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DIRECT VOLTAGE AND CURRENT CONTROL SCHEMES APLLIED TO PERMANENT

MAGNET SYNCHRONOUS MOTOR

Conference Paper · September 2005

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 DIRECT VOLTAGE AND CURRENT CONTROL
SCHEMES APLLIED TO PERMANENT MAGNET
SYNCHRONOUS MOTOR
O. Hasnaoui*, H. Brahmi**, N. Hidouri***, R. Dhifaoui**
* **
Department of Electrical Engineering Department of Physics and Instrumentation
High Institute of Sciences and Technology, National Institute of Applied Sciences and
Tunis, Tunisia Technology, Tunis, Tunisia
***
Department of Electrical Engineering
High Institute of informatics and
Technology, Tunis, Tunisia

Abstract - This paper proposes and develops two main AC drives functions. The first one deals
with the development of a direct voltage control (DVC) scheme that can be applied in various
applications. The second function develops a current control regulator (CCR) applied to a
permanent magnet synchronous motor (PMSM). In the DVC scheme study, we have shown the
possibility to generate accurate voltage forms of waves by selecting inverter voltage vector
determined with a very strong min (max) criterion. In the CCR, we have studied the possibility
to describe PMSM by a simple circuit and to control its current with high gain voltage
controller working as a like-state observer. The two functions are validated successfully by
intensive simulations. Very promising results are presented and commented.

1. INTRODUCTION frame work of using knowledge look-up tables to select

The Direct Torque Control (DTC) method proposed by
Takahashi and Depenbrok [1,2] for induction machines
(IM) has the advantage that it is based only on the
measurement of instantaneous stator current and the
estimation of instantaneous stator flux. Flux and torque
errors with respect to the reference values are used to
determine the optimum inverter switching state. The DTC
scheme is therefore a very simple control structure
requiring a pair of bang-bang controllers and a
knowledge look-up table to select an adequate voltage
vector to supply the induction machine. DTC is also
simpler to implement than the field oriented control
methods (FOC), [3, 4], that need PI controllers, PWM
modulator and a lot of rotation operators. Furthermore,
DTC is on the other hand less machine parameters
dependence and it is by nature a speed sensorless scheme.
These potentialities of DTC have given interesting
opportunities to apply it practically for all AC machines.
Intensive theoretical and practical studies and
investigations have been in fact carried out with DTC
principle, in particular for Permanent Magnet
Synchronous Machines (PMSM) [5, 6 and 7].
the inverter voltage vector. We have proposed in [8, 9] to
replace the switching table by an analytical criterion. In
particular in [10, 11] we have transformed flux and
torque errors into a complex vector error that we have
resolved analytically. This way permits some possibilities
to link the flux reference to the torque one.
In this paper, the concept of analytical direct torque
control (ADTC) is extended to realise a like pulse width
modulation voltage solution (LPWM) and to apply it to
PMSM. Flux and torque commands are first converted to
a needed instantaneous current reference. Secondly, a
reference voltage vector is defined and realised by the
ADTC scheme. The proposed technique can be classified
as a direct voltage control (DVC). Simulations have
shown that the mean instantaneous value of the
synthesized voltage signal is very close to a standard
PWM solution. These simulations have also shown that
number of commutations per period is less then the one
obtained by PWM.
2. A DIRECT VOLTAGE CONTROL (DVC)
SCHEME

For IM, torque and flux commands are independently
fixed without imminent negative effect on the desired
operating point. For PMSM, however, it is important to
connect these commands if some particular optimisation
constraints are needed. In this way, flux command should
be accurately computed from torque command.
Unfortunately, this is not a simple work to realise in the
Fig.1 gives a general view of voltage vectors generated
by a standard inverter in the space of Concordia’s
stationary reference frame. Without loss of generality, let
us consider that at some time, the control law requires a
reference voltage ( v ref ) located in the sector number
one.
 N
q N1 + 2 (1 + j 3 )
ρ j ζ 2
v3 v2 ε= ε = e − = f (ρ, N, ζ ) (5)
2 N
2
Fig.2 gives the evolution of error magnitude in % versus
3 vref
v1 the voltage angle in the case ρ = 1 and N = 10 . We notice
ζ 1
v4 that the error remains less then 7% on this angular
d
interval. Because of the well known periodicity property
4 6
of the switching time intervals (relations (3)) of SPWM,
5 this error will remain less than 7% over all the 360°
space.
v5 v6
7
Fig.1 Space Concordia’s inverter voltage vectors
ε (%) Ts
ρ =1 N= = 10
6 Td
Average value of the voltage synthesized by the well
known SPWM technique is expressed by equation (1) 5

where ρ and ζ are respectively voltage ratio and angle of 4

( v ref ) with respect to the considered sector. 3

2
ρ
v ref = e jζ , ρ ∈ [0 1] , ζ ∈ [0 60°] (1)
2 1
ζ (DEG )
The first sector is limited by voltage vectors v1 and v 2 . 0
0 10 20 30 40 50 60
When normalized by the admissible voltage limit, these
vectors verify respectively relations (2). Fig.2. Error evolution (in %) for ξ ∈[0 60°]

v1 = 1 We have also studied the variation of the defined error

 with respect to different values of N and ρ and at each
 j60° = 1 (2)
v 2 = e (1+ j 3 ) case we have retained the absolute maximum error. Fig.3
 2 summarizes the obtained results. It is evident that if N is
great enough, we theoretically converge to the same
In the sense of SPWM principle, these two vectors will result as SPWM solution. In other words, the error will
be applied respectively during two time intervals τ1 and vanish. When analysing the possibility to admit some
τ 2 defined by the following solution: error level, it is obvious to specify admissible limits on N
and ρ .
τ1 = Ts ρ sin(60° − ζ ) τ 2 = Ts ρ sin(ζ ) (3) 60

max(error(%) = F(Ts / Td )
Let's now consider that time is computed by a discrete 50
clock having a sampling period Td chosen N time
smaller then the period Ts used by the SPWM routine 40
ρ = 0.25
(Ts = N Td ) . During the SPWM period Ts , vector v1
30
will be used respectively N1 times while vector v2 will ρ = 0 .5 ρ = 0.75
be used N 2 times. Integers N1 and N 2 are defined by 20
ρ =1
their rounded values that verify:
10

 N1 = round ( N ρ sin(60° − ζ ) )
 (4) 0
0 10 20 30 40 50
 N 2 = min ( round ( N ρ sin(ζ ) ) , N − N1)
Fig.3 Error evolution in % for different values of ρ
Because of the sum ( N1 + N 2 ) isn’t necessary equal to N,
at the end of the SPWM period Ts there will be an error This means that by a compromise to be made between the
between the theoretical average voltage value and the demanded magnitude of the vector voltage and the
actually synthesized one. The magnitude of this error is period Td , an average vector voltage can be obtained
expressed by the following relation showing its with sufficient precision. By this we mean that instead of
dependence on the integer N, the voltage ratio and angle.
operating by SPMW technique with large period Ts , we
can directly select after some shorter time interval Td
one of the available inverter voltage vectors.
Let’s designate by n ( t ) the selected one among the seven
inverter voltage vectors. To force the average voltage to
converge to the command value, we select n ( t ) so that it
minimises the voltage error along time. This constraint is
expressed by the following criterion:
n(t) → min(ε( t )) = min [ ∫ ( v ref ( t ) − v(n ( t ))) dt ]
As the vector voltage is constant during the considered
time interval, one can express the evolution of voltage
error by equation (7) and select the best inverter voltage
vector according to the norm minimisation equation (8):
ε (n ( t k )) = εd + j εq = ε ( t k ) + Td ( vref ( t k ) − v( n ( t k )))
n ( t ) → min ε( n ( t )) = min ( ε 2 (n ( t )) + εq
2 (n ( t )) )
d components to those of stator flux. The system is
The above minimization integral criterion must naturally
respect at any time d and q components. In some
previous studies [12] where we have used this criterion in
the direct torque control of PMSM, it has been observed
that in certain cases, this criterion could have the same
value for two vectors voltage. This situation occurs when
the vector error is exactly located between two
consecutive voltage vectors. As indicated by Fig.4, the
two vectors have the same effect on the correction of the
direct component and they have opposite effect on the
correction of the quadrature component.
Td v 2
60°
Td v1
εo
d factor. For a conventional synchronous machine with a
Fig.4: Effect of symmetric voltage vectors
To overcome this undesirable situation, it has been
proposed in [12] to replace the norm criterion by a
criterion named min(max). The principle of this criterion
is to minimise the minimum of the maximum between
direct and quarature components of the voltage error.
That is, the best voltage vector is selected according to:
n → min (ε(n )) = min (max( εd ( n ) , εq (n ) )
n =1,..,7 n =1,..,7
This direct voltage control (DVC) scheme is summarized
by the following major three steps:
i) choose a vector voltage and compute the new
associated d and q components of the flux error by
equation (9). The maximum absolute value of these
components is retained and saved,
ii) repeat step i) for the other voltage vectors,
iii) sort the seven saved values in increasing order, select
the first one and detect the associate index voltage k .
3. SOME INSIGHTS ON PMSM CONTROL
(6) STRATEGIES
For PMSM, the same demanded torque and flux values
can be produced with different combinations of d-q
current components. This offers interesting possibilities
to realize some specific operating states in particular in
optimization point of view. In this way, we have
(7) developed in previous works two approaches DTC based.
In [11] we have developed a DTC based approach that
minimises stator current magnitude. In this work, we
(8) have established a relation linking stator current
therefore forced to evolve along the optimal current
trajectory (OCT) indicated by Fig. 5 giving the so called
Morday’s curves.
Fig..5 Mordey’s curves of PMSM
Later, in [12], we have realised another DTC based
approach dealing with optimisation of PMSM power
wounded rotor, working at minimum stator current
implies a unit power factor operating steady state. In [12]
we have proved that this property don’t hold for PMSM.
Fig. 6 gives the evolution of torque versus direct stator
current component respectively for unit power factor
(curve (a)) and current magnitude minimisation (curve
(b)) strategies. .
In both techniques, direct stator current component is
negative. On the other hand, for the same torque
(9) command, direct current component is significantly
reduced in the case of the unit power factor control
approach. From the economic point of view, this situation
is more suitable for PMSM working regimes because d is
high negative direct current can demagnetize the magnet vs = R s i s + Lp + er (14)
dt
and consequently reduce its life. It is in fact widely
recommended to operate PMSM with zero direct current. d (i s * e j2θ r )
e r = jω r ϕ r + L m (15)
On the other hand, and generally speaking, stator current dt
control remains the most appreciated technique in AC
drives for two fundamental reasons. First, the motor is Writing the salient PMSM model in this manner permits
protected from high inadmissible current intensities. to interpret its dynamic behaviour as non salient machine
Secondly, command voltage is sufficiently generated by a and to describe it by a classical circuit composed by a
high gain current control loop [13]. This constitutes the back emf behind only one flux linkage inductance as
major topics of the approach that we will develop. illustrated by Fig.7. This representation will be also
helpful to establish a current control law.

Lp
Rs

er vs

Fig.7: PMSM equivalent circuit for current control

Now, let’s consider Park’s synchronously rotating

Fig.6 : Effect of unit power factor and minimum current magnitude on
direct current component reference frame with direct rotor axis and distinguish
variables by capital characters. Using the rotation
4. SALIENT PMSM MODELS operator e− jθr for stator current as example, one
obtains:
When Concordia’s stationary reference frame is used,
stator voltage, current and flux of PMSM are governed by
d is d Is
Ohm’s law given by equation (10) written with standard e − jθ r = + jωr Is (16)
notations and in complex form. dt dt

d ϕs Therefore, in Park’s formulation, voltage equation (10)

vs = R s i s + (10) and flux equations (11) become:
dt

For salient PMSM, d-q axis inductances Ld and Lq are d Φs

= V s − R s I s − jω r Φ s (17)
dt
different and stator flux ϕs is linked to stator current is , Φ s = Φ ds + j Φ qs = Φ r + Ld Ids + j Lq Iqs (18)
rotor flux ϕr and electric rotor position θr by the
following equation where (*) is the conjugate complex of Electromagnetic torque, which is naturally invariant from
the considered quantity. the considered reference frame, is given by equation (19)
where parameter p holds for the number of pairs of poles.
ϕs = ϕr + L p is − L m is*e2 jθr (11)
C = p (Φ ds I qs − Φ qs I ds ) (19)
Lq + Ld Lq − L d
Lp = Lm = (12)
2 2
5. A CURRENT CONTROL SCHEME
As the magnitude Φ r of the rotor magnet flux ϕ r is
Controlling PMSM with zero direct current returns to
constant, we have at any instant: establish electromagnetic torque in the same manner as in
standard DC motors applications. This implies:
d ϕr
ϕr = Φ r e jθr = j ωr ϕr (13)
dt C = p Φ r Iqs (20)

By combining equations (10), (11) and (13), we establish: So, stator current reference in Concordia’s stationary
reference frame is expressed by:
 C ref j(θ r + π / 2)
= I ref e j(θ r + π / 2)
generate the numeric value of e r . This variable is
i sref = e (21)
pΦ r defined by equation (15). The first term is available from
speed measurement. The calculation of the second term
Let’s consider the time t k corresponding to the end of needs to digitalize measured current and evaluate its
numerical time derivative. This would be difficult and
the inverter switching period Td and designate
inaccurate. It is possible to void this procedure by
respectively by isk and erk stator current and rotor emf. assuming that stator current reaches quickly its command.
Just at this time, stator voltage vs jumps to a new value This assumption permits to determine easily the
vsk +1 changing therefore current time derivative and demanded term. So, by replacing i s of equation (15) by
consequently its dynamics. At time t k +1 corresponding i sref of equation (21), one deduces the following relation
to the end of this new switching period, stator current needing only speed measurement to be estimated.
reaches a value i sk +1 . Because inverter switching period
is very short, stator voltage is constant and rotor emf is a er = jωr Φ r + ωr L m Iref e jθr (25)
slow dynamic variable, current variation can be
sufficiently estimated by first order Taylor series 6. SIMULATION RESULTS
expansion method. According to this, we can express:
A. Preliminary
disk disk
isk +1 = isk + ( t k +1 − t k ) = isk + Td (22) The general direct voltage control (DVC) methodology
dt dt
k k and the PMSM current control schemes proposed and
analysed previously are validated with intensives
By considering (14), we have also: simulations realised on Matlab/Simulink software.
PMSM’s data are given in Table I. In all simulated cases,
( vsk − R s is − e r ) the inverter is switched by a direct period Td = 25 µ s .
isk +1 = isk + k T (23)
Lp
d
Table I
The studied system data
In a recent work [13] dealing with voltage control for Rated voltage Vs 550 V
electrical power systems, authors have shown that for Rated torque 1400 N.m
circuits having the structure of Fig.8 with small
Rated speed 314 rad / sec
inductance, instantaneous current can be easily controlled
by a Like-Observer function written as follows where G Rated current 259A
Pole pairs 4
is a high gain to be established. Practical limit for this
Stator resistance Rs 0.034 Ω
gain should be great enough as compared to the reactance
Lω calculated at fundamental frequency. d-axis inductance Ld 2 mH
d-axis inductance Lq 4.3 mH
vsref = G (isref − is ) + e r (24) Rotor flux 1.3567 Wb
Inertia moment J
Applying this principle to control stator current of PMSM 0.5 kg m 2
leads to the structure control summarized by Fig.8.

DVC B. Validation DVC method

inverter DVC scheme is tested in generating various shapes of
signals, in particular sinusoidal wave, triangular wave and
Transf . ωr standard full wave inverter voltage. Results for these
three signals are summarized in Fig.9 to Fig.14; giving
isref 3/ 2
Current the reference signal (a) and the generated one (b) on the
regulator same drawing and indicate also the corresponding error.
er During these simulations, the inverter is fed by a DC
Φr voltage Vdc = 500 V . These results show that the
estimator
maximum mismatch remains admissible. The upper
Fig.8. Structure of the current control scheme registered value is lower than 10 %. We believe that the
In this structure appears the function DVC inverter proposed min(max) criterion for voltage vector selection
developed in section I. The remaining problem is how to is a strong rule giving in all cases reliable decision. It is
here important to notice that these simulations are carried
out with open loop functioning inverter. Next simulations
will concern the application in PMSM control.
Fig. 9 Response of DVC to sinusoidal wave
Fig. 10 Error of DVC in % for the sinusoidal wave
Fig. 11 Response of DVC to the triangular wave
Fig. 12 Error of DVC in % for the triangular wave
Fig.13 Response of DVC to full wave inverter mode
Fig. 14 Error of DVC in % for inverter full wave
C. Validation of current PMSM control
Initially, the permanent magnet synchronous motor is in
stall position. Then, the rated stator current command
(259 A) is applied at t = 0.1 s . As indicated by equation
(20), this corresponds to a nominal torque (1440 Nm).
The inverter is fed by a DC voltage Vdc = 788 V and the
motor is loaded by linear speed-torque load curve
described by:
C r = k r ω r = 4.4586 ω r (26)
Fig.15 and Fig.16 furnish respectively transient torque
response and its ripples in steady state. Curves (a) and (b)
of Fig.17 report respectively the steady state of direct and
quadrature components of stator current expressed in
Parks’ reference frame. Fig.18 shows the transient
evolution of stator current instantaneous components.
These results prove that the proposed control scheme
have realized the required work with very good accuracy
and with high dynamic response. Variables converge to
their commands in few cycles. Deviations encountered
around the demanded values are in fact very small. These
errors remain globally less then 3%. We believe that the
developed approach can be emphasised for practical
implementation. From economic point of view, material
speed sensor can be replaced by numerical one. We are
working in this area.

Fig. 15 Torque response
Figure 16: Ripple of the torque response
Fig.17. Components stator current responses
Fig.18. Wave of d-q components currents
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7. CONCLUSION
Two AC drives functions are defined and validated in this
work. These functions deal with direct voltage control
and current control and are applied in particular for
permanent magnet synchronous motor. We believe that
the major contribution of these approaches is how to
make the principle of direct control simpler and more
reliable. The direct voltage control scheme is built on a
powerful minimisation criterion to select best inverter
voltage vector. Tested in generating several voltage forms
of waves, this criterion has lead to very promising results.
The current control scheme is also successfully tested to
ensure a stator current command with zero direct
components. These promising results offer a good
opportunity to apply the realized developments in on-line
implementation.
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