PMSM. Mechanical Design

Transcription

1 PMSM Indutial Electical Engineeing and Autoation Lund Univeity, Sweden Mechanical Deign Indutial Electical Engineeing and Autoation 1

2 Indutial Electical Engineeing and Autoation y i b i β Matheatical Model αβ αβ d u = R i + u = R i = R i ψ i a x αβ ψ αβ d αβ αβ = R i + ( ψ + L i ) dt dt ( ψ + L i ) + jω ( ψ + L i ) d + dt di + L dt α + jω ( ψ + L i ) Copae to the vecto contol of a geneic 3- phae load... i c Toque Contol Indutial Electical Engineeing and Autoation T = ψ = ( ψ + L i ) = ψ i i y = ψ x x + ( L x x i y i y L ψ y y L ) i i y x x i i y y = i x = 2

3 Siplet, only y-axi cuent contol Indutial Electical Engineeing and Autoation e = jω ψ y i T = ψ ψ ψ i y x i i * x * y = T = ψ * Dawback with y-axi contol Indutial Electical Engineeing and Autoation Doe not utilize the eluctance toque Phae lag between voltage and cuent u R i jω ψ di = R i + L + jω ψ dt jω L i i ψ L i ( + L i ) 3

4 Indutial Electical Engineeing and Autoation Bette ax Toque/Apée contol Oient the cuent vecto fo axiu Toque. T = ψ i + ( L L ) i i = 1-1 Ly=5H /Lx=2H ISO-toque (blue) and ax(t/i) (ed) 2 = ψ i y 1-1 x y co( δ ) + ( L x x L Ly=5H /Lx=5H y ISO-toque (blue) and ax(t/i) (ed) 2 y ) i co( δ ) in( δ ) Ly=2H /Lx=5H ISO-toque (blue) and ax(t/i) (ed) Look up table fo cuent etpoint Indutial Electical Engineeing and Autoation ix* (ed) & iy* (blue) T* 4

5 Voltage liitation Indutial Electical Engineeing and Autoation When the achine peed up, a voltage liit i eached. The voltage can be liited with field weakening Voltage liitation u ( R i ω L i ) + ( R i + ω ( + L i )) 2 x y y 2 y x x = ψ Indutial Electical Engineeing and Autoation What cuent cobination atify a liited voltage vecto? Follow (T/I)ax to Voltage liit, then T=cont. ISO-toque (blue), ax(t/i) (ed) and Contant Voltage (geen)

6 EV taction oto Indutial Electical Engineeing and Autoation Dive Unit Specification Indutial Electical Engineeing and Autoation Max powe 5 kw (2 in) Continuou powe 32 kw Max toque 191 N (2 in) Continuou toque 13 N Efficiency ange ~ % Noinal DC-link voltage: 2-32 V (baking V) Bae peed 25 p Speed ange - 1 p Max cooling liquid tep 7 C Length Moto 25 Convete 392 Width Moto (dia) 26 Convete 26 Height Moto (dia) 26 Convete 8/128 Syte 34 Weight Ca 6 kg 6

7 Indutial Electical Engineeing and Autoation N Toque & Powe v Speed kw 5 25 p Continuou and 2 in. peak load (5 kw oto) 55 Efficiency Cuve 5 kw oto (at typical DC and line voltage) Indutial Electical Engineeing and Autoation Output powe, [kw] % 93% 91% 87% Speed, [p] 7

8 Typical DC and Line Voltage (baed on typical intenal battey paaete) Indutial Electical Engineeing and Autoation Voltage, [V] Powe, [kw] Moto dc voltage Geneato dc voltage Moto line voltage Geneato line voltage A-aple Chaacteitic Indutial Electical Engineeing and Autoation Inteio Peanent Magnet Moto Wate Cooled Field Weakening Poition Feedback with eolve 8

9 Magnetic atuation (Lq) Ld=.2H Indutial Electical Engineeing and Autoation Lq= Lq x ab(iq) ab(id) Toque contol 6 Indutial Electical Engineeing and Autoation

10 Indutial Electical Engineeing and Autoation End of PMSM toy Cuent efeence 6 Indutial Electical Engineeing and Autoation ix* (blue) and iy* (ed) Toque efence [N] 1

11 Miniu tato cuent contol Indutial Electical Engineeing and Autoation Pix = f(ix) ix Piy = f(iy) i y ψ x iy Io -toque cuve y 4 Inceaing toqe i Indutial Electical Engineeing and Autoation ψ x

12 Look up table fo inial tato cuent Indutial Electical Engineeing and Autoation ix* & iy* T* Siulation 2 Indutial Electical Engineeing and Autoation 12

13 Field Weakening Indutial Electical Engineeing and Autoation Field Weakening Indutial Electical Engineeing and Autoation u ( R i ω L i, i ) i ) 2 + ( R i ω ( + L ( i, i ) i ) 2 = x y( x y y y ψ x x y x 13

14 6 4 axiul tato cuent inceaing peed inceaing toque Indutial Electical Engineeing and Autoation optial tato cuent u=contant T=contant Indutial Electical Engineeing and Autoation Pioit Action y 1 Stato cuent le than axiu tato cuent (Cuent liitation to potect achine and powe electonic) 2 Stato voltage le than axiu tato voltage (Voltage liitation to facilitate cuent contol) 3 Minial tato cuent fo a given toque (Stato cuent on the optial line) 14

15 Indutial Electical Engineeing and Autoation Indutial Electical Engineeing and Autoation 1 idq* 2 i 3 thetar 4 T 5 T* vect Out -1 angle alfa/beta Ü> d/q 4 u(1) half T advance T delta_i* T* Uax u*_unli Field Weakening Contolle 2 idq i u i_hat e Cuent etiato i Out1 theta ef-etiato ef u*li act ef di* u* Uax PIE-contolle vect Out 1 angle u* d/q > alfa/beta 15

16 Indutial Electical Engineeing and Autoation 1 T 2 T* 1 Uax Relay 1/z Unit Delay1 1 Integato1 1 Integato f(u) Fcn2 Sign -K- 3 u*_unli OutLP In OutHP Switch 1't ode filte ( ) 1 delta_i* Toque efeence and toque epone [N] 6 4 Toque efeence and toque epone [N] 6 4 Indutial Electical Engineeing and Autoation Mechanical peed [ad/] Mechanical peed [ad/]

17 Indutial Electical Engineeing and Autoation