Implementation of a Sensorless Synchronous Motor Drive Control System with Prescribed Closed-Loop Speed Dynamics

1
MODEL REFERENCE ADAPTIVE CONTROL OF PERMANENT
MAGNET SYNCHRONOUS MOTOR DRIVE WITH FORCED
DYNAMICS
2
Model of Permanent Magnet Synchronous Motor
Non-linear differential equations formulated in
the magnetic field-fixed d,q co-ordinate system
describe the permanent magnet synchronous motor
and form the basis of the control system
development.
3
Control System Structure for PM Synchronous Motor
4
Master Slave Control Laws
5
SET OF OBSERVERS FOR STATE ESTIMATIONAND
FILTERINGFOR SMPM
6

The pseudo-sliding mode observer
These terms are treated together as a
disturbance vector
The remainder of the motor equation forms the
basis of the real time model of the observer.

7
The Sliding Mode Observer and Angular Velocity
Extractor
8
The Filtering Observer
Filtered values of and are produced by
the observer based on Kalman filter
Load torque is modelled as a state variable
Electrical torque of SM is treated as an external
input to the model
9
Original control structure of speed controlled
synchronous motor
ua
Slave control law
POWER electronics
ia_dem
id_dem
Master control law
Transf. dq /a,ß and a,ß/a,b,c
ib_dem
ub
iq_dem
SMPM
ic_dem
uc
ia
ib
ua,b,c
Transf. abc / a,b and a,b / d,q
ia
ib
Discrete two phase oscillator
ic
cosq
sinq
id
iq
iq
uq
id
ud
id
vd_ekv
Sliding mode Observer
Angular velocity Extractor
iq
Filtering observer
vq_ekv
10

MRAC outer loop
11
Experimental Verification

• Parameters of the PMSM

Pn475 W wn157 rad/s Tn0,47 Nm
Equivalent Circuit Parameters Rs1,26 W
Ld9,34 mH Lq9,2 mH p2 J0,0005 kg.m2
YPM0,112 Vs
Parameters of IGBT Semikron 6MBI-060 are as
follows nominal voltage 1000 V , nominal
current 6x10 A. Current sensors are as
follows LEM LTA 50P/SPI.
12
EXPERIMENTAL RESULTS 1
13
EXPERIMENTAL RESULTS 2
14
Simulation resultswithout outer loop and with
outer loop
b)
a)
c)
d)
a) stator currents, b) rotor mg. fluxes, c)
applied torque and estimated torque and rotor
speed from filtering observer d) rotor speed and
ideal speed from transfer function
15
Experimental Resultswithout outer loop and with
outer loop
a)
a)
b)
b)
a) ideal speed and estimated speed from filtering
observer and b) ideal speed with real rotor speed
from speed sensor.
16
Acceleration Demands for Three Various Dynamics
17
Experimental Results for Synchronous Motor Drive
18
Second Order Dynamics for Various Damping Factor
Tsettl0.15 s , wd 40 rad/s
19
Conclusions

• A new approach to the control of electric drives
  with permanent magnet synchronous motors, when
  original forced dynamics control system was
  completed with outer control loop based on MRAC,
  has been developed and experimentally proven.
• Three various prescribed dynamics to speed
  demands were achieved and beneficial influence of
  added control loops was observed.
• Application to the vector controlled drive with
  PMSM is possible. Further improvement of this
  control technique can continue via application of
  more sophisticated PWM strategy.