Servo Motor

Induction Motor
Control of Servo Motors

Induction motor (Rotor)
Structure of Squirrel-cage Induction motor
- Squirrel-cage induction motor
- Wound-rotor induction motor
- Stator
3-phase winding : sinusoidal distribution of stator winding
Three-phase voltage is applied
- Rotor
Conductor bars & End rings
No power supply
a
b
c
Stator
Rotor
Torque production of induction motor
A rotating field of constant amplitude is produced by three-
phase ac current with synchronous angular speed e
e

Rotor :
- Rotor voltage at conductor bar is induced by Rotating field
- Rotor flux is generated by rotor current
- Rotor speed < synchronous speed
Stator : Three phase windings are excited by three-phase current
i
b
i
a
i
c
3-Phase
e
t e
Current
e
r e
S
e
e e
=
e r
S e e ) 1 ( =
S = 1 : Standstill
S = 0 : Motor speed = synchronous
S + motor speed |
- Slip:
- Rotor speed :
e r
S e e ) 1 ( =
e e e e r
S S S e e e e e = + = + ) 1 (
- Rotor flux speed inside rotor : slip frequency =
- Rotor speed :
- Rotor flux speed at air-gap :
e
Se
a
b
c
N S
N
S
e
e
e
e
Rotating field Axis
e
sl
e
r
+
Rotor flux Axis
r
s
o
o sin
r s e
T
Torque production of PMSM
d-axis
q-axis
u
E
i
qs
i
s
=
qs e
i K T u =
- Stator current = torque component + flux component - Stator current = torque component
Vector control of induction motor
- Stator current is resolved into the d-axis current (Flux component) and q-axis current (Torque component)
- Control independently both currents
Complex for implementation
d-axis
q-axis
i
qs
is
r
i
ds
Flux model for indirect vector control
u
e
ju
er
ee s ee
P
1
Lm
Tr
e
e
-
Tr
Iqs
e
I
qs
Ids
e
Ids
s
s
3
2
Ias
Ibs
Ics
dr
- Slip frequency
dr r
qs m
e
T
i L
S
e = Where rotor time constant

r
r
r
R
L
T =
- Synchronous speed
e r e
Se e e + =
- Synchronous angle
}
= dt
e e
e u
- Rotor resistance R
r
is varied with temperature
- Rotor inductance L
r
is changed at saturation situations due to high current
Selection Criteria for induction motor and servo motor
Flux model for indirect vector control
r r s s
R i R i
2 2
+
s s
R i
2
[1] Position detector
- PMSM : The absolute position of flux by permanent-magnet is detected
- IM : The rotor position is detected
* Stator current
- PMSM : Stator current = Torque component current
- IM : Stator current = Torque component current + Flux component current
[2] Parameter sensitivity
- Induction motor : Rotor time constant (Rotor resistance) variation
[3] Thermal capability
- Induction motor : Temperature | Rotor resistance | The Performance of vector control system +
- Servo motor : Temperature | Flux loss (Br) + Torque +
In order to keep torque constant, Stator current |
[4] Loss
- Copper loss :
* Copper of Induction motor =
* Copper of PMSM =
- Core loss : Servo motor < IM
d-axis
q-axis
u
E
Vs
iqs is =
d-axis
q-axis
u
E
ee Ls ids
ee Ls iqs -
Vs
ids
iqs
is
2 2
qs ds s
i i i + =
[5] Flux weakening control
- Motor speed > base speed
Speed voltage is limited to rated value Flux Torque Power = constant
Constant power region
PMSM
* Normal operation * Flux weakening control
- Stator current of PMSM
- Speed | d-axis current | stator current |
Limiting maximum stator current
Demagnetizing the Permanent Magnet
Copper loss is increased
Induction motor
* Normal operation * Flux weakening control
d-axis
q-axis
i
qs
is
r
i
ds
d-axis
q-axis
i
qs
is
r
i
ds
- Speed | d-axis current + stator current +
Copper loss is decreased
[6] Cost
- Motor : Induction motor << PMSM
- Inverter : Induction motor ~ PMSM
- Position detector : Induction motor < PMSM
- Vector control implementation : Induction motor > PMSM
Selection Criteria for servo motors : BLDC and PMSM
[1] Power density
- Output power to motor size
- The motor size of servo motor is nearly proportional to copper loss
Calculating the output power when copper losses (motor size) for both servo motors are the same
- Current waveforms for servo motor
Current waveform of BLDC Current waveform of PMSM
I
P2
I
P1
- RMS of BLDC current =
2
6
5
6
2
2
3
2
) (
1
P P
I t d I =
}
t
t
e
t
- Copper loss of BLDC =
2
2
)
3
2
( 3
P s
I R
- RMS of PMSM current =
2
1 P
I
- Copper loss of PMSM =
2 1
)
2
( 3
P
s
I
R
* Copper loss of BLDC = Copper loss of PMSM
2 1 2
2
)
2
( 3 )
3
2
( 3
P
s P s
I
R I R =
2 2 1
15 . 1
3
2
P P P
I I I = =
* Power density of BLDC is 1.15 times to power density of PMSM
- Output power of BLDC = 2
2
P p
I E
- Output power of PMSM =
1
1
2
3
)
2 2
( 3
P p
P P
I E
I E
=
- Substituting into above equation
2 1
15 . 1
P P
I I =
- Output power of PMSM =
2 2 1
725 . 1 15 . 1
2
3
2
3
P p P p P p
I E I E I E = =
[2] Capacity of rectifier and inverter
- Capacity of rectifier and inverter : Maximum voltage and current
- Calculate output power when the maximum voltage E
p
and current I
p
of BLDC and those of PMSM
Output power of BLDC =
P p P p
I E I E 2 2
2
=
Output power of PMSM =
P p P p
I E I E
2
3
2
3
1
=
- The ratio of output power of BLDC to output power of PMSM =
33 . 1
2
3
2
=
P p
P p
I E
I E
* Output power of BLDC = 1.33 Output power of PMSM at the same capacity of inverter.
[3] Torque per unit current
- Assume that maximum voltage and current of BLDC are identical with those of PMSM.
- Torque of BLDC =
r
P p
I E
e
2
- Torque of PMSM =
r
P p
I E
e
) 2 / 3 (
* Torque of BLDC = 1.33 torque of PMSM at the same maximum current
* Torque per unit current of BLDC is 1.3 times to PMSM
[4] Position detector
- BLDC : Detecting the position of rotor per 60 for one revolution.
- PMSM : Detecting continuously the position of rotor flux
* PMSM requires the more precise position detector
[5] Cogging torque and ripple torque
- Cogging torque : generated by the rising and falling time of stator current at BLDC motor
- Frequency of cogging torque = 6 synchronous speed
- The cogging torque has more influent on motor torque at low speed.
- Ripple torque : generated by switching at PWM inverter
- The lowest harmonic frequency of ripple torque = switching frequency
- The ripple torque doesnt affect on motor torque because of high frequency of ripple torque.
PMSM : smooth torque Ripple torque Cogging torque Cogging and ripple
torque
BLDC : Detecting position per 60
PMSM : Detecting continuously
Complex Simple Position detector
The same maximum current and EMF 33% Higher Torque/ unit current
Output power at the same capacity of
inverter
33% Higher Converter capacity
The same power density 15% Higher Torque/
Moment of inertia
The size (Copper loss) is the same 15% Higher Power density
Distributed Concentrated Stator winding
Sinusoidal Trapezoidal EMF Waveform
Sinusoidal Rectangular Current Waveform
Conditions PMSM BLDC Items
Vector control of PMSM
Current control strategy of vector controlled PMSM
- Control both the magnitude and phasor of stator current for vector control of PMSM
The d-axis & q-axis current are controlled independently
Current control strategy
- Hysteresis current control
- Ramp comparison method
- Space vector control
Current controlled PWM inverter
- Converting DC voltage into three phase ac voltage
- To control three phase currents to their reference current
a
b
c
Vas
+ -
A
+
C
-
A
-
C
+
B
-
B
+
Vdc
+
-
Vbs
+ -
Vcs
+ -
PMSM
Current controlled PWM inverter circuit
Relationship between switching function and voltage vector
dc
V
3
2
t
3
1
3
2
j
dc
e V
t
3
2
3
2
j
dc
e V
t j
dc
e V
3
2
t
3
4
3
2
j
dc
e V
t
3
5
3
2
j
dc
e V
0 1 1 1 7
0 0 0 0 0
1 0 1 6
1 0 0 5
1 1 0 4
0 1 0 3
0 1 1 2
0 0 1 1
Voltage vector Sc Sb Sa Mode
- Sa , Sb, Sc : Switching function of three phase leg
- 1 : Upper switching device is conducting
- 0 : Lower switching device is conducting
V
(1)
V
(2)
V
(3)
V
(4)
V
(5)
V
(6)
V
(7)
V
(0)or
Re Vds ( )
Vqs ( ) Im
Stator voltage vector for switching mode
(1) Switching mode I (Sa=1, Sb=0. Sc=0)
a
b
c
Vas
+ -
A
+
C
-
A
-
C
+
B
-
B
+
Vdc
+
-
Vbs
+ -
Vcs
+ -
PMSM
dc
as V V
3
2
=
t
3
1
3
2
j
dc
s e V V =
dc
s V V
3
2
=
dc
bs V V
3
1
=
dc
cs V V
3
1
=
(2) Switching mode 2 (Sa=1, Sb=1. Sc=0)
a
b
c
Vas
+ -
A
+
C
-
A
-
C
+
B
-
B
+
Vdc
+
-
Vbs
+ -
Vcs
+ -
PMSM
dc
as V V
3
1
=
dc
bs V V
3
1
=
dc
cs V V
3
2
=
dc
as V V
3
1
=
t
3
2
3
2
j
dc
s e V V =
dc
bs V V
3
2
=
dc
cs V V
3
1
=
a
b
c
Vas
+ -
A
+
C
-
A
-
C
+
B
-
B
+
Vdc
+
-
Vbs
+ -
Vcs
+ -
PMSM
a
b
c
Vas
+ -
A
+
C
-
A
-
C
+
B
-
B
+
Vdc
+
-
Vbs
+ -
Vcs
+ -
PMSM
0 = as V 0 = bs V
0 = cs V
0 = s V

Servo Motor

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Servo Motor

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Induction Motor

Control of Servo Motors

e = Where rotor time constant

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