The Comparison of Control Strategies for the Interior PMSM Drive used in the Electric Vehicle

Transcription

1 P P Worl Electric Vehicle Journal Vol. 4 - ISSN WEVA Page EVS5 Shenzhen, China, Nov 5-9, 00 The Comparion o Control Strategie or the Interior PMSM Drive ue in the Electric Vehicle Yaohua LiP P, Dieter GerlingP P, Jian MaP P, Jingyu LiuP P, Qiang YuP P PTraic New Energy Development, Application an Energy Saving o Automobile Key Laboratory o Shaan xi Province o School o Automobile o Chang an Univerity, Nan Er Huan Zhong Duan, 70064, Xi an City, China, nuaaliyaohua@6.com PIntitute or Electrical Drive an Actuator, Univerity o Feeral Deence Munich, Werner-Heienberg-Weg 39, Munich, 85577, Germany Abtract The interior permanent magnet ynchronou motor (PMSM can oer many avantage, incluing high power-to-weight ratio, high eiciency, rugge contruction, low cogging torue an the capability o reluctance torue, o it i wiely ue in electric vehicle (EV. Two control cheme, namely iel oriente control (FOC an irect torue control (DTC are ue in PMSM rive. In orer to ecreae current an torue ripple an ix witching reuency, an improve DTC cheme bae on the control o tator lux, torue angle an torue wa propoe, which ue voltage vector election trategy an the technology o pace vector moulation (SVM to generate the applie voltage vector intea o witching table. An thi paper compare thee three control cheme bae on a 5-kW interior PMSM ue in Hona Civic 06My hybri electrical vehicle. Experimental reult how or the FOC uing the hyterei current control, ue to the lower ampling perio, tator current i more inuoial. But it nee the continuou rotor poition inormation an the witching reuency o the VSI i not contant. For the DTC uing witching table, current ripple i higher an the witching reuency o the VSI i alo not contant. But it oe not nee the rotor poition inormation except or the initial rotor poition. Compare with witching table, the propoe DTC can ecreae current an torue ripple an ix witching reuency. Keywor electric vehicle, permanent magnet ynchronou motor, iel oriente control, irect torue control. Introuction Electric propulion ytem are the heart o EV. They conit o electric motor, power converter an [] electronic controllerp P. A the interior PMSM can oer many avantage, incluing high power-toweight ratio, high eiciency, rugge contruction, low cogging torue an the capability o the aitional reluctance torue, it i wiely ue in the moern EV an hybri EV. For the interior PMSM, there are two ierent high-perormance control trategie, namely, the FOC an the DTC. Both o them are wiely ue in the inutry application. The FOC i implemente in the rotor lux reerence rame an nee the continuou rotor poition inormation to implement the coorinate tranormation. The DTC i implemente in the tationary reerence rame, oen t nee the continuou rotor poition inormation except or the initial rotor poition. But it uer rom high current an torue []-[8] ripple an variable witching reuencyp P. In orer to ecreae current an torue ripple an ix witching reuency, an improve DTC cheme bae on the control o tator lux, torue angle an torue wa propoe, which ue voltage vector election trategy an the technology o pace vector moulation (SVM to generate the applie voltage vector intea o witching table. An thi paper compare thee three control cheme bae on a 5- kw interior PMSM ue in Hona Civic 06My hybri electrical vehicle.. The ecription o tet bench The tete electric rive ue in thi paper conit o three part: the tete motor, the voltage ource inverter (VSI an the proceor. EVS5 Worl Battery, Hybri an Fuel Cell Electric Vehicle Sympoium

2 0.04Ω LBB LBB 0.06Wb Worl Electric Vehicle Journal Vol. 4 - ISSN WEVA Page The tete motor i a 3-phae, 5-kW interior PMSM ue in Hona Civic 06My hybri electrical vehicle. It parameter are hown in Tab.. Table : The parameter o the tete motor Pole pair p 6 Stator reitance RBB -axi tator mH inuctance -axi tator mH inuctance Permanent lux ψbb Three ingle-phae inulate gate bipolar tranitor (IGBT intelligent power moule (Semikron emix 0GB066HD are ue or the VSI. SKYPER 3R i ue to rive the power moule. The cooling tyle o the inverter i orce water-cooling. The clink voltage an two-phae tator current are ene by iolate evice an e back to the proceor. AD 68 i ue to meaure the c-link voltage an LEM HCF-80 i ue to meaure tator current. An incremental encoer integrate into the motor i ue to etermine the rotor poition. All the control cheme are implemente on a igital ignal proceor (DSP TMS30F8. The real time otware i ownloae rom Matlab/Simulink to the DSP irectly. The tet bench i hown in Fig.. It conit o the tete motor, a controlle DC motor ue to loa the PMSM an a torue meter (Vibro-Meter TG-0BP- M3. All time-epenent unction (current, voltage, torue an pee preente in thi thei are recore by an ocillocope (LeCroy wave Surer 44X Ocillocope. o the FOC ytem i hown in Fig.. An Fig. how the implementation o the FOC nee the continuou rotor poition inormation.,, S A + PI i i = 0 θ r t abc θ r i abc i abc,, Hyterei Current Control Current Senor Figure : The iagram o the FOC ytem S B S C VSI PMSM The hyterei ban or the control o three-phae tator current are 0.0A. The ampling perio or the pee control i 0.0 an the ampling perio or the current control i 00μ. The reerence pee i 00rpm an the -axi reerence tator current i 0A. When the pee o the motor i 00rpm, the a-phae tator current an tator voltage are hown in Fig. 3 an Fig. 4. Experimental reult how uner the control o the FOC tator current i inuoial, but the witching reuency o the VSI i not contant ue to the ue o the hyterei control. Figure 3: The a-phae tator current (5A/iv Figure : The tet bench 3. The FOC In the rotor lux reerence rame, the torue o PMSM i hown in (. 3 T e = p [ ψ i + ( L L i i ] ( An eu. ( how i the -axi tator current i kept contant, the torue i proportional to the -axi tator current. In thi paper, the hyterei current control i ue to implement the FOC an the iagram Figure 4: The a-phae tator voltage (4V/iv EVS5 Worl Battery, Hybri an Fuel Cell Electric Vehicle Sympoium

3 θbb θb3b θb4b θb5b θb6b VB3B VB4B VB5B VB6B VBB VBB VBB VB3B VB4B VB5B VB4B VB5B VB6B VBB VBB VB6B VBB VBB VB3B VB4B Worl Electric Vehicle Journal Vol. 4 - ISSN WEVA Page The DTC In tator lux reerence rame, the torue o PMSM in term o the amplitue o tator lux an torue angle (the angle between tator an rotor lux vector i hown in (. 3pψ Te = [ψ L 4L L inδ ψ ( L L in δ ] ( An eu. ( how i the amplitue o tator lux i kept contant, the torue o PMSM i etermine by torue angle. Normally we apply a proper voltage vector to change the angular poition o tator lux vector to change torue angle. An witching table i ue a voltage vector election trategy. The iagram o the DTC ytem uing witching table i hown in Fig. 5. An Fig. 5 how the implementation o the DTC oen t nee the continuou rotor poition inormation. Switching table ue in the DTC i hown in Tab., where voltage vector (VBB to VB6B an tator lux ector (θbb to θb6b are hown in Fig. 6. ψ ψ Stator lux φ S A to higher ampling perio compare with the FOC. An the witching reuency o the VSI i alo not contant ue to the ue o hyterei control. Figure 7: The a-phae tator current (5A/iv PI Torue τ The witching table S B S C VSI Stator lux ector θ θ 6 PMSM Figure 5: The iagram o PMSM DTC ytem uing witching table Table : Switching table ue in the DTC or PMSM φ τ θbb VBB 0 VB6B 0 VB3B 0 0 VB5B θ 4 V 4 θ 3 V 3 V 5 θ 5 θ V V 6 θ 6 V θ Figure 6: Voltage vector an tator lux ector The hyterei ban or the amplitue o tator lux i 0.00Wb an the hyterei ban or torue i 0.00Nm. The ampling perio or pee control loop i 0.0 an the ampling perio or tator lux an torue control loop i 350μ. The reerence pee i 00rpm an the reerence amplitue o tator lux i 0.06Wb. When the pee o the motor i 00rpm, the a-phae tator current an tator voltage are hown in Fig. 7 an Fig. 8. Experimental reult how uner the control o the DTC tator current ripple are higher ue Figure 8: The a-phae tator voltage (4V/iv 5. Eect o voltage vector In nature the DTC i the hyterei control. The voltage vector election trategy a the hyterei control principle i critical to improve the control perormance o the PMSM DTC rive. Neglecting the voltage rop on tator reitance, ater applying a voltage vector or a hort perio Δt, tator lux vector o the motor i preente in (3 an Fig. 9. An Fig. 9 implie the application o the voltage vector will change the amplitue an angular poition o tator lux vector at the ame time. An the latter will aect the change o torue angle. r r r r r r ψ = ψ + V Δ t i R Δ t ψ + V Δ t (3 Δδ ψ r ψ r r V Δt α Figure 9: The move o tator lux vector ue to the application o voltage vector EVS5 Worl Battery, Hybri an Fuel Cell Electric Vehicle Sympoium

4 Worl Electric Vehicle Journal Vol. 4 - ISSN WEVA Page00065 Accoring the law o coine an Fig. 9, ater applying the voltage vector or Δt, the amplitue o tator lux can be expree in (4. ψ = ψ + ( V Δ t + ψ V Δ t coα (4 Here we eine a the ollowing an eu. (4 can be rewritten into (6. = V Δ t / ψ (5 ψ = ψ + coα (6 + Here we eine hown in (7 to repreent the change o the amplitue o tator lux ue to the application o the voltage vector. I >0 mean the voltage vector increae the amplitue o tator lux an i <0 mean the voltage vector ecreae it. Accoring to eu. (7, veru α with the parameter 0<<0.0 i hown in Fig. 0. = + + coα (7 Fig. 0. veru α with the parameter 0<<0.0 Fig. 0 how i the angle between tator lux vector an the applying voltage vector i within (-90P P, 90P P, the voltage vector increae the amplitue o tator lux an i the angle i within (90P P, 70P P, it ecreae the amplitue o tator lux. Accoring the law o ine an eu. (5, neglecting the move o rotor lux vector, ater applying the voltage vector or Δt, the change o torue angle can be expree in (8. inα Δ δ Δ δ = arcin (8 + + coα Accoring to eu. (8, Δδ veru α with the parameter 0<<0.0 i hown in Fig.. 3pψ ψ T e = [ + + coα in( δ + arcin L k ( + + coαin( δ + arcin Fig. Δδ veru α with the parameter 0<<0.0 Fig. how i the angle between tator lux vector an the applying voltage vector i within (0P P, 80P P, the voltage vector increae torue angle an i the angle i within (80P P, 360P P, it ecreae torue angle. The change o torue i caue by the change o the amplitue o tator lux an torue angle. Subeuently we icu the eect o the voltage vector on torue. Here we eine k a the ollowing an eu. ( can be rewritten into (0. ( L L ψ k = (9 L ψ 3pψ ψ Te = (inδ k in δ coδ (0 L Accoring to the einition o k an eu. (9, ater applying the voltage vector or Δt, the value o k i preente in (. k = k + + coα ( Subtituting (7, (8 an ( into (0, we can get ater applying the voltage vector or Δt, the torue o PMSM i hown in (. Comparing (0 an (, we can eine M a (3 to repreent the change o torue ue to the application o the voltage vector. I M>0 mean the voltage vector increae torue an i M<0 mean the voltage vector ecreae torue. Eu. (3 how the change o torue ue to the application o the voltage vector epen on k, δ an α. inα + + coα inα co( δ + arcin + + coα inα ] + + coα ( EVS5 Worl Battery, Hybri an Fuel Cell Electric Vehicle Sympoium

5 i Worl Electric Vehicle Journal Vol. 4 - ISSN WEVA Page00065 M = + k [( + + coα in( δ + arcin + coαin( δ + arcin inα in δ + + coα tator lux, torue angle an torue i (δbb, δbb+90p P,the election area or VB0B (the voltage vector to ecreae the amplitue o tator lux an increae torue angle an torue i (δbb+90p P, δbb+0p P,the election area or VB00B (the voltage vector to ecreae the amplitue o tator lux, torue angle an torue i (δbb+80p P, δbb+70p P,the election area or VB0B (the voltage vector to increae the amplitue o tator lux an ecreae torue angle an torue i (δbb+70p P, δbb+8p P, where δbb the angular poition o tator lux vector in the tationary reerence rame. Accoring to Tab. an Fig. 6, the angle between tator lux vector an VBB i within (30P P, 90P P, the angle between tator lux vector an VB0 Bi within (90P P, 50P P, the angle between tator lux vector an VB00B i within (0P P, 70P P an the angle between tator lux vector an VB0B i within (70P P, 330P P. Obviouly, the witching table can alway atiy the control o the amplitue o tator lux an torue angle but can t alway atiy the control o torue. Accoring to voltage vector election area, a inα co( δ + arcin + + coα inα in δ coδ ] + + coα Accoring to Tab., when the amplitue o tator lux i 0.06Wb, k=0.38. Accoring to eu. 3, M veru α with 0P P<δ<90P Pan k=0.38 i hown in Fig.. impliie voltage vector election trategy or the tete motor i propoe hown in (4, which can alway atiy the control o the amplitue o tator lux, torue angle an torue. r V = mo( δ + 60,360 r V0 = mo( δ + 00,360 r r (4 V00 = mo( V + 80,360 r r V0 = mo( V0 + 80,360 Comparing eu. (4 an Tab., we can know the angle between tator lux vector an the Fig. M veru α with the parameter 0<<0.0 an voltage vector etermine by the witching table i k=0.38 variable. The angle between tator lux vector an the voltage vector etermine by the voltage vector Fig. how i the angle between tator lux election trategy i contant. The angle o the vector an the applying voltage vector i within (0P P, voltage vector etermine by the witching table 0P P, the voltage vector mut increae torue an i contant. The angle o the voltage vector i the angle i within (80P P, 8P P, it mut ecreae etermine by eu. (4 i variable which epen torue. on the angular poition o tator lux vector. Both o them nee the angular poition o tator lux 6. Voltage vector election trategy vector in the tationary reerence rame. Accoring to the eect o the voltage vector on A the angle o the voltage vector etermine the amplitue o tator lux, torue angle an by the voltage vector election trategy i arbitrary, torue o the tete motor, the election area or the technology o pace vector moulation (SVM VBB (the voltage vector to increae the amplitue o i ue to generate the voltage vector. The iagram o the DTC ytem bae on the voltage vector election trategy i hown in Fig. 3. ψ Stator lux ψ The voltage V r + Torue τ S vector SVM B Inverter election S C trategy The angular poition o tator lux vector φ δ S A Motor Figure 3: The iagram o the DTC ytem uing voltage vector election trategy Fig. 3 how compare with the DTC ytem uing the witching table, the hyterei are till ue to control the amplitue o tator lux an torue, but the voltage vector election trategy an the SVM are ue to generate the witching ignal intea o the witching table. Thu the voltage vector election trategy propoe in thi paper can ecreae torue ripple an ix the witching reuency. The hyterei ban or the amplitue o tator lux i 0.00Wb an the hyterei ban or torue i 0.00Nm. The ampling perio or pee control loop i 0.0 an the ampling perio or (3 EVS5 Worl Battery, Hybri an Fuel Cell Electric Vehicle Sympoium

6 Worl Electric Vehicle Journal Vol. 4 - ISSN WEVA Page tator lux an torue control loop i 350μ. The reerence pee i 00rpm an the reerence amplitue o tator lux i 0.06Wb. When the pee o the motor i 00rpm, the a-phae tator current (the yellow wave an tator voltage (the re wave are hown in Fig. 4 to Fig. 6. Experimental reult how uner the control o the voltage vector election trategy current ripple are lower compare with the witching table. An the witching reuency o the VSI i contant ue to the ue o the SVM. Fig. 6 how hyterei are till ue in the DTC. When the motor pee i 00rpm, a ame negative loa torue i applie on the PMSM. An the a-phae tator current (the yellow wave an the loa torue (the re wave uner the control o the witching table an voltage vector election trategy are hown in Fig. 7 an Fig. 8, repectively. Figure 4: The a-phae tator current (5A/iv Figure 7: The a-phae tator current ( 0A/iv an the loa torue (0Nm/iv Figure 5: The a-phae tator voltage (4V/iv Figure 8: The a-phae tator current (0A/iv an the loa torue (0Nm/iv Comparing Fig. 7 an Fig. 8, we can get the voltage vector election trategy can ecreae tator current an torue ripple compare with the witching table. Figure 6: The a-phae tator current ( 5A/iv an tator voltage (4V/iv EVS5 Worl Battery, Hybri an Fuel Cell Electric Vehicle Sympoium

7 Worl Electric Vehicle Journal Vol. 4 - ISSN WEVA Page Concluion Comparing the experimental reult o the interior PMSM rive ue in the electric vehicle uner the control o the ierent control trategie, we can get concluion a the ollowing. For the FOC uing the hyterei current control, ue to the lower ampling perio, tator current i more inuoial. But it nee the continuou rotor poition inormation an the witching reuency o the VSI i not contant. For the DTC uing the witching table, current ripple i higher an the witching reuency o the VSI i alo not contant. But it oe not nee the rotor poition inormation except or the initial rotor poition. Comparing with the witching table, the voltage vector election trategy propoe in thi paper can ecreae current an torue ripple an ix witching reuency. Acknowlegment Thi work wa inancially upporte by China Potoctoral Science Founation une project ( an Special Fun or Baic Scientiic Reearch o Central Colleague, Chang an Univerity une project (CHD0JC36. Reerence [] Mehraa Ehani, Yimin Gao, Sebatien E. Gay, Ali Emai, Moern electric, hybri electric, an uel cell vehicle. CRC Pre, New York, 005. [] L. Zhong, M. F. Rahman, W. Y. Hu, K. W. Lim, Analyi o irect torue control in permanent magnet ynchronou motor rive, IEEE Tranaction on Power Electronic, Vol., No. 3, pp , May 997. [3] L. Zhong, M. F. Rahman, W. Y. Hu, K. W. Lim, A irect torue controller or permanent magnet ynchronou motor rive, IEEE Tranaction on Energy Converion, Vol. 4, No. 3, pp , September 999. [4] M. F. Rahman, L. Zhong, K. W. Lim, A irect torue-controlle interior permanent magnet ynchronou motor rive incorporating iel weakening, IEEE Tranaction on Inutry Application, Vol. 34, No. 6, pp , November/Decmber 998. [5] L. X. Tang, L. Zhong, M. F. Rahman, A novel irect torue controlle interior permanent magnet ynchronou machine rive with low ripple in lux an torue an ixe witching reuency, IEEE Tranaction on Power Electronic, Vol. 9, No., pp , March 004. [6] L. X. Tang, L. Zhong, M. F. Rahman, A novel irect torue control or interior permanentmagnet ynchronou machine rive with low ripple in torue an lux-a pee-enorle approach, IEEE Tranaction on Inutry Application, Vol. 39, No. 6, pp , November/December 003. [7] Yaohua Li, Dieter Gerling, Weiguo Liu A Novel Switching Table to Suppre Unreaonable Torue Ripple or the PMSM DTC Drive, ICEMS 008, pp , 008. [8] Yaohua Li, Dieter Gerling, Weiguo Liu The Control o Stator Flux an Torue in the Surace Permanent Magnet Synchronou Motor Direct Torue Control Sytem, ICIEA 009, pp , 009. Author Dr. Ing Yaohua Li Lecture o Chang an Univerity Proeor Dr.-Ing. Dieter Gerling Chair o Intitute or Electrical Drive an Actuator, Univerity o Feeral Deence Munich EVS5 Worl Battery, Hybri an Fuel Cell Electric Vehicle Sympoium