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Voltage vector based control for PMSM in industry applications

Article · July 2010

DOI: 10.1109/ISIE.2010.5637742

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 Voltage Vector based Control for PMSM in Industry Applications
Sanjeet Kumar Dwivedi Michael Laursen Steffan Hansen

Danfoss Drives A/S, 6300 Graasten, Denmark

speed to eliminate expensive sensors mounted on the

ABSTRACT
This paper is presenting a novel control strategy
suitable for PMSM in industry applications such as
fan and blower applications known from the
heating, ventilation and air-conditioning industry or
conveyor belt applications. Comparisons are made
to the field oriented control typically used today in
Industry applications for PMSM.
I. INTRODUCTION
Right from its inception the induction motors are
available as a workhorse for industries [1]. The Power
electronics based control of electrical machines started
for only half century ago. Whereas the dynamic torque
control algorithms (Vector Control) for improved
transient performance of drive have developed a
quarter century ago. Drive Technology is progressing
now a days with pace which never been seen earlier.
The last two decades are dedicated for development of
power electronics control of linear machines, surface
PM magnet and buried PM magnet machines, switched
reluctance machines, stepper motors, transversal flux
machines, axial flux machines, etc. Each of these
machines requires special attention in terms of sensors,
control algorithms, switching devices and
environmental issues. The current trends in the industry
are to develop reliable sensorless control even at zero
motor and drive. The typical power range of modern
drive varies form few watts upto several of megawatts
which shows flexibility and the wider application of
this drive technology.
The availability of improved quality of Permanent
Magnet (PM) material has generated a lot of interest in
the development of Permanent Magnet AC (PMAC)
motors. This has gained further impetus from the
development of high power low cost switching devices
and high-speed digital signal processors. Together,
they have made the drive system flexible, compact,
efficient and the overall cost of the PMAC motor drive
has been reduced considerably. These motors are,
therefore becoming an attractive option for industry
applications in Heating Ventilating and Air-
conditioning (HVAC) systems, refrigerators, conveyor
belts and many other cases.
This paper presents a novel voltage vector control
(VVC+) strategy for PMSM suitable for above
mentioned industry applications and a comparison is
made to the field oriented control (FOC) typical used
today in these applications[2-8]. Further,
implementation considerations for starting the motor
on the fly (Flystart) are also presented[6].
II. CLASSIFICATION OF PM MACHINES
PM machines can be classified into two broad

Fig.1. Classification of Permanent Magnet AC Machines

978-1-4244-6392-3/10/$26.00 ©2010 IEEE 3845

1
 Control
Techniques
for PMSM
Scaler Control Vector Control
Voltage
Vector
Field
Control
V/f Control Oriented
(Danfoss)
Control
Rotor Flux Stator Flux
Oriented Oriented
Control Control
(RFOC) (SFOC)
Fig.2 Classification of Different Control Techniques for PMSM Drive
categories of brushed and brushless construction. These
PM Brushless (PMBL) AC machines can be further
subdivided according to various criteria including
mode of operation i.e, motor or generator, direction of
the magnetic field i.e, axial or radial field machines,
type of rotor, i.e, different rotor geometries. The PMBL
motors can be further categorized as PM brushless dc
Motors (PMBLDCM) characterised by trapezoidal
back emf and PM synchronous motors (PMSM)
characterised by sinusoidal back emf. Among all of
these configurations of PMBL motors, PMBLDCM
and PMSM are most popular form of PMBL motors
used in various applications. These different
classifications of PMBL machines are shown in Figure
1.
The sinusoidal excited PMAC motor is commonly
known as Permanent Magnet Synchronous Motor
(PMSM). It is further subdivided into three categories
based on type of rotor magnets and their excitation.
The surface mounted rotor magnet PMSM is known as
SPMSM, whereas interior mounted rotor magnet
PMSM is known as IPMSM and inherently has
additional saliency torque, suitable for some high
torque requirement application. The third categories of
hybrid excited PMSM has hybrid of PM and electrical
excitation. In this category, provision for additional
electrical excitation of rotor, results in tailor made
magnetization profile of PMSM.
III. CONTROL METHODS FOR PMSM
The PMSM’s due to its inherent advantages, like high
power to weight ratio, low torque ripple, high
efficiency, high power factor, are usually suitable for
high performance servo drives. It is also popular in
special applications as medical equipments, computer
3846
2
New Methods
for Control
Direct Torque Feedback
Passivity
Control Linearization
Based
Control
Control
DTC with DTC with
Circular Flux Hexagonal
Trajectory Flux Trajectory
(Takahashi) (Nagouchi)
peripheral equipment, robotics, etc. However, recently
it found popular as adjustable–speed drives in variety
of application such as fans, pumps, compressors,
blowers, heating, ventilating and air conditioning
(HVAC). Another field of application is automotive
industry where it is used as alternative drive in hybrid
mode with classical engine. The PMSM power varies
in many folds from few hundred watts to several MW.
The various control techniques are used to regulate
speed of PMSM drive. The criteria for these control
techniques includes
• Sensorless and with sensor operation
• Fast flux and torque response,
• Maximum output torque in wide speed range,
• Constant switching frequency,
• Improved PWM Control,
• Low ripples in flux and torque
• Adaptability to parameters variation,
• Regenerative Capability
The general classification of the different control
techniques for variable frequency control of PMSM
drive is shown in Fig.2.
These control methods can be divided into categories,
(a) scalar (b) vector control and (c) new control
techniques. The scalar control technique is based on a
simplified model which only valid for steady states. In
this method the magnitude and frequency of voltage,
currents, and flux linkage space vectors are controlled.
The scalar control method is not suitable for transient
performance. This scalar control without damper
winding is not suited for PMSM, as it requires
additional stabilization loop for stable operation. The
stabilization loop can be formed with either of these
methods (i) Rotor Speed perturbation (ii) Input power
or (iii) DC-link current perturbation or (iv) Flux and
 θr
pθr
Fig.3 Field Oriented Control of PMSM Drive
Power angle stabilizing loop. Therefore scalar control
of PMSM is only useful for an application which not
requires high dynamic performance. The second
control method is known as vector control technique.
In this method not only the magnitude and frequency of
voltage, current and flux space vector is controlled, it
also results in precise control of position of these space
vectors.
The vector control can be further subdivided into
three categories (i) Field Oriented Control (FOC), (ii)
Direct Torque Control (DTC) and (iii) Voltage Vector
Control (VVC). The field oriented control methods
utilizes the coordinate transformation of motor
equation in a frame which is rotates in synchronism
with permanent magnet flux. It allows decoupled
control of, flux and torque producing component of
stator current, and indirectly control motor flux and
torque. The FOC uses d-axis and q-axis current
controllers to get decoupled control of drive. The other
vector control technique is direct torque control which
allows direct control of motor flux and torque without
the need of inner current control loops. The DTC uses
hysteresis controller for controlling the flux and torque.
This results in good dynamic performance of PMSM
drive. However the DTC suffers from various
disadvantages which includes (i) requirement of fast
sampling time, (ii) need of two hysteresis controllers,
(iii) variable switching frequency behaviour and (iv)
higher ripples in torque and flux. The third control
technique Voltage Vector Control plus(VVC+) control
which is developed in Danfoss Drive results in good
3847
Fig.4 VVC+ Control of PMSM Drive
3
θr
steady state and transient performance of the PMSM
drive. This voltage vector control plus (VVC+)
technique is well proven for Induction Motor Drive. It
is now designed and developed for PMSM at Danfoss
Drives.
IV. COMPARISON OF FOC AND VVC
The Field oriented control (FOC) technique is used
for control of PMSM. It requires absolute position
information of the magnet, whereas the control
technique developed at Danfoss Drive, voltage vector
ontrol plus (VVC+) does not require the absolute
position information of the magnet. The VVC+ method
is inherently sensorless with respect to rotor position
measurement. The control methodologies of these two
methods are compared below:
A. Working Principle of Field Oriented Control:
The field oriented control (FOC) is used to control
the space vector of magnetic flux, current and voltage.
In this technique the stator current is decomposed into
flux and torque producing components for obtaining
the decoupled control of PMSM drive in a way similar
to the separately excited DC motor. Fig.3 shows the
basic building block of the vector controlled PMSM
drive. The drive consists of speed controller, resolver
Sin and Cos position signals, demodulation circuit,
current sensors, current controlled pulse width
modulator (CC-PWM), IGBT based VSI and PMSM.
The rotor speed (ωr) is compared with the reference
speed (ωr*). The error in speed (ωe) is processed in the
speed controller, which generates the reference torque
(Tk*). This reference torque is limited using a limiter The VVC+ control technique shows simpler and robust
and the limited reference torque (Tref*) is used to control structure.
generate the q-axis reference current (i*q). Similarly, TABLE-1: COMPARISON OF FOC AND VVC+
from the rotor speed of the motor, the d-axis current Sr. Features Field Oriented Voltage
No. Control (FOC) Vector
(i*d) is decided using the field weakening controller. Control
Both these d-axis and q-axis stator currents, generate (VVC+)
three phase reference currents (i*su, i*sv and i*sw), which 1 Reference Frame Required Required
are compared with the sensed winding currents (isu, isv Transformation
2 Sensor or Estimate Rotor Position Inherently
and iuw) of the PMSM. The current errors are fed to the is Needed Position
PWM current controller, which generates the switching Sensorless
signals for the VSI. These, in turn control the winding 3 d-axis and q-axis Required Only d-axis
currents of PMSM, thereby controlling the speed of the Current Controllers Current
Controller
motor.
4 Fixed Switching Yes Yes
B. Working Principle of VVC+: Frequency
The voltage vector plus (VVC+) control is used for 5 Parameter Sensitivity Sensitive for Less Sensitive
PMSM drive to exploit all the advantages of voltage Motor to Motor
vector control for asynchronous motor which is proven Parameters Parameters
6 Torque Ripples Low Torque Low Torque
technology of Danfoss Drive. The advantages of Ripple Ripple
VVC+ includes absence of feedback position or speed 7 Transient Response Good Good
sensor, simple control algorithm, less computation and 8 Flystart Control Need Simpler
improved transient response as compared to scalar Initialization of
current
control method. The VVC+ control principle for
controllers
PMSM is a voltage vector control primarily intended 9 Simplicity in Complex Relatively
for HVAC applications without feedback from the Algorithm Simpler
motor shaft, as shown in Fig. 4. The voltage impressed 10 Control Architecture Complex Simpler
on the motor is controlled with respect to both
amplitude and angle. The vector concept used here is C. Working Principle of Flystart VVC+:
based on a steady state motor model. The stabilization
The Algorithm used for the estimation of position and
of the PMSM is done by measuring the change in input
speed of the PMSM work on the principle of stator
power and reference speed is proportionally varied
current measurement during the very short time
according to this power variation. The current
(usually few hundred μS) application of zero voltage
controller compensate for machine parameter
vector on the stator of the PMSM. This method
mismatch, temperature drift of stator resistance and
employed application of successive zero voltage vector
other unmodelled things. If all the machine
for a short circuit time until the measured currents
parameters are correct the output of controller will not
reaches to a required value and determining the
depend on the load. So the d-axis current is kept on the
position and speed of the rotor from this measured
desired value at steady state, depending on the control
current vector.
strategy Maximum Torque Per Ampere Control
(MTPAC) or Constant Stator Flux Control (CSFC). V. EXPERIMENTAL RESULTS
The Flystart control of PMSM drive is required to
The developed VVC+ flystart control algorithm is
power on the drive after a short time power failure or to
simulated in Matlab/Simulink and experimentally
catch the spinning motor which is rotating with the
verified on dSPACE 1103 based hardware platform
influence of wind in case of a fan application or inertial
and results are shown in Figs.5(a)-(h). The
of the drive system. The PMSM have free running
experimental results of flystart VVC+ for 20.3 kW
situations due to coasting of inverter or with influence
Parker Surface Mounted PMSM drive is included in
of some external factor as mentioned above. During
this work. The results shown here include Matlab
this time the inverter is disabled and there is no current
simulation results and corresponding implementation
flowing from the DC source to Motor terminals.
results. The Matlab is used for developing simulation
Restarting of the inverter requires accurate information
model and the developed Simulink model is used for
of position and speed of the PMSM. So that voltage
realization of hardware implementation on dSPACE
vector with correct amplitude, speed and angle with the
and test setup. The control desk of dspace and LabSys
selection of switches can be generated. This voltage
is used to get the view of different waveform including
vector with correct duty ratio can be applied to the
speed, current, torque and various Flags during
PMSM stator terminal.
starting, load application and during flystart. The
The comparison between Field Oriented Control
previously running VVC+ PMSM drive is coasted and
(FOC) and Voltage Vector Control Plus (VVC+)
then after a time delay it is restarted. These results are
techniques for PMSM drive is presented in the Tab.1.
shown in Figs.5(a)-(h). These include speed
3848

4
 Simulink results 20.3kW PARKER MPP2708N PMSM(Speed)
800
Simulink result of Speed
700

1600 W ramp
600 Wr
1400 W fly

fly [rad/s]
Wr
500
1200

r, W
400

ramp,W
1000

300
800

W
600 200

400 100

200 0
2.46 2.48 2.5 2.52 2.54 2.56 2.58
Time [s]
0
5 10 15 20 25 30 35
Time [s] Fig5(e) Matlab Simulation Result of (i)Ramp speed(blue),
Fig5(a) Matlab Simulation Results of actual speed flystart speed (red) and actual speed (green)

Fig5(b) Implementation Results of actual speed

Simulink result of Torque
140
Te
120

100
Fig5(f) Implementation Results of (i)Ramp speed(red), flystart
80
speed (pink) and actual speed (green)
Simulink results 20.3kW PARKER MPP2708N PMSM(Currents)
60 15
iu
40 iv
10 iw
20 I
Fly Flag
0 5
iu, iv,iw,I(A)

-20
0 5 10 15 20 25 30 35 40
Time [s] 0

Fig5(c) Matlab Simulation Results of actual torque

-5

-10

-15
2.48 2.49 2.5 2.51 2.52 2.53 2.54 2.55
Time [s]

Fig5(g) Matlab Simulation Results of (i) winding Currents (red,

green and blue) (ii) Flystart Flag (pink) and (iii) short circuit
current (cyan)

Fig5(d) Implementation Results of actual torque

waveforms, developed torque, flstart speed and motor

winding current. The obtained results demonstrate
effectiveness of the developed algorithm.
In these Figs 5(a)-(h), the Matlab based simulation
results and corresponding implementation results are
shown for speed, torque, flystart speed and winding
currents. The previously running VVC+ PMSM drive Fig5(h) Implementation Results of (i) winding Currents (red,
is coasted at time t=-0.08sec and it is restarted at t=- green and blue) (ii) Flystart Flag (pink) and (iii) short circuit
0.021sec. The restarting current increases to 6.0Amp current (cyan)
peak for a 39.1 A(rms) nominal current of the PMSM.
This transient current dies down very quickly and industry applications. The presented technique is
drives results in smooth running. compared with field oriented control (FOC) which is
extensively used in industry. An implementation
VI. CONCLUSION consideration for starting the motor on the fly (Flystart)
In this work comparision between different control is also presented.
strategies for PMSM is presented. A novel sensorless
voltage vector control (VVC+) strategy is also
presented for PMSM drive which is suitable for
3849

5
 VII. REFERENCES
[1] B.K Bose, Modern Power Electronics and AC Drives, Pearson
Education, Delhi, 2003.
[2] G. C. Verghese, J. H. Lang and L. F. Casey, “Analysis Of
Instability In Electrical Machines, Ieee Transactions On
Industry Applications, Vol. Ia-22, No. 5. September/October
1986, PP. 853-864
[3] I. Boldea and S.A. Nasar, “Torque Vector Control (TVC)-A
Class of Fast and Robust Torque-Speed and Position Digital
Controllers for Electric Drives”, Electric Machines and Power
System, Vol.15, pp.135-147, 1988.
[4] P. Pillay and R. Krishnan, “Modeling, Simulation, and Analysis
of Permanent Magnet Motor Drives, part I: the Permanent
Magnet Synchronous Motor Drive”, IEEE Trans. on Industry
Applications, Vol. 25, No. 2, March1989,, pp. 265-273.
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[5] C. Perera, F. Blaabjerg, J.K. Pedersen, P. Thøgersen: A
sensorless, stable V/f control method for PMSM drives, IEEE
Transaction on IA, vol.39, No.3, May/June 2003, pp. 783-791.
[6] M. Schroedl and R. S. Wieser : EMF-Based Rotor Flux
Detection in Induction Motors Using Virtual Short Circuits,
IEEE Transaction on IA, vol.34, No.1, Jan/Feb 1998, pp. 142-
147.
[7] L. Jun, W. ChunHua, H. Jian Min and Y. Jin Dhou, “Research
on Starting methods of sensorless PWM based on electrical
steady state model”, IEEE ISIE’10, 2010,, pp. 519-522.
[8] M. Matsushita, H. Kameyama, Y. Ikeboh and S. Morimoto,
“Stabilization control of sensorless sinusoidal wave drive for
control of power factor of PM motor”, IEEE ICEMS’09,2009,
pp. 1-5.