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Control of a Permanent Magnet Synchronous Motor (PMSM) with constraints

Rai, Shiv Jeet
Master thesis
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URI
http://hdl.handle.net/11250/2453626
Date
2017
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  • Institutt for teknisk kybernetikk [2245]
Abstract
The aim of the thesis is to design and implement a controller that controls the PMSM

without violating the given constraints. This is especially with respect to the battery

current.

Two approaches has been implemented in this paper, where both of themhave shown

to satisfy the given constraints. This was however on expense on the performance

of some of the responses, especially id (t ). As a Surface PMSM (SPMSM) has been

used, a nonzero value on id (t ) only contributes in heat increase in the motor. The

approaches have shown different overall performance of these responses. The simulations

in this paper was carried for a given test case where an angular position reference

was followed. Both approaches have utilized a cascade of P- and PI-controllers,

where one replaced the current controllers with a predictive controller, while the

other utilized saturation blocks.

The predictive controller has been realized by using a Nonlinear Model Predictive

Control (NMPC) structure, as the constraint for the battery current was found to be

nonlinear. In this paper two versions of the NMPC has been looked at, where one

considered constant angular velocity in the prediction horizon and the other did not.

Thiswas motivated by the assumption that a constant velocity in the controller might

have significant reduction on the computational time. Based on the results however,

this paper has shown that including angular velocity in the prediction horizon might

be a better choice. This is in terms of the performance and computational time presented

in the results. However as a framework that does not support c-code generation

has been used, this paper cannot give any direct results on the computational

effort the predictive controllers induce.

The work of this paper should therefore be regarded as an introductory on future

work. This is if it is of interest to use the NMPC presented here for controlling the

motor. The results alone are not of very big significance as the control structure currently

is not deploy-able. However for further work, the results give insights in what

to expect when utilizing a framework that supports c-code generation.

The other approach that have utilized saturation blocks can be used directly. However

some additional tuning might be required if the performance is not sufficient.
Publisher
NTNU

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