DTC Anghelus Ped 8th Sem

PREFACE
The wellbeing of the contemporary worlds environmental is strongly depended by its

efficient performance and its use of electric energy. Power electronics and motor drives as its
multi-presence highness have reached every corner of the world from kitchen appliances to high
voltage power electronics and still ongoing on an exponential evolution from one year to other.
The presented project approaches in general the variable speed drive systems and in a
more detail patterns the permanent magnet synchronous motor behavior at low speed range.
From the steady-state modeling and performance tests through inverters modulation,
dSpace, control loop design and implementation in Matlab/Simulink, the permanent magnet
synchronous motor is deeply analyzed in dedicated chapters. Almost each page of these
mentioned chapters is fed with a good detailed colorful figure or block diagram for a better
understanding of the current explained process or fact. Most of the literature used to bring these
presented pages online were written and draw using the IEEE Transactions on Power
Electronics/Industry Applications/Energy Conversion; society and library which is believed to be
the number one organization within the power electronics and drive field.
The content of the project has been organized to cover almost any question mark that
could be raised within the current used system and its relatives. All the chapters, except the first
one who is describing widely the adjustable speed drives, are dedicated to the electric machines
and power electronics engineers.
Special thanks are given to my supervisor, Frede Blaabjerg whose understanding and
concrete-words supervision helped and kept me on the track rail of my electronic-fed life during
the current semester.
ABSTRACT
This project is focused on low speed motion sensorless field oriented control system for
permanent magnet synchronous motor drives using a back EMF with drift compensation based
method and space vector modulation. The rotor speed and position estimation is mainly
depending on the precision of the motion sensorless control.
The proposed speed sensorless consists in a stator flux linkage observer in stator
coordinates based on voltage and current measurements and using a flux linkage error controller.
From the compensated stator flux linkage the permanent magnet synchronous motor rotor speed
and position are extracted and handled by using a phase locked loop state observer.
The proposed control is implemented without require any motion information from the
motor shaft.
The investigated speed sensorless field oriented control with space vector modulation is
described in a detail matter, as well also the machine and inverter modeling. Comprehensive
simulations of the proposed algorithm have been implemented (using Matlab/Simulink and
dSpace based platform) and experimental results are presented to validate the performances at a
speed range between 380 and 1000 (
) (25-66
) under half rated torque.
Contents
Preface................................................................................................................................. 2
Abstract ............................................................................................................................... 3
Chapter 1 Introduction ..................................................................................................... 6
1.1. Adjustable Speed Drives ......................................................................................... 6
1.1.1. Background .................................................................................................... 6
1.1.2. Induction Motor ............................................................................................. 8
1.1.3. Permanent Magnet Synchronous Motor ........................................................ 9
1.2. Speed Sensorless Control ...................................................................................... 11
1.2.1. Classification and Models ............................................................................ 12
1.3. Objective of the Work ........................................................................................... 13
1.3.1. Proposal........................................................................................................ 13
1.3.2. Assumptions/Limitations ............................................................................. 14
1.3.3. Project Solution............................................................................................ 15
Chapter 2 System Description and Modeling ................................................................ 16
2.1. System Description ............................................................................................... 16
2.2. System Protections/Limitations ............................................................................ 19
2.3. Permanent Magnet Synchronous Motor Model .................................................... 20
2.3.1. Permanent Magnet Synchronous Motor Simulation .................................... 23
2.4. Inverter Model ...................................................................................................... 25
2.4.1. Space Vector Modulation ............................................................................ 29
2.4.1.1. Space Vector Modulation Simulation ................................................. 33
2.5. dSpace Overview .................................................................................................. 36
Chapter 3 Control and Stability Analysis ....................................................................... 39
3.1. Permanent Magnet Synchronous Motor Field Oriented Control .......................... 39
3.1.1. Control Overview......................................................................................... 40
3.1.2. Current Loop Design.................................................................................... 43
3.1.3. Speed Loop Design ...................................................................................... 47

3.1.4. Integrator Anti-windup ................................................................................ 52
3.1.5. Permanent Magnet Motor Field Oriented Control Simulation .................... 56
3.2. Speed Sensorless Loop Design ............................................................................. 59
3.2.1. Back EMF based Method............................................................................. 59
3.2.2. Drift Compensation Loop ............................................................................ 60
3.2.3. Phase Locked Loop ...................................................................................... 62
3.3. System Simulation ................................................................................................ 63
Chapter 4 Control Validation ......................................................................................... 70
4.1. Rotor Position Alignment ..................................................................................... 70
4.2. Experimental Results ............................................................................................ 72
Chapter 5 Conclusions and Future Works...................................................................... 77
5.1. Conclusions ........................................................................................................... 77
5.2. Future Works ........................................................................................................ 77
Annex 1 (Symbols) ........................................................................................................... 79
Annex 2 (Surface Permanent Magnet Synchronous Motor Parameters) .......................... 81
Annex 3 (Induction Motor Parameters) ............................................................................ 82
Annex 4 (Current and Speed Controller Design in Matlab) ............................................. 83
Annex 5 (Flux Linkage and Phase Locked Loop Controller Design in Matlab) .............. 84
References ......................................................................................................................... 85
PMSM/IM Open Loop Torque Control at Low Speed Operation without Speed Sensor
DTC Anghelus
CHAPTER 1
INTRODUCTION
The intelligent way of using energy is mainly related to goods production, service and
maintenance. The advance lifestyle of todays society essentially depends on the wise control of
energy. The usable energy is present under several different forms like electrical, mechanical and
thermal. More than 30% of the energy is transformed into electrical energy [1], from which more
than 60% is used by electrical machines.
In the field of motor drive applications the motion sensorless techniques are more and
more developed due to their technical and economical advantages such as system simplification,
reliability and cost effectiveness.
1.1.
1.1.1.
Adjustable Speed Drives
Background
The electric motors represent the heart of the industry applications on rotating or linear
motion control systems, with the purpose to convert electrical energy into mechanical energy; in
fact it consumes a lot of energy (at least 60% of the total electrical energy consumption is
consumed by adjustable speed drives). In the past, the ac machines (induction) were used only on
constant-speed applications with constant-frequency supply sources, and for variable-speed
applications were used the dc machines [2]. However, during the last three decades, the variablespeed drives field, in the matter of the high cost of the dc machines (complicated rotor structure
with brushes and commutator, requires maintenance and no exposure to chemical or dirty
environments), has developed progressively variable-speed drives using ac machines, which now
are preferred more and more, due to cost, size and performance (no commutator losses, robust
rotor structure and they are more efficient) [2]. The ac machines control strategies have been
developed in a wide range of different types to achieve the demands of the industry applications
on automatic drive systems. The modern developed systems are defined, depending on the
application, very good accuracy on speed and torque application, smoothness, efficiency and
high power factor, by using advanced control algorithms and theories in combination with
modern power electronics and new modulation techniques of the voltage/current source
inverters, in order to achieve new control design for high performance automation systems [3].
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Some of the advantages and features of the variable-speed inverter fed machines can be
mentioned as follows [4]:
High efficiency machines are used for energy saving;
Smoothness in starting, with no high in-rush currents, even at rated torque and no
stress on the rotor;
Protected from line voltage transients and thereby no insulation damage;
Possibility of voltage boost at the machine terminal;
No brushes/commutator.
However, the AC motor drives control is on a continuously evolution and challengeable
at very low speed operation, due to motor structure, working speed and torque range; constraints
that depends on how the mathematical model of the machine, the digital system and its derived
control are designed to cover the industry desires.
A classification of the variable-speed drives is presented in Fig. 1.1, as follows [4]:
Fig. 1.1. Variable-speed drives classification
This report is focused only on the induction motor (IM) and permanent magnet
synchronous motor (PMSM) motor variable-speed drives; the most used motor in this field due
to its many advantages.
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The IM, according with existing industrial application, is by far the most used AC
machine type in variable-speed application, because of its simple construction (specially cagerotor IM), economic, good efficiency, reliable, rugged and available on a wide range of power
[5]. The PMSMs has a wide appeal in motion control applications such as astronautics, electric
vehicle, due to their features like high-inertia moment ratio, high efficiency and high power
density [6].
1.1.2.
Induction Motor
Considering the variable-speed drives, the industry prefers the cage-rotor IM, compared
with the wound-rotor or doubly-fed IM, which is more heavy (because of the rotor copper
windings mass), more expensive (coppers cost is higher than aluminums cost), has a higher
speed limitation and higher rotor inertia and requires more often maintenance because of its rotor
structure with slip rings and brushes [4].
Three types of methods were developed for modifying or adjust the speed of the IM as
following:
Pole number variation or pole-changing method;
Rotor resistance variation or voltage reduction method;
Supply frequency regulation or variable frequency method.
The first method, as its name says consists of changing the number of poles, fact that
changes the ideal no-load speed (what equals with the ratio of stator frequency and stator number
of pole pairs), and basically the mechanical speed is switched between two values [4,7]. The
second method can only be used for wound rotor IM and is basically to adjust the mechanical
speed by changing or decreasing the voltage, supplied to the rotor windings, with an external
autotransformer or resistances [4,7]. Finally, the latter method, used and developed worldwide in
the last three decades, represents the heart of almost any motion control automation system
worldwide today; and it consists of connecting the IM to a frequency converter (usually called
inverter) what is able to control the frequency and the voltage fed to the machine at the same
time [4]. This frequency-voltage control can be classified into three main categories [7]:
V/f (voltage per frequency) scalar control;
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Vector control;
Direct torque and flux control.
Some of the disadvantages or limitations of the IM is its operation with a slip at lagging
power factor, which causes slip power losses; the costs of the required parts of the control system
are in general high; the new modern IM systems are subjected to non-sinusoidal current and
voltage waveforms due to the inverter nonlinear behavior, fact that adds additional power losses
and torque pulsations [4].
1.1.3.
Permanent Magnet Synchronous Motor
Fig. 1.2. Efficiency-Rated Power characteristic of induction motor versus permanent magnet synchronous motor
[18]
The PMSM is a conventional machine that starts as an IM, with damper windings, and
stabilized at the synchronous speed in steady-state operation [2]. PMSM has a constant field
excitation made by the PM materials like low grade barium ferrite, Alnico (Aluminum-NickelCobalt) and high grade neodymium bares [4]. However, the strong tendency to use PMs,
especially neodymium and rare-earth materials, in multi
direct driven wind generators
tend to deplete the PM limited resources of the planet knowing that the wind energy installed is
increasing with 10% per year [8]. After China announced its restriction on the export quota of
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rare-earth elements at the end of 2010, the use of the PMs became a very serious matter knowing
that China represents 90% of the worlds global supply of rare-earth materials [8].
Recently, the use of IPMSM or SPMSM drives, with the exception of rare-earth PMSM
since the end of 2010, have increased the industry interests on widely motion applications due to
their high output torque, and they are more efficient than IM. The main reason is its lower inertia
and higher efficiency especially at low power/speed range. An approximated comparison
between the IM and PMSM in terms of power and efficiency using the Siemens 2011 motors
catalog [9] is shown in Fig. 1.2.
Other advantages in comparison with the IM are the increased efficiency by the
disappearance of the rotor windings which means copper/aluminum (if is either the wound rotor
IM or the cage-rotor IM, respectively) losses for the IM; less weight and compact size with no
slip rings on the rotor, fact that eliminates the field windings power losses; high torque-to-current
ratio; high power-to-weight ratio; low noise and robustness; easy maintenance and high power
factor; in terms of life cycles cost is superior to the IM [4,10].
A classification of PMSM drives [4] is presented in Fig. 1.3.
Further on, the PMSM can be classified into three topologies, based on the orientation of
the PMs placed on the rotor, as follows: interior PMSM (IPMSM, the PMs are fully buried inside
the rotor), surface PMSM (SPMSM, the PMs are mounted on the surface of the rotor), and inset
type (the PMs are fully or partially inserted into the rotor) [4].
Fig. 1.3. Permanent magnet synchronous motor drives classification
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The control of the PMSM drive can be divided into two main topologies: the open loop
control, where the mechanical speed is controlled by the independent frequency control of the
inverter; and second is the self-controlled model, where the mechanical speed is controlled by a
variable-frequency variable-voltage inverter pulses control derived from a rotor sensor [2] or
sensorless using mathematical models or state observers.
The latter mentioned control mode may be also classified into three main categories [2],
as follows:
V/f scalar control;
Self-control model;
Vector control.
1.2.
Speed Sensorless Control
To maintain a closely and accurate space angle between the rotor and stator field, most
applications of the past industry was using a shaft encoder or resolver, a fact that reduces the
system ruggedness, increases the volume and the cost of the whole system. To eliminate the
position sensor mounted on the rotor shaft, and control the speed indirectly, current and voltage
measurement are needed. An advantage of the speed sensorless technique is that the cost of the
current sensor is far cheaper than the encoder; but it has as a disadvantage of using current
sensors is that there has to be done more calculations to estimate an accurate rotor position, a fact
that is still in progress especially at very low speed.
Vdc
*
^ -
Speed controller
Current controller
and inverter
vabc
PMSM
iab
Position and
speed estimator
Fig. 1.4. Permanent magnet synchronous motor speed sensorless controller schematic diagram
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The speed sensorless control is achieved by using an analytical state observer, that can be
defined as real-time simulator of a real system, what gives an approximation of the state vector
of the system, and replace the actual encoder at a very low price that makes it very reliable and
affordable [11], decreases the systems complexity and its weight. A state observer needs only
two current sensors, which are not as expensive as a rotor-position-sensor, and also most of the
modern speed control techniques developed uses two current sensors for the feedback control
loop [12]. The sensorless control was demonstrated and developed by using different methods or
mathematical algorithms, e.g. flux and torque observers, open loop estimators, model reference
adaptive system, etc.
A simple sensorless speed control method based on the error between the measured
currents and calculated ones, for the PMSM drive is presented in Fig. 1.4 [12].
1.2.1.
Classification and Models
The mathematical models for speed sensorless are divided into two categories; one is
using the electromotive force estimation; and the second is based on signal injection technique
[13]. The signal injection method is based on high frequency voltage or current injected signals
to find out the inductance variation in order to estimate the position at very low speed [13]. The
rotor position is estimated from the current measurement; measurement which is affected by the
rotor saliency, when the high frequency stator voltage is injected to the fundamental voltage [4].
There are two main methods to estimate the rotor position for the PMSM drives using high
frequency signal injection technique [4]:
Pulsating voltage vector. A pulsating voltage vector, at a constant carrier
frequency is added to the d-axis component in the estimated rotor reference
frame. The high frequency component of q-axis becomes zero in the rotor
reference frame, when the angle error of the rotor position becomes zero. The
electrical angle error is defined as:
(1.1)
Rotating voltage vector. A rotating voltage vector, at a constant carrier frequency

is added to the fundamental voltage, and the signal related to the rotor position
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angle is the result of the current vector in the stationary reference frame
multiplied with the
is the carrier frequency) component and passed
through a high pass filter.

There are several different methods to estimate the speed of an IM. Some of them are
based on a mathematical model of the IM, i.e. open loop estimators, model reference adaptive
system, observers; and based on artificial intelligence, i.e. fuzzy logic, artificial neural networks,
genetic algorithms. In the following, a simplified and open loop estimator for the IM is presented
in Fig. 1.5.
Fig. 1.5. Induction motor speed sensorless estimator block diagram, an example
1.3.
1.3.1.
Objective of the Work
Proposal
The main objective of this project is the qualification of a speed sensorless control for
either IM or PMSM for an open loop torque application at very low speed operation. The project
should describe and simulate selected candidates and rate them based on the abilities to run at
very low speed, and estimate the mechanical output torque. Other qualification criteria could
include: parameter dependencies, robustness, calculation effort, etc., and the most promising
strategy must be implemented and tested on a laboratory system.
Based on the objective, broadly there are several competing control strategies which are
worth to be mentioned as speed sensorless open loop torque control at low speed application for
either IM or PMSM:
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1. Voltage per frequency (V/f) control, represents the simplest open loop vector
control strategy for ac machines, widely explored and developed but still not the
recommended control for very low speed operation;
2. Field oriented control (FOC), with the needs of knowing the position and the
stator flux at all time, widely developed and accepted as the most high and for its
wide industry presence as very cheap control development;
3. Direct torque control (DTC), explored in several different types of control in
combination with different types of modeling the voltage fed inverter;
4. Signal injection control, also known as active flux or torque producing flux
control, which turns all the salient poles of the AC machines into non-salient
ones [14].
1.3.2.
Assumptions/Limitations
The specifications of the project are as follows:

Simulation and experiments at very low speed, at least 2 (
) down, speed
sensorless operation;
Open loop torque control, at least 50% at very low speed.
The objective of this project is based on very small literature on simple Voltage Vector
Control with regards to open loop torque application, and is then believed to be a very ambitious
project, fact that is clearly proving the main limitation of the presented objectives. Due to time
limitation the project proposes only one method out of the four presented in the objectives, to be
modeled and analyzed.
Laboratory limitation:
An IM with rated torque of only 10 (
a rated torque of 20 (
) was coupled for loading a PMSM with
); fact that clearly limits the torque control down to a
50% of the reliable torque of the analyzed machine;

The inverters provides from Danfoss are made by default to work with a 5 (
frequency; fact what clearly puts out the DTC algorithm which has a working
frequency between 10 and 25 (
).
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1.3.3.
Project Solution
The previous sections highlight description in comparison of the IM and PMSM as

machine models, complexity of control structure algorithms with respect to motion sensorless
open loop control the investigated motor drive proposed for this project is the PMSM due to its
earlier mentioned advantages.
Further on, due to its disadvantages at sensorless low speed operation of the V/f
algorithm, the complexity of the active flux concept and the high switching frequency demand
for DTC algorithm, the chosen algorithm for torque control is FOC.
Chapter 2 presents the testing system description with modeling and highlighting its main
components such as dSpace, inverter and the permanent magnet synchronous motor. The control
design and stability analysis, as well as the speed sensorless loop are investigated latter on
chapter 3. In chapter 4 the testing system is presented, as well the experimental results, and
finally the conclusion and future works on chapter 5.
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CHAPTER 2
SYSTEM DESCRIPTION AND MODELING
Scientific modeling represents an essentially part of all scientific activity either if is

mathematically, graphically or conceptual. Therefore this chapter presents a detail flow starting
from system description through inverter and machine modeling and ends on dSpace highlights
usage and performance.
2.1.
System Description
The modern variable-speed or variable-frequency motor drive systems consist mainly of

three components:
The electric motor, which could be AC or DC;
Power converters, which depending on the control drive purpose they are divided
in rectifiers, choppers, inverters and cycloconverters;
Control device, for making the machine respond like it is desired; some of the
controllers that worth to be mentioned are DSP microcontrollers, dSpace system,
VLSI, etc.
A short description of the system base components is given in the following.
All the machines provided by the industry are commercially available from fractional
watts to megawatts power range. In later years the industry has made available machines at
higher power levels but because they are custom designed they are expensive from the
commercial point of view. The factors that make the machine selection for desired applications
can be classified as follows:
Cost;
Efficiency;
Torque and speed range;
Working temperature profile;
Acceleration
Power density;
Ripple and cogging torque (for PM machines);
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Robustness;
Working environment;
Energy savings;
Peak torque capability;
Availability of spare and second sources.
The one who drive the machines are the power converters which can be described as
follows:
Controlled rectifiers, fed from a single- or three-phase AC mains supply and used
for control the DC machines or to supply the voltage fed inverters;
Inverters, fed from a DC power source, which can be a battery in case of electric
vehicles or a rectifier with or without controlled rectifiers, and used to provide
variable AC voltages and currents at a chosen frequency for control the AC
machines;
Cycloconverters, used for converting the fixed frequency AC voltage/current to
variable frequency variable voltage/current for controlling the AC machines. They
are generally used at low speed for high power motor drives, because of the
limited output frequency (33-50% of the input frequency) [12].
The control device contains the control laws and calculations of governing the load,
speed and motor characteristics. Worldwide many different control strategies have been
developed and implemented on large scale for various motor drives. A schematic controller is
presented in Fig. 2.1.
Fig. 2.1. Schematic controller general basis diagram [12]
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And last, any motor drives a load that has a different torque-speed characteristic from one
application to another. The load torque has been developed under a lot of different equations, but
in generally is a function of speed and can be expressed like Eq. (2.1) where
is defined as an
integer or a fraction. For fans for example, the load torque is direct proportional with the square
of the electrical rotor speed.
(2.1)
These enumerated components of a variable-speed motor drive system were assembled
together with the required connections between them on Fig. 2.2, according to the purpose and
the reaching goal of this project.
DC power supply
source
DC power supply
source
LEM voltage
measurements
6-bridge
inverter
IM
Sabc
LEM voltage
measurements
LEM current
sensors
LEM current
sensors
n
IM
IMabc
Senable
PMSM
PMabc
Senable
PM
abc
IM
abc
6-bridge
inverter
PM
Sabc
dSpace
system
IM
PM
Vdc
Vdc
PC
with Simulink and
dSpace control
desk
Fig. 2.2. Block diagram of the motor drive system structure
The main components of the system used in laboratory are given in table 1 with short
specifications. The parameters of the PMSM and IM are given in detail in annex 2 and annex 3,
respectively.
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Table 1. S YSTEM C OMPONENTS

Item
Name/Tag
Purpose
Electric power
IM
ABB MT100LA28-4 MK110022-S
Load
2.2 (
PMSM
Siemens 1FT6084-8SH71-1AA0
Control performance
9.4 (
6-bridge inverter
Danfoss FC302
Control the IM
2.2 (
6-bridge inverter
Danfoss FC302
Control the PMSM
15 (
dSpace
DS1103
PC-Inverter interface
Further on the next sections the machine model, the inverters and the dSpace system are
described in a more detail matter.
2.2.
PM
iabc
PM
I max
n encoder
n max
U dcPM
U dcPMmin
U dcPM
U dcPMmax
IM
iabc
IM
I max
U dcIM
U dcIMmin
A
B
A
B
A
B
System Protections/Limitations
A B
Boolean
transformation
Flip-flop
A B
Boolean
transformation
Flip-flop
Boolean
transformation
Flip-flop
A B
Start button
OR
A
B
A
B
A
B
A B
Boolean
transformation
Flip-flop
A B
Boolean
transformation
Flip-flop
A B
Boolean
transformation
Flip-flop
Reset button
Boolean
transformation
OR
Flip-flop
Senable
Stop button
Fig. 2.3. Block diagram of the protection part implemented into the controller
Before designing the controllers several protections like short-circuit, over speed and
under voltage, has to be implemented in the control. Two kinds of protection are derived, one
based on the rated parameters of the two machines, and second based on mechanical coupling
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between them. The block diagram representing the protection part of the implemented control is
The protection values based on machines parameters from annex 2 and annex 3 and on
mechanical coupling between them are presented in table 2.
Table 2. P ROTECTION V ALUES
Parameter
Symbol
Value
Unit
Based on parameters
Maximum current of the permanent magnet motor
35
Minimum DC voltage of the permanent magnet motor inverter
400
Maximum DC voltage of the permanent magnet motor inverter
650
Maximum current of the induction motor
Minimum DC voltage of the induction motor inverter
400
Based on mechanical coupling
2.3.
Maximum speed
1000
Maximum torque
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Permanent Magnet Synchronous Motor Model
As it was classified in chapter 1, Fig. 1.1 the PMSM machine are broadly described as
radial and axial, depending on the direction of the field flux. The radial flux PMSM are further
on classified into Surface and Interior, depending on how the PMs are mounted on the moving
side.
Fig. 2.4. Surface permanent magnet synchronous motor radial geometry
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This project is using a surface mounted PMSM (SPMSM), with the PMs mounted on the
outer periphery of the rotor lamination as shown in Fig. 2.4. This type of rotor structure provides
the highest air gap and equal direct- and quadrature-axis inductance density, but with the
disadvantage of lower structure integrity and robustness [12].
For studying the IM performance in steady-state operation the equivalent circuit and
steady-state model is needed; this basically implies that during load changes and stator frequency
variation all electrical transients are neglected [12].
The transformation matrix from
to
currents is expressed in Eq. (2.2). The
PMSM model in the rotor reference frame is needed when the control algorithm is designed on
the rotor side.
(2.2)
For deriving the vector-control algorithm of the PMSM, a dynamic model of the machine
is required to decouple the air gap flux density and torque components. The PMSM rotor flux is
assumed to be concentrated along the direct-axis and zero flux along the quadrature-axis. The
rotor flux is generated by the PMs, which is assumed to be constant, fact that eliminates the
additional supply source on the rotor side and the core losses are negligible. Therefor the voltage
equations on the rotor side are eliminated, since there is no supply source on this side, and the
rotor flux variation in time is consider negligible. At the end, to derive the PMSM model, only
the stator voltage equations in the rotor reference frame are needed. The rotor reference frame is
chosen because the position of the magnets determinates the induced EMFs, stator currents and
the electromagnetic torque.
In the rotor reference frame (which is rotating at the angular speed of the rotor,
direct- (
) and quadrature-axis (
) the
) voltage components are given in the following equations:

(2.3)
(2.4)
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, and the direct- (
) stator flux linkages in the rotor reference frame
are:
(2.5)
(2.6)
The self-inductance of the direct (
) and quadrature (
) axes for a SPMSM is known
to be equal and also along the quadrature axis no magnets are found in its path. So the mutual
inductance between stator and rotor magnets on the quadrature axis is zero. The PM excitation
can be marked as constant current source,
. Therefor the following equation will result:

(2.7)
(2.8)
(2.9)
Substituting Eq. (2.9) in (2.8), and, (2.7) and (2.8) in the voltage equation (2.3) and (2.4),
will results the voltage equation matrix in the rotor reference frame of the SPMSM model:
[
] [
(2.10)
The electromagnetic torque ( ) of the SPMSM is derived as:

(
(2.11)
Substituting the flux linkages in terms of currents and inductance multiplication the
torque equation can be rewritten as:
(
, and knowing that the direct- (
(2.12)
) inductance are equal for SPMSM,
the final equation of the torque component for SPMSM is:

(2.13)
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2.3.1.
Permanent Magnet Synchronous Motor Simulation
To validate the SPMSM model a V/f scalar control was simulated in Matlab/Simulink.
The V/f control basically maintains a constant voltage per frequency ratio at a given reference
speed.
The following equations were used to get from the reference speed point to the voltage
fed to the machine model:
(2.14)
(2.15)
| |
(2.16)
Forwards the module of the applied voltage vector (| |) is transformed to stationary

reference frame (
), then to synchronous reference frame (
) and finally fed to the machine
model.
Electric speed
transformation
(Eq. 2.15)
Applied voltage
vector
tranformation
(Eq. 2.16)
Vs
Stationary
reference frame
transformation
1
s
Synchronous
reference frame
transformation
vdq
SPMSM
model
1
s
n*
iabc
Fig. 2.5. Voltage/frequency control structure for surface permanent magnet synchronous motor
Based on these assumptions the control structure was implemented in Matlab/Simulink as

Fig. 2.5 shows.
For start, a 200 (rpm) step reference was set and the behavior of the machine model was
presented in Fig. 2.6. For the same step reference the three-phase currents (
Fig. 2.7.
23
) are presented in
DTC Anghelus
250
n*
n
Speed (rpm)
200
150
100
50
0.1
0.2
0.3
0.4
0.5
0.6
Time (s)
0.7
0.8
0.9
Fig. 2.6. 200 rpm step response of surface permanent magnet synchronous motor under voltage/frequency control
50
ia
ib
ic
40
30
Current (A)
20
10
0
-10
-20
-30
-40
-50
0.1
0.2
0.3
0.4
0.5
0.6
Time (s)
0.7
0.8
0.9
Fig. 2.7. Current waveforms response of surface permanent magnet synchronous motor under voltage/frequency
control
Based on the response of the machine model at a step reference as shown in Fig. 2.6, can
be mentioned that the machine model of the SPMSM it behaves properly and the machine
operates like it was expected.
24
DTC Anghelus
2.4.
Inverter Model
The inverters are knows as static power converters that convert DC to AC currents and
voltages waveforms by adjusting the phase, amplitude and frequency in a AC switched pattern
output waveform, generated from a DC source. A DC source is made by two components; a
rectifier and an energy storage named DC link which typically is a capacitor or an inductor.
The DC sources can be classified in two main parts and clearly diving the inverters in two
families:
Current source inverter (CSI), met in the medium voltage high power applications
using pulse-width-modulation (PWM) CSI or load commutated inverters (LCI);
Voltage source inverter (VSI), widely dominating the low and medium power
applications for a single- or three-phase two level VSI. In recent years the
multilevel topologies have become attractive for medium voltage high power
industry.
Based on the DC source type and working power range the inverters are classified as is
shown Fig. 2.8.
Fig. 2.8. Inverters classification in matter of the feeding source type (current/voltage) and power range [3]
Further on the VSIs are described in detail due to projects relevance.
25
DTC Anghelus
The VSI is defined as a constant voltage source formed from a voltage source rectifier
and a capacitor as its DC link, where the output current is governed by the load which for motor
drives (inductive load) is sinusoidal. There are three main topologies of VSI classified as:
1. Half-bridge voltage source inverter;
2. H-bridge voltage source inverter;
3. Full-bridge voltage source inverter.
Half-bridge voltage source inverter. The inverter features two switching devices
(
) with antiparallel connected diodes (
), known as one inverter-leg and a capacitive
DC link composed by two capacitors. The diodes are used to form a negative current path when
is asked to do so, and the two-capacitor structure is for splitting the total capacitive and form a
zero or neutral ( ) point for load connection. The control of the inverter is made by a binary gate
signal ( ) which can be 0 for the off/open state, or 1 for the on/closed state. For avoiding
DC link short-circuit or undefined output voltages (
switch is governed by
and
closed at the same time), the upper
and the lower switch by its logic complement ().
Fig. 2.9. Half-bridge (one leg) voltage source inverter
A half-bridge VSI is presented in Fig. 2.9. The following semiconductor devices are used
as power switches on the inverter-leg, where the first two categories are well-known by far the
most used switching devices within motor drives industry applications:
IGBT;
26
DTC Anghelus
MOSFET;
GTO;
IGCT, etc.
H-bridge voltage source inverter. By connecting two half-bridge inverter-legs in
parallel the H-bridge is formed; structure with the ability of providing two output control points
(
) for load connection. As its name says the load is connected between the two inverter legs,
fact what clearly forms the H letter and more than that, is eliminating the zero point in the DC
link; so the DC link is resumed to one capacitor. The control of the inverter is the same as for the
half-bridge VSI in concept, and additionally because of the two inverter-legs it needs two binary
gate signals (
) and will result four different switching states. The H-bridge structure is
Fig. 2.10.
H-bridge (two legs) voltage source inverter
Full-bridge voltage source inverter. By connecting three half-bridge inverter-legs in

parallel the full-bridge inverter is formed; structure with the ability of providing three output
control points (
) for three-phase load connection.
The control of the inverter is the same as for the half-bridge but this time with three
binary gate signals (
) and eight different switching states written in table 3. The full-
bridge VSI structure is presented in Fig. 2.11. This type of inverter is known as two-level
inverter because its phase output voltage (
voltage (
) it jumps from zero volts to DC link
) and back as follows: when the switch status of leg
then the phase
( ) is equal to 1 (
is on)
is connected to the positive ( ) point (red path on Fig. 2.11) generating an

27
DTC Anghelus
output voltage equal to the DC link voltage, and when the switch is equal to 0 (
is on) then the
phase is connected to the zero ( ) point (green path on Fig. 2.11) and generating zero volts,
respectively. Analog the other two phases (
) output voltage are determined.
Table 3. S WITCHING S TATES

Switching state
FOR 2- LEVEL
Output voltage
Switch status
3- PHASE VSI
Space vector
0
0
0
0
T3
T1
Sa
Vdc
D1
Sb
Sc
D3
D5
T6
T4
T2
Sa
T5
D2
D4
Sb
Sc
D6
vbc
v ab
La
Lb
vca
Fig. 2.11.
Lc
N
Full-bridge (three legs) voltage source inverter with standard (wye) motor drive connection
(interrupted line)
28
DTC Anghelus
The control of the inverter has to be done alternating the available voltage vectors in a
way that the average output voltage waveform to match the desired voltage. This process is
found under the name of modulation technique, and worldwide there has been developed several
different methods as it is classified as:
Square-wave operation; generates an AC square-waveform and on every half
cycle the VSI output voltage jumps between zero volts and the DC link voltage
(
);
Sinusoidal PWM; the desired output voltage is realized by changing the pulse
width, also known as duty cycle. The PWM is defined as bipolar, unipolar and
multicarrier. The bipolar technique generates an output voltage alternating
between a positive and a negative voltage. The unipolar alternates between
positive voltage and zero volts. And the multicarrier technique is used for
multilevel inverters;
Over-modulation and zero-sequence injection. The modulation using a carrierbased PWM when the amplitude of the carrier signal is smaller than the one of the
reference signal is called over-modulation. The over-modulation is redressed by
injecting a zero-sequence signal (third harmonic) which is in phase with the
reference voltage, and the amplitude range within the one of the carrier signal;
Space vector modulation (SVM); is also using a PWM technique where the
reference voltage is generated by a combination of eight different switching
states.
The SVM is widely the most used modulation technique in variable speed motor drive
systems due to its higher output phase voltage (
times), therefor on the next section the SVM
is defined.
2.4.1.
Space Vector Modulation
Assuming that the system from Fig. 2.11 is a symmetrical three-phase balanced system
then the following equation will result:
(2.17)
29
DTC Anghelus
, and more can be said like the line-to-line voltage equations, written on Eqs. (2.18,2.19,2.20)
and the line-to-neutral voltage matrix written on Eq. (2.21).
(2.18)
(2.19)
(2.20)
[
] [
(2.21)
Further on the line-to-line voltage matrix equation in terms of switches status (

and DC link voltage (
), is presented on Eq. (2.22).Then by substituting Eq. (2.22) in (2.21)
the line-to-neutral voltage matrix equation become as written on Eq. (2.23).
] [ ]
(2.22)
] [ ]
(2.23)
The voltage space vector ( ) from Eq. (2.24) can be represented in stationary reference
frame (
) in Eq. (2.25) and based on it the voltage transformation matrix from
to
and
its vice versa will result in Eq. (2.27) and (2.28), respectively.
(
)
(
(2.24)
30
(2.25)
(2.26)
] [
(2.27)
DTC Anghelus
]
[
(2.28)
As it was mentioned before for the full-bridge VSI the three binary gate signals will
produce eight voltage space vectors under the form
zero/null (
, as six active (
) and two
) vectors. These space vectors are represented in stationary complex plane on
Fig. 2.12.a, where it can be seen, as listed in table 3, that all the active vectors have the same
amplitude and a phase delay of 60 (
) between each other defining six sectors ( ) conform
Eq. (2.29) and (2.30), respectively.

| |
(2.29)
(2.30)
, with
Based on the active and zero vectors the reference voltage vector is constituted from its
two neighboring vectors as it can be seen on Fig. 2.12.b.
Fig. 2.12.
Space vectors and sectors generated by a three-phase voltage source inverter in a), and space
vector modulation with reference voltage vector projection in sector 1 in b)
31
DTC Anghelus
Based on the reference voltage projection on its neighboring vectors in Fig. 2.12.b, and
on the equality in amplitude of the vectors, written on Eq. (2.29) the following assumption can
be made:
|
(2.31)
The angle calculation of the reference voltage vector location for each sector is written in
Eq. (2.32). Further on starting from the reference voltage vector represented in stationary
reference frame the dwell time (
) are calculated as follows:

(2.32)
(2.33)
(2.34)
(2.35)
(2.36)
From Eq. (2.34) and (2.35) will result that the reference voltage vector has an
instantaneous value as written on Eq. (2.37). Furthermore knowing the
voltages, the
reference voltage, and the dwell time and with the constraint written on Eq. (2.38) the duty
cycles (
) matrix for sector one is determined as:

(2.37)
(2.38)
[
] [
32
[ ]
(2.39)
DTC Anghelus
] [
] [
(2.40)
(2.41)
Using the same procedure for the rest of the sectors, the -mark matrix from Eq. (2.41)
needed to determine the duty cycles of each leg for all sectors is presented in table 4.
Table 4. D UTY C YCLES
Sector ( )
Duty cycle of leg
FOR ALL
Duty cycle of leg ( )
S ECTORS
Duty cycle of leg
-1
-1
-1
-1
-1
-1
-1
-1
-1
-1
-1
-1
-1
-1
-1
-1
-1
-1
2.4.1.1.
Space Vector Modulation Simulation
Based on SVM model a simulated model was implemented in Matlab/Simulink to

validate the calculation flow described previously. A three-phase sinusoidal source was
introduced as its reference voltage for the SVM model. The calculated duty cycles known as the
output of the SVM model were afterwards compared with a triangle waveform (the carrier) and
the result was injected into the three-phase VSI.
The line-to-line voltages of the VSI in terms of duty cycles and DC link voltage (
) is
presented on Eq. (2.42) based on Eq. (2.22). Furthermore the transformation from line-to-line to
line-to-neutral was implemented as was written in Eq. (2.21).
] [
(2.42)
The flow of the simulation is presented as block diagram in Fig. 2.13. The reference
voltage waveform and the result voltage waveform calculated through the SVM model were
33
DTC Anghelus
resistive-inductive loaded at the same level by implementing Eq. (2.43) and the result is
Fig. 2.13.
Block diagram of space vector modulation model with voltage supply and load
Table 5. P ARAMETERS
Variable
FOR
SVM S IMULATION
Symbol
Value
Units
DC voltage
550
( )
Reference voltage
220/phase
( )
Reference frequency
50
Resistance
0.18
( )
Inductance
0.02
( )
Sampling/carrier frequency
For a better view of the results the model was simulated for one period with the
parameter written in table 5. During simulations the SVM was ran in discrete time domain using
a desired sampling frequency ( ) and the duty cycles are presented in Fig. 2.14. A certain delay
was added to the resulted current because of the discrete domain simulation as it can be seen in
Fig. 2.16. The output line-to-neutral voltage of the SVM-VSI is presented in Fig. 2.15.
(2.43)
34
DTC Anghelus
1
0.9
Da
Db
Dc
0.8
Duty cycle
0.7
0.6
0.5
0.4
0.3
0.2
0.1
0
Fig. 2.14.
0.002 0.004 0.006 0.008
0.01 0.012 0.014 0.016 0.018

Time (s)
0.02
Duty cycles simulation of a space vector modulation full-bridge voltage source inverter
Voltage (V)
100
0
-100
-200
-300
400
0.002 0.004 0.006 0.008 0.01 0.012 0.014 0.016 0.018 0.02
Time (s)
300
200
Voltage (V)
100
0
-100
-200
-300
-400
Fig. 2.15.
0.002 0.004 0.006 0.008
0.01 0.012 0.014 0.016 0.018

Time (s)
0.02
Line-to-neutral voltage simulation of a space vector modulation full-bridge voltage source inverter
35
DTC Anghelus
-45
-46
Current (A)
-47
-48
-49
-50
-51
-52
60
0.002
0.004
0.006
0.008
Time (s)
40
ia*
iaSVM
Current (A)
20
-20
-40
-60
Fig. 2.16.
0.002 0.004 0.006 0.008
0.01 0.012 0.014 0.016 0.018

Time (s)
0.02
Simulation of reference phase current versus space vector modulation full-bridge voltage source
inverter phase current loaded at the same level
2.5.
dSpace Overview
The most worlds industries are facing a lot of pressure when their development of an
innovative product takes longer time than they want it to be, and when the demands are higher
than the production. In high-technology industries where the electronic control represents an
important part, working efficient represents a serious matter for reaching a worldwide success. A
model based design control represents an efficient cost- and time-effective approach for control
engineers who model their control strategies using software components provided from
MathWorks, dSpace, etc. The model based design control offers a shorter time development for
the following:
Matlab/Simulink/Stateflow graphical model;
Model to real-time hardware;
Code converting using TargetLink;
36
DTC Anghelus
Testing all the components as one, etc.

The dSpace system is a high performance embedded digital controller based on a DSP
processor and represents the most often solution for aerospace, automotive and industrial control
engineering, because of its powerful option to efficiently influence the developing time of a
process. Within the adjustable motor drives applications, between the solutions provided by
dSpace the following can be mentioned:
Electric steering systems;
Electric vehicles and hybrid electric vehicles;
Electric brake systems;
Powertrain plants, etc.
In motor drives control the dSpace it uses an independent processing system to
implement digital control models being directly connected with Matlab/Simulink. The block
diagram control implemented in Simulink is converted to C code with TargetLink and then
downloaded onto its integrated DSP processor. dSpace also provides the option to control its
DSP processor from the PC through the ControlDesk software interface.
ControlDesk gives the users several purposes, among them the most important is the
option of a single working environment from upstream of the experimentation to downstream.
Some of the key benefits of ControlDesk are listed as:
Access to the simulation platforms and the connected control blocks;
Perform measurements and diagnostics on electronic control units;
Allows to supervise the desired loops and various file of the control model;
Specification of the running board (e.g. DS1102, DS1103, DS1104, DS1105,
etc.);
Adjustment and display of the required variable and parameters.
The block diagram of the dSpace hardware connection is included in Fig. 2.2 in section
2.1 of this chapter.
37
DTC Anghelus
In this chapter, the system components are discussed in a detail matter, as well modeling
where it was suitable with respect that knowledge of the principles and characteristics of the
investigated machine and inverter is very important to understand their use in drives and
applications.
38
DTC Anghelus
CHAPTER 3
CONTROL AND STABILITY ANALYSIS
Variable speed drives nowadays are present in every life around the globe. Depending
from one application to the other the control of these drives can be describes as torque, speed or
rotor position control. From one operating speed to another the control of the drive has to be
capable of holding a good dynamic response in steady-state and also in transient. The drives with
this capability also known as high-performance motor drives require the following features:
instantaneous rotor position, closed-loop control using feedbacks and the motor is supplied from
a power converter/inverter.
The newly designed control methods are preferred to be simulated using available
software programs. Computer simulation can provide the steady-state, transient and fault
response and therefore gives a lot of confidence to its user.
Thereby the chapter presents the analytical control design and afterwards computer
simulation verification.
3.1.
Permanent Magnet Synchronous Motor Field Oriented

Control
n*
Speed controller
DC link voltage
r*
qs
Current controller
v
v
r*
ds
n
Speed and
position
transformation
r*
qs
Vdc
qd
r*
ds
SVM
Current controller
Dabc
Vdc
qd
6-bridge inverter
iabc
abc
r
Encoder
PMSM
Fig. 3.1. Field oriented control block diagram of permanent magnet synchronous motor
DTC Anghelus
FOC is known since back in 1972 Blashke was publishing it in his pioneering work, and
it has seen a lot of respect from industry side due to its high performance torque and speed
response, and no flux and torque ripple as the DTC algorithm does at low speed. With the
permanently accurate knowledge of the rotor speed and flux the FOC is controlling the PMSM
like a separately DC-excited machine by controlling the flux and torque components
independently. The FOC bloc diagram is presented in Fig. 3.1.
The FOC can be classified into four methods as was developed and published in the past:
Rotor-flux oriented vector control;
Stator-flux oriented vector control;
Air-gap oriented vector control;
Generalized flux-vector oriented control.
The rotor-flux FOC is the most used due to its simplicity in comparison with the other
three methods which implies more equations, more calculations and in some cases more errors,
into the system. All the methods can be further on analyzed by using direct or indirect method.
The direct FOC is widely more accepted due to its performance on speed sensorless
operation and directly estimation of rotor flux position from the terminal voltage, line current
and parameters.
3.1.1.
Control Overview
The classical control theory is based on a second order transfer function in the following
form:
(3.1)
The transfer functions behavior on a step input can be analyzed by the following
equations:
(3.2)
(3.3)
40
DTC Anghelus
(3.4)
Fig. 3.2. Second order system standard step response basic features
The peak time value represents the time when the maximum value of the system response
is reached; settling time is reached when the output of the transfer function is closing to the step
input value with a small tolerance (2%), as shown in Fig. 3.2. The damping coefficient in most
general cases has to be greater than 0.8 and smaller than 1 in order to keep the overshoot at a
reasonable value (2%-5%). The classification of the damping coefficient as shown in Fig. 3.3 can
be defined as:
Under-damped, with its value equal or greater than zero but smaller than one;
Critically-damped, when equals one;
Over-damped, greater than one.
41
DTC Anghelus
Fig. 3.3. Second order system step response as a function of different damping coefficient
The PI controllers are basically a sum between a proportional and an integrator, as Eq.
(3.5) shows, added into the loop.
(3.5)
Magnitude (dB)
0
Phase
Margin
-50
-100
Phase (deg)
0
-45
-90
-135
Gain
Margin
-180
-225
-2
10
-1
10
10
10
10
Frequency (Hz)
Fig. 3.4. Typical bode diagram (frequency response) of a second order system in discrete time domain (z-domain)
42
DTC Anghelus
To analyze the stability of the studied transfer function the frequency response is needed.
This demand is fulfilled by representing bode diagram where the gain (G.M.) and phase margin
(P.M.) has to be between the intervals of 10 to 25 (dB) and 35 to 80 (degrees), respectively. A
typical bode diagram is shown in Fig. 3.4.
As the FOC diagram was presented in Fig. 3.1, the PI tuning is the most curtail part and
therefore step by step the PI tuning is presented in the next section.
Fig. 3.5. Control structure analysis of a loop within other loop
The first loop to be analyzed it has to be the highest bandwidth or high frequency loop, as
shown in Fig. 3.5, which in our case is the current loop.
3.1.2.
Current Loop Design
Starting from the voltage equation of the SPMSM as was stated in chapter 2, section 2.2,
Eq. (2.3). For simplifying the loop analysis a locked rotor position has to be introduced, which
means
and knowing the direct-axis flux linkage (
) from chapter 2 section 2.2 Eq.
(2.5), the voltage equation is rewriting as follows:

(3.6)
Further on the obtained voltage equation can be represented as a first order system
transfer function:
(3.7)
Adding the PI component and closing the loop the current control loop structure is
43
DTC Anghelus
Kp
r*
iqs
vqs
Plant transfer
function
(Eq. 3.7)
iqs
Ki /s
Fig. 3.6. Current loop control structure
The current control loop in mathematical form is expressed in Eq. (3.10) and to
simplifying even more, Eq. (3.8) presents a substitution used to form a zero and cancel the pole
of the obtained transfer function; substitution selected in such a way to cancel the largest time
constant in the system.
(3.8)
(3.9)
(
(3.10)
A time delay has to be introduced into the control system, time what is in general equal
with the sampling time (or one switching period). Further on with the notice of Eq. (3.12) the
close loop of the control system is defined like a second order system presented by Eq. (3.13).
(3.11)
(3.12)
(3.13)
Furthermore by comparing Eq. (3.13) with the standard equation of a second order
system presented in Eq. (3.1) the following features can be calculated:
44
(3.14)
DTC Anghelus
(3.15)
(3.16)
The damping coefficient ( ) is chosen arbitrary between 0.8 and 1 in order to keep a step
response overshoot between 2 and 5% in the current loop. Further on knowing the damping
coefficient and the machine parameters from annex 2 the current controller parameters can be
calculated as:
(3.17)
(3.18)
Table 6 presents the parameters of the current loop in discrete time domain calculated
using the Matlab code from annex 4, PMSM parameters from annex 2 and the chosen parameters
such as damping coefficient and switching frequency ( ).
Table 6. C URRENT L OOP P ARAMETERS
Parameter
Value
Units
2.8905
260.1457
2.2
2
2.024
2329
In Fig. 3.7 the bode diagram transformed in discrete time domain of the open loop
transfer function of Eq. (3.11) is presented for reading the stability issues such as gain margin,
preferred between 10 and 25 (dB), and phase margin between 35 and 80 (degrees) as stated
before.
On the root locus graphic presented in Fig. 3.8 the poles of the characteristic equation,
marked with black stars are shown to be located inside the z-plane; fact that fulfills the stability
demands for the loop response.
45
DTC Anghelus
Magnitude (dB)
20
0
-20
-40
G.M.: 19.4 dB
Freq: 1.05e+003 Hz
Stable loop
Phase (deg)
-90
-135
-180
-225
1
10
P.M.: 69.1 deg

Freq: 197 Hz
2
10
10
10
Frequency (Hz)
Fig. 3.7. Current loop bode diagram (frequency response) in discrete time domain (z-domain)
For validating the current controller parameters a step in quadrature-axis current was
simulated with the rotor blocked. For simulating the PMSM with locked rotor position the
electrical rotor speed has to be equal with zero, demand that leads to equalizing the mechanical
equation presented Eq. (3.23), with zero.
1.5
Imag Axis
0.5
z plane
0
-0.5
poles
-1
-1.5
-2.5
-2
-1.5
-1
-0.5
Real Axis
0.5
Fig. 3.8. Root locus of the current loop poles in discrete time domain (z-domain)
46
DTC Anghelus
i d*
id
1
Current (A)
0.8
0.6
0.4
0.2
0.2
0.4
0.6
0.8
1
1.2
Time (s)
1.4
1.6
1.8
Fig. 3.9. Step response of the direct-axis current loop
(3.19)
In Fig. 3.9 a 50% step response of the nominal current in direct-axis current is presented.
In the next section the speed loop design is analyzed using the same steps presented in the
current loop control analysis.
3.1.3.
Speed Loop Design
The analyzed equation for designing the speed loop control parameters is the equation
where the load torque is considered the disturbance and therefore is equaled to zero. Also the
viscous friction coefficient is neglected. The mechanical equation presented in previous section
as Eq. (3.19) with no load torque and viscous friction coefficient is expressed in Eq. (3.20).
(3.20)
(3.21)
From Eq. (3.21) will result the mechanical speed transformation as:
(3.22)
47
DTC Anghelus
With the torque equation of the SPMSM written in Eq. (3.19) and the transformation of
the electric rotor speed into mechanical speed from Eq. (3.22) the speed loop equation is:
(3.23)
Introducing the Eq. (3.23) in the control structure with the following notification, the
speed loop control structure is presented in Fig. 3.11:
(3.24)
an arbitrary selected value
n*
Kp
s Kip
s
Fig. 3.10.
Gq
3
p PM
2
1
s
30 1
J
Tl =0
Speed loop control block diagram
The open loop transfer function of the speed loop control structure is derived in Eq.
(3.25) from the Fig. 3.10.
(3.25)
In the control loop can be noticed the following constant:
(3.26)
The rotor PM flux linkage (
) can be derived using the voltage constant value from
annex 2. The voltage constant is referred as the line-to-line voltage and RMS value. After
transforming the voltage constant to phase peak value in Eq. (3.28), and mechanical speed to
angular speed from Eq. (3.21) the rotor PM flux linkage peak value can be calculated as was
derived in Eq. (3.29).
(3.27)
48
DTC Anghelus
(3.28)
(3.29)
Other notifications in the speed control loop are developed in the following two
equations:
(3.30)
(3.31)
Further on substituting Eq. (3.26) and (3.30) in Eq. (3.25) the open loop speed transfer
function is expressed as:
(3.32)
, is treated as an ideal compensator with the demand that
to be small
By neglecting the compensator and with the substitution of Eq. (3.33) the open loop
speed transfer function (
) on its latest form is expressed in Eq. (3.34).

(3.33)
(3.34)
Eq. (3.34) is similar to the current open loop and therefore can be compared with the
standard second order transfer function expressed in Eq. (3.1). Using the same steps the
controller parameters are derived in the following.
(3.35)
(3.36)
(3.37)
49
DTC Anghelus
Table 7 expresses the calculated parameters of the speed loop control structure obtained
the same as it were for the current loop, using the Matlab code presented in annex 4.
Table 7. S PEED L OOP P ARAMETERS
Parameter
Value
Units
0.4524
4.976
5.6
5
2.05
990
Magnitude (dB)
100
50
0
-50
Phase (deg)
-100
-90
-135
-180
-225
-270
-1
10
Fig. 3.11.
G.M.: 26.4 dB
Freq: 682 Hz
Stable loop
P.M.: 70.4 deg

Freq: 78 Hz
0
10
10
10
Frequency (Hz)
10
10
Speed loop bode diagram (frequency response) in discrete time domain (z-domain)
In Fig. 3.11 bode diagram is presented for checking the stability issues such as gain
margin and phase margin. The gain margin and phase margin it reads a 24 (dB) and 69 (degrees),
respectively. These values are placed within the demanded intervals which are the same as it
were for the current loop design, 10 to 25 (dB) for gain margin and 35 to 80 (degrees) for phase
margin.
50
DTC Anghelus
-3
x 10
3
z plane
Imag Axis
pole
-1
-2
0.99
1.5
0.991
0.992 0.993
0.994 0.995 0.996 0.997

Real Axis
z plane
0
-0.5
poles
-1
-1.5
-2
-3
-2.5
-2
-1.5
Fig. 3.12.
-1
-0.5
Real Axis
0.5
1.5
Root locus of the speed loop poles in discrete time domain (z-domain)
1200
n*
n
1000
800
Speed (rpm)
Imag Axis
0.5
600
400
200
0
-200
Fig. 3.13.
0.2
0.4
0.6
0.8
1
1.2
Time (s)
1.4
1.6
1.8
1000 rpm step response in the control designed speed loop
51
0.998
0.999
DTC Anghelus
Fig. 3.12 expresses the characteristic equation of the speed loop transfer function in
discrete time domain roots location on the z-plane. The poles are located inside the z plane
region marked with black stars; location which represents the stable region.
For validating the speed controller parameters a step of 1000 (rpm) was simulated at no
load operation, presented in Fig. 3.13. An almost 2% overshoot can be noticed on the graph and
also a slow 0.2 settling time in the measured speed ( ).
Further on the next section the anti-windup loop for both designed control loops is
analyzed with the control parameters obtained in the previous sections.
3.1.4.
Integrator Anti-windup
Around the world industry all actuators have a reaching saturation point, especially a
control system with a wide range of operating conditions. In this case there is a high possibility
that the actuator limits be reached by the control variable. These limits values were set according
to system protection section from chapter 2. Forwards when these limits are reached the
feedback loop in the control system is broken and the system becomes an open loop control.
5000
n*
n
4000
Speed (rpm)
3000
2000
1000
-1000
Fig. 3.14.
0.2
0.4
0.6
0.8
1
1.2
Time (s)
1.4
1.6
1.8
4000 rpm step response of the speed loop without anti-windup loop
52
DTC Anghelus
The reason is that the actuator remains at its limits whatever is the process output. In
mathematical terms this means that the integrator used in the control system may become very
large or it winds up.
The winds up phenomenon is defined as follows: the reference point is so large that the
actuator reaches its saturation point at the high limit. Because the error is positive the integrator
increases at the beginning and the output still remains saturated until the error becomes negative
for a sufficient amount of time so the integrator can decrease to a small level. The output control
signal is oscillating between its limits like a relay signal, several times. The actual event is
translated into a large overshoot as can be seen in Fig. 3.14, and in some other cases damped
oscillation.
Fig. 3.15.
Proportional-integral controller with anti-windup loop block diagram
A simple method to avoid windup is to inhibiting the integrator anytime the output
saturates. This method is called the back-calculation and is described in the following.
The back-calculation block diagram is presented din Fig. 3.15 and the working principle
is that when the output saturates the integrator input is redefined to give an output value at the
saturation limit. The structure of the system is defined with an additional feedback loop obtained
as a difference between the output of the controller and the output of the saturation block, then
multiplied with a constant gain value (
) and last added at the input of the integrator, sign
reversed. One big advantage of the method is that its structure is not resetting the integrator
instantly but dynamically with a constant gain (
).
53
DTC Anghelus
The time at which the output of the controller is reset is governed by the gain presented in
the additional feedback loop. The time constant of this gain is often called the tracking time
constant ( ).
A simple equation in finding the tracking time constant but for a PID control structure is
suggested in Eq. (3.41). The tracking time constant is defined from the PID control structure
IN
1
Ti
Kp
1
s
OUT
1
Tt
sTd
Fig. 3.16.
Proportional-integral-derivative controller block diagram
Based on a small comparison between the Figs. 3.15 and 3.16 the following equations
can be derived:
(3.38)
(3.39)
(3.40)
The tracking time constant should be larger than the derivative time constant (
) and
smaller than the integral time constant ( ); a general equation form for the tracking time
constant calculation is given in Eq. (3.43). The control proposed in this project does not use
derivative loops in the control design so for calculation of the tracking time constant an
54
DTC Anghelus
approximation of the Eq. (3.41) was proposed on Eq. (3.42). Based on this assumption the
calculated anti-windup gains are presented in table 8.
Table 8. A NTI - WINDUP L OOP P ARAMETERS
Loop
Tracking time constant ( )
Speed
0.09048
11
Direct-axis current
0.0111
90
Quadrature-axis current
0.0111
90
Gain (
(3.41)
(3.42)
The validation data is presented in Fig. 3.17 where the same (
) step response
with anti-windup loop parameters from table 8, is graphically represented. The large (45%)
overshoot and a settling time of 0.7 ( ) from Fig. 3.14 were reduces to an almost 2% overshoot
and a settling time of 0.15 ( ) using the anti-windup loop.
4500
n*
n
4000
3500
Speed (rpm)
3000
2500
2000
1500
1000
500
0
-500
Fig. 3.17.
0.2
0.4
0.6
0.8
1
1.2
Time (s)
1.4
1.6
1.8
4000 rpm step response of the speed loop with anti-windup loop
Further on the next section, the simulation of FOC for SPMSM is analyzed now that the
both control loops have been designed.
55
DTC Anghelus
3.1.5.
Permanent Magnet Motor Field Oriented Control Simulation
Based on the Fig. 3.1 from section 3.1 of this chapter the FOC for SPMSM has been
implemented in Matlab/Simulink with the both designed control loops and the machine model
simulated in chapter 2 section 2.2.1.
Two simulations were done, one was a step of 1000 (
) and second was done consider
the low speed performance of the implemented controller. Both simulations were done under no
load conditions and also a 50% load step. Each one of the figures shows the rotor speed on the
motor shaft, mechanical torque, three-phase currents fed to the machine and the last sub-graph
shows the three-phase voltages fed to the machine in discrete time domain.
The first simulation is presented in Fig. 3.18 and shows the simulated variables from the
proposed FOC design, when adding a 10 (
machine at a 1000 (
) load step (50% of the rated torque) to the
) speed (22.5% of the rated speed). The speed controller described
section 3.1.3 holds the starting speed to follow the reference speed very fast and with no
overshoot (small than 2%, almost negligible), as the first sub-graph shows. The current controller
designed for the torque control has the capability to respond very fast to a change in torque
command.
The second one is presented in Fig. 3.19 and here is shown the variables when adding the
same 50% load step to the machine but at a low speed operation around 250 (
frequency domain for this machine means 16 (
(
) what in
) and 5.5% of the rated frequency. At a 250
) reference speed the control drive it response with a disturbance of 200 (
change in load torque command.
56
) at the step
DTC Anghelus
Speed (rpm)
1500
n*
n
1000
500
0
15
0.5
1.5
2
Time (s)
2.5
2
Time (s)
2.5
3.5
T*
T
Torque (Nm)
10
5
0
-5
15
10
-10
0.5
Current (A)
-5
0.5
1.5
Time (s)
2.5
1.5
40
-10
100
-5
-15
3.5
ia
ib
ic
0.5
1.5
va
vb
50
2
Time (s)
2.5
Voltage (V)
Voltage (V)
Current (A)
10
20
0
-20
3.5
-40
-60
0.5
1.5
Time (s)
2.5
0
-50
-100
0.5
1.5
2
Time (s)
2.5
3.5
Fig. 3.18.
Permanent magnet synchronous motor speed
, torque
, three-phase currents
and axes voltages
simulation results under field oriented control with motion feedback at a 50% load and
1000 rpm speed changes
57
DTC Anghelus
500
n*
n
Speed (rpm)
400
300
200
100
0
15
0.5
1.5
2.5
3.5
4
xT
10
Torque (Nm)
*
10
5
0
515 0
0.5
1.5
2.5
3.5
4
4
xia 10
10
-5
ib
ic
-10 5
0.95
1.05
1.1
1.15
1.2
1.25
4
15
x 10
10
-5
-10
-15
30
0.5
1.5
2.5
va
vb
20
Voltage (V)
Voltage (V)
Current (A)
Current (A)
10 -5
5
0
-5
-10
-15
3.5
4
4
0.5
x 10
1.5
2.5
Time (s)
10
0
-10
-20
-30
0.5
1.5
2
Time (s)
2.5
3.5
Fig. 3.19.
, torque
and axes voltages
simulation results under field oriented control with motion feedback at a 50% load and
200 rpm speed changes
58
DTC Anghelus
3.2.
Speed Sensorless Loop Design
Among other different methods for speed sensorless control the PMSM, the method
described hereafter is the back EMF based method with current drift compensation and a phase
locked loop (PLL) is used to handle the position error.
3.2.1.
Back EMF based Method
An accurate
motor model represented in stationary reference frame (
) is mandatory
to predict the motor capability for sensorless speed detection.

Starting from the machine model equations written in rotor reference frame from chapter
2 section 2.2 the machine model in stationary reference frame is presented in Eq. (3.45) with the
flux linkages equation (
) in Eq. (3.46).
(3.43)
(3.44)
(3.45)
(
(3.46)
A small substitution can be noticed in Eq. (3.46) and knowing that the direct- and
quadrature-axis are equal in this case the final equation of the flux linkages in stationary
reference frame is presented in Eq. (3.48).
((
(3.47)
(3.48)
Further on if all the motor parameters are accurately known the rotor position ( ) can be
derived by using
components only, as presented in Eq. (3.49).
59
(3.49)
DTC Anghelus
Due to the fact the noise will definitely exist in the measured currents, a small current
drift will cause an increasing error after integration. This problem is solved on the following
section.
3.2.2.
Drift Compensation Loop
The current measurements can contain errors caused by unbalanced gains of the
measurement channels, drift or dc offset. This fact will determine oscillations in machine torque
and speed channels.
The compensation block is based on Eq. (3.50) from [15] and it uses a regulator to
derived the compensation voltage (
) as presented in Fig. 3.20.

(
(3.50)
vcomp
v
1
s
Controller
Rs
Flux linkage
estimator
(Eq. 3.46)
Fig. 3.20.
Stator flux linkage calculation with drift compensation controller
is a gain with a value chosen from the interval of
to
[16]
The controller has the same structure as Fig. 3.6 and is designed using the same steps as
for the current controller from section 3.1.2 starting from the same equation as:
(
(3.51)
Further on the obtained voltage equation can be represented as a first order system
transfer function:
60
DTC Anghelus
(3.52)
The controller is expressed in Eq. (3.53) and with the substitution from Eqs. (3.54) and
(3.55) and adding the time delay into the system the open loop equation in final form is presented
in Eq. (3.56).
(
(3.53)
(3.54)
(3.55)
(3.56)
With the notification from Eq. (3.57) the parameters of the closed loop system presented
in Eq. (3.58) can be easily derived using the same steps as for the current controller. The
parameters were calculated using the Matlab code from annex 5 and posted in table 9.
(3.57)
(3.58)
Table 9. F LUX L INKAGE E RROR C ONTROLLER P ARAMETERS
Parameter
Value
1280
114780
1978
0.99
0.7
0.07
61
Units
DTC Anghelus
3.2.3.
Phase Locked Loop
Phase locked loop is very widely explored and known method as a very good solution to
handle position error. It basically consists in a proportional-integral controller with the estimated
position error as its input. The position error can be obtained by several different algorithms such
as high frequency signal injection, back EMF based method, etc.
The method used in this project as was described and presented before in Eq. (3.49),
represents the back EMF based method. As block diagram the PLL is presented in Fig. 3.21. The
structure of the PLL gives the possibility to create the position error if the algorithm directly
estimates the rotor position/speed.
Kp
1
s
Ki
rPLL
Fig. 3.21.
1
s
Phase locked loop block diagram
Based on the PLL structure from Fig. 3.21 the following equations can be derived:
The dynamic performance of the motor using the estimated rotor speed/position (
depends on designed parameters (
(3.59)
(3.60)
)
) of the controller. Starting from the closed loop transfer
function presented in Eq. (3.61) the controller parameters are design more easily than they did
before for the current, speed and flux loop. The advantage of the PLL is that the time domain
response is known as presented in Eq. (3.64).
(3.61)
62
DTC Anghelus
(3.62)
(3.63)
)) (3.64)
Therefore by specifying the damping ratio ( ) and the bandwidth (
) of the system a
numerical expression between the parameters and the bandwidth has been developed in [17] as
presented in the following equations:
(3.65)
(3.66)
(3.67)
(3.68)
Finally by specifying the damping ratio and the bandwidth which were copied from the
flux linkage controller, the parameters of the PLL controller were calculated using the Matlab
code from annex 5 and presented in table 10.
Table 10.
P HASE L OCKED L OOP C ONTROLLER P ARAMETERS
Parameter
Value
Units
1600
656650
1995
0.99
13.7
3.3.
System Simulation
The FOC block diagram presented back in section 3.1 in Fig. 3.1 was implemented in
Matlab/Simulink but now with the additional loop for speed sensorless performance as presented
in Fig. 3.22. The connection between the flux linkage calculation and the phase locked loop was
made by adding Eq. (3.69) which represents the error calculation.
63
DTC Anghelus
Fig. 3.22.
(3.69)
Block diagram of the field oriented control motion sensorless back EMF based method with drift
compensation and phase locked loop
Using the same load and speed changes as for FOC with motion feedback in section
3.1.5, the simulation results of the PMSM under speed sensorless FOC are presented in Figs.
3.23 and 3.25. Additional here are presented the real rotor position in comparison with the
estimated rotor position and the error between them for both reference speeds in Fig. 3.24 and
3.26, respectively.
The first simulation is presented in Fig. 3.23 and shows the simulated variables from the
proposed FOC design, starting with a 10 (
(
) load step (50% of the rated torque) and a 1000
) speed (22.5% of the rated speed). The speed controller described section 3.1.3 holds the
starting speed to follow the reference speed very fast and with no overshoot (small than 2%,
64
DTC Anghelus
almost negligible), as the first sub-graph shows. Machines torque control is presented in the
second sub-graph and the response of the drive is a little poor dynamically when a change in
torque command is made. On the last two sub-graphs of Fig. 3.23 are presented the stator
currents and the
-voltages, respectively. In Fig. 3.24 is presented the measured rotor position
and the estimated one with a zoom-in at startup stage and the error between them.
The second simulation is presented in Fig. 3.25 and here is shown the variables at the
same 50% load step but at a low speed operation around 380 (
for this machine means 25 (
) what in frequency domain
) and 13% of the rated frequency. At a 380 (
the control drive it response with a disturbance of 200 (
) reference speed
) when the step in load torque
command is changed down to zero. The dynamic behavior of the machine at 380 (
it shows
the same poor capability, as it can be seen in the speed and the torque sub-graphs of Fig. 3.25.
the position error presented in the last sub-graph of Fig. 3.26 it shows a several degrees
improvement in comparison with the 1000 (
) simulation.
65
DTC Anghelus
1400
Speed (rpm)
1200
1000
800
600
n*
n
400
200
0
15
0.5
1.5
2.5
3.5
T
T
10
Torque (Nm)
4
4
*
x 10
5
0
-5
-10
30
0.5
1.5
2.5
3.5
xi 10
a
20
Current (A)
4
4
ib
ic
10
0
-10
-20
-30
100
0.5
1.5
2.5
3.5
v
v
x 10
50
Voltage (V)
4
4
0
-50
-100
0.5
1.5
2
Time (s)
2.5
3.5
Fig. 3.23.
, torque
and axes voltages
simulation results under field oriented control without motion feedback at a 50% load
and 1000 rpm speed changes
66
Rotor Position (deg)
DTC Anghelus
300
200
100
200
400
600
800
1000
1200
1400
400
300
200
100
0
50
0.5
1.5
2.5
3.5
4
4
Position Error (deg)
x 10
0
-50
-100
Fig. 3.24.
0.5
1.5
2
Time (s)
2.5
3.5
Permanent magnet synchronous motor measured position

versus estimated position and
position error simulation results under field oriented control without motion feedback at a 50% load
67
DTC Anghelus
800
n*
n
Speed (rpm)
600
400
200
0
20
0.5
1.5
2.5
3.5
T
T
15
Torque (Nm)
4
4
*
x 10
10
5
0
-5
-10
30
0.5
1.5
2.5
3.5
xi 10
a
20
Current (A)
4
4
ib
ic
10
0
-10
-20
-30
50
0.5
1.5
2.5
3.5
v
v
Voltage (V)
x 10
-50
0.5
1.5
2
Time (s)
2.5
3.5
Fig. 3.25.
, torque
and axes voltages
68
DTC Anghelus
300
200
100
500
1000
1500
2000
400
300
200
100
0
50
0.5
1.5
2.5
3.5
4
4
x 10
0
-50
-100
Fig. 3.26.
0.5
1.5
2
Time (s)
2.5
3.5
Permanent magnet synchronous motor measured position

versus estimated position and
position error
In this chapter was extensively reviewed the control design of the investigated permanent
magnet synchronous motor drive due to its widely presence in various variable industrial
applications. Both controls with and without motion feedback from the motor shaft, were literary
covered and simulated. The back EMF based method with flux error controller has been
described and design. However, the zero speed or even very low speed operation still remains a
challenge.
69
DTC Anghelus
CHAPTER 4
CONTROL VALIDATION
To verify the performance of the motor drive system, the laboratory test system presented
as block diagram in chapter 2 section 2.1 Fig. 2.2 and picture in Fig. 4.1 is employed. The
designed speed sensorless control algorithm of the drive is implemented in the microcontroller of
the dSpace. The control was designed in Matlab/Simulink and converted in C code for
performing the implementation. The information of the system such as speed, current and
voltage measurement after sensors is taken by the dSpace and converted into a virtual view on
the PC using Control Desk software. The sampling frequency and the SVM switching frequency
of the system is 5 (
The picture of the laboratory system is presented in Fig. 4.1 to validate the system
description presented in chapter 2 section 2.1 Fig. 2.2.
dSpace
IM
inverter
SPMSM
inverter
Encoder
IM
SPMSM
PC
Fig. 4.1. Picture of laboratory testing system
4.1.
Rotor Position Alignment
The PMSM machine for a proper performance needs the initial rotor position ( ) to be
zero. This is acquired by aligning the direct-axis with phase
of the stator windings and thereby
the initial rotor position when the machine starts is zero. In practice there are several methods to
DTC Anghelus
do this such as applying a DC voltage to the -axis or by setting the following duty cycles
): 0.512, 0.488, and 0.488, respectively.
q
ib
r=0
ia
ic
Vdccommand
Fig. 4.2. Phase diagram of the permanent magnet synchronous motor during the rotor position alignment (
10
ia
ib
ic
Current (A)
-5
-0.5
-0.3
-0.1
0.1
0.3
0.5 0.7
Time (s)
0.9
1.1
1.3
1.5
Fig. 4.3. Permanent magnet synchronous motor stator currents during the rotor position alignment (
71
DTC Anghelus
When a DC voltage is applied to phase
the following equations can be mentioned
during the alignment:

(4.1)
(4.2)
(4.3)
The voltage equation presented in Eq. (4.2) can be noticed on the machine phase diagram
presented in Fig. 4.2. And also the current equation from Eq. (4.1) can be read on the test result
4.2.
Experimental Results
Using the same parameter and steps procedures as in simulations presented in chapter 3
section 3.3 the experimental results presented in this section were proceeded after aligning the
rotor to a known position using the technique described earlier in section 4.1.
Two experimental results are presented starting with a 50% load torque (10
1000
and second at 380
) first at
and presented in Fig. 4.4 and Fig. 4.6. For both
experiments also the measured rotor position ( ) versus estimated rotor position ( ) and the
error between them are presented in Fig. 4.5 for the 1000
experiment and Fig. 4.7 for 380
experiment.
The experiments were carried out using the motor drive system configuration presented
in chapter 3, section 3.3 Fig. 3.22 with the speed and position sensorless loop in the system.
Comparing the simulation with experimental results an overshoot (more than 30%) at
startup stage is remarked in the experimental results due to the poor dynamic behavior of the
motor drive system described earlier in the simulation section 3.3.
72
DTC Anghelus
Speed (rpm)
1500
1000
n*
n
500
n
0
15
0.5
1.5
T
T
10
Torque (Nm)
2.5
* 4
x 10
5
0
-5
-10
-15
20
0.5
1.5
xi a10
ib
ic
10
Current (A)
2.5
0
-10
-20
100
0.5
1.5
v
v
x 10
50
Voltage (V)
2.5
0
-50
-100
Time (s)
Fig. 4.4. Permanent magnet synchronous motor speed

, torque
and -axes
voltages
test results under field oriented control without motion feedback at a 50% load and 1000
rpm speed changes
73
DTC Anghelus
300
200
100
0
1400
1500
1600
1700
1800
1900
2000
2100
2200
400
300
200
100
0
100
2300
0.5
1.5
2.5
4
x 10
50
0
-50
-100
-150
Time (s)
Fig. 4.5. Permanent magnet synchronous motor measured position

versus estimated position and position
error
test results under field oriented control without motion feedback at a 50% load and 1000 rpm
speed changes
74
DTC Anghelus
800
n*
n
Speed (rpm)
600
400
200
0
15
4,000
6,000
8,000 10,000 12,000 14,000 16,000 18,000 20,000 22,000 24,000
T*
T
Torque (Nm)
10
5
0
-5
-10
-15
20
0.4
0.6
0.8
1.2
1.4
1.6
1.8
2.2
2.4
4
xi 10
a
ib
ic
Current (A)
10
0
-10
-20
60
0.4
0.6
0.8
1.2
1.4
1.6
1.8
2.2
v
v
x 10
40
Voltage (V)
2.4
20
0
-20
-40
-60
0.8
1.25
1.6
2.05
2.5
2.95
Time (s)
3.4
3.85
4.3
4.75
5.1
Fig. 4.6. Permanent magnet synchronous motor speed

, torque
and -axes
voltages
test results under field oriented control without motion feedback at a 50% load and 200 rpm
speed changes
75
DTC Anghelus
300
200
100
3000
3500
4000
4500
5000
5500
400
300
200
100
0
0.4
0.6
0.8
1.2
150
1.4
Time (s)
1.6
2.95
Time (s)
3.4
1.8
2.2
2.4
4
x 10
100
50
0
-50
-100
-150
0.8
1.25
1.6
2.05
2.5
3.85
4.4
4.85
5.1
Fig. 4.7. Permanent magnet synchronous motor measured position

versus estimated position and position
error test results under field oriented control without motion feedback at a 50% load and 200 rpm
speed changes
In this chapter, the experimental results have been presented and discussed, as well the
system itself and the rotor position alignment. Several experimental results according to the
simulation results section of chapter 3, have been posted.
76
DTC Anghelus
CHAPTER 5
CONCLUSIONS AND FUTURE WORKS

5.1.
Conclusions
This project is focused on low speed performance field oriented control of permanent
magnet synchronous motor without motion feedback from the rotor shaft, via stator flux
estimation based on direct evaluation of the back EMF algorithm in stationary reference frame.
The proposed control algorithm can be summarized as: A stator flux observer is
employed, consisting in a voltage-current based model with drift control compensator for low
speed operation. The angle of the rotor is directly calculated based on voltage and current
measurements in stator coordinates and on knowledge of the motor parameters, e.g. resistance
and inductance of the stator and rotor permanent magnet flux linkage; and finally the calculated
rotor position error is handled using a phase locked loop for position/speed estimation.
The implementation of the proposed speed sensorless control is not required the motion
information feedback or any kind of extra sensor, but it presents a sensitive behavior to speed
estimation errors. During low speed performance the flux estimator is significantly influenced by
speed errors.
The proposed speed sensorless control was validated experimentally in open loop torque
control in a speed range down to 380 (
torque (10
) and up to 1000 (
) (25-66
) and half rated
). Both simulation and experiments are presented under the same working
conditions. The experimental results show that the back EMF with drift compensation based
method speed sensorless field oriented control algorithm has been able to deliver good rotor
speed/position estimation in steady-state but very poor during transients at the early mentioned
speed range.
Compared with the encoder based control, the motor drive system under the proposed
control cannot operate at less than 380 (
5.2.
) or even zero speed applications.
Future Works
Future work will focus on improving the motor drive system dynamics behavior with
respect at very low speed, either using adaptive noise filters or different/advanced stator voltage
and flux linkage estimation. Full load performance has to be tested by adding another machine
77
DTC Anghelus
instead of the used one whose rated torque is only half of the permanent magnet motor rated
torque.
For improving the startup stage overshoot an
- speed sensorless control can be
employed, which presents very good results for startup and very low speed operation under load.
For zero speed performance of the drive more objectives has to be consider, i.e. noise,
drift, offset, unbalances, resistance temperature variation, which leads to speed oscillations and
instabilities.
78
DTC Anghelus
ANNEX 1 (SYMBOLS)
~ : error value
: logic complement
^ : estimated value
: actual/measured value
v : voltage (V)
i : current
: flux linkage
S : switch status (0/1)
L : inductance
D : duty cycle/ratio
X
x
x*
xx
: vector
Fig. 1.
s : stationary reference frame

e : synchronous reference frame
r : rotor reference frame
PM : PM machine
IM : induction machine
(star) : reference value
s : stator side
N : -to neutral point
0 : -to zero point
d : direct-axis component
q : quadrature-axis component
: real-axis of the -plane
: imag-axis of the -plane
a : phase a
b : phase b
c : phase c
dq : synchronous reference frame
abc : 3 phase
Complex symbol description

Roman letters
Viscous friction coefficient

Bandwidth of the current loop
Bandwidth of the speed loop
Dwell time of the SVM
Antiparallel diode
Variable replacer, i.e.
Switching frequency
Zero-sequence component of the current
Constant current source (field current)
Imaginary unit
Inertia of the motor and the load system
Tracking time constant/Anti-windup gain
Proportional gain
Constant in the speed loop controller
Integrators gain
Direct-axis inductance
Mutual inductance
Quadrature-axis mutual inductance
Direct-axis mutual inductance
Quadrature-axis inductance
Rotor self-inductance
Self-inductance (stator inductance)
Quadrature-axis self-inductance
Direct-axis self-inductance
Mechanical speed
Overshoot (%)
Number of poles pairs
Stator resistance
Rotor resistance
Laplace operator (differential operator)
Transistor (switching device)
Electromagnetic Torque
Load torque
Time delay
Dead time
Time to peak value
Rising time
Sampling time
Settling time
Tracking time constant
Direct current/DC link voltage
Compensation voltage
Voltage constant
Voltage space vector
DTC Anghelus
Reference/command voltage
Greek letters
Space vector position within the sector
Error
Damping coefficient
PM flux linkage (PM rotor flux)
Space vector position in revolution (2) frame
Electrical position of the vector ( )
Rotor electrical position
Differential operator
Electrical speed of the voltage vector
Rotor electrical speed
Bandwidth (break frequency)
Acronyms
AC
Alternative current
C
C program (language/code)
CSI
Current source inverter
DC
Direct current
DTC
Direct torque control
DSP
Digital signal processor
EMF
Electromotive force
FOC
Field oriented control
GTO
Gate turn-off thyristor
G.M.
Gain margin
IGBT Isolated gate bipolar transistor
IGCT Integrated gate-commutated thyristor
IM
Induction motor
MOSFET
Metal oxide semiconductor field effect transistor
PID
Proportional-integral-derivative controller
PLL
Phase locked loop
P.M.
Phase margin
PM
Permanent magnet
PMSM Permanent magnet synchronous motor
SPMSM Surface PMSM
SVM Space vector modulation
V/f
Voltage/frequency control
VLSI Very large scale integration
VSI
Voltage source inverter
80
DTC Anghelus
ANNEX 2 (SURFACE PERMANENT MAGNET SYNCHRONOUS MOTOR

PARAMETERS)
Technical data
Symbol
Value
Units
Rated speed
4500
Number of pole pairs
Rated torque
20
Rated current
24.5
Moment of inertia (with brake)
6.11
Moment of inertia (without brake)
4.8
Optimum power
9.42
Maximum permissible speed (mech.)
7900
Maximum torque
65
Maximum current
86
Torque constant
1.01
Voltage constant
64
Winding resistance at 20
Rotating field inductance
0.18
0.002
DTC Anghelus
ANNEX 3 (INDUCTION MOTOR PARAMETERS)

Technical data
Symbol
Value
Rated speed
1430
Number of pole pairs
Rated torque
14.7
Rated current
5.5
Moment of inertia
69
Optimum power
2.2
Stator resistance
3.67
Rotor resistance
2.32
Stator inductance
0.2442
Rotor inductance
0.2473
Mutual inductance
0.235
Units
DTC Anghelus
ANNEX 4 (CURRENT AND SPEED CONTROLLER DESIGN IN MATLAB)

clear;
Ts=1/5e3;
Ld=0.002;
Lq=0.002;
p=4;
J=0.0048;
PsiPM=0.1247;
Rs=0.18;
s
damp_rat
Td
= tf('s');
= 0.93;
= Ts;
% Current Loop
Kip_q
Kp_q
Ki_q
= Rs/Lq;
= Lq/(4*damp_rat^2*Td);
= Kp_q*Kip_q;
% Specify a desired damping ratio
disp('the current loop PI parameters (Kp_q Ki_q)')

disp([Kp_q Ki_q])
% Construct the transfer function q-axis
Gq_op
= Kp_q/(Lq*Td)*1/(s*(s+1/Td));
Gz_op_q
= c2d(Gq_op,Ts);
Hz_cl_q
= feedback(Gz_op_q,1);
% Closed loop transfer function
Bw_c
= bandwidth(Hz_cl_q)
% Closed loop bandwidth
stepinfo(Hz_cl_q)
% Time domain step response characteristics
% Speed Loop
Tdi
Kc
Kp_n
Kip_n
Ki_n
K
=
=
=
=
=
=
1/Bw_c;
60/(2*pi*J)*3/2*PsiPM*p;
1/(4*damp_rat^2*Tdi)*1/Kc;
11;
Kp_n*Kip_n;
Kp_n*Kc/Tdi;
% a constant in the speed loop
disp('the speed loop PI parameters (Kp_n Ki_n)')

disp([Kp_n Ki_n])
% Construct the transfer function
Gn_ol
= K*(1/(s+1/Tdi)*1/s)*(s+Kip_n)/s;
Gz_ol_n
= c2d(Gn_ol,Ts);
Hz_cl_n
= feedback(Gz_ol_n,1);
bandwidth(Hz_cl_n)
stepinfo(Hz_cl_n)
% Time domain step response characteristics
DTC Anghelus
ANNEX 5 (FLUX LINKAGE AND PHASE LOCKED LOOP CONTROLLER DESIGN

IN MATLAB)
clear;
Ts=1/5e3;
Ld=0.002;
Lq=0.002;
Rs=0.18;
% Flux Linkage Loop
s
damp_rat
Td
= tf('s');
= 0.99;
= Ts;
Kip_q
Kp_q
Ki_q
= Rs/Lq;
= 1/(4*damp_rat^2*Td);
= Kp_q*Kip_q;
% Specify a desired damping ratio
% Coefficient of Ki
% Coefficient of Kp
disp([Kp_q Ki_q])
Gq_op
=
Gz_op_q
=
Hz_cl_q
=
Bw_q
=
stepinfo(Hz_cl_q)
Kp_q/Td*1/(s*(s+1/Td));
c2d(Gq_op,Ts);
feedback(Gz_op_q,1);
bandwidth(Hz_cl_q)
% Phase Locked Loop

damp_rat_ini
Bw_ini
Ki
Kp
disp([Ki Kp])
omegan
= .99;
= 2000;
= Bw_ini^2*(1.1-0.334*damp_rat_ini)^2/(0.4091*damp_rat_ini+1.4938)^2;
= 2*damp_rat_ini*sqrt(Ki);
= sqrt(Ki)
DTC Anghelus
REFERENCES
[1] I. Boldea, Synchronous Generators Book, Taylor & Francis Group, LLC, 2006;
[2] Bimal K. Bose, Modern Power Electronics and AC Drives Book, Prentice Hall PTR, 2002;
[3] A. Singh, S. Singh, SSSR S. Duvvuri, Direct Torque Control of PMSM with a two-level Inverter using
Matlab/Simulink, IJEIT, National Conference RACTEE at SLIET Longowal, Punjab, India, 2009,vol. 2,
no. 1, pp. 10-15;
[4] B.M. Wilamowski, J.D. Irwin, Power Electronics and Motor Drive, The Industrial Electronics Handbook,
Second Edition, CRC Press by Taylor and Francis Group, 2011;
[5] Bimal Bose, Power Electronics and Motor Drives Book, Academic Press, 2006;
[6] P.D.C. Perera, F. Blaabjerg, J.K. Pedersen, P. Thogersen, A Sensorless, Stable V/f Control Method for
Permanent-Magnet Synchronous Motor Drives, IEEE Trans. On Industry Applications, vol. 39, no. 3,
May/June 2003, pp. 783-791;
[7] I. Boldea, The Induction Machine Handbook Book, CRC Press, 2002;
[8] C.R. Bratiloveanu, DTC Anghelus, I. Boldea, A comparative investigation of three PM-less MW power
range wind generator topologies, IEEE-OPTIM, Brasov, Romania, May, 2012, pp. publication process;
[9] Siemens AG 2010, Simotion, Sinamics S120 and Motors for Production Machines Catalog PM 21-2011,
Motion Control, Answers for Industry;
[10] A. Moldovan, F. Blaabjerg, I. Boldea, Active-Flux-Based, V/f-with-Stabilizing-Loops Versus Sensorless
Vector Control of IPMSM Drives, IEEE-ISIE International Symposium on, 27-30 June, 2011, pp. 514519;
[11] C. Lascu, I. Boldea, F. Blaabjerg, Comparative Study of Adaptive and Inherently Sensorless Observers for
Variable-Speed Induction-Motor Drives, IEEE Trans. On Industrial Electronics, vol. 53, no. 1, February
2006, pp. 57-65;
[12] R. Krishnan, Electric Motor Drives Book, Pretince Hall, 2001;
[13] M.C. Paicu, I. Boldea, G.D. Andreescu, F. Blaabjerg, Very low speed performance of active flux based
sensorless control: interior permanent magnet synchronous motor vector control versus direct torque and
flux control, IET Electric Power Application, 2009, vol. 3, iss. 6, pp. 551-561;
[14] I. Boldea, M.C. Paicu, G.D. Andreescu, F. Blaabjerg, Active Flux Orientation Vector Sensorless
Control of IPMSM, IEEE-OPTIM, 11th Conference on, 22-24 May, 2008, pp. 161-168;
[15] I. Boldea, M.C. Paicu, G.D. Andreescu, Active Flux Concept For Motion-Sensorless Unified AC Drives,
IEEE Trans. On Power Electronics, vol. 23, no. 5, September 2008, pp. 2612-2618;
[16] J. Holtz, J. Quan, Drift- and Parameter-Compensated Flux Estimator for Persistent Zero-Stator-Frequency
Operation of Sensorless-Controlled Induction Motors, IEEE Trans. On Industry Applications, vol. 39, no.
4, July/August 2003, pp. 1052-1060;
[17] J.L. Chen, T.H. Liu, C.L. Chen, Design and implementation of a novel high-performance sensorless
control system for interior permanent magnet synchronous motors, IET Electr. Power Appl., 2010, vol. 4,
iss. 4, pp. 226-240;

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PREFACE

The wellbeing of the contemporary worlds environmental is strongly depended by its

) under half rated torque.

3.1.3. Speed Loop Design ...................................................................................... 47

Adjustable Speed Drives

Fig. 1.1. Variable-speed drives classification

Permanent Magnet Synchronous Motor

direct driven wind generators

Fig. 1.3. Permanent magnet synchronous motor drives classification

Speed Sensorless Control

Classification and Models

Rotating voltage vector. A rotating voltage vector, at a constant carrier frequency

is the carrier frequency) component and passed

through a high pass filter.

Objective of the Work

The specifications of the project are as follows:

) was coupled for loading a PMSM with

); fact that clearly limits the torque control down to a

50% of the reliable torque of the analyzed machine;

The previous sections highlight description in comparison of the IM and PMSM as

SYSTEM DESCRIPTION AND MODELING

Scientific modeling represents an essentially part of all scientific activity either if is

The modern variable-speed or variable-frequency motor drive systems consist mainly of

Fig. 2.1. Schematic controller general basis diagram [12]

Fig. 2.2. Block diagram of the motor drive system structure

Table 1. S YSTEM C OMPONENTS

ABB MT100LA28-4 MK110022-S

Control the PMSM

Minimum DC voltage of the permanent magnet motor inverter

Maximum DC voltage of the permanent magnet motor inverter

Maximum current of the induction motor

Minimum DC voltage of the induction motor inverter

Based on mechanical coupling

Permanent Magnet Synchronous Motor Model

Fig. 2.4. Surface permanent magnet synchronous motor radial geometry

currents is expressed in Eq. (2.2). The

) voltage components are given in the following equations:

, and the direct- (

) stator flux linkages in the rotor reference frame

) axes for a SPMSM is known

. Therefor the following equation will result:

The electromagnetic torque ( ) of the SPMSM is derived as:

) inductance are equal for SPMSM,

the final equation of the torque component for SPMSM is:

Permanent Magnet Synchronous Motor Simulation

Forwards the module of the applied voltage vector (| |) is transformed to stationary

), then to synchronous reference frame (

) and finally fed to the machine

Based on these assumptions the control structure was implemented in Matlab/Simulink as

Further on the VSIs are described in detail due to projects relevance.

) with antiparallel connected diodes (

), known as one inverter-leg and a capacitive

closed at the same time), the upper

and the lower switch by its logic complement ().

Fig. 2.9. Half-bridge (one leg) voltage source inverter

presented in Fig. 2.10.

H-bridge (two legs) voltage source inverter

Full-bridge voltage source inverter. By connecting three half-bridge inverter-legs in

) for three-phase load connection.

) and eight different switching states written in table 3. The full-

) it jumps from zero volts to DC link

) and back as follows: when the switch status of leg

then the phase