17-1

Chapter 17

Vector Control of Permanent Magnet

Synchronous Motor Drives

2020 by N. Mohan
 17-2
Permanent-Magnet Synchronous Motor
Rotor Structure

N N

S S S S

N N

Surface Permanent Interior Permanent Magnet

Magnet

2020 by N. Mohan
 17-3
Interior Permanent Magnet Reluctance
Variation with Rotor Position

N N N N
S S S S
S S S S
N N N N

2020 by N. Mohan
 17-4
Permanent-Magnet Synchronous Motor

sd  Lsd isd   fd sq  Lsq isq

2020 by N. Mohan
 17-5
Permanent-Magnet Synchronous Motor

d
vsd  Rs isd  sd   msq
dt
d
vsq  Rsisq  sq   msd
dt

Tem 
p
2
(sd isq  sq isd ) Tem 
p
2
 
 fd  ( Lsq  Lsd )isd isq

p
m   mech
2
d T T
 mech  em L
dt J eq

2020 by N. Mohan
 17-6
Non-Salient Pole Surface Permanent
Magnet (SPM) Synchronous Motor

Lsd  Lsq  Ls

p
Tem   fd isq
2

2020 by N. Mohan
 17-7
Per-Phase Steady Stead Equivalent Circuit

vsd  Rs isd   m Ls isq 2

Eˆ fa   fd  m  k E m
3
  
vsq  Rsisq   m Lsisd   m fd
kE
 
vs  Rs is  j m Ls is  j 3 / 2 m fd 2
     kE   fd
3
e fs
2
Va  Rs I a  j m Ls I a  j  m  fd
   3 
E fa
2020 by N. Mohan
 17-8
Controller in the dq Reference Frame
ia
*
isd k v*sd va*
kp  i
 s  ib
Motor
  dq vb* PWM
to
Inverter ic
*
isq k v*sq abc vc*
kp  i
 s   position
 sensor
p
 m Ls isq   m   mech
 decoupling 2
 terms
 m ( Ls isd   fd ) 
 isd abc
to
isq dq

m 1
s

d d
vsd  Rs isd  Ls isd  ( m Lsisq ) vsq  Rs isq  Ls isq   m ( Lsisd   fd )
dt      dt       
compd compq

2 2 3ˆ
isd  isq  Iˆdq, rated ( I a, rated )
2

2020 by N. Mohan
 17-9
Simulink Model of Vector Control of a
Permanent-Magnet Synchronous-Motor Drive

2020 by N. Mohan
 17-10
Simulink Model of Vector Control
Simulation Results

2020 by N. Mohan
 17-11
Salient-Pole Interior Permanent
Magnet (IPM) Synchronous Machine

actual

d  axis d  axis
estimated
e estimated

isq
 d  axis
s
sq
s actual
`
m
sqr isd
sdr
e  da a  axis
stator

sds

2020 by N. Mohan
 17-12
Rotor Position Estimation Using High-
Frequency Injection
 Stator dq flux-linkage wrt rotor flux linkage space vector:
 r   L 0  isd r 
  fd 
 sd    d   
r 
 sq 0 Lq   i r   0 
    sq 

 Stator dq flux-linkage wrt stator a-phase magnetic axis:

 s   L  L cos  2  L sin  2   i s  cos  
 sd    da da
  sd    da
  fd
s 
 sq
  
L sin  2 da  L  L cos  2   s 
da   isq   sin  
da 

Lsd  Lsq Lsd  Lsq

where, L  and L 
2 2

2020 by N. Mohan
 17-13
Rotor Position Estimation Using High-
Frequency Injection
 Flux linkage space vector injected along estimated q-axis:
 e  V 0
 sdi   si sin i t   
e  
sqi
  i 1 

 Transforming to stationary reference frame:

 s  V   sin e 
 sdi   si sin i t   

s  
sqi
 i  cos  e  

i s  V 1   L sin e  L sin  2 da  e  

 sdi   si sin i t   
s   2
isqi i L  L2
 L cos e  L cos  2 da  e 
 

2020 by N. Mohan
 17-14
Rotor Position Estimation Using High-
Frequency Injection
 Stator current along estimated d-axis:
e
isdi s
 isdi cos e   isqi
s
sin e 

V L
e
isdi  si sin i t  sin  2 da  e   Isi sin i t  sin  2 da  e 
i L2  L2

 Filtering out the error component:

I I
e
isdi sin(i t )  si sin  2  da  e   si cos(2i t ) sin 2  da  e 
2 2

I
e  si sin  2  da  e 
2

2020 by N. Mohan
 17-15
Rotor Position Estimation Using High-
Frequency Injection
 Stator voltage needed to generate the high-frequency flux-
linkage:

V e   sin i t  
 sdi
  Vsi  e 
e 
Vsqi   cos  t 
i
   i 

2020 by N. Mohan
 17-16
Speed-sensorless Dynamic Controller
for IPM Motor – Overall Model

v*sd ia
*
isd k  va*
 kp  i  Motor

 s  vsdi dq vb* PWM ib
to
* v*sq Inverter ic
isq k  abc vc*
 kp  i 
 s
  vsqi
e

Estimator High pass

Model Filter
isd abc
to
isq dq

2020 by N. Mohan
 17-17
Speed-sensorless Dynamic Controller
for IPM Motor – Estimator Model

I si sin i t  sin  2  da   e  I si sin  2  da  e 

 Tem e
s    kd s
isdi   
  1
 kp   1s
s
 sJ eq  B e
isqi sin i t 
ki s

cos e  sin e 

2020 by N. Mohan
 17-18
Estimator PID Controller

e  I si    m  e 

 da

I si kd s
  e
e  1
kp  1s
 sJ eq  B
ki s

2020 by N. Mohan
 17-19
Estimator Restructured PID Controller

 Avoids differentiation operator.

 da
 
I si kd J
  e
e   
kp   1 sJ eq  1s
 
ki s B

2020 by N. Mohan
 17-20
Simulink Model of Vector Control of a IPM
Motor Drive

2020 by N. Mohan
 17-21
Simulink Model of Vector Control
Simulation Results

2020 by N. Mohan
 17-22
IPM Motor Electromagnetic Torque


i s  3 / 2(isd  jisq )

2 2
isd  I s cos( ) isq  I s sin( )
3 3

Tem 
P2
23
  
 f I s sin    Lq  Ld I s2 sin   cos   

P2
23
  
I s  f sin    Lq  Ld I s sin  2  
 3
where, i s  I s  and  f  2  fd

2020 by N. Mohan
 17-23
IPM Motor Electromagnetic Torque

2020 by N. Mohan
 17-24
Hardware Prototyping – SPM Motor

https://sciamble.com/Resources/pe-drives-lab/advanced-drives/pm-vector-control
2020 by N. Mohan
 17-25
Hardware Prototyping – SPM Motor

2020 by N. Mohan