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Design, Principle, Constraints, and Optimal Control: Byguyfriedrich &anthonygirardin
Design, Principle, Constraints, and Optimal Control: Byguyfriedrich &anthonygirardin
Design, Principle, Constraints, and Optimal Control: Byguyfriedrich &anthonygirardin
PSID (Wb)
0.01 0.01
0 0
PSIQ (Wb)
0.01 0.01
0 0
–0.01 –0.01
–0.02 –0.02
–0.03 –0.03
–0.04 –0.04
–0.05 –0.05
–0.06 –0.06
–0.065 –0.065
–1,040 –693 –346–173 0 173 346 693 1,040 –1,040 –693 –346–173 0 173 346 693 1,040
lq (A) lq (A)
Id = –400*sqrt(3)A Id = 100*sqrt(3)A Id = –400*sqrt(3)A Id = 100*sqrt(3)A
Id = –200*sqrt(3)A Id = 200*sqrt(3)A Id = –200*sqrt(3)A Id = 200*sqrt(3)A
Id = –100*sqrt(3)A Id = 400*sqrt(3)A Id = –100*sqrt(3)A Id = 400*sqrt(3)A
Id = 0 A Id = 600*sqrt(3)A Id = 0 A Id = 600*sqrt(3)A
(b) (d)
3
29
Calculation results: (a) wd for If ¼ 0 A, (b) wq for If ¼ 0 A, (c) wd for If ¼ 24 A, and (d) wq for If ¼ 24 A:
1) current (rms) 6) electrical and mechanical power
sffiffiffiffiffiffiffiffiffiffiffiffiffi Pe ¼ vd id þ vq iq þ Rf I2f , (14)
i2d þ i2q WRSM IS A
Irms ¼ (5) Pm ¼ Tm X (15)
3
CHALLENGER 7) efficiency
2) flux (table) FOR PERMANENT sign(Tm )
Pm
wd ¼ wd (id , iq , if ), (6) g¼ (16)
MAGNET Pe
wq ¼ wq (id , iq , if ) (7)
MACHINE FOR 8) battery voltage
3) total losses
ISG pffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
ffi
Piron losses ¼ Piron (id ,iq ,Maf ,xs ), Eb þ E2b 4Rb Pb
Ub ¼ (17)
(8) APPLICATIONS. 2
Pcopper losses ¼ 3Rs I2rms þ Rf I2f
(9) where Pb is the power given by
the battery. It is equal to the
4) electromagnetic torque electrical power divided by the inverter efficiency.
h i If voltages are considered as sinusoidal, their maxi-
Tem ¼ p wd iq wq id (10) mal rms values are considered equal to
Ub
5) voltage Vsup ¼ pffiffiffi : (18)
2 2
vd ¼ Rs id xs wq , (11)
vq ¼ Rs iq þ xs wd , (12) 9) The maximum current is equal to the maximum
sffiffiffiffiffiffiffiffiffiffiffiffiffiffi inverter current in the starter mode and is limited
v2d þ v2q by the maximum current density in the WRSM
Vrms ¼ (13) in the generator mode.
3
IEEE INDUSTRY APPLICATIONS MAGAZINE JULY j AUG 2009 WWW.IEEE.ORG/IAS
T (N · m)
The MATLAB optimization tool- 50 –200
box [19] provides a nonlinear con- 40
30
strained optimization routine. It 20 –250
minimizes an objective function f and 10
0
tries to maintain constrained func- –10 –300
tions g negative: –20
–30
–40 –350
x n min
f (x ) –50
–60
x –400
–72
1, 00
1, 50
1, 00
2, 0
2, 00
2, 50
2, 00
3, 50
3, 00
3, 50
3, 00
4, 50
4, 00
4, 50
4, 00
5, 50
5, 00
5, 50
5, 00
6, 50
0
with
500
750
1, 0
75
00
0
25
0
2
5
0
2
5
7
0
2
5
7
0
2
5
7
0
2
5
7
gi (x ) 5 0, 8i ¼ 1 . . . Nconstraints : Ω (r/min)
(a)
iq (A)
Objective Function
153
Here the objective function equals the 140 500
total losses: 130
120 400
110
f ¼ PTotal losses : (20) 100
90 400
80
Constraints Function 70 200
T (N · m)
60
The following are the constraints functions. 50
40 100
1) Mechanical torque is equal to the 30
command torque: 20
10 0
0
00
00
limit [see (19)]:
0
25
0
2
5
7
0
2
5
7
0
2
5
7
2
5
7
0
2
5
7
Ω (r/min)
gi ¼ Irms Ilim : (22) (b)
if (A)
3) Applied voltage [see (13)] is 153
less than the available voltage 140
130 22
[see (18)]:
120 20
110
gv ¼ Vrms Vsup : (23) 100 18
90
80 16
4) In the starter mode, electrical 70
60
T (N · m)
14
power [see (14)] is limited by the 50
40 12
battery maximum power [see (4)]: 30
20 10
gp ¼ Pe Pbmax : (24) 10
0 8
–10
–20 6
Algorithm –30
–40 4
The algorithm is shared by both parts. –50
1) In the first step, the maximal tor- –60 2
que speed zone is established. –72
1, 00
1, 50
1, 00
2, 50
2, 00
2, 50
2, 00
3, 50
3, 00
3, 50
3, 00
4, 50
4, 00
4, 0
4, 00
5, 50
5, 00
5, 50
5, 00
6, 50
0
500
750
1, 0
00
0
25
0
2
5
7
0
2
5
7
0
2
5
7
0
5
7
0
2
5
7
–60
–72 authors have developed an internal PM
(IPM) machine based on the same
250
500
750
1, 0
1, 00
1, 50
1, 0
2, 50
2, 00
2, 50
2, 0
3, 50
3, 0
3,250
3, 00
4, 50
4, 0
4, 50
4, 00
5, 50
5, 00
5, 50
5, 0
6, 50
0
50
50
00
00
50
00
0
2
7
0
2
5
7
2
5
7
0
2
50 Power Factor
40 0.9
30
The values of the power factor are
20 0.88 shown in Figure 9. This figure shows
10 the main interest of the WRSM: the
0 0.86
–10 power factor remains very high
–20 (greater than 0.94) in the whole tor-
–30 0.84
–40 que-speed plane. This allows to
–50 0.82 reduce copper losses but especially
–60
–72 0.8 the dc bank of capacitors, which is
one of the larger and more fragile part
250
50 0
750
1, 0
1, 00
1, 50
1, 0
2, 50
2, 00
2, 50
2, 0
3, 50
3, 0
3,250
3, 00
4, 50
4, 0
4, 50
4, 00
5, 50
5, 00
5, 50
5, 0
6, 50
0
50
50
00
00
50
00
0
2
7
0
2
5
7
2
5
7
0
2
Experimental Results
The machine was assembled on a test bench to estab-
lish the efficiency cartography. Figure 12 shows the
50
00
00
00
50
00
0
2
5
7
5
7
2
5
7
34