Speed Control Schemes of Four Quadrant Operating PMSM Drive For Electric Vehicles Applications
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1 ntenational Jounal of Applied ngineeing Reseach SSN olume, Numbe 5 (07) pp Reseach ndia Publications. Speed Contol Schemes of Fou Quadant Opeating PMSM Dive Fo lectic ehicles Applications Ritu Tak, Sudhi Y Kuma and B.S.Rajpuohit 3, lectical ngineeing, Mody Univesity of Science & Technology, Lakshmangah, ndia. lectical ngineeing, School of Computing and lectical ngineeing, T, Mandi, ndia. Ocid: Abstact lectic vehicles (s) become popula in an acceleated pace in the wold due to the enegy cises and envionmental pollution. The highe fuel pices foced the automobile company to develop s having high fuel economy and low emission; howeve the technology is still in ealy development stage. The smooth and accuate speed contol of PMSM emphasis is on electic vehicles, in this pape a Suface Mounted PMSM dive is developed fo the fou quadant opeation the PWM o Hysteesis techniques ae used fo contolling the toque as in the inne loop and the P contolle is used in the oute loop as a speed contolle. The speed of the moto depends on the diving cycle as the moto is coupled by mechanical connection to tansmission. n s the dive s toque demand is computed the moto toque, the ipples in the toque incease the losses and poduce the noise. The pefomance of the electic dive is impoved by educing the ipples in toque and cuent wavefom. The simulation esults of speed contol of PMSM ae ealized in MATLAB. A compaative analysis of speed contol scheme with PWM and hysteesis contolle has been pesented in this pape. Keywods: Suface Mounted Pemanent magnet synchonous moto (SM-PMSM), fou quadant opeation, lectic vehicles (s), pulse width modulation (PWM), Hysteesis cuent contolle. NTRODUCTON The inteest of eseache in development of high efficient electic vehicles inceases due to the oil pices inceases and natual envionment concens. Fo build a high efficient s PMSM dives pefeed in place of M dives. PMSM dives povide a high toque, high powe at low weight, obustness against the uncetainty and high efficiency these distinct popeties of PMSM make it the fist choice fo the s. n pape,] fo electic vehicles nduction moto, sufacemounted pemanent-magnet moto, and inteio PMSM dives compaed in tems of output powe and efficiency with efeence to a common vehicle specification. The meits and limitations of these thee moto dives ae quantified compehensively and summaized. The induction moto has less expensive but high losses whee as SM-PMSM has simple constuction but at high speed eddy cuent loss is moe so it limit the use of SM-PMSM fo the low o light electic vehicles. The inteio pemanent magnet synchonous moto shows bette pefomance but it might be complicated. A pemanent magnet synchonous machine opeated with field oiented contol is used in electic vehicles, field oiented contol allows fo a machine opeation at a low voltage level. To ensue a stable pefomance, and to design the contolle without oscillation, an accuate knowledge of the machine in the d-q oto efeence fame is equied 3]. The specified toque-speed chaacteistic equied fo the electic vehicles mainly influence by the stato winding tun and the pemanent magnet width. n the pape 4] the toque ipple and the hamonic contents ae deceased by optimizing the oto shape by the offset ac method and impove the supply quality and taction pefomance. The electomagnetic and stuctual analysis of suface-mounted pemanent-magnet synchonous machine (SM-PMSM) fo light-electic vehicles ae evaluated numeically as well as expeimentally though test in the pape 5] and conclude that the SM-PMSM has the best powe density but a high toque ipples is the dawback of this, these ipples intoduces vibation and noise. The moto wok on a low-toque egion due to this a high pecentage of PWM caie hamonic ion loss accounts. n pape 6] a novel technique is poposed fo caie hamonic loss eduction and also compaed with the conventional moto. A PMSM dive tain system with vaious invete modulation schemes ae discussed in the pape 7] and indicated that the use of hysteesis contolle educes the pulsing fequency. Geneally hysteesis cuent contolles ae used in the lectic vehicles due to the lowe cost but the simulation esults shows in this pape that PWM cuent contolles ae the best choice fo the electic vehicles they educe the ipples and losses in the dive likewise impove the pefomance of the electic vehicles. The pape is oganized as section is the intoduction. Section explains the basic mathematical model of PMSM and in section descibe the fou modes of opeation of the PMSM this is the basic equiement of the electic vehicles applications. The speed contol scheme with PWM and hysteesis cuent contol technique is discussed in section. 556
2 ntenational Jounal of Applied ngineeing Reseach SSN olume, Numbe 5 (07) pp Reseach ndia Publications. The simulation esults ae pesented in the section and at last pape is concluded in section followed by the efeences. MATHMATCAL MODLNG OF PMSM The dynamic model of the PMSM is deived using a two-phase moto in diect and quadatue (dq) axes 8,9]. The model of PMSM has been developed on oto efeence fame assume that induced MF is sinusoidal, and losses ae negligible. The d-and q-axes stato voltages ae fo suface mounted PMSM is: qs ] = R s i qs ] (L q L d ) 0 ds i ds 0 (L q L d ) ] d i qs ] dt i ds λ af ω cos θ sin θ ] () ds and qs ae the d- and q-axes windings voltages i ds and i qs ae the q- and d-axes windings cuents R s the stato winding esistance λ af the mutual flux linkages θ is the instantaneous oto position ω is the oto speed in electical adians pe second The system equation become simple and compact at the otating efeence fame. The elationship between the stationay efeence fames and the oto efeence fames is witten as: i q d s = T ]i q d s () v q d s = T ]v q d s (3) T = cos θ sin θ ] (4) sin θ cos θ v qs v ] = R s L p q ds ω L q i qs ω L d R s L d p ] i qs ] ω λ af 0 ] (5) i ds cos θ cos (θ π 3 ) cos (θ π 3 ) i ds ] = sin θ 3 sin (θ π ) sin (θ 3 π ) 3 i 0 The expession fo the electomagnetic toque T e = 3 P λ af (L d L q ) ds ] qs ] i as i bs ] (6) i cs (7) The oveall dynamic model of PMSM in oto efeence fame is d qs R s dt ( L q λ af ω L q L ) 0 d H d ds dt = ( L q ω dω L ) R s 0 0 d L q dt λ af (L d L q ) qs B dθ H H H 0 dt ] 0 0 0] qs ds ] ω θ L q L q ] qs ds ] (8) T l FOUR-QUADRANT OPRATON OF PMSM n application of s PMSM dives opeate to otate in both diections, it must be capable of motoing and egeneation in both diections of otation. The dives used in s ae opeating in the entie fou quadants with the vaiable speed 0,]. Figue shows the speed and toque vaiation of the PMSM machine in a diffeent mode of opeation namely fowad motoing (FM), fowad egeneation (FR), evese motoing (RM) and the evese egeneation (RR) mode. The fist quadant is the FM mode in this moto otates in fowad diection as the speed and toque is positive, the thid quadant is the mio eflection of the fist quadant hee speed and toque both ae in negative diection. The negative toque opposes the positive motoing toque, due to this powe flow fom the machine to the powe supply souce this mode is called as the evese baking mode. 557
3 ntenational Jounal of Applied ngineeing Reseach SSN olume, Numbe 5 (07) pp Reseach ndia Publications. Speed Fowad Baking Fowad Motoing > > Toque Revese Motoing > 3 4 > Revese Baking Figue : Fou Quadant opeation of PMSM Similaly the quadant and, the diffeence between the and quadant is the diection of otation, hence the phase sequence is changed. The fou quadant opeation of the PMSM dive and its elationship between toque, speed, powe output and the phase sequence of the moto supply ae summaized in table- Table : Fou-Quadant Opeation of PMSM Quadant Mode of Opeation Speed Toque Powe Output Phase Sequence Fowad motoing mode (FM) Positive Positive Positive abc Revese egeneation mode (RR) Negative Positive Negative acb Revese motoing mode (RM) Negative Negative Positive acb Fowad egeneation mode (RR) Positive Negative Negative abc SPD-CONTROL SCHM OF PMSM DR FOR s A speed-contolled PMSM dive system having a two loop, the inne loop is fo the toque contolled that is the basic coe of the dive system and an oute loop is the speed contol loop fo contolling the oto speed of the dive. The figue shows the schematic block diagam of the speed contolled system of the s. A popotional integal contolle is used in oute loop fo speed egulation ]. Fo inceasing the efficiency of the s PD contolle is appopiate in place of P it gives a fast esponse of the speed. As shown in figue, the speed eo is the input of the speed contolle block, that geneate the electomagnetic toque, the speed eo can be minimized by inceasing o deceasing the electomagnetic toque in the machine. The speed contolle block also geneates the mutual flux linkages efeence accoding the demand of the oto speed. The electomagnetic toque efeence and the mutual flux linkage efeence synthesis the efeence stato cuent, that can be used in a inne loop that is toque contolled of the dive system. 558
4 ntenational Jounal of Applied ngineeing Reseach SSN olume, Numbe 5 (07) pp Reseach ndia Publications. ω * ω Speed Contolle Te * λm * Calculate Toque angle and cuent δ is * θs Synthesis Stato cuent ias ibs ics PWM & Hysteesis Cuent Contolle PMSM θ ics * ibs * Position Senso Signal Pocessing Figue : Speed Contolled PMSM Dive Thee ae two schemes fo the toque contolled one is the hysteesis cuent contol and othe is the PMSM cuent contol. n the hysteesis contolle, the actual cuent and the desied value to contol is compae and geneate the bounded envelope o a naow band within the stato phase cuent has to be maintained 3,4]. voltage and v pc is the peak value of the caie signal The modulation index o atio is defined by m = v pef v pc () aying modulation index changes the fundamental amplitude. The switching logic fo the hysteesis phase a cuent contolle is given below all othe can be similaly made. i as i as i set v ao = dc i as i as i set v ao = dc The d-and q-axes voltages and stato cuent can be deived fom the line and phase voltages. The stato phase cuents came by the invese tansfomation of d-and q axes stato cuents and fom the oto efeence fames the toque and mutual flux linkages can be computed. The hysteesis contolle is simple in this the hysteesis cuent window is set accoding to the peset deviation of cuent. n PWM scheme the pulse width to gate signals of the invete changes by this the input voltage applied to the machine changes. Thee ae a numbe of PWM schemes that can be ealized in PMSM dives 5]. The PWM schemes eliminate the hamonics and maximize the fundamental component. The switching logic fo one phase is summaized as v am = dc v pef (0) v pc Whee, v pef is the peak value of the command signal o phase a (9) SMULATON RSULTS OF TH PMSM CONTROLLD DR SYSTM The PMSM dive system, whose ating and paametes ae given in Table-, is subjected to test Table : Machine Paametes Paamete Notation alue Stato Resistance R s.4 Ω d axis inductance L d H q axis inductance L q H Rated speed ω 34.3 pm Fiction Coefficient B 0.0 Nms Roto Flux linkage λ af Wb Moment of netia J kg/m Numbe of Poles p 6 The simulation done in MATLAB, fo making the PMSM dive high efficient fo the s the two speed contolled schemes ae tested and compae. n one of the scheme used the hysteesis cuent contolle in a toque contolled loop and in the othe scheme use the PWM cuent contolle. The simulation esults of these two schemes shown in figue (3) and (4) espectively. 559
5 ntenational Jounal of Applied ngineeing Reseach SSN olume, Numbe 5 (07) pp Reseach ndia Publications. Figue 3(a) Figue 3(g) Figue 3(b) Figue 3(h) Figue 3: Hysteesis cuent contolled PMSM dive Figue 3(c) Figue 3(d) The machine is stat at standstill, when a speed command comes in positive diection, the toque is also diven in positive diection up to maximum and maintained thee until the speed matches the speed command. As the oto speed eaches to the command speed, the efeence toque also comes down to match the load toque when the speed efeence changes fom positive to negative the toque efeence is diven to negative as shown in figue 3(a) and 3(b) with hysteesis cuent contolle and in figue 4(a) and 4(b) with PWM cuent contolle. Duing speed evesal the need fo a sudden phase invesions in the phase cuent hee the pefomance of the cuent loop is impotant and thee pefomance eflects and make the s high efficient. Figue 3(e) Figue 4(a) Figue 4(b) Figue 3(f) 560
6 ntenational Jounal of Applied ngineeing Reseach SSN olume, Numbe 5 (07) pp Reseach ndia Publications. Figue 4(c) contolle ae also epoted high as compae the simulation esults of diffeent cuents wavefom fo the two speed contol scheme as shown in figue 3(c),3(d),3(e),3(f),3(g) with 4(c),4(d),4(e),4(f) and 4(g). ven the flux poduces by the amatue is sluggish by the hysteesis cuent contol is shown in figue 3(h) it will effect on time esponse as well as poducing oscillations in speed loop. The ipples in toque and cuents ae less in the PWM cuent contolle. CONCLUSON Figue 4(d) Figue 4(e) This pape pesented simulation and analysis of a speed contol technique with PWM o hysteesis cuent contolle fo a PMSM dive unde diffeent opeating condition. Hysteesis cuent contolle educes pulsating fequency but at the same time it inceases the ipples that may poduces noises and vibation in the electic vehicles and these ae educes by using the PWM cuent contolle in the speed contol technique in place of hysteesis cuent contolle that impove the pefomance of the vehicles. The contol mechanism eliminates the noise and vibation in the system, make the fast dynamic esponse of the electic vehicles. The speed contol system fo PMSM is designed and simulated using MATLAB/Simulink platfom The simulation esults have demonstated the feasibility of the speed contol with the PWM cuent contolle the fast dynamic toque esponse, low toque ipple. ACKNOWLDGMNTS Figue 4(f) The authos ae thankful to Naval Reseach Boad, NDA fo financial suppot. RFRNCS Figue 4(g) Figue 4: PWM cuent contolled PMSM dive The MATLAB/Simulation esults ae shown in figue 3 and figue 4 with the speed contol technique with Hysteesis cuent contolle and PWM cuent contolle espectively. As compae the electomagnetic toque poduce by the electic dive in the pescibed two schemes by the simulation esults shown in figue 3 (b) and 4(b), found that the ipples in the toque with the hysteesis cuent contolle ae high. The ipples in the cuent wavefom with the hysteesis cuent ] Gianmaio Pellegino, Alfedo agati, Babaa Boazzo, and Paolo Guglielmi, Compaison of nduction and PM Synchonous Moto Dives fo Application ncluding Design xamples Tansactions on ndusty Applications, vol. 48, no. 6, Nov./Dec. 0. ] Doell, D. G.,Knight, A.M., Popescu, M., vans, L., Staton, D.A., Compaison of diffeent moto design dives fo hybid electic vehicles. n Poceedings of the negy Convesion Congess and xposition (CC), Atlanta, GA, USA, pp , 6 Sept. 00 3] Kassem Roumani, Benedikt Schmuelling, Design and contol of a low voltage PMSM fo electic vehicle application, negy Convesion (CNCON), 04 Confeence on 3-4 Oct ] Ying Dai, Liwei Song, and Shumei Cui, Development of PMSM Dives fo Hybid lectic Ca Applications, Tansactions on Magnetics, vol. 43, no., Jan
7 ntenational Jounal of Applied ngineeing Reseach SSN olume, Numbe 5 (07) pp Reseach ndia Publications. 5] Daniel Fodoean, Mathieu M. Saazin, Claudia Stelu ta Ma ti s, Jan Anthonis, and Heman an de Auweae, lectomagnetic and Stuctual Analysis fo a Suface- Mounted PMSM Used fo Light-, Tansactions On ndusty Applications, vol. 5, no. 4, July/Aug ] Yoshihio Miyama, Moiyuki Hazeyama, Shota Hanioka, Noihio Watanabe, Akihio Daikoku, and Masaya noue, PWM Caie Hamonic on Loss Reduction Technique of Pemanent-Magnet Motos fo lectic ehicles, Tansactions On ndusty Applications, vol. 5, no. 4, July/Aug ] Philip Dost and Constantinos Soukounis, On nfluence of Non Deteministic Modulation Schemes on a Dive Tain System with a PMSM within an lectic ehicle, Tansactions On ndusty Applications, vol. 5, no. 4, July/Aug ] W. Leonad, Contol of lectical Dives. New Yok: Spinge elag, ] R. Kishnan, Pemanent Magnet Synchonous and Bushless DC Moto Dives, CRC, 00. 0] Mahima Gupta, Gii enkataamanan, Fou-quadant pemanent magnet synchonous machine dive with a tiny DC link capacito negy Convesion Congess and xposition (CC), Sept. 06. ] May Suja Antony, R.S Paveen Raj, Fou quadant opeation of vecto contol of PMSM with dynamic baking, Contol Communication & Computing ndia (CCC), 05 ntenational Confeence on 9- Nov. 05. ] Pobee Sahw, Pena Gau, Modeling and simulation study of speed contol of a Photovoltaic assisted Hybid lectic ehicle, Advances in Computing, Communications and nfomatics (CACC), 04 ntenational Confeence on 4-7 Sept ] Tuke Tuke,Umit Buyukkeles,and A. Fauk Bakan, A Robust Pedictive Cuent Contolle fo PMSM Dives. Tansactions on ndustial lectonics, vol. 63, no. 6, 06. 4] Cosmas Ogbuka,Cajethan Nwosu, Macel Agu. A Fast Hysteesis Cuent Contolled Pemanent Magnet Synchonous Moto Dive Based On Field Oientation. Jounal of lectical ngineeing, vol. 67, no., pp , 06. 5] Jung-k Ha. Cuent Pediction in ecto-contolled PWM nvetes Using Single DC-Link Cuent Senso., Tansactions on ndustial lectonics, vol. 57, no.,
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