You are on page 1of 13

Feedback Control System Theories applied to Motor Control

(A Tutorial)

Dal Y. Ohm
Drivetech, Inc., Chantilly, Virginia www.drivetechinc.com

Drivetech, Inc.

Block Diagram of Feedback Control


Disturbance Reference Controller (PID control) Actuator (motor & electronics) Plant (Load) Output

Sensor (Encoder)

DC motor speed control example Objective: Precise control of output in the presence of disturbance and plant parameter variations
Drivetech, Inc. 2

Control Objectives
Regulation (Disturbance Rejection)
Steady Target

Dynamic Tracking
Changing Reference

Accuracy and Response Time


Integral control System Bandwidth Disturbance rejection (location of poles) Tracking (affected by poles and zeros)
3

Drivetech, Inc.

Dynamic Model of DC motors


Armature (Stator) Dynamic Equations Va = Ra Ia + La dIa/dt + Ke Field Equation = K If (wound field only) I,T Mechanical T = K Ia = J d/dt + Td PI(D) control y(s) = Kp(1 + Ki/s + Kd s) e(s)

Current limit load

V1

V2

Drivetech, Inc. 4

Velocity Control of DC motors


PI control on second order plant
adds one integrator to get zero steady-state error moves one pole (mechanical pole)

limited by electrical pole, load dynamics, feedback accuracy and bw Td


+ V* PI(D) PWM Amplifier V Motor T Load

Vemf Tach or Encoder


Drivetech, Inc.

Ke

Strategies for Better Performance


Improve feedback sensors
Higher resolution and reduced time delay Position and velocity accuracy

Change of internal dynamics


Torque response Torsional resonance Compensation of system non-linearities

Regulator structure Optimal tuning


Drivetech, Inc. 6

Current Control for DC motors


PID control (?) J d/dt() = T - Td limited improvement by D term due to noise Armature current control (Ia* = k T*) Ierr = Ia* - Ia Va = (Kp + Ki/s) Ierr Nested vs Multi-variable control Desired bandwidth 10x servo bandwidth! Effects of Back emf

Drivetech, Inc.

Current controlled DC servo motors


High performance (bw) velocity control
Limited by current loop performance and load dynamics (Torsional resonance)
I * + I*+ PI PI V* PWM
Amplifier

Td V Motor T Load

Vemf Tach or Encoder


Drivetech, Inc.

Ke

Velocity Control of Brushless Motors


Commutation
generates 3 phase sinusoidal voltage command based on rotor angle Absolute position sense required possible phase delay at high speed 6-step (trapezoidal (?)) control for low-cost drives
Td * + V* PI(D) Commutation AC PWM Amplifier V Motor & Load

Ke e s Position sensor
9

Drivetech, Inc.

Current controlled Brushless servo motors


AC current controller
performs current control & commutation single or multiple PI controllers
Iabc * + I* PI AC Current Controller Ke e s Position sensor
10

Vabc AC PWM Amplifier Motor & Load

Drivetech, Inc.

Bode Plot and Closed-loop Performance


Closed-loop control is effective for signals < BW PWM & sampling frequency
1x, 2x, (1/2)x,. Current ripple, desired bw, switching loss
10
2

M agnitude Res pons e

10

M ag n itu de R e s p o ns e

10

10

10

-2

10

-2

10

-4

10

-4

10

-6

10
0

-6

10

10

10

10

10

10

10

10

10

10

P has e Respons e -50

P h as e R es po n s e 0 -50

-100
-1 0 0

-150
-1 5 0

-200
-2 0 0

-250

-2 5 0 -3 0 0 0 10

-300 0 10

10

10

10

10

10

10

10

10

Drivetech, Inc.

11

Current Magnitude Control


Used in 6-step PWM control with one sensor Phase angle is not controlled Difficulty in measuring accurate current at low cost
DC bus +

I
Q1 Q3 Q5 A B C AC Motor Q2 Q4 Rs DC bus Q6

I* PI

V*

Commu- Vabc* tation

Drivetech, Inc.

12

Hysteresis Control
Simple to implement Switching frequency controlled by error band

Ia* I*
+

Va*
+ +

Commutation Ib*
Ic*

Vb* Vc*

Drivetech, Inc.

13

Phase Current Regulator


Ramp comparison PWM Steady-state magnitude droop and phase delay Phase advance Possible problems at high modulation index

Ia* I*
+

PI(D)
+ -

Va*

Commutation Ib*
Ic*

PI(D) PI(D)
+

PWM

Vb* Vc*

Drivetech, Inc. 14

Generation of Electromagnetic Torque


Doubly excited cylindrical machines
T = K Ms Mr sin rs (Mutual) reaction torque

Condition for consistent torque production Ms DC machine flux fixed in space S AC machine rotating flux
Brushless induction machine
S N

rs

Mr

N Drivetech, Inc.

Reaction Torque

15

FOC (Field oriented Control) for AC motors


Synchronously rotating reference frame
Geo-centric vs Helio-centric view

AC motor current can be divided into two components


Torque producing current component Field flux current component

Independent control of two current components Operation is very similar to separately excited DC motors
Drivetech, Inc. 16

Frame Transform (1) - Park


3 Phase to 2 Phase Transform
S 1 cos120 S =1.5 0 -sin120 So 0.5 0.5 cos120 Sa sin120 Sb 0.5 Sc

All polyphase currents produces Rotating mag flux! Equivalent 2-Phase Machine Identical magnitude, Reversible Not invariant power
Sc
Drivetech, Inc.

Sb

Sa,S

S
17

Frame Transform (2) - Clarke


Coordinate attached to the rotor
D-axis on rotor N pole Q-axis on N-S mid point
d cos q = - sin x cos y = sin sin x cos y

y q

+
d x

- sin d cos q

Drivetech, Inc.

18

Dynamic Equations of Brushless Motors


Voltage Model in Synchronous Frame Vq = (Rs + Ls p) Iq + Ls Id + m Vd = (Rs + Ls p) Id - Ls Iq Similar to DC Motor equation
Rs + Iq Vq m Ls Id + + Vd + Ls Iq Id Ls Rs Ls

Drivetech, Inc.

19

Synchronous Regulator (SR)


T I* = Iq* + SVM T-1 Vc* Id* = 0 + PI Vd* Vb* PI Vq* Va*

Requires Coordinate transform Nonzero Id* for phase advance or induction motor control
Drivetech, Inc. 20

10

Characteristics of SR
Inherent zero steady-state tracking error Internal Model Principle
PI regulator step (1/s) Double integrator control ramp (1/s2) SR - sinusoidal [ 1 / (s2 + 2) ]

Simple to add disturbance feed-forward Implementation in stationary frame possible


Drivetech, Inc.

21

Disturbance Feedforward Techniques


T I* = Iq* + Ld Id + m - Lq Iq Id* = 0 + PI Vd* SVM T-1 Vc* Vb* PI Vq* Va*

Compensates for Back emf and cross-coupling terms. Disturbance compensation improves dynamic performance
Drivetech, Inc. 22

11

Space Vector Modulation


Treats 3 Phase as a whole Produces balanced 3 Phase voltage Voltage is projected into 3 base vector and 2 zero vectors. Added 3rd harmonic injection Superior to conventional 3phase sinusoidal pwm.
(A) (B) 0 1 1 11 1 1 0

11

(C)

11

To Tx Ty TuTu Ty Tx To Ts
V3 1 2 V4 3 4 V5 V6 5 V1 (100) (110) V2

Drivetech, Inc.

23

Predictive Current Control


Select the present voltage vector that results in minimum current error at next sampling time Vs(n) = RsI(n) + Ls {Is*(n+1)-Is(n)}/Ts + Vemf(n) Requires motor model & estimation of Vemf(n) Not require Synchronous frame transform Feed-forward alternative to Synchronous regulator Many different techniques to select switching vectors Suited for DSP implementation Good performance with accurate motor model and delay compensation.
Drivetech, Inc. 24

12

Sensorless Control
Estimation of Flux Angle & Velocity Available technologies
Vemf detection (6-step) Model-based, Observer, Sliding Mode Control Carrier injection (IPM)

Performance
BW limited, limited accuracy Challenges at startup and near-zero speed, high torque application Model of nonlinearitieds & Hybrid approach Algorithm selection and tuning key to success
Drivetech, Inc. 25

Conclusion
Application of feedback control principles to motor drives Velocity control limited by
Plant dynamics & Feedback performance

Current control in drives improves


Torque response time Velocity control BW

Excellent performance with SR


Torque per ampere performance & efficiency Disturbance feed-forward Can be implemented with low-cost DSP & uC
Drivetech, Inc. 26

13

You might also like