SYNCHRONOUS MOTOR

DRIVES

1
Permanent Magnet Classification
Control techniques

Control techniques

Scalar control Vector control

Field Direct Space vector

v/f control oriented torque modulation
control control control
 Synchronous motor drive
 It is related to the frequency supplied by the
inverter or cyclo converter.
 Two control modes:
1.Open loop mode.
The motor speed is controlled by the
independent frequency control of the converter.
2. Self control mode.
The variable frequency converter control
pulses are derived from an absolute rotor
position encoder mounted on the machine shaft.
OPEN LOOP V/F CONTROL
 It is the scalar control method of
synchronous machine.
 This speed control method is used in
multiple synchronous reluctance motor
or PM machine drives.
 Close speed tracking is essential among a
number of machines.application fiber
spinning mill.
OPEN LOOP V/F CONTROL
 Machines are connected in
parallel to the same inverter.
 They move in synchronism
corresponding to the command
frequency ωe* at the input.
 The phase voltage Vs* is
generated through a FG.
where F∝V,Ѱs is constant.
 Oscillatory or underdamping
behaviour during the transient
response is prevented using
damper or cage winding.
V/F SPEED CONTROL
CHARACTERISTICS
 Motoring mode and
braking mode-forward
direction.

 Where =torque
angle,
is the in-phase
component of the
stator current.
CONT…
 With constant  Beyond D point the
the angle and stator machine will enter into
current Is will increase field weakening
gradually until the rated mode.thus the available
torque is reached at torque will decrease due
point B. to .
J ( ) de  T  TL
 The operating point can  2
e

be changed from B to C p dt
by slowly increasing the
inertia.,e=p/2m is
 Where J=moment of
frequency. It is brought
back to point D by the synchronous
gradually decreasing Tl electrical speed(r/s).
 P=number of poles,and
m=mechanical
speed(r/s)
Phasor diagram (motoring mode
only)
 The damper winding
prevents hunting or
oscillatory behaviour.
 It will induce the inverter
harmonic frequency related
currents, which decreases
efficiency of the drive.
Self control mode
 In self controlled mode,
the supply frequency is
changed so that the
synchronous speed is
same as that of the rotor
speed. Hence, rotor
cannot pull-out of slip
and hunting oscillations
are eliminated. For such
a mode of operation the
mor\tor does not
require a damper
winding.
Self control mode
Cont..
 The stator winding of the machines is fed by an
inverter that generates a variable frequency
variable voltage sinusoidal supply.
 Unlike, separate control mode where the
controlling of the inverter frequency is from an
independent oscillator,
 the frequency and phase of the output wave are
controlled by an absolute position sensor
mounted on machine shaft, giving it self-control
characteristics.
 Here the pulse train from position sensor may be
delayed by the eternal command as shown in Fig.
Marginal angle control
Cont..
 The operation of the inverter at the
minimum safe value of the margin angle
gives the highest power factor and the
maximum torque per ampere of the
armature current, thus allowing the most
efficient use of both the inverter and
motor.
 This drive has an outer speed loop and an
inner current loop.
 The rotor position can be sensed by using
rotor position encoder. It gives the actual
value of speed ωm . This signal is fed to
the comparator. This comparator
compares ωm and ωm*(ref value).
 The output of comparator is fed to the
speed controller and current limiter. It
gives the reference current value Id*.
 Id is the dc link current/ It is sensed by
current sensor and fed to the comparator.
The comparator compares Id and Id*.
 The output of the comparator is fed to
the current controller.
 It generates the trigger pulses.
Voltage Source Inverter (VSI)
fed Synchronous Motor
 Three combinations are possible to
provide a variable voltage variable
frequency supply to synchronous motor
fed from VSI
 Square wave inverter
 PWM inverter
 Chopper with square wave inverter
Voltage Source Inverter (VSI)
fed Synchronous Motor
(a) Square wave inverter

 Here the dc link voltage is variable i.e. the

voltage control is obtained to the inverter
using phase controlled rectifier Fig (a) and
(c).
 The disadvantage of this method is that the
commutation is difficult at very low speeds.
 Hence is applicable since for medium to high
speed application.
 Since the output voltage is a square wave,
the inverter is called variable voltage
inverter (or) square wave inverter.
(b) PWM inverter

 The second method is to have voltage

control within the inverter itself using the
principles of PWM Fig (b) & (d).
 Here the dc link voltage is constant.
 Here diode rectifier is used on the line
side.
 It doesn’t have difficulties in commutation
at low speeds.
 It has wide range of speed applications
(even till zero speeds).
(c) Chopper with square wave
inverter
 The third method is to include a dc
chopper in between the diode rectifier
and the inverter Fig .
 It has many advantages through it seem to
the complex circuitry.
 Here 3 simple converters are used and is
possible to reduce the link inductance by
having synchronous control of the
chopper.
Cont..
Contd..
 Generally a VSI fed synchronous motor drive
has
 Reasonable efficiency
 Converter cost is high
 Multi motor operation is possible
 Open loop (separate) control may pose
stability problem at low speeds. CLM
 mode is very stable
 PWM drive has better dynamic response
than square wave drive
Automatic Closed Loop
Adjustment of Power Factor
Power factor control
 Figure shows the block diagram of automatic
closed loop adjustment of power factor.
 The main aim of adjustment of power factor
is the variation of the field current.
 This is possible in a wound field machine.
 If the motor is operated at a power factor of
unity, the current drawn by it will have the
lowest magnitude for a given power input
and therefore the lowest internal copper
losses.
Contd…
 From this diagram, the motor voltage and current
are sensed and fed to the power factor calculator.
 The power factor calculator computes the phase
angle between the two and therefore the power
factor.
 It is the actual power factor value.
 The computed power factor value is compared
against the power factor commanded value by
using error detector.
 The error is simplified by the error compiler, and
its output varies the field current power factor
confirm to the commanded value.
Block diagram of PMSM
Block diagram of closed loop
control of PMSM
CLOSED LOOP CONTROL OF
PMSM
 The block diagram of a closed loop variable speed drive employing
sinusoidal PMSM motor fed from current regulated VSI is shown in
the figure.
 It employs a three phase inverter.
 The inverter is operated to supply motor three phase currents of
the magnitude and phase commanded by reference currents i ,i
and i which are generated by a reference current generator .
 The actual motor speed is compared with reference speed
 The speed error e is processed through the speed controller .the
output of the speed controller sets a reference for the amplitude
and polarity of the stator current Isd.
 The stator current templates for the three phase are generated by
the rotor position sensors in such a way that .,when the speed
error is positive value the machine will work as a motor and the
drive will accelerated to reference speed .
 If the speed error is negative value braking will decelerate the
motor to reference speed to ωm.