Implementation methods for Vector controlled PMSM Drive System

Control of Servo Motors

Implementation methods for Vector controlled PMSM Drive System
- Power Circuit
- Detection (Current, Voltage, Speed, Position)
- Control (Analog , Digital)
Power Circuit
PMSM
P W M
Inverter
- Full bridge rectifier ( Six diodes)
- 3-phase AC voltage DC voltage
- Harmonics : 6th times to source frequency
- Filtering capacitor
- For suppressing the harmonics in DC Voltage
- Electrolytic Capacitor : High capacity & Low cost
- Initial charging circuit for filtering capacitor
- To prevent the rush current in the capacitor at start-up of power circuit
- Charging through resistor at initial condition
Implementation methods for Vector controlled PMSM Drive System
Control of Servo Motors
PWM inverter
- Driver circuit
- To drive the switching device
- The structure of driver circuit
- Opto-coupler : Isolation between the signal ground and the power ground
- Driver circuit : Increasing current or changing voltage level
- Separate dc power source is required
-Six switching devices in anti-parallel with diodes.
a
b
c
A
+
C
-
A
-
C
+
B
-
B
+
a
b
c
PWM
+Vcc
Driver
Circuit
+V
SS
Opto-Coupler
(A+)
A+
Driver circuit
Implementation methods for Vector controlled PMSM Drive System
Control of Servo Motors
Switching device
Discrete - type
Module - type
IPM (Intelligent Power Module)
-Six or seven switching devices
(one switching device for
dynamic braking)
- Drive circuit
- Protector circuit for overcurrent,
under or over voltage
Detection method for PMSM drive system
Control of Servo Motors
Sensing devices
- Current sensors
Three-phase ac currents & dc link current
- Voltage sensors
Three-phase ac voltage & dc capacitor voltage
- Speed & position sensor
Requirement of sensor
-Accuracy
- Range (Measurement)
- Nonlinearity
- Isolation (Ground of signal is separated from that of power circuit)
- Type of output signal
(voltage, current, number of pulse, duty cycle of pulse)
Current sensor
Control of Servo Motors
Current sensor
- Sensing ac and dc currents
- Hall-effect current sensor
- Hall element
B
I C
VH
IC
d
B B I
d
K
V
C H
- - =

Output voltage of hall element

- The Hall voltage is proportional to flux
- The polarity of hall voltage Direction of flux
I
AMP.

V
out
Hall device

Hall effect current sensor

- Structure of hall effect current sensor
- DC power supply : +15V, -15V
- Measuring both ac and dc current
- Isolation from power circuit
Current sensor
Control of Servo Motors
Output voltage versus current
( Ex. 4V/100A Hall-effect sensor)
- Magnitude of output voltage is proportional to current

Block diagram for current measurement circuit for digital control

Current
100 A -100 A
+4V
-4V
Output voltage
Type of Hall-CT
Hall-CT
Low-Pass
Filter
Amplifier
A/D
Converter
Voltage sensor
Control of Servo Motors
Voltage sensor : Measuring three-phase ac voltages and dc capacitor voltage

Measuring three-phase ac voltages
- Transformer for isolation and magnitude control
Vab
+
-
Vo
+
-
N1 N2
a b c
c
a
Transfomer
- Signal ground is isolated from power ground
- Output voltage (Secondary winding voltage) of transformer
ab o
V
N
N
V
1
2
=
- Frequency response of transformer is not good
- Ferrite core is used to improve the frequency performance
- The transformer cant be used to measure the dc voltage
Output voltage is adjusted by winding ratio.
Voltage sensor
Control of Servo Motors
Isolation amplifier
- Measuring both ac and dc voltage
- Isolation
- Amplification factor : 1:1 or 1:8 It is difficult to control the magnitude of voltage

- Block diagram for voltage measurement circuit using isolation amplifier
- Internal structure of isolation amplifier
(AD 202)
Isolation
Low-Pass
Filter
Amplifier
A/D
Converter
Amplifier
R1
R2
V
i
+
-
V
ab
+
-
ab i
V
R R
R
V
2 1
2
+
=
Speed measurement methods
Control of Servo Motors
Tachogenerator
Speed measurement methods
- Tachogenerator
- Incremental encoder

- Linearity is not good
- LPF, amplification, A/D converter are required for digital control
- DC generator type
- DC Output voltage is generated by speed
Speed
Output voltage
Control of Servo Motors
Structure of incremental encoder
- Output signals : A, B, Z pulses
- A and B pulses : Many pulses are outputted at one revolution
Ex. 2048 P/R (pulses per revolution)
Phase difference between A and B is 90
- Z pulse : One pulse is outputted at one revolution

A
B
Z
Output signals of encoder
Speed measurement using Incremental encoder
Control of Servo Motors
Direction of rotor speed
- Checking whether the rotor rotates at forward direction or reverse direction using D
F/F.

A
B
D F/F
D Q F / R
[1] Forward rotation
- A pulse leads by 90 to B pulse The output of D F/F is 1
A
B
F / R
[2] Reverse rotation
- B pulse leads by 90 to A pulse The output of D F/F is 0
A
B
F / R
Speed measurement using Incremental encoder
Control of Servo Motors
Calculation of speed
- To increase the frequency of encoder pulse
Improvement of resolution of speed calculation
- AB The frequency of encoder pulse is increased by twice.
- Monostable The frequency of encoder pulse is increased by four times.

A
B
A B
Monostable
Method of speed calculation by encoder pulse
- T method
- M method
- M/T method
Speed measurement using Incremental encoder
Control of Servo Motors
T method
- The one period of encoder pulse is measured by counting the high frequency clock & speed is calculated.
- Motor speed The period of encoder pulse Resolution of speed calculation
- Motor speed The period of encoder pulse Resolution of speed calculation
Overflow in counter may be generated

Encoder
pulse
High frequency
Clock
1 Period
M method
- The speed is calculated by counting the encoder pulse during speed sampling time.
- Motor speed The number of encoder pulse Resolution of speed calculation
- Motor speed The number of encoder pulse Resolution of speed calculation
* Resolution is dependent on P/R of encoder, speed sampling period, and speed.
Speed measurement using Incremental encoder
Control of Servo Motors

M method
- The speed is calculated by counting the encoder pulse during speed sampling time.
- Motor speed The number of encoder pulse Resolution of speed calculation
- Motor speed The number of encoder pulse Resolution of speed calculation
* Resolution is dependent on P/R of encoder, speed sampling period, and speed.
Encoder
pulse
Speed Sampling Time
(T ) s
Ex.) 1024 P/R encoder, Speed sampling time = 10ms, Motor speed =1800rpm .
What is no. of encoder pulse for counter ?
* # of encoder pulse for sampling period = (1800/60)[rps] * (1024*2) * 0.01 = 614
- Equation of speed
) (#
* 2 * ) / (
60
] [ pulse encoder of
T R P
rpm
s
r
= e
Where T
s
= speed sampling time.
Speed measurement using Incremental encoder
Incremental encoder for Speed measurement
Control of Servo Motors

Resolver
- 2-axis stator winding and rotating transformer
- sin et coset are applied to two stator winding, respectively.
- Output voltage of rotating transformer
- R/D converter for digitization
Position measurement methods
) sin( ) sin cos cos (sin ) sin cos (
4 _ 3 2 _ 1 2 _ 1
u e e u e u e e = = = t K t t K t E t E K E
s s R
Incremental encoder for Speed measurement
Control of Servo Motors

Incremental encoder
- Frequency of encoder pulse is increased by twice using exclusive OR
- Z-pulse is generated at the center of N-pole of rotor flux. (at the position u=0)
External interrupt is generated by Z-pulse
- Advantage
- Digital value of position can be obtained
- The low cost and simple structure
- Both the position and speed are measured with one incremental encoder
- Disadvantage
- The absolute position of rotor can not be available at any time
- The position should be compensated, whenever the Z-pulse is generated
Position measurement methods
A
B
A B
Z
N
Incremental encoder for Speed measurement
Control of Servo Motors

Absolute encoder
- Multi layer : 12-bit absolute encoder 12 layers
- Structure of absolute encoder
Position measurement methods
- Advantage
- Digital value of position can be obtained
- The absolute position can be available at any time
- Disadvantage
- The number of output lines is too many
- The cost is high
- Number of bit Cost and resolution
Incremental encoder for Speed measurement
Control of Servo Motors

Output data of absolute encoder
- Grey code is used to prevent the measurement error
Position measurement methods
31 0 0 0 0 1 1 1 1 1 1
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11 0 1 1 1 0 1 1 0 1 0
10 1 1 1 1 0 0 1 0 1 0
9 1 0 1 1 0 1 0 0 1 0
8 0 0 1 1 0 0 0 0 1 0
7 0 0 1 0 0 1 1 1 0 0
6 1 0 1 0 0 0 1 1 0 0
5 1 1 1 0 0 1 0 1 0 0
4 0 1 1 0 0 0 0 1 0 0
3 0 1 0 0 0 1 1 0 0 0
2 1 1 0 0 0 0 1 0 0 0
1 1 0 0 0 0 1 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0
Decimal Gray Code Natural Binary Code
Grey code
- Only one bit is changed
At transition from 7 to 8
* binary code :
00111b(7) 01111b (15) or 00000b (0)
* Grey code :
00100b(7) 01100b(8) or 00100b(7)
Table for binary code and grey code (5-bit)