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POPOV stability theory. The proposed estimator needs only e = (A+G)e+w (7)
the online measurement of current 'i', voltage 'v', and rotor Based on the POPOV stability theory as presented in [9]
speed 'w' to estimate the stator resistance 'Rs', inductance and [10], the study of the system stability can be resolved.
'Ls' and the rotor flux linkage 'Am' simultaneously. Started After checking the two stability clauses and especially by
from equations (1), (2) and (3), the electrical, the decompressing the second POPOV condition the adaptive
{ =R,id+L, ��
electromagnetic torque 'Te' and the mechanical PMSM parameters equations are expressed in (8). Where kp, ki are
equations are respectively [8]. the PI parameters.
Vd - OJL,i
q
(1)
. di .
V = R, l + L, q + OJLsld + OJAm
q q Tt
(�)( �� )
,
[-7 -7] [ ] [ ];
reference frame are expressed in (4). III. ADAPTIVE HIGH SPEED CONTROL ALGORITHM
X= AX +BU+C (4) The constant flux produced by the rotor magnet Am,
characterizes the PMSM motor. Refers to the flux equations
presented in (2), the total flux decrease is possible only if the
0 0
Where: A =
OJ
; B= c ; C=
-OJ 0 C -ej
direct stator current is controlled. Because the stator
{
X =[id inductance Ls and the flux Am are constant and the quadratic
stator current is proportionally to the load torque. At a rated
U=[Vd speed range, the direct stator current is fixed to zero, so the
idea, in the high speed, is to reduce the total flux by
1 decreasing the direct stator current to the negative region.
c=-
L, But, it is safety to not undergo a limit decreasing value which
= OJ �n = OJI.j
avoids the machine demagnetization problems.
7 {
ej
. Refers to Morimoto limitation [5], the idea is to follow the
L,
system of equation presented in (9).
_= Ls
13 +1� < l,;ax
R, (9)
Vd2 + V 2 < Vmax
2
The adjustable parameter state system is given by (5): q
-7 [ �] .
/\ /\ /\ /\ /\
Therefore, the principle of field weakening is described in
X = AX+BU+C+G(X-X) (5) Figure. I a, which presents three zones. The first is the circle
[ -71 [ 1 [ 1
/\ /\
0 that presents the current limitation equation in the first part of
/\
OJ /\
C 0 /\
kJ
A= ' B= ' C= t and G= the expression (9). The second is the ellipse form designed
/\ /\
OJ 0 the voltage limitation in the second part of the equation (9).
-OJ 0 c f
The field weakening region is presented by the hachured
circle, designed the interconnection between the two last
zones. Generally, the current limitation circle is centered in
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zero point and her radius depends on the inverter current
maximum. [t is necessary to indicate, that the [imitation
voltage contour, can be formed as an ellipse or a circle form:
if LMLq, or Ld=Lq, respectively. The voltage limitation
contour characteristics are characterized essentially by the
center point, which depends on the magnet flux and stator
inductance values, and the radius value, which depends also IV. AHSC ALGORITHM WITH FOC STRATEGY
on the speed value. Well, if the speed increases, the radius
The FOC strategy is characterized by three PI controllers,
value is reduced. The maximum of current and voltage are the first one is called the PI speed controller, used to generate
usually set by the inverter [5] and [6]. the quadrature reference stator current after compared the
desired and the real speed values. The second one is used to
Decreasing speed regulate the quadrature stator current for generating the
quadrature reference stator voltage. The last one is used to
control the direct stator current and for producing the direct
reference stator voltage. After obtaining these reference
voltages in the rotating dq frame, Clarck transformation is
used in order to obtain the corresponding three phases
reference stator voltages. Through the PWM bloc the
-A ILd
corresponding IGBT switches states are obtained. Then the
m
Voltage built stator voltages are feeding the motor. The AHSC-FOC
limit algorithm is placed in this control strategy for generating the
o field weakening zone corresponding direct reference stator current. The scheme in
Figure (2) shows the AHSC-FOC algorithm and the overall
FOC PMSM drive scheme as in Figure (3).
(a)
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the DTC applications, the reference torque is given. However
in this application, the desired reference torque is obtained
after the appliance of the desired speed goal.
][ 1
21.5m.H 2500rpm/min
0.24Wb Torque 1.5N.m
- sine ()) Ad J 85e-6kg.mL Current [=2.5A
.
cos( ()) Aq
(13) f 0.00036Nm.s.rad- Maximum Current SA
The overall control scheme illustrates the DTC strategy in R1 and R2 are the radius of the corresponding flux
the high speed mode can be then presented in figure (5). trajectory, when the reference speed is 100% of the rated
speed and when the desired one is equal to 160% of the rated
speed.
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0.4 ,......-�-----�--,
0.2
Speed
160%
8 2000
-j
O�������il�.�
�at:��;eed : High
o
o 0.5 1
��"""""�·�,,,··,·,l
-0.2
-O.4 L--�--�----'
�. -0.4 -0.2 0.2 0.4
o 0.5 1
:�r 1K 1
Fig. 9: Flux trajectory in the case ofDTC with field weakening
. .....;'" . . . . .
. .. .. . .. . . .. VII. CONCLUSION
. . .
. . . . . . . . . . . .
Time(s)
o 0.5 1 An adaptive high speed control algorithm has been
presented. MRAS estimator and the Morimoto constraints are
used to build the proposed high speed control algorithm. This
Fig. 6: The corresponding FOC Speed,torque and direct stator
current results in 100% and 160% of the rated speed proposed algorithm is formulated and applied in the two
conventional control strategies as the FOC and the DTC. The
effectiveness of the proposed high speed control algorithm is
proven over simulation results where a wide speed region
equal to 160% of the rated speed is highlighted. The drive
system has operated satisfactory in a wide speed range
suitable for electrical vehicle applications.
REFERENCES
[I]Z. Q. Zhu, Senior Member IEEE, and David Howe, Electrical Machines
and Drives for Electric, Hybrid, and Fuel Cell Vehicles, Proceedings of the
IEEE,VoL 95,No. 4,pp. 746-765,2007.
[2]M. Aguirre, C. Calleja, A Lopez-de-Heredia, FOC and DTC comparison
in PMSM for railway traction application, European Conference on Power
Electronics and Applications, pp. 1-10,20II.
Fig. 7: Flux trajectory in the case of FOC with field weakening [3]Boulghasoul, Z.; Elbacha, A; Elwarraki, E.; Yousfi, D., "Combined
Vector Control and Direct Torque Control an experimental review and
The DTC case is also applied and the AHSC-DTC is evaluation", Multimedia Computing and Systems (ICMCS), pp. 1-6,2011,
implemented as presented in the figure. 5. The corresponding [4]S. Morimoto,M. Sanada and Y. Takeda,"Wide speed operation of interior
permanent magnet synchronous motors with high performance current
results in figure. 8 and 9 show respectively, the speed, torque, regulator", IEEE Trans. on Industry Applications, vol. 30, No. 4, pp. 920-
direct stator current and the flux components. The satisfaction 926,1994.
of the proposed AHSC-DTC algorithm is verified under the [5]S. Morimoto, Y. Takeda, T. Hirasa, "Expansion of operating limits for
permanent magnet motor by current vector control considering inverter
same condition as the FOC case. capacity", IEEE Transaction. Industry Application vol 26, n. 5, pp. 866-871,
4000��������======� 1990.
[6]S. Morimoto,Y. Takeda,T. Hirasa,"Flux Weakening Control Method for
160%
Surface Permanent Magnet Synchronous Motors",IPEC, pp. 942-949,1990.
8 2000 . High Speed .
100% [7]A Flah and 1.. Sbita, BFO control tuning of a PMSM high speed drive,
... .
O t e�d�s�pe�e�d��� ������d
���R�a� IEEE medeiteranen conference, pp.273-276, 2012.
�·: r_ ·! ��o
[8] A Flah,H. Kraiem and 1.. Sbita,Robust high speed control algorithm for
4°,- __________ 0�_. 5---------- 1
_, PMSM sensorless drives, IEEE 9th International Multi-Conference on
Systems,Signals andDevices,2012
[9] A Flah, 1.. Sbita,M. Ben hamed,Online MRAS-PSO PMSM parameters
estimation, IREMOS, Vol. 4. n. 3, pp. 980-987, 2011.
[IO]A Quntao,1.. Sun, On line parameter identification for vector controlled
Times(sec)
o 0.5 1 Wide Speed Range Applications Using a Robust Flux-Weakening Algorithm,
IEEE transactions on industrial electronics, vol. 54, no. 5, pp. 2451-2461,
2007.
Fig. 8: The corresponding DTC Speed,torque and direct stator
current results in 100% and 160% of the rated speed
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