Today:Inverter+PMSMControl

ibus

3phaseinverter(DCtoAC)

3phaseelectricmachine

Vbus

D1
Q1
+ V
bus

PMSM

D3
Q3

va0

Q5

a
b
c

vb0

Q2

Q4
D2

D5

vc0
Q6

ia

va

ib

vb

ic

vc

Tm
rm
rm
n

D6

D4
0

Vectorcontrolledelectricdrive
(fieldoriented,rotorreferenceframecontrol)
ibus

Vbus
D1
Q1

+ V
bus

PMSM

D3
Q3

va0

Q5

a
b
c

vb0

Q2

Q4
D2

D5

vc0
Q6

D4

Kr
Iq

Iq
Iqref

ib

vb

ic

vc

Tm
rm
rm
n

Id

vb0ref
vdref

Kr-1

Idref
Id

va0ref

vqref
Currentloop
compensators

+ va

D6

Tref 2 2 1
3 P M

ia

vc0ref

da
PWM

db
dc

r
2

Ppole,3phasePMSMequationsinrotorreferenceframe
Dynamic
equations

Torque

vq riq L

diq

r Lid M r

dt
did
vd rid L
r Liq
dt

3P
Tm
M iq
22

Electricaland
mechanical
angleandspeed

P
rm
2

P
r rm
2

Park Transformations
abctoqd0

2
2

cos
cos

cos

r
r
r

3
3

2
2
2

K r sin r sin r

sin

3
3
3

1
1
1

2
2

qd0toabc

cos
r

K r1 cos r

3

2
cos r
3

sin r
2

sin r
3

sin r
3

PMSMsmallsignalmodelinrotorreferenceframe
vq riq L

diq

r Lid M r

dt
di
vd rid L d r Liq
dt

Currentcontrolloops
vqref v

*
qref

vq riq L

r Lid M r

diq
dt

r Lid M r
Iqref

Gciq (s)

Feedforward

Inverter

PMSM

v*qref

v qref

vq

iq

v*dref

v dref

vd

id

Gcid (s)
*
vdref vdref
r Liq

Idref

did
vd rid L
r Liq
dt
5

Designofcurrentcontrolloopsinrotorreferenceframe
vq * riq L

diq

dt
did
vd * rid L
dt

CurrentloopPIcompensators
Iqref

G ci(s)

v*qref

iq
G iv(s)

CurrentloopPIcompensators

Simulinkimplementation
*
vqref vqref
r Lid M r

4/3/P/lambda_m

Tmref
Torque reference to
current reference

3*P*lambda_m/4
lambda_m
L
Product
Iqref

PI(s)

Add

v qrev *

PI(s)

idref

Id compensator

vq
iq

Vq voltage limit

v dref *

Generated
Torque

lambda_m

vq

Iq compensator

1
Tm

vd

2
iq

vd

Vd voltage limit
wr

Product1

id

3
id

Dynamic DQ Equations
L
L1
4
vq

5
2
wrm

vd

P/2
Gain2

*
vdref vdref
r Liq

Testofcurrentcontrolsinrotorreferenceframe
ECEB5017
DQ current control
of PMSM
Tmref

Tm
Tmref

Torque reference
command Tmref

2*pi*1000/60
mechanical
speed wrm

iq
id

wrm

vq
vd

Torque
Tm
iq
iq_id
id
vq
v q_v d
vd

DQ current controlled PMSM

wrm

Scope

10

Numericalexample
#ofpoles:P =8
Peaktorque:Tmmax =240Nm
FluxlinkageM =0.125Vs
Phaseresistance:r =0.08
Phaseinductance:L =0.5mH
DCbusvoltage:Vbus =500V

ModernPMSM
Specificpower:1.52kW/kg
Powerdensity:46kW/liter

11

Dynamicresponses:steptorquecommand
0240Nmstep
T
Torquecommand m
Tmref
nrm =1000rpm

200
100
0
-100
-200

300
200

iq
id

100
0
-100
-200
-300

200

vq
vd

100
0
-100
-200
0

0.1

0.2

0.3

0.4

0.5

0.6

0.7

0.8

0.9

12

Dynamicresponses:steptorquecommand
0240Nmstep
Torquecommand
nrm =2740rpm

200

Tm 100
Tmref 0
-100
-200

300
200

iq
id

100
0
-100
-200
-300

200
100

vq
vd

0
-100
-200
0

0.1

0.2

0.3

0.4

0.5

0.6

0.7

0.8

0.9

13

Drivecycleexample:060mph0
Top-Level EV Model
Top-level model of EV for use in ECEN 5017 course. Driving cycle is a speed-vs-time
profile for the vehicle, operating on flat road. Driver uses torque command (gas & brake
pedals) to follow the reference speed.

Vehicle Speed

Torque command
(gas & brake pedals)
Driving cycle

m
Reference Speed

Driver model

Electric Vehicle
Vref

speeds
Forces
P
dist
SOC
Iinv
Ibat
Vbat
vabc
iabc
Tm
iqd0
vqd0
dabc

Scope

Unit Conversion

Electricdriveparameters:
#ofpoles:P =4
Maximumtorque:Tmmax =200Nm
Maximumcurrentamplitude:533A
FluxlinkageM =0.125Vs
Phaseresistance:r =0.04
Phaseinductance:L =0.5mH
CurrentloopBW:10Hz
DCbusvoltage:Vbus =600V

Scope1

14

VehicleSystems
Rotor Angular Speed

3
Tm
Motor Torque
rotor position

2
Tcommand
[Vbat]
Battery Voltage

2
theta_rm
[EDsigs]
Goto4

DC Bus Voltage

1
Fdrive

Wheel Torque

Gearing
1
Vev
Tire

Goto1

Electric Drive
Wheel Angular Speed

[SOC]

OLD
SOC-only EV Battery

Battery
Goto
SOC

DC-DC Converter

Memory
DC Bus Voltage

2
Gain

Battery Current

[Ibat]
Goto2

50
Constant
[Iinv]

Inverter Input Current /

DC-DC Output Current

Goto3
Vehicle Systems Model
Model for a sample vehicle system during driving cycle.
[Vbat]
From
[SOC]
From1
[Ibat]
From2

4
Electrical Signals

[Iinv]
From3
[EDsigs]
From4

15

ElectricDrive
[Vbus]
Goto5

2
Tmref
Tcommand1

Tmref

Vabc*

theta_rm
iabc
wrm

iqd0

[iqd0]
Goto4

Vs

DQ Controller
1
wrm

3
V_DC

5
Vs

Vg

va

theta_rm

vb

Tm

vc

iabc

rotor position

[vabc]
Vout

Vref

Iin

Iout

dabc

3-Phase Buck
Averaged Model

Goto1
vabc

4
I_DC
[dabc]

Motor Torque

vqd0

1
Tm

[iabc]

iabc

Goto2

Goto
wrm

2
theta_rm

[vqd0]
Goto3

iabc

PMSM

wrm

rotor position

16

Speed [mph]

80
Reference Speed
Vehicle Speed

60
40
20
0

50

100

150

200

250

300

350

400

450

500

200
Torque [Nm]

Motor Torque
100
0
-100

50

100

150

200

250

300

350

400

450

500

1000
iq
id

500

i0

0
-500
-1000

Rotor Ref. Frm. Voltages [V]

Rotor Ref. Frm. Currents [A]

-200

50

100

150

200

250

300

350

400

450

500

300
vq

200

vd

100

v0

0
-100
-200

50

100

150

200

250

300

350

400

450

500

17

Phase Voltages [V]

400

Rotor Ref. Frm. Voltages [V]

vb
vc

0
-200
-400

Rotor Ref. Frm. Currents [A]

va

200

50

100

150

200

250

300

350

400

450

500

300
vq

200

vd

100

v0

0
-100
-200

50

100

150

200

250

300

350

400

450

500

1000
iq
id

500

i0

0
-500
-1000

50

100

150

200

250

300

350

400

450

500

Phase Currents [A]

1000
ia

500

ib
ic

0
-500
-1000

50

100

150

200

250

300

350

400

450

500

18

Speed [mph]

80
Reference Speed
Vehicle Speed

60
40
20
0

50

100

150

200

250

300

350

400

450

500

200
Torque [Nm]

Motor Torque
100
0
-100
-200

50

100

150

200

250

300

350

400

450

500

Phase Voltages [V]

400
va

200

vb
vc

0
-200
-400

50

100

150

200

250

300

350

400

450

500

Phase Duty Cycles

1.5
da

db
dc

0.5
0
-0.5

50

100

150

200

250

300

350

400

450

500

19

Speed [mph]

80
Reference Speed
Vehicle Speed

60
40
20
0
249.8

250

250.2

250.4

250.6

250.8

251

50
Motor Torque

Torque [Nm]

0
-50
-100
-150

Rotor Ref. Frm. Voltages [V]

Rotor Ref. Frm. Currents [A]

-200
249.8

250

250.2

250.4

250.6

250.8

251

200
iq
id

i0

-200
-400
-600
249.8

250

250.2

250.4

250.6

250.8

251

300
vq

200

vd
v0

100
0
-100
249.8

250

250.2

250.4

250.6

250.8

251

20

Phase Voltages [V]

400

Rotor Ref. Frm. Voltages [V]

vb
vc

0
-200
-400
249.8

Rotor Ref. Frm. Currents [A]

va

200

250

250.2

250.4

250.6

250.8

251

300
vq

200

vd
v0

100
0
-100
249.8

250

250.2

250.4

250.6

250.8

251

200
iq
id

i0

-200
-400
-600
249.8

250

250.2

250.4

250.6

250.8

251

Phase Currents [A]

1000
ia

500

ib
ic

0
-500
-1000
249.8

250

250.2

250.4

250.6

250.8

251

21

Speed [mph]

80
Reference Speed
Vehicle Speed

60
40
20
0
249.8

250

250.2

250.4

250.6

250.8

251

50
Motor Torque

Torque [Nm]

0
-50
-100
-150
-200
249.8

250

250.2

250.4

250.6

250.8

251

Phase Voltages [V]

400
va

200

vb
vc

0
-200
-400
249.8

250

250.2

250.4

250.6

250.8

251

Phase Duty Cycles

1.5
da

db
dc

0.5
0
-0.5
249.8

250

250.2

250.4

250.6

250.8

251

22

Speed [mph]

60
Reference Speed
Vehicle Speed

58

56

54
250.03

250.04

250.05

250.06

250.07

250.08

250.09

250.1

20
Torque [Nm]

Motor Torque
10
0
-10

Rotor Ref. Frm. Voltages [V]

Rotor Ref. Frm. Currents [A]

-20
250.03

250.04

250.05

250.06

250.07

250.08

250.09

250.1

40
iq
id

20

i0

0
-20
-40
250.03

250.04

250.05

250.06

250.07

250.08

250.09

250.1

150
vq

100

vd
v0

50
0
-50
250.03

250.04

250.05

250.06

250.07

250.08

250.09

250.1

23

Phase Voltages [V]

200
va

100

vb
vc

0
-100

Rotor Ref. Frm. Voltages [V]

150

Rotor Ref. Frm. Currents [A]

-200
250.03

40

250.04

250.05

250.06

250.07

250.08

250.09

250.1

vq

100

vd
v0

50
0
-50
250.03

250.04

250.05

250.06

250.07

250.08

250.09

250.1

iq
id

20

i0

0
-20
-40
250.03

250.04

250.05

250.06

250.07

250.08

250.09

250.1

Phase Currents [A]

40
ia

20

ib
ic

0
-20
-40
250.03

250.04

250.05

250.06

250.07

250.08

250.09

250.1

24

Speed [mph]

60
Reference Speed
Vehicle Speed

58

56

54
250.03

250.04

250.05

250.06

250.07

250.08

250.09

250.1

20
Torque [Nm]

Motor Torque
10
0
-10
-20
250.03

250.04

250.05

250.06

250.07

250.08

250.09

250.1

Phase Voltages [V]

200
va

100

vb
vc

0
-100
-200
250.03

250.04

250.05

250.06

250.07

250.08

250.09

250.1

Phase Duty Cycles

1
da

0.8

db
dc

0.6
0.4
0.2
250.03

250.04

250.05

250.06

250.07

250.08

250.09

250.1

25

Speed [mph]

2
Reference Speed
Vehicle Speed

1.5
1
0.5
0
269.96

269.98

270

270.02

270.04

270.06

270.08

270.1

-10.9
Motor Torque

Torque [Nm]

-11
-11.1
-11.2
-11.3
269.98

270

270.02

270.04

270.06

270.08

270.1

0
iq
id

-10

i0

-20
-30
-40
269.96

Rotor Ref. Frm. Voltages [V]

Rotor Ref. Frm. Currents [A]

-11.4
269.96

269.98

270

270.02

270.04

270.06

270.08

270.1

3
vq
vd

v0
1

0
269.96

269.98

270

270.02

270.04

270.06

270.08

270.1

26

Phase Voltages [V]

4
vb
vc

0
-2

Rotor Ref. Frm. Voltages [V]

-4
269.96

269.98

270

270.02

270.04

270.06

270.08

270.1

3
vq
vd

v0
1

0
269.96

Rotor Ref. Frm. Currents [A]

va

269.98

270

270.02

270.04

270.06

270.08

270.1

0
iq
id

-10

i0

-20
-30
-40
269.96

269.98

270

270.02

270.04

270.06

270.08

270.1

Phase Currents [A]

40
ia

20

ib
ic

0
-20
-40
269.96

269.98

270

270.02

270.04

270.06

270.08

270.1

27

Speed [mph]

2
Reference Speed
Vehicle Speed

1.5
1
0.5
0
269.96

269.98

270

270.02

270.04

270.06

270.08

270.1

-10.9
Motor Torque

Torque [Nm]

-11
-11.1
-11.2
-11.3
-11.4
269.96

269.98

270

270.02

270.04

270.06

270.08

270.1

Phase Voltages [V]

4
va

vb
vc

0
-2
-4
269.96

269.98

270

270.02

270.04

270.06

270.08

270.1

Phase Duty Cycles

0.51
da
db

0.505

dc
0.5

0.495
269.96

269.98

270

270.02

270.04

270.06

270.08

270.1

28

ElectricDriveModelingandControlConclusions
PMSMdynamicmodelinrotorreferenceframeremovesretainsalldynamicsbut
removestheneedtolookatangledependences
Insteadystate,rotorreferenceframevoltagesandcurrentsareallDC
Techniquesusedtoextentspeedrange:
DCbusvoltagecontrolusingtheBoostDCDCconverter
Fieldweakeningusingthedirectcomponentofthecurrent
Modernelectricdrivesemployvectororfieldorientedcontroltechniquesbased
onthedynamicmodelinrotorreferenceframe
Typicalcontrolsystemsincludesinnercurrentcontrolloopsthattakeadvantageofthe
factthattorqueproducedisdirectlyproportionaltothequadrature componentofthe
current
3phaseinverters=3Buckconverterlegs,modulatedtoproducestatorvoltages
necessarytogeneraterequestedstatorcurrents.VoltageamplitudelimitedbytheDC
busvoltage.Typicalswitchingfrequency:kHz 10skHz.
Hierarchicalmodelingandcontroltechniques
SwitchingtransitionsintheinverterorBoostDCDCconverter:<s
Switchingperiod:10sofs
Converterdynamicsandcurrentcontrolloops:10sofms
Vehicledynamicsanddrivecycles:secondstominutes
29