2, 2007, 79–84
The paper presents different approaches of PMSM control strategies. Scalar control and vector control were chosen as
possible methods for AC motors control. Theoretical background briefly describes the properties of these control techniques.
Several advantages and disadvantages are highlighted and confirmed by simulations.
K e y w o r d s: AC motor, PMSM, vector control, scalar control
∗
University of Žilina, Faculty of Electrical Engineering, Department of Power Electrical Systems, Vel’ký diel, 010 26 Žilina, Slovakia.
E-mail: Valeria.Hrabovcova@fel.utc.sk, Marek.Stulrajter@kves.utc.sk
∗∗
EVPÚ a.s., Trenčianska 19, 018 51 Nová Dubnica. E-mail: franko@evpu.sk
kept constant, hence the name V /f control. If the ratio around the rated frequency. Since Xd is proportional to
is different from the nominal one, the motor will become the stator frequency, resistance Rs cannot be neglected in
overexcited or underexcited. The first case happens when the range of low frequencies (less than 10,Hz). Therefore,
the frequency value is lower than the nominal one and keeping the constant ratio Vsph /fs is not enough during
the voltage is kept constant or if the voltage is higher the full speed range. In the range of low frequencies, the
than that of the constant ratio V /f . This condition is decreasing of the voltage must be slower. This can be
called overexcitation, which means that the magnetizing achieved by keeping the voltage at a constant value in
flux is higher than its nominal value. An increase of the the region of the low frequencies, as it is shown in Fig. 1.
magnetizing flux leads to a rise of the magnetizing cur- Such a control strategy can be represented by the block
rent. In this case the hysteresis and eddy current losses diagram illustrated in Fig. 2 and simulation results shown
are not negligible. The second case represents underex- in Fig. 3. The motor parameters are in Table 1.
citation. The motor becomes underexcited because the The proposed approach was verified by a simulation
voltage is kept constant and the value of stator frequency test. Via simulation results (Fig. 3) it is possible to an-
is higher than the nominal one. Scalar control of the syn- alyze the applied constant volt per hertz control for sur-
chronous motor can also be demonstrated via the torque face mounted PMSM. It can be seen that the motor does
equation of SM, similar to that of an induction motor.
not work under nominal conditions of the magnetic flux
The electromagnetic torque of the synchronous motor,
during the whole operating cycle. During starting up it
when the stator resistance Rs is not negligible, is given
is possible to observe big overexcitation (Fig. 3b), which
as
Ef2 Rs i would cause saturation of the magnetic circuit, an in-
m h Vsph Ef
Te = − sin ϑL − α − , (4) crease of the magnetizing current (see Fig. 3c, id current
ωs Zd Zd component) and, hence, motor losses. Motor operation
where Vsph is the stator terminal phase voltage, Ef is with the stator flux kept at the nominal value occurs
the induced voltage generated by the field current exci- only in no load steady state condition where the mag-
tation, Rs is the stator resistance, α = arcsin R Zd , ϑL is
s
netizing current is zero. The motor, loaded by nominal
the load angle, which is negative, if it is motoring opera- torque TL = 0.38 Nm becomes underexcited, Fig. 3b. In
tion, and positive if it is generating one. The synchronous order to show the waveforms of the magnetic flux more
reactance transparently, the αβ frame was chosen instead of dq
p is Xd = 2πfs Ld and synchronous impedance
Zd = Rs2 + Xd2 . The second part of (4) in the brack- frame, Fig. 3b. The αβ frame in all figures represents the
ets is cancelled, if Rs is neglected and Zd = Xd . The frame coupled with the stator, α -axis being aligned with
induced voltage of PMSM Ef is generated by the flux of the axis of a-phase.
permanent magnets, hence Ef ≈ EP M . In fact, V /f control represents the most common con-
trol strategy for asynchronous motors, as it was men-
2πfs tioned in the first chapter. In the case of PMSM, the main
Ef = EP M = √ φP M Ns kws = 2πfs ΨP M . (5a)
2 flux is produced by the permanent magnets ΨP M on the
rotor. The current through the stator coils produces a flux
After neglecting the stator resistance and rewriting the called the armature reaction flux Ψa , because the stator
reactance and angular speed as a function of frequency, of SM represents the armature. Then the total stator flux
it is possible to rewrite the maximal torque as is given as a vector sum of both of these fluxes, Fig. 4.
3p Vsph EP M 3p Vsph 2πfs ΨP M The armature reaction flux Ψa = La Is , where La is
Tm = = . (5b) defined as the stator inductance, can be resolved to the
2πfs 2πfs Ld 2πfs 2πfs Ld
dq frame as follows:
All constant values in (5b) can be replaced with con-
stant C and then the modified expression for the maximal Ψad = Ld Id = Ld Is cos β ,
torque is given as (8a)
Ψaq = Lq Iq = Lq Is sin β .
Vsph
Tm = C , (6) Then the total flux in dq frame is given as:
fs
Fig. 1. Stator voltage Vsph versus stator frequency fs . Fig. 4. Phasor diagram illustrating relation between stator fluxes
and stator current.
Fig. 6. Different locations of the stator current vector. Fig. 7. Phasor diagram of vector controlled PM motor for maxi-
mum torque per stator current.
Fig. 8. Typical cascaded control structure for PMSM drives using closed speed control loop with inner current loop.
nominal one, if angle β is less than 90 degrees (Fig. 3b- Electromagnetic torque expressed in dq components
start up and Fig. 5a), and on the contrary, if this angle of the currents is given as
is more than 90 degrees, the total flux is lower than its
nominal value (Fig. 3b-loading and Fig. 5b). 3p
Te = ΨP M iq + id iq (Ld − Lq ) , (11)
In case the vector of the stator current is located in 2
a manner that its d-component is in the same direction
and the same sense as flux of PM, the total flux in d-axis where Ld and Lq are the d- and q - axis synchronous in-
is given as a sum of the permanent magnet flux ΨP M ductances. Each of the two terms in equation (11) has a
and of the contribution of the armature reaction flux in useful physical interpretation. The first “magnet” torque
d- axis Ψad = Ld Id . Flux Ψs represents the total flux in term is independent of id but is directly proportional to
the machine and the induced voltage Es generated by this the stator current component iq . In contrast, the sec-
flux is higher than the induced voltage EP M generated by ond reluctance torque term is proportional to the id iq
the magnet, Fig. 5a. This case corresponds to the scalar current component product and to the difference of the
control during starting up, see Fig. 3. On the contrary, if inductance values (Ld - Lq ).
the vector of the stator current in d-axis is in opposite As equation (11) shows, the torque depends on the ro-
sense to the flux of PM, the total flux in d-axis is given tor type and its inductances Ld , Lq and on permanent
as a difference between the permanent magnet flux ΨP M magnets mounted on the rotor. The non-salient PMSM
and the contribution of the armature flux in d-axis Ψad . have surface mounted magnets on the rotor and the reluc-
The induced voltage Es generated by the main flux Ψs is tance term disappears since Lq equals Ld . On the con-
lower than the induced voltage generated by permanent trary, the electromagnetic torque is more dominated by
magnets EP M , Fig. 5b. the reluctance component, when permanent magnets are
interior mounted and rotor’s saliency causes a difference
in Lq and Ld .
3 VECTOR CONTROL
It follows from equation (11) that if a smooth air gap
is assumed (Ld = Lq ) and if on the rotor only the per-
manent magnets represent the source of excitation, the
The vector control of PMSM allows separate closed electromagnetic torque can be expressed as
loop control of both the flux and torque, hence, achieving
a similar control structure to that of a separately excited 3p
DC machine. Te = ΨP M iq . (12)
2
Journal of ELECTRICAL ENGINEERING VOL. 58, NO. 2, 2007 83
3p
Te = ΨP M |is | sin β , (13)
2
Acknoweledgments
This work has been supported by projects VEGA
No. 1/2052/05, VEGA No. 1/3086/06
and GAČR 102/06/1320.
References