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RV College of
Engineering

Field-Oriented Control
Algorithm

NAME SUHAS B
DEPARTMENT ECE
USN 1RV19EC174
SUBJECT E-MOBILITY
 Why FOC ?

• IM is superior to DC machine with respect to

size, weight, inertia, cost, speed
• DC motor is superior to IM with respect to ease
of control
– High performance with simple control due de-coupling
component of torque and flux
• FOC transforms the dynamics of IM to become
similar to the DC motor’s – decoupling the
torque and flux components
Basic Principles DC machine

By keeping flux constant,

torque can be controlled
by controlling armature
current
φa
Te = k I f I a

Current
φf in
Current out
 Basic Principles of IM

φs Stator current produce stator

a φr
flux
c’ b’ Stator flux induces rotor
current → produces rotor
flux
Interaction between stator
b and rotor fluxes produces
c torque
Space angle between stator
and rotor fluxes varies with
load, and speed
 FOC of IM drive - indirect

Torque equation :

In d-q axis :
In d-q axis :

Choose a frame such that:

Choose a frame such that:
Choose a frame such that:

qs
As seen by stator reference frame:

ds
Choose a frame such that:

qs
Rotating reference frame:
q
Ψr

d
Ψr

ds
 FOC of IM drive - indirect

To implement rotor flux FOC need to know rotor flux position:

(i) Indirect FOC
Synchronous speed obtain by adding slip speed and rotor speed
Rotor voltage equation: Rotor flux equation:
FOC of IM drive - indirect

d q
component component
 FOC of IM drive - indirect

d component q component
 FOC of IM drive - indirect

T* iΨrsq* isq* ia*

2/3 ib * CC
iΨrsd* ejθΨ isd*
Ψ ic * VSI
*

1/s
ωslip ω
+ + r

Rotating frame Stationary frame

 FOC of IM drive

(ii) Direct FOC

Rotor flux estimated from motor’s terminal
variables
Rotor flux can be estimated by:

Express in stationary frame

 FOC of IM drive

(ii) Direct FOC

d q
 FOC of IM drive - direct

T* iΨrsq* isq* ia*

TC
2/3 ib * CC
Ψr i Ψr
* ejθΨ isd*
FC
sd
ic * VSI
*
Ψ
r
Te θΨ

Rotating frame Stationary frame

RV College of
Engineering
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 RV College of
Engineering
Go, change the world

Motor control engineers designing a field-oriented control perform the following tasks:

❖ Develop controller architecture with two PI controllers for the current loop
❖ Develop PI controllers for the optional outer speed and position loops
❖ Tune the gains of all PI controllers to meet performance requirements
❖ Design a space vector modulator for control of PWM
❖ Design an observer algorithm to estimate rotor position and velocity if sensorless control is used
❖ Design maximum torque per Amp or field weakening control algorithms to generate optimal id_ref and
iq_ref
❖ Implement computationally efficient Park, Clarke, and inverse Park transforms
❖ Design fault detection and protection logic
❖ Verify and validate controller performance across different operating conditions
❖ Implement a controller in fixed or floating point on a microcontroller or an FPGA
RV College of
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RV College of
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 RV College of
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1. Let’s say we want to control a PMSM motor using FOC. Our goal here is to
produce torque and also maximize this torque to improve motor performance.
2. We know that when the rotor and stator fields align perfectly, no torque will
be produced. As the angle between them increases, we start generating some
torque, and at 90 degrees we get the maximum torque.
3. So, how do we keep these fields at 90 degrees at all times? The first thing we
need to know, or measure, is the rotor position. Based on the measured rotor
position, we determine the desired orientation of the stator field vector which
needs to be orthogonal to the rotor field.
4. The rest of the algorithm is about manipulating the three-phase currents in
such a way that they result in this desired stator field vector.
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 RV College of
Engineering Clarke and Park transforms Go, change the world

Clarke and Park transforms are commonly used in field-oriented control of three-
phase AC machines. The Clarke transform converts the time domain components
of a three-phase system (in abc frame) to two components in an orthogonal
stationary frame (αβ). The Park transform converts the two components in the αβ
frame to an orthogonal rotating reference frame (dq). Implementing these two
transforms in a consecutive manner simplifies computations by converting AC
current and voltage waveform into DC signals.
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RV College of
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 RV College of
Engineering Space vector modulation Go, change the world

Space vector modulation (SVM) is a common technique in field-oriented control for induction
motors and permanent magnet synchronous motors (PMSM). Space vector modulation is
responsible for generating pulse width modulated signals to control the switches of an inverter,
which then produces the required modulated voltage to drive the motor at the desired speed or
torque. Space vector modulation is also known as space vector pulse width modulation
(SVPWM).
RV College of
Engineering
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RV College of
Engineering
Go, change the world
 RV College of
Engineering
Go, change the world

⮚ With field-oriented control, we can create a stator magnetic field orthogonal

to the rotor magnetic fields. This way, we maximize the torque we generate
and also reduce the ripples seen in the torque and speed responses of the
motor.
⮚ FOC makes use of Clarke and Park transforms to convert the three-phase AC
currents into two DC currents, which are then separately controlled by two
PI-control loops.
RV College of
Engineering
Go, change the world
RV College of
Engineering
Go, change the world

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