Synchronous Motor Drive

Control System with

Prescribed Closed-Loop
Speed Dynamics

Dodds, J., Stephen*, Vittek, Jn**

*University of East London, School of Computing &
Technology, UK
**University of ilina, Faculty of Electrical Engineering,
Dept. of Power Electrical Systems, SK
 Model of Permanent Magnet
Synchronous Motor
R Lq 1
s p r 0
d i d Ld Ld i d p r 0 Ld u
d
R s i q L PM
dt i q Ld 1 uq

p r q

0
Lq
Lq Lq

d r
dt

1
J c
5 PM i q Ld Lq i d i q L
d r 1 d r
el L r
dt J dt

Non-linear differential equations formulated in the

magnetic field-fixed d,q co-ordinate system
describe the permanent magnet synchronous motor
and form the basis of the control system
development.
 Control System Structure For
PM Synchronous Motor

outer loop sub-plant

d r
dt
r
r
d r 1

c5 PM i q Ld Lq i d i q L el L
1

dem Master slave

dt J J

control control inner loop sub-plant

R Lq 1
s
law Idem law U i
d d Ld
p r
Ld i d p r 0
d L
0
u
i L

R s i q L d
1 u q
dt q PM 0
p r d q
Lq Lq Lq

r

L
estimator I inner loop
outer and
loop observers SJD
Complete control structure of electric
drive with synchronous motor
r _d Transf. ia_dem
ua
Master id_dem
control dq / a_b ib_dem Slave POWER ub
law iq_dem control
and ic_dem electronics SMPM
law
a,b / a,b,c uc

ia ib
L ua,b,c
Discrete Transf.
r ia ib ic
two phase abc / a b
oscillator and
id
d Mg. flux
a,b / d,q
calculator iq


r
q ud uq id iq
i vd_ekv
d
Filtering observer iq Angular Sliding mode
velocity vq_ekv Observer
Extractor


 Discrete Time Two-Phase
Oscillator
The discrete time two-phase oscillator produces the
transformation matrix elements, needed for the
transformation blocks.

x1 k 1 x1 k p r h x 2 k

x 2 k 1 x 2 k p r h x1 k 1

x 3 k 1 x1 k 1
1
p r h x 2 k 1

2

where the new transformation matrix elements

are equal to sin r t X2 k 1 and

cos r t X3 k 1

.
 Master Control Law

d r1

c i q i d L
dt J 5 d q
1
J 1

c5 d iq q i d L d r
T1

motor equation linearising function
d id q iq 0
d r

1
d t T1

d r demanded
dynamic
demanded values of the
vector control terms current components
d id q iq a
a 0 i d dem


L
J

d r


T1 q



i
a I cos( ) 90 o q dem c5 2d 2q d
 Acceleration Demands for
100
Three Various Dynamics
80

Constant Acceleration
60

40

20
d=f(t) id=f(t)

d
dyn J * a d * sign d
r
0

ad
-20

-40

-60

-80

-100
T1
0 0.5 1 1.5 2

First Order Dynamic

100
90

80

=f(t)

70

J
a d d r dyn * d
60
1
50
40 r
30
20

10
T1 T1
0
0 0.2 0.4 0.6 0.8 1

120

Second Order Dynamic dyn J * a d

=1
100

=0.5 =1.5

80

=f(t)
a d _ n a d 2n d
r 2n a d * h
60

40
d
20 f t
dt
0

-20
ad ad _ n
0 0.5 1 1.5
 Slave Control Law

Proportional High Gain Slave

Control Law

U sat G I Id I , U max
Bang-Bang Slave Control Law

U U max sgn I d I
A High Gain Proportional Control Law with Voltage
Saturation Limits was used for simulation
Bang-Bang Control Law Operating in the Sliding
Mode (switching strategy for two-phase version
is satisfactory determined).
The Sliding Mode Observer and
Angular Velocity Extractor
The basic stator current vector pseudo The required
sliding-mode observer is given by: estimates is
1 equivalent values
L 0 v
d i*d ud
veq d id i*d
* d
1 uq v
eq d
dt i q p eq q
v Ksm *
Lq eq q iq iq

where K sm is high a
For the purpose of producing a useful gain

formula for v
perfect
eq constant parameter
estimates may be assumed:
unfiltered angular
Rs Lq velocity estimate
*
p r i
veq d Ld Ld d p*r 0 can be extracted
v L R s iq Lq PM Lq veq q R s iq
eq q p*r d *r

Lq Lq p Ld id PM
 The Filtering Observer
r and L are produced by the
Filtered values of
observer based on Kalman filter
e r
1

r ~ c5 PM i q


J
Ld Lq id iq L k e

VJ k e
L

r
where:
~ ~
k J T2 k 2 J T
K K
needs adjustment of the
one parameter only.
1 1
1 ~ ~
~ c5 PM i q
J
Ld Lq i d i q
~ ~

s s
d
 EXPERIMENTAL RESULTS

Electric drive with synchronous motor

consists of synchronous machine with
nominal parameters:
Pn 750[W] , n 314 [ rad / s] , P = 4 , R s 2.2 [] ,

Ld 6.06[ mH ] , Lq 5.73[ mH ] , PM 0119

. [ Vs] ,

J 0.00035 [ kgm2 ] .

Parameters of IGBT FUJI 6MBI-060 are as follows:-

nominal voltage: 600 [V] , nominal current: 6x10 [A].
Current sensors are as follows:- LEM LTA 50P/SPI.
Measured Results for Synchronous
Motor with Constant Acceleration
Complex Current Current v. t
2 2

0 0 0

-2 -2 -2
Complex Mg. Flux 2 0 Mg. Flux v. t 0.5
0.2 0.2

0 0 0
-0.2 -0.2
-0.2 Observed Values 0.2 0 Rotor Speed 0.5
100 100
50
50
0
0 -50
0 0.5 1 -0.5 0 0.5 1

T1 = 0.1 s , d = 60 rad/s
Measured Results for Synchronous
Motor with Constant Acceleration -
osciloscope screen

1 - angular velocity, 2 - current in phase A

T1 = 0.1 s , d = 60 rad/s
Experimental results for idle running
synchronous motor and first order
speed demand .
Complex Current Current v. t
5 5

0 0

-5 -5
-5 Complex Mg. Flux 5 0 Mg. Flux v. t 0.4
0.2 0.2

0 0

-0.2 -0.2
-0.2 Observed Values 0.2 0 Rotor Speed 0.4
100 100
50 50
0 0
-50 -50
0 0.5 1 -0.5 0 0.5 1
T1 = 0.05 s , d = 80 rad/s
Experimental results for idle running
synchronous motor and second order
speed demand - osciloscope screen

1 - angular velocity, 2 - current in phase A

Tset = 0.15 s , d = 80 rad/s

Experimental results for idle running
synchronous motor and second order
speed demand
Complex Current Current v. t
5 5

0 0

-5 -5
-5 Complex Mg. Flux 5 0 Mg. Flux v. t 0.4
0.2 0.2

0 0

-0.2 -0.2
-0.2 Observed Values 0.2 0 Rotor Speed 0.4
100 100
50 50
0 0
-50 -50
0 0.5 1 -0.5 0 0.5 1

Tset = 0.15 s , d = 80 rad/s

Experimental results for idle running
synchronous motor and first order
speed demand - osciloscope screen

1 - angular velocity, 2 - current in phase A

T1 = 0.05 s , d = 80 rad/s
 Experiments with 2nd Order
Dynamic for Various Damping
60
z0.5
50

40
z2
30

20
z1
10

-10
-0.2 0 0.2 0.4 0.6 0.8

Tsettl=0.3 s , d = 40 rad/s
 Experimental Results
for Synchronous Motor Drive
Constant Acceleration Second Order Dynamic

d= d=
600 rpm, 600 rpm,
Tramp= Tsettl=
0.05 s 0.3 s

Vector Animation "Stator current & Rotor flux"

First Order Dynamic 2
Imaginary Axis
1.5

d= 0.5

0
Control of the
angle between
rotor flux and
800 rpm, -0.5
stator current
vectors

Tsettl= -1
0.0145 0.0086 81.5866
Time [s] Flux Norm [Vs*Vs] Angle [deg]
0.3 s -1.5
Real axis
-2
-2 -1.5 -1 -0.5 0 0.5 1 1.5 2
Conclusions and Recommendations

A new approach to the control of electric drives with

permanent magnet synchronous motors, based on
feedback linearisation has been developed and
experimentally proven.
Three various prescribed dynamics to speed demands
were achieved.
Further research will focus on the application of the
new approach to enhancement of control system for
outer loop based on MRAC or SMC to improve
precision of control.