You are on page 1of 72

Institute of Energy Technology

Encoderless Vector Control of PMSG for Wind Turbine Applications

Conducted by group PED 1035 Master Thesis, 2010

Institute of Energy Technology Pontoppidanstrde 101 Phone number 99 40 92 47 Fax 98 15 14 11 http://www.iet.aau.dk/

Title: Encoderless Vector Control of PMSG for Wind Turbine Applications Semester: 4th semester Semester Theme: Master Thesis Project period: 01.02.10 to 01.06.10 ECTS: 30 Project group: PED 1035 Members:

Abstract:

Andreea Cimpoeru

Supervisor: Kaiyuan Lu Number of prints: 3 Number of pages: 62 Finished: 1.06.2010

The growing interest in wind turbine applications and the fast development of power electronics is making the manufacturers to nd the most suitable and low cost technologies to put in practice. Permanent magnet synchronous generator are becoming more popular over the induction machine in wind turbine applications, because of the increased power to volume ratio, decreasing cost of magnets, and increased eciency. In this scope, the purpose of this project is to nd a solution in order not to use the sensor mounted on the shaft of the surface mounted PM for wind turbine applications. The control strategy used is Field Oriented Control(FOC). First FOC is implemented and validated in Matlab/Simulink using measured speed and position. Next, the investigation on methods to estimated the rotor position is done. With the chosen method the validation of the control is performed. The sensored Field Oriented Control is implemented in dSpace laboratory and the results have proved that the control is working properly. The sensorless algorithm is working in simulations and could not be implemented in laboratory.

By signing this document, each member of the group conrms that all participated in the project work and thereby all members are collectively liable for the content of the report.

Preface
This 10th semester report was conducted at the Institute of Energy Technology. It was written by Andreea Cimpoeru during the period from 1st of February to 01th of June 2010. This report is a documentation for the project entitled Encoderless Vector Control of PMSG for Wind Turbine Applications. This theme in particular was proposed by SIEMENS Wind Power. The purpose of the project unit is to control a permanent magnet synchronous generator without using a sensor. The model of this generator type and its implementation in Simulink is shown in this report. The main report can be read as a self-contained work, while the appendixes contain details about measurements and other data. In this project the chapters are consecutive numbered while the appendixes are assigned with letters Figures, equations and tables are numbered in succession within the chapters, e.g. (3.4), where the rst number stands for the chapter and the second number stands for the equation number in the chapter. Literature references are mentioned in square brackets by numbers. Detailed information about literature is presented in the bibliography. The gures (block diagrams, simulation plots, laboratory setup measurements plots, etc) included in this report may be found List of gures section in the beginning of the report. A CD-ROM containing the simulation, main report and appendixes is attached to the project.

I would like to thank my supervisor Kaiyuan Lu for his guidance and advice forwarded during the progress of the project. I will also like to acknowledge the help of my college Zihui Wang.

II

CONTENTS

Contents
1 Introduction 1.1 Background . . . . . . . . 1.2 Problem Statement . . . . 1.3 Objectives . . . . . . . . . 1.4 Limitations of the project 1.5 Overview of the project . 1 1 3 3 4 4 5 5 5 7 7 8 10 12 12 13 14 15 18 21

. . . . .

. . . . .

. . . . .

. . . . .

. . . . .

. . . . .

. . . . .

. . . . .

. . . . .

. . . . .

. . . . .

. . . . .

. . . . .

. . . . .

. . . . .

. . . . .

. . . . .

. . . . .

. . . . .

. . . . .

. . . . .

. . . . .

. . . . .

. . . . .

. . . . .

. . . . .

. . . . .

. . . . .

. . . . .

. . . . .

. . . . .

. . . . .

. . . . .

. . . . .

. . . . .

. . . . .

. . . . .

. . . . .

2 Theoretical background 2.1 Overview of the system . . . . . . . . . 2.2 Voltage source converter . . . . . . . . . 2.3 Permanent magnet synchronous machine 2.3.1 Introduction to SPMSM . . . . . 2.3.2 Mathematical model of SPMSM 2.3.3 Validation of SPMSM . . . . . .

. . . . . .

. . . . . .

. . . . . .

. . . . . .

. . . . . .

. . . . . .

. . . . . .

. . . . . .

. . . . . .

. . . . . .

. . . . . .

. . . . . .

. . . . . .

. . . . . .

. . . . . .

. . . . . .

. . . . . .

. . . . . .

. . . . . .

. . . . . .

. . . . . .

. . . . . .

. . . . . .

. . . . . .

. . . . . .

. . . . . .

. . . . . .

. . . . . .

. . . . . .

. . . . . .

3 Field oriented control 3.1 Field oriented control . . . . . . . . . . . 3.2 Control properties . . . . . . . . . . . . . 3.3 Current and speed controller design . . . 3.3.1 Design of q axis current controller 3.3.2 Design of speed controller . . . . . 3.4 Simulation results . . . . . . . . . . . . .

. . . . . .

. . . . . .

. . . . . .

. . . . . .

. . . . . .

. . . . . .

. . . . . .

. . . . . .

. . . . . .

. . . . . .

. . . . . .

. . . . . .

. . . . . .

. . . . . .

. . . . . .

. . . . . .

. . . . . .

. . . . . .

. . . . . .

. . . . . .

. . . . . .

. . . . . .

. . . . . .

. . . . . .

. . . . . .

. . . . . .

. . . . . .

. . . . . .

. . . . . .

4 Sensorless control of PMSM 28 4.1 Presentation of the sensorlees control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28 4.2 Rotor position estimation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29 4.3 Simulation results . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32 5 Laboratory work 5.1 Laboratory structure . . . . . . . . . . . . 5.2 Real time interface . . . . . . . . . . . . . . 5.3 Laboratory results . . . . . . . . . . . . . . 5.3.1 Control of PMSM with encoder . . . 5.3.2 Sensorless algorithm implementation 6 Conclusion Bibliography A Datasheet of PMSM B PMSM laboratory test IV 37 37 38 39 40 43 45 46 52 54

. . . . .

. . . . .

. . . . .

. . . . .

. . . . .

. . . . .

. . . . .

. . . . .

. . . . .

. . . . .

. . . . .

. . . . .

. . . . .

. . . . .

. . . . .

. . . . .

. . . . .

. . . . .

. . . . .

. . . . .

. . . . .

. . . . .

. . . . .

. . . . .

. . . . .

. . . . .

. . . . .

. . . . .

CONTENTS

C Test for the sensorless control D Laboratory parameter specication E Simulation blocks

56 57 59

LIST OF FIGURES

List of Figures
1.1 1.2 1.3 1.4 2.1 2.2 2.3 2.4 2.5 2.6 3.1 3.2 3.3 3.4 3.5 3.6 3.7 3.8 3.9 3.10 3.11 3.12 3.13 3.14 3.15 3.16 3.17 3.18 3.19 3.20 3.21 3.22 3.23 4.1 4.2 4.3 VI Growth in size of commercial wind turbine designs [7] . . . . . . . . . . . . . . . World total installed capacity (MW)[5] . . . . . . . . . . . . . . . . . . . . . . . . Costs of generated power on 2010 of wind power compared to conventional plants Wind turbine conguration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Setup conguration . . . . . . . . . . . . . . . . . . . . . Topology of a voltage source inverter with ideal switches Clasication of permanent magnets machines . . . . . . Stator voltage in reference frame transformation . . . . Stator currents at nominal working point . . . . . . . . Stator voltage at nominal working point . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . [4] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 2 2 3 5 6 7 8 10 11 12 13 14 15 16 17 17 18 19 20 20 21 22 22 23 23 24 24 25 25 26 26 27 28 30 30

Scheme of Field Oriented Control strategy . . . . . . . . . . . . . . . . . . . . . . . . . . . . Vector diagram for constant torque per amper control in steady state . . . . . . . . . . . . . . d and q axis control topology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . The structure of the q axis current controller . . . . . . . . . . . . . . . . . . . . . . . . . . . Topology of the q axis current controller with unity feedback . . . . . . . . . . . . . . . . . . Bode diagram of the q axis current controller . . . . . . . . . . . . . . . . . . . . . . . . . . . Step response for the q axis current controller . . . . . . . . . . . . . . . . . . . . . . . . . . . Topology of the speed controller loop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Speed controller loop with unity feedback . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Bode diagram of the speed controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Speed response of the speed controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Topology of the integrator antiwindup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Reference and measured speed at no load . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Reference and measured currents at no load and steep in speed a)Id current b)Iq current . . . Stator currents and voltages at no load and step in speed a)Measured voltages b)Measured currents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Reference and measured speed at 7 [Nm] load torque . . . . . . . . . . . . . . . . . . . . . . . Reference and measured currents at 7 [Nm] load torque a)Id current b)Iq current . . . . . . . Stator currents and voltages at 7 [Nm] load torque a)Measured voltages b)Measured currents Reference and measured speed for dierent values of the speed and load torque . . . . . . . . Reference and measured currents for dierent values of the speed and load torque a)Id current b)Iq current . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Measured stator currents and voltages for dierent values of the speed and load torque a)Measured voltages b)Measured currents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Reference and measured speed in generator mode . . . . . . . . . . . . . . . . . . . . . . . . . Electromagnetic torque in generator mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Field Oriented Control of PMSM without the sensor . . . . . . . . . . . . . . . . . . . . . . . Back EMF in stationary reference frame . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Representation of stator x reference frame . . . . . . . . . . . . . . . . . . . . . . . . . .

LIST OF FIGURES

4.4 4.5 4.6 4.7 4.8

Estimated and rotor position for PMSM in open loop system . . . . . . . . . . . . . . . . . . 32 Measured and estimated mechanical speed of PMSM in open loop system . . . . . . . . . . . 32 Estimated and rotor position of PMSM at 7 [Nm] load torque . . . . . . . . . . . . . . . . . . 33 Reference and measured speed with the estimated rotor position at 7 [Nm] load torque . . . . 33 Stator voltages and currents calculated with the estimated position a)Measured voltage b)Measured current . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34 4.9 Estimated and rotor position of PMSM in generator mod . . . . . . . . . . . . . . . . . . . . 34 4.10 Estimated and measured speed of PMSM in generator mod . . . . . . . . . . . . . . . . . . . 35 4.11 Electromagnetic torque of PMSM in generator mod . . . . . . . . . . . . . . . . . . . . . . . . 35 Description of laboratory setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Topology of the Real Time Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Control Desk layout of the PMSM simulation . . . . . . . . . . . . . . . . . . . . . . . . . . . Reference and measured speed at no load, step to rated speed . . . . . . . . . . . . . . . . . . Stator currents and voltages at no load, step to rated speed a)Measured currents b)Measured voltages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.6 Reference and measured speed at dierent speeds and 7 [Nm] load torque . . . . . . . . . . . 5.7 Stator currents and voltages at dierent speeds and 7 [Nm] load torque a)Measured currents b)Measured voltages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.8 Reference and measured currents at dierent speeds and 7 [Nm] load torque a)Id current b)Iq current . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.9 Electromagnetic torque of the PMSM at dierent speeds and 7 [Nm] load torque . . . . . . . 5.10 Estimated and rotor position of PMSM in open loop system . . . . . . . . . . . . . . . . . . . 5.11 Measured and estimated mechanical speed of PMSM in open loop system . . . . . . . . . . . A.1 Datasheet of PMSM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B.1 Reference and measured speed at TL =7 [Nm] . . . . . . . . . . . . . . . . . . . . . . . . . . . B.2 Stator currents and voltages a)Measured currents b)measured voltage . . . . . . . . . . . . . E.1 Overall simulation model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E.2 Simulation of the mathematical model of PMSM . . . . . . . . . . . . . . . . . . . . . . . . . E.3 FOC control of PMSM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.1 5.2 5.3 5.4 5.5 37 38 39 40 40 41 42 42 43 43 44 53 54 55 59 60 60

VII

CHAPTER 1. INTRODUCTION

Chapter 1

Introduction
The rst chapter has the main scope to make an introduction to the presented report. It starts with a general presentation about wind turbines and the problem formulation is presented. In order to have a way to go through the research the objectives and the limitations of the project are dened. The chapter ends with the report structure

1.1

Background

The wind energy is a pollution-free resource, in inexhaustible potential. The main drawback is the energy production irregularity. In the recent years, because global warming and because the eects of carbon emissions had an important impact over the entire world, a demand for clean and sustainable energy sources like wind, sea, sun and biomass have become an considerable alternative to the conventional resources. The utilization of wind energy was used in the past mainly in the agriculture sector for pumping water and for grinding. The research for wind power industry started to be improved in the last century, mainly due to the oil crisis and natural resources ripening. By increasing the wind turbine size the electrical power production is also increased. In Fig.1.1 can be seen that in the last forty years the wind turbine size have been increased from 24 m to 114 m. Right now, the record for electric power production from wind is the Enercon E-126 wind turbine, produced by the German company Enercon, with a rated power of 6 MW [6]

Figure 1.1: Growth in size of commercial wind turbine designs [7]

1.1. BACKGROUND

Referring to generators for wind power-application, there can be two main classes considering the speed: constant and variable speed. In the rst steps of wind power development the constant speed wind turbines and induction generators were used. Disadvantages of the xed speed generators is the low eciency, poor power quality and high mechanical stress [3]. In order to maximize the wind energy capture, the extraction of maximum power from wind at a large scale has become an important topic for wind companies. Running the wind turbine generator at low and medium wind speeds the maximum power can be extracted. In Fig.1.2 can be seen the continue growing trend of wind power installation in the last decade. In 2008 wind energy growth has reached a rate of 29%.

Figure 1.2: World total installed capacity (MW)[5]

This fast development was possible because of the high price of oil and the reticence of using uranium, gas or coal. The price of wind energy is another important aspect for a wind turbine installed either on inland or coastal place. As it can be seen in Fig.1.3 the price of wind energy is continuously decreasing in order to compete with the price of conventional resources.

Figure 1.3: Costs of generated power on 2010 of wind power compared to conventional plants [4]

CHAPTER 1. INTRODUCTION

According to [4], the International Energy Agency (IEA) expects that wind power will be cheaper than coal and gas in 2030.

1.2

Problem Statement

The variable speed wind turbine with full scale frequency converter is an attractive solution for research on distributed power generation systems. The generator in this case can be double fed induction machine or an permanent magnet synchronous generator(PMSG). The advantages of PMSG over induction machines are the high eciency and reliability, since there is no need of external excitation, smaller in size and easy to control [9]. Also PMSG has some disadvantages like higher cost and a x excitation. Over the years the PMSG has become a more attractive solution to use it in variable wind turbine applications. The generator is connected through a full scale voltage source converter: generator converter is used to control the torque and the speed and grid side converter used to controll the power ow in order to keep the DC-link voltage constant. The two converters are connected by a DC link capacitor in order to have a separate control for each converter. In Fig.1.4 the PMSG and the full scale converter are presented.

Figure 1.4: Wind turbine conguration

Having an ecient and a reliable control is very important to have a better understanding of the system. For controlling the PMSG is necessary to know the rotor position and speed. They can be known by using a position or speed sensor, or they can be estimated. The use of sensor implies some drawbacks like the increase cost of the system, a lower reliability, resulting that the sensorless solution for controlling the PMSG is becoming a more attractive solution.

1.3

Objectives

The main goal of this project is to implement an sensorless control structure for a permanent magnet synchronous generator for wind turbine applications, where the focus is set on position and speed estimation. In order to have a better understanding of the system and the validation of the model a sensored control is implemented. The objectives of the system are presented below: Implementation of a sensored control for surface mounted PMSM. Investigation of dierent sensorless methods. Selection of an optimal technique for determining the rotor position and implementation in Maltlab/Simulink. Laboratory implementation for sensored control of PMSM. After the sensorless control strategy shows good results in simulations implementation in dSpace laboratory. 3

1.4. LIMITATIONS OF THE PROJECT

Implementation of the control on a 2-4 [MW] wind turbine generator.

1.4

Limitations of the project

Once the scope of the project is dened, some limitation arise in order to fulll the scope of the project. This limitation are as fallows: Just the surface mounted permanent magnet generator will be investigated The focus of this project is just the generator side inverter so the grid side converter is not implemented in this report The wind turbine model, the wind model and the drive train model are not consider.

1.5

Overview of the project

The project is divided into six chapters. The rst chapter it started with a small introduction about the wind turbine background. The problem statement, the objective and the limitation of the project are presented. The second chapter describe the system components and the purpose into the project. The voltage source converter is described in details, the introduction and the mathematical model of permanent magnet synchronous motor are also presented. Chapter three has the main purpose to describe the chosen control strategy Field Oriented Control. The design of the controllers in order to have a good performance of the machine are described next. Finally in this chapter the validation of the machine model and control strategy is done. In chapter four dierent sensorless control strategies are presented and nally one is chosen to implement it. The simulation results are shown in the end of this chapter. The implementation of the system in laboratory is described in chapter ve. The results are presented and discussed. Finally the conclusion and future work are taken in the end of this project, in chapter six.

CHAPTER 2. THEORETICAL BACKGROUND

Chapter 2

Theoretical background
In order to have an algorithm that can be implemented in real applications, the components have to be determined by mathematical models. First voltage source converter is presented and described. A general overview of permanent magnet synchronous machine is done in the fallowing part. Next the model of the machine is expressed using mathematical formulas and nally the model is tested

2.1

Overview of the system

In this chapter every component of the system will be described and the model will be presented. The real system that will be controlled is the one presented in Fig.2.1.

Figure 2.1: Setup conguration

The wind turbine and the gearbox from Fig.2.1 are replaced by an induction machine that is controlled in torque mod. The generator side converter is controlled with Space Vector Modulation technique. Next voltage source converter and permanent magnet synchronous machine will be presented.

2.2

Voltage source converter

In wind turbine application a back to back voltage source inverter (VSC) is widely used. The rst inverter, named generator side converter has the main purpose to transform the AC signal into DC, which is connected to the DC-link, in this case the voltage source inverter is working as a rectier. In the next step the DC voltage is converted to AC signal with a desired frequency and voltage. In this case the grid side converter is working as an inverter. The two inverters have dierent application for the wind turbine: the generator 5

2.2. VOLTAGE SOURCE CONVERTER

side inverter controls the torque and the speed while the grid side converter is keeping the DC link voltage constant. The topology of a voltage source inverter is the one presented in Fig.2.2.

Figure 2.2: Topology of a voltage source inverter with ideal switches

The inverter is composed by three legs A, B, C each of the legs with two ideal semiconductors(IGBTs). Only one switch from the leg can conduct at the same time once. The line to line voltages is expressed as in the fallowing equations: VAB = VAN VBN VBC = VBN VCN VAC = VAN VCN were N is the negative DC bus and VAN , VBN , VCN are the line to neutral voltage. Using Kirchho law it is known that in a three phase, three wire system the voltage (currents) are equal zero. VAN + VBN + VCN = 0 (2.2) (2.1)

The two equations (2.1) and (2.2) can be rearrange in such a way that a new formula for the phase voltages can be formulated: VAB 1 0 1 VAN VBN = 1 1 1 0 VBC (2.3) 3 0 1 1 VAC VCN The switching states of each leg are representing by three variables: Da , Db , Dc named duty cycles. This variables can have just two values 1 when the switch is turn on and O when is turn o. The switching states together with the DC voltage can give an expression for the line two line voltages of the inverter: VAB 1 1 0 Da VBC = VDC 0 1 1 Db (2.4) VAC 1 0 1 Dc After a few simplications in the equations (2.4) and (2.3) the phase voltage is expressed with the help of DC voltage and switching state as presented in equation (2.5): 2 1 1 Da VAN VDC VBN = 1 2 1 Db (2.5) 3 1 1 2 Dc VCN Having the duty cycles and the phase currents, the DC current can be deduct as in the fallowing: Ia IDC = Da Db Dc Ib Ic 6

(2.6)

CHAPTER 2. THEORETICAL BACKGROUND

2.3
2.3.1

Permanent magnet synchronous machine


Introduction to SPMSM

Permanent magnet electric machine is a synchronous machine which is magnetized from permanent magnets placed on the rotor instead of using a DC excitation circuit. In this case having the magnets on the rotor the electrical losses of the machine are reduced and the absence of the eld losses improves the thermal characteristics of the PM machines. The absence of mechanical components such as slip rings and brushes make the machine lighter, having a hight power to weight ratio which means a higher eciency and reliability [13]. With the advantages describe above permanent magnet synchronous generator is an attractive solution for wind turbine applications. Like always, PM machines have some disadvantages: at high temperature the PM are demagnetized, diculties to handle in manufacture, high cost of PM material. PM electric machines are classied into two groups PMDC machines and PMAC machines. The PMDC machines are similar with the DC commutators machines, the only dierence is that the eld winding is replaced by the permanent magnets. In case of PMAC the eld is generated by the permanent magnets located on the rotor and the brushes and the commutator does not exist in this machine type. For this reason the machine is more simple and more attractive to use instead of PMDC [1]. Further on PMAC can be classied depending on the type of the back electromotive force (EMF): trapezoidal and sinusoidal as shown in Fig.2.3.

Figure 2.3: Clasication of permanent magnets machines

The trapezoidal machines, also called brushless DC motors, induce a trapezoidal back-EMF voltage waveform in each stator phase winding during rotation, while the sinusoidal PMAC machines, called PM synchronous machines, require sinusoidal current excitation of the stator [1]. Depending on the rotor conguration the PM synchronous machine can be classied in: Surface mounted magnet type (SPMSM). In this case the magnets are mounted on the surface of the rotor. The magnets can be regarded as air because the permeability of the magnets is close to unity( = 1) and the saliency is not present as a consequence of the same width of the magnets. From this is resulting that the inductances expressed in the quadrature coordinates are equal (Lq = Ld ). Interior magnet type (IPMSM). For this case the magnets are place inside the rotor. In this conguration of the machine appear the saliency and the airgap of d-axis is increased compared with the q axis resulting that the q axis inductance has a dierent value than the d axis inductance. In case of SPMSM the saliency is not present, making this machine more easy to design, becoming an attractive solution for wind turbine application. 7

2.3. PERMANENT MAGNET SYNCHRONOUS MACHINE

2.3.2

Mathematical model of SPMSM

In order to design the PM machine in Matlab/Simulink is necessary to develop the mathematical model of the motor that is derived from the space vector form of the stator voltage equation.
s s Vabc = Rs Iabc +

d s dt abc

(2.7)

s s were Rs is the the stator winding resistance per phase, Iabc is the stator phase current , Vabc is the stator phase voltage and s is the ux linkage. abc

A transformation from abc to synchronous dq reference frame is needed in order to have a simpler model that will be simulated in Matlab/Simulink. The model is derived in dq reference frame were q axis is rotating with 90o ahead to the d axis with respect to the direction of rotation as shown in Fig.2.4.

Figure 2.4: Stator voltage in reference frame transformation

Based on the reference frame theory, stator voltage equations in dq synchronous reference frame are presented: d s (2.8) vd = Rs is + s e s d q dt d d s + e s (2.9) d dt q were vs , vs are the dq axis stator voltage, is , is are the dq axis stator current, s , s are the dq axis stator q q d d q d ux linkages, Rs stator resistances and e is the electrical speed in rad/s.
s vq = R s i s + q

Flux linkage equations are expressed as presented in equations (2.10) and (2.11): s = Ld is + m d d (2.10)

s = Lq is q q 8

(2.11)

CHAPTER 2. THEORETICAL BACKGROUND

with Ld =Lq =Ls dq axis inductances and m permanent magnet ux linkage. With the help of ux linkage equations, stator voltage equations in dq reference frame have the fallowing form:
s vd = Rs is + Ls d

dis d e Lq is q dt

(2.12)

s vq = Rs is + Ls q

dis q + e (Ld is + m ) d dt

(2.13)

The torque equation of PMSG can be derived from the power balance equation. The power owing into the machine can be express in dq reference frame as presented in equation (2.14)
s Pe =

3 ss s (v i + vq is ) q 2 dd

(2.14)

After substituting the stator voltage equations in dq reference frame into equation (2.14) and separating the power quantities the power has the fallowing form: Pe = (is )2 3 d (is )2 d 3 3 q (Rs is 2 + Rs is 2 ) + ( Ld d + Lq ) + (e s is e s is ) d q d q q d 2 2 dt 2 dt 2 2 (2.15)

The rst term represents the power loss in the conductors, the second term indicates the time rate of change for stored energy in the magnetic elds and the third term express the energy conversion, from electrical energy to mechanical energy.[1] From the third term can be express the electromagnetic torque because the power output from the motor shaft must be equal with the electromechanical power. Pe = m Te = 3 [e s is e s is ] d q q d 2 (2.16)

The relation between the electrical velocity and the mechanical angular velocity of the motor depends on the number of pole pairs as presented below: e = npp m (2.17)

If in equation (2.16) the expression of ux is replaced by the equations (2.10) and (2.11) then the torque will have the fallowing form: 3 Te = npp[m is + (Ld Lq )is is ] (2.18) q q d 2 In the nal expression of the torque, equation (2.18), it can be observed that there are two terms, the rst one represents the synchronous torque and is produced by the ux of the permanent magnets and the second term represents the reluctance torque and represents the torque produced by the dierence of the inductances in dq reference frame. In the project the motor is surface mounted permanent magnet and in this case the inductances in dq reference frame are equal resulting a simpler expression of the electromagnetic torque, without the reluctance torque. With the assumption express above, equation (2.18) has the fallowing form: Te = 3 nppm is q 2 (2.19)

The mechanical equation of the machine is express as a function of the electromagnetic torque (Te ), load torque (Tl ) and electrical velocity of the machine: Te = Tl + Bm + J were J is the moment of inertia and B is the viscous friction. 9 d m dt (2.20)

2.3. PERMANENT MAGNET SYNCHRONOUS MACHINE

2.3.3

Validation of SPMSM

The mathematical equations of the machines are implemented in Matlab/Simulink in order to observed if the motor model is reproducing the real machine. The parameters value of the machines used to control the machine are presented in Table 2.1.

Parameter Power Phase Voltage Rated current Rated torque Rated speed Stator resistance Synchronous inductance Synchronous inductance Permanent magnet ux linkage Rotor moment of inertia Nr. of pole pairs

Symbol Pn Vn In Tn nn Rs Ld Lq m J npp

Value 9.42 185 19.5 20 4500 0.18 2 2 0.123 0.48 4

Unit [kW] [V] [A] [Nm] [rpm] [] [mH] [mH] [Wb] [mKgm2 ] -

Table 2.1: Parameters of PMSM

The electrical and mechanical parameters of the generator presented in Table.2.1 were taken form the datasheet of the machine presented in Appendix A. The simulation bloc is presented in Appendix E. The validation of the model is made for the nominal load torque (Tl =20 [Nm]) and for the nominal speed (nn =4500[rpm]). The machine is started at rated speed and after 0.4 seconds the nominal torque is applied. The currents at nominal working point are present in Fig.2.5. It can be observed that at no load torque the current is zero and at 0.4 [sec] when the load torque is applied the current has the rated value 27 [A] .

Figure 2.5: Stator currents at nominal working point

In Fig.2.6 the stator voltages of the machine is plotted. It can be observed that when the motor is running at zero load torque the voltage has a smaller amplitude than when the load is applied. The value of the voltage at nominal working point is the same that the nominal voltage described in datasheet. 10

CHAPTER 2. THEORETICAL BACKGROUND

Figure 2.6: Stator voltage at nominal working point

Conclusion In this chapter introduction in the motor theory was made in order to familiarize with the concepts and physical phenomenon that appear in an electric machine. Then the concept and the model of a voltage source inverter is derived, fallowed by the description of the motor model in terms of mathematical equations. Finally the mathematical model of the machine is implemented in Matlab/Simulink and is validated. With the model of the voltage source inverter and PMSM working properly the control strategy and the designing of the controllers can be chosen further on.

11

Chapter 3

Field oriented control


Field Oriented Control is the strategy chosen to be implemented in the PMSM control. The chapter starts with a briey introduction about FOC. Next the design of the current and speed controller is described. In the end of this chapter the control is implemented in Matlab/Simulink and the results are presented.

3.1

Field oriented control

Field Oriented Control (FOC) is one of the most used technique for controlling the torque of a permanent magnet synchronous motor. For a simpler implementation the strategy is using the synchronous reference frame. FOC is a close loop strategy and is composed by two current controllers necessary for controlling the torque and one speed controller. The controllers are PIs (Proportional Integrator) due to theirs good steady state errors. The diagram of the eld oriented control strategy is the one presented in Fig.3.1.

Figure 3.1: Scheme of Field Oriented Control strategy

The measurement values necessary in the control are the DC voltage, the three phase stator current and the rotor position of PMSM. In this case an encoder is used on the motor shaft in order to have the rotor speed. 12

CHAPTER 3. FIELD ORIENTED CONTROL

The integration of the speed will give the rotor position, necessary in the transformation of the measured stator currents into dq reference frame axis. The d an q current component are the feedback currents for the current controllers. The speed controller generates the torque, that will command the reference frame currents is r ef and isr ef . From this torque command the reference currents is r ef , isr ef are set based on d q d q the control strategies presented in details further on. The reference currents are compared with the actual rotor currents in the dq reference frame and send to two current controllers. The output of the controllers represents the required dq voltages. To control the current independently one of each other is necessary to add the compensation term e s and to subtract e s term from the output of the current controllers. q d The dq components of the voltage are transform to reference frame in order to compute the duty cycles necessary in Space Vector Modulation strategy. Finally the PWM generator block calculates the switching signals for the inverter.

3.2

Control properties

In order to have a simpler control for PMSM some simplication have to be taken into consideration regarding the produced torque. The load torque can be controlled by controlling the torque angle. Some control strategies are described briey in the fallowing: Constant torque angle control In this control strategy the d axis current is kept zero, while the vector current is align with the q axis in order to maintain the torque angle equal with 90o . This is one of the most used control strategy because of the simplicity, especially for SPMSM. In case of IPMSM, with a high saliency ratio it is not recommended to use this control strategy because of the reluctance torque produced. The torque equation for a PMSM, taking into account both is and is currents is the one derived in q d equation (3.1). 3 (3.1) Te = npp[m is + (Ld Lq )is is ] q q d 2 If the dq currents are substituting in equation (3.1) as presented in Fig.3.2 and after a few simplication the torque value is the one presented in equation (3.2).

Figure 3.2: Vector diagram for constant torque per amper control in steady state

Te =

3 nppm is q 2

(3.2)

From equation (3.2) it can be observed that the control property is very simple to implement, representing the linearisation between the torque and current. 13

3.3. CURRENT AND SPEED CONTROLLER DESIGN

Maximum torque per ampere control This control strategy has the main goal to keep the stator current as small as possible for a given electromagnetic torque, in this way the maximum torque per ampere is obtain. In the case of surface mounted permanent magnet machine this strategy is the same as CTAC but in case of IPMSM this control strategy gives the highest torque output compared with the current, because is taken into consideration both electro magnetic and the reluctance torque. Unity power factor One of the advantages of this control strategy is that between voltage and current vector is no phase dierence and the Volt Ampere (VA) rating of the machine is minimized. Constant stator ux control In this case the stator ux linkage magnitude is kept constant witch will result in limitation of the torque capability of the machine. The focus in this project is in implementation of a sensorlees control for PMSM and not in optimization of the control strategy, so the constant torque angle control is implemented due to his simplicity, by controlling only the iq current.

3.3

Current and speed controller design

In this section the speed and current controller design will be presented in details. d axis current controller design is identical with q axis current controller so just one will be treat in this report. The structure of the current and speed controllers is presented in Fig.3.3.

Figure 3.3: d and q axis control topology

were wref represents the reference speed in rpm and wm represents the mechanical speed of the rotor in rpm. The error between the reference and the measured speed is send to a PI controller. The output of the PI represents the electromagnetic torque from were the reference currents are subtract. The error between the reference and the measured currents is the input to other two PI controllers necessary to determine the dq reference stator voltages. In order to have a simpler design of the current controllers and to controll the dq currents independently a decoupling factor from the stator voltage equation must be done. The common part from the stator equations, equations (2.8) and (2.9), is the back emf voltage. By subtracting e s from equation (2.8) and adding e s q d to equation (2.9) the dq currents will be independently one of each other. The d and q current controller design it has the same dynamics so the tuning of the PI controller is done just for the q axis. 14

CHAPTER 3. FIELD ORIENTED CONTROL

3.3.1

Design of q axis current controller

The diagram of the current controller is the one presented in Fig.3.4. The decoupling between the d and q axis are performed.

Figure 3.4: The structure of the q axis current controller

The blocks from the gure are explained in details in the fallowing part: The controller block is chosen to be a PI controller because its oer a zero error in steady state. The transfer function of a PI controller is the ratio between the output signal and the error signal as shown in equation (3.3): kii U (s) 1 + Tii s = kpi + = kpi (3.3) Gc (s) = E(s) s Tii s were kpi represent the proportional gain, kii the integrator gain and Tii is called the integrator time and represents the ratio between kpi and kii . Tii = kpi kii (3.4)

The control algorithm block represents the delay introduced by the digital calculations. It has the form 1 1 of a rst order system, with a time constant equal with Ts = fs = 5k = 0.2[ms] (were fs is the sampling frequency). GCA (s) = 1 Ts s + 1 (3.5)

The plant transfer function is determine from the dq voltage equations after the decoupling term has d been removed, were s = dt and considering current as input and voltage as output as shown in equation (3.6): Gpl (s) = 1 1 1 iq (s) K = = = Ls uq (s) Rs + sLs Rs 1 + s R 1 + sTq
s

(3.6)

were Tq is the time constant of the motor and K is a notation for the inverse of the stator resistance: K= Tq = 1 Rs (3.7)

Ls = 0.0116[sec] Rs

The sampling block is the delay introduced by the digital to analog conversion. It is also a rst order transfer function with the time constant Ts . Gsam (s) = 1 0.5Ts s + 1 (3.8)

15

3.3. CURRENT AND SPEED CONTROLLER DESIGN

In order to have a simpler control loop the feedback path is moved to the forward path as shown in Fig.3.5.

Figure 3.5: Topology of the q axis current controller with unity feedback

The open loop transfer function of the current controller is the one presented in equation (3.9). GOL (s) = Gsam (s) Gc (s) GCA (s) Gpl (s) 1 1 + Tii s 1 K GOL (s) = kpi 0.5Ts s + 1 Tii s Ts s + 1 1 + sTq

(3.9)

The slowest pole is the one of the PMSM transfer function and is meant to cancel the zero of the controller, making the system more stable. This implies: Ls = 0.0116[sec] (3.10) Rs In order to simplify the transfer function a time constant is introduced, who represents the approximation of all rst order transfer functions that introduce delays because their values are very small compared with the electrical motor time constant, resulting that their dynamics are smaller. This implies that the transfer function of the delays will be replaced by a unique transfer function of rst order, having the time constant equal with the sum of all time constants from the system. 1 + Tii s = 1 + Tq s Tii = Tq = Tsi = 1.5Ts = 0.3[ms] (3.11)

With the assumptions made about the open loop transfer function the equation (3.9) will have a simpler form as fallows: kpi 1 GOL (s) = K (3.12) Tii s Tsi s + 1 To determine the value of kp is necessary to use a controller design criterion called Optimal Modulus (OM), with the damping factor chosen to be = 22 . The open loop transfer function of a second order system has the form: 1 GOM (s) = (3.13) 2 s( s + 1) If the analogy between the equation (3.12) and (3.13) is made the fallowing relations are deducted in oder to determine the gains of the PI controller: kpi K 1 Tii Rs = kpi = = 3.333 Tii 2Tsi 2Tsi The PI transfer function in s domain has the fallowing form: Gc (s) = 3.33 + 300 s (3.14)

(3.15)

In order to implement the controllers in real system the transfer function of the PI current controller is transform in z domain, as presented in the fallowing equation: Gc (z) = 3.333 + 16 0.06 z1 (3.16)

CHAPTER 3. FIELD ORIENTED CONTROL

The bode diagram of the q axis current controller is the one presented in Fig.3.6. It can be observed that it has a phase margin of PM=63.6 [deg], a gain margin equal with GM=19.1 [dB] and it can be observed that the system is stable.

Figure 3.6: Bode diagram of the q axis current controller

The step response of the system is also presented in Fig.3.7 with the fallowing characteristics:

Figure 3.7: Step response for the q axis current controller

Maximum overshoot Mp =4.32% Settling time ts =2.53 [ms] 17

3.3. CURRENT AND SPEED CONTROLLER DESIGN

Rise time tr =0.912 [ms]

3.3.2

Design of speed controller

The loop from were the speed controller will be design is the one presented in Fig.3.8.

Figure 3.8: Topology of the speed controller loop

The blocks from the gure are described in the fallowing: The PI speed controller with the transfer function presented in equation (3.17) Gc (s) = kps 1 + Tis s Tis s (3.17)

were kps is the proportional gain of the speed controller and Tis is the time integral. The delay introduced by the digital calculations is representing the control algorithm block. Transfer 1 1 function has the form of a rst order system with a time constant Ts = fs = 5k = 0.2[ms] (were fs is the sampling frequency) 1 (3.18) GCA (s) = Ts s + 1 The current control loop can be expressed like a rst order system with the time constant Tiq = with the transfer function presented in equation (3.19) GCCL (s) = 1 Tiq s + 1
Tii Rs Kpi

(3.19)

The plant block is calculated from the mechanical equation of the PMSM as shown in equation (3.20) Te Tl Bm = J were d m dt (3.20)

3 nppm is q 2 If the viscous friction coecient is neglected then the mechanical equation will become: Te = Te Tl = J d m dt

(3.21)

(3.22)

The load torque from the point of view of controller is consider as a disturbance and will not be consider. From equation (3.22) the transfer function of the machine in s domain has the fallowing form: m (s) npp = (3.23) Te (s) Tl (s) Js 18

CHAPTER 3. FIELD ORIENTED CONTROL

The lter block represents the delay introduced by the ltering of the measured speed, from an encoder 1 1 1 mounted on the shaft of the machine. The lter has a time constant Tf = c = 2f = 2200 = 0.796[ms] GF L (s) = 1 Tf s + 1 (3.24)

The sampling block is the delay introduced by the digital to analog conversion and his time constant is equal with Ts 1 (3.25) Gsam (s) = 0.5Ts s + 1 To simplify the close loop transfer function the disturbances are not taken into consideration and the feedback path is moved on the forward part as in the case of current controller. The close loop system in presented in the next gure.

Figure 3.9: Speed controller loop with unity feedback

The open loop transfer function is the one presented in equation (3.26) GOL (s) = 1 1 1 1 3nppm npp 1 + Tis s kps 0.5Ts s + 1 Tf s + 1 Tis s Ts s + 1 Tiq s + 1 2 Js (3.26)

In order to simplify the transfer function, all the time constants of the delays are approximated with one time constant as presented in equation (3.27) Tss = 1.5Ts + Tf + Tiq = 1.8[ms] The open loop transfer function becomes: GOL (s) = nppKc kps (Tis s + 1) JTis s2 (Tss s + 1) (3.28) (3.27)

3 with Kc = 2 nppm . In order to obtain an optimal response is necessary to tune the regulator according to the Optimum Symmetric Method(OSM) [10]. The open loop transfer function of OS method has the form presented below: k1 kp Ti s + k1 kp GOSM (s) = 2 (3.29) OL s (T1 Ti s + T1 )

In order to nd the gains for the PI controller is necessary to arrange the equation of the open loop transfer function of the speed controller in the same manner as equation (3.29). GOL (s) =
nppKc kps Tis s + nppKc kps J J s2 (Tis Tss s + Tis )

(3.30)

With the help of equations (3.30) and (3.28) the gains of the PI controller are nd out as presented below: kps = 1 1 = nppKc = 0.462 2k1 T1 2 J Tss (3.31) (3.32) 19

Tis = 4T1 = 4Tss = 7[m]

3.3. CURRENT AND SPEED CONTROLLER DESIGN

To implement the control in real system is necessary also to transform the PI speed controller form s domain in z domain. The transfer function of the speed PI controller in z domain is the one presented in equation (3.33). 0.0132 Gc (z) = 0.462 + (3.33) z1 The bode diagram is presented in Fig.3.10 and can be observed that has a phase margin of PM=34.8 [deg], a gain margin equal with GM=13 [dB].

Figure 3.10: Bode diagram of the speed controller

The step response of the speed controller is presented in Fig.3.11. It is characterized by the fallowing parameter:

Figure 3.11: Speed response of the speed controller

20

CHAPTER 3. FIELD ORIENTED CONTROL

Maximum overshoot Mp =43.3% Settling time ts =2.91 [ms] Rise time tr =3.77 [ms] One of the characteristics of the speed controller is to be slower than the current controller and seeing the characteristics it is noticeable that the current controller acts faster. From the step response of the speed controller gure it can be observed that it has a very big overshoot, which mean that when starting the machine it will have a very big torque command, making the currents to have a very big amplitude, above the maximum allowed. For this reason the anti-windup circuit is implemented in order to limit the response of the speed controller. Anti-windup circuit When designing the current and speed controllers in FOC it is necessary to have in mind the limitation of their outputs in order to prevent the system from overcurrents or overvoltages appearance.When the output of the controlled signal (current, voltage) has a very big value the input of the controller has a saturated value. This has the consequence that the integral part is integrating the provided error. Because of this the output of the controller may drift to very large values and to a poor transient response. The overshoots in the controlled signal can be avoided by keeping the integral to a proper value when the controller saturates, so when the control error changes the controller is ready to act [15]. The anti-windup circuit is the one presented in Fig.3.12.

Figure 3.12: Topology of the integrator antiwindup

The output of the controller is limited to a certain value given by the limitation of the voltages and currents. The input to this limitation gain is subtract from the output and the dierence is fed back to the integrator through the gain Ta . This signal is becoming non zero when the limiter saturates and prevents the integrator to have a very big value. The reduction in the integration winding up is set by the value of the time constant Ta . The value of time constant must be chosen as small as possible but also a very small value may decrease the system performances [17]. The gains chosen for the anti-windup circuit are kai =0.1 for the currents controllers and kas =5 for the speed controller.

3.4

Simulation results

After the description of Field Oriented Control strategy with the determination of all parameters, is necessary to be implement it in Matlab/Simulink. In order to go further and test the simulations in real system all the calculation are represented in discrete domain. The electrical parameters of the system are the one presented in Table 2.1 in Section 2.3 and the simulation blocks are presented in Appendix E. In laboratory the induction machine M2AA100LA, with the parameters presented in Appendix D, is used to load the permanent magnet machine. For this reason for now one it will be considered that the nominal speed of PMSM is nn = 1400[rpm] and the rated torque will be consider equal with TL = 14 [Nm]. The sampling time of the simulation model was chosen to be Ts = 5[kHz]. The duty cycles generation for the voltage source inverter are done with the Space Vector Modulation block and it was taken from dSpace 21

3.4. SIMULATION RESULTS

laboratory, IET. In this part of the chapter the behavior of the system in dierent circumstances will be observed: step in speed and no load, step in speed and step in load, motor and generator operation. Test of PMSM at no load For this test the PMSM is started at 50% rated speed (nn = 700 [rpm]) and no load, at second 1 a step of 700 [rmp] is applied to the reference speed. The response of the measured speed is shown in Fig.3.13.

Figure 3.13: Reference and measured speed at no load

As seen in the gure the measure speed is fallowing with good accuracy the reference speed. The measured speed it reaches 700 [rpm] in 0.045 [sec], slower in comparison with the designed PI controllers but without any overshoot. This is the contribution of the anti-windup circuit. The dq measured currents are compared with the dq reference currents in Fig.3.14. It can be observed that the d current is zero imposed by the control strategy. From Fig.3.14 (b) it can be observed that the current is limited in FOC to value I=24 [A]. After the motor is reaching the reference speed the currents are stabilized at zero, because the machine is working just in speed mode and the load torque is equal with zero.

Figure 3.14: Reference and measured currents at no load and steep in speed a)Id current b)Iq current

The phase voltages and the stator currents of the machine are presented in Fig.3.15. In Fig.3.15 b) at start up and until the speed is reached the reference speed the currents are limited to value 24 [A] and at no 22

CHAPTER 3. FIELD ORIENTED CONTROL

load the currents are zero. The stator voltages at no load and 50 % rated speed has the amplitude equal with 36.06 [V] and at the rated speed equal with 72.08 [V]. In the zoom made can be observed that the signals are sinusoidal.

Figure 3.15: Stator currents and voltages at no load and step in speed a)Measured voltages b)Measured currents

Test of PMSM at 7 [Nm] load torque For this test the motor is loaded with 50% rated load torque (TL = 7 Nm) and the reference speed has a value equal with 700 [rpm]. At time 1 [sec] another step to rated speed is applied to the machine. The response of the speed is presented in Fig.3.16.

Figure 3.16: Reference and measured speed at 7 [Nm] load torque

It can be observed that the response of the speed when the load torque is applied is slower than in the case were the machine is working at zero load torque, but without overshoots. The settling time of the measured speed is 0.05 [sec]. Similar with the case without the load torque the dq currents are fallowing the reference currents, presented in Fig.3.17. The q axis current is limited to 24 [A] as in the previous case and the d axis is zero as expected. 23

3.4. SIMULATION RESULTS

Figure 3.17: Reference and measured currents at 7 [Nm] load torque a)Id current b)Iq current

The stator currents and voltages are presented in Fig.3.18. The stator currents at 50% rated torque and 50% rated speed have the value 9.476 [A] while the voltages have the value 38.35 [V].

Figure 3.18: Stator currents and voltages at 7 [Nm] load torque a)Measured voltages b)Measured currents

Test of PMSM at nominal speed, nominal torque In this test the machine is started in motor mode at 50% rated speed (nn = 700 [rpm]) and no load. At 0.5 [sec] a load torque of 7 [Nm] is applied to the system, fallowed by a step in speed to the rated speed at t=1 [sec], and a step to nominal load torque at 1.5 [sec]. The reference and measured speed is presented in Fig.3.19. It can be observed that the measured speed is fallowing with good accuracy the reference one and without any overshoots. In the zoom made on the graphic it can be observed that when the load torque is applied to the system small back overshoots appear. Also it can be observed that the settling time of the measured speed when the machine is loaded is bigger that when is no load applied to the motor. 24

CHAPTER 3. FIELD ORIENTED CONTROL

Figure 3.19: Reference and measured speed for dierent values of the speed and load torque

The dq currents are plotted for this test in order to observed the correctness of the chosen control. In Fig.3.20 the d current has the value 0 and the q current can be calculated from the torque equation (2.19). The value of the q current when the load torque is applied is 18.9 [A] as expected. When the load torque is applied small overshots appear in the d current as presented in the zoom made on Fig.3.20(a).

Figure 3.20: Reference and measured currents for dierent values of the speed and load torque a)Id current b)Iq current

In Fig.3.21 stator voltages and currents are plotted. The amplitude of the voltages at nominal speed and nominal torque is 79.46 [V]. For simplicity in the control Id current was chosen to be zero, so the magnitude of Iq current is giving the magnitude of the stator currents resulting that at 50% rated torque the value of the currents is 9.48 [A] and at rated torque 18.95 [A]. From the zoom in both plots it can be observed that the signals are sinusoidal. 25

3.4. SIMULATION RESULTS

Figure 3.21: Measured stator currents and voltages for dierent values of the speed and load torque a)Measured voltages b)Measured currents

Test of PMSM in generator mod For this test the machine is started in motor mode at rated speed (nn =1400 [rpm]). At t=0.5 [sec] the load torque is applied to the machine and at t=1.5 [sec] the motor is run in generator mode. The reference and the measured speed is presented in Fig.3.22, and it can be observed that the measured speed fallows with good accuracy the reference one. In the zoom made on the plot can be observed the behavior of the speed when the positive and negative torque is applied.

Figure 3.22: Reference and measured speed in generator mode

The behavior of the electromagnetic torque in generator mode is shown in Fig.3.23. When positive torque is applied to the motor, positive electromagnetic torque is generated, and when motor is working in generator mode the electromagnetic torque is responding in the same way. 26

CHAPTER 3. FIELD ORIENTED CONTROL

Figure 3.23: Electromagnetic torque in generator mode

With this test it was proven that the controll is working also in the generator mode of the machine. Conclusion In this chapter Field Oriented Control was presented and described in details. The design of the speed and current controllers were made, necessary in a good implementation of the control strategy. To prove the correctness of the system dierent plots are done for dierent speeds and load torque. As the controllers show satisfactory results in both motor and generator mode Field Oriented Control was chosen to be implement in real system. Next step in the project is to nd the proper method to estimate the position and speed of the PMSM in order not to use the encoder mounted on the shaft of the motor.

27

Chapter 4

Sensorless control of PMSM


This chapter starts with the presentation of the sensorlees algorithm fallowed by the description of dierent estimation strategies for the rotor position. The chosen sensorless strategy is described and nally is implemented in simulation. The results and the conclusion are presented in the end of the chapter

4.1

Presentation of the sensorlees control

In the last years the induction machine has been a nice solution for applications but PMSM motor has become a very important competitor because of the high eciency. To control the motor in a robust way is necessary to know the rotor position. The most used technique to determine the rotor position is to use an encoder or a resolver on the motor shaft, but this will add additional cost to the system, the size of the system will increase and the reliability will degrease. In the last years have been an intense research about nding the most reliable position sensorlees method. The Field Oriented Control strategy scheme with rotor position estimation is presented in Fig.4.1.

Figure 4.1: Field Oriented Control of PMSM without the sensor

The research on surface mounted PMSM is more dicult that on interior PMSM because of the equality between the d and q inductances. Also at zero and low speed is very dicult to determine the rotor position 28

CHAPTER 4. SENSORLESS CONTROL OF PMSM

but the advantages like the simplicity in the motor structure and lower cost of the machine are signicant reasons for starting the investigations on the estimation position of the rotor. Further on some position estimation strategy will be briey presented. Position Estimation Based on Back EMF The most easiest and frequent method to estimate the position of the rotor is the one based on back electromotive force (EMF). In this strategy the variables necessary to compute the back EMF are estimated from the electrical parameter of the machines. The mechanical components are deducted from the estimated values from the back EMF. Even this strategy is very easy to implement, it has some drawbacks regarding the sensitivity to the parameters uncertainties, especially with the stator resistance variation and model of the machine in case of zero and low speed [16]. For the case of wind turbine application were the generator is working at variable speeds this strategy is very suitable, also because at high speeds the voltage drop on the stator resistance is very small. Position Estimation Based on Stator Flux Linkage Estimation. The ux linkage is estimated from the stationary reference frame as presented in equations (4.1) and (4.2). = (u Rs i )dt (4.1)

(u Rs i )dt

(4.2)

In order to determine the ux linkage it can be observed that some parameters have to be known: phase current, phase voltage and stator resistance either by measurements or estimated. With this technique some problems can appear due to the integration drift and variation of the parameters with the temperature. Another disadvantage with this method is that the initial position is not detectable unless another control strategy is implemented for this purpose. Position Estimation Based on Observer Methods The idea behind the observer method is to construct a model that has the same inputs than the real machine and the states of the model fallows the values of the real model (velocity, rotor position). If errors appear in the estimated states of the observed, they can be reduced by the correction of the error at the output of the real machine (which is measurable) and the output of the modeled machine. As this method is a parameter dependent method, variations in parameters of the machine can have a big inuence in the estimation position Position estimation using high frequency signal injection. This method is more attractive for IPMSM because they present saliency. This strategy can work also at zero and low speed. But in case of direct drive wind turbine, were the switching frequency is low this strategy is not so suitable.

4.2

Rotor position estimation

The chosen strategy to determinate the estimation position of the rotor is the one based on back EMF. In case of a permanent magnet synchronous motor the rotor permanent magnet ux is align with d axis, resulting that the induced voltage of permanent magnet ux (back EMF) is align with the q axis. Rotor position is the same with the position of back EMF vector as shown in Fig.4.2. The position of the back EMF vector, respectively rotor position is determined as shown in equation (4.3). 29

4.2. ROTOR POSITION ESTIMATION

Figure 4.2: Back EMF in stationary reference frame

r = tan1

es d es q

(4.3)

To have a simpler control strategy and to get rid of the problems that may appear with the integration of the current a new method to determine the back EMF is describe further on. The space vector of the machine variables (current, voltage, ux linkage) represented along the phase axis can be expressed as following: 2 s s s s fabc = (fa + afb + a2 fc ) (4.4) 3
2 were the coecient 3 gives the same magnitude of the space vector as the amplitude of the phase waveforms, 2 fa , fb , fc represents the instantaneous values for the machine variables for phase a, b and c and a = ej 3 [1]. In order to have a simpler model for computing the variables of the machine a new reference frame is described. The only information that are available until now are the three phase stator voltage and current, with the help of Clark Transformation the two variables can be computed. The relation between abc and reference frame are represented in the Fig.4.3.

Figure 4.3: Representation of stator x reference frame

It can be observed that axis is align with the phase a and is the orthogonal imaginary axis. The 30

CHAPTER 4. SENSORLESS CONTROL OF PMSM

dependence between and abc phase coordinates is expressed matriceal as presented below: va 2 1 1 1 v 2 2 = vb 3 v 3 0 23 2 v
c

(4.5)

Knowing the stator voltages in the xed reference frame it is possible to calculate the stator angle v as presented in equation (4.6). V (4.6) v = atan V Now all the variables necessary to calculate the electrical parameters of the machine in the new coordinates are deduct. The transformation from to is based on Park Transformation and represents the transformation from the stator equations to the machines rotor equations and is expressed as described below: v cosv = v sinv sinv v cosv v (4.7)

With the new transformation the stator voltage will be aligned on axis while the v component is zero. The electrical equations of PMSM in the new coordinates system are the one present in the following: v = Rs i + Ls di ev Ls idelta + e dt (4.8)

di + ev Ls i + e (4.9) dt were v , v , i , i are the stator voltages and currents in reference frame, ev is the rotating speed of is , e , e are the stator back EMF in reference frame were: v = Rs i + Ls e = e m sinn e = e m cosn (4.10)

were e is the electrical speed, m is the magnetic ux linkage of the motor and n is estimated angle in coordinated The simplicity with this strategy, in determining the position of the rotor is coming from the fact that no integration is needed. In steady state i , i currents are constant resulting that the derivative term from equations (4.8) and (4.9) may be simply omitted. With this assumption made some problems are solved like the ones that appear with the ideal integration aected by the dc-link or dc-oset, because of the initial conditions of the integral and from non-perfect measurements of current or/and voltages [2]. With this simplications made in the chosen control strategy the rotor position in coordinated is determined from equations (4.8) and (4.9)and presented in the following: n = tan1 v Rs i + ev Ls i v Rs i ev Ls i (4.11)

The estimated rotor position is determinate as shown in the fallowing equation: = v n (4.12)

Next the sensorless algorithm is implemented in Maltlab/Simulink and the simulation results are presented and discussed.

31

4.3. SIMULATION RESULTS

4.3

Simulation results

In this section, simulation results of the position and speed estimation algorithm are presented. The sensorless method is rst tested in open loop and then in close loop to see if the system is working properly. Open loop test of the sensorless strategy The machine is started at nominal rated speed (nn =1400 [rpm]) and no load. At 0.7 [sec] a step to 50% rated load torque (TL = 7 [Nm]) is applied to the system. At time 1.4 [sec] the machine is running in generator mode at rated torque (TL = 14 [Nm]). The estimated and measured rotor position are presented in Fig.4.4. It can be observed that at rated load torque the error between the estimated and rotor position is the same than in the case were the motor is running with zero torque and it has the value equal with 3.29 degrees.

Figure 4.4: Estimated and rotor position for PMSM in open loop system

The measured and estimated speed is shown in Fig.4.5. The estimated speed is fallowing with good accuracy the mechanical speed in case of motor operation as well as in the case were the machine is driven in generator mod.

Figure 4.5: Measured and estimated mechanical speed of PMSM in open loop system

32

CHAPTER 4. SENSORLESS CONTROL OF PMSM

Test of PMSM in close loop The sensorless algorithm is tested in closed loop at dierent conditions to see the behavior of the estimated rotor position. The switch between the rotor position and the estimated position is made at time 0.01 sec, at around 400 [rpm]. The machine is running at nominal speed and no load. At time 0.7 [sec] a step to 7 [Nm] is applied to the machine fallowed by another one, to rated load torque(TL =14 [Nm]) at time 1.4 [sec]. The rotor and estimated position are presented in Fig.4.6.

Figure 4.6: Estimated and rotor position of PMSM at 7 [Nm] load torque

It can be observed that the estimated position is in accordance with the real position of the motor. At full load torque and rated speed the error between the estimated and rotor position has the value equal with 3.51 [degrees] and in the case when the motor is driven at zero load torque has the value 3.36 [degrees]. The reference and the measured speed of the motor are plotted in Fig.4.7. It can be observed that the estimated speed is fallowing with good accuracy the reference speed when the sensor is not used in the system and the rotor position is estimated. There are no overshoots and the settling time of the speed response is around 0.04 [sec].

Figure 4.7: Reference and measured speed with the estimated rotor position at 7 [Nm] load torque

33

4.3. SIMULATION RESULTS

Stator voltages and currents are presented in Fig.4.8 It can be observed in Fig.4.8 a) that the voltages signals are sinusoidal and have the same values as in the case were the encoder was used. In Fig.4.8 b) stator currents are shown and at rated load torque, the currents magnitude have the value almost 18.94 [A] the same as in the simulations made at the same conditions.

Figure 4.8: Stator voltages and currents calculated with the estimated position a)Measured voltage b)Measured current

Next test is made to observed the behavior of the machine in generator mode. The machine is started at rated speed (nn =1400 [rpm]) and zero load torque. At time 0.7 [sec] a step to 50% rated load torque is applied and at time 1.4 [sec] the motor is run in generator mod at rated load torque. The estimated position in this case is presented in Fig.4.9. It can be observed that when the machine is running in motor mode the position error is almost the same as in the case where the motor is running in generator mode and has the value around 3.5 [degrees]

Figure 4.9: Estimated and rotor position of PMSM in generator mod

34

CHAPTER 4. SENSORLESS CONTROL OF PMSM

The measured and estimated speed are presented in Fig.4.10. The estimated speed is in very good accordance with the measured speed. In the zoom made on the plot it can be observed the overshoots that appear when the load torque is applied.

Figure 4.10: Estimated and measured speed of PMSM in generator mod

The electromagnetic torque is presented in Fig.4.11. It can be observed that the electromagnetic torque is responding very well in the load changes, when a positive load torque is applied the electromagnetic torque is positive and when the machine is working in generator mode the load torque is negative.

Figure 4.11: Electromagnetic torque of PMSM in generator mod

35

4.3. SIMULATION RESULTS

Conclusions This chapter had the main purpose to nd a suitable control strategy for estimating the rotor position of PMSM. First several algorithms were described and one method was chosen to be implemented. The method was tested at dierent conditions to observed the behavior of the machine without the sensor. The position error is almost the same in the case when the machine is running with zero load torque as in the case when is running at rated load torque. Also in generator mode the estimated rotor position is working properly. Next, the simulations are implemented in laboratory, in dSpace application, in order to see the correctness of the system.

36

CHAPTER 5. LABORATORY WORK

Chapter 5

Laboratory work
This chapter has the main purpose to assure that the models and simulations done until know are correct and in accordance with the real system. First the test setup and the real time interface are presented. Next in the chapter the experimental results for dierent condition are presented and the conclusion are taken.

5.1

Laboratory structure

The setup used in the laboratory in order to test the simulations is the one presented in Fig.5.1.

Figure 5.1: Description of laboratory setup

The main components of the system are: DC power supply Danfoss VLT5004 inverter Siemens PMSM type ROTEC 1FT6084-8SH7 Danfoss FC300VLT (FC 302) frequency inverter ABB three phase induction motor type M2AA100LA dSpace control system 37

5.2. REAL TIME INTERFACE

current and DC voltage measurement boxes encoder The characteristics of the laboratory setup components are the one presented in Appendix.D. The PMSM is fed by a frequency inverter (Danfoss FC300VLT). The inverter is IGBT based converter whose interface card has been removed and replaced by a Interface and Protection Card (IPC), that enables the IGBT drivers to be controlled from an external digital controller providing reliable short-circuit, shoot-through, dc-overvoltage and over temperature protections [12]. The IM is fed by a torque controlled DC-inverter (Danfoss VLT5004 inverter) so a great deal of loading-torque characteristics can be achieved. A regenerative line rectier (SIMOVERT RRU) is used to provide the DC bus. The digital controller DS1103 PPC is used to control the inverter. It represents the main process unit and has the advantage that it has a software interface in Simulink from were all the applications can be developed and compiled automatically in the background. The management of the process in real time is carried out in a software called Control Desk, from were a virtual control panel with scopes and instruments are developed.

5.2

Real time interface

In order to determine if the simulation are correct and are in accordance with the real system is necessary to be checked in the real time application. One solution for this purpose is to check them in dSpace board. One feature of this interface is that allows the user to create the control in Matlab/Simulink and then an online computation and updating are carried out in the background in order to fulll the demands that are test for. Another advantage is the online computation of the program when the data and the real time code are generated. The real time application is done like a Simulink blockset. It consist of two parts: Data Acquisition block and the Control block as shown in Fig.5.2

Figure 5.2: Topology of the Real Time Interface

The Data Acquisition is the block were all the inputs signals necessary in the control block are managed. It consists of dierent blocks each of them with a precise purpose in order to guaranty that the program is running properly. In Data Acquisition block there are ve blocks that will be described further on. 38

CHAPTER 5. LABORATORY WORK

The control block manages the entire acquisition block, and has the commands for enabling or disabling the inverter. If any faults occur in the system then the converter is stopped. The protection block is the one in charge of keeping the system in the safety boundaries. In case of overcurrent, overspeed and undervoltage the signal FAULT is sent to the enabling controlling block, stopping the entire system. The currents from the inverter are found in the Currents block and the DC voltage measurement that will be transform into three phase voltage, necessary to supply the machine is found in Voltage block. Finally the Encoder Interface block will give information about the position and the speed of the shaft with the help of an encoder. All this blocks are necessary in order to control the permanent magnet synchronous machine. The control block is composed by the control of the PMSM. Another feature of the dSpace implementation of the control is the Graphical User Interface, build in Control Desk software which is able to provide a real time control and evaluation of the system. The Control Desk layout is presented in Fig.5.3.

Figure 5.3: Control Desk layout of the PMSM simulation

The inputs that can be controlled with the help of the interface are: the start/stop of the system, mechanical reference speed, controlled method. Also, it can be used to view dierent outputs like: measured three phase currents; measured and reference d,q components of the currents and voltage, measured DC voltage, rotor position, duty cycles. Next the results from the simulation of the controlled PMSM algorithm is presented and described.

5.3

Laboratory results

In this section the simulations held in Matlab/Simulink were implemented in real time application and the results are shown and described. First the Field Oriented Control with the sensor is implemented and tested. Further on the sensorless algorithm is activated and results are presented. The switching frequency of the inverter has the same value than in simulations: fs = 5kHz. The space vector modulation block is the one available in Flexible Drive System Laboratory. In order to run the PMSM in generator mode some changes 39

5.3. LABORATORY RESULTS

in the setup has to be done and due to the time limit the simulation were carried out just with PMSM in motor mode.

5.3.1

Control of PMSM with encoder

This section presents dierent results for permanent magnet synchronous motor controlled with Field Oriented Control strategy using the encoder. Test of PMSM at no load and steps in speed This test is done to see the response of the motor at dierent speed steps. The machine is started with a step of 50% rated speed (nn = 73.3 [rps]) fallowed at time 5.3 [s] by a step to rated speed. At time 15.3 [sec] a step down to 73.3 [rps] is applied to the machine. Fig.5.4 shows the reference and the mechanical speed in the presented case.

Figure 5.4: Reference and measured speed at no load, step to rated speed

It can be observed that the mechanical speed is fallowing the reference speed with good accuracy. It can be observed that it has no overshoots and has settling time equal with 0.2 [sec] The stator voltages and currents are presented in Fig.5.5

Figure 5.5: Stator currents and voltages at no load, step to rated speed a)Measured currents b)Measured voltages

In Fig.5.5 a) stator currents are presented. During the acceleration time when the steps in speed are applied the currents have the limited value. At 50% rated speed the currents have the value 0.146 [A] and at 40

CHAPTER 5. LABORATORY WORK

rated speed the currents amplitude is equal with 0.22 [A]. The value of the currents is not equal with zero in this case because the machine has to produce a minimum torque to overcome the viscous friction and the dry friction and also because of the non linearity of the inverter. The stator voltages are presented in Fig.5.5 b) and at 50% rated speed the value of the voltages is 42.23 [V], which is closed to the value obtain at the same condition in simulations, 36.06 [V]. At rated speed the voltages have the value 75.97 [V] which is closed to the one from the Matlab simulation 72.08 [V]. The dierence between the values from the laboratory and the values from the simulations may be due to the fact that the values of the machine parameters in simulation are dierent from the real ones. Test of PMSM at load torque and dierent speed steps To see if the simulation is working properly the machine should be tested at dierent steps in the load torque. The machine is started at 50% rated speed (nn = 73.3 [rpm]), at time 6.2 [sec] a load of 7 [Nm] is applied to the motor, fallowed by a step to rated speed at time 11.57 [sec]. The reference and the measured speed are shown in Fig.5.6. In the zoom made in the picture it can be observed the moments were the steps in speed and the load torque are applied. It can be observed that the measured speed is fallowing the reference speed with very good approximation and without any overshoots.

Figure 5.6: Reference and measured speed at dierent speeds and 7 [Nm] load torque

The stator voltages and currents are presented in Fig.5.7. The stator currents are presented in Fig.5.7 a) and it can be observed that the currents are increasing with the load torque and at 50% rated speed and 50% rated torque the currents have the amplitude equal with 7.95 [A]. This value is smaller than the one from the simulations 9.48 [A]. When keeping the load torque constant to 7 [Nm] and increasing the speed to rated speed, stator currents are decreasing. Because the speed response of the machine is showing good performances the problem may be that the load is not properly controlled and the measured value is dierent than the real one. Other reason for this situation may be that the values of the machine parameters are dierent than the one used in the simulations. Some other tests are done in order to observe the behavior of machine at dierent load torque command. The tests are presented in Appendix B. The stator voltages at 50% rated speed and 50% torque is 51.03 [V] and at rated speed 81.78 [V]. This are comparable with the values from simulations 38.35 [V] respectively 74.89 [V]. 41

5.3. LABORATORY RESULTS

Figure 5.7: Stator currents and voltages at dierent speeds and 7 [Nm] load torque a)Measured currents b)Measured voltages

The real and imaginary current axis are shown in Fig.5.8. In Fig.5.8 a) d axis current is presented and it can be observed that the current has the magnitude almost zero fallowing the reference Id current that is equal with zero, imposed by the control property. In Fig.5.8 b) Iq current is fallowing the reference current and when the load torque is applied at 50% rated speed the current is increasing with the increased in torque and at time 11.75 [sec] when the speed is increased to rated speed the current is decreasing to the value 5.7 [A] this is also due to the wrong control of the load.

Figure 5.8: Reference and measured currents at dierent speeds and 7 [Nm] load torque a)Id current b)Iq current

The electromagnetic torque of the machine is shown in Fig.5.9. At 7 [Nm] load torque the electromagnetic torque has the value 6.12 [Nm]. The reason may be the same as for the current. 42

CHAPTER 5. LABORATORY WORK

Figure 5.9: Electromagnetic torque of the PMSM at dierent speeds and 7 [Nm] load torque

5.3.2

Sensorless algorithm implementation

First the sensorless algorithm is implemented in open loop. The PMSM is started at 50% rated speed and no load, at time 6.38 [s] a step to rated speed is applied to motor, fallowed by a step down to 73.3 [rpm] at time 12.78 [sec]. The estimated and the real position of the machine is shown in Fig.5.10. It can be observed that at 50% rated speed the error between the rotor position and estimation has the value 11.45 [degrees] and at the rated speed the error has the value equal with 17.64 [degrees]. The increase in the position error at rated speed may be due to the introduced software delays.

Figure 5.10: Estimated and rotor position of PMSM in open loop system

The measured and estimated speed is presented in Fig.5.11. It can be observed that the estimated speed is fallowing with good accuracy the mechanical speed of the machine, without any overshoots. 43

5.3. LABORATORY RESULTS

Figure 5.11: Measured and estimated mechanical speed of PMSM in open loop system

Closed loop In order to see if PMSM is working without the encoder mounted on the shaft of the motor, the estimation algorithm must be tested in closed loop. The sensorless algorithm based on back EMF calculations is not working at zero and low speeds so until the motor has reached a given speed is running based on the encoder informations. In order to use the estimated rotor position a switch is used, but the system was not able to work based on the new algorithm. In order to nd out were may be the problem some tests have been done. The system was driven at 100 [rpm] and no load in order to see the inuence of the inductances changes in the estimation error. The error between the rotor and estimated position at 100 [rpm] and zero load torque is around 6 [degrees]. The inductance was changed to almost 100% of the inductance value given in datasheet resulting a change in position error around 2%.The inductance changes and the error values are shown in Appendix.C. After this test it can be noted that the algorithm is not eected by the parameters change. More investigations have to be done regarding the problems that may appear in the implementation of the sensorless algorithm in closed loop. Conclusion In this chapter laboratory work was presented. First the test setup and Real Time Application were described. Field Oriented Control strategy was tested with the necessary informations taken from the encoder, and the results are showing that the control is working in good accordance with the simulations. When loading the machine in order to fully test the motor some dierences in the current and voltage values are presented. These problems may appear since the load is not properly controlled and also because the parameters used in the simulation may be dierent than the real ones. Next sensorless algorithm was implemented in open loop. The position and speed estimation shows good accordance with the real one. When testing the algorithm in closed loop some problems are appeared and the sensorless method could not be implemented.

44

CHAPTER 6. CONCLUSION

Chapter 6

Conclusion
This project has the main scope to eliminate the encoder mounted on the shaft of a PMSG for wind turbine applications by implementing an algorithm from were the position and speed will be determinated. In order to fulll the scope of the project some objectives were presented in Chapter 1, Section 1.3: Implementation of a sensored control for surface mounted PMSM. Investigation of dierent sensorless methods. Selection of an optimal technique for determining the rotor position and implementation in Maltlab/Simulink. Laboratory implementation for sensored control of PMSM After the sensorless control strategy shows good results in simulations implementation in dSpace laboratory. Implementation of the control on a 2-4 [MW] wind turbine generator. Before implementing the algorithm in the laboratory and test the corecteness is necessary to test the theoretical performance by using the simulations. So rst the mathematical model of the PMSM was tested in simulations, then Field Oriented Control strategy with the sensor was implemented. In order to achieve a stable system the PI controllers have to be tunned properly. For the PI current controller the optimal criterion for adjusting the gains is the magnitude optimum while for the speed controller is symmetry optimum. Finally the entire model was tested in Matlab/Simulink and results were presented. For dierent test conditions the model shows good performance. Next dierent position estimation methods were investigated. The method chosen in this case is based on back EMF calculation with a few changes in the voltage and current generation. For wind turbine application is a suitable control strategy due to the simplicity and good performances. Field Oriented Control with the sensor was implemented in dSpace laboratory. The results from the laboratory work shows good performance when the machine is running at zero load. When the machine is loaded and reference speed is increased the current is decreasing, this situation may be because the load is not properly controlled. The speed response of the motor is fallowing the reference in all presented cases. The position estimation was tested also in laboratory. When the estimation algorithm was working in open loop it shows that that estimation and rotor position are in good accordance. When the algorithm was tested in closed loop, the system could not work. Field Oriented Control was implemented on 2.2 [kW] machine. The machine was tested in laboratory and good performances were achieved. The estimation position of the rotor shows good performances in simulations but could not be implemented in laboratory.

45

Future work
Because not all the objectives of the project were fullled, some future work is necessary to be done: The chances in the setup should be made in order to run the PMSM in generator mod. More investigations on the estimation position in the laboratory should be done, in order to be able to have the motor working without the sensor. With all the system working properly, the algorithm should be tested on a 2-4 [MW] generator.

46

BIBLIOGRAPHY

Bibliography
[1] Sensorless Control of Permanent Magnet Synchronous Motor Drives, Chandana Perera, PHD Thesis, December 2008, Aalborg University. [2] A Comparative Study Between Three Philosophies of Stator Flux Estimation for Induction Motor Drive, A. W. Silveira,IEEE Article, 2007, p. 1171-1176 [3] Modeling of the Wind Turbine with a Permanent Magnet Synchronous Generator for Integration, Ming Yin et all, 2007 [4] The economics of wind energy, European Wind Energy Association, 2003 [5] World wind energy report, Association W. W. E., 2008 [6] Enercon, Windblatt - enercon magazine for wind energy, www.enercon.de, 04/2007 [7] Wind energy-the facts, European Wind Energy Association, http://www.ewea.org, 2003-2004 [8] Control of permanent magnet synchronous generator for large wind tubines, Groupe WPS3-950, Aalborg Universitet, winter 2009 [9] PM Wind Generator Comparison of Dierent Topologies, Yicheng Chen, Pragasen Pillay, Azeem Khan, IEEE Article [10] Modication of Symmetric Optimum Method, MIZERA R., 2005 [11] World wind energy report 2008, tech. rep., World Wind Energy Association, 2008 [12] Getting started with dSPACE system, R. Teodorescu, Aalborg University, Institute of Energy Technology, Department of Electrical Energy Conversion, Version 2009 [13] Electrical Machines and Drives, Peter Vas, Oxford University Press, 1992 [14] Sensorless control of surface permanent magnet synchronous motor using a new method, Z. Song et al. Energy Conversion and Management, 2006 [15] Feedback Control of Dynamic Systems, Gene F. Franklin, J.D. Powell, A. Emami-Naeini, Fifth Edition, Prentice Hall, USA, 2006, ISBN 0-13-149930-0 [16] Back EMF estimation based sensorless control of PMSM: Robustness with respect to Measurement errors and inverter irregularities, Babak N., Farid M., Francois M. IEEE Transactions and applications,2007 [17] Speed anti-windup PI strategies review for Field Oriented Control of permanent magnet synchronous machines, Jordi E., Antoni A., Josep.et all, IEEE Article, 2009 [18] Adaptive observer for speed sensorless PM motor control, H. Rasmussen, P. Vadstrup and H. Brsting, IEEE Article, 2003 [19] Automatic Control of Converter-Fed Drives, M. P. Kazmierkowski, H. Tunia, PWN Polish Scientic Publishers, 1994, ISBN: 83-01-11228-X 47

BIBLIOGRAPHY

[20] Pulsewidth Modulation for Electronic Power Conversion, J. Holtz, IEEE, Vol. 82, No.8, August 1994, p. 1194-1214 [21] Direct torque control of permanent magnet synchronous machines analysis and implementation, Julius Lukko, Lappeenranta, 2000, ISBN 951-764-438-8

48

BIBLIOGRAPHY

49

BIBLIOGRAPHY

Nomenclature
Variable Abbreviations AC DC FOC EMF IEA IPMSM OM OSM PI PMSM PMSG PWM SPMSM SVM VSI Symbols VAB VAN VBC VBN VCA VCN VDC VA , VB , VC IA , IC , IC s Iabc s Vabc s abc s s vd , vq is , i s d q is , is dref qref s , s q d Rs Ls Pn Tl Te Bm J e 50 Parameter Alternative Current Direct current Field oriented control Back electromotive force International Energy Agency Interior permanent magnet synchronous machine Optimal Modulus Optimum Symmetric Method Proportional Integral Permanent magnet synchronous machine Permanent magnet synchronous generator Pulse width modulation Surface permanent magnet synchronous machine Space vector modulation Voltage source inverter Line A to line B voltage Line A to neutral N voltage Line B to line C voltage Line B to neutral N voltage Line C to line A voltage Line C to neutral N voltage DC voltage Phase voltages Phase currents Stator phase current Stator phase voltage Flux linkage Stator voltage in dq stationary reference frame Stator current in dq stationary reference frame Reference current in dq stationary reference frame Stator ux linkages in dq stationary reference frame Stator resistance Synchronous inductance Power Load torque Electromagnetic torque Dry friction coecient Moment of inertia Electrical speed

BIBLIOGRAPHY

Variable m wref npp m kpi kii Tii kps kis Tis G(s) Ts fs Tiq Tsi Tss

Parameter Mechanical speed Reference speed Number of pole pairs Permanent magnet ux linkage Proportional gain for PI current controller Integrator gain for PI current controller Time integral of PI current controller Proportional gain for PI speed controller Integrator gain for PI speed controller Time integral of PI speed controller Transfer function of the current/speed controller Sampling time Sampling frequency Time constant of the current controller Equivalent time constant Time constant of the speed controller

51

52

APPENDIX A. DATASHEET OF PMSM

Appendix A

Datasheet of PMSM

53

Appendix B

PMSM laboratory test


This part is meant to investigate the response of PMSM at dierent load conditions in order to nd out were may be the problem. For this test the machine was driven at 50% rated speed (nn = 73.3 [rpm]) and at time 6.4 [sec] the machine was loaded to 7 [Nm], fallowed at time 12.34 [sec] with a step to rated speed. Sign plus or minus in the speed represent the rotation of the machine, clockwise or anti clockwise, and for this test the machine is running in opposite direction than in the test made in Section 5.3.1 in order to observed the behavior of the machine in this case. The reference and measured speed is shown in Fig.B.1.

Figure B.1: Reference and measured speed at TL =7 [Nm]

It can be observed that the mechanical speed is fallowing the reference speed with good accuracy and no overshoots appear during the transient period. The stator voltage and current are presented in Fig.B.2 54

APPENDIX B. PMSM LABORATORY TEST

Figure B.2: Stator currents and voltages a)Measured currents b)measured voltage

s In Fig.B.2 a) stator currents are present. At 50% rated speed and 50% rated toque, stator currents have the amplitude equal with 10.16 [A] and at rated speed the currents are increased to the value 13.19 [A]. The currents value obtained in the simulation in the same conditions (50%rated load torque and rated speed) is 9.4 [A], so the values are dierent from the simulation. In Fig.B.2 b) stator voltages are presented. At 50% rated speed and no load torque the amplitude of the stator voltages have the value 43.47 [V], closed to the value from simulation 36.05 [V]. When the machine is running at 73.3 [rps] and 50% rated load torque is applied to the machine, stator voltages are decreasing to value 25.42 [V],and when the a step in speed to rated speed is applied at time 12.34 [sec] the amplitude of the stator voltages has the value 60.4 [V]. The big dierences in the values of the currents and voltages, at dierent speeds and load torque it may be a consequence of the fact that the load is not properly controlled and also it may be a dierence in the measured and real load torque applied to machine.

55

Appendix C

Test for the sensorless control


Inductance [mH] 1.5 1.6 1.7 1.8 1.9 2 2.1 2.2 2.3 2.4 2.5 2.6 2.7 2.8 2.9 3 3.1 3.2 3.3 3.4 3.5 3.6 3.7 3.8 3.9 4 Position Error 5.7 5.8 6 6.1 5.9 6 6 6 5.8 5.7 5.9 6 5.8 6.1 5.9 6 5.5 6.1 5.7 6 5.9 6 6 5.1 6.1 6.1

Table C.1: Parameters of PMSM

56

APPENDIX D. LABORATORY PARAMETER SPECIFICATION

Appendix D

Laboratory parameter specication


Specications of the components Siemens PMSM type ROTEC 1FT6084-8SH7: -rated power: 9.4 kW -rated torque = 20 Nm -rated current = 24.5 A -rated frequency = 300 Hz -rated speed = 4500 rpm. Danfoss VLT5004 frequency inverter: -rated voltage: input =3 phase AC 380 V, output = 3 phase AC 380 V -rated output frequency = 0 .. 132 Hz -rated current: input = 5.3 A , ouput=5.6 A -rated power = 4.3 kVA -switching frequency = 3 .. 5 kHz ABB three phase induction motor type M2AA100LA: -rated power = 2.2 kW -rated voltage = 380 .. 420 V rms (Y) -rated frequency = 50 Hz -rated current = 5.0 A rms -power factor = 0.81 -rated speed = 1430 rpm -poles pair number = 2 Danfoss FC300VLT (FC 302) frequency inverter: -rated voltage: input =3 phase AC 380 V, output = 3 phase AC 380 V -rated output frequency = 0 .. 1000 Hz -rated current: input = 5.3 A , ouput=5.6 A -rated power = 4.3 kVA -switching frequency = 3 .. 5 kHz Siemens SIMOVERT MC RRU regenerative rectier type 6SE7028-6EC85-1AA0 -rated voltage: input=380..460VAC 15%, output=510..620VDC15% (1.35x input) -rated current: input = 68 ADC, output= 86 ADC (79 ADC in regeneration mode)

57

DS1103 PPC -Motorola PowerPC 604e running at 333 MHz -Slave DSP TIs TMS320F240 Subsystem -16 channels (4 x 4ch) ADC, 16 bit , 4 s, 10 V -4 channels ADC, 12 bit , 800 ns, 10V -8 channels (2 x 4ch) DAC, 14 bit , 10 V, 6 s -Incremental Encoder Interface -7 channels -32 digital I/O lines, programmable in 8-bit groups -Software development tools (Matlab/Simulink, RTI, RTW, TDE, Control Desk)

58

APPENDIX E. SIMULATION BLOCKS

Appendix E

Simulation blocks

Figure E.1: Overall simulation model

59

Figure E.2: Simulation of the mathematical model of PMSM

Figure E.3: FOC control of PMSM

60

You might also like