Direct Torque Control with Space Vector Modulation (DTC-SVM) of ...

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Modeling and control modes of PM synchronous motor drives dΨsq Usq = Rs Isq + + pbΩmΨ sd (2.32b) dt where, Ψ sd = LI d sd +Ψ (2.33a) PM Ψ sq = LqI (2.33b) sq It should be noted that when transforming the flux linkage vector Ψ s to the dq , reference frame the rotor position θ r dependent terms disappear it can be seen from equation (2.31). This is the main advantage of rotor-oriented representation. Substituting the relationship of (2.33a-b) into (2.32a-b), and also considering dΨ PM = 0 , the most common scalar form of the machine voltage equations in the rotor dt reference frame can be obtained as: dIsd Usd = RsIsd + Ld − pbΩ mLqIsq (2.34a) dt dIsq Usq = Rs Isq + Lq + pbΩmΨ PM + pbΩ mLd Isd (2.34b) dt Based on the above voltage-current equations it is possible to draw the equivalent electrical circuit separately for d and q axes (Fig. 2.3). R s p Ω L I b m q sq R s p Ω L I b m d sd U sd I sd L d U sq I sq p Ω Ψ b m PM L q Figure 2.3. Equivalent circuit model of PMSM in the rotor reference frame. (a) Rotor d-axis equivalent circuit, (b) Rotor q-axis equivalent circuit. 16
Modeling and control modes of PM synchronous motor drives 2.1.2 Instantaneous power and electromagnetic torque The three-phase star-connection system without neutral wire is shown in Fig. 2.4. This is classical configuration for AC motor windings connections. A I sA U sAC U sAB B U sA Z sC Z sA U sAB Z sB C U sBC I sC U sC U sB I sB Figure 2.4. Three-phase star connection system without neutral wire. For this configuration the expression for instantaneous active power supplied to load can be expressed as: P= UsAIsA+ UsBIsB+ UsCIsC (2.35) Introducing space vector definition, after some arrangement and taking into account the relation: I + I + I = 0, the equation (2.35) can be written as: sA sB sC 3 ∗ P= Re[ U sABC IsABC ] (2.36) 2 For dq , frame, the equation (2.35) for the active power can be expressed as: 3 P= ( UsdIsd + UsqIsq ) (2.37) 2 Substituting voltage equation (2.4) into (2.36), and adopting Ω K = pbΩmone obtains 3 ∗ d Ψ [Re( sABC ∗ ∗ P= RsIsABC IsABC + IsABC − jpbΩmΨ sABCIsABC )] (2.38) 2 dt Note that sABC sABC 2 s I I ∗ = I and: 3 2 d Ψ [ Re( sABC ∗ ∗ P= Rs Is + IsABC ) + Re( −jpbΩmΨ sABC IsABC )] (2.39) 2 dt d ΨsABC Hence, neglecting the losses in stator resistance R s and assuming that = 0 , the dt electromagnetic power is expressed: 17
Page 1 and 2: POLITECHNIKA WARSZAWSKA WARSAW UNIV
Page 3 and 4: Contents Table of Contents Chapter
Page 5 and 6: Introduction Chapter 1 INTRODUCTION
Page 7 and 8: Introduction to surface-mounted mac
Page 9 and 10: Introduction vector control, which
Page 11 and 12: Introduction presented and studied.
Page 13 and 14: Modeling and control modes of PM sy
Page 19: Modeling and control modes of PM sy
Page 39 and 40: Voltage source PWM inverter for PMS
Page 57 and 58: Control methods of PM Synchronous m
Page 69 and 70: Direct Torque Control with Space Ve
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Direct Torque Control with Space Ve
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Sensorless Speed Direct Torque Cont
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DSP implementation of DTC-SVM contr
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Summary and closing conclusion Chap
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Appendices APPENDICES A1 Rotor and
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Appendices ⎡ ⎤ ⎢ 1 0 ⎥ ⎡K
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Appendices i(t1->t0)+=it1 it1: it1=
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Appendices A7 PWM technique - six s
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List of symbol List of symbols Symb
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References Books and PhD-Thesis 1.
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References 39. J.-I. Itoh, N. Nomur
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References 74. N. Ertugrul, P. Acar
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References 108. D. Świerczyński,
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