« emr and inversion-based control of 2 series connected 5 ... · « emr and inversion-based...

EMR’14CoïmbraJune 2014

Summer School EMR’14“Energetic Macroscopic Representation”

« EMR and Inversion -based control of 2 series connected 5 -phase PMSMs »

Prof. Eric SEMAIL, Dr. Ngac Ky NGUYEN, Dr. Xavier KEST ELYNL2EP, Arts et Métiers ParisTech

EMR’14, Coimbra, June 20142

« EMR and inversion-based control of 2 series connec ted 5-phase PMSMs »

- Outline -

1. EMR of a 5-phase PMSM

2. EMR of 2 series connected 5-phase PMSMs

3. Inversion-based control

4. Experimental results

PMSM : Permanent Magnet Synchronous Motor



« EMR of a 5-phase PMSM »



Decrease the phase current comparing to a three phase machine for a given low DC bus (48V) reduce the per-phase converter rating (automobile applications).

Increase fault-tolerance capabilities (open-circuit and short-circuit).

Reduce harmonic torque ripple.

More possibilities of stator winding configuration .

- EMR of a 5-phase PMSM -

Why multiphase machine?




Assumptionson the 5-phase Permanent Magnet Synchronous Machines (PMSMs):

• no reluctance, no saturation effects

• regular spatial distribution of windings

ia

ib

ic

id

ie

VDCN

5-leg VSI 5-phase machine

νeΝ




vsiv

machi

mi

svsiv

DC bus

iDC

VDC

mvsi

si

mi

si

me

se

Tmm

ΩTsm

Ω

Ttot

Ω Tload

Ω

mvsiv5-leg VSI

Concordiatransformation

fictitious machines

mechanicalcoupling

load

shaft

5

1 1 0 1 021 2 2 4 4cos sin cos sin

5 5 5 521 4 4 8 82 cos sin cos sin

5 5 5 55 21 6 6 12 12cos sin cos sin

5 5 5 521 8 8 16 16cos sin cos sin

5 5 5 52

C

π π π π

π π π π

π π π π

π π π π

=

Ttot=Tmm+Tsm

Two equivalent(d,q) machines

One 5-phase machine = two (d,q) machines

two classicalvector controls

SM

MM




Secondary (d,q) Machine

3, 7, 13… 5h±2

Main (d,q) Machine

1, 9, 11… 5h±1 family of odd harmonics

EMF : Electromotive force or back-EMF



« EMR of 2 series connected 5 -phase PMSMs»



- EMR for 2 series connected PMSMs -

Replace two hydraulic engines bytwo electric motors in orientation controlsystem where one machine pulls and the other pushes

Thales Alenia Space Project (Ariane 6): 20132017

One of applications : aerospace launcher




i1a

i1b

i1c

i1d

i1e

VDC

i2a

i2b

i2c

i2d

i2e

N

5-leg VSI 5-phase machine 1 5-phase machine 2

VDC

5-leg VSI

Healthy operation

One of inverter switch or DC source fault

i1a

i1b

i1c

i1d

i1e

VDC

i2a

i2b

i2c

i2d

i2e

N


VDC

5-leg VSI

How can we control separately two machines in case of fault ?




i1a

i1b

i1c

i1d

i1e

VDC

i2a

i2b

i2c

i2d

i2e

N


connection

Solution : Swapping connection + new control algorithm based on EMR

Swapping connection

two fictitiousmachines

MM1 & SM1

two fictitiousmachines

MM2 & SM2

MM1 & SM2 in series

MM2 & SM1 in series

MM1

SM1 SM2

MM2

Control objective: 8 currents (4 equivalent fictitious machines)

DOF : 4 (5-leg VSI)

Swapping

Require a special connection




vVSI

vM1

iVSI

VDC

IDC

DCiM1

iM2

vM2

iM1

eM1

iM2

eM2

MM1

SM1

SM2

MM2

TMM1

TSM1

TSM2

TMM2

Ω1

Ω1

Ω2

Ω2

TM1

Ω1

Ω1

Tload-1

Ω2

Ω2TM2

Tload-2

DC bus

5-leg VSI

Concordiatransformation

equivalent windings

swapping connection

fictitious machines

mechanical coupling

shaft

loads

iMM1

eMM1

iSM2

iMM2

iSM1

eSM1

eSM2

eMM2

mVSI

iMM1 iSM2*=

iSM1 iMM2=



« Inversion -based control »



- Inversion-based control -

vVSI

vM1

iVSI

VDC

IDC

DCiM1

iM2

vM2

iM1

eM1

iM2

eM2

MM1

SM1

SM2

MM2

TMM1

TSM1

TSM2

TMM2

Ω1

Ω1

Ω2

Ω2

TM1

Ω1

Ω1

Tload-1

Ω2

Ω2TM2

Tload-2

DC bus 5-leg VSIConcordia

transformationequivalentwindings

swapping connection

fictitiousmachines

mechanical coupling shaft loads

iMM1

eMM1

iSM2

iMM2

iSM1

eSM1

eSM2

eMM2We have : 4 DOF (5-leg VSI)4 currents to control

mVSI

Possible

Ideally, SM1 and SM2 have to be canceled by machine design

Impact of SM1 and SM2 if they exist

Torque ripple of TM1 and TM2 has to be compensated by control iMM1 iSM2

*=

iSM1 iMM2=



- Inversion-based control -

vVSI

vVSI-ref

vM1

vM1-ref

vM2-ref

iVSI

VDC

IDC

DCiM1

iM2

vM2

iM1

eM1iM2

eM2

MM1

SM1

SM2

MM2

TMM1

TMM2

Ω1

Ω2

TM1

Ω1

Ω1

Tload-1

Ω2

Ω2TM2

Tload-2

iMM1

iMM1-ref

iMM2-ref

iM1-ref

iM2-ref

eMM1

iMM2

eMM2

mVSI

Ω1-ref

Ω2-ref

TM1-ref

TM2-ref

TMM1-ref

TMM2-ref

SM1

SM2

TSM1

TSM2

Ω1

Ω2

iSM2

iSM1

eSM1

eSM2

stratégie



« Experimental results »



- Experimental results -

Inverter

dSPACE

PMSM 1

PMSM 2

DC supply

Fig. 1. Laboratory experimental test-bench




0 2 4 6 8 10 12 14-20

0

20

40

60

80

Time [s]

Mec

hani

cal s

peed

s [r

ad s

-1]

ω*m1

ωm1

ω*m2

ωm2

0 2 4 6 8 10 12-20

0

20

40

60

80

Time [s]

Mec

hani

cal s

peed

s [r

ad s

-1]

ω*m1

ωm1

ω*m2

ωm2

Ω1

Ω2

Ω1Ω2

Ω1ref = cycle

Ω2ref = 0

Ω1ref = cycle

Ω2ref = 40 rad/s



0 2 4 6 8 10 12 14-20

0

20

40

60

80

Time [s]

Mec

hani

cal s

peed

s [r

ad s

-1]

ω*m1

ωm1

ω*m2

ωm2


Ω1

Ω2

Ω1ref = cycle

Ω2ref = cycle

independent behaviours of both machineswith a common supply



« BIOGRAPHIES AND REFERENCES »



- Authors -

Dr. Ngac Ky NGUYENArts et Métiers ParisTech, L2EP, FrancePhD in Electrical Engineering at University of Mulhouse (2010)Associate Professor since 2012Research topics: Multiphase machines control, fault tolerance systems, EMR

Prof. Eric SEMAILArts et Métiers ParisTech, L2EP, FrancePhD in Electrical Engineering at University of Lille 1 – Science and Technology (2000)Full Professor since 2010Research topics: Multiphase machines design and control, multi-converter modelling

Dr. Xavier KESTELYNArts et Métiers ParisTech, L2EP, FrancePhD in Electrical Engineering at University of Lille 1 – Science and Technology (2003)Associate Professor since 2004Research topics: Multiphase machines control, fault tolerance systems, EMR,

modelling and control of multi-physical systems



- References -

[Semail 05] E. Semail, E. Levi, A. Bouscayrol, X. Kestelyn, “Multi-Machine Modelling of Two SeriesConnected 5-phase Synchronous Machines: Effect of Harmonics on Control ”, EuropeanConference on Power Electronics and Applications, pp. 10, 2005.

[Mekri 12] F. Mekri, J-F. Charpentier, E. Semail, “An efficient control of a series connected two-synchronous motor 5-phase with non sinusoidal EMF suppliedby a single 5-leg VSI:Experimental and theoretical investigations”,Electric Power Systems Research 92 (2012) 11-19.

[Gataric 00] S. Gataric, “A polyphase cartesian vector approach to control of polyphase AC machines”,Industry Applications Conference, 2000. Conference Record of the 2000 IEEE, Vol. 3, pp. 1648-1654,Rome 2000.

[Jones 04] M. Jones, E. Levi, A. Iqbal, “A five-phase series-connected two-motor drive with current controlin the rotating frame ”,35th Annual IEEE power Electronics Specialists Conference, Vol. 5, pp. 3278-3284, Aachen, 2004.

[Bouscayrol 00] A. Bouscayrol, B. Davat, B. de Fornel, B. François, J. P. Hautier, F. Meibody-Tabar, M.Pietrzak-David, "Multimachine Multiconverter System: application for electromechanical drives",European Physics Journal - Applied Physics, vol. 10, no. 2, May 2000, pp. 131-147 [IF 0.465](common paper GREEN Nancy, L2EP Lille and LEEI Toulouse, according to the SMM project of theGDR-SDSE)

[Hautier 04] J. P. Hautier, P. J. Barre, "The causal ordering graph – A tool for modeling and control lawsynthesis",Studies in Informatics and Control Journal, December 2004, Vol. 13, no. 4, pp. 265-283.



« Thank you »



- Colors -

violetpale

green gold

Powersystem

Powersource

Systemmodel

Systemcontrol

Controlstrategy

blueskyblue

Web X11 colour, standard colours on web pageshttp://en.wikipedia.org/wiki/Web_colors

• light green background RGB = (152,251,152) « pale green »• dark green border RGB = (0,128,0)« greeen »

• orange background RGB = (255,215,0)« gold » • red border RGB = (255,0,0)« red »

• purple background RGB = (238,130,238)« violet » • dark blue border RGB = (0,0,255)« blue »

• light blue background RGB = (135,206,235)« sky blue » • dark blue border RGB = (0,0,255)« blue »

• dark blue background RGB = (0,0,255)« blue » • dark blue border RGB = (0,0,255)« blue »



element name

Name

No equation number in slides

x1

y1

- EMR pictograms -

element name element name

element name element name

power vectors(size b, full arrows)

signal vectors(size b/2, empty arrows)

(radius= a)

borders of powerelements = b pt

(a/2 x a) (a x a)(2a x a)

a

2a



stratégie

- Control pictograms -

(support squarea x a)(same pictograms – same size -

with or without oblique bar)

borders of controlelements = b/2 pt




Source

- estimation pictograms -

borders of estimationelements = b/2 pt




- Example -

ich1

ubat

ifield

efield

battery choppers

DC machine

ubat

Bat.itot

Env.

uch1

iarm

iarm

earm Tem

Ω gear

Tgear

Ωwh

Fwh

Fres

vev

vev

gearbox

mch1

ifield

uch2

ich2

ubat

parallel connexion wheel

chassis

environment

mch2

ifield-ref

uch1-ref iarm-ref

Tem-ref Tgear-ref Fwh-ref vev-ref

uch2-ref

strategy driver requestSoCest

Ωwh-est vev-est

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