Documenti di Didattica
Documenti di Professioni
Documenti di Cultura
80-88, 2012
Printed in Romania
1. INTRODUCTION
Nowadays Hybrid Electric Vehicles (HEVs) and Electric
Vehicles (EVs) have become an alternative to the
conventional automobiles and electric machines tend to
replace the internal combustion engine. The Externally
Excited Synchronous Machine (EESM) is a good choice for
the automotive industry because it possesses many
advantages: high efficiency, high power density, high torque
at startup, high reliability and an additional degree of
freedom compared with the Permanent Magnet Synchronous
Machine (PMSM) (Hagstedt et al. (2008)).
For a better understanding, the EESM can be analyzed using
the rotor reference frame. The three-phase stator quantities
(voltages, currents or flux linkages) can be transformed to the
rotor reference frame and vice versa by using Clarke and
Park transformations (Park (1929), Krause et al. (2002),
Pillay and Krishnan (1988), Aller et al. (2002)). In the
resulted model, the torque and the speed can be controlled in
a similar way as for the direct current (DC) machine.
The torque control is the main challenge for any type of
electric machine used in the automotive propulsion. There are
two advanced control methods: Direct Torque and Flux
Control (DTFC) and Field Oriented Control (FOC). FOC
81
The rotor configuration is composed of excitation windings
supplied in DC. As such, the excitation voltage equation
results as:
de
,
(2)
dt
where ve is the excitation voltage, ie is the excitation current,
e is the rotor flux linkage and re is the rotor resistance. The
rotor flux linkage is given by:
ve reie
e M d ids Le ie ,
(3)
(4)
where vds, vqs are the d and q axis stator voltages, ids, iqs are
the d and q axis stator currents, ds, qs are the d and q axis
stator flux linkages and e is the rotor electrical angular
velocity. Stator flux linkages in the rotor reference frame are
expressed as:
qs Lq iqs
ds Ld ids M d ie
(5)
3P
Te
M d ieiqs Ld Lq iqs ids ,
4
where P denotes the number of poles.
(6)
dm
Bmm ,
(7)
dt
where TL is the load torque, Jm is the rotor moment of inertia,
Bm is the viscous friction coefficient and m is the mechanical
2 e
angular velocity with m
.
P
Te TL J m
(a)
(b)
das
dt
dbs
vbs rs ibs
,
(1)
dt
d
vcs rs ics cs
dt
where vas, vbs, vcs are the three-phase stator voltages, ias, ibs, ics
are the three-phase stator currents, as, bs, cs are the three
phase stator flux linkages and rs is the stator resistance.
vas rs ias
e e ( )d e (0) ,
(8)
0
where is the variable of integration.
82
- e qs
Te
e ds
ds
qs
x (t ) Ax(t ) Bu(t ) l (t )
,
y (t ) Cx(t )
where
(9)
ids (t )
u ds (t )
e (t )qs (t )
x(t ) iqs (t ) , u(t ) u qs (t ), l (t ) e (t )ds (t ),
ie (t )
u e (t )
Le rs
2
M d Ld Le
A
0
M d rs
2
M
d Ld Le
L
2 e
M d Ld Le
B
0
Md
2
M d Ld Le
0
r
s
Lq
0
0
1
Lq
0
Ld Le
0
,
Ld re
M d2 Ld Le
M d re
M d2
2
M d Ld Le
1 0 0
0 1 0 ,
0
,
C
0 0 1
Ld
2
M d Ld Le
Md
y (t ) Ce z (t )
where,
(10)
xids, xiqs and xie are the integral of the tracking currents error,
I3 and O3 are the 3-dimensional identity and zero matrices.
The discrete form of (10) results as follows:
z (k 1) z (k ) u(k ) l (k )
,
y ( k ) C e z ( k )
where, e A eTs1 ,
Ts1 A p
e e B e dp and
0
(11)
Ts1 denotes the
83
(12)
T P - P T P R T P Q - P 0 .
u ( k ) T P R
1 T
Pz(k) Kz (k ) .
(13)
(14)
k 0
k f 1
where, t e A t Ts2 , t
(19)
Ts2 A p
e t B t dp and
0
ut (k ) tT Pt t R t
1 T
t Pt t z t (k)
K t z t (k ) ,
(20)
Tt Pt - Pt t tT Pt t R t tT Pt t Qt - Pt 0 . (21)
(15)
z t (k 1) t z t (k ) t ut (k )
,
yt (k ) Ct z (k )
3P
Te
d iq q id .
4
0
G
1
, B t , Ct c 0, Tds is the
1
0
Tds
(18)
z t (t ) A t z t (t ) B t ut (t )
,
yt (t ) Ct z t (t )
where:
(17)
84
(22)
3P
3P
( L Ld ) I s2 sin 2 .
(24)
M d ie* I s cos
4
8 q
The angle must be controlled to obtain fast transient
response and maximum torque with the smallest possible
stator current amplitude. Setting the derivative of (24) with
Te
4
4 d s
(25)
From (22) and (25), the d-axis current component for MTPA
strategy results:
*
ids
M d ie*
2( Lq Ld )
M d i
* 2
e
4( Lq Ld ) 2
*2
iqs
.
imposing
2 i2 I
I s ids
qs
sm ,
(29)
2 v2 V ,
Vs vds
qs
sm
(30)
dqs
dt
0 and
*
iqs 36P2 (Lq Ld )2 iqs
48PMd ie*Te* 64Te* 2 0 .
The last equation has four roots, two real roots and two
complex conjugate roots. From the two real roots, one is
0 results:
dt
2 Vsm .
(31)
M d ie*
Ld
1
Ld
2
Vsm
* 2
Lq iqs
.
2
e
(32)
2
2 P2
*4 2 2 2
*2
iqs
9P e Lq (Ld Lq )2 iqs
[9P2e2 L2q M d ie* 9Vsm
(33)
*
(Ld Lq )2 ] iqs
24Pe2Te*Ld Lq M d ie* 16e2Te*2 L2d 0.
After solving (33), two complex conjugate roots and two real
roots results. From the two real roots, the higher value should
be chosen because otherwise iqs* is greater than the
maximum current amplitude Ism. So, the q-axis current
component from (33) is:
*
*
iqs
max iqs
| i * , i 1,4.
(34)
i qs i
i
The offline calculations are necessary to generate currents
references. The selection between the two strategies is based
on the modulation factor (Mf). The modulation factor is
expressed as follows:
Mf
(27)
dds
(26)
(23)
Substituting (22) into (6) and taking into account (23) yields
the expression for the torque in terms of the amplitude of the
stator current as follows:
*
*
iqs
min iqs
| i* , i 1,4 .
(28)
i qs i
i
If the rotor speed increases above the rated speed, the stator
current and the voltage are limited by the power inverter and
by the battery and the electric machine enters in FW region.
The maximum stator current and voltage are expressed as:
where Ism and Vsm are the available maximum stator current
and voltage.
ie*
Vs
,
Vsm
where Vsm
(35)
VDC
85
Duty Cycle Phase U
4. SIMULATION RESULTS
0.4
0.2
0
0.5
0.4
0
(a)
3
Time [s]
0.6
0.4
0.2
0
0.5
0.4
0
3
Time [s]
Duty Cycle Phase W
3
Time [s]
Duty Cycle Excitation
3
Time [s]
(b)
0.6
0.4
0.2
0
0.5
0.4
0
(c)
0.6
0.6
0.5
0.4
0.3
(d)
Fig. 7. Stator and excitation duty-cycles: (a) phase U dutycycle, (b) phase V duty-cycle, (c) phase W duty-cycle, (d)
excitation duty-cycle
80
Measured Torque
Simulated Torque
Torque [Nm]
70
60
50
40
0
(a)
RMS
RMS current [A
6
Measured Current
Simulated Current
4
0
(b)
3
Time [s]
3
Time [s]
150
100
Measured current
Simulated current
50
0
(c)
3
Time [s]
86
Torque [Nm]
200
100
0
Reference
Measured
-100
-200
0
10
(a)
15
Time [s]
20
25
30
-40
-60
-80
0
(b)
10
15
Time [s]
20
25
30
Reference
Measured
-200
(c)
10
15
Time [s]
20
25
30
Torque [Nm]
200
0
100
0
-100
Reference
Measured
-200
0
10
(d)
10
15
Time [s]
10
20
25
30
15
Time [s]
20
5
0
(a)
Reference
Measured
15
25
30
Reference
Measured
-20
-40
-60
-80
1000
10
(b)
15
Time [s]
20
25
30
(e)
10
15
Time [s]
20
25
30
500
100
200
100
-200
0
10
15
Time [s]
20
25
30
x 10
30
10
15
Time [s]
20
25
30
10
15
Time [s]
20
25
30
10
15
Time [s]
20
25
30
4000
3000
2000
1000
0
100
0
(a)
10
15
Time [s]
20
25
30
x 10
2.5
0
-100
-200
(f)
0
(b)
10
15
Time [s]
20
25
30
0.02
0.015
0.01
0.005
25
(e)
-4
1.5
20
Reference
Measured
10
0
2
15
Time [s]
15
10
(d)
-4
(f)
(c)
-200
Reference
Measured
0
-100
-100
For the operation above rated speed, the results are shown in
Fig. 11 and 12. In this case the EESM runs at constant speed
of 4000 rpm.
200
Reference
Measured
-20
(c)
10
15
Time [s]
20
25
30
87
the sign of the q-axis current follows the torque sign. The
torque error is zero in the steady state, so the torque deviation
controller does its job well.
The evolution of the EESM parameters in this case can be
seen in Fig. 12.
d-axis inductance [H]
-4
x 10
4
2
0
10
15
Time [s]
20
25
30
10
15
Time [s]
20
25
30
(a)
q-axis inductance [H]
-4
x 10
2.5
2
1.5
0.02
Torque [Nm]
(b)
0.015
0.01
10
(c)
15
Time [s]
20
25
30
Torque [Nm]
160
140
120
Reference
Torque with deviation control
Torque without deviation control
80
60
0.8
1.2
1.4
Time [s]
1.6
1.8
Torque [Nm]
130
120
Reference
Torque with deviation control
Torque without deviation control
110
100
90
0.8
1.2
1.4
Time [s]
1.6
1.8
Reference
Torque - Optimal control
Torque - PID control
110
100
90
0.9
1.1
1.2
Time [s]
1.3
1.4
1.5
100
120
88
Value
60 kW
225 Nm
345 V
350 A
18 A
2500 rpm
12000 rpm
8
0.00775
7.1
0.0001488 H
0.0002264 H
0.00906 H
0.04 Kgm2
0.0001
4
0
204.0545 546.09
0
1.31 10
2.9465
K t 0.35 10.
89