Modeling, simulation, and analysis of permanent-magnet motor drives. I. The permanent-magnet synchronous motor drive
TL;DR: The application of vector control to the PMSM (permanent-magnet synchronous motor) is described, and complete modeling, simulation, and analysis of the drive system are presented.
Abstract: The application of vector control to the PMSM (permanent-magnet synchronous motor) is described, and complete modeling, simulation, and analysis of the drive system are presented. State-space models of the motor and speed controller and real-time models of the inverter switches and vector controller are included. Performance differences due to the use of pulsewidth-modulation (PWM) and hysteresis current controllers are also examined. Particular attention is paid to the motor torque pulsations and speed response. Some experimental verification of the drive performance is also given. >
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TL;DR: A phase variable model of the BDCM is developed and used to examine the performance of a BDCm speed servo drive system when fed by hysteresis and pulsewidth-modulated (PWM) current controllers, indicating that the small- and large-signal responses are very similar.
Abstract: For ptI see ibid, vol25, no2, p265-73 (1989) The authors develop a phase variable model of the BDCM (brushless DC motor) and use it to examine the performance of a BDCM speed servo drive system when fed by hysteresis and pulsewidth-modulated (PWM) current controllers Particular attention was paid to the motor large-signal and small-signal dynamics and motor torque pulsations The simulation included the state-space model of the motor and speed controller and real-time model of the inverter switches Every instance of a power device turning on or off was simulated to calculate the current oscillations and resulting torque pulsations The results indicate that the small- and large-signal responses are very similar This result is only true when the timing of the input phase currents with the back EMF (electromotive force) is correct The large-signal and small-signal speed response is the same whether PWM or hysteresis current controllers are used This is because, even though the torque pulsations may be different due to the use of different current controllers, the average value which determines the overall speed response is the same >
672 citations
TL;DR: In this article, the authors proposed a method to reduce commutation torque ripple in a position sensorless brushless dc motor drive, which measured commutation interval from the terminal voltage of a BLDC motor, and calculated a pulsewidth modulation (PWM) duty ratio using the measured commution interval to suppress the commution torque ripple, and applied to the calculated PWM duty ratio only during the next commutation.
Abstract: This paper presents a novel method to reduce commutation torque ripple in a position sensorless brushless dc (BLDC) motor drive. To compensate the commutation torque ripple considerably, conventional methods should know commutation interval, so that they need current sensors. However, the proposed method measures commutation interval from the terminal voltage of a BLDC motor, calculates a pulsewidth modulation (PWM) duty ratio using the measured commutation interval to suppress the commutation torque ripple, and applies to the calculated PWM duty ratio only during the next commutation. Experimental results verify that the proposed method implemented in an air conditioner compressor controller considerably reduces not only the pulsating currents but also vibrations of a position-sensorless BLDC motor
159 citations
TL;DR: In this article, the ability of four different types of energy storage system to mitigate the power fluctuated into the grid, especially during low wind speed, is discussed, and the operating principles and the different methods of charging and discharging the energy storage.
Abstract: Wind Energy is a fast developing source of energy since 1996. Despite its advantages, this energy could never be a primary source of electric power to be integrated into the grid even in high wind areas, such as Great Plains, due to its intermittent behaviour. This intermittency will generate intermittent power to grid, which leads to instability, unreliability and power quality problem onto the grid system. One of the widely accepted methods to overcome this problem is by coupling the wind turbine with the energy storage system. This paper reviews the ability of four different types of the energy storage system to mitigate the power fluctuated into the grid, especially during low wind speed. This paper also explains the operating principles and the different methods of charging and discharging the energy storage. The ability of permanent magnet synchronous generator (PMSG) in dealing with variable wind speed also will be discussed.
137 citations
TL;DR: This paper presents an linear-quadratic-regulator-based proportional-integral-differential equivalent controller design method for a permanent-magnet synchronous motor based on a multi-objective observer in which observation error is purposely retained and utilized in load disturbance compensation.
Abstract: This paper presents an linear-quadratic-regulator-based proportional-integral-differential equivalent controller design method for a permanent-magnet synchronous motor. The disturbance rejection is achieved based on a multi-objective observer in which observation error is purposely retained and utilized in load disturbance compensation. This makes disturbance rejection tuning independent of the adjustment for speed command tracking; and the disturbance compensation is an integrated part of the controller output, which reduces the chance of input or state saturation. A robust stability analysis is also included for the modeling error. The proposed methodology is implemented through the dSPACE digital signal processor system, and the experimental result confirms its effectiveness
132 citations
Cites background from "Modeling, simulation, and analysis ..."
...gap flux, such that the stator current is used only for producing torque, is no longer necessary [5]....
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TL;DR: This paper presents a sensorless speed regulation scheme for a permanent-magnet synchronous motor based solely on the motor line currents measurements and combines an exact linearization-based controller with a nonlinear state observer which estimates the rotor position and speed.
Abstract: This paper presents a sensorless speed regulation scheme for a permanent-magnet synchronous motor (PMSM) based solely on the motor line currents measurements. The proposed scheme combines an exact linearization-based controller with a nonlinear state observer which estimates the rotor position and speed. Moreover, the stability of the closed-loop system, including the observer, is demonstrated through Lyapunov stability theory. The proposed observer has the advantage of being insensitive to rotation direction. It is shown how a singularity at zero velocity appears in the scheme and how it can be avoided by switching smoothly from the observer-based closed-loop control to an open-loop control at low velocity. The system performance is tested with an experimental setup consisting of a PMSM servo drive and a digital-signal-processor-based controller for both unidirectional and bidirectional speed regulation.
129 citations
References
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09 Mar 1990
TL;DR: In this paper, the authors describe the motion of a drive with Lumped Inertia and two Axes Drive in Polar Coordinates, and the integration of the simplified Equation of Motion.
Abstract: 1. Elementary Principles of Mechanics.- 1.1 Newtons Law.- 1.2 Moment of Inertia.- 1.3 Effect of Gearing.- 1.4 Power and Energy.- 1.5 Experimental Determination of Inertia.- 2. Dynamics of a Mechanical Drive.- 2.1 Equations Describing the Motion of a Drive with Lumped Inertia.- 2.2 Two Axes Drive in Polar Coordinates.- 2.3 Steady State Characteristics of Motors and Loads.- 2.4 Stable and Unstable Operating Points.- 3. Integration of the Simplified Equation of Motion.- 3.1 Solution of the Linearised Equation.- 3.1.1 Start of a Motor with Shunt-type Characteristic at No-load.- 3.1.2 Starting the Motor with a Load Torque Proportional to Speed.- 3.1.3 Loading Transient of the Motor Initially Running at No-load Speed.- 3.1.4 Starting of a DC Motor by Sequentially Short-circuiting Starting Resistors.- 3.2 Analytical Solution of Nonlinear Differential Equation.- 3.3 Numerical and Graphical Integration.- 4. Thermal Effects in Electrical Machines.- 4.1 Power Losses and Temperature Restrictions.- 4.2 Heating of a Homogeneous Body.- 4.3 Different Modes of Operation.- 4.3.1 Continuous Duty.- 4.3.2 Short Time Intermittent Duty.- 4.3.3 Periodic intermittent duty.- 5. Separately Excited DC Machine.- 5.1 Introduction.- 5.2 Mathematical Model of the DC Machine.- 5.3 Steady State Characteristics with Armature and Field Control.- 5.3.1 Armature Control.- 5.3.2 Field Control.- 5.3.3 Combined Armature and Field Control.- 5.4 Dynamic Behaviour of DC Motor with Constant Flux.- 6. DC Motor with Series Field Winding.- 6.1 Block Diagram of a Series-wound Motor.- 6.2 Steady State Characteristics.- 7. Control of a Separately Excited DC Machine.- 7.1 Introduction.- 7.2 Cascade Control of DC Motor in the Armature Control Region.- 7.3 Cascade Control of DC Motor in the Field-weakening Region.- 7.4 Supplying a DC Motor from a Rotating Generator.- 8. Static Converter as a Power Actuator for DC Drives.- 8.1 Electronic Switching Devices.- 8.2 Line-commutated Converter in Single-phase Bridge Connection.- 8.3 Line-commutated Converter in Three-phase Bridge Connection.- 8.4 Line-commutated Converters with Reduced Reactive Power.- 8.5 Control Loop Containing an Electronic Power Converter.- 9. Control of Converter-supplied DC Drives.- 9.1 DC Drive with Line-commutated Converter.- 9.2 DC Drives with Force-commutated Converters.- 10. Symmetrical Three-Phase AC Machines.- 10.1 Mathematical Model of a General AC Machine.- 10.2 Induction Motor with Sinusoidal Symmetrical Voltages in Steady State.- 10.2.1 Stator Current, Current Locus.- 10.2.2 Steady State Torque, Efficiency.- 10.2.3 Comparison with Practical Motor Designs.- 10.2.4 Starting of the Induction Motor.- 10.3 Induction Motor with Impressed Voltages of Arbitrary Wave- forms.- 10.4 Induction Motor with Unsymmetrical Line Voltages in Steady State.- 10.4.1 Symmetrical Components.- 10.4.2 Single-phase Induction Motor.- 10.4.3 Single-phase Electric Brake for AC Crane-Drives.- 10.4.4 Unsymmetrical Starting Circuit for Induction Motor.- 11. Power Supplies for Adjustable Speed AC Drives.- 11.1 Pulse width modulated (PWM) Voltage Source Transistor Converter (IGBT).- 11.2 Voltage Source PWM Thyristor Converter.- 11.3 Current Source Thyristor Converters.- 11.4 Converter Without DC Link (Cycloconverter).- 12. Control of Induction Motor Drives.- 12.1 Control of Induction Motor Based on Steady State Machine Model.- 12.2 Rotor Flux Orientated Control of Current-fed Induction Motor.- 12.2.1 Principle of Field Orientation.- 12.2.2 Acquisition of Flux Signals.- 12.2.3 Effects of Residual Lag of the Current Control Loops.- 12.2.4 Digital Signal Processing.- 12.2.5 Experimental Results.- 12.2.6 Effects of a Detuned Flux Model.- 12.3 Control of Voltage-fed Induction Motor.- 12.4 Field Orientated Control of Induction Motor with a Current Source Converter.- 12.5 Control of an Induction Motor Without a Mechanical Sensor.- 12.5.1 Machine Model in Stator Flux Coordinates.- 12.5.2 Example of an "Encoderless Control".- 12.5.3 Simulation and Experimental Results.- 12.6 Control of an Induction Motor Using a Combined Flux Model.- 13. Induction Motor Drive with Reduced Speed Range.- 13.1 Doubly-fed Induction Machine with Constant Stator Frequency and Field-orientated Rotor Current.- 13.2 Control of a Line-side Voltage Source Converter as a Reactive Power Compensator.- 13.3 Wound-Rotor Induction with Slip-Power Recovery.- 14. Variable Frequency Synchronous Motor Drives.- 14.1 Control of Synchronous Motors with PM Excitation.- 14.2 Synchronous Motor with Field- and Damper-Windings.- 14.3 Synchronous Motor with Load-commutated Inverter (LCI- Drive).- 15. Some Applications of Controlled Electrical Drives.- 15.1 Speed Controlled Drives.- 15.2 Lineax Position Control.- 15.3 Lineax Position Control with Moving Reference Point.- 15.4 Time-optimal Position Control with Fixed Reference Point.- 15.5 Time-optimal Position Control with Moving Reference Point.
2,882 citations
"Modeling, simulation, and analysis ..." refers background in this paper
...More recently [ 6 ]-[ 121, the possibility of using the PMSM for servo drives has been examined....
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TL;DR: In this article, a typical control actuator system consisting of a brushless synchronous motor and a transistor chopper inverter is described, and several types of construction are described.
Abstract: High-quality electrical servo drives can only be designed and manufactured by using especially compatible and sophisticated components. A typical control actuator system is described consisting of a brushless synchronous motor and a transistor chopper inverter. Important aspects of the design and rating of a three-phase motor with rare-earth permanent magnets are pointed out. Several types of construction are described. The machine control system used is the familiar method of cascade control. By application of "space vectors" two special methods for fast response current control are developed. In the first case, inverter control signals are derived only from measured quantities. In the second case, the optimum controller output can be calculated if additional information about the controlled system exists. Finally, experimental results prove the excellent performance of this drive system.
229 citations
TL;DR: In this article, the theory of vector control is applied to the nonlinear model of a permanent magnet synchronous motor to develop a linear model for controller design purposes, and the operation and relevant mathematics of a pseudo-derivative feedback controller are presented.
Abstract: The theory of vector control is applied to the nonlinear model of a permanent magnet synchronous motor to develop a linear model for controller design purposes. The operation and relevant mathematics of a pseudo-derivative feedback controller are presented. Controller designs for three different speeds are then considered, and a comparative evaluation is made on the basis of their large and small-signal behavior. In order to test the large-signal response, the detailed nonlinear model of the machine and a real-time model of the inverter switches are used. Results indicate that a critically damped design done so as to ensure that all control and power signals never saturate gives an extremely poor result. Much better small and large-signal responses are achieved by avoiding this constraint and using Zener diodes instead to limit the commanded input into the inverter. Two designs using this technique are presented, an underdamped design with low speed overshoot and an overdamped design with no speed overshoot. The response of the underdamped design was much quicker than that of the overdamped. However the overdamped design has application when speed overshoot is intolerable. >
152 citations
TL;DR: In this article, the role of magnet excitation plays in the performance of a permanent magnet motor operating at subsynchronous speeds, as during run-up, is discussed.
Abstract: The permanent magnet motor operating at subsynchronous speeds, as during run-up, is treated with particular emphasis placed on the role that magnet excitation plays. The torque, during run-up, is separated into components called the "cage torque", the "magnet torque" and pulsating components of double-slip-frequency and single-slip-frequency. Equations for calculation of these torques are derived and a comparision of the relative magnitude is given.
135 citations
"Modeling, simulation, and analysis ..." refers background in this paper
...Most of the earlier research on the PMSM concentrated on its operation from busbar voltages [ 4 ], [5]....
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TL;DR: In this article, a special permanent magnet machine is associated with a transistorized inverter for brushless dc servomotors, and a numerical simulation of this assembly is presented.
Abstract: In order to set up brushless dc servomotors, a specially designed permanent magnet machine has been associated with a transistorized inverter. First, the different parts of the machine/inverter/control assembly are described. Then a numerical simulation of this assembly is presented. This simulation has been used to study different control strategies that have been implemented on the experimental device: the results obtained are presented and discussed.
79 citations