Regular paper. PM Synchronous Motor Drive System for Automotive Applications

Transcription

1 A. El Shahat H. El Shewy J. Electrcal Sytem 6- (00): x-xx Regular paper PM Synchronou Motor Dre Sytem for Automote Applcaton In th paper, a feld orented controlled PM motor dre ytem decrbed and analyzed due to t mportance n many applcaton epecally n Automote applcaton. Permanent Magnet Synchronou Motor (PMSM) are wdely appled n ndutral and robotc applcaton due to ther hgh effcency, low nerta and hgh torque to olume rato. A cloed loop control ytem wth a PI controller n the peed loop ha been degned to operate n contant torque angle and flux weakenng regon. A comparate tudy of hytere and PWM control cheme aocated wth current controller ha been made. Then, the mulaton of a feld orented controlled PM motor dre ytem deeloped ung Smulnk. The mulaton crcut for PM ynchronou motor, nerter, peed and current controller nclude all realtc component of the dre ytem. Smulaton reult for both hytere and PWM control cheme aocated wth current controller are gen for two peed of operaton, one below rated and another aboe rated peed. Keyword: Permanent Magnet, Synchronou Motor, Feld Orented, Control, Smulnk, Dre, PI Controller, Torque Angle, Flux Weakenng, Hytere, PWM.. Introducton Among the ac dre, permanent magnet ynchronou machne (PMSM) dre hae been ncreangly appled n a wde arety of ndutral applcaton and automote applcaton. The reaon come from the adantage of PMSM: hgh power denty and effcency, hgh torque to nerta rato, and hgh relablty. Recently, the contnuou cot reducton of magnetc materal wth hgh energy denty and coerctty (e.g., amarum cobalt and neodymum-boron ron) make the ac dre baed on PMSM more attracte and compette. In the hgh performance applcaton, the PMSM dre are ready to meet ophtcated requrement uch a fat dynamc repone, hgh power factor and wde operatng peed range. Conequently, a contnuou ncreae n the ue of PMSM dre wll urely be wtneed n the near future [-]. The ector control (or called feld-orented control) of ac machne wa ntroduced n the late 960 by Blachke, Hae, and Leonhard n Germany. Followng ther poneerng work, th technque, allowng for the quck torque repone of ac machne mlar to that of machne, ha acheed a hgh degree of maturty and become popular n a broad arety of applcaton. It alo wdely appled n many area where ero-lke hgh performance play a econdary role to relablty and energy ang. To achee the feld-orented control of PMSM, knowledge of the rotor poton requred. Uually the rotor poton meaured by a haft encoder, reoler, or Hall enor. [4-8]. The adantage of PM machne recently make them hghly attracte canddate for drect dre applcaton, uch a hybrd electrcal ehcle (HEV) or electrcal ehcle (EV) [- 6] and wahng machne, whch are llutrated n Fgure. By th technology, the rotatng workng unt of a drect dre ytem, uch a the baket or drum of a wahng machne, coupled to the motor haft wthout tranmon aembly, whch may nclude clutche, belt, pulley and/or gearboxe. The power drectly delered to the workng unt by the motor. The concept of drect dre enable the hgh dynamc repone, ncreaed effcency, low acoutc noe, and long lfetme due to the elmnaton of the tranmon component. Such drect dre ytem normally requre large haft torque at tandtll (.e., zero peed) and low peed a well a contant output power oer wde peed range. In order to meet uch requrement, the PM machne are degned to operate not only n the contant torque mode when ther peed below the bae (or rated) peed but alo n the contant power mode when aboe the bae peed. In th way, the cot and ze of oerall dre ytem can be gnfcantly reduced. The contant torque operaton of PM motor can be ealy acheed by Correpondng author: Adel El Shahat Department of Electrcal and Computer Engneerng, Oho State Unerty, USA. E-mal: adel.elhahat@eee.org, ahmed.0@ou.edu Department of Electrcal Power and Machne Engneerng, Zagazg Unerty, Egypt. Copyrght JES 00 on-lne: journal.ergroup.org/je

2 conentonal ector control. Howeer, when the peed aboe the bae peed, the back-emf of PM motor larger than the lne oltage and then the motor uffer from the dffculty to contnuouly produce torque due to oltage and current contrant. Thank to the flux-weakenng technology, the operatng peed range can be extended by applyng negate magnetzng current component to weaken the ar-gap flux [9, 0]. Fg. : Applcaton of PMSM Dre Sytem; (a) HEV, (b) Wahng Machne. Decrpton of Dre Sytem Th ecton deal wth the decrpton of the dre ytem whch nclude dfferent component uch a permanent magnet motor, poton enor, nerter and current controller. The motor dre cont of four man component, the PM motor, nerter, control unt and the poton enor. The component are connected a hown n fgure. Fg. : Dre Sytem Schematc. Current Controlled Inerter The motor fed form a oltage ource nerter wth current control. The control performed by regulatng the flow of current through the tator of the motor. Current controller are ued to generate gate gnal for the nerter. Proper electon of the nerter dece and electon of the control technque wll guarantee the effcacy of the dre. Voltage Source Inerter are dece that conert a DC oltage to AC oltage of arable frequency and magntude. They are ery commonly ued n adjutable peed dre and are characterzed by a well defned wtched oltage wae form n the termnal [7]. Both current ource nerter (CSI) and oltage ource nerter (VSI) can be operated n controlled current mode. The current ource nerter a "natural" current upply and can readly be adapted to controlled current operaton. The oltage ource nerter requre more complexty n the current regulator but offer much hgher bandwdth and elmnaton of current harmonc a compared to the CSI and almot excluely ued for moton control applcaton. Current controller can be clafed nto two group, hytere and PWM current controller. Both type are dcued below... Hytere current controller Hytere current controller can alo be mplemented to control the nerter current. The controller wll generate the reference current wth the nerter wthn a range whch fxed by the wdth of the band gap. In th controller the dered current of a gen phae ummed wth the negate of the meaured current. The error fed to a comparator hang a hytere band. When the error croe the lower lmt of the hytere band, the upper wtch of the nerter leg turned on. But when the current attempt to become le than the upper reference band, the bottom wtch turned on. Fg. how the hytere band wth the actual current and the reultng gate gnal. Th controller doe not hae a pecfc wtchng frequency and change contnuouly but t related wth the band wdth [7] [8].

3 Fg. : Hytere controller.. PWM Current Controller PWM current controller are wdely ued. The wtchng frequency uually kept contant. They are baed n the prncple of comparng a trangular carrer wae of dere wtchng frequency wth error of the controlled gnal. The error gnal come from the um of the reference gnal generated n the controller and the negate of the actual motor current. The comparon wll reult n a oltage control gnal that goe to the gate of the oltage ource nerter to generate the dere output. It control wll repond accordng to the error. If the error command greater than the trangle waeform, the nerter leg held wtched to the pote polarty (upper wtch on). When the error command le than the trangle waeform, the nerter leg wtched to the negate polarty (lower wtch on). Th wll generate a PWM gnal lke n fg. 4. The nerter leg forced to wtch at the frequency of the trangle wae and produce an output oltage proportonal to the current error command. The nature of the controlled output current cont of a reproducton of the reference current wth hghfrequency PWM rpple upermpoed [7]. Fg.4: PWM current controller. Feld Orented Control of PM Motor The PMSM control equalent to that of the motor by a decouplng control known a feld orented control or ector control. The ector control eparate the torque component of current and flux channel n the motor through t tator exctaton. The ector control of the PM ynchronou motor dered from t dynamc model. Conderng the current a nput, the three current are: a = I n( ω t + α) r π b = I n( ωrt + α ) π c = I n( ωrt + α + ) () where α the angle between the rotor feld and tator current phaor, ω r the electrcal rotor peed. The preou current obtaned are the tator current that mut be tranformed to the rotor reference frame wth the rotor peed ω r, ung Park tranformaton. The q and d ax current are contant n the rotor reference frame nce α a contant for a gen load torque. A thee contant, they are mlar to the armature and feld current n the eparately excted machne. The q ax current dtnctly equalent to the armature current of the machne; the d ax current feld current, but not n t entrety. It only a partal feld current; the other part contrbuted by the equalent current ource repreentng the permanent magnet feld. For th reaon the q ax current called the torque

4 producng component of the tator current and the d ax current called the flux producng component of the tator current. d and q n term of I a follow: q nα = I coα d The electromagnetc torque equaton obtaned a gen below. P T e = [ ( Ld Lq ) I n α + λaf I nα] () ().. Contant Torque Operaton Contant torque control trategy dered from feld orented control, where the maxmum poble torque dered at all tme lke the motor. Th performed by makng the torque producng current q equal to the upply current I. That reult n electng the α angle to be 90º. By makng the d current equal to zero the torque equaton can be rewrtten a: P Te = ( )( ) λaf Iq (4) Aumng that: P kt = ( )( ) λaf (5) The torque ge by T = k e t. I q Lke the motor, the torque dependent of the motor current. (6).. Flux-weakenng Flux weakenng the proce of reducng the flux n the d ax drecton of the motor whch reult n an ncreaed peed range. The motor dre operated wth rated flux lnkage up to a peed where the rato between the nduced emf and tator frequency (V/f) mantaned contant. After the bae frequency, the V/f rato reduced due to the lmt of the nerter oltage ource whch fxed. The weakenng of the feld flux requred for operaton aboe the bae frequency. Th reduce the V/f rato. Th operaton reult n a reducton of the torque proportonal to a change n the frequency and the motor operate n the contant power regon [9]. The rotor flux of PMSM generated by permanent magnet whch can not be drectly reduced a nducton motor. The prncple of fluxweakenng control of PMSM to ncreae negate drect ax current and ue armature reacton to reduce ar gap flux, whch equalently reduce flux and achee the purpoe of flux-weakenng control [0]. Th method change torque by alterng the angle between the tator MMF and the rotor d ax. In the flux weakenng regon where ω r > ω rated angle α controlled by proper control of d and q for the ame alue of tator current. Snce q reduced the output torque alo reduced. The angle α can be obtaned a: tan q α = ( ) (7) d The current I related to d and q by: I = ( d + q ) (8) Ung α and rotor poton the controller wll generate the reference current; then the current controller make ue of the reference gnal to control the nerter for the dered output current. The load torque adjuted to the maxmum aalable torque for the reference peed: ωrated T L = T e ( rated )( ) (9) ω r

5 . Implementaton of the Speed Control Loop of PM Motor Many applcaton, uch a robotc and factory automaton, requre prece control of peed and poton. Speed Control Sytem allow one to ealy et and adjut the peed of a motor. The control ytem cont of a peed feedback ytem, a motor, an nerter, a controller and a peed ettng dece. A properly degned feedback controller make the ytem nenble to dturbance and change of the parameter. The purpoe of a motor peed controller to take a gnal repreentng the demanded peed, and to dre a motor at that peed. Cloed Loop peed control ytem hae fat repone, but become expene due to the need of feed back component uch a peed enor. For a PM motor dre ytem wth a full peed range the ytem wll cont of a motor, an nerter, a controller (contant torque and flux weakenng operaton, generaton of reference current and PI controller) a hown n fg. 5. Fg. 5: Dre Block Dagram The operaton of the controller mut be done accordng to the peed range. For operaton up to rated peed t wll operate n contant torque regon and for peed aboe rated peed t wll operate n fluxweakenng regon. In th regon the d-ax flux and the deeloped torque are reduced. The proce can be ealy undertood wth the flow dagram n fg. 6. Fg. 6: Sytem Flow Dagram Speed controller calculate the dfference between the reference peed and the actual peed producng an error, whch fed to the PI controller. PI controller are ued wdely for moton control ytem. They cont of a proportonal gan that produce an output proportonal to the nput error and an ntegraton to make the teady tate error zero for a tep change n the nput. Block dagram of the PI controller hown n fg. 7.

6 Fg. 7: PI Controller Speed control of motor manly cont of two loop the nner loop for current and the outer loop for peed. The order of the loop due to ther repone, how fat they can be changed. Th requre a current loop at leat 0 tme fater than the peed loop. Snce the PMSM operated ung feld orented control, t can be modeled lke a motor. The degn begn wth the nnermot current loop by drawng the block dagram. But n PMSM dre ytem the motor ha current controller whch make the current loop. The current control performed by the comparon of the reference current wth the actual motor current. The degn of the peed loop aume that the current loop at leat 0 tme fater than peed loop, allowng reducng the ytem block dagram by conderng the current loop to be of unty gan a hown n fg. 8. ref + - PI k t P/(J) r Fg. 8: Block Dagram of Speed Loop For our SPMSM; k t = (/) (P/) λ af = 0.849; where: λ af = 0.8; P = 4; J = The open loop tranfer functon of the motor gen by: GH() = (k / + k p ) (k t ) ( / J) (0) For table ytem and to atfy dynamc repone wthout ocllaton the phae margn (φ PM ) uually greater than 45º, here we prefer t to be 60º. Knowng the motor parameter and the phae margn, wth the gan margn defnton the k and k p gan can be obtaned for the motor controller ung the followng equaton. GH ( jω) = (k / ( jω) + k p ) (k t ) ( / J( jω)) = For crooer frequency (elected) f c = 00 Hz; (ω c = π f c = rad/ec) Angle GH( j ω ) = (k / ( jω) + k ) (k ) ( / J( jω)) = 80 + φ p The gan for the peed controller wa obtaned ung the motor parameter and by electng a crooer frequency k p = ; k =.674 A mple tablty check for thee obtaned alue done ung charactertc eq. (), n whch GH(): Open loop tranfer functon, G: Feed-forward tranfer functon, and H: Feed-back Tranfer functon. + GH() = 0 () The pole of the charactertc equaton are: ± j 5.7; t clear they are n left hand de of the -plane o the ytem wll be table wth thee alue..4 Inerter-Motor Equalent Crcut Conderng the equalent crcut of the ytem nerter-motor a n fg. 9; the lne oltage for the motor hae the expreon [], []: t PM () () ab bc ca (t) = (t) = (t) = an bn cn (t) (t) - (t) - - bn cn an (t) (t) (t) (4)

7 Fg. 9: Inerter-motor equalent crcut The motor phae oltage wll hae the expreon: (t) = (t) - (t) ao bo (t) = an bn (t) - on on co (t) = cn (t) - on (t) Beng a tar connecton, then at eery tme ntant the followng relaton atfed: ao + bo + co (t) = 0 From Eq (5) and Eq (6) then the null oltage dered a: on = ( an + bn + cn )/ Hang the pule for each nerter leg (da, db, ), the nerter leg oltage can be found a: = V. da an bn = V cn = V. Ung the aboe Eq., the reulted lne oltage wll hae the expreon Eq (9): = V. ( da - db ) ab bc = V (t). db. ( db - ) ca = V. ( - da ) Smlarly, the phae oltage can be found a: = V. ( da - (da + db + ) / ) a b = V c = V. ( - (da + db + ) / ) The tructure of the nerter Smulnk model preented later.. ( db - (da + db + ) / ) (5) (6) (7) (8) (9) (0).5 Dc Source The -lnk oltage V, could be obtaned ung V n (maxmum phae oltage) a follow []:. P π =.n( ). V π P Where V n : peak ampltude of phae oltage n ()

8 .6 Dynamc Modelng of PMSM Fgure 0 preent equalent crcut of PMSM n d-q ax to be ued n both dynamc equaton of PMSM, and tatc charactertc. Fg. 0: PMSM Equalent Crcut. It hould be notfed that, all lower cae ymbol ntroduce ntantaneou alue, and upper cae for teady tate. The two axe PMSM tator wndng can be condered to hae equal turn per phae. The rotor flux can be aumed to be concentrated along the d ax whle there zero flux along the q ax. Further, t aumed that the machne core loe are neglgble. Alo, rotor flux aumed to be contant (araton n the rotor flux wth repect to tme neglgble). Varaton n rotor temperature alter the magnet flux, but t araton wth tme condered to be neglgble. A dynamc model of PMSM can be dedcated a follow [4]: q d = r = r q d + ρ ( λ ) + ω λ q + ρ ( λ ) ω λ q d λ = L q q r r d q () () (4) λ d = L d d + λ af (5) where ω r : Electrcal elocty of the rotor; λ af : The flux lnkage due to the rotor magnet lnkng the tator; d, q : d, q oltage; λ d, λ q : d, q flux; ρ (λ af ) = 0, λ af = L m fr ; ρ : Derate Operator The electromagnetc torque gen by: P P Te = ( λ dq λqd ) = ( λmq + ( Ld Lq ) qd ) The electromechancal power Pem = ω rm Te = ωr ( λd q - λq d ) P ω r = ωrm where P: Pole No; ω rm : Rotor Mechancal elocty The general mechancal equaton for the motor : Te = Tl + Td + Bω rm + Jρ ωrm (9) B: Vcou frcton coeffcent; J: Inerta of haft and load ytem; T d : Dry frcton; T l : Load torque. PMSM Dre Smulaton and Reult In th ecton, the mulaton of a feld orented controlled PM motor dre ytem deeloped ung Smulnk. The mulaton crcut nclude all realtc component of the dre ytem. A cloed loop control ytem wth a PI controller n the peed loop ha been degned to operate n contant torque and flux weakenng regon. Implementaton ha been done n Smulnk. A comparate tudy of hytere and PWM control cheme aocated wth current controller ha been made. Smulaton reult are gen for two peed of operaton, one below rated and another aboe rated peed.. Modelng of PMSM Modelng of a permanent magnet ynchronou motor ntroduced n th ecton ung the m/c equaton; wth ome aumpton lke: Saturaton neglected; the nduced EMF nuodal; Eddy current and hytere loe are neglgble; there are no feld current dynamc; all motor parameter are aumed contant; Leakage nductance are zero. Detaled modelng of PM motor dre ytem requred for proper mulaton of the ytem. The d-q model ha been deeloped on rotor reference frame. Th dynamc mulaton of PMSM done wth the ad of SIMULINK n MATLAB package. The oltage and load torque are condered a nput, wth the peed and current a output [5], [6]. (6) (7) (8)

9 V_d Sne Wae V_d _d Lambda_q Lambda_d current n d -ax T_L Load Torque Sne Wae In Omega_r Sne Wae V_q Flux n d -ax V_q Te Calculaton J Contant Mechancal Integrator -K- Gan 4 N _q From -phae to d -q- Lambda_q Lambda_d u()/lq current n q -ax B Omega_r Gan Flux n q -ax Integrator -K- Pole /... T_d Contant Fg. : Permanent Magnet Synchronou Motor Model.. Smulnk Smulaton of PMSM Dre The PM motor dre mulaton wa bult n eeral tep lke abc phae tranformaton to dqo arable, calculaton torque and peed, and control crcut. The abc phae tranformaton to dqo arable bult ung Park tranformaton and for the dqo to abc the reere tranformaton ued. For mulaton purpoe the oltage are the nput and the current are output. Park tranformaton ued for conertng V abc to V dqo hown n modelng and the reere tranformaton for conertng I dqo to I abc hown n fgure. Fg. : I dqo to I abc Block The ector control requre a block for the calculaton of the reference current ung the α angle, the poton of the rotor and the magntude of the I. The block wth the PI controller hown n fg..

10 -C- PI I I*_a wr_reference wr PI Controller Integrator p / Alfa _Ref In I*_b I*_c Reference Iabc Current I_abc _Reference Kp u()*n(u()+u()) I*_a Error K K T z- 5 I In u()*n(u()+u()-*p /) I*_b u()*n(u()+u()+*p/) 4 I*_c Fg. : Vector Control Reference Current Block wth PI Speed Controller Inerter mplemented a hown n fg. 4, dependng on the nerter relaton ntroduced before. u(4)*(u()-u()) Vab u(4)*(u()-u()) Vbc da db VDC Vab Vbc Vca In Va Vb Vc ph Inerter Voltage 4 In u(4)*(u()-u()) u(4)*(u()-(u()+u()+u())/) Vca 4 Va V 5 u(4)*(u()-(u()+u()+u())/) Vb 6 u(4)*(u()-(u()+u()+u())/) Vc Fg. 4: Voltage Source Inerter For proper control of the nerter ung the reference current, current controller are mplemented to generate the gate pule for the IGBT. Current controller ued are hown n fg. 5 and 6. 4 _a Relay _a *_a da 5 _b Relay _b db *_b 6 _c Relay _c *_c Fg. 5: Hytere controller

11 Sgnal Generator Relay _a 4 _a 5 _b *_a *_b Sgnal Generator Relay _a Relay _a da db 6 _c Sgnal Generator *_c Fg.6: PWM current controller 4. Smulaton Reult Th part deal wth the mulaton reult of PMSM dre ytem. Comparate tudy of the current controller ued n the ytem gen. The ytem bult n Smulnk for a PMSM dre ytem ha been teted wth the two current control method, Hytere and PWM, at the contant torque and fluxweakenng regon of operaton. The motor operated wth contant torque up to t rated peed and beyond that rated peed flux-weakenng mode adopted. Smulaton reult are gen at electrcal peed of 000 rpm ( Hz) and 400 (80 Hz). The aboe peed repreent rated and aboe rated peed of the motor. The mulaton wa carred out ung two current control technque to tudy the performance of the motor dre. The technque are Hytere current control and PWM current control. The plot of current, torque and peed are gen for both cae. 4. Smulaton for Operaton at 000 rpm Fg.7: Electrcal Speed wth tme (at Hz); for Hytere controller Fg.8: Iabc wth tme (at Hz); for Hytere controller

12 Fg.9: Idq wth tme (at Hz); for Hytere controller Fg.0: Torque wth tme (at Hz); for Hytere controller Fg. 7 how a araton of the peed wth tme. The teady tate peed the ame a that of the commanded reference peed. Fg. 8 how the three phae current drawn by the motor a a reult of the hytere current control. The current are obtaned ung Park' reere tranformaton. It clear that the current non nuodal at the tartng and become nuodal when the motor reache the controller command peed at teady tate. The correpondng dq component of current gen n fg. 9 n whch the alue of d zero nce feld orented control ued. Fg. 0 how the deeloped torque of the motor. The tartng torque nearly more than twce the teady tate alue. The preou plot hae been repeated wth PWM control for comparng wth hytere control. Fg.: Electrcal Speed wth tme (at Hz); for PWM controller Fg.: Iabc wth tme (at Hz); for PWM controller

13 Fg.: Idq wth tme (at Hz); for PWM controller Fg.4: Torque wth tme (at Hz); for PWM controller Fg. how a araton of the peed wth tme. The teady tate peed the ame a that of the commanded reference peed. Fg. how the three phae current a a reult of the PWM current control obtaned from Park' reere tranformaton. It clear that the current non nuodal at the tartng and become nuodal when the motor reache the controller command peed at teady tate. The correpondng dq component of current gen n fg. wth d almot equal to zero for contant torque operaton. Fg. 4 how the deeloped torque of the motor. 4. Smulaton for Operaton at Hgher Speed of 400 rpm Fg.5: Electrcal Speed wth tme (at 80 Hz); for Hytere controller Fg.6: Iabc wth tme (at 80 Hz); for Hytere controller

14 Fg.7: Idq wth tme (at 80 Hz); for Hytere controller Fg.8: Torque wth tme (at 80 Hz); for Hytere controller Fg. 5 how a araton of the peed wth tme. The teady tate peed the ame a that of the commanded reference peed. Fg. 6 how the three phae current a a reult of the hytere current control obtaned from Park' reere tranformaton. It clear that the current non nuodal at the tartng and become nuodal when the motor reache the controller command peed. The correpondng dq component of current gen n fg. 7. Both d and q ax current are preent. Howeer the q ax current mall nce the torque get reduced at hgher peed, operatng at contant power regon. Fg. 8 how the deeloped torque of the motor wth hgh tartng torque. The aboe plot hae been repeated wth PWM control for comparng wth hytere control. Fg.9: Electrcal Speed wth tme (at 80 Hz); for PWM controller Fg.0: Iabc wth tme (at 80 Hz); for PWM controller

15 Fg.: Idq wth tme (at 80 Hz); for PWM controller Fg.: Torque wth tme (at 80 Hz); for PWM controller Fg. 9 how a araton of the peed wth tme. The teady tate peed the ame a that of the commanded reference peed. Fg. 0 how the three phae current a a reult of the PWM current control obtaned from Park' reere tranformaton. It clear that the current non nuodal at the tartng and become nuodal when the motor reache the controller command peed at teady tate. The correpondng dq component of current gen n fg.. Both d and q ax current are preent. Howeer the q ax current mall nce the torque get reduced at th hgher peed due to power beng mantaned contant. Fg. how the deeloped torque of the motor. 5. Concluon A detaled Smulnk model for a PMSM dre ytem wth feld orented control ha beng deeloped and operaton at and aboe rated peed ha been tuded ung two current control cheme. Smulnk ha been choen from eeral mulaton tool becaue t flexblty n workng wth analog and dgtal dece. In the preent mulaton meaurement of current and oltage n each part of the ytem poble, thu permttng the calculaton of ntantaneou or aerage loe, and effcency. Uually n uch a dre ytem the nerter dren ether by hytere or by PWM current controller. A comparate tudy ha been made of the two current control cheme. A peed controller ha been degned uccefully for cloed loop operaton of the PMSM dre ytem o that the motor run at the commanded or reference peed. All the reult are well depcted f compared wth any preou contrbuton n the lterature. Reference [] B. K. Boe, Power electronc and moton control-technology tatu and recent trend, IEEE Tran. Ind. Applcat., ol. 9, pp , Sept. /Oct., 99. [] W. Leonhard, Adjutable peed ac dre, Proceedng of IEEE, ol. 76, pp , Aprl, 988. [] B. K. Boe, Varable frequency dre-technology and applcaton, n Proc. ISIE 9(Budapet), June, 99, pp -8. [4] R. Gabrel, W. Leonhard, and C. Nordby, Feld orented control of tandard AC motor ung mcroproceor, IEEE Tran. Ind. Applcat., ol. IA-6, pp. 86 9, 980. [5] L. Harnefor, Degn and analy of general rotor-flux orented ector control ytem, IEEE Tran. Ind. Electron., ol. 48, pp. 8 89, Apr. 00. [6] M. Schroedl, Senorle control of AC machne at low peed and tandtll baed on the INFORM method, n Conf. Rec. IEEE-IAS Annu. Meetng, ol., 996, pp [7] P. L. Janen and R. D. Lorentz, Tranducerle poton and elocty etmaton n nducton and alent AC machne, IEEE Tran. Ind. Applcat., ol., pp , Mar./Apr [8] P. L. Janen, R. D. Lorenz, and D. W. Nootny, Oberer-baed drect feld orentaton: Analy and comparon of alternate method, IEEE Tran. Ind. Applcat., ol. 0, pp , July/Aug [9] T. M. Jahn and V. Blako, Recent adance n power electronc technology for ndutral and tracton machne dre, Proc. IEEE, ol. 89, pp , June 00. [0] Thoma M. Jahn, Moton control wth permanent-magnet ac machne, n Proc. IEEE, ol. 8, Aug. 994, pp.

16 4- [] El Shewy, H and, El Shahat, A, PM Synchronou Machne Stablzaton Control for Electrc Vehcle, Ref: 8, Accepted n The Thrd An Sham Unerty Internatonal Conference on Enronmental Engneerng (Acee- ), Aprl , Caro, Egypt. [] A. Emad, S. S. Wllamon, and A. Khalgh, Power electronc ntene oluton for adanced electrc, hybrd electrc, and fuel cell ehcular power ytem, IEEE Tran. Power Electron., ol., no., pp , May 006. [] W. Ca, Comparon and reew of electrc machne for ntegrated tarter alternator applcaton, Conf. Rec. IEEE 9th IAS Annu. Meetng, ol., 004, pp [4] J. R. Henderhot and T. J. E. Mller, Degn of Bruhle Permanent Magnet Motor, Oxford, U.K.: Magna Phyc Publhng and Clarendon Pre, 994. [5] M. Zeraoula, Electrc motor dre electon ue for HEV propulon ytem: A comparate tudy, IEEE Tran. Vehcular Tech., ol. 55, pp , No [6] H. El Shewy, A. El Shahat, PM Synchronou Machne Stablzaton Control for Electrc Vehcle, Paper Ref.: 9, Accepted n Global Conference on Renewable and Energy Effcency for Deert Regon (GCREEDER009), Amman, Jordan. [7] B. K. Boe, Power Electronc and Varable Frequency Dre, ed: Wley, John & Son, 996. [8] P. Pllay and R. Krhnan, "Modelng, mulaton, and analy of permanent-magnet motor dre. I. The permanent-magnet ynchronou motor dre," Indutry Applcaton, IEEE Tranacton on, ol. 5, pp. 65-7, 989. [9] R. Krhnan, Electrc Motor Dre Modelng, Analy, and Control, Pearon Educaton, 00. [0] X. Junfeng, W. Fengyan, F. Janghua, and X. Janpng, "Flux-weakenng control of permanent magnet ynchronou motor wth drect torque control conderaton araton of parameter," Indutral Electronc Socety, IECON th Annual Conference of IEEE, Vol., pp. - 6, 004. [] A. Munoz-Garca and D. W. Nootny, Utlzaton of Thrd Harmonc-Induced-Voltage n PM Generator, Indutry Applcaton Conference, 996. Thrty-Frt IAS Annual Meetng, IAS apo;96., Vol., 6-0 Oct 996 Page():55 5. [] Kazmerkowk M.P., Tuna H.: Automatc Control Of Conerter-Fed Dre, Eleer Scence & Technology (Unted Kngdom), 994 [] Ned Mohan, Tore M. Undeland and Wllam P. Robbn, Power electronc, Conerter, Applcaton and Degn, Thrd Edton, USA ISBN , John Wley & Son, Inc. [4] Krhnan R.: Electrc Motor Dre: Modelng, Analy & Control, Prentce Hall [5] Adel El Shahat, and Hamed El Shewy, Permanent Magnet Synchronou Motor Dynamc Modelng Paper ID: X05, Accepted n nd Internatonal Conference on Computer and Electrcal Engneerng (ICCEE 009); Duba, UAE, December 8-0, 009. [6] H. M. El Shewy, F. E. Abd Al Kader, M. El Kholy, and A. El Shahat, Dynamc Modelng of Permanent Magnet Synchronou Motor Ung MATLAB - Smulnk EE08, 6th Internatonal Conference on Electrcal Engneerng ICEENG 008, 7-9 May, 008, Mltary Techncal College, Egypt.