Simulation of Speed Sensor less Control of PMSM Based on DTC Method with MRAS

Transcription

1 Smulaton o S Snor l Control o PMSM Ba on DTC Mtho wth MRAS Gahzanar Shahgholan - Mohamma Hoan Rza Ahn Etam - Mohamma Rza You Dartmnt o Elctrcal Engnrng, Ilamc Aza Unvrty Naja Aba Branch Eahan, Iran hahgholan@aun.ac.r - mh.rza@aun.ac.r a_tam@aun.ac.r - mr-you@aun.ac.r Abtract Prmannt magnt ynchronou motor (PMSM ar arorat or alcaton wth loa-nnnt or ynchronou oraton wth hgh accuracy unr n. In th ar analy th tructur an uaton o th PMSM, rct toru control (DTC an voltag ac vctor roc thn tuy mol rrnc aatv ytm (MRAS tmator. Th PI controllr u rom tmat back an o th norl control o PMSM ba on DTC mtho wth MRAS. Th mulaton rult how that th o rotor tmat wth hgh rcon an toru ron conrably at. Kywor- rmannt magnt ynchronou motor; control; rct toru control; mol rrnc aatv ytm. I. INTRODUCTION In th lat yar rmannt magnt ynchronou motor, bcau o rort uch a hgh cncy, hgh toru, hgh owr, mall volum an accurat control hav bcom mor attnton an u n chmcal nutry, txturng lant, gla nutry, tranort ytm, lctrcal houhol alanc, h ngn, robotc automaton, an calator. Th control mtho u or th rmannt magnt ynchronou motor ar: V/ control, l ornt control an rct toru control []. Th bac rncl o DTC to rctly lct tator voltag vctor accorng to th rnc btwn th rrnc an actual toru an tator lux lnkag. Th DTC o avantag uch a lr aramtr nnc an at toru ron whn comar wth th toru control va PWM currnt control [2]. Poton nor wth hghr ualty a ncary comonnt art o th rv ytm mloy n nutral an automotv alcaton. But th hgh cot an trct rurmnt xtrmly lmt th alcaton n th rv ytm. So that t hghly r to vlo th oton norl tchnology o PMSM. or th mchancal oton nor coul b bulky an ay to alur n harh nvronmnt, norl tchnology can ncra th rlablty o th rv ytm. Rarch on norl tchnology ha ncra n acamc an nutral communt ovr. Durng rcnt yar, norl rv o PMSM hav attract much attnton. Many tchnu hav bn roo n orr to tmat th rotor an oton, uch a onloo tmator ung tator voltag an currnt, back EMba oton tmator, MRAS tmator, obrv-ba oton an oton tmator, hgh-runcy gnal njcton an artcal ntllgnc. Th ar aot th MRAS chm whch u th PMSM tl a th rrnc mol to tmat th o th motor [3]. II. PERMANENT MAGNET SYNCHRONOUS MOTOR TECHNOOGY Prmannt magnt ynchronou motor can b gn n rnt tructur accorng to thr alcaton. In th motor rmannt magnt can rlacng th DC nucton col o th rotor, that ul th magntc lux on th rotor. Stator col lac on th tator ar thr ha an th amount o currnt rawn rom th uly mnmal that la to low lo o th rotor an xctaton, ncra o cncy comarabl wth othr motor an avng on nrgy cot. Th magnt on th rotor hav two ollowng tructur: A. Placng th magnt on th rotor urac Magnt ar ntall on th rotor n orm o tr or arc. Th motor hav larg ar ga an ant armatur racton an ar utlz n low- alcaton bcau th low nuranc o th magnt to th cntrugal orc. Th motor ar uually known a urac rmannt magnt motor (SPMSM. Th motor hown n g.. gur. Magnt on th rotor urac B. Placng th magnt n th rotor (raally or crcular At th rvou tat th magnt bng xo to hgh IPEC 2

2 cntrugal orc unr hgh an ar ga nucton lmt. or oluton o th roblm th magnt ar lac n th rotor to two gur o raally an crcular. In th tat th magnt hav a bttr rtanc to cntrugal orc arorat or hgh alcaton. Alo th cncy o th motor alo hghr than othr magnt motor. But th motor hav hgh cot bcau n to hgh tchnology. Th motor ar uually known a ntror rmannt magnt ynchronou motor (IPMSM. g. 2 an 3 ar hown th raally an crcular tructur rctvly. gur 4. Block agram o DTC or PMSM gur 2. Raally tructur gur 3. Crcular tructur Th rnc btwn Raally an Crcular tructur ar hown n tabl [4]. TABE I. Plac o magnt Ar ga Rtanc to th cntrugal orc DIERENCES RADIAY AND CIRCUAR STRUCTURE Raally tructur aroun th rotor ax low hgh Crcular tructur ontng th man ax hgh hgh III. DIRECT TORQUE CONTRO DTC a norl tchnu whch orat th motor wthout rurng a hat mount mchancal nor. It utabl or control o th toru an lux wthout changng th motor aramtr an loa. In th mtho toru an tator lux ar rctly controll by two hytr controllr [5-7]. Th block agram o rct toru control or rmannt magnt ynchronou motor hown n g. 4. A. Prmannt magnt ynchronou motor Euaton Stator currnt vctor on rotor lux ( rrnc ytm a, an th lctromagntc toru rlat wth th vctor. Euaton (-3 an uaton (4 ar lctrcal an mchancal mol uaton rctvly [8]. R u r ( R r u r (2 T.5P[ ( ] (3 m (T Bm T (4 J r (5 whr Ψ :rotor magntc lux, ax tator nuctanc, ax tator nuctanc, R tator rtanc, T lctromagntc toru, T loa toru, m mchancal, r angular, J momnt o nrta, β rcton cocnt, numbr o ol coul. Structur o voltag-ourc nvrtr (VSI hown n g. 5 at th am tm only on wtch on th ach o column can b on [5]. gur 5. Voltag-ourc nvrtr By th rnt lct o th x wtch, thr ar ght

3 vctor that ar x non-zro voltag vctor (V,,,,, an two zro voltag vctor (V 7,V 8 [2]. n-to-ln voltag ar: v v v ab bc ca n-to-nutral voltag ar: E.(Sa Sb (6 E.(Sb Sc (7 E.(S S (8 c a 2v ab v bc v a (9 3 v bc v ab v b ( 3 v ab 2v bc v c ( 3 Th tator voltag-vctor (V -V 8 can b xr n trm o th c-lnk voltag (E whch obtan rom tranormaton motor trmnal voltag to tator D an Q ax. Th voltag ar how n Tabl 2 [5]. TABE II. V V 7 V VOTAGES VD, VQ v v E.5E -.5E -E -.5E.5E.866E.866E -.866E -.866E Stator magntc lux can b calculat wth ollowng uaton: Ψ ( u R t (2 Valu o R low, uaton (2 ml that th lux vctor ual voltag ntgrat an th tator lux vctor wll mov n th am rcton voltag vctor a hown n g. 6. Voltag vctor controllng th amltu o th tator lux, o th voltag vctor lan v nto x rgon a hown n g. 6. In ach rgon, thr ar two ajacnt voltag vctor that ncra or cra th amltu o. or xaml, whn n rgon, vctor o V,, an,, ar ncra an cra th amltu o, rctvly. In th way, can b controll at th rur valu by lctng th ror voltag vctor [9-2]. Swtchng tabl, or controllng both th lux an toru ar ncat n Tabl 3. I, an thn th actual lux mallr an bggr than th rrnc valu, rctvly. Th am tru or th toru. TABE III. T T T T T θ SWITCHING TABE O PMSM θ 2 V θ 3 V θ θ 4 θ 5 V θ 6 V IV. MODE REERENCE ADAPTIVE SYSTEM Whn th motor runnng, t aramtr wll chang an t rormanc wll bcom ba. Aatv control can rmov th roblm. Th mol rrnc aatv ytm (MRAS an mortant aatv controllr [3]. Th rotor nclu n th ( an (2 uaton that rnt currnt mol ar rlvant to rotor. So th tator currnt mol chon a th tat varabl: t R u u Dn,, u, u a ollow: R (3, (4 R u u, u u (5 gur 6. Voltag ac vctor So uaton (4 can b convrt to th uaton tat o th ajutabl mol o PMSM wth angl a th ajutabl aramtr a ollow:

4 u u R R t (6 whr:, (7 Prum th aatv mchanm a ollow: ( t (v,, t (v, 2 t τ τ (8 an 2 ar how a ollow: T 2 2 T J k t (v, J k t (v, (9 whr: J (2 (2 (22 So wth rlac uaton (7 nto uaton (6, th aatv mchanm nally aar[4]: K (K ( ( ( (23 But th abov uaton or SPMSM can b ml a ollow ( bcau : ( ( K (K (24 By th uaton, block agram control o th PMSM ba on MRAS can b gottn, an t hown a g. 7. gur 7. Th block agram control o ba on MRAS V. SIMUATION O SPEED SENSORESS CONTRO O PMSM BASED ON DTC METHOD WITH MRAS REERENCE ADAPTIVE SYSTEM Wth combn g. 4 an g. 7, can b tmat th rotor an mulat wth MATAB otwar. g. 8 how th block agram o norl control o PMSM ba on DTC mtho wth MRAS. In g. 8, th tmat outut o MRAS comar wth th rrnc o nut an u rom th a th ral o machn. gur 8. Th block agram DTC mtho wth MRAS

5 Rrnc 25 ra/ at an thn la to ra/ at. In th g. 9 o th motor 25 ra/ at.8 an ra/ at.6. g. how th toru o th motor. oa toru N.m a hown n g., toru ron at. g. an g. 2 how lux o ala ax an bta ax. gur 3. Th currnt o ha a ( a gur 9. Ral an Etmat o PMSM gur 4. Th currnt o ha b ( b gur. Toru o PMSM gur 5. Th currnt o ha c ( c gur. lux o ala ax gur 6. Magntu o tator lux In g. 6 lux contant an about.532 wb. Tabl 4 how th aramtr o th PMSM u to mulat. gur 2. lux o bta ax

6 TABE IV. Paramtr Ψ M R J V B m P PARAMETERS O PMSM Valu.533 wb 5.8 Ω 44.8 mh 2.7 mh.329 kgm 2 65 V VI. CONCUSION In th ar analy DTC mtho an a control ytm o MRAS ntrouc. DTC mtho gn or an cnt control o th toru an lux wthout changng th motor aramtr an loa, wtch n th mtho th lux an toru can b rctly controll wth th nvrtr voltag vctor. Th DTC u n a w rang. MRAS mtho ung th ajutabl mol an th rrnc mol o that tmat th oton an o th rotor, whch n th mtho u th motor tl a th rrnc mol. Th mulaton rult wth MATAB otwar ncat that norl control o PMSM ba on DTC mtho wth MRAS ha rrabl goo ynamc rormanc, tmaton rc an at toru ron. Th control tchnology avalabl both or SPMSM an IPMSM. REERENCES [] M. Jaarbolan, E. Baba, "Snorl /oton tmaton or rmant magnt ynchronou machn va xtn Kalman ltr", Jour. o Tran. on Elc. Tch. (JTET, Vol., No.,.3-36, Wntr 29. [2]. Zhong, M... Rahman, W.Y. Hu, K.W. m, Analy o rct toru control n rmant magnt ynchronou motor rv, IEEE Tran. on Pow. Elc., Vol.2, No.3, , 997. [3] Z. Tan, Y., Z. J, S norl DTC an aramtr tmaton o nucton motor ba on a ull-orr MRAS mtho, IEEE Tran. on Pow. Elc.,.22 26, 2. [4] S. Özçıra, N. Bkroğlu, E. Ayççk S control o rmannt magnt ynchronou motor ba on rct toru control mtho, IEEE/ISPE, , 28. [5] M.. Rahman,. Zhong, E. Hau, Slcton o voltag wtchng tabl or DTC controll ntror rmannt magnt motor, Sch. o Elc. Eng. an Tl., Th Un. o Nw Sou. Wal., Syny, NSW 252 Autrala, 999. [6] D. Sun,. Wzhong, H. Ykang, Stuy on th Drct Toru Control o Prmannt Magnt Synchronou Motor Drv, IEEE/ ICEMS, , 2. [7] Y. A. Chau, D. Roy, J. Davon, Prncl an mlmntaton o rct toru control by tator lux orntaton o an nucton motor, PESC,. 85 9, 995. [8] C. rnch, P. Acarnly, Drct toru control o rmannt magnt rv, n IEEE In, Alcat, Socty Annu, Mt, , 995. [9]. M. Abl-kar, A. El-Saaaw, A. E. Kala, O. M Elbakaw, Stuy n rct toru control o nucton motor by ung ac vctor moulaton. Powr Sytm Conrnc, MEPCON 28.2th Intrnatonal Ml-Eat, , 28. [] J. uukko, Drct Toru Control o Prmannt Magnt Synchronou Machn-Analy an Imlmntaton, D. anranta Unvrty o Tchnology, Stockholm, Swn, 2. [] S. Dan,. Wzhong, H. Ykang, Stuy on th rct toru control o rmannt magnt ynchronou motor rv. IEEE/ICEMS, Vol., , 2. [2] Tan Mng-xu, Wang -m, Zhn Jan-ng. Snorl oton control chm or rmannt magnt ynchronou motor rv", School o Elctrcal Engnrng, Shngyang Unvrty o Tchnology,, 27(5, 25. [3] Z. Bngy, C. Xangjun, S. Guanggu,. Guhong, A oton norl vctor-control ytm ba on MRAS or low an hgh toru PMSM rv, Ralway Tchnology Avalanch, vol., no.,. 6, 23. [4] Y. ang, Y., "Snorl control o PM ynchronou motor ba on MRAS mtho an ntal oton tmaton", ICEMWS vol., , 23.