Documente Academic
Documente Profesional
Documente Cultură
Mahmoud A. Hassanien
Skokry S. Shokralla
I. INTRODUCTION
Rs
L
1
iqs d r ids
Vq m r
dt
Lq
Lq
Lq
Lq
L
dids
R
1
s ids q r iqs
Vd
dt
Ld
Ld
Ld
(1)
(2)
3
Te P miqs Ld Lq idsiqs
2
(3)
d r
B r
dt
(4)
d r
Te TL
dt
(5)
Te TeTL Te TL J
d r
dt
(8)
where,
TeTL TL
Te J
(9)
d r
dt
(10)
3
d r
TL TeTL Te Te P miqs J
2
dt
(11)
Te TL J
(7)
and
diqs
K t 3 2 P m
iqTL
TL
(3 2)P m
(12)
iqs iqTL iq
(13)
PI
controller
iq
iqTL
FLTC
iqs
iqs
ids 0
3-phase
220V
50Hz
idq-Synch.
to
idq-Stat.
sinr
PWM
Inverter
Rectifier
iqss
cosr
idss
ia
idq-Stat. i
b
to
i
iabc
c
IPMSM
ia
DC
Gen.
Current i
b
Controller
Encoder
Unit vector
Generator
d dt
Fig. 1 Block diagram of a field oriented controlled IPMSM drive using the proposed PI controller with FLTC.
3
Pm
2
3
Pm
2
iqTL
Te (N.m)
J
P
Iabc (A)
iqs
TL
110
105
100
1.1
6
4
2
0
-2
1.1
2
1.15
1.2
1.25
1.3
1.35
1.4
1.15
1.2
1.25
1.3
1.35
1.4
1.15
1.2
1.25
1.3
1.35
1.4
0
-2
1.1
2
Iqd (A)
id
iq
0
-1
1.1
1.15
1.2
1.25
Time (sec)
1.3
1.35
1.4
1000
1.15
1.15
1.2
1.25
1.2
1.3
1.25
1.3
1.35
1.4
1.35
Iqd (A)
0
-2
1.1
2
1.15
1.2
1.25
1.35
1.15
1.2
1.25
Time (sec)
1.4
id
iq
0
-1
1.1
1.3
1.3
1.35
1.4
Speed (rad/s)
105
Iabc (A)
Te (N.m)
110
0.55
0.6
0.65
0.7
0.75
0.8
0.55
0.6
0.65
0.7
0.75
0.8
Iqd (A)
0.55
0.6
0.65
id
0.7
0.75
0.8
0.55
0.6
0.65
Time (sec)
0.7
0.75
0.8
0.55
0.6
0.65
0.7
0.75
0.8
0.15
0.175
0.2
30
Conventional PI Controller
with
FLTC with FLTC
PI Controller
20
10
0
0.05
0.1
0.15
Conventional PI Controller
with
FLTC
PI Controller
with FLTC
500
0
-500
-1000
0.24
0.25
0.26
Time (sec)
0.27
0.28
0.29
Fig. 7 Simulated speed responses using the conventional PI controller and the
proposed PI controller with FLTC during speed reversal at 1000 rpm.
1400
1000
800
600
J = 2Jo
400
J = Jo
200
0
0.55
0.6
0.65
0.7
0.75
0.8
0.025
0.05
0.075
Time (sec)
0.1
0.125
0.15
0
0.55
0.6
0.65
0.7
0.75
0.8
id
iq
Speeds (rpm)
1200
Iqd (A)
0.075
0.1
0.125
Time (sec)
40
Speeds (rpm)
Speed (rad/s)
Te (N.m)
Iabc (A)
105
-1
0.5
0.05
1200
110
-2
0.5
0.025
Fig. 5 Simulated speed responses using the conventional PI controller and the
proposed PI controller with FLTC at speed reference of 1000 rpm under load
torque of 4 N.m.
60
100
0.5
6
4
2
0
-2
0.5
2
-1500
0.23
iq
0
-1
0.5
250
1000
0
-2
0.5
2
Conventional PI Controller
with FLTC
PI Controller with FLTC
500
50
100
0.5
6
4
2
0
-2
0.5
2
750
1.4
Speeds (rpm)
100
1.1
6
4
2
0
-2
1.1
2
Speeds (rpm)
105
Speeds (rpm)
Speed (rad/s)
1250
Iabc (A)
Te (N.m)
110
1000
800
600
J = 2Jo
400
J = Jo
200
0.55
0.6
0.65
Time (sec)
0.7
0.75
0.8
0.025
0.05
0.075
Time (sec)
0.1
0.125
0.15
V. REAL-TIME IMPLEMENTATION
Else no change.
*
ia* , ib* ,
ia* 0 : S4 = 0,
ia ia* i Then S1 = 0;
Else if
ia ia* i Then S1 = 1;
If
0 : S1 = 0,
ia i i Then S4 = 1;
*
a
Else if ia ia i Then S4 = 0;
Else no change.
Fig. 11 shows the steady state responses of speed, motor
torque, motor currents and dq currents at 105 rad/sec speed
reference and 3 N.m load torque. The flowchart of the
software program for real time implementation of IPMSM
drive system is shown in Fig. 12.
*
DC
Gen.
Isolation
and Gate
Drive Circuit
Digital I/O
Ports
A/D
Current
Sensor
S 1- S 4
ic
A/D Conversion
Calculate r and r
ia
ib
ic
S 3- S 6
+
Real-Time Interface
(Compilation Stage)
Restart Timers
Start Timers
Encoder
Interface
ISA Bus
+
b
Real-Time Workshop
IPMSM
DSP-DS1102
Control Board
ia
Inverter
Rectifier
Vdc
Computer
START
IPMSM
Reference speed
S 5- S 2
32 rad/sec/div
Rotor speed
50
0
0.1
4
Iabc (A)
0.2
0.25
0.3
Reference speed
2
1
0.1
2
0.15
0.2
0.25
0.3
0
-2
0.1
2
Iqd (A)
0.5 sec/div
100
Rotor speed
0.15
0.2
0.25
0.3
0.5 sec/div
iq
0
-1
0.1
32 rad/sec/div
id
0.15
0.2
Time (sec)
0.25
0.3
TABLE II
Reference speed
Rotor speed
0.35 sec/div
Proportional gain
Integral gain
1
3.5
REFERENCES
Rotor speed
0.35 sec/div
APPENDIX
A. List of symbols
vd, vq
d and q-axes stator voltages;
id, iq
d and q-axes stator currents;
Rs
stator resistance;
Ld, Lq
d and q-axes stator inductances;
Te, TL
electromagnetic and load torques;
Jo
moment of inertia of the motor and load;
B
friction coefficient of the motor;
P
number of pair poles of the motor;
r
rotor speed in angular frequency;
m
rotor magnetic flux linkage.
B. Motor and Controller Parameters
TABLE I
PERMANENT MAGNET SYNCHRONOUS MOTOR PARAMETERS
1
220 V
1.6
Rs
Ld
Lq
1000
Number of poles
Rated Frequency
6
50 Hz
Jo
Rated torque
3.7 Ohm
30 mH
38 mH
0.495
V.S/Rad
5e-3 Kg.m2
5 N.m