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Sensorless Vector Control for Permanent Magnet
Synchronous Machine
Cascaded speed and current control with an observer based position
and speed estimation
Last updated in RT Box TSP 2.1.5
Request a PLECS and PLECS Coder trial license
Get the latest RT Box Target Support Package
Check the PLECS and RT Box documentation
RT Box
DEMO MODEL
www.plexim.com
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Summary of Contents for Plexim PLECS RT Box
- Page 1 Cascaded speed and current control with an observer based position and speed estimation Last updated in RT Box TSP 2.1.5 www.plexim.com Request a PLECS and PLECS Coder trial license Get the latest RT Box Target Support Package Check the PLECS and RT Box documentation...
- Page 2 PLECS and for real-time simulations on the PLECS RT Box. These subsystems can then be independently built on the PLECS RT Box either for Hardware- in-the-loop (HIL) testing of an external controller, or for rapid control prototyping (RCP). The two RT Boxes are connected for a complete closed-loop simulation.
- Page 3 Box component library. The measurements of the DC voltage and the AC current output by Analog Output blocks. The rotor angular position is converted by the Incremental Encoder block into digital orthogonal pulses, which can be measured outside of “Plant” subsystem. www.plexim.com...
- Page 4 The initial mechanical speed reference value is set at 2000 rpm. In order to guarantee a robust start- up process of the observer, it is always started at a speed of 2000 rpm and regulated to the desired speed after the start-up. The speed of 500 rpm cannot be undercut in connection with the attached www.plexim.com...
- Page 5 The d and q axis currents which are controlled by a PI controller are included in subsystem “Current Control”, which is shown in Fig 5. The proportional and integral gains are designed following the “Op- timum Magnitude” method, which is described in more detail in the “Boost Converter” demo model of www.plexim.com...
- Page 6 Figure 6: Subsystem of rotor position and speed observer erence speed is negative. This is necessary during start-up of the drive to ensure correct tracking of the observer. All integrators of the observer can be reset by the “OSrst” signal. www.plexim.com...
- Page 7 A PI compensator G the position error ˆ θ becomes zero. During acceleration the estimated position error can be reduced using a 3. order instead of a 2. order compensator. Both are implemented in a configurable subsystem. (s) = K www.plexim.com...
- Page 8 3 Simulation This model can run both in offline mode on a computer or in real-time mode on the PLECS RT Box. For the real-time operation, two RT Boxes (referred to as “Plant” and “Controller”) need to be set up as demonstrated in Fig.
- Page 9 However, this error is very small and has very little effect on the motor con- trol. At speeds below 1000 rpm, a larger speed ripple becomes visible. In general, the observer works better for higher speeds, but this effect is additionally amplified in lower speed ranges by a blanking time. www.plexim.com...
- Page 10 Hardware-in-the-loop testing and rapid control prototyping. Rotor-field oriented control is applied to the drive system where the stator current is regulated in the dq-frame. A higher-level controller is implemented for speed control, whereby an observer is used to track the electrical angular velocity and rotor position. www.plexim.com...
- Page 11 [1] S. Morimoto, K. Kawamoto, M. Sanada and Y. Takeda, “Sensorless control strategy for salient- pole PMSM based on extended EMF in rotating reference frame”, IEEE Trans. Ind. Appl., vol. 38, no. 4, pp. 1054-1061, Jul./Aug. 2002. [2] R. De Doncker, D. Pulle and A. Veltman, “Advanced electrical drives”, Springer, 2011. www.plexim.com...
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Page 12: Revision History
Plexim GmbH. PLECS is a registered trademark of Plexim GmbH. MATLAB, Simulink and Simulink Coder are regis- tered trademarks of The MathWorks, Inc. Other product or brand names are trademarks or registered...
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