«EMR and Inversion-based control of 2 series connected 5-phase PMSMs»

Transcription

1 EMR 14 Coïmbra June 2014 Summer School EMR 14 Energetic Macroscopic Representation «EMR and Inversion-based control of 2 series connected 5-phase PMSMs» Prof. Eric S , Dr. Ngac Ky NGUYEN, Dr. Xavier KESTELYN L2EP, Arts et Métiers ParisTech

2 - Outline EMR of a 5-phase PMSM 2. EMR of 2 series connected 5-phase PMSMs 3. Inversion-based control 4. Experimental results PMSM : Permanent Magnet Synchronous Motor

3 EMR 14 Coïmbra June 2014 Summer School EMR 14 Energetic Macroscopic Representation «EMR of a 5-phase PMSM»

4 - EMR of a 5-phase PMSM - Why multiphase machine? 4 Decrease the phase current comparing to a three phase machine for a given low DC bus (48V) reduce the per-phase converter rating (automobile applications). Increase fault-tolerance capabilities (open-circuit and short-circuit). Reduce harmonic torque ripple. More possibilities of stator winding configuration.

5 - EMR of a 5-phase PMSM - Assumptions on the 5-phase Permanent Magnet Synchronous Machines (PMSMs): no reluctance, no saturation effects regular spatial distribution of windings 5 5-leg VSI 5-phase machine i a V DC i b i c N i d i e ν eν

6 - EMR of a 5-phase PMSM - 6 C 5 = DC bus V DC 5-leg VSI i DC m vsi Concordia transformation v vsi i mach π 2π 4π 4π cos sin cos sin π 4π 8π 8π cos sin cos sin π 6π 12π 12π cos sin cos sin π 8π 16π 16π cos sin cos sin v mvsi i m v svsi i s fictitious machines i i m e m s e s MM SM One 5-phase machine = two (d,q) machines T mm Ω T sm mechanical coupling Ω Two equivalent (d,q) machines T tot shaft Ω Ω T tot =T mm +T sm two classical vector controls T load load

7 - EMR of a 5-phase PMSM - 7 Main (d,q) Machine Secondary (d,q) Machine family of odd harmonics 1, 9, 11 5h±1 3, 7, 13 5h±2 EMF : Electromotive force or back-emf

8 EMR 14 Coïmbra June 2014 Summer School EMR 14 Energetic Macroscopic Representation «EMR of 2 series connected 5-phase PMSMs»

9 - EMR for 2 series connected PMSMs - One of applications : aerospace launcher 9 Thales Alenia Space Project (Ariane 6): Replace two hydraulic engines by two electric motors in orientation control system where one machine pulls and the other pushes

10 Healthy operation - EMR for 2 series connected PMSMs leg VSI 5-phase machine 1 5-phase machine 2 5-leg VSI i 1a i 2a V DC i 1b i 2b V DC i 1c i 2c i 1d i 2d i 1e i 2e N One of inverter switch or DC source fault 5-leg VSI 5-phase machine 1 5-phase machine 2 5-leg VSI i 1a i 2a V DC i 1b i 2b V DC i 1c i 2c i 1d i 2d i 1e i 2e N How can we control separately two machines in case of fault?

11 - EMR for 2 series connected PMSMs - 11 Solution : Swapping connection + new control algorithm based on EMR 5-leg VSI 5-phase machine 1 connection 5-phase machine 2 i 1a i 2a V DC i 1b i 1c i 2b i 2c i 1d i 2d i 1e i 2e N Control objective: 8 currents (4 equivalent fictitious machines) DOF : 4 (5-leg VSI) Require a special connection Swapping two fictitious machines MM1 & SM1 Swapping connection MM1 & SM2 in series MM2 & SM1 in series two fictitious machines MM2 & SM2 MM1 SM1 MM2 SM2

12 5-leg VSI - EMR for 2 series connected PMSMs - equivalent windings fictitious machines shaft 12 DC bus Concordia transformation swapping connection mechanical coupling loads i MM1 = i * SM2 i SM1 = i MM2 i MM1 T MM1 DC V DC I DC v VSI i VSI v M1 i M1 v M2 i M1 e M1 i M2 i SM1 e MM1 i SM2 e SM1 MM1 SM1 SM2 Ω 1 T SM1 Ω 1 T SM2 T M1 Ω 1 T M2 Ω 1 T load-1 Ω 2 m VSI i M2 e M2 e SM2 i MM2 MM2 Ω 2 T MM2 Ω 2 T load-2 e MM2 Ω 2

13 EMR 14 Coïmbra June 2014 Summer School EMR 14 Energetic Macroscopic Representation «Inversion-based control»

14 DC bus 5-leg VSI Concordia transformation - Inversion-based control - equivalent windings swapping connection fictitious machines 14 mechanical coupling shaft loads DC V DC I DC m VSI v VSI i VSI We have : 4 DOF (5-leg VSI) 4 currents to control i MM1 = i * SM2 v M1 i M1 i SM1 i M1 e M1 v M2 i M2 i M2 e M2 i MM1 T MM1 e MM1 i SM2 e SM1 e SM2 i MM2 e MM2 MM1 SM1 SM2 MM2 T Ω M1 Ω 1 1 T SM1 T SM2 Ω 2 T MM2 Ω 1 Ω 2 Ω 1 T load-1 T M2 Ω 2 Ω 2 T load-2 Possible Impact of SM1 and SM2 if they exist Torque ripple of T M1 and T M2 has to be compensated by control i SM1 = i MM2 Ideally, SM1 and SM2 have to be canceled by machine design

15 V DC v VSI v M1 - Inversion-based control - i M1 i SM1 i MM1 T MM1 e MM1 MM1 SM1 T Ω M1 Ω 1 1 T SM1 Ω 1 T load-1 15 DC I DC i VSI i M1 v M2 i M2 e M1 i SM2 e SM1 SM2 T SM2 Ω 1 T M2 Ω 2 m VSI i M2 e M2 e SM2 i MM2 MM2 Ω 2 T MM2 Ω 2 T load-2 e MM2 Ω 2 v M1-ref i MM1-ref v VSI-ref i M1-ref T MM1-ref T M1-ref Ω 1-ref stratégie v M2-ref i MM2-ref Ω 2-ref i M2-ref T MM2-ref T M2-ref

16 EMR 14 Coïmbra June 2014 Summer School EMR 14 Energetic Macroscopic Representation «Experimental results»

17 Inverter - Experimental results - 17 dspace PMSM 1 DC supply PMSM 2 Fig. 1. Laboratory experimental test-bench

18 - Experimental results - 18 Ω 1ref = cycle Ω 2ref = 0 Ω 1ref = cycle Ω 2ref = 40 rad/s Mechanical speeds [rad s -1 ] Mechanical speeds [rad s -1 ] Time [s] Ω 2 Ω 1 Ω 1 Ω Time [s] ω * m1 ω m1 ω * m2 ω m2 ω * m1 ω m1 ω * m2 ω m2

19 - Experimental results - 19 Ω 1ref = cycle Ω 2ref = cycle Mechanical speeds [rad s -1 ] Ω 1 Ω Time [s] ω * m1 ω m1 ω * m2 ω m2 independent behaviours of both machines with a common supply

20 - Experimental results - 20

21 EMR 14 Coïmbra June 2014 Summer School EMR 14 Energetic Macroscopic Representation «BIOGRAPHIES AND REFERENCES»

22 - Authors - 22 Prof. Eric S Arts et Métiers ParisTech, L2EP, France PhD in Electrical Engineering at University of Lille 1 Science and Technology (2000) Full Professor since 2010 Research topics: Multiphase machines design and control, multi-converter modelling Dr. Ngac Ky NGUYEN Arts et Métiers ParisTech, L2EP, France PhD in Electrical Engineering at University of Mulhouse (2010) Associate Professor since 2012 Research topics: Multiphase machines control, fault tolerance systems, EMR Dr. Xavier KESTELYN Arts et Métiers ParisTech, L2EP, France PhD in Electrical Engineering at University of Lille 1 Science and Technology (2003) Associate Professor since 2004 Research topics: Multiphase machines control, fault tolerance systems, EMR, modelling and control of multi-physical systems

23 - References - 23 [S 05] E. S , E. Levi, A. Bouscayrol, X. Kestelyn, Multi-Machine Modelling of Two Series Connected 5-phase Synchronous Machines: Effect of Harmonics on Control, European Conference on Power Electronics and Applications, pp. 10, [Mekri 12] F. Mekri, J-F. Charpentier, E. S , An efficient control of a series connected twosynchronous motor 5-phase with non sinusoidal EMF supplied by a single 5-leg VSI: Experimental and theoretical investigations, Electric Power Systems Research 92 (2012) [Gataric 00] S. Gataric, A polyphase cartesian vector approach to control of polyphase AC machines, Industry Applications Conference, Conference Record of the 2000 IEEE, Vol. 3, pp , Rome [Jones 04] M. Jones, E. Levi, A. Iqbal, A five-phase series-connected two-motor drive with current control in the rotating frame, 35 th Annual IEEE power Electronics Specialists Conference, Vol. 5, pp , Aachen, [Bouscayrol 00] A. Bouscayrol, B. Davat, B. de Fornel, B. François, J. P. Hautier, F. Meibody-Tabar, M. Pietrzak-David, "Multimachine Multiconverter System: application for electromechanical drives", European Physics Journal - Applied Physics, vol. 10, no. 2, May 2000, pp [IF 0.465] (common paper GREEN Nancy, L2EP Lille and LEEI Toulouse, according to the SMM project of the GDR-SDSE) [Hautier 04] J. P. Hautier, P. J. Barre, "The causal ordering graph A tool for modeling and control law synthesis", Studies in Informatics and Control Journal, December 2004, Vol. 13, no. 4, pp

24 EMR 14 Coïmbra June 2014 Summer School EMR 14 Energetic Macroscopic Representation «Thank you»

25 - Colors - 25 Power source Power system System model System control Control strategy pale green gold violet sky blue blue orange background RGB = (255,215,0) «gold» red border RGB = (255,0,0) «red» light blue background RGB = (135,206,235) «sky blue» dark blue border RGB = (0,0,255) «blue» light green background RGB = (152,251,152) «pale green» dark green border RGB = (0,128,0) «greeen» purple background RGB = (238,130,238) «violet» dark blue border RGB = (0,0,255) «blue» dark blue background RGB = (0,0,255) «blue» dark blue border RGB = (0,0,255) «blue» Web X11 colour, standard colours on web pages

26 No equation number in slides - EMR pictograms a element name element name element name a Name x 1 y 1 (2a x a) (a/2 x a) (a x a) (radius= a) borders of power elements = b pt power vectors (size b, full arrows) element name element name signal vectors (size b/2, empty arrows)

27 - Control pictograms - 27 (same pictograms same size - with or without oblique bar) (support square a x a) borders of control elements = b/2 pt signal vectors (size b/2, empty arrows) stratégie

28 - estimation pictograms - 28 Source borders of estimation elements = b/2 pt signal vectors (size b/2, empty arrows)

29 - Example - 29 parallel connexion DC machine wheel environment battery choppers gearbox chassis u bat u ch1 i arm Bat. u bat i tot i ch1 u bat m ch1 i arm u ch2 e arm i field T em Ω gear T gear Ω wh F wh v ev v ev F res Env. i ch2 i field e field m ch2 Ω wh-est v ev-est u ch2-ref i field-ref SoC est u ch1-ref i arm-ref T em-ref T gear-ref F wh-ref v ev-ref strategy driver request