Design and Simulation of Adaptive Speed Control for SMO-Based Sensorless PMSM Drive

Transcription

1 Dg ad Sulato of Adatv Sd Cotol fo SMOBad Sol PMSM Dv YgS ug, Nguy Vu Quy, CugCu Huag 3 ad agcao Huag 4, Datt of ltal gg, Sout Taa Uvty, Taa Datt of ltal gg, a Hog Uvty, Vta 3,4 G gy ad vot Ra aboato, Idutal Tology Ra Ittut, Taa Abtat T o t a adatv PI otoll fo ol at yoou oto PMSM dv yt. A oto flu oto of PMSM tatd by ug a ldg od obv SMO, ftly. T tatd oto oto ll d to t ut loo fo ut vto otol ad ultaouly fdba to t d loo fo d otol. T to a t foa of t PMSM dv yt, a PI otoll t aat a tud by a adal ba futo ual to RBF NN ald to t d otoll fo og t t fft of t yt dya utaty. I alato, t Vy g d IC Hada Dto aguag VHD adotd to db t bavo of t ol d otol IP Itlltual Poty lud t ut of a vto ul dt odulato SVPWM, vto otol, oodat tafoato, SMO, PI otoll, RBF NN, t. Fut, a ulato o fod by MATAB/Sul ad ModlS oulato od, ovdd by lto Dg Autoato DA Sulato. T PMSM, vt ad d oad a fod Sul a ll a t ol d otol IP utd ModlS. Fally, o oulato ult valdat t fftv of t ood ol PMSM IP. dya ad ovdd o auay lat foato fo aat tug of PI otoll. I t ya, A lto Dg Autoato DA Sulato, a ovd a oulato tfa bt MATAB/Sul [] ad HD ulato ModlS [], a b dvlod ad ald t dg of t oto dv ad vt yt [36]. Ug t you a vfy a VHD, Vlog, o dlaguag ltato agat you Sul odl o MATAB algot. I MATAB/ Sul vot, you a gat tul to ModlS ad aaly t ulato o []. I t a, a oulato by DA Sulato ald to ol d otol fo PMSM dv ad o Fg.. T PMSM, vt ad d oad a fod Sul ad t ol tato, t ut vto otol ad t adatv d otol IP dbd by VHD od utd ModlS. So ulato ult bad o DA Sulato dotat t ot ad fftv of t ood ol PMSM IP Fg.. I. INTRODUCTION Bau t t of g vo otol foa ad uo o dty, PMSM a b dly ald t dutal autoato a a atuato. Nvtl, t tyal PMSM otol d a o to au t oto flu oto ad oto d fo ug t auay of ut vto otol ad oto d otol, but t ll latvly au t obl of lablty ad o uty. Tfo, ltatu [7], t ol otol fo PMSM bo a oula u. To ol otol tatg av ldg od obv, ala flt, ual to, t. Hov, t ba MF ad t ldg od obv a utabl to b ltd by t fotd oo ad av b ltd ot tud. Fut, t duty alato, t PMSM dvg yt uually uff fo ay utat, u a odl utaty, dtuba fo tal load, fto fo, t. alay d t foa ualty of t dg fato. Altoug t PID otoll a dly ud t dutal o du to t lty ad obut [8], t fd aat a adly adat to utaty o t vayg yt [9]. To o t t obl, ay advad otol tu, u a adatv fuy otol [] ad adatv PID otol [9] av b dvlod to obta g otol foa. I t a, a adatv PI otoll bad o RBF NN adotd d loo of PMSM dv. T RBF NN ud to dtfy t lat II. SYSTM DSCRIPTION OF SNSORSS PMSM DRIV AND RBF NURA NTWOR CONTROR DSIGN T ol d otol blo daga fo PMSM dv o Fg.. T odlg of PMSM, t SMObad flu oto tato ad t adatv PI otoll bad o RBF NN dtfato a todud a follo: A. Matatal Modl of PMSM T tyal atatal odl of a PMSM dbd, toa d yoou otatg f fa, a follo d dt d d v d d d d d d d v dt v d, v a t d ad a voltag; d,, a t d ad a ut, t a dg ta; d, a t d ad a duta; t otatg d of agt flu; t at agt flu lag. T ut loo otol of PMSM dv Fg. bad o a vto otol aoa ll otol t d to ad doul t ola odl of PMSM to a la yt. Tfo, aft doulg, t tou of PMSM a b tt a t follog uato, 3P T t //$6. I

2 ModlS Rf Modl _ RM Sd loo d Z Z PI Cotoll Adjutg Ma aoba RBF Nual Nto bf _ d Cut otoll PI PI v v d d / o /o of Flu agl Cut otoll ad oodat tafoato CCCT Modfy Pa v Cla v f d,, v v f v, a,b, f 3 d,, Pa, a,b, Cla a b SVPWM Su PWM PWM PWM3 PWM4 PWM5 PWM6 Flu agl Tafo. DC Po IGBTbad Ivt A B C a b PMSM Modl Sd tato Roto flu oto tato Fg. T blo daga of adatv d otol fo ol PMSM dv v v tal load Codg t aal load, t ovall dya uato of PMSM dv yt obtad by d B T T 4 dt T t oto tou, P ol a, t tou otat, t tal valu, B dag ato, T t tal tou, oto d. B. Algot of t oto flu oto tato T blo daga to tat t oto flu oto Fg. otutd Fg. ot of a ldg od obv SMO, a bagbag otoll, a loa flt ad a oto outato. T ut t blo a,, v, v, ad t outut. T algot of t oto flu oto tato td a follo: St : Rad t valu of ut ad voltag ad a,,, v, v, fo CCCT Fg.. St : tat t tatd ut by SMO v 5 v T, T ad T t alg t. St 3: Calulat t ut o by ad 6 St 4: Obta t Z ga of t ut obv Z g 7 St 5: tat t MF f 8 St 6: Obta t tatd oto oto ta 9 t t = ad ba to St. v v Roto oto tato Sldg od obv î Bagbag otoll oa flt ê ê Flu agl outato Fg. Roto flu oto tato bad o SMO C. Adatv PI otoll ug RBF NN Adatv PI otoll Fg. lud a PI otoll, a f odl ad a RBF NN fo yt dtfato. T dtald dto of to oot a td a follo. PI otoll I Fg., dgtal PI otoll a td t d loo of PMSM ad t foulato a a follo. u u j j j j u u u u 3 t ad j u. Bd, j,, a t tatd oto d, t outut of f odl ad t o, tvly. T, a P otoll ga ad I otoll ga, tvly. T u, u, a t outut of P otoll oly, I otoll oly ad t PI otoll, tvly.

3 Radal ba futo ual to RBF NN Fg. 3 o t RBF NN tlay attu by a ut lay, a gl lay of ola og uo ad a outut lay. T RBF NN a t ut by,, ad t vto fo td by T X ],, [ 4 Futo, t ultvaat Gaua futo ud a t atvatd futo dd lay of RBF NN, ad t foulato o a follo. X,...,,3,4, 5 t ub of uo dd lay, T ],, [ 3 ad tvly dot t ad od vaa of t uo, ad X t o valu aud by t ut ad t od t at a uo. Ad t to outut Fg. 3 a b tt a bf 6 bf t outut valu; ad a t gt ad outut of t uo, tvly. Df t ot futo a follo. bf 7 T, aodg to t gadt dt tod, t lag algot of gt, od t ad vaa a a follo: 8 X 9 3 X =,,.., =,,3 ad a lag at. Fut, t aoba tafoato a b dvd fo Fg.3 ad 6 ad t bf bf Iut lay Hdd lay Outut lay Fg.3 T attu of RBF NN 3 Rf Modl RM: Sod od yt uually odd to ta a t RM t adatv otol yt atual fuy ad dag ato. Futo, alyg t bla tafoato, a b tafod to a dt odl by 3 ad t dff uato tt a. 4 4 Adjutg Ma of PI Cotoll T gadt dt tod ud to dv t tug la of PI otoll Fg.. T adjutg a to t ua o bt t oto d ad t outut of t f odl. T tataou ot futo ftly dfd by 5 ad t aat of PI otoll a adjutd aodg to 6 Ad 7 t lag at. Sodly, t a ul ud, ad t atal dfftal uato fo 6 ad 7 a b tt a 8 ad 9 Fut, fo, 3, 5 ad, a gt Tfo, ubttutg 333 ad to 8 ad 9, t aat of PI otoll 6 ad 7 a b adjutd by t follog o

4 III. SIMUIN/MODSIM COSIMUATION OF SNSORSS SPD CONTRO FOR PMSM DRIV I Fg., t o t ol d otol blo daga fo PMSM dv ad t Sul/ModlS oulato attu td Fg.4. T PMSM, IGBTbad vt ad d oad a fod Sul, ad t ol d otoll dbd by VHD od utd ModlS t t o., T o to o3 of ModlS Fg.4 tvly fo t futo of d tato ad d loo adatv PI otoll, t futo of ut otoll ad oodat tafoato CCCT ad SVPWM, ad t futo of SMObad oto flu oto tato. T VHD ud to db t o ModlS. I ut loo of PMSM dv, t alg fuy dgd t 6H, ad to d loo H. T lo t ad 8 od a t to o ad o3 of ModlS. A ft tat a FSM loyd to odl t adatv PI otoll ad SMO a o Fg.5 ad Fg.6, tvly. I Fg.5, t aulat 8 t a to ay out t ovall outato of a adatv PI otoll. T t 5 ut t f odl outut; t 6 fo t outato of d o; t 7 ut t PI otoll; t 74 db t RBF NN ad outato of aoba valu ad 75 8 ut t PI ga tug. T data foat adot 6bt Q5 t gd tato. T oot of ultl ad add u Alta PM bay Paatd Modul tadad ad t outato a b oltd t. To vt t ual ovflo odto oud, t utg t at a t dgd t 8; tfo, Fg.5, total 8 t d Fut, I Fg.6, t aulat 36 t a to ay out t ovall outato. T t 8 ut t tato of ut valu; t 9 out t ut o; t bagbag otol; 5 db t outato of MF ad 6 35 fo t outato of t oto oto. T data foat adot bt Q t gd tato. T oot of ultl ad add u Alta PM tadad but t oot fog t ata futo dvlod oulv. T utg t at a t dgd t 8; tfo total 36 t d.88. I Fg.4 t ut dg of CCCT ad SVPWM o of ModlS a ot o. T FPGA Alta ou uag of o to o3 of ModlS Fg.4 a 8,94 og lt ad RAM bt;,85 ad 4,576 RAM bt;,5 ad 49,5 RAM bt, tvly. IV. COSIMUATION BASD ON DA SIMUATOR IN Bad o DA ulato l, t ulato attu fo t ood ol PMSM adatv d otol yt td Fg.4. T ModlS fo t futo of adatv PI otoll, SMO ad ut vto otoll dbd ug VHD od. I t Sul, t SPoSyt blot a ovd t oot of PMSM ad t vt ad t alo a gat tul to ModlS ad aaly t ulato o T dgd PMSM aat ald ulato of Fg.4 a tat ol a 4, tato a ta.3, tato duta 6.3H, ta =.8 g ad fto fato F=.3 N. o o o3 Fg.4 T Sul/ModlS oulato attu fo ol d otol of PMSM dv

5 a a a b b Coutato of t f odl outut Nuo outato Nuo outato Nuo3 outato out out out Coutato of t oto d o ad o ag Coutato of RBF NN ad ooba bf ao u 8 u u 9 PI otoll Tug of t PI otoll ga Fg. 5 Stat daga of a FSM fo dbg t adatv PI otoll v v ê î î î 3 4 f ê ê tato of t ut valu ê ê ê f ê ê ê î î î tato of t MF ta Coutato of ut o Coutato of t oto oto ata Tabl 34 Y N Y N Bagbag otol Fg.6 Stat daga of a FSM fo dbg t SMObad oto oto tato algot I t ulato of ol PMSM dv, oto oto tato bad o SMO ftly valuatd. T d of PMSM ug d at 5, ad 5 a ttd ad t ulato ult of t al ad tatd oto flu oto a td Fg.7. It o tat t o of t tatd oto flu oto a follo t t atual oto flu oto. Sodly, t foa of adatv PI otol ug RBF NN dtfato vfd. To ttd a a odd ud dfft PMSM aat, Ca : Noalload odto =.8, F=.3 36 Ca II: Havyload odto =.83, F= W d loo adot PI otoll oly =5, =3 ad ol PMSM dv u at t oalload odto ad at 5 d ag, t ulato ult of t t d o t o ovoot ad.5 g t aatt o Fg.8. But t ug odto agd to t avyload odto ad d ag oatd fo 8, t t d o bo o t a lttl ovoot ad lugg Fg.9. It dotat tat altoug t ol otol bad o SMO PMSM dv a gv a 35 good d tag, t tll aly afftd by tal load vaato. To o t t obl, a adatv PI otol t RBF NN dtfato adotd Fg.. T RBF NN ll dtfy t lat dya ad ovd o auay lat foato fo aat tug of PI otoll. Fgu o t ulato ult l t u t ood adatv PI otol ol PMSM dv. I t to Fg., t ad a tvly t t 5 Q5 foat ad 3 Q5 foat at t tal odto; t ad ll b tud to t aduat valu to lt t oto o a follo t outut of t f odl. Coa t Fg. 9, t ult of Fg. o a aat ovt t oto d a follo t outut of RM aft. It alo t tat t ood adatv otoll a a t obut ol PMSM dv. V. CONCUSIONS T tudy a b td a adatv d otol SMObad ol PMSM dv ad ufully dotatd t foa toug oulato by ug Sul ad ModlS. I alato at, t VHD ud to db t bavo of t SMO tato ad t adatv PI otoll algot, ad FSM tod ald to du t FPGA ou uag. I outatoal o at, t oato t to olt t outato of t SMO tato ad t adatv PI otoll algot a oly.88 ad 6.48, tvly. I otoll foa at, o ulato ult o tat t ood adatv PI otoll fo ol PMSM fftv ad obut. Aft ofg t fftv of VHD od adatv PI otol IP ad oto oto tato IP, t od a b dtly doloadd to FPGA fo t u ol PMSM dv. Fg. 7 Ral oto flu agl ad tatd oto flu agl ud PMSM d ug at a5, b ad 5

6 Sd 5 Sd oad Rf odl 5 Roto d T Fg. 8 St d o ug PI otoll oly t =5, =3 l ol PMSM oatd at oal load odto Sd Sd oad Roto d Rf odl T Fg. 9 St d o ug PI otoll oly t =5, =3 l ol PMSM oatd at avy load odto ga Sd ga a b Sd oad Rf odl Roto d T Fg. St d o ug adatv PI otoll l ol PMSM oatd at oal load odto. a vaato b vaato d o Sd ga ga a 7 T b Rf odl Roto d Sd oad T T Fg. St d o ug adatv PI otoll l ol PMSM oatd at avy load odto. a vaato b vaato d o. ACNOWDGMNT T faal uot ovdd by Buau of gy gatfully aoldgd. RFRNC [] Y.S, Ha,.S. Co ad Y.S., Sol PMSM Dv t Sldg Mod Cotol Bad Adatv Sd ad Stato Rta tato, I Ta. o Magt, vol. 36, o. 5, , S.. [] M. at,.d. o, N. Goal ad A. Gluau, Sol Sd Cotol of Pat Magt Syoou Moto by ug Sldg Mod Obv, Podg of t Itatoal Woo o Vaabl Stutu Syt,.73, u 6 8,. [3] V.D. Coll, R.D. Stfao ad F. Magtt, A SytoC Sol Cotol fo a PatMagt Syoou Moto, I Ta. o Idu. lto., vol. 57, o.,.38389, Nov.. [4] T.D. Batl ad.y., A Aoa to Sol Oato of t PatMagt Syoou Moto Ug Dagoally Rut Nual Nto, I Ta. o gy Covo, vol. 8, o.,.6, Ma 3. [5] P. Boj, T.F Ca, Y.. Wog, ad S.. Ho, A Coaatv Study of ala Fltg fo Sol Cotol of a PatMagt Syoou Moto Dv, Podg of I Itatoal Cof o lt Ma ad Dv,.858, 5. [6] M. C. Huag, A.. Mo ad F. Aay ad X. G. Yao, Rdud Od a ala Flt RF Toy Alato of Sol Cotol fo Pat Magt Syoou MotoPMSM, Podg of I Cof o Idutal lto ad Alato,.6, 6. [7]. Idaj ad. Moao, Dg todology fo ol FPGAbad otoll Alato to a F Sol AC Dv, Podg of Itatoal Cof o ltal Ma ICM,. 6,. [8].. Ato, T. Hagglud, C.C. Hag ad W,, Ho, Autoat Tug ad Adatato fo PID Cotoll A uvy, IFAC. Cot. g. Pat, vol., o.4,.69974, 993. [9] M.G. Zag, X.G. Wag ad M.G. u, Adatv PID Cotol bad o RBF ual to dtfato, Po. of t I Itatoal Cof o Tool t Atfal Itllg, Nov. 46, 5. [] Y.S. ug ad M.H. Ta, FPGAbad Sd Cotol IC fo PMSM Dv t Adatv Fuy Cotol, I Ta. o Po lto, vol., o. 6, , Nov. 7. [] T Mato, Matlab/Sul U Gud, Alato Poga Itfa Gud, 4 [] Modlt, ModlS Rf Maual, 4. [3] M.F. Ta, Ta Pu Quy, B.F. Wu, ad C.S. Tg, Modl Cotuto ad Vfato of a BDC Moto Ug MATAB/SIMUIN ad FPGA Cotol, Podg of t 6t I Cof o Idutal lto ad Alato,.7978,. [4] Y.S. ug, V.Q. Nguy, CugCu Huag ad.c. Huag, Sul/ModlS CoSulato of Sol PMSM Sd Cotoll, Podg of t I Syou o Idutal lto ad Alato ISIA,.49,. [5] D. Fg,. Ya;. Xu ad W. Ilt of Dgtal PID Cotoll Bad o FPGA ad t Syt Coulato, Podg of t Itatoal Cof o Itutato, Maut, Cout, Couato ad Cotol,.994,. [6] M.F. Ta, F..,.C. Hao, ad.. Wag, Dg of a Dgtal Cotol IC of a Cut Sou Bad o a TPa Cotolld Rtf, Podg of t I 6t Itatoal Po lto ad Moto Cotol Cof IPMC, , 9.