Professional Documents
Culture Documents
Authorized licensed use limited to: Reva Institute of Tehnology and Management. Downloaded on December 14, 2008 at 00:29 from IEEE Xplore. Restrictions apply.
position. This is possible because a mathematical model pωr = 3∗ p((Ld − Lq )id ∗iq + λf ∗iq ) /(4∗J) −(B∗ωr +Tl ) / J (11)
describing the PM motor dynamics is sufficiently well known.
B. State Observer
The above equations contain the states id , iq , ω rm and θ rm ,
where the later two variables are estimated. The dynamic
model of the machine in state variable form can be expressed
as
dX and (12)
= f ( X ) + BU
dt
Y = CX (13)
Where X = [id iq ω mr θ mr ] is the state vector,
U = [ v d v q ] is the input vector, Y= [ i d i q ] T is the
T
R L q iq 1 + g 12 ( iˆq − i q )
pi d = − id + ω rm Sin θ rm + Vd (9)
Ld Ld Ld ω r Ld (− R ) −λf 1
pi q = − id + iq + ωr + vq
Ld −R λ 1 Lq Lq Lq Lq (17)
piq = −ω r id + iq + f ωr Cosθ rm + Vq (10)
Lq Lq Lq Lq + g 21 ( iˆq − i q )
Authorized licensed use limited to: Reva Institute of Tehnology and Management. Downloaded on December 14, 2008 at 00:29 from IEEE Xplore. Restrictions apply.
p ω r = 3 ∗ P (( L d − L q )i d ∗ i q + λ f ∗ i q ) /( 4 ∗ J )
− ( B ∗ ω r + Tl ) / J + g 31 (iˆd − i d ) + g 32 ( iˆq − i q ) (18)
+ g 32 ( iˆq − i q )
In any motor the electrical time constant is much smaller than
the mechanical time constant, that is electrical sub dynamics
are much as faster as compared to that of mechanical. So any
error in electrical quantities can be used as feedback to rectify
the estimated values of both electrical and mechanical
quantities. This is the basic concept used in the observer
model defined by (16), (17) and (18).
Authorized licensed use limited to: Reva Institute of Tehnology and Management. Downloaded on December 14, 2008 at 00:29 from IEEE Xplore. Restrictions apply.
A. Response of Speed Reversal To see the performance of the motor from half of the base
The motor was run at 340 rad/sec i.e. approximately at half of speed to the base speed, the step variation in speed from
the base speed. The response of the reversal of speed from 340 340rad/sec to the speed of 750 rad/sec.is applied. The settling
rad/sec to -340 rad/sec in 0.0125 sec is satisfactory and load time from the speed of 340 rad/sec. to 750 rad/sec. is 0.02 sec
perturbation of 1Nm to 2 Nm at 0.06 sec is achieved and the performance in this duration is satisfactory. The load
perturbation of 1 Nm to 2 Nm at 0.06 sec to 1.0 sec is
achieved at the constant speed of 340 rad/sec according to
Fig.8. There is negligible error between actual and estimated
angle .
C. Response of Flux Weakening
To see the response of the motor up to the base speed in
starting and then in flux weakening i.e. above the base speed,
the reference speed was applied in step of 700 rad/sec(near
base speed) to 1400 rad / sec. (near double the base speed), at
starting and at 0.08 sec respectively.
at constant speed of 340 rad/sec The fig. also show the torque,
estimated and actual speeds, estimated and actual angles.
There is negligible error between actual and estimated speeds
and angle. The motor attains the speed of 340 rad/sec.in 0.016
sec. and it takes 0.014 sec in reversing the speed. A small dip
in speed at load perturbation at 0.06 to 0.1 sec. is seen in the
Fig.7.
B. Response of step change in speed
The motor reaches the base speed in 0.04 sec. hence a smooth
start up to the base speed is seen according to the Fig.9. The
response of the flux weakening with constant speed of 1400
rad./sec is also achieved in 0.04 sec. as shown in Fig.9.The
frequency increases as the speed is increasing. The error
between actual angle and the estimated angle is negligible.
V. CONCLUSION
The developed sensorless algorithm for IPM drive has been
found quite suitable to provide satisfactory performance for a
wide speed range during steady state and dynamic operating
conditions such as step response, load perturbation, starting
performance and reversal of speed. The proposed sensorless
technique can also be used successfully in flux weakening
mode for speeds above the base speeds of the IPM
synchronous motor. Hence the proposed scheme can be
utilized successfully for eliminating the speed sensor.
Fig. 8. Simulated response of step variation in speed and load.
Authorized licensed use limited to: Reva Institute of Tehnology and Management. Downloaded on December 14, 2008 at 00:29 from IEEE Xplore. Restrictions apply.
VI. APPENDIX [9] B. K. Bose, “A High Performance Inverter Fed Drive System of an
Interior Permanent Magnet Synchronous Motor”, IEEE Transactions on
Industry Applications, Vol. 24, No.6, , pp 987-997, Nov./Dec. 1988.
MOTOR PARAMETERS [10] J. P. Verster and J. H. R. Enslin, “Practical Design Approach for PWM
Rated speed 780(rad/sec) Technique Controllers in the Application of Permanent Magnet
Permanent magnet synchronous motor parameters Synchronous Machine (PMSM) Drives”, CD-324, Fourth International
Type IPMSM Conference on Power and Variable Speed Drives,17-19 July 1990,
Motor rating 2 HP London, UK. , pp 40-45.
Number of phases 3 [11] R. Krishnan and R. Gosh, “starting algorithm for permanent magnet
Number of poles 4 brush less DC -motor drive with no position sensor”, in Proc. of IEEE
Base current 8 Amp Power Electronics Specialist Conference, 1989.
Rated voltage 240 V [12] Jainhua Quain and M. A. Rahman, “Analysis of Field Oriented Control
Stator resistance per phase 1.22 ohm for Permanent Magnet Hystersis Synchronous Motors”, IEEE
Stator flux linkages per phase due to rotor magnet Transactions on Industry Applications, Vol. 29, No.6, pp 1156-1163,
0.1432V/ (rad/sec) Nov./Dec. 1993.
Moment of inertia 0.001278Kg/m2
TABLE I
Viscous coefficient 0.000094Nm/
(rad.sec)
d-axis inductance 11.5 mH LIST OF SYMBOLS
q-axis inductance 9.5 mH Symbol Quantity Unit
Phase voltages of stator winding Volt
Va , Vb , Vc
VII. REFERENCES
λ a , λb , Flux linkages of phases a, b, c Volt/(rad/sec)
[2] Eike Ritcher, T. J. E. Miller and T. W. Neuman and T. L. Hudson , “The R Stator resistance per phase Ohm
Ferrite Permanent Magnet AC Motors – A Technical and Economical
Assesment ”, IEEE Transactions on Industry Applications, VOL. 1A-21, P Number of poles
NO.4, PP 640-650,May/June 1985, ωr Rotor speed radian/second
[3] Peter Vas, “Sensorless Vector and Direct Torque Control”, Oxford Te Electromagnetic torque Newton-meter
University Press, 1998.
[4] Bimal K. Bose, “Modern Power Electronics and AC-Drives”, Pearson P Differentia operator d/dt
Education Asia, Low Price Edition (LPE), 2003. d-axis and q-axis voltage Volt
[5] A.Consoli, G.Scarcella and A.Testa, “Industry Application of Zero- Vd , Vq
Speed Sensorless Control Technique for PMSM,” IEEE Trans. Ind. App.
Vol. 37, No. 2, pp 513-159 March/April 2001
id, iq d-axis and q-axis current Amperes
[6] M. A. Rahman and T. A. Little, “Dynamic Performance Analysis of λd , λq d-axis and q-axis flux Volt/(rad/sec)
Permanent Magnet Motors”, IEEE Transactions on Power Apparatus linkages
and Systems, Vol. PAS-103, No.6, June 1984, pp 1277-1282.
[7] P. K. HO. AND C. K. LEE, “Modeling and Simulation of a Permanent Ld, Lq d-axis and q-axis inductances Henry
Magnet Synchronous Motor Under the Flux-weakening Control”,IEEE
Transactions on Industry Applications,VOL.34,no.4, pp 462-
DC-link voltage Volt
[8]
467,july/august,1998
Thomas M. Jahns, “Flux Weakening Regime Operation of an Interior
Vdc
Permanent Magnet Synchronous Motor Drive”, IEEE Transactions on Kg/meter2
Industry Applications, Vol. 1A-23, No.4, pp 681-689 July/Aug. 1987.
J moment of inertia
Authorized licensed use limited to: Reva Institute of Tehnology and Management. Downloaded on December 14, 2008 at 00:29 from IEEE Xplore. Restrictions apply.