simulation of a_pmsm_motor_control_system
DESCRIPTION
pmsm controlTRANSCRIPT
![Page 1: Simulation of a_pmsm_motor_control_system](https://reader034.vdocument.in/reader034/viewer/2022042815/557cbca6d8b42a1b0c8b4f4b/html5/thumbnails/1.jpg)
1
Simulation of APMSM Motor Control System
for EPS ControllersJuly 23, 2003
by
Guang LiuAlex Kurnia
Ronan De Larminat
![Page 2: Simulation of a_pmsm_motor_control_system](https://reader034.vdocument.in/reader034/viewer/2022042815/557cbca6d8b42a1b0c8b4f4b/html5/thumbnails/2.jpg)
2
OUTLINE
1. Introduction2. System block diagram3. Simulink models of system elements4. Simulation and experimental results5. Conclusion
![Page 3: Simulation of a_pmsm_motor_control_system](https://reader034.vdocument.in/reader034/viewer/2022042815/557cbca6d8b42a1b0c8b4f4b/html5/thumbnails/3.jpg)
3
1. INTRODUCTION
![Page 4: Simulation of a_pmsm_motor_control_system](https://reader034.vdocument.in/reader034/viewer/2022042815/557cbca6d8b42a1b0c8b4f4b/html5/thumbnails/4.jpg)
4
1. INTRODUCTION
Simplified Block Diagram of An EPS System
EPS
Steering mechanism
![Page 5: Simulation of a_pmsm_motor_control_system](https://reader034.vdocument.in/reader034/viewer/2022042815/557cbca6d8b42a1b0c8b4f4b/html5/thumbnails/5.jpg)
5
2. SYSTEM BLOCK DIAGRAM
![Page 6: Simulation of a_pmsm_motor_control_system](https://reader034.vdocument.in/reader034/viewer/2022042815/557cbca6d8b42a1b0c8b4f4b/html5/thumbnails/6.jpg)
6
2. SYSTEM BLOCK DIAGRAM
![Page 7: Simulation of a_pmsm_motor_control_system](https://reader034.vdocument.in/reader034/viewer/2022042815/557cbca6d8b42a1b0c8b4f4b/html5/thumbnails/7.jpg)
7
3. SIMULINK MODELS OF SYSTEM ELEMENTS
3. SIMULINK MODELS OF SYSTEM ELEMENTS
![Page 8: Simulation of a_pmsm_motor_control_system](https://reader034.vdocument.in/reader034/viewer/2022042815/557cbca6d8b42a1b0c8b4f4b/html5/thumbnails/8.jpg)
8
3. SIMULINK MODELS OF SYSTEM ELEMENTS
Permanent Magnet Synchronous Motor (PMSM) Model
![Page 9: Simulation of a_pmsm_motor_control_system](https://reader034.vdocument.in/reader034/viewer/2022042815/557cbca6d8b42a1b0c8b4f4b/html5/thumbnails/9.jpg)
9
qdtd
eqddtd
ddsd iLiLiRv ω−+=)]3
4cos()3
2cos(cos[32 πθπθθ −+−+= cbad vvvv
)]3
4sin()3
2(sinsin[32 πθπθθ −−−−−= cbaq vsvvv PMeddt
dedqdt
dqqsq iLiLiRv λωω +++=
])([23
qdqdqPMe iiLLiPT −+= λ
mmfLe dtdJKTT ωω ++=
θθ sincos qda iii −=
)3
2sin()3
2cos( πθπθ −−−= qdb iii
)3
4sin()3
4cos( πθπθ −−−= qdc iii
3. SIMULINK MODELS OF SYSTEM ELEMENTS
Permanent Magnet Synchronous Motor (PMSM) Equations
D-Q axis electric circuit equationsPark transformation equations
Torque equationsInverse Park transformation equations
![Page 10: Simulation of a_pmsm_motor_control_system](https://reader034.vdocument.in/reader034/viewer/2022042815/557cbca6d8b42a1b0c8b4f4b/html5/thumbnails/10.jpg)
10
3. SIMULINK MODELS OF SYSTEM ELEMENTS
Motor Position Sensor Model
Complete Sensor:
Error generator:
![Page 11: Simulation of a_pmsm_motor_control_system](https://reader034.vdocument.in/reader034/viewer/2022042815/557cbca6d8b42a1b0c8b4f4b/html5/thumbnails/11.jpg)
11
3. SIMULINK MODELS OF SYSTEM ELEMENTS
Current Sensing Model
VαβV_A
V_B
V_C
V1
V2V3
(3)
(1)
(5)
(4) (6) (2)
![Page 12: Simulation of a_pmsm_motor_control_system](https://reader034.vdocument.in/reader034/viewer/2022042815/557cbca6d8b42a1b0c8b4f4b/html5/thumbnails/12.jpg)
12
3. SIMULINK MODELS OF SYSTEM ELEMENTS
PI Controller Model
![Page 13: Simulation of a_pmsm_motor_control_system](https://reader034.vdocument.in/reader034/viewer/2022042815/557cbca6d8b42a1b0c8b4f4b/html5/thumbnails/13.jpg)
13
3. SIMULINK MODELS OF SYSTEM ELEMENTS
Inverse Park and SVM Model
![Page 14: Simulation of a_pmsm_motor_control_system](https://reader034.vdocument.in/reader034/viewer/2022042815/557cbca6d8b42a1b0c8b4f4b/html5/thumbnails/14.jpg)
14
4. SIMULATION & EXPERIMENTAL RESULTS
4. SIMULATION AND EXPERIMENTAL RESUTLS
![Page 15: Simulation of a_pmsm_motor_control_system](https://reader034.vdocument.in/reader034/viewer/2022042815/557cbca6d8b42a1b0c8b4f4b/html5/thumbnails/15.jpg)
15
4. SIMULATION & EXPERIMENTAL RESULTS
0 0.5 1 1.5 2 2.5 3 3.5 40
0.5
1
1.5
Torq
ue(N
.m.)
Time (Sec.)
Resolution = 6 count per rev.
0 0.5 1 1.5 2 2.5 3 3.5 4-30
-20
-10
0
10
20
30
Pha
se c
urre
nt (A
)
Time (Sec.)
Simulated torque ripple with 6-count resolutionTorque ripple = 1 N.m., current becomes square wave.
![Page 16: Simulation of a_pmsm_motor_control_system](https://reader034.vdocument.in/reader034/viewer/2022042815/557cbca6d8b42a1b0c8b4f4b/html5/thumbnails/16.jpg)
16
4. SIMULATION & EXPERIMENTAL RESULTS
Simulated torque ripple with 48-count resolution
0.5 1 1.5 2 2.5 3 3.5 40.985
0.99
0.995
1
1.005To
rque
(N.m
.)
Time (Sec.)
Resolution = 48 count per rev.
0 0.5 1 1.5 2 2.5 3 3.5 4-30
-20
-10
0
10
20
30
Pha
se c
urre
nt (A
)
Time (Sec.)
Torque ripple = 0.012 N.m.
![Page 17: Simulation of a_pmsm_motor_control_system](https://reader034.vdocument.in/reader034/viewer/2022042815/557cbca6d8b42a1b0c8b4f4b/html5/thumbnails/17.jpg)
17
0.5 1 1.5 2 2.5 3 3.5 4
0.996
0.998
1
1.002
Torq
ue(N
.m.)
Time (Sec.)
Resolution = 4096 count per rev.
0 0.5 1 1.5 2 2.5 3 3.5 4-30
-20
-10
0
10
20
30
Pha
se c
urre
nt (A
)
Time (Sec.)
4. SIMULATION & EXPERIMENTAL RESULTS
Simulated torque ripple with 4096-count resolution
Torque ripple = 0.006 N.m.
![Page 18: Simulation of a_pmsm_motor_control_system](https://reader034.vdocument.in/reader034/viewer/2022042815/557cbca6d8b42a1b0c8b4f4b/html5/thumbnails/18.jpg)
18
4. SIMULATION & EXPERIMENTAL RESULTS
Measured torque ripple with 48-count resolutionPhase A current is 10A/div. Average torque = 1.05 N.m.Torque ripple = 0.023 N.m. (peak to peak)
![Page 19: Simulation of a_pmsm_motor_control_system](https://reader034.vdocument.in/reader034/viewer/2022042815/557cbca6d8b42a1b0c8b4f4b/html5/thumbnails/19.jpg)
19
0.5 1 1.5 2 2.5 3 3.5 4
0.435
0.44
0.445
0.45
0.455
0.46
0.465To
rque
(N.m
.)
Time (Sec.)
Current sense error = 0.15 (A)
0 0.5 1 1.5 2 2.5 3 3.5 4-15
-10
-5
0
5
10
15
Mot
or c
urre
nt (A
)
Time (Sec.)
4. SIMULATION & EXPERIMENTAL RESULTS
Simulated current sensing with 0.15A error3-per-rev torque ripple is about 0.017 N.m
![Page 20: Simulation of a_pmsm_motor_control_system](https://reader034.vdocument.in/reader034/viewer/2022042815/557cbca6d8b42a1b0c8b4f4b/html5/thumbnails/20.jpg)
20
4. SIMULATION & EXPERIMENTAL RESULTS
Measured torque ripple with current sense error3-per-rev torque ripple is about 0.020 N.mPhase A current is 10A/div.
![Page 21: Simulation of a_pmsm_motor_control_system](https://reader034.vdocument.in/reader034/viewer/2022042815/557cbca6d8b42a1b0c8b4f4b/html5/thumbnails/21.jpg)
21
4. SIMULATION & EXPERIMENTAL RESULTS
Measured torque ripple with current error eliminated3-per-rev torque ripple is eliminatedPhase A current is 10A/div.
![Page 22: Simulation of a_pmsm_motor_control_system](https://reader034.vdocument.in/reader034/viewer/2022042815/557cbca6d8b42a1b0c8b4f4b/html5/thumbnails/22.jpg)
22
4. SIMULATION & EXPERIMENTAL RESULTS
Simulated d-axis step responseRise time is about 2 ms.There is no overshoot.
![Page 23: Simulation of a_pmsm_motor_control_system](https://reader034.vdocument.in/reader034/viewer/2022042815/557cbca6d8b42a1b0c8b4f4b/html5/thumbnails/23.jpg)
23
Measured d-axis step responseRise time is 1.8 ms.There is no overshoot.
4. SIMULATION & EXPERIMENTAL RESULTS
![Page 24: Simulation of a_pmsm_motor_control_system](https://reader034.vdocument.in/reader034/viewer/2022042815/557cbca6d8b42a1b0c8b4f4b/html5/thumbnails/24.jpg)
24
5. CONCLUSION
CONCLUSION• A complete PMSM drive model has been
presented.• Experimental results are provided to validate the
simulation models.• The effect of position sensor resolution and
current measurement errors are simulated and validated.
• The current loop step response is simulated and validated.
• The simulation work helps reduce product cost and development time.