SENSORLESS FIELD ORIENTED CONTROL OF BRUSHLESS ...

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Articles, Conference Proceedings, Transactions AC Drives [90] E.L. Owen, M.M. Morack, C.C. Herskind, A.S. Grimes, “AC adjustable-speed drives with electronic power converters—the early days,” IEEE Transactions on Industry Applications, vol. IA-20, no. 2, pp. 298-308, Mar./Apr. 1984. {04504412} [91] E.L. Owen, T.M. Jahns, “AC adjustable-speed drives at the millennium: how did we get here?” IEEE Transactions on Power Electronics, vol. 16, no. 1, pp. 17-25, Jan. 2001. {00903985} [92] R.J. Kerkman, G.L. Skibinski, D.W. Schlegel, “AC drives: Year 2000 (Y2K) and beyond,” Fourteenth Annual Applied Power Electronics Conference and Exposition (APEC), 1999, vol. 1, pp. 28-39. {00749486} [93] J.W. Finch, D.Giaouris, “Controlled AC electrical drives,” IEEE Transactions on Industrial Electronics, vol. 55, no. 2, pp. 481-491, Feb. 2008. {04401131} [94] J. Bocker, S. Mathapati, “State of the art of induction motor control,” IEEE International Electric Machines & Drives Conference, 2007, vol. 2, pp. 1459-1464. {04270863} [95] W. Drury, “Electrical variable speed drives: mature consumable or radical infant?” Power Engineering Journal, vol. 13, no. 2, pp. 65-78, Apr. 1999. {00765690} [96] V. Vučković, “Interpretation of a discovery,” Serbian Journal of Electrical Engineering, vol. 3, no. 2, pp. 177-202, Nov. 2006. [Online]. Available: http://www.journal.tfc.kg.ac.yu/Vol_3-2/06-Vuckovic.pdf [97] W. Leonhard, “30 years space vectors, 20 years field orientation, 10 years digital signal processing with controlled AC-drives, a review, Part I,” EPE Journal, vol. 1, no. 1, Jul. 1991. [98] W. Leonhard, “30 years space vectors, 20 years field orientation, 10 years digital signal processing with controlled AC-drives, a review, Part II,” EPE Journal, vol. 1, no. 2, Oct. 1991. [99] “What is field oriented control and what good is it?” Copley Controls Corp. [Online]. Available: http://www.maccon.de/FTPROOT/Field-Oriented-Control.pdf [100] F.J. Bartos, “Got Field-Oriented Control in Your Servos?” Control Engineering, 01 Feb 2004. [Online]. Available: http://www.controleng.com/article/CA379359.html [101] G.S. Buja, M.P. Kazmierkowski, “Direct torque control of PWM inverter-fed AC motors––a survey,” IEEE Transactions on Industrial Electronics, vol. 51, no. 4, pp. 744- 757. {01318735} [102] W. Leonhard, “Adjustable speed AC drives,” Proceedings of the IEEE, vol. 76, no. 4, pp. 455-471, Apr. 1988. {00004430} 260
Machine Modeling, Analysis [103] J. Holtz, “The representation of AC machine dynamics by complex signal flow graphs” (invited paper), IEEE Transactions on Industrial Electronics, vol. 42, no. 3, pp.263-271, 1995. {00382137} [104] J. Holtz, “On the spatial propagation of transient magnetic fields in AC machines,” IEEE Transactions on Industry Applications, vol. 32, no. 4, pp. 927-937, Jul./Aug. 1996. {00511561} [105] T.A. Lipo, Reference frame theory, Chapter 2 of course notes for ECE511 - Theory and Control of Synchronous Machines, Department of Electrical and Computer Engineering, College of Engineering, University of Wisconsin-Madison, draft date 12 Oct. 2007. [Online]. Available: http://ecow.engr.wisc.edu/cgi-bin/getbig/ece/511/lipo/notes/511ch2.pdf [106] T.A. Lipo, “A Cartesian vector approach to reference frame theory of AC machines,” Wisconsin Electric Machines and Power Electronics Consortium (WEMPEC), Madison, WI, Research Report 84-2, Apr. 1984. [Online]. Available: http://www.ece.wisc.edu/~lipo/1980s%20pubs/84-02.pdf [107] D.Y. Ohm, “Dynamic model of PM synchronous motors,” Drivetech, Inc., 16 May 2000. [Online]. Available: www.drivetechinc.com/articles/IM97PM_Rev1forPDF.pdf [108] T.M. Jahns, “Motion control with permanent magnet AC machines,” Proceedings of the IEEE, vol. 82, no. 8, pp. 1241-1252, Aug. 1994. {00301686} Field Weakening, Interior Magnet Motors [109] T. Sebastian, G.R. Slemon, “Operating limits of inverter-driven permanent magnet motor drives,” IEEE Transactions on Industry Applications, vol. IA-23, no. 2, pp. 327-333, Mar./Apr. 1987. {04504909} [110] B. Sneyers, D.W. Novotny, T.A. Lipo, “Field weakening in buried permanent magnet AC motor drives,” IEEE Transactions on Industry Applications, vol. IA-21, no. 2, pp. 398- 407, Mar./Apr. 1985. {04157998} [111] A.M. EL-Refaie, T.M. Jahns, “Comparison of synchronous PM machine types for wide constant-power speed operation: converter performance,” IET Electric Power Applications, vol. 1, no. 2, pp. 217–222, Mar. 2007. {04145269} [112] S. Morimoto, et al., “Expansion of operating limits for permanent magnet motor by current vector control considering inverter capacity,” IEEE Transactions on Industry Applications, vol. 26, no. 5, pp. 866-871, Sep./Oct. 1990. {00060058} [113] R. Monajemy, R. Krishnan, “Implementation strategies for concurrent flux weakening and torque control of the PM synchronous motor,” Conference Record of the IEEE Industry Applications Annual Meeting, 1995, pp. 238-245. {00530307} [114] W.L. Soong, T.J.E. Miller, “Field-weakening performance of brushless synchronous AC motor drives,” IEE Proceedings of Electric Power Applications, vol. 141, no. 6, pp. 331- 340, Nov. 1994. {00336343} 261
Page 1 and 2:
SENSORLESS FIELD ORIENTED CONTROL O
Page 3 and 4:
Table of Contents List of Figures..
Page 5 and 6:
CHAPTER 5 - Field Oriented Control
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List of Figures Figure 2.1 - Radial
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Figure 3.29 - Arbitrary space vecto
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Figure 4.44 - ZS components of some
Page 13 and 14:
Figure C.13 - Single-turn full-pitc
Page 15 and 16:
List of Symbols Symbol Meaning Unit
Page 17 and 18:
Abbreviations ACIM AC induction mot
Page 19 and 20:
Superscripts * commanded value ref
Page 21 and 22:
CHAPTER 1 - Introduction Historical
Page 23 and 24:
vector theory to model a machine, w
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publications and magazines, and Int
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elationship between SVM and other P
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CHAPTER 2 - Fundamentals of Electri
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Preliminaries In reading the litera
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Taxonomy of Motors There is any num
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characteristics (the DC load curren
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torque component, sturdily construc
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Figure 2.7 - Cross sections of some
Page 41 and 42:
draw the line between the solenoida
Page 43 and 44:
These texts generally attribute the
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N B A B Y x(t) (2.6) The induc
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extended to the rotational case lat
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present analysis). When this is tru
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Figure 2.16 - Components of total f
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As aforementioned a spatial analysi
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clear the meaning, but the reader i
Page 57 and 58:
Figure 2.20 - Elementary brushless
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called the per-phase torque functio
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Expressing bEMF in terms of the bEM
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Equation (2.44) is the component of
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d R( r) ke( r) kt( r) sin( r) (2.
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General Electromechanical Models Th
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Figure 2.28 - Phase-variable simula
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Trapezoidal and Sinusoidal BPMS Mot
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Figure 2.29 - Back-EMF and drive cu
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Figure 2.31 - Back-EMF and drive cu
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3 KT Ke 2 (sinusoidal) K 2 K (tra
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control scheme must keep sinusoidal
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with misconceptions. The primary is
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Part I - Sinusoidal BPMS Motors wit
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grounded-neutral wye or delta conne
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N e f A ( ) i 2 N e f B ( ) i 2
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Figure 3.7 - Developed view at zero
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Figure 3.9 - Developed view showing
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Although Equations (3.6) or (3.7) a
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direction. The contributions always
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sinusoidal electrical variable will
Page 99 and 100:
Figure 3.14 - Cross section of two
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3 N e (3.6): f ( , t) I p cos(
Page 103 and 104:
In the previous chapter the per-pha
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peak value is represented as an upp
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Figure 3.21 - Time relationship bet
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another and thus could be placed in
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more widely understood theory (such
Page 113 and 114:
other methods, although it has clos
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The SV as a Vector The first facet
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j0 j0 j0 aˆ 1 0 1 bˆ j e e e
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j j ee 1 cos( ) (3.45) 2 3 j t x
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Notice that the amplitude of the MM
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Figure 3.27 - Equivalent MMF produc
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Ne 1 jj f , t i e i * e 2 2
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distribution that is cosinusoidal i
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3 Ne j t f Ie p 2 2 . This
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j set θ to anything. Taking the re
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epresent any physically-distributed
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lumped-parameter model in this repo
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x kCx (3.75) abc The set of varia
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phase variable axes; three axes in
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The component MMFs act away from th
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common choice is to force the power
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As an example, find the SV that cor
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the same magnitude, the projection
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Figure 3.32 - Arbitrary SV referenc
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universal and the choice of convent
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stator’s perspective and at R fr
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The potential discrepancy (p.108) w
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x cos( r) sin( r) xd x sin(
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It must be emphasized that we have
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in relative time like an oscillogra
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Part III - SV Theory Applied to Sin
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In Equation (3.135) Z has elements
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to use SV theory. It may be helpful
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Figure 3.42 - Coupling between d- a
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R R d R R v Ri Li j Li dt s
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current does not influence the valu
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d v Ri L i e dt d v Ri L i e
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Figure 3.47 - Simulation diagram fo
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e je ), and (2) it was demonstrate
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Overview of Voltage Source Inverter
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In addition to measuring voltages w
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then there would be periods during
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Figure 4.9 - Gating and POLE voltag
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Figure 4.11 - Ideal voltage wavefor
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inverter is called sine-triangle co
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and it offers the fastest dynamic r
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Figure 4.18 - Fundamental gain and
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In the literature this is called th
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voltage will be below (above) the b
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Figure 4.24 - Instantaneous phase-A
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Figure 4.26 - Base SVs showing the
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Figure 4.27 - Transformed voltage w
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also correspond to six-step squarew
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was fed to the SVM inverter as a SV
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Figure 4.31 - Temporal limit of inv
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Figure 4.34 - SVM overmodulation re
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Checking sextant s 23 again for thi
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SVM Implementation The block diagra
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has been made of using THI in the S
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different triplen signal would be i
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Similarly, when the modulation inde
Page 225 and 226:
Summary and Conclusion The two-leve
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CHAPTER 5 - Field Oriented Control
Page 229 and 230: torque production; this is called d
Page 231 and 232: Figure 5.3 - Torque control of sinu
Page 233 and 234: obviously a change in perspective.
Page 235 and 236: Figure 5.9 - Comparison of referenc
Page 237 and 238: variables to the stationary referen
Page 239 and 240: Figure 5.13 - Torque control of sin
Page 241 and 242: To analyze a salient machine one mu
Page 243 and 244: Figure 5.16 - Torque functions: (a)
Page 245 and 246: Figure 5.19 - Buried permanent magn
Page 247 and 248: Figure 5.21 - Flux weakening in the
Page 249 and 250: appears that this is very much rela
Page 251 and 252: Stationary and Synchronous Regulato
Page 253 and 254: stationary regulator had. For compl
Page 255 and 256: This coupling can be mitigated by m
Page 257 and 258: educes to two independent circuits,
Page 259 and 260: D, some of the 120° methods are ap
Page 261 and 262: d d v Ri Ls i R dt dt The r
Page 263 and 264: section a state-space model for the
Page 265 and 266: Figure 6.6 - Full state feedback (o
Page 267 and 268: State-Space Model of BPMS Motor A s
Page 269 and 270: Figure 6.9 - FOC block diagram. The
Page 271 and 272: loop). A second way to implement th
Page 273 and 274: knowing the rotor position from ini
Page 275 and 276: [11] E. Clarke, Circuit analysis of
Page 277 and 278: Control Systems, Linear Analysis [4
Page 279: [77] J.M.D. Murphy, F.G. Turnbull,
Page 283 and 284: THI, SVM, SPWM [127] J.A. Houldswor
Page 285 and 286: Wisconsin-Madison. [Online]. Availa
Page 287 and 288: Angle Tracking [175] D. Morgan, “
Page 289 and 290: Appendix A - Elementary Electromagn
Page 291 and 292: L i (A.8) S SS S SR S SS SR (A.9
Page 293 and 294: First the self-flux-linkage of an i
Page 295 and 296: vAN R iA LM iA eA d v R i
Page 297 and 298: Figure B.3 - One-half of the flux p
Page 299 and 300: Equations (B.27) and (B.28) are for
Page 301 and 302: Fundamental Relationships Figure C.
Page 303 and 304: Figure C.3 - Sinusoidal winding den
Page 305 and 306: manufactured compared to the steppe
Page 307 and 308: phase winding of Figure C.4 will ha
Page 309 and 310: Distributed N Fp i 2 (C.5) Figu
Page 311 and 312: alanced machine only odd harmonics
Page 313 and 314: sinusoidal windings with a sinusoid
Page 315 and 316: 0, and since the direction of inte
Page 317 and 318: That the rotor-stator flux linkage
Page 319 and 320: Figure C.17 - Summary of rotor-stat
Page 321 and 322: Figure C.19 - Amplitudes of harmoni
Page 323 and 324: triangle with an amplitude whose nu
Page 325 and 326: Returning to Figure C.18 it is clea
Page 327 and 328: torque will describe the torque pro
Page 329 and 330: However, Equation (D.2) is incorrec
Page 331 and 332:
the same order as the PS set (arran
Page 333 and 334:
Implications of the ZS Component Th
Page 335 and 336:
Figure D.6 - Neutral voltage of loa
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3v 3e 3v v v v v v v 3v AM BM CM A
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components of source voltage sum to
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Equation (D.25) and instantaneous q
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If a ZS component could possibly be
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xA X1cos( t) X3cos(3 t) X5cos(5 t)
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Figure D.11 - 3-D base vectors of 1
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the Clarke transform is used. Howev
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Appendix E - Park Transforms This a
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Appendix F - Useful Mathematical Re
Page 355:
335
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