Part – A

Question 1 (2+2+1=5 Marks)

Adjustable speed PMSM drives have been extensively used in various industries over wide
range of output power. More recently, sensor less control of PMSM has become most
predominant because of their fastness and robustness. The conventional techniques uses
current controllers and shaft position sensors for the control.
In the above context develop an essay on the topic: “Sensor less control of PMSM drives”
Your essay should address the following:

Sensorless Control of Permanent Magnet Synchronous Motor (PMSM) Drives

One highly effective approach to achieving sensorless control of PMSM drives involves utilizing position
estimators that utilize Back Electromotive Force (Back-EMF). This powerful concept refers to the voltage
generated in the motor winding as a result of rotor movement. By accurately measuring the Back-EMF, it is
possible to indirectly estimate the rotor position, eliminating the need for physical sensors. The Back-EMF
method relies on calculating the electrical angle of the motor based on measurements of phase voltages and
currents. Through the use of sophisticated mathematical models and algorithms, the controller is able to
accurately estimate the rotor position and speed, enabling precise control without the need for dedicated
position sensors. This approach provides a cost-effective and straightforward solution for achieving sensorless
control in PMSM drives.

A1.1 Position estimators based on back-EMF

Solution :

One effective technique for implementing sensorless control of PMSM drives is through the use of
position estimators that rely on Back Electromotive Force (Back-EMF). Back-EMF is the voltage that is produced
in the motor winding as a result of the rotor's movement. By measuring this Back-EMF, it becomes possible to
indirectly estimate the position of the rotor, eliminating the need for physical sensors. This approach relies on
the calculation of the motor's electrical angle by utilizing the recorded phase voltages and currents.
Using mathematical models and algorithms, the controller can accurately estimate the position and
speed of the rotor, allowing for precise control without the need for specialized position sensors. As a result,
this method offers a cost-effective and relatively straightforward solution for achieving sensorless control in
PMSM drives.

A1.2 The Kalman Filter Sensor less Control

Solution :

The utilization of the Kalman Filter technique is a highly advanced method for sensorless control in PMSM
drives. Its innovative algorithm works by utilizing measurements that may be impacted by noise and
imprecisions to estimate the state of a dynamic system. In the case of PMSM drives, this technique combines a
sophisticated mathematical model of the motor with sensor readings, such as voltage and current, to accurately
determine the rotor's position and speed. In comparison to traditional Back-EMF methods, the Kalman Filter
may require more computational resources due to its complex nature.
However, its benefits shine in scenarios where variability in operating conditions or disturbances and
uncertainties are present. This superior performance makes it a valuable tool for achieving precise control in
PMSM drives.
A1.3 Comparison of the methods in A1.1 and A1.2 with comments

Solution:
The Back-EMF-based position estimation method is simpler to implement and cost-effective
compared to the Kalman Filter. It provides reasonable accuracy under stable operating conditions but
may suffer from limitations in accurately estimating the rotor position at lower speeds or when the
motor operates under high loads. Additionally, Back-EMF methods might be susceptible to noise and
parameter variations, affecting their reliability.
On the other hand, the Kalman Filter sensorless control method delivers higher accuracy
and robustness, especially in dynamic operating conditions or when dealing with varying loads. Its
ability to handle system uncertainties and noise makes it more versatile and reliable compared to
Back-EMF-based estimators. However, the increased computational complexity and potential for
higher implementation costs could be considered as drawbacks.

Part – B

Question 1 (4+6+6+4=10 Marks)

A DC motor is used in toy train. The motor is driven by an SCR full-wave converter. The speed
of the motor is controlled below rated speed.
Develop a simulation model to demonstrate the above scenario in MATLAB/SIMULINK. The
Simulation study should address the following:
B1.1 Selection of DC motor with specifications and developing the simulation model in
MATLAB/SIMULINK.

For Firing angle 5

For Firing angle 10

For Firing angle 15

For Firing angle 20

For Firing angle 25

(i) Firing angle vs Speed

(ii) Firing angle vs Armature Voltage

 (iii) ArmatureVoltage vs Speed

B1.4 Comments on the results obtained.

solution :

Understanding the correlation between firing angle and the speed of a DC motor can be quite
complex, as it is influenced by various factors. When the firing angle increases in a controlled rectifier that is
supplying power to the motor, the applied voltage to the motor is reduced. This reduction in voltage directly
affects the armature voltage, which plays a crucial role in determining the motor's speed.

Ultimately, this decrease in voltage limits the motor's ability to generate the required torque,
resulting in a decrease in speed as the firing angle increases. However, it is worth noting that there are instances
where an increase in armature voltage can actually lead to an increase in speed. This occurrence may be
attributed to several factors, including the motor's load, its mechanical characteristics, and the particular
control mechanisms in use. In certain situations, increasing the armature voltage can positively impact the
speed of the motor, but this is not always the case.

The relationship between armature voltage and speed isn't always linear. Initially, increasing the voltage might
result in a proportional speed increase, but at a certain point, diminishing returns or even adverse effects, such
as overheating or mechanical stress, can occur.

Understanding these graphs requires considering the motor's operational characteristics, load conditions, and
the specific control strategies employed. Engineers often perform detailed analysis and simulations to optimize
the motor's performance while considering these interrelated factors.