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José de Oliveira
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Abstract — this paper describes an implementation of FOC In this paper a complete platform for rapid motor control
(Field Oriented Control) algorithm for speed control of a prototyping based on Labview FPGA is described. It is
Permanent Magnet Synchronous Motor - PMSM. The motor composed of a hardware that includes a power inverter with
considered is a Brushless-AC type - BLAC, with sinusoidal braking capability and interface board for signals, a software
back-electromotive force - BEMF waveform, and the application that implements FOC algorithm for BLAC motor and a user
intended for this motor is the direct drive - DD type of washing interface – UI, that allow the user to set command speed, and
machines. The FOC algorithm is implemented using a National observe the motor signals and control variables during real
Instruments Labview FPGA System. This system is composed of time operation.
a high level/high productivity tool for FPGA logic synthesis. The
paper describes the design principles for FOC algorithm and II. DYNAMIC MODEL OF A BLAC MOTOR
then explains the implementation of the designed controllers in
the Labview FPGA platform. Experimental results are provided
to verify the FOC implementation. In this section, the dynamic equations that describe the
variables of interest for the FOC implementation are shown.
Labview, FPGA, FOC, BLAC, Electric Drives These variables are the motor currents in the d-q reference
frame and the rotor speed and position. In this paper the d axis
I. INTRODUCTION of the d-q reference frame is aligned on the rotor magnets flux.
A. Electric dynamic modeling
The FOC algorithms have been used widely in the Electric The direct axis current – id and quadrature axis current – iq
Drives Industry in the recent years. As this technology
dynamics in a BLAC motor can be modeled as in (1) where R
becomes increasingly popular new applications arises, even
is the phase to neutral resistance of the stator, Ld and Lq are
where cost is a hard restriction. One of these new applications
is the direct-drive type of washing machines. In this type of the direct axis and quadrature axis phase to neutral
drive system, there is not a mechanical transmission interface inductances of the stator, vd and vq are the direct axis and
e.g., belts or gearboxes, between the motor and the washing quadrature axis voltages applied to the stator, ωe is the electric
machine drum. The motor most commonly used in the angular frequency of the stator voltages and λm is the magnets
appliance industry for this application is a permanent magnet, flux constant [1], [2] and [3]:
sinusoidal BEMF – BLAC type. The use of direct-drive
BLAC – DD-BLAC motors improves efficiency of the
washing machine, increases the dynamic control of the speed (1)
during tumbling or spin, as well as it allows new sensing
methodologies for washing machines that brings new
consumer benefits and makes the appliance quiet and energy- Equation (1) can be written in terms of transfer functions
efficient. as shown in the block diagram of Fig.1. There is a coupling
mechanism between the d and q axis currents, and this
To take advantage of all benefits of FOC applied in DD-
coupling is proportional to ωe . This coupling needs to be
BLAC motors, it is necessary to conduct a lot of research and
compensated by the current controllers. A technique presented
development activities. In this scenario, a rapid motor control
in [4] for three phase induction motors is extended for BLAC
prototyping tool is recommended to save time and resources
motors and explained in this paper.
during the development phase of electric drives.
TABLE I. MOTOR PARAMETERS
P
PARAMETER VAL
LUE UNIT
R 4.48 Ω
N – number of pole pairs 21
Ld =Lq 54.80
0 mH
Kt 7.52 Nm/A
λm 1
0.201 Vs
b 0.005
57 Nm/rad/s
J 0.300
06 Kgm²
Nominal Torque 40 Nm
(2)
A. Motor parameters
To design the controllers and perforrm the dynamic
simulations it is necessary to know the m motor parameters.
Usually, these parameters are determined ffrom experiments,
and the description of the tests performed iss out of the scope
of this paper. The reader can find complete iinformation about Figure 4. Speed Co
ontroller
procedures in the references [5] and [6]. The parameters of the
motor considered in this paper are summarizeed in the Table 1. Considering Tl and Tc as externaal disturbances, the closed
loop transfer function – Tωr s , of the speed controller is
B. FOC algorithm
shown in (3). Considering that b<<JJ it is possible to compare
The FOC algorithm is shown on Fig. 3. In this structure (3) to a second order system as sho own in (4), [4]. Therefore
the motor currents are controlled in the d-qq reference frame. the gains of the controller can be written
w as a function of the
The id current is associated with the maggnetic flux in the damping coefficient ξ and bandwidth h of the controller - ωb as
motor and the id current reference – i*d is seet to zero, as in a in (5) and (6), [4]. The ωb is co onsidered as the angular
PMSM this flux is generated exclusively by tthe magnets in the
rotor [3].
frequency that leads to a reduction of 3dB on the gain of a control of the iq (that generates the torque) and id (that control
transfer function. the flux) as independent variables.
The controllers are designed considering the coupling as
an external disturbance to be compensated as shown in Fig. 6.
(3)
(4)
(5)
(6)
(8)
(9)
ACKNOWLEDGMENT
The authors would like to thank Whirlpool Corporation,
specially the LAR Motors Team by the availability of
equipments to develop the experimental part of this paper. The
authors also would like to thank Marcelo Campos Silva, by
the valuable technical discussions on the motor control
software implementation.
REFERENCES
[1] Krause, P. C., Wasynczuk, O., Sudhoff, S.D., Analysis of electric
machinery and drive systems, 2nd ed. Wiley Interscience, 2002.
[2] Bose, B. K., Modern Power Electronics and AC Drives, Prentice Hall,
2002.
[3] Figueiredo, D., Bim, E., “Controle linear de máximo torque de um
motor síncrono de imãs permanentes interiores”, Revista Controle e
Automação, Vol. 21, No. 3, May and June, 2010.
[4] Câmara, H. T., Uma contribuição ao controle de motores de indução
trifásicos sem o uso de sensores mecânicos, Doctorate Thesis, UFSM,
2007.
[5] Cãlin, C., Torque control in field-weakning mode, Master Thesis,
Aalborg University, PED4-1038C Group, 2009.
[6] Babau, R., Boldea, I., Miller, T.J.E., Muntean, N., “Complete
parameter identification of large induction machines from no-load