CHAPTER 1

INTRODUCTION
1.1 Literature Review
This report presents a parameter estimation technique for the permanent magnet
synchronous motor drive. A model reference adaptive system (MRAS) has been formed
by using the instantaneous and steady state reactive powers to estimate the q-axis
inductance. Instantaneous and steady state active powers are used in the active power
based MRAS to estimate the stator resistance it has been shown that such unique MRAS
offers several desirable features. The reactive power based MRAS method is completely
independent of stator resistance and is less parameter sensitive, as the estimation
algorithm is only dependent on q-axis stator inductance. Also, the method requires less
computational effort as the simplified expressions are used in the MRAS. The stability of
the proposed system is achieved through popov’s hyper stability criteria. Extensive
simulation results are presented to validate the proposed technique. The system is tested
at different speeds including zero speed and a very satisfactory performance has been
achieved.And refer the different IEEE papers for Ref [1] B.K.Bose, Power Electronics
and Variable Frequency Drives Technology and Applications.Ref [3] , Sensor less full
digital PMSM drive with EKF estimation of speed and rotor position, IEEE Trans. Ind.
Electron .46.
Ref [4], Comparisons of MRAS and novel simple method of position estimation
in PMSM drive, and Ref [14] have been referred to the vector control for pmsm Vector
Control of Synchronous Reluctance Motors without Position Sensor. ”Proceeding of
Japan Industry Applications. And approach to vector control for the sensor and less
operation referred by Ref [11] Approach of Vector Controlled Induction Motor Drive
without Speed Sensor.

Recently PMSM drives have received increased attention due to having several
desirable features. Vector controlled PMSM drive widely used in applications like
machine tools, electric vehicles etc. Indirect vector controlled system requires the
information of the speed either from the speed encoder or from an estimator/observer.
Elimination of the speed encoder is highly encouraged to increase the mechanical
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robustness of the system and to make the drive cheaper. In some applications there is no
room to put the speed sensor. This has made speed sensor less drive very attractive.And
adaptive control for Ref [17], “A new adaptive control scheme for indirect vector control
system. With PMSM Ref [15] A Permanent Magnet Motor Drive without a Shaft Sensor.
Parameter estimation algorithm using spectral analysis for vector controlled induction
motor drive.Ref [19][20][21][27] have been referred to the vector control with foc,online
parameter variation with induction motor
1.2 Motivation of the thesis
Motivation of this thesis is to estimate the parameters of permanent magnet
synchronous motor drive. A detail study has been presented on the estimation of
parameters of permanent magnet synchronous motor i.e. speed, stator resistance q-axis
inductance and torque is estimated. MATLAB/ simulink based simulation is discussed.
This paper presents parameter estimation technique for the permanent magnet
synchronous motor drive .a model reference adaptive system (MRAS) has been formed
using the instantaneous and steady state reactive powers to estimate speed and q-axis
inductance, and instantaneous, steady state active powers are used to estimate stator
resistance. Proposed Q-MRAS technique completely independent of stator resistance and
less parameter sensitive. As the estimation algorithm is only dependent of q-axis stator
inductance. Also, the method requires less computational effort as the simplified
expressions are used in the MRAS. The stability of the proposed system is achieved
through popov’s hyperstability criteria. Extensive simulation results are presented to
validate the proposed technique. The system is tested at different speeds including zero
speed and a very satisfactory performance has been achieved. Active power based MRAS
(P-MRAS) is used to estimate stator resistance.
1.3. Thesis Organisation
This has been organized into five chapters.
Chapter1 introduction to the our project, literature survey & motivation of the project
MARS
Chapter2 Deals with the vector control for the PMSM i.e scalar control, vector or foc.
And principles of operation
Chapter3 Discussed with the types of MRAS and important finding this project work
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Chapter4 Discussed with Simulation Results
Chapter5. Complete system conclusion for the MRAS.
1.4.
1.4. Classifications of Drives

The classification is done according to the motor and the drive topology, there are
various other types of motor topologies available in market but here only some common
motor drives are discussed.
1.4.1 AC drives
Induction motor, Squirrel cage induction motor, Cycloconverter, Matrix
converter, CSI, VSI, Wound rotor induction motor, Kramer drive.
In every industry there are industrial processes of some form that require
adjustment for their normal operation or for their optimum performance. Such
adjustments are usually accomplished with a variable speed drive system. Variable speed
drive systems are also an integral part of automation. They help to optimize the process
and to reduce investment costs, energy consumption, and energy cost. With recent

advances in power semiconductor devices and converter topologies, electric variable

speed drives are witnessing a revolution in a wide variety of applications such as machine
tools and robotics drives, test benches, fans, pumps, compressors, paper mill, automation,
traction, ship propulsion, cement mills, rolling mill drives etc.
1.4.1.1. Special drives
Brushless DC machine, Switched reluctance motor drive, linear induction motor
drive, Stepper motor are the various special drives.Now, the various variable speed motor
drives are discussed briefly below. A short description of their control strategies,
advantages and disadvantages is presented with their present application areas. SMs can
have rotor dc-fed winding or permanent magnet (PM) excitation. Field excited SMs are
only economic in the very largest of drives (steel mills, ocean liners, etc.). They are
heavily used for large scale electricity generation, with PM being used at more modest
ratings. PM field SMs with electronic switching of their ac excitation are usually termed
brushless PM machines or brushless dc machines (acronymPMM here), although they
can also be thought of as variable frequency inverter-fed SMs. Since the speed of an ac
drive is determined by the frequency exactly for the SM and closely for the IM—a wide
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range variable speed requires an electronically varied machine supply frequency. All
electrical machines are capable of being operated inverted, i.e., stator/ rotor interchanged,
but one configuration is usually the mostpractical. This is usually that which avoids
external electrical connections to the moving rotor. Motor or generator operation is also
inherently possible from the machine, although not necessarily from the drive depending
on power electronic configuration. Each machine type can also be unrolled, along one or
two axes of symmetry, to form a linear or tubular version of the machine. Much ingenuity
has been, and still is, devoted to these special machines, which can be extremely useful in
some special applications. Despite the principles of these machine types being known for
over 100 years and exploited with great ingenuity in ac drives, as Jahns and Owen
describe in their historical survey, considerable progress is still being achieved. This is
fueled by advances in materials, electronics, and of course by the inventiveness of
engineers. Brushless PM machines, favored for many high performance servodrives, rely
on power electronic switching of the (usually) stator currents for their operation, and
better PMmaterial for their economy, with position sensing and electronic processing to
drive the switching. Electrical motors are estimated to use over half of the total electrical
power produced in a typical industrialized economy. In the industrialsector the proportion
is believed to be about 2/3. The majority of these drives are IMs. This IM dominance is
being challenged by advances in PMmachines, particularly for very high performance
applications. Zhu and How in an extensive, well illustrated review of machines and
drives particularly for electric vehicles, discuss configurations of machines. Previously,
PM drives were mainly applied to high precision applications because of higher cost.
PMM features, including high power density and reduced rotor losses resulting from
material improvements, are now making such drives competitive with IMs for positioning
and less demanding applications.
1.4.1.1.a) Induction Machines (IMs)
In an IM, rotor excitation is induced from the stator field requiring an
asynchronous rotor speed to give torque production. The relative velocity between field
and rotor speed needed for induction and torque is defined by the per unit slip, s =(ωs
−ωr)/ωs. Slip must be small for high power efficiency. The cylindrical rotor usually has
cast rotor cage conductors in slots uniformly distributed around the rotor surface; more
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rarely in larger sizes it can have a wound rotor with accessible connections via slip rings.
At a fundamental level seen from the stator, the IM has no axis of symmetry and the
stator winding inductance does not depend on rotor position. Slotting, and differential or
cross magnetic saturation changes this simplified view and produces effects which can be
exploited for position and velocity sensing.
1.4.1.1.b) Brushless PM Machines
In the usual brushless configuration, the motion of the PMM rotor relative to the
stator induces a motional EMF. This EMF is a function of rotor position and speed,
which makes estimation of either factor possible. Such PMM drives divide into two
subcategories: sine wave and trapezoidal. Both obey the SM speed relationship and are
operated as a variable speed drive by electronic commutation. The sine type can also be
operated with mains excitation open loop without position feedback as a conventional
SM. It has ideally sinusoidal motional EMF producing torque with low ripple. The
trapezoidal ideally requires rectangular current blocks for best torque production, and
mains supply is not an option. Only coarse feedback is needed, and sensing requirements
are less demanding as position is needed only at the commutation points (every 60◦
electrical for a three-phase machine). The magnetic structure of the PMSM governs the
position variation of inductance and motional EMF. Four such rotor structures have been
described for a PMSM. In a surface mounted magnet arrangement, the phase winding
inductance is small, with often negligible variation in rotor position. Insetmagnets, often
used for trapezoidal machines, usually have substantial winding positional inductance
variation. Other configurations with interior or flux concentrating magnets lead to higher
inductances or significant saliency effects, causing a substantial variation of winding
inductance with position.
Other machine types are used in drives, including SynR, where a salient or flux
guided rotor is designed to have markedly different or variable reluctance (VR) on the
electrically orthogonal axes. They operate as conventional SMs and can be regarded as a
form of brushless machine without PMs. Robustness, economy, and reliability are
features, but performance is typically reduced, at least compared to PM machines.SRMs
have recently received a lot of research attention.SRMs also require simple switched
electronic commutation. They are doubly-salient VR machines (with stator and rotor pole
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slotting) with pronounced deep slots on both sides of the air-gap, and can use single or
multiple teeth per stator pole.
These salient poles or teeth on stator and rotor are of critical importance to their
operation; their number usually beingquoted to specify the device, e.g., a 6/4 SRM is
three-phase with one tooth per stator pole, as has an 8/6 but with four-phases, a 12/10 has
three-phase with two teeth per stator pole. They are in one sense SMs, as their speed is
governed directly by statorswitching, but exploit the difference in pitch between teeth in a
vernier action, giving a lower rotor speed than the classicalSM equation. One complete
electrical cycle of switched stator excitation gives a movement of one rotor slot pitch.
Since VR action is exploited without sine wave excitation, only unidirectional currents
are required, simplifying the converter.
Pulsating torque tends to be developed with simplicity and cheapness being the
major features. Understanding and designshave gradually improved over the last two
decades, with powerdensity being improved by various means, including segmental
rotors, which were first used to considerably enhance SynRmachines, as Mecrow have
described.
1.4.2. DC Motor Drives
Direct-current motors are extensively used in variable speed drives and position
control systems where good dynamic response and steady state performance are required.
Examples are robotic drives, printers, machine tools, rolling mills, paper and textile
industries, and many others. The control of a dc motor, especially of the separately
excited type, is very straightforward, mainly because of the commutator within the motor.
The commutator and brush allow the developed torque of the motor to be proportional to
the armature current if the field current is held constant. Classical control theories are
then easily applied to the design of the torque and other control loops of the drive system.
The mechanical commutator limits the maximum applicable voltage to about 1500V and
the maximum power capacity to a few hundred kilowatts. The commutator also limits the
maximum armature current and its rate of change.
1.5 Advantages of Drives
The increased popularity of electric variable speed drive systems, witnessed in
recent years, may be attributed to the many advantages of variable speed drive. Such
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advantages include operation at speeds significantly different from the synchronous
speed, energy savings, reduced mechanical shock, improved process performance,
improved efficiency, reduced mechanical wear, increased plant life, reduced total
ownership cost, reduced system fault levels and reduced ac disturbances in certain
applications. Furthermore, modern drives are equipped with many features, including
serial communication, remote control, diagnostics, trip history etc.
1.5.1 Features of PMSM

PMSM motors are increasing applied in several areas such as traction,

automobiles, robotics and aerospace technology. The power density of permanent magnet
synchronous motor is higher than one of the induction motor with the same ratings due to
the no stator power is dedicated to the magnetic field production .Rotor magnetic field in
case of PMSM is produced by permanent magnets. Now a days, PMSM motor is
designed not only to be more powerful but also with lower mass and lower moment of
inertia.
We can’t use typical model d-q. This model is uncoupled, linear and constant
parameter, applied to salient pole synchronous machines. It may be inadequate for
accurate modeling characteristics prediction of PMSM of interior type. It leads below to
important errors when we evaluate machine performance or calculate the control circuits.
In the field of electrical house hold appliances, especially air conditioners and
refrigerators, PMSM have become the standard ac motors for variable speed drive
because of their several advantages.
1.6 Description of the drive system
This chapter deals with the description of the different component of the drive
system such as permanent magnet motors, position sensors, inverters and current
controllers of the drive system. A review of permanent magnet materials and
classification of permanent magnet motors is also discussed.
1.6.1 Permanent magnet motor drive system
The motor drive consists of four main components, the PM motor, inverter,
control unit and the position sensor. The components are connected as shown in the
figure.

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 Fig 1.1 Drive System schematic.
1.6.2 Description of the different components is as follows
1.6.2.1 Permanent magnet synchronous motor
A permanent magnet synchronous motor is (PMSM) is a motor that uses
permanent magnets to produce the air gap magnetic field rather than using
electromagnets. These motors have significant advantages, attracting the interest of
researchers and industry for use in many applications. The first generation of sensor less
control on permanent magnet synchronous motor (PMSM) is based on rotor flux
orientation by integration of back electromotive force (EMF)These approaches need
accurate motor electrical parameters and fail to operate at low and zero speed since the
information of back EMF is too low. Recently, simpler and more effective algorithms
have been developed high frequency injection method and constant frequency pattern
method. The high-frequency injection method uses the impedance difference of the motor
and can obtain position information even at low and zero speed. The no salient PMSM
originally has a very small magnetic saliency or d−q axis impedance difference. In order
to amplify this small difference, in this study, the magnitude and frequency.
In recent years, Permanent Magnet Synchronous Motors (PMSMs) are increasing
applied in several areas such abstraction, automobiles, robotics and aerospace technology
accurate digital simulation tools are necessary to evaluate their field performance
particularly when they are driven with solid-state drives connected to larger electrical
networks. One of the areas of interest is the design of controllers for these motor drives.
In many applications the physical controls have to be designed and tuned for best
performance. If the simulation of the motor and drive can be implemented in real-time, it
becomes possible to interface the physical manufacturer-built controller (not its model)
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and protection equipment to the simulation using appropriate digital-analog and analog-
digital converters. The real time digital simulator is a combination of specialized
computer hardware and software designed specifically for the solution of power system
electromagnetically transients in real-time. Combines the real time operation properties
of analogue simulators with the flexibility and accuracy of digital simulation programs,
there are many areas where this technology has been successfully applied traditionally
transient simulation programs use the dq0 based modeling method to model different
types of machines and the machines are interfaced to the network.
These interfaced models have interfacing delays which can cause numerical
stability problems in the presence of other interfaced components, particularly when the
case is running in real time. Modeling the permanent magnet machines in RTDS has
important industrial applications such as maglev trains and new generation of auto
mobiles.
Traditional dqo model of the machine and the embedded phase domain model.
According to second method the machine is modeled as a set of time-variant mutual
inductances. The machines are compared in the transient and steady state situations, and
in the final step their performance is observed with an inverter, supplying the AC voltage
for the terminals of the permanent magnet synchronous machines.
1.6.2.2 Equivalent circuit model of the PMSM
The stator carries a three-phase winding, which produces a near sinusoidal distribution of
magneto motive force based on the value of the stator current. The magnets are mounted
on the surface of the motor core. They have the same role as the field winding in a
synchronous machine except their magnetic field is constant and there is no control on it
PMSMs with salient rotor structures are attractive in applications where high efficiency
(due to the additional reluctance torque) and/or fast dynamic response is of essence.

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Structure of the Permanent Magnet Machine
The cross-sectional layout of a surface mounted permanent

Fig 1.2. Structure of permanent magnet synchronous motor

Fig 1.3 rotor fixed d-q axis

Since the stator excitation needs to be synchronized with the rotor position, a rotor
position sensor, or a position estimation algorithm, i.e., sensorless control, is needed.
Estimation of speed and position by using information found in the back electromotive
force (EMF) is possible in the medium-speed and high-speed regions. Compared to a
PMSM with a non salient rotor, the rotor saliency alters the information found in the back
EMF As speed decreases, the information found in the back EMF vanishes, which makes
stable operation in the low-speed and zero-speed regions very challenging, particularly
when the load torque is high Salient PMSMs are attractive not only due to the available

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reluctance torque but also since signal injection techniques can be utilized to achieve
information of the rotor position also in the zero-speed and low-speed regions .
However, as the additional carrier signal causes, at least to some extent, extra
losses, torque ripple, and noise, it is reasonable to rely upon such type of methods only
when the performance of back-EMF based techniques is poor, i.e., in the zero-speed and
low-speed regions. Therefore, the establishment of the simulation model of PMSM and
its control system is of great significance to the verification of a variety of control
algorithms and the optimization of entire control system. Using the modular thought, with
the powerful simulation modeling capabilities of Matlab/Simulink, the entire PMSM
control system as a will be divided into several independent functional modules.
PMSM body module, inverter module and coordinate transformation module and
SVPWM production module and so on. Combine these modules organically, and we
could build the simulation model of PMSM control system. Through the simulation of a
specific motor, we analysis a variety of simulation waveforms, provide means for the
analysis and design of the PMSM control system.
1.6.3. Field orientation control system of pmsm with adaptive parameter
identification
The complete block schematic of the system considered in this paper is shown in Fig. 1.5.
The power stage of the system consists of a sinusoidal isotropic PMSM, fed by a voltage
source PWM inverter with space vector (SV) modulation technique. Two Hall-effects
current sensors remain the control feedback is required, indispensable also for diagnostic
and alarm purpose rotor angular velocity is obtained using an encoder mounted on the
shaft. The speed close loop produces a q-axis current reference q I qref , which is the input
to the Field Orientation Control (FOC) in order to produce a reference voltage space
vector, whose components in the αβ reference frame are and respectively. Finally, a
space vector PWM routine generates the switching commands for the inverter. The
adaptive parameter identifier in parallel with FOC requires d, q-axis voltages, currents
and rotor angular speed, which are measured and calculated. Indeed, in order to reduce
the sensors, phase voltages are usually obtained by means of the measurement of DC bus
voltage.

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 Fig 1.4 schematic of FOC PMSM
1.6.4. Rotor field oriented control principle of PMSM
The basic idea of vector control is as follows: through the coordinate
transformation, decompose the AC motor’s s stator current Is into two components: field
current component Ids and its vertical torque current component Iqs. According to
PMSM’s mathematical model, we could know that the relationship of electromagnetic
torque Te and iq is linear, in speed regulating process, aslong as we maintain the field
current component Id invariable and control its torque component Iqs, we can obtain a
good dynamic characteristic. In this thesis we adopt the id =0 rotor flux-oriented control,
as long as we detect the rotor’s space position accurately, by controlling the inverter can
we locate the three-phase stator’s combined current at axis q .Therefore, if the stator
current’s amplitude is determined, we could control the electromagnetic torque Te .
According to different requirements of PMSM, there are many various control
tactics. From these equiations above, when id= 0, TC, is only relevant to iq(when not
taking account into temperature effect to permanent materials, if is constant). i control
implies control of Tem , Fig. 1.5.2.2.4 shows frame of id = 0 vector control system based
on rotor position and speed estimation for PMSM.

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 Fig1.5.id=0 control rotor/position estimator for PMSM
Eventually, it realizes decoupling control and improves the use efficiency of PMSM. id =
0 control strategy is apt to small and medium sized PMSM control.
1.6.5 Permanent magnet materials
The properties of the permanent magnet material will affect directly the
performance of the motor and proper knowledge is required for the selection of the
materials and for understanding the motors.
The earliest manufactured magnetic materials were hardened steel. Magnets made
from the steel were easily magnetized. However they could hold very low energy and it
was easy to demagnetize. In recent years other magnetic materials such as aluminum
Nickel and cobalt alloys, strontium Ferrite or barium ferrite, samarium cobalt (First
generation rare earth magnet) and neodymium iron-boron (Second generation rare earth
magnet) have been developed and used for making permanent magnets.
Along with the development of permanent magnetic materials and control
technology, permanent magnet synchronous motor (PMSM), with its following merits:
high torque/inertia ratio, high power density, high efficiency, reliable and easy for
maintenance, is widely used in CNC machine tools, industrial robots and so on.
1.6.6 Equivalent dq0 model of the PM machine
The dq0 equivalent circuit of the PM machine shown in Fig.1.5.2.4.1 is similar to the one
for the synchronous machine; it has the armature resistance Rs, d and q axis leakage and
mutual inductances ls, Ld and Lq .

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 Fig 1.6 Dqo equivalent circuit modal of the PMSM (a)d-axis (b)q-axis
Current source, im located at the stator direct axis. Any change in the magnetic flux of the
rotor magnet will cause an induced electromagnetic force, resulting in a circulating
current in the magnet. Essentially resistance Rm connected across the direct-axis
magnetization inductance Ld shows this effect. There is no leakage inductance in the
field. The permeability of the magnet material is almost unity so the air gap inductance
seen by the stator is the same in direct and quadrature axes and also no saturation will
happen inside the machine.
Fig. 1.7 shows the demagnetization curve of the magnet that can be divided into
three regions by three lines, called no load, rated-load and excessive-load.

Fig 1.7 Demagnetization curve of PM

1.7 Classification of permanent magnet motors
1.7.1 Direction of field flux
PM motors are broadly classified by the direction of the field flux. The first field
flux classification is radial field motor meaning that the flux is along the radius of the
motor. The second is axial field motor meaning that the flux is perpendicular to the radius
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of the motor. Radial field flux is most commonly used in motors axial field flux have
become a topic of interest for study and used in a few applications.
1.7.2 Flux density distribution
PM motors are classified on the basis of the flux density distribution and the
shape of the current excitation. They are PMSM and PM brushless motors (BLDC). The
PMSM has a sinusoidal- shaped back EMF and is designed to develop sinusoidal back
EMF waveforms.
They have the following:
1) Sinusoidal distribution of magnetic flux in the air gap.
2) Sinusoidal current waveforms.
3) Sinusoidal distribution of current conductors.
BLDC has a trapezoidal –shaped back EMF and is designed to develop trapezoidal back
EMF waveforms. They have the following:
1) Rectangular distribution of magnetic flux in the air gap.
2) Rectangular current waveform.
3) Concentrated stator windings.
1.7.3 Permanent magnet radial field motors
In PM motors, the magnets can be replaced in two different ways on the rotor. Depending
on the placement they are called either as surface permanent magnet or interior
permanent motor. Surface mounted PM motors have a surface mounted permanent
magnet rotor. Each of the PM is mounted on the surface of the rotor, making it easy to
build, and specially skewed poles are easily magnetized on this surface mounted type to
minimize cogging torque. This configuration is used for low speed applications because
of the limitation that the magnets will fly apart during high speed operations. These
motors are considered to have small saliency, thus having practically equal inductance in
both axes. The permeability of the permanent magnet is almost that of the air, thus the
magnetic material becoming the extension of the air gap. For a surface permanent magnet

motor Ld = Lq .
Interior PM Motor have interior mounted permanent magnet rotor. Each
permanent magnet is mounted inside the rotor. It is not as common as the surface

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mounted type but it is a good candidate for high speed operation. There is inductance
variation for this type of rotor because the permanent magnet part is equivalent to air in
the magnetic circuit calculation. These motors are considered to have saliency with q-axis
inductance greater than the d-axis inductance
1.7.4 Position sensor
Operation of permanent magnet synchronous motors requires position sensors in the rotor
shaft when operated without damper winding. The need of knowing the rotor position
requires the development of devices for position measurement. There are four main
devices for the measurement of position, the potentiometer, linear variable differential
transformers, optical encoders and resolvers. The ones most commonly used for motors
are encoders and revolvers. Depending on the application and performance desired by the
motor a position sensor with the required accuracy can be selected.
1.7.5 PM motor control
Control of PM motors is performed using field oriented control for the operation of
synchronous motor as a dc motor. The stator windings of the motor are fed by an inverter
that generates a variable frequency variable voltage. Instead of controlling the inverter
frequency independently, the frequency and phase of the output wave are controlled
using a position sensor.
Field oriented control was invented in the beginning of 1970s and it demonstrates that
an induction motor or synchronous motor could be controlled like a separately excited dc
motor by the orientation of the stator mmf or current vector in relation to the rotor flux to
achieve a desired objective. In order for the motor to behave like dc motor, the control
needs knowledge of the position of the instantaneous rotor flux or rotor position of the
permanent magnet motor. This needs a resolver or an absolute optical encoder. Knowing
the position, the three phase current can be calculated. Its calculation using the current
matrix depends on the control desired. Some control options are constant torque and flux
weakening. These options are based on the physical limitation of the motor and the
inverter. The limit is established by the rated speed of the motor, at which speed the
constant torque operation finishes and the flux weakening starts as shown in fig 1.8

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 Figure 1.8 Steady state torques vs. Speed
1.7.6 Field oriented control of PM Motor
The PMSM control is equivalent to that of the dc motor by a decoupling control
known as field oriented control or Vector control. The vector control separates the torque
component of the current and flux channels in the motor through its stator excitation.
The vector control of the PM synchronous motor is derived from its dynamic model.
Considering the inputs, the three currents are

ia = I m sin(ω r t + α ) (1.1)
2π
ib = Im sin(ωr t + α − )
3 (1.2)
2π
ic = Im sin(ωr t + α + )
3 (1.3)
Writing the above three equations in the matrix form

 ia   cos(ω r t + α ) 
   
 ib  = (I m )  cos(ω r t + α )  (1.4)
i   cos(ω t + α ) 
 c  r 

Where α the angle between the rotor field and stator current phasor is, ωr is the
electrical rotor speed.
The previous currents obtained are the stator currents that must be transformed to

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the rotor reference frame with rotor speed ωr , using the park transformation. The q and d

axis currents are constants in the rotor reference frames since α is a constant for a given
load torque. As these constants, they are similar to the armature and field currents in the
separately excited dc machine. The q axis current is distinctly equivalent to the armature
current of the dc machine; the d-axis current is field current, but not in its entirety. It is
only a partial field current; the part is contributed by the equivalent current source
representing the permanent magnet field. For this reason the q-axis current is called the
torque producing component of the stator current and the d-axis current is called the flux
producing component of the stator currents id and iq can be written as,

 iq   sin α ) 
  = Im  
 id   cos α  (1.5)
The electromagnetic torque equation is obtained as;
3 p 1 
Te = .  ( Ld − Lq ) I m 2 sin 2α + λ f I m sin α 
2 2 2  (1.6)
1.7.7 Constant torque operation
Constant torque control strategy derived from field oriented control, where the
maximum possible torque is desired at all times like the dc motor. This is performed by
making the torque producing component iq equal to the supply current im. That results in
selecting the α angle to be 900 degrees according to equation. By making the Id current
equal to zero the torque can be rewritten as:
3 p
T e = ( )( ) λ f .i q
2 2 (1.7)
Assuming that;
3 p
k t = ( )( ) λ f
2 2 (1.8)
The torque is given by

Te = k t .iq
(1.9)
Like the dc motor, the torque is dependent of the motor current.

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18
1.7.8 Flux weakening
Flux weakening is the process of reducing the flux in the d-axis direction of the motor
which results in increased speed range.
The motor drive is operated with rated flux linkages up to a speed where the ratio
between the induced emf and the stator frequency (v/f) is maintained constant. After the
base frequency, the (v/f) ratio is reduced due to the limit of the inverter dc voltage source
which is fixed. The weakening of the field flux is required for operation above the base
frequency.
This reduces the (v/f) ratio. This operation results in reduction of the torque
proportional to a change in the frequency and the motor operates in the constant power
region. The rotor flux of PMSM is generated by the permanent magnet which cannot be
directly reduced as induction motor. The principle of flux weakening control of PMSM is
to increase negative direct axis current and use armature reaction to reduce air gap flux,
which equivalently reduces the flux and achieves the purpose of flux weakening control.
This method changes torque by alerting the angle between the stator MMF and
the rotor d-axis. In the flux weakening region angle α is controlled by proper control of
and for the same value of the stator current. Since iq is reduced the output torque is also
reduced. The angle α can be obtained as;
iq
α = ta n − 1 ( )
id (1.10)
the current Im is related to Id and Iq by

I m = id 2 + iq 2
(1.11)
1.7.9 Speed control of PM motor
Many applications, such as robotics and factory automation, require precise
control of speed and position. Speed control systems allow one to set easily set and adjust
the speed of a motor. The control system consists of a speed feedback system, a motor, an
inverter, a controller, a speed setting device. A properly designed feedback controller
makes the system insensible to disturbance and changes of the parameters.
The purpose of the motor speed controller is to take a signal representing the
demanded speed, and to drive a motor at that speed. Closed loop speed control systems
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19
have fast response, but become expensive due to the need of feedback components such
as speed sensors.

1.8 Implementation of the speed control loop

For a PM motor drive system with a full speed range the system will consist of a
motor, an inverter, a controller (constant torque and flux weakening operation, generation
of reference currents and PI controller)

Figure 1.9: Block Diagram of Speed control loop.

The operation of the controller must be according to the speed range. For operation up to
rated speed it will operate in constant torque region and for speeds above rated speed it
will operate in flux weakening region. In this region the d-axis flux and the developed
torque are reduced.

Speed controller calculates the difference between the reference speed and the
actual speed producing an error, which is fed to the PI controller. PI controllers are used
widely for motion control systems. They consists of a proportional gain that produces an
output proportional to the input error and an integration to make to make the steady state
error zero for a step change in the input . Block diagram of the PI controller is shown in
fig (1.9).

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20
 Figure 1.10: PI controller

Speed control of motors mainly consist of two loops the inner loop for current and the
outer loop for speed. The order of the loops is due to their response, how fast they can be
changed. This requires a current loop at least 10 times faster than the speed loop.

Since the PMSM operated using field oriented control, it can be modeled like a dc
motor. The design begins with the innermost current loop by drawing a block diagram.
But in PMSM drive system the motor has current controllers which make the current
loop. The current control is performed by the comparison of the reference currents with
the actual motor currents.

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21
 CHAPTER 2

VECTOR CONTROL FOR PMSM

2.1 Scalar control

Scalar control, as the name indicates, is due to magnitude variation of the control
variables only, and disregarding the coupling effect in the machine. For example, the
voltage of the machine can be controlled to control the flux, and the frequency and slip
can be controlled to control the torque. However, flux and torque are also functions of
frequency and voltage, respectively. Scalar control in contrast to the vector control or
field oriented control, where both the magnitude and phase is controlled. Scalar
controlled drives give somewhat inferior performance, but they are easily implemented.
Scalar controlled drives have been widely used in industry. However their importance has
diminished recently because of the superior performance of vector controlled drives,
which is demanded in many applications.
2.2 Vector control or field oriented control
Scalar control is somewhat simple to implement, but the inherent coupling effect i.e. both
torque and flux are functions of voltage or current and frequency gives the sluggish
response and the system is easily prone to instability because of high order system
harmonics. For example, if the torque is increased by incrementing the slip or slip the
flux tends to decrease. The flux variation is sluggish. The flux variation then
compensated by the sluggish flux control loop feeding additional voltage. This temporary
dipping of flux reduces the torque sensitivity with slip and lengthens the system response
time
These foregoing problems can be solved by vector control or field oriented
control. The invention of vector control in the beginning of 1970s, and the demonstration
that A.C motor can be controlled like a separately excited dc motor, brought a
renaissance in the high performance control of ac drives. Because of dc machine like
performance, vector control is known as decoupling, orthogonal, or Trans vector control.
Vector control is applicable to both induction and synchronous motor drives. Vector
control and the corresponding feedback signal processing, particularly for modern sensor

Vector control of pmsm

22
less vector control, are complex and the use of powerful microcomputer or DSP is
mandatory. It appears that eventually, vector control will oust scalar control, and will be
accepted as the industry standard control for ac drives. Vector control provides wide
range of speed control.
Field oriented control involves controlling the components of the motor stator
currents, represented by a vector, in a rotating reference frame (with a d-q coordinate
system). In a special reference frame, the expression for the electromagnetic torque of the
smooth air-gap machine is similar to the expression for the torque of the separately
excited DC machine.
2.3 Principal of vector control
The fundamentals of the vector control implementation can be explained with the help of
below fig. where the machine model is represented in a synchronously rotating reference
frame. The inverter is omitted from the figure, assuming that it has the unity certain gain
that is, it generates Ia ,Ib and Ic as dictated by the corresponding command currents Ia*
,Ib* and Ic* from the controller. A machine model with internal conversions is shown on
the right side. The machine terminal phase currents Ia ,Ib, and Ic are converted to Idss and
iqss components by (3Φ /2 Φ) transformation.

Inverse transformation machine model Transformation

Figure 2.1 transformation machine model

2.3.1Vector control implementation principle with machine ( d e − q e ) model

These are then converted to synchronously rotating frame by a unit vector component
c o s θ e , s in θ e
before applying them to the machine model. The controller makes two
Vector control of pmsm

23
stage of inverse transformation as shown, so that the control currents ids*, iqs*
corresponds to the machine currents iqs,ids , respectively. The transformation and inverse
transformation including the inverter ideally do not incorporate any dynamics the
response to iqs, ids is instantaneous.
2.4 Importance of vector control
Conventional control such as V/f control, may not meet high dynamic performances.
However, decoupled vector controlled drive is used where the PMSM can achieve the
dynamic performances of capabilities of the separately excited DC machine, while
retaining the general advantages of AC motors over DC motors. The basic principle of
this control based on field orientation. The stator current phasor in the d-q axis
synchronously rotating frame has two components, namely the magnetizing current
component and the torque producing current component. The generated torque is the
product of the two components. By keeping the magnetizing current component at
constant value, the motor torque is linearly proportional to the torque producing current
component. In order to achieve maximum torque per ampere with linear characteristics,
direct- axis current component id is forced to be zero resulting in the orientation of all the
linkage flux in the d-axis. Then the reluctance torque is zero.
The control drive maintains maximum efficiency in a wide range of speeds and
takes in to consideration torque changes with transient response.
Substituting id=0(decoupled vector control condition) and ρ=0 (operational term at steady
state), the general PMSM dynamic equations tend to;

Vd = −ω Lq iq
(2.1)
V q = R s iq + ω φ f
(2.2)
φd = φ f (2.3)

φq = Lq iq (2.4)

And the electromagnetic torque will be

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24
 3 p
Τe = . .φ f iq
2 2 (2.5)

It should be noted that decoupling the d-q axis components iqs and, ids enforces to ids be
zero. Minimum input power and hence, maximum efficiency operation can be achieved
as fallows;

The d-q axis stator voltages at steady -state are;

Vd = Rs id − ω Lq iq
(2.6)
Vq = Rs iq + ω Ld id + ωφ f
(2.7)

The input power pi is given by:

3
Pi = (V d i d + V q i q ) (2.8)
2

The output power po is given by

2
Po = Τ e ω ( ) − ps (2.9)
p
p
The efficiency η = o
; (2.10)
p i

To obtain maximum efficiency at the rated torque and speed (i.e. constant rated power),
the input power is required to be minimum providing stray losses are almost constant.
The suitable value of which satisfies the condition of minimum input power,pI and
hence, maximum efficiency, can be obtained by differentiating with respect to Id and
equating to zero, which yields:

ω ( L d − L q ) iq
id = ; (2.11)
2Rs

For cylindrical rotor which has identical rotor structure, substituting in to above equation
to get Id=0. this means that the maximum efficiency occurs when Id=0,in the same manner
,the suitable value of Id which satisfies the condition of maximum torque per ampere

Vector control of pmsm

25
current ratio can be obtained by differentiating with respect to Id and equating to zero.
Therefore, it was found that the maximum torque per ampere current ratio occurs when
Id=0. .Consequently, the decoupled vector control was found to be optimal type of vector
control in order to achieve maximum efficiency and maximum torque per current ratio.

2.5 Need of speed and parameter estimation for Vector controlled PMSM drive
Rotor speed information is mandatory for indirect vector controlled PMSM drive. The
conventional way to get the speed information is through sensor. However, sensor
mounting, signal transmission, reliability, operation in the hazardous environment etc. are
the major problems related to the speed sensor. Also, the cost of the sensor increases the
economy of the drive. So, the speed estimation from machine terminal quantities (e.g.
voltage and current) is preferred than speed sensing in various applications.
This thesis presents a new control strategy for a permanent magnet synchronous
motor drive that provides high-performance vector control without position and speed
sensor. The rotor position is estimated by calculating the flux linkages nearly equal to the
actual flux linkages, therefore, the position and speed sensor less vector control can be
well achieved. The useful features and validity of the sensor less vector control of
permanent magnet synchronous motor are confirmed by computer simulation.

Inverter fed PMSM with a rotor position and speed sensors are used in many
applications as a DC- brushless motor. The PMSMs are receiving increased attention for
drive applications because of their high torque density, high efficiency, ease of computer
control, and small size. For controlling the PMSM, it is necessary to know the position of
the rotor. In vector control, the stator currents of PMSM are controlled to generate
desired torque, which are transformed using the rotor position. Therefore, absolute
encoders or resolvers have been using for sensing the rotor position. These position
sensors, however, make the motor expensive and mechanically unreliable. Accordingly,
position and speed sensor less control which eliminated the absolute encoders or
resolvers have been studied. However, the serious problem of sensor less control is that
the initial rotor position cannot be observed. In, this problem was pointed out for the
sensor less of DC-brushless motor. In, the sensor less control relative to salient-pole
permanent magnet synchronous motor has been studied and the initial rotor position
Vector control of pmsm

26
detection strategies have been proposed. However, it assumed that the time derivative of
stator currents are obtained accurately in the theoretical development and did not consider
the changes of inductances for the rotor position in the theoretical development. Since the
induced emf is proportional to rotor speed, in the case of starting and low speed range,
the induced emf is small and distinguishes from detected signals.

In, the sensor less drive based on the stator flux linkage space vector was reported.
This, method however, uses an integrator to obtain the stator flux linkage space vector
and is vulnerable to noise. This paper describes a simple control method for a PMSM
drive that provides a high performance vector control without position and speed sensors.
The rotor position is estimated in the form of trigonometric functions by solving the state
equations of the motor in the ds-qs axis which is attached to the stator. The fluxes linkages
are derived by integrating the induced-electromotive force because of the induced
electromotive forces in the ds-qs axis are obtained.

2.6 Different speed estimation techniques

Recently PMSM drives have received increased attention due to having several desirable
features. Vector controlled PMSM drive widely used in applications like machine tools,
electric vehicles etc. Indirect vector controlled system requires the information of the
speed: either from the speed encoder or from an estimator/observer. Elimination of the
speed encoder is highly encouraged to increase the mechanical robustness of the system
and to make the drive cheaper. In some applications there is no room to put the speed
sensor. This has made speed sensor less drive very attractive.

2.6.1. Speed estimation techniques are categorized as

1. Back- emf based method

This method offers satisfactory performance at higher speed. However, at zero speed
or very low speed the back-emf becomes negligible. This makes the speed
estimation at lower speed very difficult. This method is highly sensitive to machine
parameters.

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27
2. Signal injection based method
Some techniques exploited the saliency in the machine to extract speed information.
The phase inductance varies for different rotor positions due to the saliency present in
the rotor side. To extract the position from inductance profile, a high frequency
voltage signal is fed to the motor phases. The merit of this method is reliable at zero
speed. The main drawback of this method is extra hardwire is required for the
purpose of signal injection.
3. State observer- based method
This method includes Extended Kalman Filter (EKF), Extended Luenburger Observer
(ELO), Sliding mode observer. The main drawback of this method is, it is expensive.
4. Model reference adaptive system (MRAS) method
MRAS computes the desired state (called as the functional candidate) using two
different models. (i.e. reference and adjustable models). The error between the two
a model is used to estimate unknown parameters.
A condition to form the MRAS is that adjustable model should only
depend on the unknown parameter. Reference model is independent of unknown
parameter. The error signal is fed to the adaptation mechanism. The output of the
adaptation mechanism is estimated quantity, which is used for the tuning in adjustable
model and also for feedback. The stability of such closed loop estimator is achieved
through popov’s hyperstability criterion. This method is simple, accurate and requires
less computation.
5. Other methods
The more recent approach based on artificial intelligence (AI), are the artificial neural
networks (ANN) and fuzzy logic for speed estimation. But, the AI- based methods
requires huge memory and involves computational complexity.
Among all of these methods, reactive power based MRAS is more popular for
speed estimation as it is independent of stator resistance.

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28
2.7 Block diagram of PMSM drive with MRAS method
A block diagram of proposed MRAS- based speed estimator and the complete vector
controlled sensor less PMSM drive with MRAS based speed estimator is available in Fig
(2.2).

Figure 2.2 Block diagram of PMSM drive with MRAS

The basic principle of vector control is based on field orientation. The stator current
phasor in the d-q axis synchronously rotating frame has two components, namely the
magnetizing current component and the torque producing current component. The
generated torque is the product of the two components. By keeping the magnetizing
current component at constant value, the motor torque is linearly proportional to the
torque producing current component.3-phase inverter output drives the PMSM.

Vector control of pmsm

29
2.8 Basic Structure of PMSM

Fig 2.3: Surface mounted PMS Fig: 2.4: Stationary and rotating reference frames

2.9 Equivalent circuit of permanent magnet motor synchronous motor

Equivalent circuits of the motors are used for study and simulation of motors. From
the d-q modeling of the motor using the stator voltage equations the equivalent circuit of
the motor can be derived. Assuming motor d axis flux from the permanent magnet is

represented by constant current source as described in the fallowing equation λf = Ldmi f .

Fig 2.5 Permanent Magnet Motor Electric Circuit without Damper Windings
2.10 Modeling of PMSM

The d and q-axis stator voltages for PMSM referred to rotor reference frame may be
expressed as

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30
 dids
v ds = R s ids + Ld − ω s Lq iqs
dt (2.12)
diqs
v qs = R s iqs + L q − ω s L d dids + ω s λ af (2.13)
dt

Ld and Lq are the d-and q-axis stator inductance, R s is the stator resistance, λ a f is the

mutual flux linkage, and ω s = P ω r

Where p is the number of pole pair,

The α-and β-axis variables in stationary reference frame are related to the rotor reference
frame with the fallowing expression
 ids  − jθ r
 iα s 
i  = e i 
 qs   βs  (2.14)
Where θ r
is the angle between the stationary reference frame and the rotor reference
frame.
The developed electromagnetic torque can be expressed as;

 3
{
Te = P λaf iqs +( Ld −Lq ) idsiqs
 2
}
(2.15)
The governing electromechanical equation is
dωr
Te − TL = J + Bω r (2.16)
dt

Where TL is the load torque.

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31
 CHAPTER 3

TYPES OF MARS

3.1 Model reference adaptive system (MRAS) method

MRAS computes the desired state (called as the functional candidate) using two different
models (i.e., reference and adjustable models). The error between the two models is used
to estimate an unknown parameter.
A condition to form the MRAS is that adjustable model should only
depend on the unknown parameter. Reference model is independent of unknown
parameter. The error signal is fed to the adaptation mechanism. The output of the
adaptation mechanism is estimated quantity, which is used for tuning the adjustable
model and also for feedback. The stability of such closed loop estimator is achieved
through popov’s hyperstability criterion. This method is simple, accurate and requires
less computation.

3.2 Basic MRAS structure

Figure 3.1 Basic structure of MRAS

The reference model computes instantaneous reactive power Qint and adjustable
model computes steady-state reactive power Qest both the reactive powers are then
compared to form the error signal. The error signal is passed through the adaptation

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32
mechanism to estimate rotor speed. In the successive section it will be proved that a PI
controller is sufficient for adaptation mechanism. The estimated rotor speed used to tune
the adjustable model until the two reactive powers (Qint, Q ef) become same. It is
important to mention that in the proposed MRAS, continuous monitoring of speed error
signal ew and reactive power error signal ε is required; otherwise instead of negative
feed-back positive feed-back may takes place and the system may become unstable.
3.3 Reactive power based MRAS

Figure 3.2 Reactive power based MRAS

Structure of Q-MRAs

Figure 3.3 Structure of the reactive power -based MRAS

Vector control of pmsm

33
The instantaneous reactive power can be expressed as

Q1 =vqsids −vdsiqs
(3.1)
V ds , V qs Values in (2.5), the new expression for Q1 becomes:

Q2 =ωs Li(
2
d ds
+Li2
q qs
)
+(Liq ds piqs −Lid qs pisd )+ωsidsλaf
(3.2)
At steady-state derivative terms are zero and the new expression for Q 2 becomes

( )
Q3 = ωs Ld i 2 ds + Lq i2 qs + ωs ids λaf
(3.3)
Now the condition for vector controlled PMSM drive ( i sd = 0 ) , therefore, the simplified

expression for Q is:

Q4 = ωs Lq i2qs (3.4)

(3.1) is independent of q-axis inductance So, Q1 is used in reference model.

(3.4) is dependent on q-axis inductance So, Q4 is used in adjustable model.

3.4 Active power based MRAS

Active power based MRAS depends on the stator resistance. Several speed estimation
methods for sensor less PMSM drives have been proposed. Performance of them is not
satisfactory at low speed. When the stator resistance value in the speed estimator is
incorrect, the estimator does not work satisfactorily. The stator resistance varies with the
temperature of the machine, so it should be estimated adaptively.

Figure.3.4.Active power based MRAS

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34
3.5 Expression for active power
The instantaneous active power ( p ) can be expressed as

Pinst = vdsids + vqsiqs (3.6)

By substituting Vsd and Vsq equations in equation (3.6),

The steady-state active power (P) becomes,

Pss = Rsi 2qs + λaf ωsiqs (3.7)

Instantaneous active power is independent of stator resistance; the steady-state active

power depends on stator resistance. By equating (3.6), (3.7)

p in s t = p s s
(3.8)

We get the speed equation as;

V sq i sq − R s i sq 2
ωs =
λ af isq
(3.9)

From the above equations, it shows that rotor Speed ωs depends on the stator
resistance Rs .

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35
 CHAPTER4
SIMULATION RESULTS
Q-MRAS and P-MRAS system is extensively simulated in MATLAB/ SIMULINK and
this section presents some of the simulation results.
4.1 Q-MRAS Simulation results
(1) Without Lq Compensation

Fig4.1: q-axis Inductance (mH) vs. Time (sec) Fig4.2: Speed (rad/sec) vs. Time (sec)

Fig4.3: stator current (a) vs. time (sec) Fig 4.4: flux linkage vs. time (sec)
Fig (4.1) shows the variation of Lq . It is observed that Lq varies after 2 sec. with ramp

response up to 1.5 times the actual value of Lq .

From Fig (4.2) it is observed that ωr _ est is not tracking with ωr _ act after 2 sec.

Fig (4.3) shows that after 2 sec q-axis stator current isq is not the exact value due to the

variation in Lq
.

Fig (4.4) shows the d, q-axis flux linkages for Lq variation.

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36
(2) With Lq Compensation

Fig4.5:q-axis Inductance (mH) vs. Time (sec) Fig4.6: Speed (rad/sec) vs. Time (sec)

Fig4.7: Stator current (A) vs. Time (sec) Fig 4.8: Flux linkage vs. Time (sec)

Fig (4.5) shows the variation of Lq. It is observed that Lq varies after 2 sec. with ramp
response up to 1.5 times the actual value of Lq

From Fig (4.6) it is observed that ωr _act is tracking with the ωr _ref .

Figure (4.7) shows the q-axis stator current is the exact value due to the compensation

of Lq
.

Fig (4.4) shows the d, q-axis flux linkages for Lq compensation.

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37
(3) Lq estimation for step input

Fig4.9: q-axis inductance vs. time Fig4.10: q-axis inductance vs. Time

(4) Lq estimation for ramp input

Fig4.11: q-axis Inductance vs. Time Fig 4.12: q-axis inductance vs. Time

Fig (4.9) shows that estimated Lq follows the actual Lq for step response.

Fig (4.10) shows the estimated Lq .

Fig (4.11) shows that Lq_est follows the Lq _ act for ramp response.

Fig (4.12) shows that Lq _ est . It is observed that Lq_est varies 1.5 times the actual Lq for

ramp response at 6 sec.

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38
(5) Step response with speed reversal

Fig 4.13: Speed (rad/sec) vs. Time (sec) Fig 4.14: Speed (rad/sec) vs. Time (sec)

Fig 4.15: Stator current (A) vs Time (sec) Fig4.16: Torque (N-m) vs Time (sec)

Fig (4.13) shows that simulation result for speed reversal in step. The motor reference
speed is changed from 100rad/sec to -100rad/sec at 5 sec. and 10 sec. again speed is set to
100rad/sec at 10 sec. From the result it is observed that the actual motor speed takes
25msec to follow the reference speed with good accuracy. Reference speed and actual
speeds are plotted in the same scale to observe the accuracy of MRAS-based speed
estimator.

Fig (4.14) shows that simulation result for speed reversal in step. The actual motor speed
is changed from 100rad/sec to -100rad/sec at 5 sec. and 10 sec. again speed is set to 100
rad/sec at 10 sec. From the result it is observed that the estimated motor speed takes 25
msec to follow the actual speed with good accuracy. Actual speed and estimated speeds
are plotted in the same scale to observe the accuracy of MRAS-based speed estimator.

Vector control of pmsm

39
In Fig (4.15) d, q- axis stator currents are plotted vs. time. These stator currents
components for dc generator type load. For vector controlled PMSM drive d-axis stator
current should be zero and the same is observed from the simulation results and the spike
at 5 sec., 10 sec. is due to speed reversal.
Fig (4.16) shows that Electromagnetic torque follows is q .Because

3 p
Te = ( ).( )φ f isq (4.1)
2 2

Where φf is constant. so, Te is proportional to isq .

6) Constant speed Operation

Fig 4.17: Speed (rad/sec) vs. Time (sec) Fig 4.18: Speed (rad/sec) vs. Time (sec)

Fig 4.19: Stator current (A) vs. Time (sec) Fig. 4.20: Torque (N-m) vs. Time (sec)

From the fig (4.17) it is observed that actual speed follows the reference speed for
constant speed operation.
From the fig (4.18) it is observed that estimated speed fallows the actual speed for
constant speed operation.
Vector control of pmsm

40
From the fig (4.19) shows the d, q- axis stator currents.

From the fig (4.20) shows that electromagnetic torque Te . It is observed that T e follows
isq

(7) Speed with Ramp response

Fig4.21: Speed (rad/sec) vs. Time (sec) Fig4.22: Speed (rad/sec) vs. Time (sec)

Fig 4.23: stator current (A) vs. Time (sec) Fig 4.24: Flux linkage (wb-turn) vs. Time(sec)

Fig (4.21) shows that the response of the drive for ramp type speed reference. The
simulation is also performed for ramp type speed reference and actual speed vs. time.
From the result it is observed that actual speed is not tracking the reference speed near
zero stator frequency.
Fig (4.22) shows that the response of the drive for ramp type speed reference. The
simulation is also performed for ramp type actual speed and estimated speed vs. time.
From the result it is observed that actual speed is not tracking the estimated speed near
zero stator frequency. It is noticed that estimated rotor speed follows the reference speed
Vector control of pmsm

41
with good accuracy. This discrepancy can be overcome by proper adjustment of PI
controller gains.
From the Fig (4.23) it is observed that the vector control operation of the drive i.e
Isd=0 Torque component of the stator current ( isq) is also shown for ramp reference.
From the fig (4.24) it is observed that.Φsd =Φf is constant and Φq is the product Lq and
iq .
φsd =φ f
(4.2)
φsq =Liq q (4.3)

(8) Zero speed response

Fig4.25: Speed (rad/sec) vs. Time (sec) Fig4.26: Stator current (A) vs. Time (sec)

Fig (4.25) shows that ω r _ ref _ act for zero speed response. Actual speed is tracking with

the reference speed at zero speed response.

Fig (4.26) shows that d, q-axis stator currents for zero speed response. isd = 0 and

i s q follows the torque component.

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42
4.2. P-MRAS Simulation results
(1) Without Rs Compensation

Fig 4.27: Stator resistance (Ω) vs. Time (sec) Fig 4.28: Speed (rad/sec) vs. Time (sec)

Fig 4.29: Speed (rad/sec) vs. Time (sec) Fig 4.30: stator current (A) vs. Time (sec)

Fig. 4.31: Torque (N-m) vs. Time (sec)

Vector control of pmsm

43
Figure (4.27) shows the stator resistance Rs varies 1.5 times of actual resistance at 6sec.

Figure (4.28) shows the ωr _ act _ est . It is observed that ωr _ act is not tracking with the ωr _ est
due to Rs variation at 6 sec.

Figure (4.29) shows that ω r _ ref _ act . It is observed that ωr _act not tracking with the ωr _ref
after 6sec.due to Rs variation.

Figure (4.30) shows that d, q-axis stator currents without Rs compensation. It is observed

that q-axis stator current isq is not the exact value after 6 sec. due to the Rs Variation.

Figure (4.31) shows that electromagnetic torque T e . It is observed that Te fallows isq .

(2) With Rs Compensation

Fig 4.32: Stator resistance (Ω) vs. Time (sec) Fig 4.33: Speed (rad/sec) vs. Time (sec)

Fig 4.34: Speed (rad/sec) vs. Time (sec) Fig 4.35: stator current (A) vs. Time (sec)

Vector control of pmsm

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Fig 4.36: Flux linkage (wb-turn) vs. Time (sec) Fig 4.37: Torque (N-m) vs. Time (sec)

Figure (4.32) shows the stator resistance R s varies 1.5 times of actual resistance at 6sec.
for ramp response.

Figure (4.33) shows the ωr _ ref _ act . It is observed that ωr _act is tracking with the ωr _ref due

to Rs compensation.

Figure (4.34) shows the ω r _ act _ est . It is observed that ωr _act is tracking with the ωr_est
due to Rs compensation at 6 sec.

Fig (4.35) shows that d, q-axis stator currents with Rs compensation. It is observed that

axis stator current is constant with Rs compensation and isd = 0 .

From the fig (4.10) it is observed that φsd =φf where φ f is constant and φsq is the
,

product of Lq and iq .

φsd = φ f
(4.4)

φsq = Lqiq (4.5)

Figure (4.37) shows the electromagnetic torque Te . It is observed that Te follows isq .

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(3) Rs estimation for step response

Fig4.38: Stator resistance (Ω) vs. Time (sec) Fig4.39: Stator resistance (Ω) vs. Time
(sec)
Figure (4.38) shows the estimated resistance follows the actual resistance for step
response.
Figure (4.39) it shows that estimated resistance is 1.5 times the actual resistance at 6sec.
for step response.
(4) Estimation for ramp response

Fig 4.40: Stator resistance vs. Time Fig 4.41: Stator resistance (Ω) vs. Time (sec)
Figure (4.40) shows the estimated resistance fallows the actual resistance for ramp
response.
Figure (4.41) shows the estimated resistance is 1.5 times of actual resistance at 6 sec. for
ramp response.

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 CHAPTER 5
CONCLUSION
5.1 Conclusion
The proposed MRAS method is less parameter sensitive, and it gives accurate results.
Among all the speed estimation techniques, reactive power based MRAS is more popular
as it is independent of stator resistance. MRAS method involves less computational
complexity. The adaptation mechanism used the instantaneous power in the reference
model and steady-state power in the adjustable model. The use of steady state power
eliminates the need of derivative computation.
So the method is less sensitive to noise, also the scheme does not need back- emf
estimation and hence free from integrator related problems. This improves the
performance of the estimator at very low and zero speed. Stator resistance changes due to
the temperature of the machine. When the stator resistance value in the speed estimator is
incorrect, the estimator does not work satisfactorily.
5.2 Scope of Future work
So far the rotor speed ωr and q-axis inductance Lq are estimated by using reactive power
based MRAS. Stator resistance Rs is also estimated by using active power based
MRAS.While the thesis has successfully completed the estimation of parameters of
PMSM, however in the future Inverter need to be designed to run the PMSM.

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47
 CHAPTER 6
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 APPENDIX

PM SYNCHRONOUS MOTOR PARAMETERS

Symbol Meaning Value
- Power 1.1 kW
V Rated Voltage 220V
P Pole pair 3
Ld d-axis inductance 0.0085 Mh
Lq q-axis inductance 0.0085 mH
λaf Mutual Flux Linkage 0.175 Wb-turn
Rs Stator Resistance 2.875 Ω
ωn Nominal Speed 1500 rpm
f Frequency 50 Hz
J Machine Inertia 0.0008 Kg-m2
B Viscous coefficient 0.00038818

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