Professional Documents
Culture Documents
Impact of PLL Parameters Variation On The Pulsatin
Impact of PLL Parameters Variation On The Pulsatin
net/publication/290365260
Article in Research Journal of Applied Sciences, Engineering and Technology · June 2014
CITATIONS READS
0 3
1 author:
SEE PROFILE
Some of the authors of this publication are also working on these related projects:
Sensorless Control of Synchronous Motors Using High Frequency Signal Injection Techniques View
project
All content following this page was uploaded by Olfa Bel Hadj Brahim Kechiche on 31 January 2017.
The user has requested enhancement of the downloaded file. All in-text references underlined in blue are added to the original document
and are linked to publications on ResearchGate, letting you access and read them immediately.
Research Journal of Applied Sciences, Engineering and Technology 7(24): 5129-5134, 2014
ISSN: 2040-7459; e-ISSN: 2040-7467
© Maxwell Scientific Organization, 2014
Submitted: January 23, 2014 Accepted: February 25, 2014 Published: June 25, 2014
Abstract: This study highlights the impact of an universal Phase Locked Loop (PLL) parameters variation on
PMSM position estimation at low speeds. Indeed, the PLL parameters variation impact on the PMSM rotor position
estimation performance and robustness cannot be neglected anymore. For this purpose, the study presents the theory
and simulation results of a demodulation scheme applied to Sensorless PMSM control based on the Pulsating
Voltage Injection (PVI) technique. Comprehensive simulations, carried out under MATLAB/SIMULINK®, are
discussed according to the variation of the PLL proportional and integral parameters.
Keywords: Demodulation scheme, low speeds, Permanent Magnet Synchronous Motor (PMSM), Phase Locked
Loop (PLL), Pulsating Voltage Injection (PVI) technique, rotor position estimation
5129
Res. J. Appl. Sci. Eng. Technol., 7(24): 5129-5134, 2014
b
Vsdc d ( Real rotor reference )
q
Vb
sq
qc
V
sqc Vsd +
∆θ e
V
θˆe
θe a ( Real stator reference )
Va
Vc
c
Fig. 1: Relation between the (d, q) and estimated (dc, qc) rotor reference frames
ψ sd Lsd isd + ψ f
= (2) where,
ωc = The HF injected voltage pulsation
V cmax = The maximum voltage of the HF injected
and,
voltage
ψ sq = Lsq isq (3) Then, the stator voltage equations at high
frequency, considered in the (dc, qc) rotor reference
The electromagnetic torque is given by Eq. (4): frame are given by Eq. (7):
5130
Res. J. Appl. Sci. Eng. Technol., 7(24): 5129-5134, 2014
where, L1Vcmax
icn = (18)
jωc Lsd Lsq
Lsd + Lsq
L0 = (13)
2 i cp = The positive component of the HF current vector
and is proportional to the average value of the (d,
and,
q) stator inductances.
Lsd − Lsq i cn = The negative component of the HF current vector
L1 = (14) and is proportional to the (d, q) inductances
2 variation level.
The stator voltage equations can be simplified by
Starting from (14), the relation between the carrier
considering the following assumptions (Aihara et al.,
current components (i sqc and i sdc ) and the error rotor
1999; BelHadj Brahim et al., 2012):
position Δθ e is highlighted. Then, it is well shown that
saliency effect is necessary to estimate the rotor
• The stator resistance R s can be neglected compared
position using the HFSI technique. Moreover, the
to the high frequency reactance.
Eq. (16) shows that the carrier current component i sqc is
• HF injected voltage pulsation ω c is very higher
directly proportional to the rotor position error Δθ e .
compared to ω e , so ω e is assumed to be neglected.
Then, it is easier to extract the rotor position from i sqc
• The production of the back-EMF is negligible
than from i sdc , (Aihara et al., 1999; BelHadj Brahim
because the vibration of the rotor is very small.
et al., 2012).
Thus, stator voltage equations given by (7) can be In this study, Eq. (19) will be considered to extract
approximated as follows: the rotor position error:
Vsdc Ldc − Ldqc isdc isqc = icn sin(2∆θ e )sin (ωc t) (19)
= jωc (15)
V
sqc − Ldqc Lqc isqc
CARRIER CURRENT DEMODULATION
SCHEME IN CLOSED LOOP CONDITIONS
Then, the PMSM high frequency stator currents
defined in the estimated rotor reference frame (dc, qc)
and resulting from (15) are given by Eq. (16): Sensorless SVPWM control strategy: Figure 2 shows
the classical sensorless SVPWM control scheme used
for the PMSM drive. This sensorless control strategy is
isdc icp -icn cos(2∆θ e )
= sin (ωc t) (16) based on a PI speed controller, a PI direct current
isqc icn sin(2∆θ e ) controller, a PI quadratic current controller and a rotor
i sq θˆe
abc i sa
dq i sb
θˆ
e
PMSM
isd
ωˆe d θˆe θˆe Position
dt extraction
isq
5131
Res. J. Appl. Sci. Eng. Technol., 7(24): 5129-5134, 2014
isdc isd
HPF
sin(ωct )
ωˆe
∆θe _ ref =
0
θe PI ∆ωe ωˆe θˆe
+
− ∆θe controller
−+ Integration
ωeref
position extraction module. In addition, conventional θ e can be directly extracted from the PMSM rotor
transformations and modules for SVPWM control such position 𝑖𝑖𝛥𝛥𝛥𝛥𝑒𝑒 using a Phase Locked Loop (PLL).
as Clark, Park and inverse Park transformations and
space vector PWM generation module are considered. Phase Locked Loop (PLL) strategy: In order to
The i sd_ref has been set to zero in order to obtain the
extract the rotor position 𝜃𝜃�𝑒𝑒 , a closed loop control
maximum torque.
scheme based on a PLL strategy has been used. The
The demodulation strategy to extract the rotor
position error principal will be detailed in the next PLL consists of a PI controller and an integrator. The
subsection. use of the PI controller allows the estimated speed 𝜔𝜔 �𝑒𝑒
processing and therefore, the rotor position error Δθ e
Demodulation strategy: In order to extract the rotor minimization.
position error Δθ e from (19), i sqc must be demodulated. The PLL position controller feedback path shows
The demodulation scheme principle is shown in the electric measured position θ e which is the input of
Fig. 3. In fact, the current signal i sqc , oscillating at the the (a, b, c) to (d, q) transform block (Fig. 2). Then, the
signal injection frequency f c , is obtained from i sq using (d, q) PMSM supply currents are applied as inputs to
a High-Pass Filter (HPF). the demodulator (Fig. 2) which in turn estimates the
The current signal i sqc is then demodulated by PMSM rotor position, that allows closing the
multiplying it by a sinusoidal wave at the same loop.
frequency as the carrier. The obtained signal, noted Usually, it is very difficult to set the PI controller
i sqc_m , is given by the Eq. (20): parameters of the estimator since there is not a standard
method to perform the controller parameters. Besides, it
icn i
isqc _=
m isqc sin (ωc=
t) sin(2θe ) - cn sin(2θe )cos(2ωc t) is very complicated to determine the transfer function
2 2
of the system (Fig. 4).
(20)
Then in this study, a universal PLL is considered to
study the PLL parameters variation impact on the rotor
The i sqc_m is Low-Pass Filtered (LPF) in order to
position estimation performance.
extract the signal containing the error rotor position
noted 𝑖𝑖𝛥𝛥𝛥𝛥𝑒𝑒 .
Impact of the PLL parameter variation on the
Finally, as Δθ e aims at a low values, then 𝑖𝑖𝛥𝛥𝛥𝛥𝑒𝑒 can
R
4
3
3
2
1 2,456 2,464
0
2.5
performances. Moreover, a desired position error can be BelHadj Brahim, O., H. Ben Attia Sethom,
obtained for several values of the PLL integral H. Sammoud and I. Slama Belkhodja, 2011.
parameter. Then, it is difficult to establish the law Optimized high frequency signal injection based
governing the rotor position error variation according to permanent magnet synchronous motor rotor
Ki. position estimation applied to washing machines.
Am. J. Eng. Appl. Sci., 4(3): 390-399.
CONCLUSION BelHadj Brahim, O., H. Ben Attia Sethom,
H. Sammoud and I. Slama Belkhodja, 2012. AVI
This study has presented PMSM rotor position demodulation schemes for IPMSM position
estimation for sensorless vector control using a estimation at standstill and low speed: A review.
Pulsating Voltage Injection Technique at low speed. Trans. Syst. Sig. Devices, 7(2): 1-18.
In literature, PVI techniques are usually known to Boucetta, A., 2008. Vector control of a variable
be associated to the use of universal PLL and to be reluctance machine stator and rotor discs
parameters independent. Therefore, it has been shown imbricates. Am. J. Eng. Appl. Sci., 1: 260-265.
in this study that the PLL parameters have an important El Murr, G., D. Giaouris and J.W. Finch, 2008.
influence on the position estimation performances, Universal PLL strategy for sensorless speed and
especially as it is difficult to set the PI controller position estimation of PMSM. Proceeding of the
parameters of the position estimator according to IEEE International Industrial and Information
known rules since there is not a particular method by Systems Conference, pp: 1-6.
which these parameters may be performed. Feraga, C., A. Moussaoui, A. Bouldjedri and A. Yousfi,
Moreover, it can be noted that the difference 2009. Robust position controller for a permanent
between the actual and the estimated speed at the magnet synchronous actuator. Am. J. Eng. Appl.
beginning of the estimation process may also have an Sci., 2: 388-392.
impact on the estimation processing. George, M., 2008. Speed control of separately excited
The PMSM rotor position estimation using a PLL DC motor. Am. J. Appl. Sci., 5: 227-233.
requires to be performed at closed loop conditions. Kechiche, O.B.H.B., H.S. Attia, H. Sammoud and
Then, the technique performances degrade as I.S. Belkhodja, 2011. Continuous HFSI techniques
approaching the standstill region and this may limit the applied to rotor position estimation of IPMSM at
performance of this technique. An experimental standstill and low speed-A survey. Proceedings of
benchmark is currently in progress in order to validate the 8th International Multi-Conference on Systems,
the obtained results. Signals and Devices. Sousse, March 22-25, pp:
1-10.
REFERENCES Paramasivam, S. and R. Arumugam, 2004. Real time
hybrid controller implementation for switched
Aihara, T., A. Toba, T. Yanase, A. Mashimo and reluctance motor drive. Am. J. Appl. Sci., 1:
K. Endo, 1999. Sensorless torque control of salient 284-294.
pole synchronous motor at zero-speed operation. Sakamoto, K., Y. Iwaji, T. Endo and Y. Takakura, 2001.
IEEE T. Power Electron., 14: 202-208. Position and speed sensorless control for PMSM
Asseu, O., T.R. Ori, K.E. Ali, Z. Yeo, S. Ouattara drive using direct position error estimation.
et al., 2011. Nonlinear feedback linearization and Proceedings of the 27th Annual Conference of the
observation algorithm for control of a permanent IEEE Industrial Electronics Society. Denver, CO,
magnet synchronous machine. Asian J. Appl. Sci., pp: 1680-1685.
4: 202-210.
5134