EXPERT SYSTEMS AND SOLUTIONS

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PAIYANOOR, OMR, CHENNAI
Call For Research Projects Final
year students of B.E in EEE, ECE,
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 ECE 8830 - Electric Drives

Topic 16: Control of SPM Synchronous

Motor Drives

Spring 2004
 Introduction

Control techniques for synchronous

motor drives are similar to those for
induction motor drives. We will
consider both scalar and vector control
for surface PM motor (both sinusoidal
and trapezoidal PM motor) drives,
reluctance motor drives, and wound
field synchronous motor drives.
 Sinusoidal SPM Motor Drives
The ideal synchronous motor torque-
speed characteristic at a single
frequency excitation is as shown below:
Torque

Motoring
Mode
0
Speed
Generating
Mode
Sinusoidal SPM Motor Drives (cont’d)
Thus, the motor either runs at synchronous
speed or doesn’t run at all. Two control
approaches - open loop V/Hz control and self-
control mode.
In open-loop V/Hz control, the frequency of
the drive signal is used to control the
synchronous speed of the motor.
In self-control, feedback from a shaft encoder
is used to effect the control.
Sinusoidal SPM Motor Drives (cont’d)
Open-loop V/Hz control is the simplest
control approach and is useful when
several motors need to be driven together
in synchrony. Here the voltage is adjusted
in proportion to the frequency to ensure
constant stator flux, s. An implementation
of this control strategy is shown on the
next slide.
Sinusoidal SPM Motor Drives (cont’d)
Sinusoidal SPM Motor Drives (cont’d)
The control characteristics are shown in
the figure below:
Sinusoidal SPM Motor Drives (cont’d)
Neglecting the stator resistance, and using
the field flux f as the reference phasor, a
phasor diagram of the synchronous motor
is shown below:
 Sinusoidal SPM Motor Drives (cont’d)
The torque developed by the motor is given by:

 P   s f P
Te  3   sin   3   s I s cos 
 2 in-phase
where Iscos is the  Ls  2  of the stator current
component
and  is the torque angle.
If e* is changed too quickly, the system will become unstable.
The max. rate of acceleration/deceleration is given by:

where Ter = rated torque and TL = load torque.

d e* 1P
     Ter TL 
dt J2
 Sinusoidal SPM Motor Drives (cont’d)
A self-controlled scheme for an SPM motor is shown below:

Here the frequency and phase of the inverter output are

controlled by the absolute position encoder mounted on the
motor shaft.
Sinusoidal SPM Motor Drives (cont’d)

The absolute position encoder required

for self-controlled drives for synchronous
motors are one of two types - an optical
encoder or a mechanical resolver with
decoder.
 Sinusoidal SPM Motor Drives (cont’d)
An optical encoder has alternating opaque and transparent
segments. A LED is placed on one side and a photo-transistor
on the other side. A binary coded disk is shown below:

With 14 rings (14-bit resolution) a resolution of 0.04 electrical

degrees can be achieved for a four-pole motor with this type
of encoder.
Sinusoidal SPM Motor Drives (cont’d)
Another type of optical encoder is the
slotted disk optical encoder. The below
encoder is specifically designed for a 4-pole
motor.
 Sinusoidal SPM Motor Drives (cont’d)
There are many slots in the outer perimeter
and two slots 180 apart on the inner radius.
There are four optical sensors S1-S4. S4 is
located on the outer perimeter and the S1-S3
sensors are located 60° apart on the inner
radius. The sensor outputs are as shown below:
 Sinusoidal SPM Motor Drives (cont’d)
The block diagram of a resolver with decoder
is shown below:
Sinusoidal SPM Motor Drives (cont’d)
The analog resolver is basically a 2 machine
that is excited by a rotor-mounted field
winding. The primary winding of a revolving
transformer is excited by an oscillator with
voltage V=V0sint. The stator windings of the
resolver generate amplitude-modulated output
voltages:

V1  AV0 sin  t sin 

and
V2  AV0 sin  t cos 
Sinusoidal SPM Motor Drives (cont’d)
The decoder converts the analog voltage outputs
to digital position information. The high-precision
sin/cos multiplier multiplies V1 and V2 by cos
and sin respectively.
 An error  amplifier takes
the difference of these two output signals to
generate the signal . The phase
sensitive demodulator creates a dc output that is
AV0 sin  t sin(
proportional to   )

. An integral controller,
VCO, and up-down counter together generate an
estimated . Under    ) state conditions the
sin(steady
tracking error will be zero.

Sinusoidal SPM Motor Drives (cont’d)
Vector control of a sinusoidal SPM motor is
relatively simple. Because of the large effective
airgap in this type of motor, the armature flux is
very small so that s  m  f . For maximum
torque sensitivity (and
therefore efficiency) we
set ids=0 and = iqs.

I s
Sinusoidal SPM Motor Drives (cont’d)
The torque developed by the motor can be
expressed as:
3 P
Te    f iqs
2 2 
where  is the space vector magnitude
f
( ) and .
2 f  f   s cos    s cos 
A block diagram of a vector control
implementation for a sinusoidal SPM motor is
shown in the next slide.
Sinusoidal SPM Motor Drives (cont’d)

Note: This vector control scheme is only valid in

the constant torque region.
 Sinusoidal SPM Motor Drives (cont’d)
The upper limits of the available dc-link voltage and
current rating of the inverter limit the maximum speed
available at rated torque to the base speed (b).
However, it is often desirable to operate at higher
speeds (e.g. in electric vehicles). Above base speed,
however, the induced emf will exceed the input
voltage and so current cannot be fed into the motor.
By reducing the induced emf, by weakening the air
gap flux linkages, higher speeds can be obtained.
 Sinusoidal SPM Motor Drives (cont’d)
In order to achieve the field weakening, a demagnetizing current
-ids must be injected on the stator side. However, this ids must be
large because of low armature reaction flux, a. This small
weakening of s results in a small range of field-weakening speed
control.
Let us consider next how to extend the vector control scheme to
speeds beyond base speed (b), i.e. into the field-weakening region.
Sinusoidal SPM Motor Drives (cont’d)
A phasor diagram for field-weakening
control is shown below:
Sinusoidal SPM Motor Drives (cont’d)
The injected -ids which provides the flux
weakening results in a rotation of the I s
vector. At a’, I s  ids which corresponds to
zero torque and maximum speed, r1. At
this condition, =0, s=s’, Vf=Vf’ and Vs=Vs’
(see phasor diagram).
The field weakening region can be increased
by increasing the stator inductance (see
torque-speed diagram on next slide).
Sinusoidal SPM Motor Drives (cont’d)
Sinusoidal SPM Motor Drives (cont’d)
A block diagram of a vector control drive
for a sinusoidal SPM motor including the
field weakening region is shown below:
 Sinusoidal SPM Motor Drives (cont’d)
In constant torque mode, ids*=0 but in field-weakening
mode, flux is controlled inversely with speed with -i ds*
control generated by the flux loop. s
Within the torque loop, iqs is controlled to be limited to the
value,

where is the rated stator current.

2 2
i* 
 I s  ids
qsm

I s
Control of Brushless DC Motor
Drives
Trapezoidal synchronous permanent magnet
motors have performance characteristics
resembling those of dc motors and are
therefore often referred to as brushless dc
motors (BLDM).
Concentrated, full-pitch stator windings in
these motors are used to induce 3
trapezoidal voltage waves at the motor
terminals. Thus a 3 inverter is required to
drive these motors as shown in the next slide.
 Control of BLDM Drives (cont’d)

The inverter can operate in two modes:

1) 2/3 angle switch-on mode
2) Voltage and current control PWM mode
 Control of BLDM Drives (cont’d)
The 2/3 angle switch-on mode is shown in
the below figure:
 Control of BLDM Drives (cont’d)
The switches Q1-Q6 are switched on so that the
input dc current Id is symmetrically located at the
center of each phase voltage wave. At any instant
in time, one switch from the upper group
(Q1,Q3,Q5) and one switch from the lower group
(Q2,Q4,Q6) are on together. The absolute position
sensor is used to ensure the correct timing of the
switching/commutation of the devices. At any time,
two phase CEMF’s (2Vc) of the motor are connected
in series across the inverter input. The power into
the motor is 2VCId.
 Control of BLDM Drives (cont’d)

In addition to controlling commutation by

the timing of the switches in the PWM
inverter, it is also possible to control the
current and voltage output of the inverter
by operating the PWM in a chopper mode.
This is the voltage and current control
PWM mode of operation of the drive.
 Control of BLDM Drives (cont’d)
The average output current and voltage are set by
the duty cycle of the switches in the PWM inverter.
Varying the duty cycle results in variable average
output current/voltage.

Two chopping modes can be used - feedback mode

and freewheeling mode.

In feedback mode, two switches are switched on

and off together (e.g. Q1 and Q6) whereas in
freewheeling mode, the chopping is performed only
on one switch at a time.
Control of BLDM Drives (cont’d)
 Control of BLDM Drives (cont’d)

Consider the feedback mode with Q1 and Q6

as the controlling switching devices. During
the time that these switches are on, the
phase a and b currents are increasing but
during the time that they are off, the
currents will decrease through feedback
through the diodes D3 and D4. The average
terminal voltage Vav will be determined by
the duty cycle of the switches.
 Control of BLDM Drives (cont’d)

Now consider the freewheeling mode of

operation. When Q6 is on Vd is applied
across ab and the current increases. When
Q6 is turned off, freewheeling current flows
through Q1 and D3 (effectively short-
circuiting the motor terminals) and the
current decreases (due to the back emf).
 Control of BLDM Drives (cont’d)
The steady state torque-speed characteristics
for a brushless dc motor can be easily
derived. Ignoring power losses, the input
power is given by:
Pin  ea ia  eb ib  ec ic  2 I dVc

The torque developed by the motor is simply,

Pin
Te 
e
 Control of BLDM Drives (cont’d)
The back emf is proportional to rotor speed and is given
by:

Vc  K r
where K is the back emf constant and r is the
mechanical rotor speed (=P/2) e. The steady state (dc)
circuit equation for any switch combination is:

Vd  2 Rs I d  2Vc
 Control of BLDM Drives (cont’d)
The torque expression can be rewritten as:

Te  K .P.I d  K1 I d
where P= # of motor poles. If we define the base
torque as:

Teb  K1 I d I d  I sc
where Isc is the short-circuit current given by:

=> Vd K1Vd
I sc  Teb 
2 Rs 2 Rs
 Control of BLDM Drives (cont’d)
The rotor base speed rb can be defined as:

Vd
 rb   r Id 0

2K
The torque-speed relationship can be derived by combining
these equations, yielding:

r 
 => Te(pu)=1-r(pu)

where Te(pu)=Te/Teb andTer(pu)= r/ rb

  rb 1  
 Teb 
 Control of BLDM Drives (cont’d)
This normalized torque-speed relation is plotted
below. Note the droop in the no-load speed
due to the stator resistance voltage drop.
 Control of BLDM Drives (cont’d)
A closed loop speed control system for a
BLDM drive with a feedback mode operation
of the PWM inverter is shown below:
 Control of BLDM Drives (cont’d)
Three Hall effect sensors are used to provide the
rotor pole position feedback. This gives three 2/3-
angle phase shifted square waves (in phase with the
phase voltage waves). The six step current
waveforms are then generated by a decoder.
The speed control loop generates Id* from the r*
command speed. The actual command phase
currents are then generated by the decoder.
Hysteresis current control is used to control the phase
currents to track the command phase currents.
 Control of BLDM Drives (cont’d)
A freewheeling mode close loop current
drive for a BLDM is shown below:
 Control of BLDM Drives (cont’d)
In this case the three upper devices (Q1, Q3, and
Q5) are turned on sequentially in the middle of
the positive half-cycles of the phase voltages
and the lower devices (Q2,Q4 and Q6) are
chopped sequentially in the middle of the
negative half-cycles of the phase voltages to
achieve the desired current Id*. This is all timed
through the use of the Hall sensors and the
decoder logic circuitry. One dc current sensor
(R connected to ground) is used to monitor all
three phase currents.
 Control of BLDM Drives (cont’d)
The controller section and power
converter switches outlined by the dotted
line can be integrated into a low-cost
power integrated circuit. An example of a
commercial BLDM controller IC is the
Apex Microtechnology BC20 (see separate
handout).
 Control of BLDM Drives (cont’d)
Pulsating torque can be a problem with
BLDM motors (see figure below).
 Control of BLDM Drives (cont’d)
The high frequency component is due to
ripple current from the inverter and is
filtered out by the motor. The rounding of
the torque is due to the rounding of the
phase voltages (caused by leakage flux
adjacent to the magnet poles) and this
generates significant 6th harmonic torque
pulsation. A higher number of poles in the
machine can help to alleviate this problem.
 Control of BLDM Drives (cont’d)
The speed range of a BLDM motor can be
extended beyond the base speed range (just
as in the case of the sinusoidal SPM motor).
This can be achieved by advancing the angle
 which is used to locate the position of the
current waveforms with respect to the phase
voltage waveforms (=0 locates the current
waveforms in the center of the voltage
waveforms). Also, if we change from a 2/3
conduction mode to a  conduction mode.
 Control of BLDM Drives (cont’d)
The normalized torque-speed curve for
extended range is shown below for different
 angles for 2/3 conduction mode (solid
lines) and  conduction mode (dotted lines).
 Simulation of PM Synchronous
Motor Drives
Project 5 at the end of Ch. 10 Ong provides
a study of a self-controlled permanent
magnet synchronous motor. The motor
parameters for the 70 hp, 4-pole PM motor
are given in the table below:
 Simulation of PM Synchronous
Motor Drives (cont’d)
The steady state equations used in the simulation are
given in the following table:
 Simulation of PM Synchronous
Motor Drives (cont’d)
If we assume that the output torque varies linearly
with stator current Is, the torque expression can be
rewritten as:

2 2
 Vs   V cos   Em   Vs cos   Em  EmVs
K   sin 2    s   ( x  x )
q   sin 
x  xd
d
xd xq
 This
q  
is a nonlinear 
equation with a single 
unknown, .
Once  is found, the current and voltage components
in the q and d rotor reference frame and the power
factor angles and the stationary q, d current
components can be calculated.
 Simulation of PM Synchronous
Motor Drives (cont’d)
The steady state curves are shown below:
 Simulation of PM Synchronous
Motor Drives (cont’d)
Some observations from these curves:
 Output torque  Iqe and Iq (almost linear); thus torque

control can be accomplished by controlling I qe (or Iq) with

Id controlled as shown.
 The power factor angles
= 1/2 torque angle. This
results in the phasor
diagram shown (for the
motoring mode):
 Simulation of PM Synchronous
Motor Drives (cont’d)
A Simulink simulation model for a self-
controlled PM drive is shown below:
 Simulation of PM Synchronous
Motor Drives (cont’d)
Some points regarding this simulation model:
 iq and id are used to control the output
torque.
 Torque command is implemented using a
repeating sequence source.
 A rate limiter is used to limit the reference
torque input to the torque controller.
 The inner id and iq control loops are closed

loops.
 Simulation of PM Synchronous
Motor Drives (cont’d)
 The feedback block uses the stator phase
currents and rotor position to generate id and iq.
 The coordinated reference values for id* and Vs*
are generated by separate function generator
blocks (Id-Iq and Vs-Tem, respectively)
implemented using a curve fit to the steady
state data shown earlier.
Dynamic simulation results are shown on the
next slide.
Simulation of PM Synchronous
Motor Drives (cont’d)