Performance Improvement of Direct Torque Controlled Interior Permanent Magnet Synchronous

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Performance Improvement of Direct Torque Controlled Interior Permanent Magnet Synchronous

Motor Drive by Considering Magnetic Saturation

Behrooz Majidi^*† Jafar Milimonfared^* Kaveh Malekian^* *Amirkabir University of Technology (Tehran Polytechnic), Center of Excellence in Power Systems, No. 424, Hafez Ave., Tehran 15914, Iran.

† Corresponding author: [email protected]

Abstract—The influence of magnetic saturation on the maxi- mum torque per ampere strategy in constant torque region and field weakening strategy in constant power region for a direct torque controlled interior permanent magnet synchronous motor drive are discussed in this paper. In other words, by considering magnetic saturation, all optimal strategies and motor-inverter limitations are derived in the

T−ψs plane to apply in the direct torque control method. These strategies that take magnetic saturation into account and determine the optimal torque and flux commands are derived and implemented in direct torque control method. Simulation results on a prototype interior permanent magnet motor are included to validate the usefulness of the work.

Index Terms—Direct torque control, field weakening strategy, interior permanent magnet synchronous motor, magnetic saturation, maximum torque per ampere strategy.

I. INTRODUCTION

ECENTLY, the Interior Permanent Magnet Synchronous Motor (IPMSM) is widely used in high performance applications due to some its advantageous such as high torque to current ratio, high power to current ratio, high efficiency, low noise, and robustness [1]-[3]. In high performance variable speed drive systems, the motor speed should closely follow specified reference trajectory regardless any load disturbances, parameter variations and any model uncertainties [4].

In addition, in some applications, wide-speed operation of electric drives is desired [5]-[8]. In other words, operation in both constant torque region and constant power region is needed. The optimal behavior of drive can be achieved by considering Maximum Torque per Ampere (MTPA) strategy below the base speed and Field Weakening (FW) strategy above the base speed. It should be noted that the MTPA and FW strategies must be modified in order to consider magnetic saturation. This paper focuses on optimal torque control of direct torque controlled interior permanent magnet synchronous machines capable of operating in both the constant torque and the constant power region.

In the Interior Permanent Magnet (IPM) motor, since the effective air-gap length on the d-axis is large and the relative magnetic permeability of the Permanent Magnet (PM) is close

to unity, the variation of the corresponding magnetizing inductance, L_d , due to magnetic saturation, is minimal. On the contrary, the effective air-gap length on the q-axis is small, and, therefore, the saturation is significant [9], [10].

II. MOTORDYNAMIC BYCONSIDERINGMAGNETIC

SATURATION

The mathematic model of IPMSM in the rotor reference frame can be obtained from synchronous machine model. Due to constant field produced by permanent magnets, the field variation is zero. In this paper it is assumed that:

• Magnetic saturation is considerable;

• Core losses are negligible;

• The induced EMF is sinusoidal; and

• There is no dampener winding on rotor.

Using these assumptions, the voltages and torque equations could be written as,

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