Southern Taiwan University of Science and Technology

1. Southern Taiwan University of Science and Technology PermanentMagnetSynchronous Motors Intructor: Prof. Chi-Jo Wang Reporter: Nguyen PhanThanh ID Student: DA220202

2. PermanentMagnetSynchronous Motors • Contents • Introduction • Mathematical model of PMSM • Sensor Control Architechture • High performance motor control application

3. PermanentMagnetSynchronous Motors Introduction • PM synchronous motors are widely used in industrial servo-applications due to its high-performance characteristics. • Compact • High efficiency (no excitation current) • Smooth torque • Low acoustic noise • Fast dynamic response (both torque and speed) • A synchronous motor differs from an asynchronous motor in the relationship between the mechanical speed and the electrical speed.

4. PermanentMagnetSynchronous Motors Introduction

5. PermanentMagnetSynchronous Motors Introduction • 2-axis reference frame:The stator and rotor equations are referred to a common frame of reference • Stator (stationary) reference frame : non-rotating • Synchronous reference • frame: d, q axis rotates with • the synchronous angular • velocity

6. PermanentMagnetSynchronous Motors Introduction • The stator reference axis for the a-phase direction: maximum mmf when a positive a-phase current is supplied at its maximum level. • The rotor reference frame: • -D-axis: permanent magnet flux • -Q-axis: 90 degree ahead of d-axis • The d-q model has been used to analyze reluctance synchronous machines.

7. PermanentMagnetSynchronous Motors Introduction • As the motor spins, there is an angle between rotor magnetic field and stator magnetic field • If these two magnetic fields are not ninety degrees from each other, there will be an offset angle between Back EMF and Current: • =>the torque production at a • given input power will not be • the maximum

8. PermanentMagnetSynchronous Motors Introduction • With this animation we can see how the commutation angle is always ninety degrees ahead of the rotor. • On the left we see how the motor spins with Field Oriented Control. • On the voltage diagrams we show how the output voltages have a sinusoidal shape. • On the lower right we see the rotor angle changing from minus pi (minus one eighty degrees) to plus pi (plus one eighty degrees).

9. PermanentMagnetSynchronous Motors Introduction • With this animation we can see how the commutation angle is always ninety degrees ahead of the rotor. • On the left we see how the motor spins with Field Oriented Control. • On the voltage diagrams we show how the output voltages have a sinusoidal shape. • On the lower right we see the rotor angle changing from minus pi (minus one eighty degrees) to plus pi (plus one eighty degrees).

10. PermanentMagnetSynchronous Motors Introduction • With this animation we can see how the commutation angle is always ninety degrees ahead of the rotor. • On the left we see how the motor spins with Field Oriented Control. • On the voltage diagrams we show how the output voltages have a sinusoidal shape. • On the lower right we see the rotor angle changing from minus pi (minus one eighty degrees) to plus pi (plus one eighty degrees).

11. PermanentMagnetSynchronous Motors Introduction • With this animation we can see how the commutation angle is always ninety degrees ahead of the rotor. • On the left we see how the motor spins with Field Oriented Control. • On the voltage diagrams we show how the output voltages have a sinusoidal shape. • On the lower right we see the rotor angle changing from minus pi (minus one eighty degrees) to plus pi (plus one eighty degrees).

12. PermanentMagnetSynchronous Motors Introduction • With this animation we can see how the commutation angle is always ninety degrees ahead of the rotor. • On the left we see how the motor spins with Field Oriented Control. • On the voltage diagrams we show how the output voltages have a sinusoidal shape. • On the lower right we see the rotor angle changing from minus pi (minus one eighty degrees) to plus pi (plus one eighty degrees).

13. PermanentMagnetSynchronous Motors Introduction • With this animation we can see how the commutation angle is always ninety degrees ahead of the rotor. • On the left we see how the motor spins with Field Oriented Control. • On the voltage diagrams we show how the output voltages have a sinusoidal shape. • On the lower right we see the rotor angle changing from minus pi (minus one eighty degrees) to plus pi (plus one eighty degrees).

14. PermanentMagnetSynchronous Motors Mathematical model of PMSM The mathematical model of PMSM is constructed based on the rotating d-q frame fixed to the rotor, described by the following equations: • Where: • v­d, vq are the d and q axis voltages • id, iq are the d and q axis currents • Rs is the phase winding resistance • Ld, Lqare the d and q axis inductance • is the rotating speed of magnet flux • is the permanent magnet flux linkage.

15. PermanentMagnetSynchronous Motors Mathematical model of PMSM

16. Motor + + + M Kp Kv Ki Command Pulse Deviation Counter _ _ _ Gain Position Gain Speed Gain Current Current Feedback Speed Feedback Speed detection E Pulse Feedback Encoder PermanentMagnetSynchronous Motors Operation of PMSM Closed_loop Control

17. PermanentMagnetSynchronous Motors • Sensor Control Architechture DC Current loop Power Speed loop Current controller modifyClark-1 Park-1 Speed Controller PWM1 + PI + d,q PWM2 — — PWM3 SVPWM Inverter PWM4 a,b,c PWM5 PI PWM6 + — d,q A/D convert a,b,c Park Clark QEP A sin /cos of Flux angle B PMSM Z 1-Z-1 Encoder PI, Fuzzy, Neural networkare used to the speed loop of PMSM drive Vector control is used to the current loop of PMSM drive to let it reach the linearity and decouple characteristics.

18. PermanentMagnetSynchronous Motors • Sensor Control Architechture DC Current loop Power Speed loop Current controller modifyClark-1 Park-1 Speed Controller PWM1 + PI + d,q PWM2 — — PWM3 SVPWM Inverter PWM4 a,b,c PWM5 PI PWM6 + — d,q A/D convert a,b,c Park Clark QEP A sin /cos of Flux angle B PMSM Z 1-Z-1 Encoder The entire process is illustrated in this block diagram, including coordinate transformations, PI iteration, transforming back and generating PWM

19. PermanentMagnetSynchronous Motors • Sensor Control Architechture DC Current loop Power Speed loop Current controller modifyClark-1 Park-1 Speed Controller PWM1 + PI + d,q PWM2 — — PWM3 SVPWM Inverter PWM4 a,b,c PWM5 PI PWM6 + — d,q A/D convert a,b,c Park Clark QEP A sin /cos of Flux angle B PMSM Z 1-Z-1 Encoder • The Id reference controls rotor magnetizing flux • The Iq reference controls the torque output of the motor • Id and Iq are only time-invariant under steady-state load conditions

20. PermanentMagnetSynchronous Motors • Sensor Control Architechture DC Current loop Power Speed loop Current controller modifyClark-1 Park-1 Speed Controller PWM1 + PI + d,q PWM2 — — PWM3 SVPWM Inverter PWM4 a,b,c PWM5 PI PWM6 + — d,q A/D convert a,b,c Park Clark QEP A sin /cos of Flux angle B PMSM Z 1-Z-1 Encoder • The outputs of the PI controllers provide Vd and Vq, which is a voltage vector that is sent to the motor. • A new coordinate transformation angle is calculated based on the motor speed, rotor electrical time constant, Id and Iq.

21. PermanentMagnetSynchronous Motors • Sensor Control Architechture DC Current loop Power Speed loop Current controller modifyClark-1 Park-1 Speed Controller PWM1 + PI + d,q PWM2 — — PWM3 SVPWM Inverter PWM4 a,b,c PWM5 PI PWM6 + — d,q A/D convert a,b,c Park Clark QEP A sin /cos of Flux angle B PMSM Z 1-Z-1 Encoder • The Vd and Vq output values from the PI controllers are rotated back to the stationary reference frame, using the new angle. • This calculation provides quadrature voltage values vα and vβ.

22. PermanentMagnetSynchronous Motors • Sensor Control Architechture DC Current loop Power Speed loop Current controller modifyClark-1 Park-1 Speed Controller PWM1 + PI + d,q PWM2 — — PWM3 SVPWM Inverter PWM4 a,b,c PWM5 PI PWM6 + — d,q A/D convert a,b,c Park Clark QEP A sin /cos of Flux angle B PMSM Z 1-Z-1 Encoder • The vα and vβ values are transformed back to 3-phase values va, vb, vc. • The 3-phase voltage values are used to calculate new PWM duty-cycle values that generate the desired voltage vector.

23. PermanentMagnetSynchronous Motors • Sensor Control Architechture DC Current loop Power Speed loop Current controller modifyClark-1 Park-1 Speed Controller PWM1 + PI + d,q PWM2 — — PWM3 SVPWM Inverter PWM4 a,b,c PWM5 PI PWM6 + — d,q A/D convert a,b,c Park Clark QEP A sin /cos of Flux angle B PMSM Z 1-Z-1 Encoder The transformation angle, theta, and motor speed are coming from an optical encoder mounted on the shaft of the motor.

24. PermanentMagnetSynchronous Motors Motor Driver Controller

25. PermanentMagnetSynchronous Motors High performance motor control application • Industrial drives, e.g., pumps, fans, blowers, mills, hoists, handling systems • Elevators and escalators, people movers, light railways and streetcars (trams), electric road vehicles, aircraft flight control surface actuation

26. PermanentMagnetSynchronous Motors Thank you for listening!