CONTROL STRATEGIES OF PERMANENT MAGNET SYNCHRONOUS MOTOR DRIVE FOR ELECTRIC VEHICLES Chiranjit Sain, Atanu Banerjee and Pabitra Kumar Biswas Taylor & Francis Group Control Strategies of Permanent Magnet Synchronous Motor Drive for Electric Vehicles Control Theory and Applications About the Series This book series is envisaged to add to the scholarly discourse on h igh-quality books in all areas related to control theory and applications. The book series provides a forum for the control scientists and engineers to exchange related knowledge and experience on contemporary research and development in control and automation. This includes aircraft control, adaptive control, sliding mode control, evolutionary control, fuzzy theory and control, robotic manipulators, and even control applica- tions in areas such as the Internet of Things and Big Data. The scope includes all aspects of control engineering needed to implement practical control systems, from analysis and design, through simulation and hardware, with a special emphasis on bridging the gap between theory and practice.
It aims to explore the latest research findings and provide attention to emerging topics in control theory and its applica- tions to diverse domains of engineering and technology, to expand the knowledge base and applications of this rapidly evolving and interdisciplinary field. The series will include textbooks, references, handbooks, and short-form books. Series Editor: Dipankar Deb Dr Dipankar Deb (PhD, University of Virginia) Professor (Electrical Engineering) Institute of Infrastructure, Technology, Research and Management (IITRAM) (An Autonomous University, Established by Government of Gujarat) Ahmedabad, Gujarat, India 380026 Office: +91-7967775408, Mobile: +91-7203954452 Researchgate: https://www.net/profile/Dipankar_Deb4 (RG Score: 29.91) Google Scholar: https://scholar.in/citations?user=tu1T1FUAAAAJ&hl=en Home Page: http://iitram.php?fac_id=9 1. Control Strategies of Permanent Magnet Synchronous Motor Drive for Electric Vehicles Chiranjit Sain, Atanu Banerjee and Pabitra Kumar Biswas Control Strategies of Permanent Magnet Synchronous Motor Drive for Electric Vehicles Chiranjit Sain Atanu Banerjee Pabitra Kumar Biswas MATLAB® and Simulink® are trademarks of The MathWorks, Inc.
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For permission to photocopy or use material electronically from this work, access www. com or contact the Copyright Clearance Center, Inc. (CCC), 222 Rosewood Drive, Danvers, MA 01923, 9 78-750-8400. For works that are not available on CCC please contact m pkbookspermissions@ tandf.uk Trademark notice: Product or corporate names may be trademarks or registered trademarks and are used only for identification and explanation without intent to infringe.1201/9781003189558 Typeset in Times by codeMantra Dedicated to Our Beloved Family Members Taylor & Francis Taylor & Francis Group http://taylorandfrancis.com Contents List of Figures.xi List of Tables.xxv List of Symbols.xxvii Chapter 1 Introduction.1 Background and Problem Formulation.2 Review of Mathematical Modelling and Open-Loop- Based Control Strategy of a Self-Controlled PMSM Drive.3 Review of Closed-Loop-Based Control Strategy of a PMSM Drive.2 Review of Fuzzy Logic-Controlled PWM- Operated PMSM Drive.4 Development of Different Control Strategies of a PMSM Drive.5 Solar-Powered PMSM Drive Smart Electric Vehicle for Sustainable Development.6 Smart Technology-Based Solar-Powered Electric Vehicle.7 Industrial Linkage in Smart Electric Vehicles.9 Outline of the Thesis.
14 Chapter 2 Mathematical Modelling and Dynamic Performance Evaluation of a Self-Controlled Permanent Magnet Synchronous Motor Drive.3 Development of Mathematical Modelling and System Description�������������������������������������������������������������������������������19 2.1 Modelling of PWM-Operated T hree-Phase Voltage Source Inverter Topology������������������������������ 20 2.2 Transformation of abc-dq0 Matrix in Rotor Reference Frame����������������������������������������������������������21 2.3 Modelling of PMSM Machine����������������������������������� 22 2.4 Concept of Sensor Angle and Rotor Position Estimation.25 vii viii Contents 2.5 Simulation Results and Discussion������������������������������������������ 27 2.1 Performance Indices of a PMSM Drive without Sensor Angle Optimization���������������������������������������� 29 2.2 Comparative Performance Analysis with Sensor Angle-Based Optimization (No-Load Operation)����� 30 2.3 Comparative Performance Analysis with Sensor Angle-Based Optimization (On-Load Operation)�������33 2.4 Some Case Studies under Various Operating Conditions�������������������������������������������������������������������37 2.5 Illustration of Dynamic Behaviour of a PMSM Drive at Various DC Link Voltages����������������������������39 2.6 Illustration of Dynamic Behaviour of a PMSM Drive at Various Load Torques�����������������������������������41 2.6 Experimental Results and Discussions�������������������������������������41 2.7 Chapter Summary������������������������������������������������������������������� 48 Chapter 3 Design and Comparative Analysis of Closed-Loop Control Strategy in a Simplified PMSM Drive Using Various Classical and Fuzzy Logic Controllers.3 Establishment of Mathematical Model of a Simplified Closed-Loop PMSM Drive.4 Performance Evaluation of a Simplified PMSM Drive Using Proportional Integral Controller.5 Performance Evaluation of Proposed Simplified C losed- Loop PMSM Drive Using Lead Speed Compensator.6 Performance Evaluation of Proposed Simplified C losed- Loop PMSM Drive Using Lead-Lag Speed Compensator.7 Investigation of a Closed-Loop PMSM Drive Employing PID Controller.8 Discussion and Comparative Performance Evaluation between a PI- and PID-Controlled Simplified PMSM Drive.9 Observation of Various Case Studies.10 Development of Fuzzy Logic Controller for Simplified Closed-Loop Model of a Simplified PMSM Drive.1 Development of Fuzzy Logic Controller Rule Base.2 Dynamic Performance Evaluation of Fuzzy Logic Speed-Controlled PMSM Drive.3 Performance Indices of Control System Use Different Controllers (Time Domain and Frequency Domain).4 Optimization of Dynamic Performance of Fuzzy-Controlled PMSM Drive. 79 Contents ix Chapter 4 Illustration of a Fuzzy-Controlled PWM-Operated PMSM Drive Employed in Light Electric Vehicle.3 Proposed System Description.1 Design Considerations of a Fuzzy Speed Controller.4 Performance of a Light Electric Vehicle.5 Simulation Results and Discussion.6 Experimental Results and Discussion. 106 Chapter 5 Development of Control Strategy of a Vector-Controlled PMSM Torque Drive for Energy-Efficient Electric Vehicle.3 Mathematical Modelling and Proposed System Description.1 Analysis of a Hysteresis Current Controller.2 Modelling of an Energy-Efficient Electric Vehicle.4 Simulation Results and Discussion.1 Performance of an Energy-Efficient Electric Vehicle.2 Some Case Studies. 134 Chapter 6 Conclusions and Future Work.
136 References and Further Reading. 147 Taylor & Francis Taylor & Francis Group http://taylorandfrancis.com List of Figures Figure 1.1 Layout representation of a s olar-powered smart electric vehicle.2 Smart technology-based charging solution for a modern electric vehicle.3 Image of a s olar-powered smart electric vehicle.4 Internet of Things (IoT)-based architecture for a smart electric vehicle.1 System layout representation of the proposed PMSM drive.2 Representation of permanent magnet synchronous motor.3 Representation of a simplified (a) d-axis equivalent circuit and (b) q-axis equivalent circuit of a PMSM machine.4 Geometrical representation of the space vector topology while (a) sensor angle (sang) = 0° and (b) sensor angle (sang) = −30°.5 Orientation of the field mmf (Mf) and the armature voltage (Va) space vectors at different switching instants (a) while 6, 1 and 2 are ON and rotor position θr = −30° and (b) when rotor position θr = +30°, (c) while 1, 2 and 3 are ON and rotor position θr = 30°, (d) when 2, 3 and 4 are ON and rotor position θr = 90°, (e) while 3, 4 and 5 are ON and rotor position θr = 150° and (f ) when 4, 5 and 6 are ON and rotor position θr = 210°.6 Flowchart for the dynamic simulation of proposed algorithm.7 Variation of (a) speed vs time, (b) torque vs time, (c) phase voltage, (d) phase current, (e) quadrature axis current and (f ) rotor position estimation response.8 Response of (a,b) speed, (c,d) electromagnetic torque, (e,f) q-axis current, (g,h) phase voltage, (i,j) phase current and (k,l) rotor position estimation vs time response while Tl = 0 Nm applied and due to the variation in sensor lead angle.9 Comparative analysis of (a,b) speed, (c,d) electromagnetic torque, (e,f) q-axis current, (g,h) phase voltage, (i,j) phase current and (k,l) rotor position estimation vs time response while Tl = 7 Nm is applied and due to the variation in sensor lead angle.34 xi xii List of Figures Figure 2.10 Comparative dynamic analysis of (a,b) d-axis current, (c,d) torque-speed curve, (e,f) d-axis voltage and (g,h) q-axis voltage due to the variation in sensor angle in a PMSM machine.11 Phase voltage waveform when 96 V is employed at the dc link in (a) transient condition and (b) steady-state condition.12 Electromagnetic torque vs time waveform with operating conditions same in (a) transient condition and (b) steady-state condition.13 Phase current waveform in (a) transient condition and (b) steady-state condition.14 Variation of (a) speed, (b) rotor position, (c) phase voltage and (d) torque-speed curve due to the change in mechanical parameters.15 Response of speed, torque, phase voltage, phase current and rotor position response when 48 V and 96 V are applied with Tl = 0.16 Response of (a) speed, (b) torque, (c) phase current and (d) phase voltage vs time response with Tl = 5 Nm applied.17 Image of the experimental test rig.18 Layout diagram of the proposed hardware circuitry.19 Real-time response of (a) inductor current in a buck-type VSI and gate pulses of the power switches, (b) line voltage of the inverter, (c) phase voltages of the inverter and (d) generated emf and armature current on no-load and on-load operation of a PMSM machine.20 Real-time variation of (1) phase A current under transient condition, (2) phase B current under transient condition, (3) armature current at steady-state condition and (4) inverter output current.21 Variation of speed at various samples taken in the real-time set-up.22 Measurement of speed at various samples with load variations.23 Rotor position vs time response in real-time set-up.24 Experimental analysis of the torque-speed curve.1 Schematic representation of the proposed permanent magnet synchronous motor (PMSM) drive. 50 List of Figures xiii Figure 3.2 Representation of a simplified permanent magnet synchronous motor (PMSM) drive with speed and current controller.3 Block diagram of the proposed simplified permanent magnet synchronous motor (PMSM) drive.4 Current control loop.5 Simplified speed control loop.6 Simplified block diagram representation of a conventional proportional integral (PI) controller.7 Time domain characteristics of two-loop current structure both using proportional integral (PI) controller.8 Bode plot response of t wo-loop control structure.9 Root locus response of t wo-loop control structure.10 Speed variation of the simplified permanent magnet synchronous motor (PMSM) drive: (a) no-load operation, Tl = 0 and (b) on-load operation, Tl = 5 Nm.11 Torque response of the simplified permanent magnet synchronous motor (PMSM) drive: (a) n o-load operation, Tl = 0 and (b) on-load operation, Tl = 5 Nm.12 Bode plot response of two-loop control structure.13 Root locus response of two-loop control structure.14 Speed variation of the simplified permanent magnet synchronous motor (PMSM) drive: (a) n o-load operation, Tl = 0 and (b) on-load operation, Tl = 5 Nm.15 Torque response of the simplified permanent magnet synchronous motor (PMSM) drive: (a) no-load operation, Tl = 0 and (b) on-load operation, Tl = 5 Nm.16 Bode plot response of the proposed two-loop control structure.17 Root locus response of two-loop control structure.18 Speed response of the simplified permanent magnet synchronous motor (PMSM) drive: (a) n o-load operation, Tl = 0 and (b) on-load operation, Tl = 5 Nm.19 Torque profile of the proposed simplified permanent magnet synchronous motor (PMSM) drive: (a) no-load operation, Tl = 0 and (b) o n-load operation, Tl = 5 Nm. 62 xiv List of Figures Figure 3.