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DEMO TITLES

Vector Control of Permanent Magnet Synchronous Motor (PMSM) Controllers design step by step Author: Tshibain Tshibungu Simsmart Technologies Inc. Brossard, Quebec Canada

Software used: Simsmart Engineering Suite V6 (ES V6)

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1. OBJECTIVE AND DESCRIPTION
The following document will help the user:  in designing step by step a drives of PMSM without flux weakening,  in designing a LC output filter. Three test cases are done in order to test and validate using the power electronics components from the Engineering suite V6 Electrical library.

1.1. Electrical and mechanical equations
The model of PMSM without damper windings has been developed on rotor reference frame using the following assumptions:    Saturation is neglected, The induced EMF is sinusoidal, Eddy currents and hysteresis losses are negligible.

Voltage equations for Wye grounded through impedance motor under balanced conditions are given by: (1) (2) Fluxes linkages are given by: (4) (5) Where the peak of the flux induced in the stator windings by the permanent magnets

The developed torque motor is being given by: (6) The mechanical torque equation is given by: (7)

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3 Where Equations (4)-(5) into (1), (2) and (6) gives: (8) (9) (10) For a constant torque angle control torque will be: , we have . Hence, the electromagnetic

(11) Where

1.2. Current d and q axes controllers design
From (8) and (9) we have: (12) (13) Where

Thus, the PI controllers that control both current axes (d and q) are calculated using the IMC (Internal Model Control) and are given as follows: For q axis

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4 For d axis Where

Switching frequency A feed forward compensation is done in order to calculate below). and (see diagram block

1.3. Speed controller design
Since (11) shows that the torque depends only on q axis current, and knowing the closed loop transfer function of q axis current, the open loop transfer function is given as follows: (14) Where

Poles placement method We assume that the closed loop transfer function of q axis current is faster (as for a hysteresis current control scheme), so (15) Hence, the closed loop transfer function is given as follows: (16) By placing poles at we have: and and it will be assumed that is the dominant pole,

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Thus, we have:

Symmetrical optimum method Starting with equation (14) and knowing near crossover frequency, we have:

Hence, the closed loop transfer function is a third order model given as:

Applying the symmetrical optimum criterion, we have:

Hence, we have:

In order, to avoid a big overshoot the following filter should be placed after the speed reference:

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1.4. Maximum speed before the flux weakening
Since this control is done before the flux weakening and neglecting the voltage drop, the maximum electrical speed is obtained using the steady state equations of (8)-(9). Thus, we have:

1.5. Diagram blocks
These diagram blocks show the overview of the motor control. The diagram block control of VSI

The diagram block control of CSI

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1.6. LC Filter design
Assuming as the maximum frequency output by the inverter, which indirectly the maximum speed of the PMSM, the inductance is selected using the maximum voltage drop allowed

Where

RMS The capacitor is selected as follows:

Where

Resonant frequency Maximum frequency output The damping resistance is selected as follows:

The quality factor should be in the range of Hence, for a desired , we have:

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2. PROCESSES DATA
Example I A PMSM has the following parameters:

A DC source supplies the motor through an inverter. At t = 0 s the reference speed is set to 150 rad/s and reverse to -100 rad/s at t = 0.25 s. The maximum torque allows is 12 Nm. Simulate the motor drives using a voltage and current source drive PMSM. Repeat voltage source drives PMSM with an input LC filter. Example II A PMSM has the following parameters: ,

A DC source supplies the motor through an inverter. At t = 0 s the reference speed is set to 250 rad/s and reverse to -250 rad/s at t = 0.25 s. Simulate voltage source drives PMSM with an input LC filter. Example III A PMSM has the following parameters:

A DC source supplies the motor through an inverter. At t = 0 s the reference speed is set to 120 rad/s. Simulate voltage source drives PMSM with an input LC filter.

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3. CONTROLLERS AND LC FILTER DESIGN Example I
Motor parameters , , ,

Thus,

Case 1: Voltages source Inverter (VSI) drives PMSM Current controller design

Selecting

, we have: For q axis For d axis

Speed controller design

The speed reference filter is:

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Case 3: Voltages source Inverter drives PMSM with LC filter Assuming as the maximum frequency output by the inverter, which indirectly the maximum speed of the PMSM, the inductance is selected using the maximum voltage drop allowed

Where

RMS The capacitor is selected as follows:

Where

Resonant frequency Maximum frequency output So, selecting should be in the range of: and knowing that , the resonant frequency

Thus, we select The damping resistance is selected as follows:

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The quality factor should be in the range of Hence, for Current controller design

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The capacitor and resistor of the filter can be ignored when designing the current controllers. Hence, we have:

Selecting

, we have: For q axis For d axis

Speed controller design

The speed reference filter is simply ignored but it could be placed.

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Example II
Motor parameters , , ,

Thus,

Input LC filter design Assuming as the maximum frequency output by the inverter, which indirectly the maximum speed of the PMSM, the inductance is selected using the maximum voltage drop allowed

Where

RMS The capacitor is selected as follows:

Where

Resonant frequency Maximum frequency output

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13 So, selecting should be in the range of: and knowing that , the resonant frequency

Thus, we select The damping resistance is selected as follows:

Hence, for Current controller design The capacitor and resistor of the filter can be ignored when designing the current controllers. Hence, we have:

Selecting

, we have: For q axis For d axis

Speed controller design

The speed reference filter is:

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Example III
Motor parameters The max torque is

, , Thus,

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Input LC filter design Assuming as the maximum frequency output by the inverter, which indirectly the maximum speed of the PMSM, the inductance is selected using the maximum voltage drop allowed

The capacitor is selected as follows:

Where

Resonant frequency Maximum frequency output

So, selecting should be in the range of:

and knowing that

, the resonant frequency

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Thus, we select The damping resistance is selected as follows:

Hence, for Current controller design The capacitor and resistor of the filter can be ignored when designing the current controllers. Hence, we have:

Selecting

, we have: For q axis For d axis

Speed controller design

The speed reference filter is:

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4. SIMULATION PARAMETERS
The simulation was run in time domain with sample time of

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5. PROCESSES REPRESENTATION IN ES V6
Case of VSI drives PMSM without LC filter

Case of VSI drives PMSM with LC filter

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18 Case of CSI drives PMSM without LC

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6. ENGINEERING SUITE V6 RESULTS
Example I: Case of VSI drives PMSM without LC filter

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Steady state current without filter

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22 Example I: Case of VSI drives PMSM with LC filter

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Steady state current with filter

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25 Example I: Case of CSI drives PMSM without LC filter

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Steady state current without filter

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28 Example II: Case of VSI drives PMSM with LC filter

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Steady state current with filter

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31 Example III: Case of VSI drives PMSM with LC filter

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Conclusion This document shows:  How to design controllers for PMSM drives,  How to design LC filter. NB: All these test cases where simulated also using others well known software.

NB In this document:  VSI (Voltage-Sourced Inverter) is simply means Voltages Control Inverter (VCI),  CSI (Current-Sourced Inverter) is simply means Currents Control Inverter (VCI).

7. REFERENCE BOOKS
1. Voltage-Sourced Converters in Power Systems. Modeling,Control, and Applications. A. Yazdani / R. Iravani. 2. Electric Motor Drives. Modeling, Analysis, and Control. R. Krishnan. 3. High Performance Control of AC Drives with Matlab/Simulink Models. H. Abu-Rub, A. Iqbal, J. Guzinski.

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