max
/e
base
e
base
e
max
T,P
e
Torque
Power
Best machine has the widest speed ratio
these are Salient PMSM designs
Machine
Torque Density
Nm/m
3
Speed
ratio
noise Cost
AC Surface
Mount PM
28,000 2
AC IPM
25,000 3-10
Induction
15,000 3
Switched
Reluctance
12,000 6
Constant Power Applications 3
Traction Applications
Note that internal combustion engines have a peak torque in the mid-speed range
This is not well matched
Matching done mechanically using a variable ratio gearbox
Electrical machines with constant power operation need no gearbox
T
e
Ideal characteristic
Internal combustion engine
characteristic
Field Weakening
For an IM and field weaken by reducing i
sd
from i
sd_rated
to zero
For PM machine ; field weaken by increasing negatively i
d
from zero
Both have a voltage limiting condition
But for PMSM, there is a also a current limiting condition
md o d
i L = +
d o m d
i L + + = +
max
2 2
V v v
q d
s +
max
2 2
I i i
q d
s +
Field weakening can be illustrated using the phasor
diagram (steady state operation)
E (and hence motor voltage V) increases with
speed since
the term acts to reduce the
magnitude of V and hold it V
max
as speed increases
d r d d d
L jI X jI e =
m r
E + = e
Field Weakening
For an IM and field weaken by reducing i
sd
from i
sd_rated
to zero
For PM machine ; field weaken by increasing negatively i
d
from zero
Both have a voltage limiting condition
But for PMSM, there is a also a current limiting condition
md o rd
i L = +
d o m d
i L + + = +
max
2 2
V v v
q d
s +
max
2 2
I i i
q d
s +
sq r
d
s d d
Li
dt
di
L R i v e + =
m r d r
q
q q
Li
dt
di
L R i v + + + + = e e
q r q r d
Li v + = = e e
d r m r d r q
Li v + = + + = e e e
( ) ( )
2 2 2
2
2 2
q r m r d r q d
i L Li v v v e e e + + + = = +
2
2
2
q
m
d
r
i
L
i
L
v
+
|
.
|

\
| +
+ =
|
|
.
|

\
|
e
Both conditions must be considered together. This is done by studying the constraints in the
(i
d
- i
q
) plane.
The condition is the equation of a circle in the (i
d
- i
q
) plane, radius I
max
The voltage constraint can also be written in the (i
d
- i
q
) plane
To make the working easier, assume a non-salient machine and neglect stator resistance
max
2 2
I i i
q d
s +
For L=L
d
=L
q
and R=0
Voltage and Current Limit Circles for non-salient machine
2
2
2
q
m
d
r
i
L
i
L
v
+ |
.
|

\
| +
+ =
|
|
.
|

\
|
e
The equation is a circle of radius
Its centre is offset at
L
v
r
e
L
i
m
d
+
=
d r
L
V
e
max
radius =
d
m
d
L
i
+
=
1000rpm
d
i
q
i
2000rpm
4000rpm
current limit
circle
voltage limit circles
Max speed is 4000rpm
(but zero Torque)
Max iq (and torque) at 2000rpm
occurs with i
d1
, i
q1
1 q
i
1 d
i
1500rpm
Above 1500rpm, i
d1
, i
q1
must
be inside hashed area
Current is called the
critical current.
If inside current circle, then
speed of machine not limited
by voltage
d
m
d
L
i
+
=
2
2
2
q
m
d
r
i
L
i
L
v
+ |
.
|

\
| +
+ =
|
|
.
|

\
|
e
The equation is a circle of radius
Its centre is offset at
L
v
r
e
L
i
m
d
+
=
Current is called the
critical current. If inside current
circle, then speed of machine
not limited by voltage
d
m
d
L
i
+
=
Max speed is 4000rpm
(but zero Torque)
Max iq (and torque) at 2000rpm
occurs with i
d1
, i
q1
Above 1500rpm, i
d1
, i
q1
must be
inside hashed area
d r
L
V
e
max
radius =
d
m
d
L
i
+
=
1000rpm
d
i
q
i
2000rpm
4000rpm
voltage limit circles
1500rpm
Voltage and Current Limit Circles for non-salient machine
Have:
Hence
The voltage circles can be re-calibrated to be constant flux circles
+ = =
1
max
radius k
L
V
d r
e
d
m
d
L
i
+
=
0.4Wb
d
i
q
i
0.2Wb
0.1Wb
voltage circles
0.3Wb
increasing T
Voltage and Current Limit Circles for non-salient machine
+ =
r
V e
sq r
d
s d d
Li
dt
di
L R i v e + =
m r d r
q
q q
Li
dt
di
L R i v + + + + = e e
q r q r d
Li v + = = e e
d r m r d r q
Li v + = + + = e e e
max
V
sq q r
d
d s d d
i L
dt
di
L R i v e + =
m r d d r
q
q q q
i L
dt
di
L R i v + + + + = e e
q q r d
i L v e =
For a Salient machine, we have
m r d d r q
i L v + + = e e
Putting i
q
=0 gives the
maximum i
d
coordinates of the
ellipse as:
Voltage and Current Limit ellipses for salient machine
d
m
d
L
i
+
=
q r
s
L
V
e
max
d
m
d r
s
L L
V +

e
max
d
m
d r
s
L L
V +

e
max
And the maximum i
q
coordinates are:
q r
s
L
V
e
max

( )
2
2
2
2
max
q q d
d
m
d
r
s
i L i
L
L
V
+
|
|
.
|

\
|
+
+
=
|
|
.
|

\
|
e
giving:
which is the equation of an ellipse:
The ellipses get smaller as speed increases
The MTPA line is where the T lines
are tangential to the I circles
The Minimum Flux per T line is
where theT lines are tangential to
the V ellipses
MFPT means the i
d
, i
q
for
maximum speed per Torque
Voltage and Current Limit ellipses for salient machine
d
m
d
L
i
+
=
q r
s
L
V
e
max
d
m
d r
s
L L
V +

e
max
MTPA
MFPT
All points of a particular value of torque form a constant T line
Where the constant T lines are tangential to the current circles
gives the MTPA points(Blue line)
Can also calculate value of T for any value of and flux from i
d
, i
q
increasing T
)] ( [
q d q d q m
L L i i i k T + + =
Field Weakening Control 1 - Angle Advance method

d
q
i
q
i
d
i
Speed controller outputs T*
MTPA calculator yields or |i|and for MTPA i
d MTPA
, i
qMTPA
V
i
q
*
i
d
*
d/dt
i
q
i
d
e
r
r
j
e
u
r
j
e
u
PI
PI
PI
e
r
*
|V|
sin
cos
) (T f
q
) (T f
d
i
qMTPA
*
i
dMTPA
*
( ) .
1
tan

|i|
PI
( ) .
+
-
A +

A
+
+
T*

r
I
s
V*

r
2/3
3/2

r
P/2
V
lim
e
r
*

d
q
i
q
i
d
i
Voltage demands are measured and magnitude |V*| compared
with a value of voltage V
lim
< V
max
(to allow for voltage to increase
current)
|V*|< V
lim
(not FW) then A will be zero and we are in MTPA mode
Function block has anti-wind up integrator (integrator off at limits)
I
s
V*

r
i
q
*
i
d
*
d/dt
i
q
i
d
e
r
r
j
e
u
r
j
e
u
2/3
3/2

r
PI
PI
PI
|V*|
P/2
V
sin
cos
) (T f
q
) (T f
d
i
qMTPA
*
i
dMTPA
*
( ) .
1
tan

PI
( ) .
V
lim
+
-
A +

A
+
+
T*
|i|
Field Weakening Control 1 - Angle Advance method

d
q
i
q
i
d
i
|V|> V
lim
output of PI and function block will be +ve and an extra
A will be added to to increase i
d
negatively
Field will weaken; |V|will decrease and be regulated to V
lim
In steady state, output of integrator will be finite with non-zero A
I
s
V*

r
i
q
*
i
d
*
d/dt
i
q
i
d
e
r
r
j
e
u
r
j
e
u
2/3
3/2

r
PI
PI
PI
e
r
*
|V|
P/2
V
sin
cos
) (T f
q
) (T f
d
i
qMTPA
*
i
dMTPA
*
( ) .
1
tan

PI
( ) .
V
lim
+
-
A +

A
+
+
T*
|i|
Field Weakening Control 1 - Angle Advance method
( ) .
V
lim
i
q
*
i
d
* i
q
i
d
PI
PI
i
d
*
T*
|+*|
i
q
*
|+*|
T*
PI
e
r
*
T* T*
lim
T
limit
|+|
Flux estimator
i
q
i
d
|+*|
MTPA
MFPT
T Limiter determine maximum Torque:
No field weakening, T
lim
(+
m
) at A
As speed increases, flux reduces; T
lim
(+
m
) lies on AB
When hit MFPT, reduced flux T
lim
(+
m
) lies on BC
e
r A
A
B
C
C
B
+=0.4
+=0.3
+=0.2
O
T Limiter
Current generator
Flux contours when
V=V
max
When V<V
max
+=+max
Field Weakening Control 2 Look-up table with MFPT
( ) .
V
lim
i
q
*
i
d
* i
q
i
d
PI
PI
i
d
*
T*
|+*|
i
q
*
|+*|
T*
PI
e
r
*
T* T*
lim
T
limit
|+|
Flux estimator
i
q
i
d
|+*|
MTPA
MFPT
Current generator determine i
d
* and i
q
*
No field weakening, i
d
* and i
q
* lies on OA
When e>e
r_base
, flux reduces; i
d
* and i
q
* lies on
intersection of T* and +* contours
Region bounded by OABC
e
r A
A
B
C
C
B
+=0.4
+=0.3
+=0.2
O
T Limiter
Current generator
Flux contours when
V=V
max
When V<V
max
+=+
max
Field Weakening Control 2 Look-up table with MFPT
Summary of field weakening
Field weakening is very desirable for traction drives since it minimises the motor weight
and volume for a given acceleration
For good FW characteristics, we require large L
d
inductance so that demagnetising flux
per current is high; this favours the buried magnet PM machine
If is high enough, the speed ratio can be infinite
High saliency ratios also extend the speed ratio; aim to make L
q
larger than L
d
.
Saliency also allows an increase in torque per amp through exploiting reluctance torque
But, armature reaction effect of buried magnet machines is high, this can saturate the
stator iron paths, increasing the reluctance seen by the magnets; maximum torque per
volume is often higher in surface mount machines
What you should know
Difference between BLDC and BLAC; basic principle of BLDC
Basic types of BLAC (PMAC) and concept of Saliency
Concept of reluctance torque in salient machines and concept of MTPA
Vector control structure for non-salient and salient types with MTPA
Field weakening, concept of current and voltage circles (or V ellipse)
MFPT and field weakening operating regions
Knowledge of basic dynamic equations; ability to manipulate equations to find flux and
inductances from parameters and operating conditions
Ability to calculate maximum torque given motor parameters
Ability to read current/voltage circles (ellipses) to estimate maximum speed and other
steady state operating conditions