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436-459 Advanced Control and Automation

Control of AC servo motors

3-phase permanent magnet synchronous motors

brushless DC motor
trapezoidal back-EMF profile
rectangular pulse current profile
requires only 3 Hall-effect position sensors for electronic
commutation
AC servo motor
sinusoidal back-EMF profile
balanced sinusoidal current profile
requires precise motor position measurement (resolver or
encoder)
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Recall DC servo motor

http://www.servomag.com/flash/motor_types/brush_motor.swf
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Permanent magnet AC servo motor
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Control of brushless DC motor

Source: P. Krause, O. Wasynczuk, S. Sudhoff, Analysis of Electric Machinery and Drive Systems, Wiley (2002)
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Electrical torque production
Tmm = ea ia + eb ib + ec ic
Back-EMF
ea = ka ( e )m , eb = kb ( e )m , ec = kc ( e )m ,

For balanced windings and 3-phase

supply, current and back-EMF
waveform shapes are identical, but displaced by
120E (electrical degrees)
Hence, motor torque is
Tm ( e ) = ka ( e )ia ( e ) + ka ( e 23 )ia ( e 23 ) + ka ( e + 23 )ia ( e + 23 )
Two standard ways of producing constant torque:
Trapezoidal back-EMF and square wave current
Sinusoidal back-EMF and sinusoidal current
Shape of back-EMF profile depends on geometry of
magnets and windings
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Brushless DC waveforms and torque production

Kp
Ip

T m = ea ia + ebib + ec ic
T ( e ) = 2 K p I p
Three Hall-effect sensors provide
commutation switching points
six-step drive
Source: D. Hanselman, Brushless Permanent Magnet Motor Design, 2nd ed, 2003
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http://www.servomag.com/flash/4-pole/smi-motor007.htm
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AC servomotor waveforms and torque production
Tm ( e ) = ka ( e )ia ( e ) + ka ( e 23 )ia ( e 23 ) + ka ( e + 23 )ia ( e + 23 )
Sinusoidal back-EMF: ka ( e ) = K p cos( e )
Sinusoidal phase current: ia ( e ) = I p cos( e )
Hence Tm ( e ) = K p I p cos2 e + cos2 ( e 23 ) + cos2 ( e + 23 )
3
i.e., Tm ( e ) = K p I p
2
Need precise measurement of rotor position to generate
phase current with correct phase; i.e., encoder or resolver
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Mechanical and electrical position
Coil 2 of Coil 1 of
phase a phase a

4 pole motor

ia ( e ) = I p cos(e t )

P=4
90
10 e
t = 120 o
E
120 60
8
Balanced sinusoidally-distributed phase windings
6 e t = 60 o E
supplied with balanced 3-phase currents 150 30
4
generate a spatially-sinusoidal MMF which
rotates at angular speed m = (2/P)e radM/s 2

(mechanical radians), where e is frequency of 180 0 e t = 0

phase currents, P is number of motor poles:
N 3 P
MMFs = s I p cos e t s 210 330
P 2 2
where s = stator angular coordinate (radM) 240 300
Ref: P. Krause, O. Wasynczuk, S. Sudhoff, Analysis of Electric Machinery and Drive Systems, Wiley (2002) 270
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Dynamics of AC servo motor
KVL for phases:
di abc
v abc = R s i abc + L s + e abc
dt
v abc = [ va vb vc ] , i abc = [ia ic ]
T T
ib

R s = R ph I 33
Ll + Lph 12 Lph 12 Lph

L s = 12 Lph Ll + Lph 12 Lph
All this results in
12 Lph 12 Lph Ll + Lph
a very complex,
Ll , Lph = leakage and magnetising inductances nonlinear
of coils expression for the
cos r motor torque:
e abc
2 2 (sinusoidal
= r K p cos( r 3 ) back-EMF)
P Tm = Tm(ia, ib, ic, r)
cos( r + 23 )
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Park transformation to qd0 variables
The equations are simplified by a transformation of variables from
the machine frame abc to a quadrature-direct-zero qd0 reference
frame rotating with the rotor, at speed r = (P/2)m radE/s
Transformation for voltage, current, flux linkage or charge variables:
vq cos r cos ( r 23 ) cos ( r + 23 ) va
v = 2 sin sin 2 2 v = K ( ) v
d 3 r ( r 3) sin ( r 3 ) b qd 0 s r abc
+ v
v0 12 1
2
1
2 vc
va cos r sin r 1 vq
v = cos 2 sin 2 1 v
b ( r 3 ) ( r 3 ) d v abc = K s ( r ) v qd 0
1

vc cos ( r + 23 ) sin ( r + 23 ) 1 v0

Then, total power:

Pabc = va ia + vbib + vc ic

= ( vq iq + vd id + 2v0i0 )
3
= Pqd 0
2
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Equations of motion in transformed variables
KVL
diq
vq = R ph iq + ( Ll + Lph ) + r ( Ll + Lph ) id + K pr
P
dt 2
vd = R ph id + ( Ll + Lph ) r ( Ll + Lph ) iq P
did
K pm = K p r
dt 2
di0
v0 = R ph i0 + Ll
dt
3 iq is the torque producing
Motor torque Tm = K p iq
2 component of the stator currents

Mechanical dynamics J  m = Tm Bm Tl
i.e., 2  2
J r = Tm B r Tl
P P
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Balanced 3-phase set

Phase voltages are controlled to have a frequency
equal to the rotor speed (in radE/s): e = r
va cos(r t + v )
v abc = vb = Vs cos(r t 23 + v )

vc cos(r t + 23 + v )

Quadrature and direct voltages and currents

vq cos v
v qd 0 = K s ( r ) v abc = vd = Vs sin v

v0 0
To maximise torque production and minimise losses, v = 0
vq = Vs , vd = 0
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Electromechanical model of AC servo motor

Source: S. Lyshevski, Electromechanica Systems, Electirc Machines, and Applied Mechatronics, CRC Press (2000)
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Control based on quadrature and direct currents

Source: SIEMENS ducumentation for SIMODRIVE 611U