PMSM Indutial Electical Engineeing and Autoation Lund Univeity, Sweden Mechanical Deign Indutial Electical Engineeing and Autoation 1
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
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
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 1-1 2 co( δ ) in( δ ) Ly=2H /Lx=5H ISO-toque (blue) and ax(t/i) (ed) 2-2 -2-1 1 2-2 -2-1 1 2-2 -2-1 1 2 Look up table fo cuent etpoint Indutial Electical Engineeing and Autoation ix* (ed) & iy* (blue) 2 15 1 5-5 -1-15 -2-3 -2-1 1 2 3 T* 4
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) 2 15 1 5-5 -1-15 -2-2 -1 1 2 5
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 ~ 85-95 % Noinal DC-link voltage: 2-32 V (baking 24-35 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
Indutial Electical Engineeing and Autoation N 25 2 15 1 5 Toque & Powe v Speed 1 2 3 4 5 6 7 8 9 1 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] 5 45 4 35 3 25 2 15 1 5 95% 93% 91% 87% 1 2 3 4 5 6 7 8 9 1 Speed, [p] 7
Typical DC and Line Voltage (baed on typical intenal battey paaete) Indutial Electical Engineeing and Autoation Voltage, [V] 32 31 3 29 28 27 26 25 24 23 22 21 2 19 18 17 16 15 14 13 5 1 15 2 25 3 35 4 45 5 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
Magnetic atuation (Lq) Ld=.2H Indutial Electical Engineeing and Autoation Lq= Lq 7 6 5 4 3 2 1 x 1-4 1 2 3 ab(iq) 4 5 5 4 3 2 1 ab(id) Toque contol 6 Indutial Electical Engineeing and Autoation 4 2-2 -4-6 -6-4 -2 2 4 6 9
Indutial Electical Engineeing and Autoation End of PMSM toy Cuent efeence 6 Indutial Electical Engineeing and Autoation ix* (blue) and iy* (ed) 4 2-2 -4-6 -2-15 -1-5 5 1 15 2 Toque efence [N] 1
Miniu tato cuent contol Indutial Electical Engineeing and Autoation.1.5 -.5 Pix = f(ix) -.1-5 -4-3 -2-1 1 2 3 4 5 ix.1.5 -.5 -.1 Piy = f(iy) i y ψ x -5-4 -3-2 -1 1 2 3 4 5 iy Io -toque cuve y 4 Inceaing toqe i Indutial Electical Engineeing and Autoation 3 2 1-1 -2-3 -4 ψ x -5-4 -3-2 -1 1 2 3 4 11
Look up table fo inial tato cuent Indutial Electical Engineeing and Autoation ix* & iy* 5 4 3 2 1-1 -2-3 2 4 6 8 1 12 14 T* Siulation 2 Indutial Electical Engineeing and Autoation 12
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
6 4 axiul tato cuent inceaing peed inceaing toque Indutial Electical Engineeing and Autoation 2-2 -4 optial tato cuent u=contant T=contant -6-6 -4-2 2 4 6 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
Indutial Electical Engineeing and Autoation -4-2 2 4 6 6 4 2-2 -4-6 -6-4 -2 2 4 6 6 4 2-2 -4-6 -6-4 -2 2 4 6 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
Indutial Electical Engineeing and Autoation 1 T 2 T* 1 Uax 1.2 2 5 5 5 1 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 2-2 1 2 3 Mechanical peed [ad/] 5 4 3 2 1 1 2 3 2-2 1 2 3 5 4 3 2 Mechanical peed [ad/] 1 1 2 3 16
Indutial Electical Engineeing and Autoation 6 4 2-2 -4-6 -6-4 -2 2 4 6 6 4 2-2 -4-6 -6-4 -2 2 4 6 17