Ministry of education and science

Federal State budgetary institution of higher education

"Tomsk Polytechnic University"

Amr Refky Ali Abd El-Whab

DEVELOPMENT OF CONTROL ALGORITHMS FOR ELECTRIC

DRIVE BASED ON PERMANENT MAGNET SYNCHRONOUS
MOTOR IMPROVING DYNAMIC PERFORMANCE

Abstract of Thesis
for the degree of Ph.D. degree in technical sciences

Specialty №. 05.09.03 – Electrical Complexes and Systems

Scientific supervisor
Assistant Professor
Dementev Yu. N.

TOMSK – 2012
The work done in the Federal State budgetary institution of higher
education "National Research Tomsk Polytechnic University"

Scientific supervisor: Assistant Professor

Dementev Yu. N.

Official opponents: Doctor of Technical Sciences

Professor Ivanchura Vladimir Ivanovech

Candidate of Technical Sciences

Bogdanov Alexander Alexanderovech

Lead organization: Irkutsk State Technical University, Irkutsk.

Defense of the thesis will be "12" in March 2012 at 15:00 at the Council
for doctoral and PhD theses at D212.269.11 in "National Research Tomsk
Polytechnic University" in the hall №.217 Academic Building №.8:
634034, Tomsk, Usova st., 7.
Еhe thesis can be found in the library of "National Research Tomsk
Polytechnic University" at: 634050, Tomsk, Belinsky st., 55 or online at:
www.lib.tpu.ru.

Scientific Secretary
Council for doctoral and PhD theses
Ph.D., Associate Professor Dementev Yu. N.
 GENERAL DESCRIPTION OF THE THESIS

Relevance of the work

The use of permanent magnet synchronous motors is one of the
most promising directions of development of electric drive. These motors
are now available in a wide range of capacities from a few watts to tens
of megawatts. The advantage of these motors to other types of motors is
small size, ability to work with high angular velocity, low moment of
inertia, low electromagnetic and electromechanical time constants, which
allows to implement of highly dynamic technical systems on their basis.
These advantages of permanent magnet synchronous motors
(PMSM) make them suitable for various applications, including robotics,
where a combination of qualities such as high torque, low weight and
compact dimensions, high performance are required.
If weight and size parameters of permanent magnet synchronous
motors are formed at the design stage of motor, the dynamic
characteristics are determined to a large extent control system. A
significant contribution to the creation and improvement of the DSP and
electric drives based on them have been engaged in many Russian and
foreign scientists A.K. Arakelyan, A.A. Dubensky, O. G. Wegner, I.A.
Vevyurko, D.A. Zavalishin, A.A. Glotov, D.V. Korelsky, J. E.
Ovchinnikov, V.V. Pankratov, H. G. Sokolovsky, V.A. Florence, T.D.
Batzel, S. Boyuchiker, G. A. Sarolino, N. Gabran, A. Glyumianyu, D.
Greiner, F.E. Hyussin, E. Kadiappan, J. H. Kang, D.H. Kim, R.
Mohamed, A. Yu. Mohamed, J. C . Moreira, P. Pillai, M. Rahman, D.
Todd, M.N. Uddin, P. you, L. Zhong, and many others.
From the analysis of existing works, the design of control systems
with PMSM there is a contradiction between the reaction of the
electromagnetic torque and level of electromagnetic torque ripple.
Practical implementation of electrical control system based on the DSP,
which provides superior dynamic performance has been hampered by the
lack of elaboration of the control algorithms in such an electric drive.
Based on the foregoing, it should be noted that the issue of development
of control algorithms based on the synchronous electric motor with
permanent magnets, which provides high performance and low levels of
electromagnetic torque ripple is still not fully resolved and it is relevant.
The object of this study is: electric drive based on a permanent
magnet synchronous motor for highly dynamic process equipment.
The subject of study is: control algorithms for electric drive with
PMSM and its dynamic characteristics
The aim of the thesis is: to improve the dynamic performance of
the electromagnetic moment loop on the basis of a permanent magnet
synchronous motor.
To achieve this goal it is necessary to solve the following tasks:
1. To develop control algorithms for PMSM drive with a high response
and low ripple of electromagnetic torque;
2. Create a simulation model based on PMSM drive for the study of
dynamic characteristics;
3. To analyze the effect of sampling time of control systems on the
magnitude of the pulses of electromagnetic torque;
4. Carry out experimental studies on the basis of the PMSM drive with
different control algorithms under dynamic conditions and to evaluate
the results.
Research methods: To solve these tasks, applied of theoretical and
experimental research methods are used: In theoretical methods a
mathematical model of the motor, based on the Park-Gorev
transformation, the theory of electrical machinery and electric drive, the
methods of the generalized electric machine, mathematical analysis,
computer and mathematical modeling.
Reliability and validity of the results and conclusions of the
thesis: is confirmed by well-posed problems, reasonableness and
adequacy of the assumptions used in the study of the mathematical
model, using the well-known simulation environment Simulink package
MatLab, test results on the experimental setup, both qualitative and
quantitative data comparing the theoretical studies with experimental
data.
Scientific novelty of the thesis is as follows:
1. The formation of signs of the derivatives of the electromagnetic torque
and stator flux vector module of PMSM for effective control of the
state of. PMSM.
2. Obtained algorithms for direct control of electronic switches of the
inverter for PMSM drive, characterized in that they provide high
performance at a relatively low level of ripple of the electromagnetic
torque.
3. The relationship between the amplitude of possible ripple of the
electromagnetic torque of PMSM, the sampling time of control system
and the parameters of the PMSM, which determines the conditions of
application of control algorithms in real time.
The practical value of the work:
On the basis of the proposed algorithms for the electric drive
system based on PMSM were developed:
 A modeling computer program in MatLab, allowing to carry out the
study of dynamic and static modes of the drive system based on
PMSM;
 Software for the control system, implemented on a commercially
available modern DSP based PMSM;
 The experimental setup allowing a qualitative and quantitative
evaluation of the results of theoretical investigations.
On protection submitted:
1. Analytical expressions that allow to construct algorithms for forming
the necessary voltage vector to control the stator flux vector and the
electromagnetic torque of PMSM;
2. Control algorithms for a PMSM drive that provide the best possible
formation of the derivatives of the moment and flux, subject to the
limitations in voltage for maximum performance;
3. The results of the comparison of static and dynamic characteristics of
a PMSM is controlled by the developed control algorithms with
classical control algorithms – field oriented control and direct torque
control for response and ripple of electromagnetic torque;
4. The functional relationship between the sampling time of control
system for PMSM, its parameters and the possible ripple level of
electromagnetic torque.
CONCLUSION
This thesis addressed the problem of controlling the electric drive
based on a PMSM, improving of its dynamic characteristics and
efficiency work of electric drive
The main results of this work are as follows:
1. A mathematical model based on PMSM is designed, which takes into
account the peculiarities of the inverter such as the "dead time", and
the sampling frequency of electric control system.
2. As a result, the identified patterns of processes in PMSM in the
control of their condition, obtained the mutual relationship of the
vectors of stator and rotor flux linkages, providing the necessary signs
of the derivatives of controlled variables.
3. Developed new algorithms for control of electromagnetic torque and
stator flux linkage PMSM. It is established that, all the developed
control algorithms have the same response, comparable to the classical
direct torque control, and superior to about 10 times the speed of
actuator and control field oriented control.
4. Determined the functional relationship between the sampling time of
control system with PMSM, its parameters and the required level of
electromagnetic torque ripple. Revealed that the torque ripple with the
differential algorithm control at a frequency of 10 kHz PWM is about
1.35 times smaller ripple than filed oriented control, and 3.35 times
smaller ripple compared with the classical direct torque control at the
sampling frequency of 100 kHz.
5. The influence of "dead time" on the bandwidth of the current (torque)
of the drive based on a PMSM. Found that at a frequency of 5 kHz
PWM in the upper threshold bandwidth for vector control is limited to
a frequency of 400 Hz, and the increase in switching frequency to 10
kHz increases the upper limit of the bandwidth to 800 Hz.
6. The influence of the voltage in the DC link and inverter duty cycle of
PWM on the time constant of the stator winding PMSM. Calculated
dependence of the equivalent time constant of the PWM duty cycle at
work in the area of "low" voltage, which allows comparing the value
of the minimum and the actual time constant of the electromagnetic
motor.
7. Experimental studies on the basis of the PMSM developed algorithms
for control systems laboratory stand showed performance and
efficiency of electric drive for response and torque ripple in the
dynamic mode