Current control strategy of PMSM

Control of Servo Motors

Current control strategy of vector controlled PMSM
- Control both the magnitude and phasor of stator current for vector control of PMSM
The d-axis & q-axis current are controlled independently
Current control strategy
- Hysteresis current control
- Ramp comparison method
- Space vector control
Current controlled PWM inverter
- Converting DC voltage into three phase ac voltage
- To control three phase currents to their reference current
d-axis
q-axis
u
E
Vs
iqs is =
d-axis
q-axis
u
E
ee Ls ids
ee Ls iqs -
Vs
ids
iqs
is
PMSM
* Normal operation * Flux weakening control
Hysteresis Current control of PMSM
Control of Servo Motors
Block diagram of hysteresis current control
- d-axis current i
ds
= 0
- d-q axis current in synchronous reference frame d-q axis current in stationary reference frame
- d-q axis current in stationary reference frame 3-phase reference current
- Hysteresis control
[1] Hysteresis current control
- 3-phase motor current : control within the hysteresis band at a centered reference currents
2
3
a i
*
ia ib ic
e
j
e
e
ib
*
c i
*
Iqs
*
Ids
*
=0
Hysteresis
Controller
E
ids
s
iqs
s
Hysteresis Current control of PMSM
Control of Servo Motors
Operations of hysteresis current control
t
t1 t2
Ts
t
A
0.5E
-0.5E
Va
ia
* ia
+
ia
-
Ba
+
A
-
Rs
Va
V
b
Vc
ia
ib
ic
Rs
Rs
Ls
L
L
ea + -
eb + -
ec + -
Vo
+
-
+
-
0.5E
A
+
s
s
B
+
C
+
A
-
B C
- -
0.5E
Current controlled PWM Inverter
) (
*
BH i i
a a
>
) (
*
BH i i
a a
+ <
Upper switching device A+ is conducting Current is increased
Lower switching device A- is conducting Current is decreased
-
-
Hysteresis Current control of PMSM
Control of Servo Motors
Advantage of hysteresis current control
- Simple implementation
- a-phase voltage equation
* Inductance L
s
| a variation of current + switching frequency +
- Hysteresis band | switching frequency + current ripple |
- Hysteresis band + switching frequency | current ripple +
- Fast current response & Inherent peak current limiting
Disadvantage of hysteresis current control
- Switching frequency of PWM inverter is widely varied with motor speed & load
Problems to design the filter and select switching frequency (turn-off time)
a
a
s a s a
e
dt
di
L i R V + + =
- Neglecting resistance voltage drop, a variation of current
s
a a a
L
e V
dt
di
=
* Motor speed | motor EMF e
a
| a variation of current + switching frequency +
* Motor speed + motor EMF ea + a variation of current | switching frequency |
Hysteresis Current control of PMSM
Control of Servo Motors
Simulation results
- Motor current, reference current
with HB, and gating signal
- Current ripple and switching frequency
with a variations of HB
(1) HB = 0.2A
Hysteresis Current control of PMSM
Control of Servo Motors
Simulation results
- Current ripple and switching frequency with a variations of HB
(2) HB = 0.3A (3) HB = 0.4A
Hysteresis band | switching frequency + current ripple |
Switching frequency is widely varied at one period
The current is mostly controlled within the hystersis band
The Hysteresis current control method is not applied to industrial applications
Ramp Comparison Method of PMSM
Control of Servo Motors
Ramp comparison method
- PWM pulses : Three-phase reference voltages are compared with the triangular wave with
constant frequency and magnitude
- Both the frequency and magnitude of reference three-phase voltages is adjusted for
controlling the output voltage of PWM inverter
LOCKOUT A
A
V
as
*
Comparator
CIRCUIT
LOCKOUT B
B
V
bs
*
Comparator
CIRCUIT
LOCKOUT C
C
V
cs
*
Comparator
CIRCUIT
* Vas* > Triangular waveform : Upper switching device is conducting
* Vas* < Triangular waveform : Lower switching device is conducting
* Dead time is required to prevent the arm short
Control of Servo Motors
a-phase reference voltage, triangular waveform, and switching signal with a variation of motor speed
(1) Speed = 400 rpm (2) Speed = 800 rpm
(3) Speed = 1600 rpm
Control of Servo Motors
a-phase reference voltage, triangular waveform, and stator current with a variation of switching frequency
(1) switching frequency = 1500Hz
(2) switching frequency = 3000Hz
- Motor speed = 1500 rpm, load torque = 0.8[N.m]
Ramp Comparison Method of PMSM
Control of Servo Motors
a-phase reference voltage, triangular waveform, and stator current with a variation of switching frequency
(3) switching frequency = 4500Hz
Ramp Comparison Method of PMSM
- Switch frequency of PWM inverter = frequency of triangular waveform
: Constant switching frequency
- Both the frequency and magnitude of reference voltages
the frequency and magnitude of output voltage of PWM inverter
- Current control performance < Current control performance of hysteresis control
PWM pulses : Three-phase current errors are compared with the triangular wave
Control of Servo Motors
Block diagram of space voltage vector method
Space Voltage Vector Method of PMSM
e
j u
e
V
ds
Vqs
P W M
Vds
s
Vqs
s
Space
Voltage
Vector
Controller
c
b
a
o
v
(2)
v
(1)
v
(3)
v
(4)
v
(5)
v
(k)
v
(7)
v
(6)
v
(0)
I II
III
IV I V
V
Vdc
2
3
vB
vA
d
s
-axis
q
s
-axis
Space voltage vector
- Six sectors
- Reference voltage vector V
ref
is locate at sector 1
- Voltage vector is divided into vector V1 and V2
2
2
1
1 T V T V V ref + =
* Voltage vector V
1
is applied at time T
1
& Voltage vector V
2
is applied at time T
2
* Zero voltage vector Vo at T
0
T
0
= T
s
(T
1
+T
2
)
Control of Servo Motors
Space Voltage Vector Method of PMSM
Three phase PWM signal at Sector 1
Ub
Ua
Uc
T T
Ts
1 2
T0
2
T0
2
f s =
1
2
Ts
T T
Ts
2 1
T0
2
T0
2
Control of Servo Motors
Space Voltage Vector Method of PMSM
Features for space voltage method
- Constant switching frequency
- Good current control performance
- Complex implementation
d-q axis reference voltage
d-q axis stator current
No. of sector
V
Sector
ds
s
Vqs
s
i
ds
s
i
qs
s
Control of Servo Motors
Closed loop control of PMSM
- Position P controller
Position control of PMSM using the hysteresis current control method
2
3
a i
*
ia ib ic
e
PMSM
jue
ue
ib
*
c i
*
Iqs
*
Ids
*
=0
Hysteresis
Controller
E
*
e
r
e
r
ids
s
iqs
s
*
ue
ue
p
) (
* *
e e P r
K u u e =
- Speed PI controller ) ( ) (
* *
r r
I
P qs
S
K
K I e e + =
Control of Servo Motors
Closed loop control of PMSM
Position control of PMSM using the ramp comparison method
+
-
3
|
2
|
e
j
u
-
PWM
Inverter
PMSM
i
b
i
a
i
c
V
ds
s
-
V
qs
s
-
I
qs
e
-
i
qs
s
i
ds
s
I
qs
e
I
ds
e
+
-
V
qs
e
-
I
qs
e
= 0 I
ds
e
-
+
-
V
ds
e
-
I
ds
e
Comparator
Triangler
Wave
e
j
u
e
ue
e
ue
er
e
-
r
3
|
2
|
V
as
-
V
bs
-
V
cs
-
E
p
+
-
-
ue
ue
ue
Control of Servo Motors
Closed loop control of PMSM
Speed control of PMSM with the ramp comparison method using current errors
Control of Servo Motors
Closed loop control of PMSM
Position control of PMSM using the space voltage vector
+
-
3
|
2
|
e
j
u
-
PWM
Inverter
PMSM
i
b
i
a
i
c
V
ds
s
-
V
qs
s
-
I
qs
e
-
i
qs
s
i
ds
s
I
qs
e
I
ds
e
+
-
V
qs
e
-
I
qs
e
= 0 I
ds
e
-
+
-
V
ds
e
-
I
ds
e
e
j
u
e
ue
e
ue
er
e
-
r
E
p
+
-
-
ue
ue
ue
Space Voltag Vector
Controller