Simulation of A

PMSM Motor Control System

for EPS Controllers
July 23, 2003

by

Guang Liu
Alex Kurnia
Ronan De Larminat

1
 OUTLINE

1. Introduction
2. System block diagram
3. Simulink models of system elements
4. Simulation and experimental results
5. Conclusion

2
1. INTRODUCTION

3
 1. INTRODUCTION

Simplified Block Diagram of An EPS System

EPS

Steering
mechanism

4
2. SYSTEM BLOCK
DIAGRAM

5
2. SYSTEM BLOCK DIAGRAM

6
 3. SIMULINK MODELS OF SYSTEM ELEMENTS

3. SIMULINK MODELS OF
SYSTEM ELEMENTS

7
 3. SIMULINK MODELS OF SYSTEM ELEMENTS

Permanent Magnet Synchronous Motor (PMSM) Model

8
 3. SIMULINK MODELS OF SYSTEM ELEMENTS

Permanent Magnet Synchronous Motor (PMSM) Equations

Park transformation equations D-Q axis electric circuit equations

2π 4π
2
vd = [va cos θ + vb cos(θ −
3 3
) + vc cos(θ −
3
)] vd = Rs id + Ld d
i − Lqω e dtd iq
dt d

2π 4π
2
vq = [−va sin θ − vb sin s (θ −
3 3
) − vc sin(θ −
3
)] vq = Rs iq + Lq dtd iq + Ldω e dtd id + ω e λPM

Inverse Park transformation equations

Torque equations
ia = id cosθ − iq sin θ
3
Te = P[λ PM iq + ( Ld − Lq )id iq ] 2π 2π
2 ib = id cos(θ − ) − iq sin(θ − )
3 3
d
Te = TL + K f ω m + J ωm 4π 4π
dt ic = id cos(θ − ) − iq sin(θ − )
3 3
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 3. SIMULINK MODELS OF SYSTEM ELEMENTS

Motor Position Sensor Model

Complete Sensor:

Error generator:

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 3. SIMULINK MODELS OF SYSTEM ELEMENTS

Current Sensing Model

V_B
(1) V1
(5) (3)
Vαβ
V_A
V3 V2
(4) (6) (2)

V_C

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 3. SIMULINK MODELS OF SYSTEM ELEMENTS

PI Controller Model

12
 3. SIMULINK MODELS OF SYSTEM ELEMENTS

Inverse Park and SVM Model

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 4. SIMULATION & EXPERIMENTAL RESULTS

4. SIMULATION AND
EXPERIMENTAL RESUTLS

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 4. SIMULATION & EXPERIMENTAL RESULTS

Simulated torque ripple with 6-count resolution

Torque ripple = 1 N.m., current becomes square wave.
Resolution = 6 count per rev.
1.5

1
Torque(N.m.)

0.5

0
0 0.5 1 1.5 2 2.5 3 3.5 4
Time (Sec.)

30

20
Phase current (A)

10

-10

-20

-30
0 0.5 1 1.5 2 2.5 3 3.5 4
Time (Sec.)

15
 4. SIMULATION & EXPERIMENTAL RESULTS

Simulated torque ripple with 48-count resolution

Torque ripple = 0.012 N.m.

Resolution = 48 count per rev.

1.005
Torque(N.m.)

0.995

0.99

0.985
0.5 1 1.5 2 2.5 3 3.5 4
Time (Sec.)

30

20
Phase current (A)

10

-10

-20

-30
0 0.5 1 1.5 2 2.5 3 3.5 4
Time (Sec.)

16
 4. SIMULATION & EXPERIMENTAL RESULTS

Simulated torque ripple with 4096-count resolution

Torque ripple = 0.006 N.m.

Resolution = 4096 count per rev.

1.002
Torque(N.m.)

0.998

0.996

0.5 1 1.5 2 2.5 3 3.5 4

Time (Sec.)

30

20
Phase current (A)

10

-10

-20

-30
0 0.5 1 1.5 2 2.5 3 3.5 4
Time (Sec.)

17
 4. SIMULATION & EXPERIMENTAL RESULTS

Measured torque ripple with 48-count resolution

Phase A current is 10A/div. Average torque = 1.05 N.m.
Torque ripple = 0.023 N.m. (peak to peak)

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 4. SIMULATION & EXPERIMENTAL RESULTS

Simulated current sensing with 0.15A error

3-per-rev torque ripple is about 0.017 N.m
Current sense error = 0.15 (A)
0.465

0.46
Torque(N.m.)

0.455

0.45

0.445

0.44

0.435

0.5 1 1.5 2 2.5 3 3.5 4

Time (Sec.)

15

10
Motor current (A)

-5

-10

-15
0 0.5 1 1.5 2 2.5 3 3.5 4
Time (Sec.)

19
 4. SIMULATION & EXPERIMENTAL RESULTS

Measured torque ripple with current sense error

3-per-rev torque ripple is about 0.020 N.m
Phase A current is 10A/div.

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 4. SIMULATION & EXPERIMENTAL RESULTS

Measured torque ripple with current error eliminated

3-per-rev torque ripple is eliminated
Phase A current is 10A/div.

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 4. SIMULATION & EXPERIMENTAL RESULTS

Simulated d-axis step response

Rise time is about 2 ms.
There is no overshoot.

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 4. SIMULATION & EXPERIMENTAL RESULTS

Measured d-axis step response

Rise time is 1.8 ms.
There is no overshoot.

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 5. CONCLUSION

CONCLUSION
• A complete PMSM drive model has been
presented.
• Experimental results are provided to validate the
simulation models.
• The effect of position sensor resolution and
current measurement errors are simulated and
validated.
• The current loop step response is simulated and
validated.
• The simulation work helps reduce product cost
and development time.

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