PERMANENT MAGNET SYNCHRONOUS MOTOR DRIVE SYSTEM FOR MECHATRONICS APPLICATIONS

Transcription

1 El Shahat & El Shewy Permanent Magnet Synchronou Motor Dre Sytem PERMANENT MAGNET SYNCHRONOUS MOTOR DRIVE SYSTEM FOR MECHATRONICS APPLICATIONS Ael El Shahat,* & Hame El Shewy Mechatronc-Green Energy Lab., Electrcal & Computer Engneerng Dept., Oho State Unerty, USA Department of Electrcal Power an Machne Engneerng, Zagazg Unerty, Egypt * E-mal: [email protected], [email protected], [email protected] ABSTRACT In th paper, a fel orente controlle PM motor re ytem ecrbe an analyze ue to t mportance n many applcaton epecally n mechatronc applcaton. Permanent Magnet Synchronou Motor (PMSM) are wely apple n nutral an robotc applcaton ue to ther hgh effcency, low nerta an hgh torue to olume rato. A cloe loop control ytem wth a PI controller n the pee loop ha been egne to operate n contant torue angle an flux weakenng regon. A comparate tuy of hytere an PWM control cheme aocate wth current controller ha been mae. Then, the mulaton of a fel orente controlle PM motor re ytem eelope ung Smulnk. The mulaton crcut for PM ynchronou motor, nerter, pee an current controller nclue all realtc component of the re ytem. Smulaton reult for both hytere an PWM control cheme aocate wth current controller are gen for two pee of operaton, one below rate an another aboe rate pee. Keywor: Permanent Magnet, Synchronou Motor, Fel Orente, Control, Smulnk, Dre, PI Controller, Torue Angle, Flux Weakenng, Hytere, PWM.. INTRODUCTION Among the ac re, permanent magnet ynchronou machne (PMSM) re hae been ncreangly apple n a we arety of nutral applcaton an mechatronc applcaton. The reaon come from the aantage of PMSM: hgh power enty an effcency, hgh torue to nerta rato, an hgh relablty. Recently, the contnuou cot reucton of magnetc materal wth hgh energy enty an coerctty (e.g., amarum cobalt an neoymum-boron ron) make the ac re bae on PMSM more attracte an compette. In the hgh performance applcaton, the PMSM re are reay to meet ophtcate reurement uch a fat ynamc repone, hgh power factor an we operatng pee range. Coneuently, a contnuou ncreae n the ue of PMSM re wll urely be wtnee n the near future [-]. The ector control (or calle fel-orente control) of ac machne wa ntrouce n the late 960 by Blachke, Hae, an Leonhar n Germany. Followng ther poneerng work, th technue, allowng for the uck torue repone of ac machne mlar to that of c machne, ha achee a hgh egree of maturty an become popular n a broa arety of applcaton. It alo wely apple n many area where ero-lke hgh performance play a econary role to relablty an energy ang. To achee the fel-orente control of PMSM, knowlege of the rotor poton reure. Uually the rotor poton meaure by a haft encoer, reoler, or Hall enor. [4-8]. The aantage of PM machne recently make them hghly attracte canate for rect re applcaton, uch a hybr electrcal ehcle (HEV) or electrcal ehcle (EV) [- 6] an wahng machne, whch are llutrate n Fgure. By th technology, the rotatng workng unt of a rect re ytem, uch a the baket or rum of a wahng machne, couple to the motor haft wthout tranmon aembly, whch may nclue clutche, belt, pulley an/or gearboxe. The power rectly elere to the workng unt by the motor. The concept of rect re enable the hgh ynamc repone, ncreae effcency, low acoutc noe, an long lfetme ue to the elmnaton of the tranmon component. Such rect re ytem normally reure large haft torue at tantll (.e., zero pee) an low pee a well a contant output power oer we pee range. In orer to meet uch reurement, the PM machne are egne to operate not only n the contant torue moe when ther pee below the bae (or rate) pee but alo n the contant power moe when aboe the bae pee. In th way, the cot an ze of oerall re ytem can be gnfcantly reuce. The contant torue operaton of PM motor can be ealy achee by conentonal ector control. Howeer, when the pee aboe the bae pee, the back-emf of PM motor larger than the lne oltage an then the motor uffer from the ffculty to contnuouly prouce torue ue to oltage an current contrant. Thank to the flux-weakenng technology, the operatng pee range can be extene by

2 El Shahat & El Shewy Permanent Magnet Synchronou Motor Dre Sytem applyng negate magnetzng current component to weaken the ar-gap flux [9, 0]. tranform are n weprea ue. (a) Fgure. Applcaton of PMSM Dre Sytem; (a) HEV, (b) Wahng Machne. DESCRIPTION OF DRIVE SYSTEM Th ecton eal wth the ecrpton of the re ytem whch nclue fferent component uch a permanent magnet motor, poton enor, nerter an current controller. The motor re cont of four man component, the PM motor, nerter, control unt an the poton enor. The component are connecte a hown n fgure. (b) Inerter I a I b I c PM Motor Loa Poton Senor DC Source Control Input I a I b I c Controller Rotor Poton.. Current Controlle Inerter Fgure. Dre Sytem Schematc The motor fe form a oltage ource nerter wth current control. The control performe by regulatng the flow of current through the tator of the motor. Current controller are ue to generate gate gnal for the nerter. Proper electon of the nerter ece an electon of the control technue wll guarantee the effcacy of the re. Voltage Source Inerter are ece that conert a DC oltage to AC oltage of arable freuency an magntue. They are ery commonly ue n ajutable pee re an are characterze by a well efne wtche oltage wae form n the termnal [7]. Both current ource nerter (CSI) an oltage ource nerter (VSI) can be operate n controlle current moe. The current ource nerter a "natural" current upply an can realy be aapte to controlle current operaton. The oltage ource nerter reure more complexty n the current regulator but offer much hgher banwth an elmnaton of current harmonc a compare to the CSI an almot excluely ue for moton control applcaton. Current controller can be clafe nto two group, hytere an PWM current controller. Both type are cue below.... Hytere current controller Hytere current controller can alo be mplemente to control the nerter current. The controller wll generate the reference current wth the nerter wthn a range whch fxe by the wth of the ban gap. In th controller the ere current of a gen phae umme wth the negate of the meaure current. The error fe to a comparator hang a hytere ban. When the error croe the lower lmt of the hytere ban, the upper wtch of the nerter leg turne on. But when the current attempt to become le than the upper reference ban, the bottom wtch turne on. Fg. how the hytere ban wth the actual current an the reultng gate gnal. Th controller oe not hae a pecfc wtchng freuency an change contnuouly but t relate wth the ban wth [7] [8]. 4

3 El Shahat & El Shewy Permanent Magnet Synchronou Motor Dre Sytem Ban Gap Dere Value Actual Current Sgnal... PWM Current Controller Fgure. Hytere controller PWM current controller are wely ue. The wtchng freuency uually kept contant. They are bae n the prncple of comparng a trangular carrer wae of ere wtchng freuency wth error of the controlle gnal. The error gnal come from the um of the reference gnal generate n the controller an the negate of the actual motor current. The comparon wll reult n a oltage control gnal that goe to the gate of the oltage ource nerter to generate the ere output. It control wll repon accorng to the error. If the error comman greater than the trangle waeform, the nerter leg hel wtche to the pote polarty (upper wtch on). When the error comman le than the trangle waeform, the nerter leg wtche to the negate polarty (lower wtch on). Th wll generate a PWM gnal lke n fg. 4. The nerter leg force to wtch at the freuency of the trangle wae an prouce an output oltage proportonal to the current error comman. The nature of the controlle output current cont of a reproucton of the reference current wth hgh-freuency PWM rpple upermpoe [7]. Current Error Saw Tooth PWM Sgnal.. Fel Orente Control of PM Motor Fgure 4. PWM current controller The PMSM control eualent to that of the c motor by a ecouplng control known a fel orente control or ector control. The ector control eparate the torue component of current an flux channel n the motor through t tator exctaton. The ector control of the PM ynchronou motor ere from t ynamc moel. Conerng the current a nput, the three current are: a I n( t ) r b I n( rt ) c I n( rt ) () where α the angle between the rotor fel an tator current phaor, ω r the electrcal rotor pee. The preou current obtane are the tator current that mut be tranforme to the rotor reference frame wth the rotor pee ω r, ung Park tranformaton. The an ax current are contant n the rotor reference frame nce α a contant for a gen loa torue. A thee contant, they are mlar to the armature an fel current n the eparately excte c machne. The ax current tnctly eualent to the armature current of the c machne; the ax current fel current, but not n t entrety. It only a partal fel current; the other part contrbute 5

4 El Shahat & El Shewy Permanent Magnet Synchronou Motor Dre Sytem by the eualent current ource repreentng the permanent magnet fel. For th reaon the ax current calle the torue proucng component of the tator current an the ax current calle the flux proucng component of the tator current. an n term of I a follow: I n co The electromagnetc torue euaton obtane a gen below.... Contant Torue Operaton P Te [ ( L L ) I n I af n ] Contant torue control trategy ere from fel orente control, where the maxmum poble torue ere at all tme lke the c motor. Th performe by makng the torue proucng current eual to the upply current I. That reult n electng the α angle to be 90º. By makng the current eual to zero the torue euaton can be rewrtten a: Aumng that: The torue ge by T e k t P )( ) afi ( P )( ) ( af () () (4) (5) T k e t. I Lke the c motor, the torue epenent of the motor current. (6)... Flux-weakenng Flux weakenng the proce of reucng the flux n the ax recton of the motor whch reult n an ncreae pee range. The motor re operate wth rate flux lnkage up to a pee where the rato between the nuce emf an tator freuency (V/f) mantane contant. After the bae freuency, the V/f rato reuce ue to the lmt of the nerter c oltage ource whch fxe. The weakenng of the fel flux reure for operaton aboe the bae freuency. Th reuce the V/f rato. Th operaton reult n a reucton of the torue proportonal to a change n the freuency an the motor operate n the contant power regon [9]. The rotor flux of PMSM generate by permanent magnet whch can not be rectly reuce a nucton motor. The prncple of fluxweakenng control of PMSM to ncreae negate rect ax current an ue armature reacton to reuce ar gap flux, whch eualently reuce flux an achee the purpoe of flux-weakenng control [0]. Th metho change torue by alterng the angle between the tator MMF an the rotor ax. In the flux weakenng regon where ω r > ω rate angle α controlle by proper control of an for the ame alue of tator current. Snce reuce the output torue alo reuce. The angle α can be obtane a: The current I relate to an by: I tan ( Ung α an rotor poton the controller wll generate the reference current; then the current controller make ue of the reference gnal to control the nerter for the ere output current. The loa torue ajute to the maxmum aalable torue for the reference pee: T L T e ( rate) ( ( rate r ) ) ) (7) (8) (9) 6

5 El Shahat & El Shewy Permanent Magnet Synchronou Motor Dre Sytem.. Implementaton of the Spee Control Loop of PM Motor Many applcaton, uch a robotc an factory automaton, reure prece control of pee an poton. Spee Control Sytem allow one to ealy et an ajut the pee of a motor. The control ytem cont of a pee feeback ytem, a motor, an nerter, a controller an a pee ettng ece. A properly egne feeback controller make the ytem nenble to turbance an change of the parameter. The purpoe of a motor pee controller to take a gnal repreentng the emane pee, an to re a motor at that pee. Cloe Loop pee control ytem hae fat repone, but become expene ue to the nee of fee back component uch a pee enor. For a PM motor re ytem wth a full pee range the ytem wll cont of a motor, an nerter, a controller (contant torue an flux weakenng operaton, generaton of reference current an PI controller) a hown n fg. 5. ref r PI I Control Unt Flux Weakenng Contant Torue Ang. I I Current Control r I abc Voltage Source Inerter PMSM r / Fgure 5. Dre Block Dagram The operaton of the controller mut be one accorng to the pee range. For operaton up to rate pee t wll operate n contant torue regon an for pee aboe rate pee t wll operate n flux-weakenng regon. In th regon the -ax flux an the eelope torue are reuce. The proce can be ealy unertoo wth the flow agram n fg. 6. reference Contant Torue Angle Ye If r rate No Flux Weakenng Torue Angle = 90 Calculate I, I, Reference Lne Current Iabc Hytere or PWM Current Controller r / f Inerter PMSM r Fgure 6. Sytem Flow Dagram Spee controller calculate the fference between the reference pee an the actual pee proucng an error, whch fe to the PI controller. PI controller are ue wely for moton control ytem. They cont of a proportonal gan that prouce an output proportonal to the nput error an an ntegraton to make the teay tate error zero for a tep change n the nput. Block agram of the PI controller hown n fg. 7. 7

6 El Shahat & El Shewy Permanent Magnet Synchronou Motor Dre Sytem k p ref + - k / + + Sytem r Fgure 7. PI Controller Spee control of motor manly cont of two loop the nner loop for current an the outer loop for pee. The orer of the loop ue to ther repone, how fat they can be change. Th reure a current loop at leat 0 tme fater than the pee loop. Snce the PMSM operate ung fel orente control, t can be moele lke a c motor. The egn begn wth the nnermot current loop by rawng the block agram. But n PMSM re ytem the motor ha current controller whch make the current loop. The current control performe by the comparon of the reference current wth the actual motor current. The egn of the pee loop aume that the current loop at leat 0 tme fater than pee loop, allowng reucng the ytem block agram by conerng the current loop to be of unty gan a hown n fg. 8. ref + PI - k t P/(J) r Fgure 8. Block Dagram of Spee Loop For our SPMSM; k t = (/) (P/) af = 0.849; where: af = 0.8; P = 4; J = The open loop tranfer functon of the motor gen by: GH() (k / k p ) (k t ) ( / J) For table ytem an to atfy ynamc repone wthout ocllaton the phae margn (f PM ) uually greater than 45º, here we prefer t to be 60º. Knowng the motor parameter an the phae margn, wth the gan margn efnton the k an k p gan can be obtane for the motor controller ung the followng euaton. GH( j) (k / ( j) k p ) (k t ) ( / J( j)) For crooer freuency (electe) f c = 00 Hz; ( c = f c = ra/ec) Angle GH( j) (k / ( j) k p ) (k ) ( / J( j)) 80 f The gan for the pee controller wa obtane ung the motor parameter an by electng a crooer freuency k p = ; k =.674 A mple tablty check for thee obtane alue one ung charactertc e. (), n whch GH(): Open loop tranfer functon, G: Fee-forwar tranfer functon, an H: Fee-back Tranfer functon. GH() 0 The pole of the charactertc euaton are: j 5.7; t clear they are n left han e of the - plane o the ytem wll be table wth thee alue..4. Inerter-Motor Eualent Crcut Conerng the eualent crcut of the ytem nerter-motor a n fg. 9; the lne oltage for the motor hae the expreon [], []: t PM (0) () () () 8

7 El Shahat & El Shewy Permanent Magnet Synchronou Motor Dre Sytem ab bc ca (t) (t) (t) an bn cn bn cn an (t) (t) (t) (4) Fgure 9. Inerter-motor eualent crcut The motor phae oltage wll hae the expreon: ao bo co (t) (t) (t) an bn cn (t)- (t)- (t)- (t)- (t)- (t)- Beng a tar connecton, then at eery tme ntant the followng relaton atfe: ao bo co on on on (t) (t) (t) (t) 0 From E (5) an E (6) then the null oltage ere a: on ( an bn Hang the pule for each nerter leg (a, b, c), the nerter leg oltage can be foun a: an bn cn V V V c c c cn.a.b Ung the aboe E., the reulte lne oltage wll hae the expreon E (9): Smlarly, the phae oltage can be foun a: ab bc ca a b c V V V V V V c c c c c c.c.( b - c ) )/.( a - b ).( c - a ).( a - (a.( b - (a The tructure of the nerter Smulnk moel preente later. b c) / ) b c) / ).( c - (a b c) / ) (5) (6) (7) (8) (9) (0) 9

8 El Shahat & El Shewy Permanent Magnet Synchronou Motor Dre Sytem.5. Dc Source The c-lnk oltage Vc, coul be obtane ung Vn (maxmum phae oltage) a follow []: c Where Vn: peak ampltue of phae oltage. P.n( ). V P n ().6. Dynamc Moelng of PMSM Fgure 0 preent eualent crcut of PMSM n - ax to be ue n both ynamc euaton of PMSM, an tatc charactertc. R L R L + + r r - - Fgure 0. PMSM Eualent Crcut It houl be notfe that, all lower cae ymbol ntrouce ntantaneou alue, an upper cae for teay tate. The two axe PMSM tator wnng can be conere to hae eual turn per phae. The rotor flux can be aume to be concentrate along the ax whle there zero flux along the ax. Further, t aume that the machne core loe are neglgble. Alo, rotor flux aume to be contant (araton n the rotor flux wth repect to tme neglgble). Varaton n rotor temperature alter the magnet flux, but t araton wth tme conere to be neglgble. A ynamc moel of PMSM can be ecate a follow [4]: r ) () r ) L L r r where r : Electrcal elocty of the rotor; af : The flux lnkage ue to the rotor magnet lnkng the tator;, :, oltage;, :, flux; ρ ( af ) = 0, af = L m fr ; ρ : Derate Operator af () (4) (5) The electromagnetc torue gen by: The electromechancal power T e P ( where P: Pole No; rm : Rotor Mechancal elocty P em ) = rm P ( m ( L Te = r ( P r = rm L ) ) - ) (6) (7) (8) The general mechancal euaton for the motor : Te Tl T Brm J rm B: Vcou frcton coeffcent; J: Inerta of haft an loa ytem; T : Dry frcton; T l : Loa torue (9). PMSM DRIVE SIMULATION In th ecton, the mulaton of a fel orente controlle PM motor re ytem eelope ung Smulnk. The mulaton crcut nclue all realtc component of the re ytem. A cloe loop control ytem wth a PI controller n the pee loop ha been egne to operate n contant torue an flux weakenng regon. 0

9 El Shahat & El Shewy Permanent Magnet Synchronou Motor Dre Sytem Implementaton ha been one n Smulnk. A comparate tuy of hytere an PWM control cheme aocate wth current controller ha been mae. Smulaton reult are gen for two pee of operaton, one below rate an another aboe rate pee... Moelng of PMSM Moelng of a permanent magnet ynchronou motor ntrouce n th ecton ung the m/c euaton; wth ome aumpton lke: Saturaton neglecte; the nuce EMF nuoal; Ey current an hytere loe are neglgble; there are no fel current ynamc; all motor parameter are aume contant; Leakage nuctance are zero. Detale moelng of PM motor re ytem reure for proper mulaton of the ytem. The - moel ha been eelope on rotor reference frame. Th ynamc mulaton of PMSM one wth the a of SIMULINK n MATLAB package. The oltage an loa torue are conere a nput, wth the pee an current a output. Th moel erfe by the ame author a n reference [5], [6], [7]. V_ Sne Wae V Lamba_ Lamba_ current n -ax T_L Loa Torue Sne Wae In Omega_r Sne Wae V_ Flux n -ax V_ Te Calculaton J Contant Mechancal Integrator -K- Gan 4 N _ From -phae to -- Lamba_ Lamba_ u()/l current n -ax B Omega_r Gan Flux n -ax Integrator -K- Pole /..... Smulnk Smulaton of PMSM Dre T_ Contant Fgure. Permanent Magnet Synchronou Motor Moel The PM motor re mulaton wa bult n eeral tep lke abc phae tranformaton to o arable, calculaton torue an pee, an control crcut. The abc phae tranformaton to o arable bult ung Park tranformaton an for the o to abc the reere tranformaton ue. For mulaton purpoe the oltage are the nput an the current are output. Park tranformaton ue for conertng V abc to V o hown n moelng an the reere tranformaton for conertng I o to I abc hown n fgure. f(u ) (u ( )* co (u ( ))+ u ( )* n (u ( ))) 4 Ia wr Integrator In I _ a I _ b From - I to - phae I I _ a I _ c I _ b (u ( )* co (u ( )-( * p / ))+ u ( )* n (u ( )-( * p / ))) I _ c 4 In Fgure. I o to I abc Block f(u ) f(u ) (u ( )* co (u ( )+( * p / ))+ u ( )* n (u ( )+( * p / ))) 5 Ib 6 Ic

10 El Shahat & El Shewy Permanent Magnet Synchronou Motor Dre Sytem The ector control reure a block for the calculaton of the reference current ung the α angle, the poton of the rotor an the magntue of the I. The block wth the PI controller hown n fg.. -C- PI I I*_a wr_reference wr PI Controller Integrator p / Alfa _Ref In I*_b I*_c Reference Iabc Current I_abc _Reference Kp u()*n(u()+u()) I*_a Error K K T z- 5 I In u()*n(u()+u()-*p /) I*_b u()*n(u()+u()+*p /) 4 I*_c Fgure. Vector Control Reference Current Block wth PI Spee Controller Inerter mplemente a hown n fg. 4, epenng on the nerter relaton ntrouce before. u(4)*(u()-u()) Vab u(4)*(u()-u()) Vbc a b c VDC Vab Vbc Vca In Va Vb Vc ph Inerter Voltage 4 In u(4)*(u()-u()) u(4)*(u()-(u()+u()+u())/) Vca 4 Va Vc 5 u(4)*(u()-(u()+u()+u())/) Vb 6 u(4)*(u()-(u()+u()+u())/) Vc Fgure 4. Voltage Source Inerter For proper control of the nerter ung the reference current, current controller are mplemente to generate the gate pule for the IGBT. Current controller ue are hown n fg. 5 an 6. 4 _a Relay _a *_a a 5 _b Relay _b b *_b c 6 _c Relay _c *_c Fgure 5. Hytere controller

11 El Shahat & El Shewy Permanent Magnet Synchronou Motor Dre Sytem Sgnal Generator Relay _a 4 _a 5 _b *_a *_b Sgnal Generator Relay _a Relay _a a b c 6 _c Sgnal Generator *_c Fgure6. PWM current controller 4. SIMULATION RESULTS Th part eal wth the mulaton reult of PMSM re ytem. Comparate tuy of the current controller ue n the ytem gen. The ytem bult n Smulnk for a PMSM re ytem ha been tete wth the two current control metho, Hytere an PWM, at the contant torue an flux-weakenng regon of operaton. The motor operate wth contant torue up to t rate pee an beyon that rate pee flux-weakenng moe aopte. Smulaton reult are gen at electrcal pee of 000 rpm ( Hz) an 400 (80 Hz). The aboe pee repreent rate an aboe rate pee of the motor. The mulaton wa carre out ung two current control technue to tuy the performance of the motor re. The technue are Hytere current control an PWM current control. The plot of current, torue an pee are gen for both cae. 4.. Smulaton for Operaton at 000 rpm Fgure 7. Electrcal Spee wth tme (at Hz); for Hytere controller Fgure 8. Iabc wth tme (at Hz); for Hytere controller

12 El Shahat & El Shewy Permanent Magnet Synchronou Motor Dre Sytem Fgure 9. I wth tme (at Hz); for Hytere controller Fgure 0. Torue wth tme (at Hz); for Hytere controller Fg. 7 how a araton of the pee wth tme. The teay tate pee the ame a that of the commane reference pee. Fg. 8 how the three phae current rawn by the motor a a reult of the hytere current control. The current are obtane ung Park' reere tranformaton. It clear that the current non nuoal at the tartng an become nuoal when the motor reache the controller comman pee at teay tate. The correponng component of current gen n fg. 9 n whch the alue of zero nce fel orente control ue. Fg. 0 how the eelope torue of the motor. The tartng torue nearly more than twce the teay tate alue. The preou plot hae been repeate wth PWM control for comparng wth hytere control. Fgure. Electrcal Spee wth tme (at Hz); for PWM controller Fgure. Iabc wth tme (at Hz); for PWM controller 4

13 El Shahat & El Shewy Permanent Magnet Synchronou Motor Dre Sytem Fgure. I wth tme (at Hz); for PWM controller Fgure 4. Torue wth tme (at Hz); for PWM controller Fg. how a araton of the pee wth tme. The teay tate pee the ame a that of the commane reference pee. Fg. how the three phae current a a reult of the PWM current control obtane from Park' reere tranformaton. It clear that the current non nuoal at the tartng an become nuoal when the motor reache the controller comman pee at teay tate. The correponng component of current gen n fg. wth almot eual to zero for contant torue operaton. Fg. 4 how the eelope torue of the motor. 4.. Smulaton for Operaton at Hgher Spee of 400 rpm Fgure 5. Electrcal Spee wth tme (at 80 Hz); for Hytere controller Fgure 6. Iabc wth tme (at 80 Hz); for Hytere controller 5

14 El Shahat & El Shewy Permanent Magnet Synchronou Motor Dre Sytem Fgure 7. I wth tme (at 80 Hz); for Hytere controller Fgure 8. Torue wth tme (at 80 Hz); for Hytere controller Fg. 5 how a araton of the pee wth tme. The teay tate pee the ame a that of the commane reference pee. Fg. 6 how the three phae current a a reult of the hytere current control obtane from Park' reere tranformaton. It clear that the current non nuoal at the tartng an become nuoal when the motor reache the controller comman pee. The correponng component of current gen n fg. 7. Both an ax current are preent. Howeer the ax current mall nce the torue get reuce at hgher pee, operatng at contant power regon. Fg. 8 how the eelope torue of the motor wth hgh tartng torue. The aboe plot hae been repeate wth PWM control for comparng wth hytere control. Fgure 9. Electrcal Spee wth tme (at 80 Hz); for PWM controller Fgure 0. Iabc wth tme (at 80 Hz); for PWM controller 6

15 El Shahat & El Shewy Permanent Magnet Synchronou Motor Dre Sytem Fgure. I wth tme (at 80 Hz); for PWM controller Fgure. Torue wth tme (at 80 Hz); for PWM controller Fg. 9 how a araton of the pee wth tme. The teay tate pee the ame a that of the commane reference pee. Fg. 0 how the three phae current a a reult of the PWM current control obtane from Park' reere tranformaton. It clear that the current non nuoal at the tartng an become nuoal when the motor reache the controller comman pee at teay tate. The correponng component of current gen n fg.. Both an ax current are preent. Howeer the ax current mall nce the torue get reuce at th hgher pee ue to power beng mantane contant. Fg. how the eelope torue of the motor. 5. CONCLUSIONS A etale Smulnk moel for a PMSM re ytem wth fel orente control ha beng eelope an operaton at an aboe rate pee ha been tue ung two current control cheme. Smulnk ha been choen from eeral mulaton tool becaue t flexblty n workng wth analog an gtal ece. In the preent mulaton meaurement of current an oltage n each part of the ytem poble, thu permttng the calculaton of ntantaneou or aerage loe, an effcency. Uually n uch a re ytem the nerter ren ether by hytere or by PWM current controller. A comparate tuy ha been mae of the two current control cheme. A pee controller ha been egne uccefully for cloe loop operaton of the PMSM re ytem o that the motor run at the commane or reference pee. 6. REFERENCES [] B. K. Boe, Power electronc an moton control-technology tatu an recent tren, IEEE Tran. In. Applcat., ol. 9, pp , Sept. /Oct., 99. [] W. Leonhar, Ajutable pee ac re, Proceeng of IEEE, ol. 76, pp , Aprl, 988. [] B. K. Boe, Varable freuency re-technology an applcaton, n Proc. ISIE 9(Buapet), June, 99, pp -8. [4] R. Gabrel, W. Leonhar, an C. Norby, Fel orente control of tanar AC motor ung mcroproceor, IEEE Tran. In. Applcat., ol. IA-6, pp. 86 9, 980. [5] L. Harnefor, Degn an analy of general rotor-flux orente ector control ytem, IEEE Tran. In. Electron., ol. 48, pp. 8 89, Apr. 00. [6] M. Schroel, Senorle control of AC machne at low pee an tantll bae on the INFORM metho, n Conf. Rec. IEEE-IAS Annu. Meetng, ol., 996, pp [7] P. L. Janen an R. D. Lorentz, Tranucerle poton an elocty etmaton n nucton an alent AC machne, IEEE Tran. In. Applcat., ol., pp , Mar./Apr [8] P. L. Janen, R. D. Lorenz, an D. W. Nootny, Oberer-bae rect fel orentaton: Analy an comparon of alternate metho, IEEE Tran. In. Applcat., ol. 0, pp , July/Aug [9] T. M. Jahn an V. Blako, Recent aance n power electronc technology for nutral an tracton machne re, Proc. IEEE, ol. 89, pp , June 00. 7

16 El Shahat & El Shewy Permanent Magnet Synchronou Motor Dre Sytem [0] Thoma M. Jahn, Moton control wth permanent-magnet ac machne, n Proc. IEEE, ol. 8, Aug. 994, pp. 4- [] El Shewy, H an, El Shahat, A, PM Synchronou Machne Stablzaton Control for Electrc Vehcle, Ref: 8, Accepte n The Thr An Sham Unerty Internatonal Conference on Enronmental Engneerng (Acee-), Aprl , Caro, Egypt. [] A. Ema, S. S. Wllamon, an A. Khalgh, Power electronc ntene oluton for aance electrc, hybr electrc, an fuel cell ehcular power ytem, IEEE Tran. Power Electron., ol., no., pp , May 006. [] W. Ca, Comparon an reew of electrc machne for ntegrate tarter alternator applcaton, Conf. Rec. IEEE 9th IAS Annu. Meetng, ol., 004, pp [4] J. R. Henerhot an T. J. E. Mller, Degn of Bruhle Permanent Magnet Motor, Oxfor, U.K.: Magna Phyc Publhng an Clarenon Pre, 994. [5] M. Zeraoula, Electrc motor re electon ue for HEV propulon ytem: A comparate tuy, IEEE Tran. Vehcular Tech., ol. 55, pp , No [6] H. El Shewy, A. El Shahat, PM Synchronou Machne Stablzaton Control for Electrc Vehcle, Paper Ref.: 9, Accepte n Global Conference on Renewable an Energy Effcency for Deert Regon (GCREEDER009), Amman, Joran. [7] B. K. Boe, Power Electronc an Varable Freuency Dre, e: Wley, John & Son, 996. [8] P. Pllay an R. Krhnan, "Moelng, mulaton, an analy of permanent-magnet motor re. I. The permanent-magnet ynchronou motor re," Inutry Applcaton, IEEE Tranacton on, ol. 5, pp. 65-7, 989. [9] R. Krhnan, Electrc Motor Dre Moelng, Analy, an Control, Pearon Eucaton, 00. [0] X. Junfeng, W. Fengyan, F. Janghua, an X. Janpng, "Flux-weakenng control of permanent magnet ynchronou motor wth rect torue control coneraton araton of parameter," Inutral Electronc Socety, IECON th Annual Conference of IEEE, Vol., pp. - 6, 004. [] A. Munoz-Garca an D. W. Nootny, Utlzaton of Thr Harmonc-Inuce-Voltage n PM Generator, Inutry Applcaton Conference, 996. Thrty-Frt IAS Annual Meetng, IAS apo;96., Vol., 6-0 Oct 996, Page():55 5. [] Kazmerkowk M.P., Tuna H.: Automatc Control Of Conerter-Fe Dre, Eleer Scence & Technology (Unte Kngom), 994 [] Ne Mohan, Tore M. Unelan an Wllam P. Robbn, Power electronc, Conerter, Applcaton an Degn, Thr Eton, USA ISBN , John Wley & Son, Inc. [4] Krhnan R.: Electrc Motor Dre: Moelng, Analy & Control, Prentce Hall [5] Ael El Shahat, an Hame El Shewy, Permanent Magnet Synchronou Motor Dynamc Moelng Paper ID: X05, Accepte n n Internatonal Conference on Computer an Electrcal Engneerng (ICCEE 009); Duba, UAE, December 8-0, 009. [6] H. M. El Shewy, F. E. Ab Al Kaer, M. El Kholy, an A. El Shahat, Dynamc Moelng of Permanent Magnet Synchronou Motor Ung MATLAB - Smulnk EE08, 6th Internatonal Conference on Electrcal Engneerng ICEENG 008, 7-9 May, 008, Mltary Techncal College, Egypt. [7] Ael El Shahat, Hame El Shewy, PM Synchronou Motor Dynamc Moelng wth Genetc Algorthm Performance Improement, Internatonal Journal of Engneerng, ISSN 4-89 (Onlne); ISSN 4-80 (Prnt); Scence an Technology Vol., No., 00, pp Bographcal note: Ael El Shahat currently a Reearch Scentt, ECE Dept., Mechatronc-Green Energy Lab, The Oho State Unerty, USA. H nteret are: Electrc Machne, Artfcal Intellgence, Renewable Energy, Power Sytem, Control Sytem, PV cell, Power Electronc, an Smart Gr. He ha nearly 60 publcaton between nternatonal Journal paper, referee conference paper, book chapter an abtract or poter. He a Member of IEEE, IEEE Computer Socety, ASEE, IAENG, IACSIT, EES, WASET an ARISE. Alo, he member of etoral team an reewer for x nternatonal journal. He gan honor an recognton from OSU, USA 009, Suez Canal Unerty Honor wth unerty Meal n 006, Mert Ten Top-up Stuent Awar of each Faculty from Arab Republc of Egypt, n 000, an EES, 999, Egypt. Hame El Shewy currently a Profeor of Electrcal Machne n the Electrcal Power an Machne Department, Faculty of Engneerng, Zagazg Unerty, Zagazg, Egypt. He wa the preou hea of the ame epartment. H reearch nteret nclue Electrc Machne, Power Sytem, Power Electronc, an Electrc Dre. 8