PHD20-01: RESEARCH METHODOLOGY

Assignment No.: 5
I. Conducting Literature search and bibliography database (submitted
on 15th January 2021 on MS Teams
II. Critique of Journal Paper
III. Synthesis Paper

(Dr R K Gajjar Mam and Dr C. B. Bhatt Sir)

Submitted to the

GUJARAT TECHNOLOGICAL UNIVERSIY

Chandkheda, Ahmedabad
by

Baria Jaydeepsinh Chhatrasinh

(Enrollment. No.: 199999914502)
(M: 9427637207, Email – jcbaria1982@gmail.com, 199999914502@gtu.edu.in )

Supervisor

Prof. (Dr) Darshankumar Dalwadi

Associate Professor, Electronics and communication Engineering

Department

Birla Vishvakarma Mahavidyalaya (Engineering College), V. V. Nagar

Email – darshan.dalwadi@bvmengineering.ac.in

(January- February -2021)

Submitted by Baria Jaydeepsinh Chhatrasinh (Enrollment. No.: 199999914502)
 PHD20-01: RESEARCH METHODOLOGY

Assignment No.: 5

I. Conducting Literature search and bibliography database (submitted

on 15th January 2021 on MS Teams
II. Critique of Journal Paper
III. Synthesis Paper

(Dr R K Gajjar Mam and Dr C. B. Bhatt Sir)

Submitted by: Baria Jaydeepsinh Chhatrsinh

(Enrollment. No.: 199999914502)

I. Conducting Literature search and bibliography database

(submitted on 15th - January 2021 on MS Teams)

Submitted by Baria Jaydeepsinh Chhatrasinh (Enrollment. No.: 199999914502)

 II. Critique of Journal Paper

Reference paper: Far, Mehrnaz Farzam, Bilal Mustafa, Floran Martin, Paavo Rasilo, and
Anouar Belahcen. "Flux-weakening control for IPMSM employing model order
reduction." In 2018 XIII International Conference on Electrical Machines (ICEM), pp.
1510-1516. IEEE, 2018.

Version
Peer reviewed version (post-print)

Link to publication
TUTCRIS Portal (http://www.tut.fi/tutcris)

Published in
2018 23rd International Conference on Electrical Machines, ICEM 2018

DOI
10.1109/ICELMACH.2018.8506693
Introduction:
The salient feature and low effective air gap of interior permanent magnet synchronous motor
(IPMSM) make it well suited for wide speed range operation. Due to overcome of the induced voltage,
i.e. back EMF over the maximum available voltage at high speeds, the speed of the machine remains
limited. Therefore, flux-weakening control is required to run the machine above a certain base speed.
The control performance of the IPMSM, is deeply influenced if the method applied depends on the
machine parameters. Stator resistance and permanent magnet flux linkage are directly affected by
temperature changes and cannot retain the fixed values. Furthermore, since the effective air-gap in
IPMSM is relatively small, as compared to surface permanent magnet synchronous machine
(SPMSM), the armature reaction has a significant effect. This causes Magnetic saturation and hence
the self-inductances for d and q-axis (Ld and Lq) vary with the change in the air-gap flux. Cross
coupling may also exist between Ld and Lq . This effect becomes significant especially in the flux-
weakening region. Notably, the q-axis inductance exhibits more variation and depends on the current
in that axis, whereas the d-axis inductance in comparison remains uniform.
In this paper Section II describes briefly the mathematical modelling of an IPMSM and a magnetic
model based on MOR. Section III details the feasible operating area of a PMSM, the methodology of
the control technique and the implementation of MOR in the algorithm. In Section IV, we provide
the simulation and the experimental results of the proposed method applied to a 2.2 kW IPMSM drive.
Control Scheme:
Field oriented control strategy is adopted in the control structure of this paper. Fig.1 shows the overall
control scheme for the machine under study. The rotor position θr and the actual speed ωr of the
machine are known by means of an encoder. A proportional-integral (PI) speed controller is used to
obtain the torque reference Tref. The current references are generated depending upon the machine
speed and the control region. We use a discrete-time current controller to control the current
components and attain the reference voltages. Finally, the voltage regulation occurs accordingly to
be exerted on motor terminals through space vector pulse width modulation (SVPWM).
Submitted by Baria Jaydeepsinh Chhatrasinh (Enrollment. No.: 199999914502)
 Fig.1 Proposed block diagram of the control system for an IPMSM

When the speed is above the base speed, the flux weakening region, the control of the machine is no
longer possible through the id = 0 control principle. Instead, a demagnetizing flux is introduced that
encounters the fixed flux produced by the permanent magnets. The most feasible means to accomplish
this aim is the instigation of negative d component of current that fosters the opposing flux. In this
case, the magnetic saturation effect cannot be neglected and the variation of Ld and Lq with respect
to the current can deteriorate the performance of the system.
The proposed control system is validated by means of simulation and experiment. For the
experimental setup, the maximum voltage available at the lab was 370 V. With this voltage, the speed
of the machine can rise approximately up to 900 rpm before it enters the flux weakening region.
Therefore, due to the voltage limitation, we consider the base speed to be 900 rpm, rather than the
rated speed of the machine. The total inertia of the system is also calculated to be 0.045 kgm2 by
performing a deceleration test on the experimental setup.
Simulation and Results:
The proposed control system is implemented in MATLAB/Simulink environment. Fig.2 presents the
acceleration test for the IPMSM under investigation. The reference speed is changed stepwise from
zero to about 1.7 times of the base speed. As it can be seen, the machine enters the flux weakening
region at t ≈ 0.7 s, after which the OIM is used in the reference computation of the current
components. It should be noted that the rise time of the speed curve is significantly affected by the
total inertia of the system and the high friction acting on the rotor of the PMSM machine.
Fig.3 illustrates the effect of the magnetic saturation and the cross coupling in the ψd-ψq plane. The
solid curve represents the result from the proposed control system and the dashed curve corresponds
to the result when magnetic saturation is not considered. For the latter case, the control system is
designed by solely using the rated inductances values. The IPMSM under investigation has low level
of saturation and the cross-coupling effect is distinct in ψq as id increases. Therefore, for small values
of id, both control systems provide similar results. However, as id increases in negative direction, the
difference between the fluxes is noticeable. Fig.4 shows the saturation and cross-coupling effects on
the torque generation. Based on this figure, the control system without saturation enters the flux
weakening region at lower speed and has lower value of torque in this region, compared to the
proposed control system.

Submitted by Baria Jaydeepsinh Chhatrasinh (Enrollment. No.: 199999914502)

 Fig. 3 Control trajectory in the ψd-ψq
plane.

Fig.2 Simulation results for the 2.2 kW PMSM

Fig.4 Torque vs speed curve

The proposed method is implemented in the flux weakening control of an IPMSM, however, the same
approach can be applied to any synchronous motors at different operating speed range. The principal
advantage of this method is that it eliminates the effect of magnetic saturation, cross coupling, and
parameter sensitivity, since the method is independent of the motor parameters such as Ld, Lq, and
the PM flux. Moreover, since the OIM significantly reduces the number of unknowns, it can be an
efficient substitute for the look-up tables in the control systems. The simulation and experimental
results, provided in the last section of the paper, validate the feasibility of the proposed control
method. In the future work, we will consider the spatial harmonics in the model and study the effect
of torque loading on the control method.

Submitted by Baria Jaydeepsinh Chhatrasinh (Enrollment. No.: 199999914502)

 III. Synthesis Paper
Review Paper on Performance Analysis of
IPMSM (Interior Permanent Magnet
Synchronous Motor) by Different Intelligent
Controller
Jaydeepsinh Baria1
PhD Research Scholar
Gujarat Technological University
Ahmedabad, Gujarat, India
jcbaria1982@gmail.com
Dr. Darshankumar C. Dalwadi2
Electronics and Communication Engineering Department
Birla Vishvakarma Mahavidyalaya Engineering College
Vallabh Vidyanagar, Gujarat, India
darshan.dalwadi@bvmengineering.ac.in

Abstract: The objectives of this paper are to provide a basic introduction of high performance and
highly efficient IPMSM motor which is now very popular in the field of electric vehicles technologies.
Latest development in the field of permanent magnets materials, power electronics based
technological advancements and topologies have combined to accelerate the use of IPMSM drives
very popular. The purpose of this paper is to provide the basic control technologies for IPMSM motor
which is success in the field of automotive industry and vehicles technologies. In this paper we exploit
the torque speed characteristic of the motor in MTPA and field-weakening region. The application of
intelligent controllers for IPMSM drives is also discussed in this paper.

Key words: IPMSM- interior permanent magnet synchronous motor, MTPA- maximum torque per
amp., FW (Field weakening), ME (Maximum Efficiency), MRAC (model reference adaptive control),
MTPV (maximum torque per voltage), MOR (model order reduction), OIM (orthogonal interpolation
method), SMC (sliding mode control)
.

I. INTRODUCTION

Last few decades have experienced a rapid progress of science and technology. Transportation has
become major part of peoples’ lives, driving the future towards electronic vehicles and industrial
automation. To assure high performance and meet the global standards many technological
advancements have been made. Energy requirements and sources of energy play an important role in
this revolution at the same time taking care of sustainability.
High performance permanent magnet materials are used in the permanent magnet synchronous motor
in order to enhance and optimize its performance. Compared with DC motor. Permanent magnet
synchronous motor has advantage of simple structure, and are convenient to use and highly
reliable.[4] The advantages of permanent magnet synchronous motor make people pay more attention
Submitted by Baria Jaydeepsinh Chhatrasinh (Enrollment. No.: 199999914502)
to it, it has been widely used in EV field and various others too due to high efficiency, high power
density, compact structure, high power factor and ruggedness of capability of operating over a large
speed range, yielding almost constant power.[3][6][7]
The IPM motors are characterized by the absence of rotor losses that calls for “cool” rotor and
increasing efficiency, and the high torque vs. weight ratio. Additional features are the robustness of
the rotor structure, mechanically suited to high-speed operation, and the presence of magnetic
saliency, that is the “direct” d‐axis inductance is substantially different from the “quadrature” q‐axis
inductance, where the d‐axis is usually selected to be aligned with the PM flux axis according to the
equivalent Park model of the synchronous machine. This characteristic is particularly suited for
extending the torque/speed operating region by proper “field weakening” control techniques, [1]; and,
also, it allows the application of some specific approaches to position and speed detection (“self-
sensing” or “sensor-less” control), such as injection of high frequency voltage or currents
investigating the rotor saliency, [2]. The paper represents the various works that have been presented
to improve the efficiency and performance of IPMSM (interior permanent magnet synchronous
motor) with various topologies, proofs and mathematical model of IPM Motor.
For different control objectives, several control strategies, which control the PMSM based on the
FOC method, can be summarized as follows:
• MTPA control
• FW control
• Unity power factor control
• Optimal efficiency control
Compared with unity power factor control and optimal efficiency control, MTPA control and FW
control are more practical in industrial drives due to its maximum drive efficiency in MTPA control
and wide operation speed range of FW control show in Fig.1

Fig.1 control block diagram of IPMSM by FOC [21]

II. CONTROL METHODS

1. Maximum Torque per Ampere:

The torque production in an IPM is a function of 𝜙𝑀, 𝑖𝑑, 𝑖𝑞𝐿𝑑 and 𝐿𝑞 as described as below
3
Te=2 𝑃[ Øm(T) + (Ld(Iq) – Lq (Iq))) Id] Iq
The torque produced by any IPM can be split into two components. The component arising from the
permanent magnet flux is called reactance torque or magnetic torque and expressed
By
Submitted by Baria Jaydeepsinh Chhatrasinh (Enrollment. No.: 199999914502)
 3
Tmagnetic= 2 𝑃 Øm Iq
The other component arising from rotor saliency can be called reluctance torque and expressed by
3
Treluctance=2 𝑃 (Ld- Lq) Id Iq
introduction of negative 𝑖𝑑 in order to produce any positive torque. Negative 𝑖𝑑 reduces the required
amount of 𝑖𝑞 by aiding in the reluctance torque generation. Since a positive value of direct axis current
is opposing the magnetic torque, a positive 𝑖𝑑 is never desired. Since resistive loss in the stator solely
depends on phase current magnitudes, it is always preferred to operate the motor as close as possible
to these 𝑖𝑞, 𝑖𝑑 pairs. Since it is similar to maximizing the torque output for a particular amount of
current, the operation scheme is called Maximum Torque per Ampere (MTPA).
2. Field Weakening:

The basic idea of FW is to holding-on to a constant armature current, the armature MMF space
vector is re-oriented to a position that opposes the MMF of the PM, and hence reduces the total
resultant flux in the airgap. The weaker the net resultant air-gap flux the higher the motor speed.
That is, in FW control the resultant air-gap flux is in inverse proportion to the motor speed.
Ød=LdId + Øm
Øq=LqIq
By increasing the absolute value of Id towards the negative side, the Ød will decreased and according
to this the resulting air gap flux is lowered. This causes the speed of the motor to increase also. As
the motor speed increases above the base speed, in field weakening mode as shown in fig.2, the
maximum current and voltage limits of the inverter are reached. So, the FWA has to take also into
consideration the current and voltage limits of the inverter.

Fig.2 characteristic of IPMS

To start the IPMSM motor, we have to find the pole or rotor position. Rotor position can we find by
sensor or senseless control. Normally Encoder, hall effect sensor is used to detect the pole or rotor
position. Where in case of senseless control high frequency signal is injected method is used for pole
detection.
III. RELATED WORKS:
[15] In this paper a novel HF method was proposed for sensorless control of IPMSM by using a HF
amplitude and frequency optimization scheme. Firstly, the mathematical model of IPMSM was
derived by reasonable analysis. Secondly, a sensorless rotor position estimation scheme was proposed
for IPMSM using HF signal injection with frequency and amplitude optimization. the algorithm for
rotor position estimation is shown in Fig.3 It was deduced that the increase of HF amplitude
contributed to more accurate estimation results, whereas some problems occurred, such as increased
vibration, noise and losses [15]
Submitted by Baria Jaydeepsinh Chhatrasinh (Enrollment. No.: 199999914502)
 Fig.3 Diagram of rotor position estimation method
The main objective of introducing MTPA strategy is to increase the electromagnetic torque (Te) for
a specific value of stator current magnitude in order to completely exploit the torque capacity of the
IPMSM motor. In [6] the failure of IM (Induction Machine) model is described which led to the usage
of MTPA model. In [3] MTPA model is operated in the F.W (field weakening) zone i.e., flux
weakening zone, which requires the speed to enter into a constant power zone. The author also
describes the need of optimal blending of magnet assisted torque and reluctance torque for limiting
the stator current to the minimum value possible. This design guarantees maximum utilization of
voltage producing high speed and constant power during FW. As described by the authors in [8] this
method can be useful as it reduces the hardware cost and power convertors with less power ratings
can be used. But at the same time real time models are not taken into account, practically core losses
are involved in the machinery. [20] The maximum-torque-per-ampere (MTPA) scheme is widely
used in the interior permanent magnet synchronous machine (IPMSM) drive system to reduce copper
losses. In order to realize online MTPA trajectory tracking, this paper proposes a novel torque control
strategy. The torque control is designed to be closed form. Considering the machine reluctance torque
as the torque feedback, when this is compared with the torque reference, then the excitation torque
reference can be obtained. Since the excitation torque is proportional to the q-axis current, the q-axis
current reference can be fed by the excitation torque reference through a proportional regulator.
MTPA model concentrates on increasing the torque to achieve higher speed ranges. The concept of
ME model is to increase the efficiency of IPMSM for the required torque and speed.
The combined strategy that uses the ideas of both MTPA and ME theory with a switching controller
as proposed in [8] uses MTPA while transiting and shifts to ME during steady states, utilizing the
advantage of both. It can be in sighted from the previous model that the MTPA model is able to
provide high amount of torque and hence increase the speed of IPMSM. For the ME model real time
situation is considered and the core loss is taken into account. Hence this proves that for any given
values of Te and ωr, minimizes the electric power loss hence increasing the efficiency. When the
models are combined together, the optimal current path either gets closer towards the MTPA or ME
with respect to the torque references. Though the model presents an ideal situation of switching
between the two methods, [8] poses the problem that this jumping from one system to another can
cause problem in the dynamics of the IPMSM.
[19] This paper showed that the linear maximum power control ignoring nonlinearity of d, q
inductances runs narrow operation range because non-optimal Id and Iq mislead low torque and
power in the field weakening region. On the other hand, nonlinear maximum power control
considering cross magnetizing effect increases torque and power and works with wide operation
range. It is necessary to apply nonlinear maximum power control in order to operate IPMSM in the
filed weakening region. Nonlinear maximum power control can help increasing output power range
of IPMSM
Submitted by Baria Jaydeepsinh Chhatrasinh (Enrollment. No.: 199999914502)
 [16][17] In this paper strategy-based PI controller and the improved UDE-based control strategy in
the flux-weakening. A negative d-axis current is injected to the stator windings in the flux-weakening
control strategy. The air gap magnetic field of an IPMSM is reduced under the direct axis armature
reaction caused by negative d-axis current. Then, the motor speed increases as the magnetic field
reduction. The copper and iron losses of IPMSMs increase with an increase in speed, which results
in the temperature rising. It not only improves the tracking performance and reduces the torque ripple
in flux-weakening region, but also realizes smooth switching between the constant torque region and
the flux-weakening region It can be seen that there is not much difference between the execution time
of the two control strategies and better control performance can be obtained show in Fig.3. The
proposed method also enhances the robustness of system effectively under parameter mismatches
caused by the variation of parameters.
[18] In this paper, we propose a novel control method based on a MOR (model order reduction)
technique, i.e., OIM (orthogonal interpolation method), that is obtained by reducing the order of the
FE model of an IPMSM. The principal advantage of this method is that it eliminates the effect of
magnetic saturation, cross coupling, and parameter sensitivity as shown in fig.4, since the method is
independent of the motor parameters such as Ld, Lq, and the PM flux.

Fig.4 Saturated and unsaturated control system Torque vs speed curve

[5] States that the MRAC model can productively manage a system with uncertain factors and
supply better dynamic performance with fewer parameters compared with traditional fixed PI model.
The system model is composed of controller, controlled plant, low pass filter-based torque estimator,
MTPA model and ME control strategy, a reference model and an adjustment mechanism as shown in
fig.5. The theory aims at meeting the controlling parameters in order to reduce the difference between
the output provided and the expected output from the reference model. Hence as projected in [5]
MRAC produces the desired output from the reference model as expected. This minimizes steady
state error for the structure. Hence this model can give good transient outputs for varying rotational
speeds.

Fig 5. MRAC model including MTPA and ME control strategies

Submitted by Baria Jaydeepsinh Chhatrasinh (Enrollment. No.: 199999914502)

 [7] MTPV refers to maximum torque per voltage. It is a reliable method to achieve higher amount
of speed. The MTPV trajectory is implemented in the current vector control scheme to enhance the
constant power range by reaching to maximum torque by minimizing the flux. The model stays valid
only if the rated current has a higher value then the characteristic current of IPMSM.
Many control theories have been evolved like fuzzy control, neutral network, adaptive control and
many more which are helpful for the high-performance operation of PMSM which is limited by the
huge complexity of hardware implementation. Sliding mode variable structure control is a nonlinear
system which non linearly demonstrates the lack of coherence of the control. The composition of the
system is not predetermined which leads the system to follow the proposed sliding mode model. As
presented in [4] the feedback quantity and the given quantity are taken as the controller inputs and
with the help of control approach law forces the moving points to reach the sliding mode surface
assuring steadiness and dynamic quality of the structure. Though these conditions prove the stability
of the system, when the ideal model of IPMSM is considered, disturbance can be caused due to the
extended back emf. This demands for an improved model. Hence as objectified in [9] the stator line
voltages are turned into phase voltages and phase voltages using Clarke transformation are converted
into αβ frame. The switching control sign functions are turned into saturation functions in order to
reduce the chattering of SMO.
Suitable strategies are opted for better performance due to varying, strong coupling and nonlinear
characteristics of IPMSM. As stated in [9], SMC can produce fast response speed and robustness.
The insertion of integral minimizes the chattering and increases the steady state accuracy and at the
same time lowers the anti-load disturbance ability of the system to an extent. Fuzzy control model
can deal with non-uniform data without affecting its structure by controlled object model as shown
in Fig.6. Fuzzy model is introduced in SMC because it increments the Δα of the coefficient hence
increasing the steady state precision, products strong robust performance and raises the resistance
against load disturbance.

Fig 6. Fuzzy sliding mode control

Fuzzy controller is added along the input of the system before SMC controller. The sliding mode
ds
surface s and its reciprocal dt are provided at input and the variable Δα is produced as the output from
the fuzzy controller. The value of Δα is adjusted according to the practical situation, which proves to
effectively increase steady state precision and oppose the load disturbance. This way the potency of
the system is increased taken into consideration practical situations.

Submitted by Baria Jaydeepsinh Chhatrasinh (Enrollment. No.: 199999914502)

RESULTS:
1] HF parameter optimization method was proposed and the comparison with the method using one
group of HF parameter was given. The synchronized rotating coordinate transform is utilized to
calculate the positive and negative sequence components of HF currents. And then least square fitting
algorithm is applied in the phase angle extraction process which are used in to obtain rotor position
fig.3. The rotor velocity can be calculated as the low-pass filtering of the differential value of rotor
position
2] The results of MTPV control strategy in provided in figure below. For higher speeds i.e. when the
rotor speed is greater than the critical speed, the MTPV control is useful and the simulation results
show that the speed has increased productively as compared with MTPA and the flux weakening
range. maximum power control method at the field weakening region that considers d, q inductance’s
nonlinearity due to magnetic saturation and d, q mutual inductance. Although the nonlinear control
has a better performance than the linear control, the need for enhancement exists in the nonlinear
control since it does not have a perfect current command and so has an error upon transition from
MTPA to maximum power control. that we can see in fig.7
3] The reference torque consisted of two parts, excitation torque and reluctance torque. The
excitation torque was fed to the proportional regulator, which produced the q-axis current reference.
Once the q-axis current reference was given, the d-axis current reference could be calculated online
based on the MTPA condition [22].by adjusting Id near to equal to zero we will get positive torque
as shown in fig.7
4] Fuzzy sliding model, is reliable as SMO experiences more fluctuation of d and q axis currents as
compared to the Fuzzy model when a sudden load is applied. Also, the electromagnetic torque
fluctuation is also considerably less in the FSMC when compared to SMC. And the system’s
performance indexes are not affected too.
4] The MRAC model strategy increases performance improvement on steady states and dynamics for
entire operating ranges. Also, the output torque can consist of zero steady state error. Hence the torque
is controlled as shown in Fig.8

Submitted by Baria Jaydeepsinh Chhatrasinh (Enrollment. No.: 199999914502)

 Fig.7 Simulation results of MTPV control, linear & non-linear Max. power

Fig.7

Submitted by Baria Jaydeepsinh Chhatrasinh (Enrollment. No.: 199999914502)

5] The flux-weakening control is usually adopted in an IPMSM system for acquiring higher speed
and meeting the application demand. A negative d-axis current is injected to the stator windings in
the flux-weakening control strategy. The two existing problems in the flux-weakening control for
IPMSMs are discussed in this paper, including the decline of control performance with parameter
mismatches and the switching fluctuation between the constant torque region and the flux-
weakening region. An improves the flux weakening control strategy for IPMSMs is proposed to
solve as shown in Fig.9

Fig.8

Fig.9

Submitted by Baria Jaydeepsinh Chhatrasinh (Enrollment. No.: 199999914502)

Conclusions:
This paper, reviews the works on some of the IPMSM theories that have been presented through last
few decades. The mathematical model of IPMSM motor and with the help of this model researchers
discuss various control strategy like rotor pole detection, MTPA, ME, MTPV, MRAC, field weaking
and Fuzzy sliding mode etc. they are studied carefully and their various conditions for operation are
presented with advantages and disadvantages. MPTA control strategy is very popular in industries
due to its high starting torque and speed below the rated speed operation. In FW control strategy we
can set speed above the rated speed with constant torque and power that is why this strategy is very
popular for EV motor technology. For further research, one can combine the MRAC approach with
Fuzzy model for further improvements in the EV motor technology. Hence it can be stated that more
improvements can be accomplished in the field of sensor less IPMSM weather it is of torque, speed
range improvement or the efficiency.

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Submitted by Baria Jaydeepsinh Chhatrasinh (Enrollment. No.: 199999914502)

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Submitted by Baria Jaydeepsinh Chhatrasinh (Enrollment. No.: 199999914502)