Single Sensor Drive ICEMS2012 Poster-RDL v02
1
Single Sensor Three - Phase Permanent Magnet Synchronous Motor Drive based on Luenberger Style - Observers Bahaa Hafez 1 , A. Abdel-Khalik 2 , A. M. Massoud 3 , Shehab Ahmed 4 , and Robert D. Lorenz 5 1 Texas A&M University, College Station TX, U.S.A, 2 Alexandria University, Alexandria, Egypt, 3 Qatar University, Doha, Qatar, 4 Texas A&M University at Qatar, Doha, Qatar 5 University of Wisconsin-Madison, WEMPEC, Madison WI, U.S.A IEEE-ICEMS2012-Fall – Sapporo, Japan – October 22, 2012 This paper presents a technique to estimate phase currents and rotor position in a vector-controlled PMSM drive using only dc-link current measurement based on Luenberger style observers. Abstract Proposed Algorithm + i dc + v dq s * 1 L s r - ^ -E sal dq s ^ i dq s - + abc ab i abc K io R o + s ^ DC link Current Mapping PMSM Luenberger style observer i dq s ^ DC link measurement Limitation V 5 V 6 V 1 V 4 V 7 100 011 110 010 001 101 V 0 V com a Sector 1 Sector 2 Sector 3 Sector 4 Sector 5 Sector 6 V 2 V 3 S A_UP S B_UP S C_UP T 0 /4 T 0 /4 T 0 /4 T 0 /4 S A_LOW S B_LOW S C_LOW i a i a i c i c T 1 /2 T 2 /2 T 2 /2 T 1 /2 T pwm /2 T pwm /2 S A_LOW S B_LOW S C_LOW i dc i a i b i c S A_UP S B_UP S C_UP V 3 V 1 V 2 V 4 V 5 V 6 V 0 V 7 Sector boundary region Measurable region Low Modulation region t (sec) t com t set t on t A2D Full system and Hardware results Performance Improvement Motor current - full sensors Motor current - single sensor Conclusion • Better “Dynamic Stiffness” and lower harmonic motor current due to higher resolution estimated position. • Overcome the sector boundary region limitation. • No PWM modification needed. • Simple algorithm which can be implemented by an industry standard DSP (F2812). • Controllers orientation is simple and straightforward due the observer linearity. • No hardware modification needed. • 0.2 [PU] lower speed transient limit Test setup Parameter Parameter Value DC bus Voltage 100 V Phase resistance 1.4489 Ohms D,Q axis Inductance- 0.0049325 H Flux Linkage 0.077393 V.s/rad Pole pairs-P 6 Motor inertia-J 0.00924 kg/m 2 Motor viscous friction-b 0.005 N.m/s.rad Base current 7 A Base voltage 57.735 V Base mechanical speed 85 rad/s Base Torque 4 N.m Electrical loop freq. 5000 Hz Mechanical loop freq. 500 Hz CRO loop freq. 5000 Hz Elect. loop Eigen values freq. 10 Hz,100 Hz Mech. loop Eigen values freq. 0.1 Hz,1 Hz BEMF est. Eigen values freq. 80 Hz,800 Hz BEMF Tracking Observer Eigen values freq. 1Hz,10Hz,100Hz Speed Filter Eigen values freq. 0.1Hz,1Hz,10Hz Inverter 1 L s r K t 1 J s b 1 s K e - - - + + K io K o + s + + 1 J s ^ + + 1 s P 2 j( + ) e q r p 2 ^ ^ 1 J s w rm ^ q rm ^ q r ^ K io-2 K o-2 + s b o-2 + + + + ^ 1 J s 1 s + + - - q rm ^ w rm ^ w rm-2 ^ q rm-2 ^ Cascaded Position Observer Back-emf Tracking Observer E sal dq s ^ + i dc + 1 L s i dq s ^ r - ^ -E sal dq s ^ i dq s - + abc ab i abc R io R o + s Three phase Current Reconstruction/ Back-emf State Filter -1 ^ i d = 0 * T e * K i K p + s K t -1 i q * i d * + j i q * K io-1 K o-1 + s v dq s dq ab * SVM q r ^ T e * T e * w rm-2 ^ w rm * + - + - Physical motor/inverter setup Drive Controller ab dq i dq ^ E sal dq s v dq s T e T d + w rm q rm 0.5 P
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single sensor three phase permanent magnet synchronous motor drive - paper poster presented in ICEMS2012 conference - this poster covers the paper presented in ICEMS2012 conference which took place in Japan.- the paper introduced presents a technique to estimate phase currents and rotor position in a vector-controlled PMSM drive using only dc-link current measurement based on Luenberger style observers.- the final outcomes could be summarized in the following -Better “Dynamic Stiffness” and lower harmonic motor current due to higher resolution estimated position. -Overcome the sector boundary region limitation. -No PWM modification needed. -Simple algorithm which can be implemented by an industry standard DSP (F2812). -Controllers orientation is simple and straightforward due the observer linearity. -No hardware modification needed. -0.2 [PU] lower speed transient limit
Transcript of Single Sensor Drive ICEMS2012 Poster-RDL v02
Single Sensor Three-Phase Permanent Magnet Synchronous Motor Drive based on Luenberger Style-Observers
Bahaa Hafez 1, A. Abdel-Khalik 2, A. M. Massoud 3, Shehab Ahmed 4, and Robert D. Lorenz 5
1 Texas A&M University, College Station TX, U.S.A, 2 Alexandria University, Alexandria, Egypt, 3 Qatar University, Doha, Qatar, 4 Texas A&M University at Qatar, Doha, Qatar
5 University of Wisconsin-Madison, WEMPEC, Madison WI, U.S.A
IEEE-ICEMS2012-Fall – Sapporo, Japan – October 22, 2012
This paper presents a technique to
estimate phase currents and rotor position
in a vector-controlled PMSM drive using
only dc-link current measurement based
on Luenberger style observers.
Abstract
Proposed Algorithm
+
idc
+
vdq s *
1
L s
r
-
^
-Esal dq
s^
idq
s
-
+
abc
ab
iabc Kio
Ro +
s ^
DC link Current Mapping
PMSM Luenberger style observer
idq
s^
DC link measurement Limitation
V5 V6
V1V4
V7100
011
110010
001 101
V0
Vcom
a
Sector 1
Sector 2
Sec
tor
3
Sector 4
Sector 5
Sec
tor
6
V2V3
SA_UP
SB_UP
SC_UP
T0/4 T0/4T0/4 T0/4
SA_LOW
SB_LOW
SC_LOW
ia iaic ic
T1/2 T2/2 T2/2 T1/2
Tpwm/2 Tpwm/2
SA_LOW SB_LOW SC_LOW
idc
ia
ib
ic
SA_UP SB_UP SC_UP
V3
V1
V2
V4
V5 V6
V0
V7
Sector boundary region
Measurable
region
Low Modulation region t (sec) tcom
tset ton tA2D
Full system and Hardware results
Performance Improvement
Motor current - full sensors
Motor current - single sensor
Conclusion
• Better “Dynamic Stiffness” and lower harmonic motor
current due to higher resolution estimated position.
• Overcome the sector boundary region limitation.
• No PWM modification needed.
• Simple algorithm which can be implemented by an
industry standard DSP (F2812).
• Controllers orientation is simple and straightforward
due the observer linearity.
• No hardware modification needed.
• 0.2 [PU] lower speed transient limit
Test setup Parameter Parameter Value
DC bus Voltage 100 V
Phase resistance 1.4489 Ohms
D,Q axis Inductance- 0.0049325 H
Flux Linkage 0.077393 V.s/rad
Pole pairs-P 6
Motor inertia-J 0.00924 kg/m2
Motor viscous friction-b 0.005 N.m/s.rad
Base current 7 A
Base voltage 57.735 V
Base mechanical speed 85 rad/s
Base Torque 4 N.m
Electrical loop freq. 5000 Hz
Mechanical loop freq. 500 Hz
CRO loop freq. 5000 Hz
Elect. loop Eigen values freq. 10 Hz,100 Hz
Mech. loop Eigen values freq. 0.1 Hz,1 Hz
BEMF est. Eigen values freq. 80 Hz,800 Hz
BEMF Tracking Observer
Eigen values freq. 1Hz,10Hz,100Hz
Speed Filter Eigen values
freq. 0.1Hz,1Hz,10Hz
Inverter
1
L s
r
Kt
1
J s
b
1
s
Ke
--
- ++
Kio
Ko +
s
++
1
J s^
+
+
1
s
P
2
j( + )
e
qr
p2
^
^
1
J s
wrm^
qrm
^
qr
^
Kio-2
Ko-2 +
s
bo-2
+
+
+
+^
1
J s
1
s+
+
-
- qrm
^
wrm^
wrm-2^
qrm-2
^
Cascaded Position
Observer
Back-emf Tracking
Observer
Esal dq
s^
+idc
+
1
L s
idq
s^
r
-
^
-Esal dq
s^
idq
s
-
+abc
ab
iabc Rio
Ro +
s
Three phase Current Reconstruction/
Back-emf State Filter
-1
^
id = 0*
Te* Ki
Kp +
s
Kt-1
iq*
id*+ j iq
* Kio-1
Ko-1 +
s
vdq s
dq
ab
*
SVM
qr^
Te* Te
*
wrm-2^
wrm*
+
-
+
-
Physical motor/inverter setupDrive Controller
ab
dq
idq^
Esa
l d
q
s
vdq s
Te
Td +wrm
qrm
0.5 P
