SYNTHESIS OF SYNCHRONOUS MOTOR SERVO SYSTEM IN MATLA J. Dúbravký, A. Tchý, M. Dúbravká, J. Pauluová Inttute of Control an Inutral Informatc, Slovak Unverty of Technology, Faculty of Electrcal Engneerng an Informaton Technology Abtract Moel of ynchronou motor n th aer ha been egn for verfcaton of egne tructure of PID controller. Degn of the ervo ytem ecrbe n th aer ha been verfe by exerment, where roerte of nvual art of the egne controller were tue. Smulaton reult an real ytem behavour are comare. Introucton Th aer eal wth control of a real ytem ervo ytem. PID controller for control of motor rev egne by the ole lacement metho. Each of the egne control loo verfe by a mulaton moel before a tet on the real ytem. MATLA-Smulnk the man mulaton oftware. For the lfe tet wth the frequency rve MATLA Smulnk Real-Tme Toolbox ue. Degn of PID controller The controller ue n a cloe loo unty feeback ytem accorng to Fg.. The mlfe moel of ermanent magnet of ynchronou motor (PMSM) jone wth PID controller; G () the tranfer functon of re-correcton,, T, T arameter of PID controller, T tme contant of moment generator, J - moment of nerta, coeffcent of vcoe frcton. The arameter of PID controller are egne by ole lacement metho accorng to block cheme from Fg. (wthout the re-correcton block). G () PID controller T G() T T J Fgure : lock cheme of cloe loo control ytem Pole lacement metho one of the clac control theore an t avantage n ytem control for the oblty to control the ytem wth ere erformance. Theoretcally, ole lacement mean to et the ere ole locaton an to move the ole locaton of the ytem to a ere ole locaton to get the ere ytem reone. Mathematcally, once the ytem tranfer functon efne, the ere tranfer functon houl be alo efne, an then each coeffcent n the ame orer n olynomal comare to be the ame.
G Tranfer functon of the cloe loo ytem : URO ( ) T T T J T T T J J T T ( T J T ) T ( ) T T J T T T The ere ole are ajute an the ere charactertc equaton become: ( ζω ω)( kω) ( kω ξω ) ω( ξk) kω () where k - comlex conjugate ole hft towar mle ole, ω - aban, ξ - amng. When the ere charactertc equaton () comare wth the charactertc equaton of the cloe loo ytem, arameter of the PID controller are obtane: T J T ( kω ξω) T J kω ξω T ω ( ξk) ω ( ξk) kω T T k ω T J () () The choen arameter are ω πf [ra/], f 5Hz, k 4 a ξ. Tranfer functon of re-correcton calculate: G ( ) T J T G( ) T J ( J) (4) Cae tuy Each of the egne control loo verfe by a mulaton moel before a tet on the real ytem. MATLA-Smulnk the man mulaton oftware. For the lfe tet wth the frequency rve MATLA Smulnk Real-Tme Toolbox ue. The frequency rve connecte va MF64 Inut/Outut car, rovng 4-bt analogue nut an outut lu 8 gtal nut an outut. Incremental ee enor nut alo ue. Real ervo ytem cont of ynchronou motor wth ermanent magnet, rven by nutral frequency rve UNIDRIVE an a DC motor ervng a the rven loa. In th egn the DC motor uncontrolle, actng a a ave loa. At the controller egn t arameter mut be alo taken nto account. Rotor PMSM ue ermanent magnet a magnetc fel ource. Th contructon ha avantage comare to rotor wth fel wnng. Motor wth electronc commuter are ve bae on ther contructon: c an cylnrcal [], ee Fg.. Dc motor have very mall moment of nerta, what allow to ue them n ynamc emanng alcaton. Motor wth cylnrcal rotor are ve by oton of the magnet: external an nternal. Rotor wth external magnet oton mlar to mooth-core rotor of aynchronou machne. Rotor wth nternal magnet oton mlar to rotor wth exree ole.
Fgure : a) ynchronou motor wth cylnrcal rotor b) ynchronou motor wth c rotor Servo ytem cont of a ynchronou motor "POWER T56SR.5", whch a ynchronou motor wth cylnrcal rotor (Fg. a) an frequency rve "UNIDRIVE SP4". 4 Smulaton Reult The exerment to run-u to ere angular velocty of ra/ wth mater-lave control. The ee ra/ wa choen becaue of hycal lmt of the real motor. Tme reone of the angular velocty (ω), control error (e w ) an ere moment of motor (M m ) are hown n Fg. -5. Fgure : Tme reone of the angular velocty
Real Moel Smulaton Fgure 4: Tme reone of control error (ω ra/) Real Moel Smulaton Fgure 5: Tme reone of motor moment (ω ra/)
5 Concluon ae on the exerment, t oble to ay, that a mathematc moel can be ue to mulate the real tme behavour of a motor - frequency rver ytem. The fference between the tme reone of real ytem an mulaton moel were caue by unmoele ynamc of the motor. The fference at the motor run-u were motly caue by ry frcton n bearng of the motor. Ocllaton of real motor rm aroun the mulate rm value were motly caue by rregular oton of magnetc flow caue by magnet oton n rotor. ACNOWLEDGMENT Th aer ha been uorte by the Slovak Scentfc Grant Agency, Grant No. /56/ an Grant No. /4/. Reference [] Alexaner Tchý,, Degn of ervo ytem wth ynchronou motor: Mater The, FEI STU, Slovak Reublc, May. [] Mlan Žalman,, Actuator, ratlava: FEI STU, Slovak Reublc,, ISN 8-7- 85-. Jozef Dúbravký, Alexaner Tchý, Mára Dúbravká an Jana Pauluová Inttute of Control an Inutral Informatc, Faculty of Electrcal Engneerng an Informaton Technology, Slovak Unverty of Technology, Ilkovčova, 8 9 ratlava, Slovak Reublc e-mal: jozef.ubravky@tuba.k, alexaner.tchy@tuba.k