Real-Time Simulation & Vector Control of Induction Motor/PMSM for Hybrid Vehicles

Vikrant More
Akshay Mhalgi Akshat Khanna

Induction Motor Speed Control

Scalar Control : The magnitudes of control variables are controlled, while the coupling effect is disregarded. For example, the voltage of a machine can be controlled to control the flux, frequency and slip can be controlled to control torque. The various scalar methods employed are: Stator Voltage Control. Current control. Volts/hertz control. Rotor voltage control.

Induction Motor Speed Control

Scalar control methods provide satisfactory steady state performance but poor dynamic response.
Vector Control : Both magnitude and phase of control variables are controlled. The aim of vector control is to get the response from a induction motor similar to that of a separately excited DC motor.
The machine control is considered in a synchronously rotating reference frame.

Sinusoidal quantities appear as dc quantities in steady state.

With vector control, ids is analogous to field current & iqs to armature current of a dc machine and are orthogonal.

dqs equivalent circuit diagram (steady state)

Steady state Phasor diagrams

d-q Model
Vector control drives are based on the dynamic d-q model of the machine. In dynamic model, coupling coefficients between stator & rotor phases vary with rotor position. Such an analysis is complex. Using Parks transformation, we refer stator variables to a synchronously rotating reference frame fixed in the rotor thereby eliminating varying magnetic reluctances . For vector control drives, we transform three phase stationary reference frame into two phase stationary frame and then transform these into a rotating reference frame.

Transformation from stationary reference frame to rotating reference frame

Dynamic equivalent circuits of the machine in synchronously rotating frame

Vector Control Principle

Vector control implementation principle with machine de qe model

Indirect Vector Control

In indirect vector control method, the unit vector signals are fed in feed forward manner. The synchronously rotating axis de-qe is rotating ahead of the dr-qr axis by positive slip angle corresponding to slip frequency. we =wr +wsl . This gives us the value of e upon integration

Required Motor Characteristics

30 25

Electric Motor Characteristics

Motor Power (kW)

20 15 10 5 0 0 500 1000 1500 2000 2500 3000 Motor Speed (rpm) 3500 4000 4500

Motor Characteristics

Permanent Magnet Synchronous Motors

Rotor winding of synchronous motors is replaced by permanent magnets. Advantages- Elimination of rotor Cu loss, higher power density, low rotor inertia and robust construction.

Essentially two types based on construction Sinusoidal Surface Mounted PMSM Sinusoidal Interior Mounted PMSM

Permanent Magnet Synchronous Motors

For application in hybrid vehicles, we need operation of the motor above base speed.
Both types of motor provide operation above base speed, but the interior mounted PMSM provides a better operation above base speed and so it is preferred. Cross section of a interior mounted PMSM is as shown--

Operation in Field Weakening Mode

PMSM used is to be operated above its base speed. In vector control of a PMSM, to get operation above base speed, we operate the motor in flux weakening mode. IPM PMSM provides a greater range of operation in filed weakening mode.

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