Synchronous Motor Drive Control System With Prescribed Closed-Loop Speed Dynamics

Synchronous Motor
Drive Control System

with Prescribed ClosedLoop Speed Dynamics
Dodds, J., Stephen*, Vittek, Jn**
*University of East London, School of Computing &
Technology, UK
**University of ilina, Faculty of Electrical Engineering,
Dept. of Power Electrical Systems, SK
Model of Permanent
Magnet Synchronous
Motor
d
dt
Rs
id
Ld
i
q p Ld
rL
d r
1
dt
J
p r
c
5
Lq
1
L
d
L d i d p r 0
R s i q L PM
q
0

Lq
PM i q
d r
1
el L
dt
J
Ld Lq i d i q
0
u
d
1 uq
Lq
d r
r
dt
Non-linear differential equations formulated in the

magnetic
field-fixed
d,q
co-ordinate
system
describe the permanent magnet synchronous motor
and form the basis of the control system
development.
Control System Structure

For PM Synchronous Motor
outer loop sub-plant
d r
r
dt
dem
outer
loop
Master
control
law
Idem
d r 1
1
c5 PM i q L d L q i d i q L el L
dt J
J
slave
control
law
inner loop sub-plant

U
Lq
R
s
p r
i
Ld i d p r 0
d d Ld

i
L
R s i q L
dt q
q PM
p r d

Lq
Lq
1
L
d
0
u
d
1 uq

Lq
estimator
and
observers
inner loop
SJD
Complete control structure of electric

drive with synchronous motor
r _d
Master
control
law
id_dem
iq_dem
Transf.
ia_dem
dq /
ib_dem
and
ic_dem
ua
Slave
control
law
POWER
uc
Discrete
ia
two phase
ib
ua,b,c
ic
ia ib
Transf.
abc /
oscillator
Mg. flux
calculator
Filtering observer
SMPM
electronics
a,b,c
ub
id
iq
id
iq
and
d,q
ud uq
id
vd_ekv
Angular
velocity
Extractor
vq_ekv
Sliding mode
Observer
iq
Discrete Time Two-Phase

Oscillator
The discrete time two-phase oscillator produces the
transformation matrix elements, needed for the
transformation blocks.
x1 k 1 x1 k p r h x 2 k
x 2 k 1 x 2 k p r h x1 k 1
1
x 3 k 1 x1 k 1
p r h x 2 k 1
2
where the new transformation matrix elements

are equal to
cos
sin r t X2 k 1
r t X 3 k 1
and
Master Control
Law
d r
1
c i q i d L
dt J 5 d q
d r demanded
d t T1
dynamic
vector control terms
d id q iq a
a 0
a I cos( )
linearising function
motor equation
d r
1
1
c5 d i q q i d L d r
J
T1
90o
d id q iq 0
demanded values of the
current components
J
d r
L
T1
i d dem
q
i

2
2
q dem
d
c5 d q
Acceleration Demands for

Three Various Dynamics
100
80
Constant Acceleration
60
40
20
d=f(t)
id=f(t)
ad
-20
-40
-60
-80
-100
0
0.5
1.5
100
=f(t)
70
J
1
r
a d d r dyn * d
T1
T1
60
50
40
30
20
10
0
0
0.2
0.4
0.6
0.8
80
Second Order Dynamic
60
=1
=0.5
=1.5
=f(t)
40
d
f t
dt
20
0
-20
0
0.5
120
100
dyn J * a d * sign d r
First Order Dynamic
90
80
d
T1
1.5
dyn J * a d
r 2n a d * h
a d _ n a d 2n d
ad ad _ n
Slave Control Law

Proportional High Gain Slave
Control Law
U sat G I Id I , U max
Bang-Bang Slave Control Law
U U max sgn I d I
A High Gain Proportional Control Law with Voltage

Saturation Limits was used for simulation
Bang-Bang Control Law Operating in the Sliding
Mode (switching strategy for two-phase version
is satisfactory determined).
The Sliding Mode Observer and

Angular Velocity Extractor
The basic stator current vector pseudo
sliding-mode observer is given by:
d
dt
i*d
*
i q
1
L
d
0
ud
1 uq
Lq
eq
d

v eq q
For the purpose of producing a useful
formula for v
perfect
constant parameter
eq
estimates may be assumed:
Rs
Ld
v eq d
v

p *
eq q
r
Ld
Lq
Lq
p r i
p *r 0
Ld d
R s i q Lq PM

Lq
The required
estimates is
equivalent values
i d i*d
veq d
v Ksm
*
i q i q
eq q
where K sm is high a
gain
unfiltered angular
velocity estimate
can be extracted
*r
Lq veq q R s i q
p Ld i d PM
The Filtering Observer

r and L are produced by the
Filtered values of
observer based on Kalman filter
e r
VJ
1 c i
~ 5 PM q
r
J
k e
where:
~
k J T2
Ld Lq i d i q
L k e
~
k 2 J T
needs adjustment of the

one parameter only.
1 ~ ~
~ c5 PM i q
~
~
Ld Lq i d i q

1
s
1
s
EXPERIMENTAL RESULTS
Electric drive with synchronous motor
consists of synchronous machine with
nominal parameters:
Pn 750[W] , n 314 [ rad / s] , P = 4 , R s 2.2 [] ,
Ld 6.06 [ mH ] , Lq 5.73[ mH ] , PM 0119

. [ Vs] ,
J 0.00035 [ kgm2 ] .
Parameters of IGBT FUJI 6MBI-060 are as follows:nominal voltage: 600 [V] , nominal current: 6x10 [A].
Current sensors are as follows:- LEM LTA 50P/SPI.
Measured Results for

Synchronous Motor with
Complex Current
2
0
-2 -2
Complex Mg. Flux 2
0.2
-2
0
0.2
Observed Values 0.2
50
0
0.5
Mg. Flux v. t 0.5
-0.2
-0.2
100
Current v. t
-0.2
0
100
50
0
-50
-0.5
T1 = 0.1 s ,
Rotor Speed
d = 60 rad/s
0.5
0.5
Measured Results for Synchronous

Motor with Constant Acceleration osciloscope screen
1 - angular velocity, 2 - current in phase A
T1 = 0.1 s , d = 60 rad/s
Experimental results for idle running

synchronous motor and first order
speed demand .
Complex Current
5
0
-5
-5
0.2
Complex Mg. Flux
-5
0.2
Mg. Flux v. t
0.4
Rotor Speed
0.4
-0.2
-0.2
100
Observed Values
0.2
-0.2
100
50
50
-50
Current v. t
0.5
-50
-0.5
T1 = 0.05 s , d = 80 rad/s
0.5

synchronous motor and second order
speed demand - osciloscope screen
Tset = 0.15 s , d = 80 rad/s

synchronous motor and second order
speed demand
Complex Current
5
0
-5
-5
0.2
Complex Mg. Flux
-5
0.2
Mg. Flux v. t
0.4
Rotor Speed
0.4
-0.2
-0.2
100
Observed Values
0.2
-0.2
100
50
50
-50
Current v. t
0.5
-50
-0.5
Tset = 0.15 s , d = 80 rad/s
0.5

synchronous motor and first order
speed demand - osciloscope screen
T1 = 0.05 s , d = 80 rad/s
Experiments with 2nd Order

Dynamic for Various Damping
60
50
40
30
20
10
0
-10
-0.2
0.2
0.4
0.6
Tsettl=0.3 s , d = 40 rad/s
0.8
Experimental Results
for Synchronous Motor Drive
Second Order Dynamic
d=
d=
600 rpm,
Tramp=
0.05 s
600 rpm,
Tsettl=
0.3 s
Vector Animation "Stator current & Rotor flux"
First Order Dynamic
Zil
i
19 na
98
Imaginary Axis
1.5
d=
800 rpm,
Tsettl=
0.3 s
1
0.5
0
-0.5
-1
-1.5
Control of the
angle between
rotor flux and
stator current
vectors
0.0145
Time [s]
0.0086
Flux Norm [Vs*Vs]
81.5866
Angle [deg]
Real axis
-2
-2
-1.5
-1
-0.5
0.5
1.5
Conclusions and Recommendations

A new approach to the control of electric drives with
permanent magnet synchronous motors, based on
feedback linearisation has been developed and
experimentally proven.
Three various prescribed dynamics to speed demands
were achieved.
Further research will focus on the application of the
new approach to enhancement of control system for
outer loop based on MRAC or SMC to improve
precision of control.

Synchronous Motor Drive Control System With Prescribed Closed-Loop Speed Dynamics

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Synchronous Motor Drive Control System With Prescribed Closed-Loop Speed Dynamics

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Synchronous Motor

Drive Control System

Non-linear differential equations formulated in the

Control System Structure

inner loop sub-plant

Complete control structure of electric

Discrete Time Two-Phase

where the new transformation matrix elements

vector control terms

Acceleration Demands for

Second Order Dynamic

First Order Dynamic

Slave Control Law

Bang-Bang Slave Control Law

A High Gain Proportional Control Law with Voltage

The Sliding Mode Observer and

For the purpose of producing a useful

The Filtering Observer

needs adjustment of the

Ld 6.06 [ mH ] , Lq 5.73[ mH ] , PM 0119

Measured Results for

Observed Values 0.2

Mg. Flux v. t 0.5

Measured Results for Synchronous

1 - angular velocity, 2 - current in phase A

Experimental results for idle running

Complex Mg. Flux

Experimental results for idle running

1 - angular velocity, 2 - current in phase A

Tset = 0.15 s , d = 80 rad/s

Experimental results for idle running

Complex Mg. Flux

Tset = 0.15 s , d = 80 rad/s

Experimental results for idle running

1 - angular velocity, 2 - current in phase A

Experiments with 2nd Order

Second Order Dynamic

First Order Dynamic

Conclusions and Recommendations

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