SENSORLESS FIELD ORIENTED CONTROL OF BRUSHLESS ...

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[115] R.F. Schiferl, T.A. Lipo, “Power capability of salient pole permanent magnet synchronous motors in variable speed drive applications,” IEEE Transactions on Industry Applications, vol. 26, no. 1, pp. 115-123, Jan./Feb. 1990. {00052682} [116] M. Bilewski, et al., “Control of high performance interior permanent magnet synchronous drives,” Conference Record of the IEEE Industry Applications Society Annual Meeting, 1990, pp. 531-538. {00152236} Summary, overview Inverters (CRPWM, VSI, SVM) [117] D.Y. Ohm, R.J. Oleksuk, “Influence of PWM schemes and commutation methods for DC and brushless motors and drives,” Drivetech, Inc., presented at P.E. Technology 2002 Conference, Stephens Convention Center (Rosemont, IL), Oct. 27-31, 2002. [Online]. Available: www.drivetechinc.com/articles/SW_BLDCAC5.pdf [118] D.Y. Ohm, J.H. Park, “About commutation and current control methods for brushless motors,” Drivetech, Inc., presented at the 29th annual IMCSD symposium, San Jose, July 26-29, 1999. [Online]. Available: www.drivetechinc.com/articles/curbldc3.pdf [119] J. Holtz, “Pulsewidth modulation for electronic power converters,” Proceedings of the IEEE, vol. 82, no. 8, pp. 1194-1214, Aug. 1994. {00301684} [120] J. Holtz, “Pulsewidth modulation––a survey,” IEEE Transactions on Industrial Electronics, vol. 39, no. 5, pp. 410-420, Dec. 1992. {00161472} [121] L. Malesani, P. Tomasin, “PWM current control techniques of voltage source converters—a survey,” Proceedings of the International Conference on Industrial Electronics, Control, and Instrumentation, 1993, vol. 2, pp. 670-675. {00339000} [122] D.M. Brod, D.W. Novotny, “Current control of VSI-PWM inverters,” IEEE Transactions on Industry Applications, vol. IA-21, no. 4, pp. 562-570, May/Jun. 1985. {04158027} [123] A.M. Trzynadlowski, “An overview of modern PWM techniques for three-phase, voltage-controlled, voltage-source inverters,” Proceedings of the IEEE International Symposium on Industrial Electronics, 1996, pp. 25-39. {00548389} [124] M.P. Kazmierkowski, L. Malesani, Guest editorial - special section on PWM converter current control, IEEE Transactions on Industrial Electronics, vol. 45, no. 5, pp. 689-690, Oct. 1998. {00720324} [125] M.P. Kazmierkowski, L. Malesani, “Current control techniques for three-phase voltagesource PWM converters: a survey,” IEEE Transactions on Industrial Electronics, vol. 45, no. 5, pp. 691-703, Oct. 1998. {00720325} [126] A.M. Hava, R.J. Kerkman, T.A. Lipo, “Simple analytical and graphical methods for carrier-based PWM-VSI drives,” IEEE Transactions on Power Electronics, vol. 14, no. 1, pp. 49-61, Jan. 1999. {00737592} 262
THI, SVM, SPWM [127] J.A. Houldsworth, D.A. Grant, “The use of harmonic distortion to increase the output voltage of a three-phase PWM inverter,” IEEE Transactions on Industry Applications, vol. IA-20, no. 5, pp.1224-1228, Sep./Oct. 1984. {04504587} [128] D.G. Holmes, “The significance of zero space vector placement for carrier-based PWM schemes,” IEEE Transactions on Industry Applications, vol. 32, no. 5, pp. 1122-1129, Sep./Oct. 1996. {00536874} [129] K.G. King, “A three phase transistor class B inverter with sinewave output and high efficiency,” Institution of Electrical Engineers (IEE) Conference Publication l23, Power Electronics, Power Semiconductors and Their Applications, pp. 204-209, 1974. [130]* G. Buja, G. Indri, “Improvement of pulse width modulation techniques,” Archiv fur Elektrotechnik, vol. 57, pp.281-289, 1975. [131]* J. Holtz, S. Stadtfeld, “A predictive controller for the stator current vector of AC machines fed from a switched voltage source”, Conference Record IPEC, Tokyo, 1983, Vol. 2, pp. 1665-1675. [132] L. Malesani, P. Tenti, E. Gaio, R. Piovan, “Improved Current Control Technique of VSI PWM Inverters with Constant Modulation Frequency and Extended Voltage Range,” IEEE Transactions on Industry Applications, vol. 27, no. 2, pp. 365-369, Mar./Apr. 1991. {00073627} [133] H.W. Van Der Broeck, H-C Skudelny, G.V. Stanke, “Analysis and realization of a pulsewidth modulator based on space vectors,” IEEE Transactions on Industry Applications, vol. 24, no. 1, pp. 142-150, Jan./Feb. 1988. {00087265} [134] K. Zhou, D. Wang, “Relationship between space-vector modulation and three-phase carrier-based PWM: a comprehensive analysis,” IEEE Transactions on Industrial Electronics, vol. 49, no. 1, pp. 186-196, Feb 2002. {00982262} [135] S.R. Bowes, Y-S Lai, “The relationship between space-vector modulation and regularsampled PWM,” IEEE Transactions on Industrial Electronics, vol. 44, no. 5, pp.670-679, Oct. 1997. {00633469} [136] D.G. Holmes, “The general relationship between regular-sampled pulse-widthmodulation and space vector modulation for hard switched converters,” Conference Record of the 1992 IEEE Industry Applications Society Annual Meeting, vol. 1, pp. 1002- 1009. {00244437} [137] G-M Lee, D-C Lee, “Implementation of naturally sampled space vector modulation eliminating microprocessors,” Proceedings of the Third International Power Electronics and Motion Control Conference (IPEMC) 2000, vol. 2, pp. 803-807. {00884606} Dead-Time Effects & Compensation [138] D. Leggate, R.J. Kerkman, “Pulse based dead time compensator for PWM voltage inverters,” Proceedings of the International Conference on Industrial Electronics, Control, and Instrumentation, 1995, pp. 474-481. {00483455} 263
Page 1 and 2:
SENSORLESS FIELD ORIENTED CONTROL O
Page 3 and 4:
Table of Contents List of Figures..
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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
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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
Page 107 and 108:
Figure 3.21 - Time relationship bet
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another and thus could be placed in
Page 111 and 112:
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 and 280: [77] J.M.D. Murphy, F.G. Turnbull,
Page 281: Machine Modeling, Analysis [103] J.
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
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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)
Page 347 and 348:
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
Page 353 and 354:
Appendix F - Useful Mathematical Re
Page 355:
335
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