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1.3 Permanent magnet synchronous motor control

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The objective of this module is to use the Embedded Target for the C2000, and the Digital Motor Control Library (DMClib) to control a Permanent Magnet Synchronous Motor (PMSM) with an encoder using the Field Oriented Control Technique.

Introduction

The objective of this module is to use the Embedded Target for the C2000, and the Digital Motor Control Library (DMClib) to control a Permanent Magnet Synchronous Motor (PMSM) with an encoder using the Field Oriented Control Technique.

System overview

The following figure shows the complete application that we will implement step by step during the laboratory.

PMSM Control Block Diagram

Variables description

ias = Phase-a stator current ibs = Phase-b stator currentias = Stationary a-axis stator current ibs = Stationary b-axis stator currentids = Synchronously rotating d-axis stator current iqs = Synchronously rotating q-axis stator currentvas = Stationary a-axis stator voltage vbs = Stationary b-axis stator voltagevds = Synchronously rotating d-axis stator voltage vqs = Synchronously rotating q-axis stator voltagevdc = DC-bus voltage qlr = Rotor flux angleqm = Mechanical angle dir = Rotor directionwr = Rotor speed Ta = Phase-a duty cycle ratio of PWM signalTb = Phase-b duty cycle ratio of PWM signal Tc = Phase-c duty cycle ratio of PWM signal

Related files

Simulation

The simulation process will be based on a simulation model for the PMS Motor.

Permanent Magnet Synchronous Motor (PMSM) Simulink Model

Based on this model, the simulation will comprise five steps as follows:

  1. Implementing the Forward Loop – Space Vector Generation
  2. Running the PMSM in open loop
  3. Closing the current loop
  4. The speed measurement-Encoder
  5. The Speed Closed Loop

Space vector generation

The diagram below highlights the modules used in the first step. This first incremental step confirms operation of peripheral and target independent modules on forward control path and the code framework.

Space Vector Generation

At this very first stage the goal is to generate a saw–tooth waveform with a varying frequency. This waveform is an emulation of the rotor angle, which is then passed into the Park transformation allowing us to check the correct computation of the Space Vector PWM needed for the Field Oriented Control.

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Source:  OpenStax, From matlab and simulink to real-time with ti dsp's. OpenStax CNX. Jun 08, 2009 Download for free at http://cnx.org/content/col10713/1.1
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