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Control of Servo Motors

PMSM (Permanent-Magnet Synchronous Motor)


Structure of Synchronous motor

Rotor
Stator

3- AC
Slip
Ring

Voltage

DC Power
Supply

Stator : 3-phase ac voltage are applied to 3-phase winding.


The number of turn of stator winding : sinusoidal distribution.
Rotor : Rotor winding is excited : Rotor current Slip ring DC voltage source
Flux is generated by the dc current

Control of Servo Motors

PMSM (Permanent-Magnet Synchronous Motor)


Torque production of synchronous motor
A rotating field of constant amplitude is produced by three-phase ac current
with synchronous angular speed
Synchronous angular speed
4f
,where f = source frequency, P = # of pole.
e
P

Rotor : Flux N-S is produced by dc-excited rotor winding.


Rotor has to rotate with synchronous angular speed for generating torque
Voltage, current, MMF, and emf : sinusoidal waveform

Rotating MMF axis

e
S

e
b
S

3-Phase
Current
Magnetic axis

ia

ib

ic
e t

Control of Servo Motors

Structure of PMSM
Demerit of synchronous motor
- Slip ring, dc power supply are needed
- Rotor : dc-excited winding Heavy, large size High moment of inertia
Structure of PMSM
Stator : 3-phase ac voltage are applied to 3-phase winding.
The number of turn of stator winding : sinusoidal distribution.
Rotor : Permanent-magnet : sinusoidal distribution of flux density
a

Rotor
Stator
Permanent-Magnet

Features of BLDC motor:


- Rectangular distribution of magnetic flux in the
airgap
- Rectangular current waveform
- Concentrated stator winding

d-axis

Features of PMSM :
-Sinusoidal or quasi-sinusoidal distribution
of magnetic flux in the airgap
-Sinusoidal or quasi-sinusoidal current waveform
-Quasi-sinusoidal distributed stator winding

Control of Servo Motors

Structure of PMSM
Features of BLDC motor:
- Rectangular distribution of magnetic flux in the airgap
- Rectangular current waveform
- Concentrated stator winding
Features of PMSM :
-Sinusoidal or quasi-sinusoidal distribution of magnetic flux in the airgap
-Sinusoidal or quasi-sinusoidal current waveform
-Quasi-sinusoidal distributed stator winding
BLDC Motor
a

PMSM
a

Rotor

Rotor
Stator

Stator

Permanent-Magnet

Permanent
-Magnet
S

d-axis

d-axis

Control of Servo Motors

Principle of Vector control


Torque production of DC motor
Quadrature
axis
(MMF)

Brush

Direct
axis

S
Field Coil

Principle of vector control for ac machine (PMSM)


The magnetic field is controlled to be orthogonal
to the magnetic flux by Permanent-magnet like DC motor
Detecting continuously the position of magnetic flux
The magnetic field is controlled to be orthogonal
to the magnetic flux
Rotating MMF axis

Phasor diagram for Flux and MMF

MMF ( I a )

Torque equation
Te KI a Maximum torque

Magnetic axis

Control of Servo Motors

Principle of Vector control


2-axis reference frame
- The stator and rotor equations are referred to a common frame of reference
Common frame of reference
(1) Stator or stationary reference frame
- non-rotating
(2) Synchronous reference frame
- d, q axis rotates with the synchronous angular velocity
2-axis Arbitrary or freely rotating reference frame
- d, q axis rotates with the angular velocity

b-axis

q-axis
f dqs
f qs

d-axis
t

c-axis

f ds

a-axis

Control of Servo Motors

Principle of Vector control


Complex notion of 3-phase variable
f f as af bs a 2 f cs

where, a e j ( 2 / 3) , a 2 e j ( 4 / 3) e j ( 2 / 3) a 1

Vector notation in d-q axis variables


f dqs f ds jf qs

2 j
2
e ( f as af bs a 2 f cs ) e j f
3
3

[1] 2-axis stationary reference


- d-axis is assigned to a-phase axis.
- non-rotating
b-axis
qs

ds

c-axis

a-axis

Control of Servo Motors

Principle of Vector control


- At =0, variables in stationary reference frame is derived as
2
2
s
f dqs
f dss jf qss ( f as af bs a 2 f cs ) f
3
3
d- & q-axis currents in stationary reference frame
2
2
idss jiqss (ias aibs a 2ics ) (ias e j ( 2 / 3) ibs e j ( 2 / 3) ics )
3
3
2
2
2
2
2
2
1
3
1
3
[ias (cos j sin )ibs (cos j sin )ics ] [ias ( j
)ibs ( j
)ics ]
3
3
3
3
3
3
2
2
2
2
2
1
3
[ias (ibs ics ) j
(ibs ics )]
3
2
2

As ias ibs ics 0 ibs ics ias

idss jiqss ias j

1
(ibs ics )
3

idss ias , iqss


(ibs ics )
3
,

- Magnitude of d-q axis current = Magnitude of three phase current


- Ac signals with synchronous speed

Control of Servo Motors

Principle of Vector control


[2] 2-axis synchronous rotating reference
- d-q axis is rotating with synchronous speed
At = e = et, d-&q-axis variables in synchronous rotating reference frame is derived as
e
f dqs
f dse jf qse

2 j e
2
s
e ( f as af bs a 2 f cs ) e je f f dqs
e je ( f dss jf qss )(cos e j sin e )
3
3

- d-&q-axis variables in synchronous rotating reference frame has dc value


b-axis

qe

de
e = e t

c-axis

a-axis

Control of Servo Motors

Principle of Vector control


Example)
- Three-phase current
2
4
ias I m cos(e t ), ibs I m cos(e t ), ics I m cos(e t )
3
3

- Stator current with complex notation


3
is ias e j ( 2 / 3) ibs e j ( 2 / 3) ics I m e jet
2
d- & q-axis current in stationary reference frame
2
2 3
s
idqs idss jiqss is I m e jet I m e jet
3
3 2

I m (cos et j sin et )

idss I m cos e t ias , iqss I m sin et


d- & q-axis current in synchronous rotating reference frame
e

idqs idse jiqse


i Im ,
e
ds

i 0
e
qs

2 j e t 2 3
is e
I m e jet e jet I m
3
3 2

3-Phase
Current

ia

ib

ic
e t

Current
at stationary
reference
frame

Current
at synchronus
reference
frame

i sds

i sqs
e t

I dse
I qse

e t

Control of Servo Motors

Principle of Vector control


d-,q- axises variables in a stationary reference frame Synchronous rotating reference frame
2 j e
2
s
e ( f as af bs a 2 f cs ) e je f f dqs
e je ( f dss jf qss )(cos e j sin e )
3
3
s
s
s
( f ds cos e f qs sin e ) j ( f ds sin e f qss cos e )

e
f dqs
f dse jf qse

f dse f dss cos e f qss sin e

f qse f dss sin e f qss cos e

d-,q- axises variables in a Synchronous rotating reference frame Stationary reference frame
f dqs f dss jf qss f dqs e je ( f dse jf qse )(cos e j sin e )
s

f dss f dse cos e f qse sin e

f qss f dse sin e f qse cos e

Three-phase variables 2-axis variables stationary reference frame


1

f 2
2

3
f 3 0

2
s
ds
s
qs

1 f
as
2 f

3 bs

f
2 cs

2-axis variables stationary reference frame Three-phase variables

f as 1
f 1
bs 2
f cs 1

0
s
3 f ds

2 f qss
3

Control of Servo Motors

Voltage equation of PMSM


Equivalent circuit of PMSM
Va

ia

Rs

Ls

+ ea -

Vb

ib

Rs

Ls

eb -

Vc

ic

Rs

Ls

ec -

2-axis voltage equations in a synchronous reference frame


Vds ( Rs pLs )ids e Ls iqs
Vqs ( Rs pLs )iqs e Ls ids e

Torque equation of PMSM


Te Kiqs

Phasor diagram for flux, current, and voltage


- voltage equations in a synchronous reference frame at steady state condition
differential operator p = 0, Rs term is neglected
Vds e Ls iqs

Vqs e Ls ids e e Ls ids E

, where emf E e

Control of Servo Motors

Voltage equation of PMSM


Phasor diagram for flux, current, and voltage
q-axis
- e Ls i qs
e Ls i ds

Vs

E
i qs

is

i ds

Stator current

is ids jiqs
The d-axis current is in phase with flux
d-axis current Flux component,
q-axis current Torque component
- Torque of PMSM Te Kiqs

d-axis

Control of Servo Motors

Voltage equation of PMSM


Flux is generated by permanent-magnet Flux component of stator current ids = 0
Stator current

is ids jiqs jiqs


Voltage equation of PMSM at ids = 0
Vds e Ls iqs
Vqs e E

Phasor diagram for flux, current, and voltage at ids = 0


q-axis

E
Vs

i qs = i s

d-axis

Control of Servo Motors

Characteristics of PMSM
Comparsion between the characteristics of PMSM and that of DC motor.
Phasor of flux and armature current
DC Motor

PMSM
q-axis

MMF ( I a )

E
i qs = i s

DC Motor

d-axis

PMSM

Armature current

q-axis stator current

Flux is generated by field winding current

Flux is generated by permanent-magnet

The MMF is orthogonal to Flux by operation


of both the brush and commutates

The flux position is detected. Phase angle of


stator is controlled according to flux position

Control of Servo Motors

Frequency control of PMSM


Frequency control of PMSM
Frequency of ac source current is controlled
The synchronous speed of rotating field e 4f / P produced by three-phase ac current is changed
Rotor speed (= synchronous speed) is controlled
- Neglecting impedance voltage drop in voltage equation
Vs E e 2f

Vs
f

-In order to keep the flux constant, the ratio between voltage and frequency is constant
- (Vs/f) control at motor speed < base speed (rated speed)
Flux = constant Speed voltage Torque = constant
Both the frequency and voltage are controlled

Control of Servo Motors

Frequency control of PMSM


Voltage, flux, torque, power versus speed
Constant Torque Region

Constant Power Region

Power
Vs
Torque

(1) Motor speed < base speed


Flux = constant Speed voltage Torque = constant Power
Constant torque region
(2) At motor speed = base speed voltage = rated voltage
(3) Motor speed > base speed
Speed voltage is limited to rated value Flux Torque
Power = constant Constant power region
Flux weaking control

Control of Servo Motors

Flux weaking control of PMSM


Flux weaking control
- Flux should be decreased when the motor speed is controlled over a rated speed.
- d-axis current is applied in opposite direction for demagnetizing the permanent-magnet
q-axis

- e Ls i qs e Ls i ds
E

Vs
is

i qs

i ds

d-axis

- Magnitude of stator current


2

is ids iqs

* Speed d-axis current stator current Limiting maximum stator current


demagnetizing the permanent-magnet

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