Professional Documents
Culture Documents
Driving Controls and Applications of Switched - Reluctance Motors
Driving Controls and Applications of Switched - Reluctance Motors
98.02.12-23
1
Contents
(1) (2) (3) (4) (5) (6) (7) (8) (9) (10) (11) (12) (13) (14) (15) 2
(Motor Drive)
Rectifier or SMR Inverter + Vdc
Power stage
Isolation interface Control section
3 AC source
VVVF 3 voltage
AC motor
EC
Load
Vehicle
Command Controller
Requirements: low cost, reliable, miniaturization, smaller volume volume and weight (modularization and integration), higher efficiency (energy (energy saving),3 low vibration and acoustic noise, etc.
Motor
AC or DC sources
+
Vd
Inverter iA id
+ eA
~ ~ ~
EC
Load
J ,B
Match between motor and load. Load types. Load parameters. Load required performance. Motion pattern. Speed range, constant torque, constant power. power. Miniaturization. Cost effective. Reliability. EMI problems. Grounding and shielding.
Te , r
SMR, PFC and DC link voltage boosting. PAM and/or PWM controls. Dynamic braking. Inrush current. Battery sources. Battery charging. SuperSuper-capacitor buffer. Renewable or distributed sources.
Command Feedback
Controller
f s , tc , t
Motor type. Match between inverter, motor and load Voltage utilization. Harmonic effects. Driving isolation. Interfacing and sensing. Current changing rate and response. Neutral isolation or not. Reflection due to unmatched impedance. Power module, SOC promotion.
PWM control, harmonics. Random switching. Dynamic modeling and estimation. Dynamic control: (current, speed and/or position. Tuning control for specific motor. Digitization of control scheme. Common DSP for multiple power stages. Acoustic noise and vibration reduction.
diA Vd e A , e A r dt L
(Switched(Switched-reluctance motor)
6 www.euripides2008.de/download/vortraege/Balle_EURIPIDES.pdf
Electric Motor Drive Selection Issues for HEV Propulsion Systems: A Comparative Study IEEE Trans. Vehicular Technology, vol. 55, no. 6, pp. 1756-1764.
7
() ()
()
Motor
e J Motor B Motor (developed
Mechanical load
TL (Load torque)
Motor drive
position sensor
current sensor
torque)
t t t
, . ia Te ia,av : ia,rms : ia,max : ia,max, ia,av, ia,rms : r >rated : Constant power operation via
field weakening 8
P t ia t
r
t
Te
t P t ia t
10
12
IPMSM
Torque
Speed
Base speed
13
IPM with shallowly buried magnet having larger magnetic torque Torque IPM with deeply buried magnet having larger reluctance torque (suited for higher speed running)
Speed
Base speed
14
15
-
Constant torque loads ( low-speed elevator):
TL = constant, P m
m
TL = constant
TL
TL
Pd 1 Pd 2
TL
16
TorqueTorque-Speed Characteristics of Transportation Drives Freight train hauled by diesel-electric locomotives Commercial road delivery vehicles. Other systems: (a) subway trains, (b) streetcars, (c) trolley buses.
m
2
max
b (Base speed)
17
Electric Vehicles
18
Series HEV
Parallel HEV
19
20
10
Rectifier
Three
phase
id
+ Vd
Inverter
iA
+ eA
~ ~ ~
AC source
EC
Load
J ,B
Te , r
Control
f s ,tc ,t
Consideration Factors:
(a) Armature ripple current. (b) Switching losses. (c) Dead-time in converter transfer function. (d) DC link voltage capability and boosting.
Adverse effects of armature ripple current : (i) increase losses; (ii) cause torque ripple, vibration and acoustic noise, (iii) (iii) EMI) 21 How to reduce armature ripple current
DC current:
110V
Ripple
AC current:
Current
Te = Te1 + Teh
Motor
Te = Te1 + Teh
Te1 = Tav
22
11
Te = Tav + Teh = TL + B r + J (d r / dt )
r = av + rh :
Teh or ( J / B ) or ( f1 ) or (m f ) rh
Effects of torque ripple (speed ripple): driving performance is degraded: the generation of vibration, acoustic noise, etc.
23
Te = Te1 + Teh
i A5
Te1 = Tav
i A7
i A11 i A13
11 13 (Harmonic
order)
n
r = r1 + rh r1 = av
( J / B ) or ( f1 )
r = r1 + rh
r1 = av
( J / B ) or ( f1 )
24
12
T1 = (e1 i1 ) / r
Pm = ek ik = Te r
d r Te = TL + B r + J dt
Ideal case: torque is ripple-free, speed is ripple-free. Actual case: back-EMF and current waveforms are far from ideal >> the ripple torque and hence the speed ripple exit. The back-EMF waveform depends on the winding type and 26 the permanent-magnet pole shape. Remedies: machine design and electronic approaches.
13
www.analogzone.com/grnt0605.pdf
27
Sine-wave BDCMs
u
+ Vd
iu iv
n
'
Rotor
N S
* iu iu
* iv iv
* iw iw
v w
PWM scheme
iw
r
A
U+
V
B
S
U+
U+
V
S
W
S S N
W+
S N
V+
W+
N
U
V+
N
W+
V+
N 28
14
P = ea ia + eb ib + ec ic = constant = Ter
eu
* iu iu
ev
* iv iv
ew
* iw iw
29
iA ( t ) LA ( r )
r
iA
on off
Actual current Current command
Switched reluctance motor: The winding excitation is applied according to the sensed rotor position. Absolute rotor position sensing is required.
T e, r
30
15
()
(Stator)(Rotor) (Field winding)(Armature winding)
Case 1: Case 2:
, . ,, .
31
(DC generator)
Electric power
(DC motor)
Electric power
Field
Armature
+
Load Electrical Field
Armature
DC source
Prime mover
Tm
m
Load Mechanical
Tm
Mechanical power = Tm m
Mechanical power = Tm m
Generator: e = B l v
Motor: f = B l i
32
16
T = K a I a
Ia Ia
33 hyperphysics.phy-astr.gsu.edu/Hbase/magnetic/motdc.html
( () )
(Pumped-storage plant) Hybrid electric vehicles (HEVs) Electric machine: motor/generator, starter/generator Example: parallel HEV:
34
17
(Permanent(Permanent-magnet, PM)
(Under-compound)
(Flat-compound)
(Over-compound) 35
(Synchronous machine)
:
(Induction motor)
(Wound-rotor or slip-ring) (Squirrel-cage) (Split-phase motor) (Capacitor motor): Capacitor-start Capacitor-run Capacitor-start capacitor-run (Shaded-pole motor) ()(Universal motor) ()
()
36
18
: :
(Stepping motor) (Switched-reluctance motor (SRM): ( ) () (Brushless DC motor, BDCM) () () (Direct drive (DD) motor) Possess high and smooth torque at low speed, no gears are required. required. (Linear motor) (Ultrasonic motor)
37
Applications of motors
: without rotor position sensing
Excitation type: Integral-hp drives, traction drives, steel machinery, paper machinery. PM-type: (Lower ratings) Automotive auxiliaries, aircraft auxiliaries, small position servos, speed servos.
38
19
Wf =
is
ir
39
Torques due to the variation of mutual inductance with rotor position (excitation torque)
40
20
The stator and rotor currents can be DC or AC. For single-phase motor, there is no starting torque and the pulsating torque exists. If the rotor is not equipped with winding, i.e., i = 0 , then
r
T=
1 2 Lss i 2 s
The rotor should have saliency. The synchronous reluctance motor, variable reluctance stepping motor and switchedreluctance motor belong to this type. To obtain better torque generating capability, the winding current waveform switching control should be made in accordance with the pattern of Lss , which is nonlinear function of rotor position, current level and frequency.
41
Lsr
Thus the doubly-excited operation should be adopted. The slip rings and brushes are used for AC motors, and the commutators and brushes are used for DC motors. The winding currents for various types of motors are: DC motor: motor: is and ir are all DC currents. AC excited synchronous motor: motor: is is AC and ir is DC. AC permanent synchronous motor: motor: is is AC, rotor is equipped with permanent magnet. BDCM is basically a PMSM with inverter commutation being made according to the sensed rotor position. AC induction motor: motor: is is AC, ir is induced AC current with frequency smaller than those of is . SwitchedSwitched-reluctance motor: a kind of synchronous motor with singly excited unipolar square-wave winding currents.
Each type of motor possesses its key parameters affecting the motor motor driving performance, and they can be properly tuned to yield better performance performance. 42
21
() (DC Motors)
Two basic equations:
Generator : Generated voltage E a = K a m Motor : Back emf (Lenz' s law)
E a I a = T m ( Neglecting losses)
+ Ea
m T Forward driving and regenerating braking Backward driving and regenerating braking
43
T = K a I a
Ia Ia
44 hyperphysics.phy-astr.gsu.edu/Hbase/magnetic/motdc.html
22
Series Motor
Universal motor: AC and DC are all okay. Large developed torque (large starting torque):
T =K t I a2
Speed will be dangerously large at light load.
m =
Vt Ksr T
m 1 / T , T = 0 ( No load ) m
45
AC Motors
Squirrel-cage induction motor (IM IM) ) Non-salient-pole synchronous motor (SM SM) ) Salient-pole synchronous motor (SM SM) )
46
23
Traditional synchronous motor (SM SM) vs. BDCM) brushless DC motor (BDCM
BDCM: A permanent magnet synchronous motor with its stator windings being excited according to the sensed rotor position. Absolute rotor position sensing or estimation (i.e., sensorless control) is required.
SM
< 90o
N
BDCM
= 90o
N
S
Rotor
N
S
S
Rotor Stator
47
Stator
Rotor is equipped with field, and it will run at the same speed. The poles of stator and rotor are displaced by a power angle ( < 90 degrees)
48
nr = n s
24
Structures of Brushless DC Motors (BDCMs ) (BDCMs) (Square wave type synchronous motors) ThreeThree-phase HallHall-effect sensor BDCM
49
Scalar control
< 90o
N
S
Rotor
S
N S
Rotor Stator
Stator
50
25
()
End ring
51
26
Torque
(Tmax , smax )
(Tstart , sstart = 1)
s =1
s=0
Speed or slip
53
Scalar control: proper V/f ratio, voltage boosting in low speed. Vector control: suitable fieldfield-orientation control with compensation. Suitable fieldfield-weakening control in highhigh-speed range. 54 DCDC-link voltage boosting.
27
()
IM, SynRM, SPMSM, IPMSM Cogging torque (i) (Cogging torque)IPMSMSPMSMCogging torqueIPMSM(Saliency) Cogging torque ; (ii) IPMSM SPMSM SynRM IM2~3% (iii) SynRM1.0IMIPMSMSPMSM 1.131.421.5 IPMSM SynRMIM
55
Loss Comparison of Some Commonly Used Motors Loss comparison Loss (W)
IM Sy nR M SP M SM IP M SM
www.irf.com/technical-info/whitepaper/imotionapmotorpcimchina06.pdf
56
28
PMASynRM: Permanent magnet torque assisted SynRM SynRM: Synchronous Rluctance Motor
Shigeo Morimoto, Trend of permanent magnet synchronous machines, IEEJ Trans., 2007; 2: pp. 101-108. 57
SynRM rotor
58
29
IPMSM
Te =
Torque Te
0o
45 o
0 o ~ 45 o
90 o
r ( )
60
30
(Back-EMF is reduced as the commutation instant is shifted forward) (Maximum torque point, maximum TPI)
Back-EMF
Current phase
Current phase
Maximum torque control: The required current is minimum under a particular load.
61
max
(Performance index)
20o
( shift )
0o
rpm
3000
6000
9000
62
31
a
+ Vd -
b c
Rotor N S
L csas L cscs rs
PWM scheme
vas
+
r
bs-axis Sensor 1 q- axis
q axis
r
bs
as-axis
as axis
* ias i* as ibs ibs * ics ics
as' cs
S
bs'
2 Sensor cs-axis
N
as
cs'
3 Sensor d- axis
r
= r
63
PMSM
AC or DC sources
PB
iB
P d id
P i , Qi
PMSM
Pm
E
H
P L RL
PMSG
vB
d Voltage controller
vd (d) )
* vd vd
r Te
Encoder Hall signals signals
Voltage boosting
Other information
* r r
iqs
dq / abc conversion
vcont, abc
Current control scheme
ids
Excitation control scheme
Commutation tuning
Hall signals Encoder signals ( Termin al voltage)
Excitation tuning
64
32
Trend of high voltage harness technology that supports Hybrid Electric Vehicles. ieeexplore.ieee.org/iel5/4239117/4239118/04239329.pdf?tp=&isnumber=&arnumber=4239329
65
66
33
THS II
ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=4510492
67
68
www.tytlabs.co.jp/english/review/rev394epdf/e394_001ishiko.pdf
34
650V
Progresses for a Last Decade and Perspectives in Applications Specific Electric Motors and Drives in Japan, Matsui, Nobuyuki; Power Conversion Conference - Nagoya, 2007. PCC '07, 2-5 April 2007 Page(s):K-17 - K-24.
69
Possible voltage boosting approach: boosted DCDC-link voltage using frontfront-end converters: Series connected voltage boosting circuits
Fixed voltage
VB1
Vd = VB1 + VB 2 = fixed
VB 2
VB1
Vd 1
Vd = VB 2 + Vd 1 > VB 2
VB
Vd 1
Vd = VB + Vd 1 VB
VB 2
d
70
35
V B
V d
Two-quadrant One-quadrant
V 0, I 0 d d d V = or V d 1 d 1 d B
(a)
VB
V 0 or V 0, I 0 or I 0 d d d d
(b)
71
Field-weakening control
The operation range can be extended to higher speeds. The ratings of inverter and motor should be properly considered.
72
36
Trends: Motor: Induction motor >> PermanentPermanent-magnet synchronous motor (PMSM) Vector control >> Sensorless control. SquareSquare-wave type >> sinewave type. FrontFront-end switchswitch-mode rectifier (SMR)>> provide boostable and wellwell-regulated DCDC-link voltage with good line drawn power quality. Common digital control environment for: Outdoor compressor PMSM, PMSM, outdoor condenser fan motor, frontfront-end switchswitch-mode rectifier (SMR). DSP or ASIC + microcontroller, or FPGA + microcontroller. 74
www.irf.com/technical-info/whitepaper/mce_digitalpfc_ac.pdf
37
Indirect Power Factor. Correction for 3-Phase AC. Motor Control with V/Hz. Speed Open Loop. Application Using a 56F80x. Device. 75 www.freescale.com/files/product/doc/AN1918.pdf
Features:
Sensorless control. Sinewave PMSM current. Integrated power stages: Boost SMR + PMSM inverter. DCDC-link current sensing Common DSP.
Sensorless Control and PMSM Drive System for Compressor Applications Dongsheng Li; Takahiro Suzuki; Kiyoshi Sakamoto; Yasuo Notohara; Tsunehiro Endo; Chikara Tanaka; Tatsuo Ando; Power Electronics and Motion Control Conference, 2006. IPEMC '06. CES/IEEE 5th International volume 2, Aug. 2006, Page(s):1-5
76
38
www.mitsubishichips.com/Global/ catalogue/pdf/power/general_e/e_05.pdf
77
78
39
79
Toshiba Products
80
40
Variable reluctance stepping motor vs. Switched reluctance motor Variable reluctance stepping motor
81
SRM Governing Equations By neglecting the mutual coupling and assuming the linear magnetic circuit, the per-phase winding voltage equation of a SRM can be written as:
v = Ri + L( r , i) di ( r , i) di + r = Ri + L ( r , i ) + e( r , i, r ) dt r dt
The composite generating torque of a SRM drive can be obtained by summing all per-phase developed torques, and then the motor drive torque equation is:
Te = Tei = TL + B r + J
i =1 n
d r 1 L( r , ii ) 2 , Tei = ii dt 2 r
82
41
iA ( t ) LA ( r )
r
iA
on off
Actual current Current command
Switched reluctance motor: The winding excitation is applied according to the sensed rotor position. Absolute rotor position sensing is required.
T e, r
83
iA iB
iC iD
r
Without advancing
Actual current Current command
iA
on off
With advancing
iA
on off
T=
1 2 Lss i 2 s
84
42
Vdc
L1
D2
L2
D4
L3
D6
L4
D8
Q2
Q4
Q6
Q8
(a)
Operation modes
Vdc
L1
D2
Q1
D1
Q1
D1
Q1
D1
Vdc
L1
D2
Vdc
L1
D2
Q2
Q2
Q2
85
(b)
(c)
(d)
2A
2A
2.5 kHz
2.5 kHz
86
43
iA ( t ) LA ( r )
Lu 0 1 2 3 4
Generator mode
T e, r
r
87
Motoring
T A= 1 2 L A ( r ) i 2 A r = positive
iA
on off
Actual current Current command
r r
iA( t ) LA ( r )
Generating
T A= 1 2 L A ( r ) LA ( r ) i 2 A r = negative
iA
on off
r
Actual current Current command
r88
44