Industrial Electrical Engineering and Automation
Elenergiteknik
1
Control
Industrial Electrical Engineering and Automation
Elenergiteknik
2
Position control
position
reference
position
control
speed
reference
speed
control
current
reference
current
control
Motor
speed
current
position
+
-
equip
acc/
torq/
curr
motor
voltage
+
-
+
-
Industrial Electrical Engineering and Automation
Elenergiteknik
3
Speed control
1
1
s
T
s
s
J
1
speed
reference
ω
*
current
loop
inertia
Speed
ω
+
-
K
w
torque
reference
-
+
load
torque
torque
s
w
s
w
s
s
w
s
w
L
T
J
k
T
J
k
T
T
s
k
T
J
s
k
J
s
J
T
T
dt
d
T
T
dt
d
J
4
2
1
2
1
1
1
2
2
*
Torque
reference
Industrial Electrical Engineering and Automation
Elenergiteknik
4
DC
-
motor
m
0
a
x
y
a
i
f
i
Armature winding
Compensation widning
Commutation pole
Field winding
Industrial Electrical Engineering and Automation
Elenergiteknik
5
Detailed picture of the rotor
a
i
a
i
Industrial Electrical Engineering and Automation
Elenergiteknik
6
Current control of DC
-
motor
Current
reference
current
control
voltage
Mod
4QC
Motor
Current
+
-
torque
reference
m
1
Industrial Electrical Engineering and Automation
Elenergiteknik
7
Current control of DC
-
motor, cont’d
m
r
a
a
i
a
m
r
s
a
a
a
a
m
r
a
a
a
a
a
a
a
a
a
k
k
i
k
i
k
k
u
k
T
k
i
k
i
L
k
u
dt
di
L
R
e
dt
di
L
i
R
u
*
*
*
1
0
Industrial Electrical Engineering and Automation
Elenergiteknik
8
Puls width modulation
Carrier wave
voltage
reference
Output voltage
0
0.005
0.01
0.015
0
20
40
60
80
100
0
0.005
0.01
0.015
0
20
40
60
80
100
sa
0
va
+50
-
50
Industrial Electrical Engineering and Automation
Elenergiteknik
9
4Q PWM
•
1 voltage, 2 potentials
•
infinite number of combainations of
va* and vb* for u=va
-
vb.
•
Set va*=u*/2 och vb*=
-
u*/2
i
L, R
+ e
-
id
sa
+ u
-
sb
0
va
vb
+Ud/2
-
Ud/2
Industrial Electrical Engineering and Automation
Elenergiteknik
10
0
0.001
0.002
0.003
0.004
0.005
0.006
0.007
0.008
0.009
0.01
-200
0
200
0
0.001
0.002
0.003
0.004
0.005
0.006
0.007
0.008
0.009
0.01
-200
0
200
0
0.001
0.002
0.003
0.004
0.005
0.006
0.007
0.008
0.009
0.01
-200
0
200
0
0.001
0.002
0.003
0.004
0.005
0.006
0.007
0.008
0.009
0.01
0
200
400
0
0.001
0.002
0.003
0.004
0.005
0.006
0.007
0.008
0.009
0.01
-5
0
5
varef
vbref
va
vb
ua
ia
Control of a 4
-
kv. DC conv:
•
v
a
*=u*/2
•
v
b
*=
-
u*/2
•
Example:
–
Udc=300 V
–
u*=100 V
Industrial Electrical Engineering and Automation
Elenergiteknik
11
Permanent magnetized synchrounous
motor, PMSM
Industrial Electrical Engineering and Automation
Elenergiteknik
12
3
-
phase PMSM
a+
a+
a-
a-
b+
b+
b-
b-
c+
c+
c-
c-
Industrial Electrical Engineering and Automation
Elenergiteknik
13
Vektor control of a PMSM
-
motor
i
sx
-
reg
i
sx
*
i
sy
*
i
sx
-
reg
u
sx
*
u
sy
*
e
+j
Θ
r
2
Φ
/
3
Φ
Mod
3fas
-
omr
2
Φ
/
3
Φ
e
-
j
Θ
r
Motor
+
-
+
-
i
sa,b,c
u
sa,b,c
u
s
α
,
β
Industrial Electrical Engineering and Automation
Elenergiteknik
14
Convertion of current from
stator to rotor coordinates
t
i
t
i
i
t
i
t
i
i
t
i
t
i
j
t
i
t
i
e
i
e
i
i
s
s
sy
s
s
sx
s
s
s
s
t
j
s
j
s
xy
s
r
r
sin
cos
sin
cos
sin
cos
sin
cos
Industrial Electrical Engineering and Automation
Elenergiteknik
15
Current control PMSM
m
sy
sx
m
sx
s
s
sy
sy
s
sy
s
sy
sy
s
s
sx
sx
s
sx
s
sx
m
s
m
s
s
s
s
s
s
s
s
s
T
i
and
i
where
i
L
T
i
i
L
i
R
u
i
L
T
i
i
L
i
R
u
T
i
j
i
L
j
T
i
i
L
i
R
u
*
*
*
*
*
*
*
*
*
*
*
*
*
0
Industrial Electrical Engineering and Automation
Elenergiteknik
16
Convertion of stator voltage from
rotor to stator coordinates
t
u
t
u
u
t
u
t
u
u
t
u
t
u
j
t
u
t
u
e
u
e
u
u
sx
sy
s
sy
sx
s
sx
sy
sy
sx
t
j
xy
s
j
xy
s
s
r
r
sin
cos
sin
cos
sin
cos
sin
cos
Industrial Electrical Engineering and Automation
Elenergiteknik
17
Conversion from two phases
αβ
-
frame
to three phases abc
-
frame
s
s
c
s
s
b
s
a
u
u
u
u
u
u
u
u
2
3
2
1
3
2
2
3
2
1
3
2
3
2
m
x
y
a
u
b
u
c
u
m
x
y
u
u
s
u
s
u
r
Industrial Electrical Engineering and Automation
Elenergiteknik
18
The 3
-
phase voltage
-400
-300
-200
-100
0
100
200
300
400
0
50
100
150
200
250
300
350
400
Industrial Electrical Engineering and Automation
Elenergiteknik
19
Symmetrized motor voltage
-800
-600
-400
-200
0
200
400
600
800
0
0,002
0,004
0,006
0,008
0,01
0,012
0,014
0,016
0,018
0,02
Industrial Electrical Engineering and Automation
Elenergiteknik
20
Control of 3
-
phase converter
•
Symmetration of
references
0
0.002
0.004
0.006
0.008
0.01
0.012
0.014
0.016
0.018
0.02
-500
0
500
ua
r
ef & tri
0
0.002
0.004
0.006
0.008
0.01
0.012
0.014
0.016
0.018
0.02
-500
0
500
va
0
0.002
0.004
0.006
0.008
0.01
0.012
0.014
0.016
0.018
0.02
-500
0
500
vo
0
0.002
0.004
0.006
0.008
0.01
0.012
0.014
0.016
0.018
0.02
-500
0
500
ua
varef
tri
va
v0
u=va-v0
grundton 50 Hz
2
min
max
*
*
*
*
*
*
z
z
c
c
z
b
b
z
a
a
u
u
u
v
u
u
v
u
u
v
Industrial Electrical Engineering and Automation
Elenergiteknik
21
3
-
phase output voltage as vector
)
(
2
1
2
3
3
2
3
4
3
2
c
b
a
j
c
j
b
a
u
u
j
u
e
u
e
u
u
ju
u
u
)
100
(
u
)
110
(
u
)
010
(
u
)
011
(
u
)
001
(
u
)
101
(
u
)
000
(
u
)
111
(
u
id
sa
0
va
+Ud/2
-
Ud/2
sb
vb
sc
vc
+
uab
-
+ ubc
-
-
uca
+
+
ua
-
+
ub
-
+
uc
-
vo
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