High performance position control for permanent magnet synchronous drives

In the design and test of electric drive control systems, computer simulations provide a useful way to verify the correctness and efficiency of various schemes and control algorithms before the final system is actually constructed, therefore, development time and associated costs are reduced. Nevertheless, the transition from the simulation stage to the actual implementation has to be as straightforward as possible. This document presents the design and implementation of a position control system for permanent magnet synchronous drives, including a review and comparison of various related works about non-linear control systems applied to this type of machine. The overall electric drive control system is simulated and tested in Proteus VSM software which is able to simulate the interaction between the firmware running on a microcontroller and analogue circuits connected to it. The dsPIC33FJ32MC204 is used as the target processor to implement the control algorithms. The electric drive model is developed using elements existing in the Proteus VSM library. As in any high performance electric drive system, field oriented control is applied to achieve accurate torque control. The complete control system is distributed in three control loops, namely torque, speed and position. A standard PID control system, and a hybrid control system based on fuzzy logic are implemented and tested. The natural variation of motor parameters, such as winding resistance and magnetic flux are also simulated. Comparisons between the two control schemes are carried out for speed and position using different error measurements, such as, integral square error, integral absolute error and root mean squared error. Comparison results show a superior performance of the hybrid fuzzy-logic-based controller when coping with parameter variations, and by reducing torque ripple, but the results are reversed when periodical torque disturbances are present. Finally, the speed controllers are implemented and evaluated physically in a testbed based on a brushless DC motor, with the control algorithms implemented on a dsPIC30F2010. The comparisons carried out for the speed controllers are consistent for both simulation and physical implementation

Design, simulation and implementation of a PMSM drive system

Field oriented control (FOC) of permanent magnet synchronous motor (PMSM) is one of the widely used methods for the speed control of the motor. A PMSM drive system based on FOC is designed, simulated and implemented. The whole drive system is simulated in Matlab/Simulink based on the mathematical model of the system devices including PMSM and inverter. The aim of the drive system is to have speed control over wide speed range. Simulation results show that the speed controller has a good dynamic response. A lab setup is designed and implemented based on a six-pole 2 kW PMSM. The measurement devices, voltage transducers, current transducers and resolver, are explained in this report. For the system control dSpace is used and Matlab/Simulink is used for the program development and implementation. Experimental results show that the drive system has a good dynamic response in terms of speed response and torque ripple. The drive system will be extended to serve as an isolated high power battery charger. _________________________________________________________________________________________________________________El proyecto pretende diseñar un método de control de velocidad para dicho motor, llevar a cabo simulaciones en ordenador para comprobar la validez del método seleccionado y finalmente implementar en el laboratorio un sistema formado por motor, convertidor, diversos sensores y software controlador, con el cual realizar los ensayos oportunos para verificar el funcionamiento práctico del montaje. Para este fin se eligió el control de velocidad por orientación de flujo (en inglés, Flux Oriented Control o FOC). La máquina eléctrica diseñada para el proyecto es un motor síncrono de imanes permanentes (en inglés, Permanent Magnet Synchronous Machine o PMSM) de 2 kW, 6 polos y rotor liso. La peculiaridad de este motor es su doble devanado estatórico. Este nos permite, por medio de una serie de relés capaces de cambiar la configuración eléctrica de los devanados, conectar ambos como uno único para el modo de tracción y separarlos en dos devanados aislados (a modo de transformador) en modo de carga. Para este proyecto, se conectaron como un único devanado en forma de estrella, ya que su uso solo requiere del modo tracción.Ingeniería Industria

Design, simulation and implementation of a PID vector control for EHVPMSM for an automobile with hybrid technology

This work proposes a Model design simulation and implementation of a novel engine of an Electric Hybrid Vehicle of Permanent Magnet Synchronous Motor (EHVPMSM) based on field oriented vector control. The experimental analysis was carried out using: automotive motor control MTRCKTSPS5604P, 3-Phase PMSM coded of a single Motor Control Kit with MPC5604P MCU and simulation with Simulink. Therefore, the direct torque control can be obtained by adjusting the magnitude and phase angle of the stator flux linkage to match the vector torque required by the load as fast as possible. This eradicates the stress of charging the vehicle battery. It automatically charges when it is connected to the main supply of the EHVPMSM. The electromagnetic torque can be increased from 0 Nm to 6.7 Nm in approximately 340 μs. The response of speed transient was from −2100 rpm to +2100 rpm in 100 ms of 6.7 Nm torque limit. This is a novel way of conserving the energy consumption in a vehicle, which conserves space and weight and minimizes cost as it is simply done with low-cost materials. In this research, a new mathematical model is proposed for the direct and quadrature axis of the current to control the speed mechanism for the engine. Computer simulation ensures experimental validation of the system with a percentage error of 4.5%. The methodology employed to control the system was with the use of various sensors and software controller, this can be easily implemented in industry and institutional laboratory of learning. Keywords: Permanent magnet machines, PID, EHVPMSM, Vector control, Hybrid vehicl

Recent Advances in Robust Control

Robust control has been a topic of active research in the last three decades culminating in H_2/H_\infty and \mu design methods followed by research on parametric robustness, initially motivated by Kharitonov's theorem, the extension to non-linear time delay systems, and other more recent methods. The two volumes of Recent Advances in Robust Control give a selective overview of recent theoretical developments and present selected application examples. The volumes comprise 39 contributions covering various theoretical aspects as well as different application areas. The first volume covers selected problems in the theory of robust control and its application to robotic and electromechanical systems. The second volume is dedicated to special topics in robust control and problem specific solutions. Recent Advances in Robust Control will be a valuable reference for those interested in the recent theoretical advances and for researchers working in the broad field of robotics and mechatronics

Modular multilevel converter with embedded batteries as a motor controller.

This thesis details the design of the control system and hardware for a prototype of the new inverter topology the modular multilevel converter with embedded batteries for electric vehicle applications. Within this topology, the battery cells incorporated within the battery pack are directly integrated into the motor controller/ power converter by replacing the individual module capacitors with batteries. Since the batteries are directly connected to the module switching circuit, the batteries can be individually balanced using the same technique as an active battery management system, without the need for external energy-shunting hardware. A control algorithm for balancing the embedded batteries without affecting the motor control scheme with significantly unbalanced battery cells is presented and discussed. A multilevel space vector modulation scheme using the abc-reference frame for the selection of space vectors is developed. Initial testing of both the simulation model and prototype was carried out using a static RL load to test the PWM scheme and battery SOC balancing scheme. A Field-oriented control scheme was then designed and implemented for controlling a salient pole surface-mounted PMSM. The performance of the converter as a motor controller was assessed in terms of ability to balance the SOC of the embedded module batteries and total harmonic distortion over the course of the operating torque-speed range. Simulation of the control system on simulated hardware has been carried out in MATLAB; these simulation results verify the theoretical analysis. Then further verified and analysed using the developed laboratory-scale embedded battery MMC prototype

TECHNIQUE OF CONTROL PMSM POWERED BY PV PANEL USING PREDICTIVE CONTROLLER OF DTC-SVM

The present paper is a part of the study of Direct Torque Control based (DTC) on space vector modulation using predictive controller (Predictive SVM) of a permanent magnet synchronous motor (PMSM) powered by a photovoltaic (PV) source. In the conventional direct torque control (DTC) of a permanent magnet synchronous motor (PMSM), hysteresis controllers are used to choose the proper voltage vector resulting in large torque ripples. The direct torque control can accelerate the torque responses but increases the torque ripple at same time. Nowadays, exist some other alternative approaches to reduce the torque ripples based on (Predictive SVM) technique. This method is based on the replacement of hysteresis comparators (used in conventional DTC) by Proportional Integral (PI) regulators and the selection table by space vector modulation (SVM). The simulation results confirm that this proposed method where the control of the switching frequency is well controlled, allows us to reduce the oscillations of the electromagnetic torque and flux by 20 % and 30%, respectively with a good dynamic response compared with conventional DTC

Sensorless Control of Switched-Flux Permanent Magnet Machines

This thesis investigates the sensorless control strategies of permanent magnet synchronous machines (PMSMs), with particular reference to switched-flux permanent magnet (SFPM) machines, based on high-frequency signal injection methods for low speed and standstill and the back-EMF based methods for medium and high speeds