PMSM Model

Lecture 3
Feri Yusivar

PMSM Schematic
axis

d-axis

vsu

m
Rs

u phase

L's

e
M's

M's

axis
q-axis
L' s

L's

v phase

vsv

Rs

M's

Rs

w phase

vsw

Voltage Equations of PMSM

vsu
v
sv
vsw

'
pLs

Rs
1
pM s'
2
1 pM '
s
2

1
'
pM s
2
Rs pL's
1
'
pM s
2

1
'
pM s
2
i
e

su
su

'
pM s isv esv
2

i esw
' sw
Rs pLs

Flux and Back emf

' cos
Fu
F
e

Flux

'

cos

e
Fv
F
3

'

cos

Fw
e
F

e p N ' sin
su
Fu
m F
e

Back emf
1 d e
m
N dt

'
e

sin

e
sv
Fv
m F
3

'
esw p Fw N m F sin e

3 phase to 2 phase
Transformation

v z i e

c v c z c c i c e
1

v s
R s pLs
v
0

R s pL s

2
0
3

1
2

1
2

3
2
1
2

1
2

3
2

1
2

i s
sin e
i N m F

cos

s
3 '
Ls M s
2

3 '
F
F
2

DQ Transformation
v s
R s pLs
v
0

R s pL s

i s
i N m F
s

c v c z c c i c e

cos e
c
sin e

vsd
Rs pLs
v
N m Ls
sq

N m Ls

Rs pLs

sin e

cos e
sin e

cos e

isd
0

N m F
sq

PMSM Model (Flux Oriented)

vsd
Rs pLsd
v N L
m sd
sq

vsd
Rs pLsd

0
vsq

N m Lsq

Rs pLsq

isd
0

N m F
sq

isd
Lsq isq
N m

Rs pLsq isq
L
i

F
sd sd
0

Developed Torque
Lsd isd
a

L
i
sq sq

Lsd isd F
g a f

L
i
sq sq

f F
0

i i sd

i sq

Lsd isd F
isd
te N g i N

L
i
i
sq sq

sq

te N F ( Lsd Lsq ) isd isq

IF :

te N F isq

Current Controller
vsd
Rs pLsd

0
vsq

isd
Lsq isq
N m

Rs pLsq isq
L
i

F
sd sd
0

'
vsd vsd
N m Lsq isq

'
vsq vsq
N m Lsd isd N m F

0
isd
G p ( s)
i 0

G
(
s
)
sq
p

i *
sd
*

isq

Current Controller Structure

i sd

isd

G PId (s)

'
v sd
+

v sd

N m Lsd G p (s )

N m Lsq G p (s)

isq

G PIq (s )

i sq

'
v sq
+ +

v sq

isd
i

sd G ( s )

p
*
i
isq sq

G p (s)
*

+
N m F

*
*

v
sd
GPI d ( s) (isd isd ) N m Lsq G p ( s) isq

v
*
*
G ( s) (i i ) N L G ( s) i N
sq
sq
sq
m sd p
m F
sd
PI q

PI Current Controller of PMSM

IF:

1
G p (s)
1 Td s

HOMEWORK !!!

FIND THAT:

L sd
Rs
K id
G PI d ( s )

K pd
Td
sTd
s

Lsq

K iq
Rs
GPI q ( s )

K pq
Td sTd
s