Robot and Servo Drive Lab.

Assumptions of modeling PMSM

1. Stator windingsg have equal

q turns per p phase.
p
2. The rotor flux can be assumed to be concentrated along d axis
while there is zero flux along the q axis.
3 Machine
3. M hi core losses
l are negligible.
li ibl
Professor Ming-Shyan Wang 4. Rotor flux is assumed to be constant at a given operating point.
5 Variations in rotor temperature altering the magnet flux are
5.
Department of Electrical Engineering negligible.
6. Variation in the rotor flux with respect to time is negligible.
S th
Southern T
Taiwan
i U
University
i it off
Science and Technology
Department
p of Electrical Engineering
g g
Southern Taiwan University of Science and Technology 2017-10-16
2017-10-16 3
Department of Electrical Engineering Robot and Servo Drive Lab.
Southern Taiwan University of Science and technology

Outline
e vu
vu : u u-phase
phase voltage
 Phase Model Ra
iu : u-phase current
eu : u-phase BEMF
 AC Two
Two-axis
axis Model La
L
Ra : phase resistance
 DC Two-axis Model La : phase self-inductance
M a
M a M a : phase
h mutual
t l inductance
i d t
 References  e : electrical speed
 e : rotor position
e

La La
La   a  M a
Ra Ra
Self-inductance
= leakage inductance
vv vw
2017-10-16 [8]
2017-10-16 M a + mutuall inductance
i d
2 4
Department of Electrical Engineering Robot and Servo Drive Lab. Department of Electrical Engineering Robot and Servo Drive Lab.
Southern Taiwan University of Science and technology Southern Taiwan University of Science and technology
 3-phase modeling Transformation

Ra  pLa 
1
pM a 
1 
pM a  v  z i   e cv   cz c1 ci   ce
 2 2
 vua    iua   eua 
 c  c   I  cv  v ci  i cz c i  z  i
1 1
 v     1 pM  Ra  pLa
1
 pM a  i   e 
 va   2 a
2   va   va 
vwa   1 1 iwa  ewa 
v  z i  e
 pM a  pM a Ra  pLa 
 2 2  v
T
i  v
T
i  c v
T
c i  v
T
c
T
c i
 
 eua  p fua   re fa sin  re 
 fua   fa cos  re  cT c  I  c 1
1
 c 
T
Orthogonal matrix

 2    2  
 fva   fa cos re  eva  p fva   re fa sin  re   
   3  
 3  
2    2  
 ewa  p fwa   re fa sin  re   
 fwa   fa cos re     3  
2017-10-16  3   5
2017-10-16
7
Department of Electrical Engineering Robot and Servo Drive Lab. Department of Electrical Engineering Robot and Servo Drive Lab.
Southern Taiwan University of Science and technology Southern Taiwan University of Science and technology

AC two-axis modeling (stationary

Phase variable model
reference frame)

 vua   iua   eua  va  vua  vva cos 240  vwa cos 120
 v  ( R  pL ) i   e 
3 v    
La   a  M a  a   0  vva cos 330  vwa cos 210 
 va  a a  va   va  2
vwa  iwa  ewa  
1 
1 1 v 

 2 2 v 
ua
2 3  
0 3 3   va 
2 3  v 
  2 2   wa 

2 3
 1 1   1 1 
1  2   1 y   y2   y2 
2

2  2 2
   
C   x  0 3 
3
, C T C   I   x 2  1  y 2 1 y2
1
  y2 
 2 2   2 2 
y y y   1  y 2 
1
 y2 1 y 2 

2017-10-16 2017-10-16    2 2 
6   8
Department of Electrical Engineering Robot and Servo Drive Lab. Department of Electrical Engineering Robot and Servo Drive Lab.
Southern Taiwan University of Science and technology Southern Taiwan University of Science and technology
 dq-axis model (synchronous
AC two-axis modeling
reference frame)
 1 1   1  
cos  e sin  e   e   e dt
c  
q
 1    1 0 
2 2   2
  sin  e cos  e 

2 3 3
 2 1 3 1   e ( P / 2)   r
c  0  c1
  
3 2 2  3 2 2 2
d vd   Ra  pLa  e La  id   0 
v      
Ra  pLa  iq  e f 
 1 1 1   1 3 1  e
 2 2 2 
     q   e La
  2 2 2
La  Ld  Lq
v   Ra  pLa 0  i  e  Te r  eu iu  ev iv  ew iw
v      
   0 Ra  pLa  i  e    e f (iu sin  e  iv sin  e 
 2  
  iw sin  e 
2 
)
3  3   3 
La   a  M a  L  L
2 P
Te   f ( i sin  e  i cos  e )
e  p f  e f sin  e   f   f cos  e  3 2
  f   fa P
e  p f  e f cos  e 
2017-10-16
 f   f sin  e  2 2017-10-16   f iq  K T iq
Department of Electrical Engineering Robot and Servo Drive Lab.
9 2
Department of Electrical Engineering Robot and Servo Drive Lab.
11
Southern Taiwan University of Science and technology Southern Taiwan University of Science and technology

AC two-axis model circuit DC dq-axis model circuit

 re
 fa   fa cos  re  3
v a   fa   fa
 fa   fa sin  re  2
Ra

La ea  p fa   re fa sin  re 


ea  p fa   re faf cos  re 

N
S
La Ra
re v a

D.C
[8]

2017-10-16 2017-10-16
10 12
Department of Electrical Engineering Robot and Servo Drive Lab. Department of Electrical Engineering Robot and Servo Drive Lab.
Southern Taiwan University of Science and technology Southern Taiwan University of Science and technology
 Inverse power-invariant transformation Complex vector transformation
 1 1  i  
ida  cos re sin  re  2 1  2  2   
ua is  i  ji 
d 
i      i
 qa   sin  re cos re  3  3 3   va 
i  cR e i s 
0  i 
 2 2   wa 
 j
2
j
4

 2 2   iua   cR e i a  ib e 3  ic e 3 
cos re cos( re  ) cos( re  )  
2 3 3  i 
N

 
3  sin  2 2   va    1 1 
 sin(  )  sin(  )
iwa   c i a  i b  i c 
S
re re re
 3 3   2 2 
   i   cII m i s 
 sin( re  3 ) sin  re  iua 
 2    2 4

 j j
cos( re  ) cos re  iva   cI m i a  ib e  ic e 3
3

 3   
2 3  3 3 
iua  sin  re , iva  sin( re  )  ida
d  0, iqa    c ib  ic 
2017-10-16 3 2 2017-10-16  2 2 
13 15
Department of Electrical Engineering Robot and Servo Drive Lab. Department of Electrical Engineering Robot and Servo Drive Lab.
Southern Taiwan University of Science and technology Southern Taiwan University of Science and technology

Total power-invariant transformation

  P  V i  V i 
 1 0 
 vua   1   3 3   3 3 
 v   2  1 3  cos  re  sin  re  vda   1 1   1
 c Va  Vb  Vc   c ia  ib  ic   c  Vb  Vc   c  ib  ic 
  
cos  re  vqa 
   2 2   2 2   2 2   2 2 
2   sin  re
va
3 2
vwa   1 3  1 1 1 
    c 2 Va ia  Vb ib  Vc ic  Vc (ia  ic )  Va (ib  ic )  Vc (ib  ic ) 
 2 2   2 2 2 
  3 
 c 2  (Va ia  Vb ib  Vc ic ) 
 cos  re  sin  re  2 
2 2 2  vda  3
 cos(( re  )  sin(( re  )     c 2 Pabc
3 3 3  vqa  2
b

cos(  2 )  sin(  2 )
 re
3
re
3  Power invariant transformation: c  2 , P  P
abc 

3
vda  0, vqa  1 
Power variant transformation: 2 3
2 2 2 2 2 c P abc  P
vua   sin  re , vva   sin( re  ),) vwa   sin( re  ) 3
2017-10-163 3 3 3 3 2017-10-16 2
14 16
Department of Electrical Engineering Robot and Servo Drive Lab. Department of Electrical Engineering Robot and Servo Drive Lab.
Southern Taiwan University of Science and technology Southern Taiwan University of Science and technology
 Clarke transformation Park transformation
Clarke transformation Park transformation
 2 2 
 cos 0 cos(  ) cos( )   f ds   cos θ sin θ   f 
 f  3 3
 a 
f
 f   
 f   c  sin 0  sin (  2 )  sin ( 2 )   f 
 qs   sin θ cos θ   f β 
 β  3 3  
b

 f 0   1 1 1   f c 
 2  Inverse Park transformation
2 2
 1 1  f   2 1 1  f   f  cos θ  sin θ   f ds
d 
  f   
cos θ   f qs 
1
 f  2  2  f    3 3  f 
a a
2 3  β   sin θ
f     1  b 
 β  3 0 3 3  b   0 1
  f 
 f 
 2 2   c   3 3   c 
2017-10-16 2017-10-16
17 19
Department of Electrical Engineering Robot and Servo Drive Lab. Department of Electrical Engineering Robot and Servo Drive Lab.
Southern Taiwan University of Science and technology Southern Taiwan University of Science and technology

Inverse Clarke transformation Inverse power-variant transformation

Inverse Clarke transformation  1 1  i 

ida   cos re i  re  2 1  2  2   
ua
  sin
i      i
 cos 0  sin (0) 1  f   qa   sin  re cos re  3  3 3   va 
 fa  0  i 
 f   cos(  2 )  sin (  2 ) 1  f  2   wa 

 2
 b  3 3
 β   2 2   iua 
  f  2
cos re cos( re  ) cos( re  )
 f c  2 2  0 3 3  i 
 cos( )  sin ( ) 1
 
2 2   va 
3  sin 
 3 3  re  sin( re  )  sin( re  )
iwa 
 3 3 
    
 1 0  2 
sin( re  ) sin  re  i 
 fa   3
3   f 
ua
   
 f    1 
3 cos((  ) cos   va  i
 
 b  2
re re
2  f β   3 
 f c   1 3 2
iua  sin  re , iva  sin( re  )  ida  0, iqa  1
2017-10-16     2017-10-16 3
 2 of Electrical
Department 2 Engineering Robot and Servo Drive Lab. 18
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20
Southern Taiwan University of Science and technology Southern Taiwan University of Science and technology
 Total power-variant transformation
[10] Ohishi, K. and Nakamura, Y., “Robust speed servo system for wide speed range based on
  instantaneous speed observer and disturbance observer,” 1996 4th International Workshop on
 0  Advanced Motion Control,
Control 18-21
18 21 March
March, 1996,
1996 Vol.
Vol 1,
1 pp.326-331.
pp 326 331
 vua   1
 v    1 3  cos  re  sin  re  vda  [11] K.B. Lee, J.Y. Yoo, J.H. Song and I. Choy, “Improvement of low speed operation of electric machine
  
 va   2 2   sin  re cos  re  vqqa  with an inertia identification using ROELO,” IEE Proceedings-Electric Power Applications, Vol.
vwa   1 3
151 No.
151, No 11, pp
pp. 116
116-120,
120 Jan.
Jan 2004.
2004
   [12] Lee, K.B., “Disturbance observer that uses radial basis function networks for the low speed control of
 2 2  a servo motor,” IEE Proceedings-Control Theory and Applications, Vol. 152, No. 2, pp. 118 – 124,
  March 2005.
2005
 cos  re  sin  re  [13] S. M. Yang, and S. J. Ke, “Performance Evaluation of a Velocity Observer for Accurate Velocity
 Estimation of Servo Motor Drives,” IEEE Trans. Ind. Appl., vol. 36, pp. 98-104, Feb. 2000.
2 2  vda 
 cos( re  )  sin( re  )    [14] Se
Se-Han
Han Lee and Jae
Jae-Bok
Bok Song
Song, “Acceleration
Acceleration estimator for low-velocity
low velocity and low-
low
 3 3  vqa 
acceleration regions based on encoder position data,” IEEE/ASME Trans. on
cos(  2 )  sin(  2 ) Mechatronics, Vol. 6, No. 1, pp. 58-64, 2001.
 re
3
re
3 
[15] T. J. Kwon, and D. S. Hyun, “High-Performance Speed Control of Electric Machine Using Low-
vda  0, vqa  1 
Precision Shaft Encoder,” IEEE Trans. Power Electron., vol. 14, no. 5, pp. 838-849, Sept. 1999.
2 2
vua   sin  re , vva   sin( re  ),) vwa   sin( re  ) [16] Jiunn-Jiang
Jiunn Jiang Chen and Kan Kan-PingPing Chin, “Minimum
Minimum copper loss flux-weakening
flux weakening control of
2017-10-16 3 3 surface
2017-10-16 mounted permanent magnet synchronous motors,” IEEE Trans. Power
21 23
Department of Electrical Engineering Robot and Servo Drive Lab. Electronics, Vol.of18,
Department No.
Electrical 4, pp.929-936,
Engineering July
Robot and 2003.
Servo Drive Lab.
Southern Taiwan University of Science and technology Southern Taiwan University of Science and technology

References
[1] Krishnan R., Electric Motor Drives– modeling, analysis, and control, Prentice Hall, New Jersey, USA,
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2017-10-16
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Department of Electrical Engineering Robot and Servo Drive Lab.
Southern Taiwan University of Science and technology