Research on Control Technology of Permanent Magnet Synchronous Motor Based on Iterative Algorithm Liu Yangyang 1c, Yang Guang 2b, Zou Qi 1c,

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1 3rd International Conference on Mechanical Engineering and Intelligent Sytem (ICMEIS 2015) Reearch on Control Technology of Permanent Magnet Synchronou Motor Baed on Iterative Algorithm Liu Yangyang 1c, Yang Guang 2, Zou Qi 1c, 1 Electric Power Science & Reearch Intitute of State Grid Tianjin Electirc Power Company,Tianjin,China, State Grid Tianjin Electirc Power Company,Tianjin,China, a liuyangyangnhm@ina.com, caphine@126.com, c zouqi1004@163.com Keyword: permanent magnet ynchronou motor; poition detection; iterative method, imulation Atract. The poition detection i the important link in the permanent magnet ynchronou motor control. The accuracy of the detection i the key to the high performance control of the motor. Aiming at the prolem of permanent magnet ynchronou motor pole poition difficult to detect, of permanent magnet ynchronou motor poition loop were in-depth analyi, and mathematical model a the ai, find out factor that can influence the preciion of motor control, a deign aed on iterative algorithm for the permanent magnet ynchronou motor poition controller. The imulation reult how that thi method can improve the dynamic performance of the ytem and improve the tracking accuracy of the ytem, and it ha ome application value. Introduction High performance AC ervo ytem i the ai of advanced manufacturing indutry, which reflect the development level of a country' indutry [1][2]. The permanent magnet ynchronou motor ha the advantage of high power, low noie, low rotational inertia, good control effect, etc., and ha occupied the main poition in AC ervo ytem. The tructure of permanent magnet ynchronou motor i complex and the magnetic pole poition i difficult to detect. So, it i a hot pot to find an effective poition control trategy for motor pole poition [3][4]. The in the permanent magnet ynchronou motor poition control ytem a the reearch oject, with duplication of operation characteritic of the poition control ytem, the iterative algorithm i applied to the pole placement control trategy, ha een gradually narrowing in the iterative proce, the error. In the end, the ervo ytem of the actual output and the target output conitent. Theoretical overview of permanent magnet ynchronou motor Compoition of permanent magnet ynchronou motor. Common permanent magnet ynchronou motor can e divided into driven ine wave and quare wave driving. In thi paper, the ine wave drive of permanent magnet ynchronou motor a the reearch oject, the tructure include two part of the tator and rotor. Characteritic of permanent magnet ynchronou motor The motor peed and power frequency alway keep the relationhip, the frequency of the control can control the motor peed. Permanent magnet ynchronou motor ha good anti-interference aility, and the change of load i mall. Permanent magnet ynchronou motor with permanent magnet on the rotor without excitation, o the motor can keep the ynchronou operation at a very low peed, and peed range i wide. Mathematical model of permanent magnet ynchronou motor. The mathematical model i accurate, which directly determine the performance of PMSM [5]. Neglecting core aturation and hyterei lo, the motor i implified, a hown in Figure The author - Pulihed y Atlanti Pre 870

2 Fig.1 implified model of permanent magnet ynchronou motor Phyical equation [6] ua Ra 0 0 ia ϕa d u 0 R 0 i ϕ = + dt u c 0 0 R c i c ϕ c i a, i, i c Current of three-phae tator winding; u a, u, u c Voltage of three-phae tator winding; ϕ a, ϕ, ϕ c linkage of three-phae tator winding; R, R, R Reitance of three-phae tator winding. a c Linkage equation a ϕ ( ) ( ) ( ) ( ) a Laa θ Ma θ Mac θ ia ϕf θ ϕ Ma ( θ) L( θ) Mc ( θ) i = + ϕf ( θ) ϕ ( ) ( ) ( ) c c Mca θ Mc θ Lcc θ i c ϕf ( θ) θ Rotor angle, L ( θ ) Self-inductance of each phae winding; XX M XX ( θ ) Mutual inductance of each phae winding; Electromagnetic torque equation 2 4 Te = pnϕf[ iainθ + iin( θ p) + icin( θ p)] (3) 3 3 p n Numer of pole-pair, Motion equation dωr J = Te TL Bωr (4) dt J Moment of inertia; ω r Angular velocity of the rotor; T Load torque; B vicou friction coefficient. L (1) (2) Poition loop analyi of permanent magnet ynchronou motor Permanent magnet ynchronou motor poition control ytem i y the poition loop, peed loop and current loop compoition. Current loop i the permanent magnet ynchronou motor poition control ytem contitute the fundamental, and the dynamic characteritic are related to the realization of vector control trategy. Speed loop i alo an extremely important link, which can quickly and accurately track the poition loop of the output. The deign of poition loop hould pay 871

3 attention to the preciion of fat tracking and poition tracking, o a to guarantee the performance of the ytem[7][8]. The poition loop i a permanent magnet ynchronou motor poition control ytem of the outer ring, finally, the whole ytem control effect, ecaue the cutoff frequency of the peed loop and current loop i far le than the poition loop, o in the analyi of the poition loop, the aumption that there i no error current loop and peed loop, neglected, conidering only the poition loop, a hown in Figure 2: Fig.2 poition loop control lock diagram The cloed-loop tranfer function of the ytem can e deduced: Y() Gp() G() Φ () = = R () 1 + G() G() p Becaue the gain of the cloed-loop tranfer function cannot e 1, there i a non - eliminating error etween the actual output poition and the deired poition, and the gain i too large, which make the ytem taility wore. Poition controller deign of permanent magnet ynchronou motor aed on iterative algorithm According to the characteritic of the permanent magnet ynchronou motor nonlinear and trong coupling, thi tudy ue the iterative algorithm a the poition loop control method to meet the actual output of the ideal input tracking effect. Iterative principle. Iterative algorithm i mainly ued with repeating or periodic motion of the controlled oject, according to the meaured error ignal, contantly revied to control the amount of the ue of certain learning rule, in order to find an ideal input control ignal, the controlled oject of the output with the deired input match. The iterative control rule can e expreed a [9]: u () t = u () t + λe () t (6) k+ 1 k k+ 1 k Iteration numer; λ Learning gain. Controller deign. The poition control ytem adopt three cloed loop tructure, in order to meet the ytem repone fat, high preciion and ha the advantage of imple tructure, thi tudy adopt iterative algorithm comined with PID control and control method, a hown in Figure 3. (5) Fig.3 poition control ytem tructure of permanent magnet ynchronou motor aed on iterative algorithm Figure, memory for toring a target value, and on an iterative proce of actual output value, ytem run for the firt time, iterative learning controller i not involved in the control proce, the 872

4 whole ytem y PID control operation. After each run, the memory i tored in the output value u k, after the lat execution proce, and the actual output i compared with the target value phae to get the error ignal e k. Simulation analyi In order to verify the effectivene of the deign control method, the ytem imulation analyi i carried out, and ytem imulation model i uilt in the MATLAB oftware, a hown in Figure 4. Fig.4 imulation model of poition control for permanent magnet ynchronou motor In the imulation, the motor parameter are a follow: Stator reitance i 0.35 Ω, permanent 4 2 magnet flux linkage i 0.09W, Moment of inertia i5 10 kg m, Numer of pole-pair i 4, and friction coefficient i 0. Simulation reult are hown in Figure 5-8. Fig.5 poition curve when the firt iteration Fig.6 poition curve when the third iteration 873

5 Fig.7 poition curve when the fifth iteration Fig.8 aolute value of poition error Simulation reult how that when the firt iteration, ytem of real output and the deired target alo exit large error, with the increae in the numer of iteration, the difference etween the two decreaed gradually, more and more cloe to the target value, the o a to verify the validity of the method. In order to olve the prolem of permanent magnet ynchronou motor magnetic pole poition i difficult to meaure the etalihed mathematical model of permanent magnet ynchronou motor (PMSM), find out the factor that affect the dynamic characteritic of, control trategy aed on the poition of the iterative algorithm i propoed. MATLAB imulation reult how that with the increae of the numer of iteration, the actual output of the ytem gradually expectation, which verifie the feaiility of the theoretical analyi i correct and the iterative algorithm applied in ynchronou motor poition control. Reference [1] Sadegh Vaez-Zadeh.Variale flux control of permanent magnet ynchronou motor drive for contant torque operation [J]. IEEE Tranaction on Power Electronic, 2001, 16(4) : [2] Zheng J F, Feng Y, Lu Q L. High-order terminal liding-mode control for permanent magnet ynchronou motor[j]. Control Theory & Application, 2009, 26(6): [3] Tae-Suk Kwon, eung-ki Sul. Novel Antiwindup of a Current Regulator of a Surface-Mounted Permanent-Magnet Motor for Flux-Weakening Control [J]. IEEE Tranaction on Indutry Application, 2006, 42(5): [4] Yang S S, Zhong Y S. Rout controller deign for PMSM peed ervo ytem [J]. Proceeding of CSEE, 2009, 39(3): [5] Marco Turini, Chiricozzi. Surface Mounted Permanent Magnet Synchronou Motor Accounting for Reitive Voltage Drop [J]. IEEE Tran on Indutry Electronic, 2010, 57(1): [6] Lu Wenqi, Hu Yuwen, et al. Anti-diturance adaptive control for permanent magnet ynchronou motor ervo ytem[j].proceeding of the CSEE,2011,31(3): [7] Yao Wenxi, Lv Zhengzi, Fei Wanmin. The Implement Method of Three-level Inverter SVPWM with DSP Baed on PWM Analytical [J]. The Power Sytem and Automation, 2004, 28 (14): [8] Shinn-Ming Sue, Ching Tai Pan. Voltage Contraint Tracking Baed Field Weakening Control of IPM Synchronou Motor Drive [J].IEEE Tranaction on Indutry Application, 2008, 55(1):