(Development of a High Performance Interior Permanent Magnet Synchronous Motor

Drive for Electric Vehicles)

NSC 94-2213-E-159-015
94 8 1 95 7 31

()

95


Development of a High Performance Interior Permanent Magnet Synchronous Motor Drive
for Electric Vehicles
NSC 94-2213-E-159-015
94 8 1 95 7 31

In particular, no machine parameters are needed in the

1.

proposed field-weakening scheme. Hence, a robust

operation in the field-weakening region and a high

efficiency operation over full speed range for the

machine drive are achieved. A DSP-based prototype

drive is constructed to verify the feasibility of the

proposed scheme and some experimental results are

provided to demonstrate the promising features.

Keywords:

compromised

torque

control

strategy,

electric vehicle, field weakening control, interior

permanent magnet synchronous motor (IPMSM).

2.

2.1

2005 2
Abstract---The major purpose of this project is to develop a

high performance interior permanent magnet synchronous

motor (IPMSM) drive for electric vehicles. A new

compromised torque control strategy is developed for

an IPMSM over full speed range. The developed

50

scheme can automatically determine the proper control

2006

mode, named the maximum torque per ampere (MTPA)

control or the field-weakening control, to preserve a

minimum current amplitude operation as the load

condition changes or the inverter DC link voltage varies.

1

[1]-[4]

[5]-[7][8],[9]

[11]-[13]

[11],[12]

[13][10]

2.2

2.3

vds = Rs i ds re Lq i qs

(1)

v qs = Rs i qs + re ( Ld i ds + PM )

(2)

vds vqs d q ids iqs

d q Ld Lq d

q PM Rs

re

Te

Te = 0.75 pPM iqs + 0.75 p( Ld Lq )idsiqs

(3)

p (3)

[10]

Vsm I sm

i +i I
2
ds

2
qs

2
sm

v + v V
2
ds

2
qs

2
sm

(4)

(5)

ids2 + iqs2 = I sm2

2.4

(6)

2 IPM

(1)(2)(5)
( Rsids re Lq iqs ) 2 + ( Rsiqs + re ( Ld ids + PM )) 2 = Vsm2

(7)

2 3 u *

(1)(2)

)[14]

ids iqs

mtpaindex=0 mtpaindex

ids =

PM
2( Lq Ld )

2PM
4( Lq Ld )

+ iqs2

(8)

(3)(6)(7)(8) 1

ids - iqs (8) AI0

(7)

rA rB rC rD rE

3 A

1 r (0, rA )

r ( rA , rC )

r ( rC , rE )

ids*

[10]

(8)

ids*

ids ,mtpa

ids* ids ,mtpa

mtpaindex

(8) AI0

ids*

[10]

ids* ids ,min

A B

50

3300

rpm iqs ids

t=3.26 s

50

3300 rpm

iqs ids

*
qs

2.5

50 2500 rpm

3900 rpm 7

IPMSM 1

t<1.1 s 2500 rpm

DSP TMS320F2407A EVM

4 7

t=1.1 s 3900

rpm 3900 rpm

4 5 2500rpm

t=1.4 s VDC

t=2.1 s

100V 150V VDC =100V 2500

2500 rpm

rpm

2500 rpm

4 vds2 + vqs2 t>1.4

s VDC =150V 2500 rpm

2.6

4 vds2 + vqs2 t=5.0 s

150V 100V

4 VDC

3300rpm

6 t<1.81 s

t=1.81 s

[8]S. M. N. Hasan, K. Sikyung, and I. Husain, Power

electronic interface and motor control for a fuel cell

electric vehicle, in Conf. Rec. APEC04, 2004,

pp.1171-1177.
[9]L. Chen, R. Davis, S. Stella, T. Tesch, and A.
Fischer-Antze, Improved control techniques for

3.

IPM motor drives on vehicle application, in Conf.

[1]E. Pagano and O. Veneri, Regenerative and plug

Rec. IEEE IAS2002, 2002, pp.2051-2056.

braking operations of asynchronous drives for

[10]C. T. Pan and S. M. Sue, A Linear Maximum

electric road vehicles, in Conf. Rec.IEMD99,

Torque Per Ampere Control for IPMSM Drives

1999, pp.443-445.

Over Full Speed Range, IEEE Trans. Energy Conv.,

[2]M. Comanescu; A. Keyhani, and M. Dai, Design

vol. 20, no. 2, pp. 359-366, Jun. 2005.

and analysis of 42-V permanent-magnet generator

[11]J. M. Kim and S. K. Sul, Speed Control of Interior

for automotive applications, IEEE Transactions on

Permanent Synchronous Motor Drive for the Flux

Energy Conversion, Vol. 18, Issue 1, pp. 107-112,

Weakening Operation, IEEE Trans. Ind. Appl., vol.

Mar. 2003.

33, no. 1, pp. 43-48, Jan./Feb. 1997.

[3]X. Yan, and D. Patterson, Improvement of drive

[12]N. Bianchi, S. Bolognani, and M. Zigliotto,

range, acceleration and deceleration performance in

High-Performance PM Synchronous Motor Drive

an electric vehicle propulsion system, in Conf. Rec.

for an Electrical Scooter, IEEE Trans. Ind. Appl.,

PESC 99, 1999, pp.638-643.

vol. 37, no. 5, pp. 1348-1355, Sep./Oct. 2001.

[4]F. Huang, X. Jiang, and Y. Wang, A dedicated

[13]Z. Q. Zhu, Y. S. Chen, and D. Howe, Online

permanent magnet synchronous motor drive system

Optimal

for electric vehicle, in Conf. Rec. PESC95, 1995,

Flux-Weakening

Control

of

Permanent-Magnet Brushless AC Drives, IEEE

pp.252-257.

Trans. Ind. Appl., vol. 36, no. 6, pp. 1661-1668,

[5]J. M. Miller, Power electronics in hybrid electric

Nov./Dec. 2000.

vehicle applications, in Conf. Rec. APEC03, 2003,

[14]S. Morimoto, M. Sanada, and Y. Takeda,

pp.23-29.

Wide-Speed Operation of Interior Permanent

[6]Z. X. Fu, J. Xiang, W. C. Reynolds, and B. Nefcy,

Magnet

Vector control of an IPM synchronous machine

Synchronous

Motors

with

High-Performance Current Regulator, IEEE Trans.

capable of full range operations for hybrid electric

Ind. Appl., vol. 30, no. 4, pp. 920-926, Jul./Aug.

vehicle application, in Conf. Rec. IEEE IAS2003,

1994.

2003, pp.1443-1450.
[7]O. Wallmark, L. Harnefors, and O. Carlson,
Sensorless control of PMSM drives for hybrid
electric vehicles, in Conf. Rec. PESC04, 2004,
pp.4017-4023.

rE > rD > rC > rB > rA

30

rA
rB

25

20

iqs

rC
rD

B
C

(8)

15

10

rE

rD

0
-30

-2 5

-20

-15

-10

-5

00

10

15

20

25

30

ids

1 ids - i qs (8)

vds*

vqs*

u*

*
ids
*
iqs

r*

r
ids

IPMSM

Rs ( )

iqs ids r r

iqs

Ld ( mH )

ias
ics

Lq ( mH )

ibs

(ias + ibs )

PM (weber- turn)

I sm ( A)

r*

VDC (V )

2 IPMSM

u*

iqs* = u *

(vds* + vqs* ) Vsm2

2

(8)
ids, mtpa

YES

?
mtpaindex=0

NO

NO

ids* = ids* + abs(r* r )

ids* < ids, mtpa

mtpaindex=0?
(8)

ids* = ids, mtpa

YES

ids*

(v + v ) Vsm2
*2
ds

NO

YES

* 2
qs

mtpaindex=1

NO

YES
A

ids* = ids* abs(r* r )

2
(ids* + iqs* ) > I sm

ids* < I ds, min

2
*
iqs* = sign(u * ) I sm
ids

ids* = I ds, min

3 IPMSM

4 VDC iqs

5 4 ids ias

6 iqs ids

7 iqs ids

4.

27

IEEE

IPMSM

Transactions on Energy Conversion

2006 12

95 9 6

(Development of a High Performance Interior Permanent Magnet

Synchronous Motor Drive for Electric Vehicles)

NSC 94-2213-E-159-015

/ (An Auto Field-Weakening Controlled Permanent-Magnet

Synchronous Machine Drive)

A new compromised torque control strategy is developed for an PMSM over full
speed range. The developed scheme can automatically determine the proper control
mode, named the maximum torque per ampere (MTPA) control or the
field-weakening control, to preserve a minimum current amplitude operation as the
load condition changes or the inverter DC link voltage varies. In particular, no
machine parameters are needed in the proposed field-weakening scheme. Hence, a
robust operation in the field-weakening region and a high efficiency operation over
full speed range for the machine drive are achieved.

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