THE DQ TRANSFORMATION AND FEEDBACK LINEARIZATION OF A PERMANENT MAGNET SYNCHRONOUS MOTOR

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PMSM

PMSM is similar to wound rotor synchronous machine except :excitation is provided by permanent magnet instead of field winding ; it has no damper winding ;

used in low to medium power applications allows a considerable reduction in motor size and inertia no brushes required in armature or in field circuits Applications- machine tools, robotics, high-density disk drives, drives used in automation applications

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MODEL OF PMSM

3 phase voltage equations of a PMSM can be written as :

(1)
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These equations can be modified as :

(2)

To complete the model, we consider the equations of motion :

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(3)

where J is the rotor inertia, Te is the developed torque and Tl is the load torque

where p is the number of pole pairs

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torque developed by motor is the sum of products of current and back emf back emf is assumed to be sinusoidal for a ideal motor torque can be expressed as :

(4)

where Kt is the motor torque constant

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The above equations can be written in state space form as :

(5)

where the states are defined as :

The input vector contains the voltages at each phase :

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The matrix is given by :

(6)

,
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are

respectively

and

(7)

the dynamic model of PMSM is converted from the abc model to d-q reference frame

(8)

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is the direct axis current is the quadrature axis current is the zero sequence component of the phase currents which is zero when the motor has star connected windings The phase equations have the following form when transformed into d-q reference frame :

(9)

,
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are the d- and q- axis components of the terminal voltage

instantaneous torque developed depends only on the quadrature current

(10)

there is strong dynamic coupling between the current on two axes does not contribute to developed torque, but affects the quadrature current under ideal steady state conditions, where the stator currents are sinusoidal and in phase with the back emf, is zero when is zero, control of torque is equivalent to controlling iq only

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BLOCK DIAGRAM REPRESENTATION

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if is instantaneously controlled to zero, then the model PMSM will reduce to the following :

(11)

the above equation is analogous to the dynamics of a DC motor the dynamics of PMSM is described by coupled and non-linear model feedback linearization technique is used for the control of such systems

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FEEDBACK LINEARIZATION

feedback linearization algebraically transforms a non-linear model into a linear one, to which linear control techniques can be applied applying feedback linearization procedure, the model of PMSM is equivalent to a linear state model of the form :

(12)

where is a transformed state, transformed state

is input vector containing functions of

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(13)

an appropriate state transformation is :

(14)

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the input vector

is defined by :

(15)

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equation (12) represents a linear time invariable controllable state model

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STATE TRANSFORMATION

transformed state, z, is a vector containing the rotor position and velocity, in addition to the stator currents on the dq axis as follows :

(16)

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FEEDBACK TRANSFORMATION

is a scaled version of the dq transformation matrix and the matrix is also the dq transformation matrix rearranged to have the d axis terms on the top the input vector becomes :

(17)
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substituting the values for above matrix

and

, we have from the first row of the

(18)

now substituting the equation for

from equation (9), we get

(19)

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repeating the same procedure for the second row in equation (17), we have

(20)

now substituting the equation for

from equation (9), we get

(21)

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for the motor described by equations (3) and (9), the nonlinear feedback transformation of equation (15) yields a set of independent decoupled differential equations as follows :

(22)

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CONCLUSIONS

feedback linearization has included a decoupling mechanism which removes the effect of back emf term, , on q-axis current a decoupling term, axis current , has been included to remove the effects of the d-

Feedback linearization transforms the control design problem to a set of decoupled differential equations is not significant in star connected motor because it manipulates the zero sequence current, which is zero

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