Predictive DTC-PWM of PMSM based on zero voltage and 12 voltage vectors
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ORIGINAL ARTICLE
Predictive DTC‑PWM of PMSM based on zero voltage and 12 voltage vectors Seungjun Kim1 · Oh‑Kyu Choi2 · Dong‑Hee Lee1 Received: 29 December 2019 / Revised: 13 July 2020 / Accepted: 23 July 2020 © The Korean Institute of Power Electronics 2020
Abstract This paper presents a novel predictive direct torque control (PDTC) for permanent magnet synchronous motors (PMSMs) using the zero voltage vector and a selected voltage vector from the 12 available voltage vectors. The 12 voltage vectors consist of 6 effective voltage vectors and 6 combinational voltage vectors to improve control performance. To select the optimum voltage vector for each of the operating conditions, the predictive flux and torque at the zero voltage vector that consider both the back EMF (electromotive force) and the decoupling effect, are used to determine the voltage vector. The PWM (pulse width modulation) duty ratio to reduce torque and flux ripples can be determined by three factors: the reference flux and torque using a zero voltage vector, the predictive flux and torque using a zero voltage vector, and the predictive flux and torque using a selected voltage vector. Due to the linear ratio of the predictive torque and the flux errors in the next sampling, the proper duty ratio to reduce ripples can be easily obtained by the zero voltage and selected voltage vectors. To further reduce ripples, an additional 6 combinational voltage vectors are used, which are the result of combining the duty ratios of the adjacent two effective voltage vectors. Furthermore, a multi-level flux hysteresis band is designed to select the optimal voltage vector according to the operating conditions among the available 12 voltage vectors. The proposed PDTC scheme is verified by simulation and experiments using a practical 1 [kW] PMSM. In both the simulation and experiments results, the proposed PDTC scheme shows advanced control performance with reduced torque and flux ripples and reduced steady state error. Keywords PMSM · PDTC-PWM · Voltage vector · Sector · Back EMF · Decoupling effect
1 Introduction Permanent magnet synchronous motors (PMSMs) have high efficiency, high torque density, and high control performance when compared to other AC machines [1–3]. These advantages can extend the use of PMSMs to various applications such as industrial production, home appliances, and factory robots [4, 5]. Due to their fast dynamic response and high control performance, semi-conductor manufacturing systems and manufacturing robots use PMSMs as control actuators and conveying devices. Nowadays, PMSMs are gaining a
* Dong‑Hee Lee [email protected] 1
Department of Mechatronics Engineering, Kyungsung University, Busan, South Korea
System Control Research Center, Korea Electrotechnology Research Institute (KERI), Changwon, South Korea
2
great deal of interest as the electric propulsor for ships due to their fast dynamic response and high efficiency [6–8]. Many control methods have been studied to improve PMSM speed and torque control. However, the contr
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