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II.
(1)
vq = Riq + pLq iq + r f + r Ld id
(2)
Te =
I NTRODUCTION
vd = Rid + pLd id r Lq iq
I.
3Pp
(f iq + (Ld Lq ) id iq )
2
(3)
(4)
r = Pp m
(5)
Where,
vd and vq = the dq- axes stator voltages;
id and iq = the dq- axes stator currents;
Ld and Lq = the dq- axes inductances;
f = the permanent magnetic ux linkage;
R = the stator resistance;
r = the angular speed of rotor;
m = the mechanical speed of rotor;
Te = the electromagnetic torque;
Jm = the motor inertia;
Bm = the motor friction coefcient;
Pp = the number of pole pairs;
p=
d
dt .
AC Supply
d
s
d
d
d
s
d
Torque
Hysteresis
Controller
PI
/WD^D
Front-end Rectifier
Switching
Table
d
Flux Hysteresis
Controller
Fig. 1.
III.
Calculator
Encoder
Fig. 2.
0
0
1
1
S1
V4
V3
V1
V2
S2
V1
V4
V2
V3
S3
V2
V1
V3
V4
s
s
s
s
s
^
^
^
^
s
s
Fig. 3.
(Vs Rs Is ) dt
(10)
(Vs Rs Is ) dt
(11)
t
s (t) =
0
0
1
0
1
IPMSM
Va =
IV.
S4
V3
V2
V4
V1
(12)
(Vs Rs Is ) dt + so
0
(9)
s = tan
s
s
(13)
3
Pp (s Is Is s )
2
(14)
AC Supply
PWM
Inverter
Rectifier
Ta Tb Tc
Encoder
Hysteresis
Controller
VI.
IPMSM
SIMULATION RESULTS
Controller
Coordinate
Translator
Fig. 4.
Speed(rpm)
1600
1600
1400
1400
1200
1200
1000
reference speed
actual speed
800
600
200
1.0
1.5
2.0
0
0.0
2.5
d = f + Ld Id
d = Lq Iq
1.0
2.5
15
(15)
load torque
developed torque
2.0
2.5
(17)
5
0
-5
1.5
1.0
0.5
-10
-15
0.0
(18)
load torque
developed torque
2.0
Torque(N-m)
10
(16)
1.5
Time(sec)
(a)
Torque(N-m)
and
0.5
Time(sec)
600
400
0.5
reference speed
actual speed
800
200
vd = Ld
1000
400
0
0.0
V.
Speed(rpm)
Speed Loop
0.5
1.0
1.5
2.0
0.0
0.0
2.5
0.5
1.0
Time(sec)
1.5
2.0
2.5
Time(sec)
5
0
-5
-15
0.20
(21)
5
0
-5
-10
0.21
0.22
0.23
0.24
-15
0.20
0.25
0.21
Time(sec)
0.22
0.23
0.24
0.25
Time(sec)
(c)
0.6
0.4
0.4
Flux beta(wb)
0.6
0.2
0.0
-0.2
-0.4
0.2
0.0
-0.2
-0.4
-0.6
-0.6
(22)
ia
ib
ic
10
-10
Current(amp)
(20)
Flux beta(wb)
where m
dm
+ Bm m = T e T l
Jm
dt
dm
= m
dt
is the rotor angular displacement.
15
ia
ib
ic
10
Current(amp)
3
Pp [f iq + (Ld Lq ) id iq ]
(19)
2
The associated electromechanical equations are as follows:
Te =
-0.4
-0.2
0.0
0.2
0.4
-0.6
-0.6
0.6
Flux alpha(wb)
-0.4
-0.2
0.0
0.2
0.4
0.6
Flux alpha(wb)
(d)
while the
Since the
the q-axis
maximum
Fig. 5. Comparison of DTC and FOC in terms of (a) speed response (b)
torque response, (c) three phase currents and (d) ux locus under normal
operating condition. Left side gures represent the curve for DTC and right
side gures represent curve for FOC.
2000
2000
1500
1500
reference speed
actual speed
500
1000
Speed(rpm)
Speed(rpm)
1000
0
-500
-1000
reference speed
actual speed
0
-500
-1500
-2000
-2000
Time(sec)
Time(sec)
(a)
30
load torque
developed torque
Torque(N-m)
10
0
-20
-30
load torque
developed torque
20
-10
Fig. 6(a) and (b) show the speed and torque responses under
load change condition, respectively. We investigated that when
load increases speed falls down from reference speed and then
automatically reaches the rated speed. We used 1.5 N-m as
reference torque and changed it to 2 N-m for simulating load
change condition. For DTC we changed the load at 0.5 sec and
it reached the reference speed at 1.2 sec. On the other hand,
for FOC we changed the torque at 1.5 sec and it reached the
reference speed very quickly.
500
-1000
-1500
Torque(N-m)
1
0
-1
-2
-3
Time(sec)
Time(sec)
(b)
Fig. 7. Comparison of DTC and FOC at speed reversal condition in terms
of (a) speed and (b) torque.
Fig. 8(a) and (b) show the speed response curve and three
phase current response curve when the stator resistance is
increasing, respectively. From the simulation gure we can
see that there is no effect on speed or current response for an
increase in stator resistance.
1600
1600
1600
1400
1400
1400
1200
1200
800
reference speed
actual speed
600
1000
800
reference speed
actual speed
600
800
600
400
400
200
200
200
0.5
1.0
1.5
2.0
0
0.0
2.5
0.5
1.0
1.5
0
0.0
2.0
1.0
1.5
2.0
20
1.0
1.5
2.0
2.5
15
ia
ib
ic
2.0
1.5
1.0
ia
ib
ic
10
Current(amp)
Current(amp)
10
Torque(N-m)
Torque(N-m)
0.5
Time(sec)
load torque
developed torque
2.5
-5
0
0.0
2.5
Time(sec)
3.0
load torque
developed torque
600
(a)
15
800
200
0.5
(a)
10
1000
400
Time(sec)
Time(sec)
reference speed
actual speed
1200
1000
400
0
0.0
1400
Speed(rpm)
1000
1600
reference speed
actual speed
1200
Speed(rpm)
Speed(rpm)
Speed(rpm)
Fig. 7(a) and (b) show speed curve and the torque response
under speed reversal condition respectively. By analyzing these
gures we can see that DTC shows slightly better speed and
torque response than FOC under speed reversal condition.
5
0
-5
-10
-10
0.5
-15
0.0
0.0
0.0
0.5
1.0
1.5
2.0
2.5
Time(sec)
-10
0.5
1.0
1.5
2.0
2.5
Time(sec)
-20
0.20
0.21
0.22
0.23
0.24
-15
0.20
0.25
Time(sec)
0.21
0.22
0.23
0.24
0.25
Time(sec)
(b)
(b)
Fig. 6. Comparison of DTC and FOC at the variation of load torque in terms
of (a) speed and (b) torque.
Fig. 8. Comparison of DTC and FOC for step change of stator resistance in
terms of (a) speed and (b) current.
VII.
C ONCLUSION
APPENDIX
Parameter Value
2
1.93 ohm
0.311
0.001 Wb/m2
0.003
300V
0.0244H
0.07957H
1500 rpm
R EFERENCES
[1]