SPC PWM IPM Proposal of Control Method for IPM Motor Based on PWM Hold Model in Overmodulation Range Takayuki Miyajima, Hiroshi Fujimoto (Yokoha
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1 SPC-9-7 PWM IPM Proposal of Control Metho for IPM Motor Base on PWM Hol Moel in Overmoulation Range Takayuki Miyajima, Hiroshi Fujimoto (Yokohama National University) Abstract IPM motors are use for electric vehicle motors. So, control in overmoulation range is important for wie riving range. Usually, IPM motor is controle by using current vector control base on sinusoial PWM or overmoulation PWM an voltage phase control on rectangular wave rive. However, we nee to switch the structure of controller from current vector control to voltage phase control. In this paper, we propose control metho base on PWM hol moel in overmoulation range without the controller switchig an verify the propose metho by simulations an experiments. IPM PWM (IPM motor, overmoulation range, PWM hol mole, perfect tracking control ). (PM ) PM (SPM ) (IPM ) IPM PM PWM V c / (V c : ) PWM ( ) PWM () () PWM PWM () (4) v v q v ω e L q L s R ω e L K L q s R t T v q Fig.. i q K e K rt ω e P Js D IPM q q-moel of IPM moter. PWM IPM PWM (7). IPM q IPM q () [ ] [ ][ ] [ ] v R sl ω el q i = () v q ω el R sl q i q ω ek e v (q) :(q) R: L (q) :(q) (L L q) ω e: (q) :(q) K e: T ω m (),() ω m = Js D T () T = K ti q K rt i q () J: D: K t = P K e K rt = P (L L q) P : () () ω e = P ω m ω m s θ m /6
2 E[V] V [k] kt u T[k] t (k )T u v a Ri a ω e L ω e L q i q δ i a β q-axis ω e K e i q i ref i ref q Fig.. C [z] C q [z] Fig.. Decoupling Control q PWM q uvw PWM hol. u v w IPMSM Inverter i u i v θ e uvw Block iagram of current vector control. IPM q q () (4),(5) v (q) (q) v = v ω el qi q (4) v q = v q ω e (L K e ) (5) x (q) u v (q) IPM (6),(7) ẋ(t) = A c x(t) b c u(t), y = c c x(t) (6) A c = R, b c =, c c = (7) L (q) L (q) PWM q i q V [k], ±E[V](E: ) PWM (5) (8) (9),() T [k] T [k] E[V] ẋ(t) = A c x(t) b c u(t), y(t) = c c x(t) (8) x[k ] = A s x[k] b s T [k], y[k] = c s x[k] (9) A s = e A ct u, b s = e A ct u / b ce, c s = c c (). (4),(5) (6),(7) FB () PI C (q) (s) 4 Fig. 4. Fig. 5. -axis IPM Phasor iagram of IPM Motor on steay state. PI Contoller δ Voltage Calculator q Torque Estimator i q uvw 5 i u i v θ e u v w IPMSM Inverter Block iagram of voltage phase control. C (q) (s) = L (q)s R τs () τ = T u () T u Tustin C (q) [z],vq ref q/ vu ref,vv ref,vw ref δ 4 5 () PI δ (),() δ, vq ref q/ V c / V c / = sin δ () q = cos δ () PI K P =.745 K I =4.9 Tustin δ ±π/[ra].8 q.8( ) δ /6
3 r(t) r[k] = x [k ] S (T u ) Fig. 6. B ( z A) C [z] z C 6 D u [k] y [k] C [z] SR-PTC u[k] e[k] y[k] PLANT P c (s) S (T u ) Singlerate perfect tracking control system. q y(t). q () (6) (PTC) 6 (FF) C [z] (FB) C [z] FF FB n n (6),(7) PTC (4), y [k] (5),(6) x[k ] = Ax[k] Bu[k], y[k] = Cx[k] (4) u [k] = B (I z A)x [k ] (5) y [k] = z Cx [k ] Du [k] (6) (6),(7) E = V c PWM (7) u[k] T (q) [k] (5),(6) FF PTC R A = e T L u (q), B = e L R Tu (q) L (q) V c, C = (7) FB PI C (q) [z] q 7 (8) (8) T, T q (8) q/ T α, T β 8 V 4 (,,) i ref q [k] = x [k ] Fig. 7. current. T u T q [k] V c B ( z A) C [z] Decoupling Control z C T u V c C [z] e[k] i q [k] i q [k] 7 (q ) T q [k] S (T u ) i q (t) Block iagram of propose metho for q-axis β (,,) V V (,,) ΙΙΙ ΙV (,,) V 5 T β V (,,) V ΙΙ T Ι θ α T T α V (,,) VΙ V 6 (,,) UV W V c[v] V uv V vw V c[v] V wu V c[v] kt u V V i V j V i V /( Ti T j) T i / Tj T i (k )T u 8 Fig. 8. Space vector moulation. 9 Fig. 9. Pulse of line voltage. VI 9 (8) Ti,j n 5% [ ] [ ][ ] Tα cos θe sin θ e T = (8) T β sin θ e cos θ e T q ( Ti Tj) > Tu ( T i T j ) = T u,q (9) q T, T q V π/[ra] V V 6 6 /6
4 6 ±π/6[ra] V π/6 θ < π/6 T i T j q T π u q T q T q = T T q Tu (9) π I VI (V V 6 ) θ = π/6[ra] V T q = π Tu T = T = π T u () T π T =, T = Tu T q T q > T u () T i or j k (9) k k π k k k T u V V 6 T V () V k T = k T ( T T ) > T u T T u V T T T k π Fig.. T q T u π T u k Weight factor k Table. -axis Inuctance L q-axis Inuctance L q Resistance R V / T / T V T Fig.. T T T V Selection of vector on saturation of control input IPM Parameters of IPM motor..7[mh].6[mh] 54.9[mΩ] Pairs of poles P Inuce voltage constant K e 44.96[mV/(ra/s)] Inertia J 5.4 [kgm ] Viscous friction D 4..6 [Nm/(ra/s)] IPM T u.[msec] V c 6.[V] FF,q () 4 ω e=5[ra/s] (.[Hz]) LPF( [msec]) flag H L T u U V c / V c / T u/t u (V c / ) (V c / ),9[sec] 4/6
5 flag (a) ( ) (b) ( ) (c) ( ) () ( ) /T u / T u / T u / T u (e) U ( ) (f) U ( ) (g) U ( ) ( ) Fig.. Simulation result of transition to rectangular wave rive (h) U ( ) 5% PTC 4 ω e=44[ra/s] 6[Hz] PTC 5. 5 ω e=6[ra/s] 4 5 ω e=6[ra/s] 5 PTC 6. PWM PTC H. Nakai, H. Ohtani, E. Satoh, an Y. Inaguma: Development an ng of the Torque Control for the Permanent-Magnet Synchronous Motors, IEEE Trans. In. Electron., Vol.5, No., pp8-86(5) H. Nakai, H. Ohtani, E. Satoh, an Y. Inaguma: Novel Torque Control Technique for High Efficiency/High Power Interior Permanent Magnet Synchronous Motors, R&D Review of Toyota CRDL, Vol.4, No., pp44-49(5) S. Leruomsak, S. Doki, S. Okuma: A Novel Current Control System for PMSM Consiering Effects from Inverter in Overmoulation Range,PEDS 7, pp.794-8(7) 4 H. Kobayashi, H. Kitagawa, S. Doki, S. Okuma: Realization of a Fast Current Control System of PMSM base on Moel Preictive Control, The 4th Annual Conference of the IEE Inustrial Electronics Society, pp.4-48, Floria, USA(8) 5 K. P. Gokhale, A. Kawamura, an R. G. Hoft: Deat Beat Microprocessor Control of PWM Inverter for Sinusoial Output Waveform Synthesis, IEEE Trans. 5/6
6 .5.5 () トルク (提案法) (c) トルク (従来法 ) (b) トルク (従来法 ) (a) トルク (従来法 ) 図 目標トルク追従特性 (シミュレーション) Fig.. Simulation result of torque tracking characteristic (b) トルク (従来法 ) (c) トルク (従来法 ) (h) U 相制御入力 (提案法) (g) U 相制御入力 (従来法 ).5 flag time [ms] (a) トルク (従来法 ) 図 4 矩形波駆動への移行 (実験) Experiment result of transition to rectangular wave rive..4 (f) U 相制御入力 (従来法 ) Fig (e) U 相制御入力 (従来法 ) () トルク (提案法) (a) トルク (従来法 ) flag.5.5 (b) トルク (従来法 ) Fig time [ms] (c) トルク (従来法 ) time [ms] () トルク (提案法) 図 5 目標トルク追従特性 (実験) Experiment result of torque tracking characteristic. In. Appl., Vol., No., pp9-9(987) 6 井 村 彰 宏 多 相 回 転 機 の 制 御 装 置 特 開 868(8) 7 H. Fujimoto, Y. Hori, an A. Kawamura: Perfect Tracking Control Metho Base on Multirate Feeforwar Control, T.SICE, Vol.6, No.9, pp76677()(in Japanese) 8 K. Sakata, H. Fujimoto: Perfect Tracking Control of Servo Motor Base on Precise Moel Consiering Current Loop an PWM Hol, T.IEEJapan, Vol.7-D, No.6, pp587-59(7)(in Japanese) 9 J. Holtz, W. Lotzkat an A.M.Khambakone: On Con- tinuous Control of PWM Inverters in Overmoulation Range Incluing the Six-Step, IEEE Trans. Power Electron, Vol.8, No.4, pp546-55(99) 武田洋次 森本茂雄 松井信行 本田幸夫 埋込磁石同 期モータの設計と制御 オーム社 () 6/6
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