Control strategies of permanent magnet synchronous motor drive for electric vehicles

CONTROL STRATEGIES OF PERMANENT MAGNET SYNCHRONOUS MOTOR DRIVE FOR ELECTRIC VEHICLES Chiranjit Sain, Atanu Banerjee and Pabitra Kumar Biswas Taylor & Francis Group Control Strategies of Permanent Magnet Synchronous Motor Drive for Electric Vehicles Control Theory and Applications About the Series This book series is envisaged to add to the scholarly discourse on h igh-quality books in all areas related to control theory and applications The book series provides a forum for the control scientists and engineers to exchange related knowledge and experience on contemporary research and development in control and automation This includes aircraft control, adaptive control, sliding mode control, evolutionary control, fuzzy theory and control, robotic manipulators, and even control applications in areas such as the Internet of Things and Big Data The scope includes all aspects of control engineering needed to implement practical control systems, from analysis and design, through simulation and hardware, with a special emphasis on bridging the gap between theory and practice It aims to explore the latest research findings and provide attention to emerging topics in control theory and its applications to diverse domains of engineering and technology, to expand the knowledge base and applications of this rapidly evolving and interdisciplinary field The series will include textbooks, references, handbooks, and short-form books Series Editor: Dipankar Deb Dr Dipankar Deb (PhD, University of Virginia) Professor (Electrical Engineering) Institute of Infrastructure, Technology, Research and Management (IITRAM) (An Autonomous University, Established by Government of Gujarat) Ahmedabad, Gujarat, India 380026 Office: +91-7967775408, Mobile: +91-7203954452 Researchgate: https://www.researchgate.net/profile/Dipankar_Deb4 (RG Score: 29.91) Google Scholar: https://scholar.google.co.in/citations?user=tu1T1FUAAAAJ&hl=en Home Page: http://iitram.ac.in/facultydetails.php?fac_id=9 Control Strategies of Permanent Magnet Synchronous Motor Drive for Electric Vehicles Chiranjit Sain, Atanu Banerjee and Pabitra Kumar Biswas Control Strategies of Permanent Magnet Synchronous Motor Drive for Electric Vehicles Chiranjit Sain Atanu Banerjee Pabitra Kumar Biswas MATLAB® and Simulink® are trademarks of The MathWorks, Inc and are used with permission The MathWorks does not warrant the accuracy of the text or exercises in this book This book’s use or discussion of MATLAB® and Simulink® software or related products does not constitute endorsement or sponsorship by The MathWorks of a particular pedagogical approach or particular use of the MATLAB® and Simulink® software First edition published 2023 by CRC Press 6000 Broken Sound Parkway NW, Suite 300, Boca Raton, FL 33487-2742 and by CRC Press Park Square, Milton Park, Abingdon, Oxon, OX14 4RN © 2023 Chiranjit Sain, Atanu Banerjee and Pabitra Kumar Biswas CRC Press is an imprint of Taylor & Francis Group, LLC Reasonable efforts have been made to publish reliable data and information, but the author and publisher cannot assume responsibility for the validity of all materials or the consequences of their use The authors and publishers have attempted to trace the copyright holders of all material reproduced in this publication and apologize to copyright holders if permission to publish in this form has not been obtained If any copyright material has not been acknowledged please write and let us know so we may rectify in any future reprint Except as permitted under U.S Copyright Law, no part of this book may be reprinted, reproduced, transmitted, or utilized in any form by any electronic, mechanical, or other means, now known or hereafter invented, including photocopying, microfilming, and recording, or in any information storage or retrieval system, without written permission from the publishers For permission to photocopy or use material electronically from this work, access www.copyright com or contact the Copyright Clearance Center, Inc (CCC), 222 Rosewood Drive, Danvers, MA 78-750-8400 For works that are not available on CCC please contact m pkbookspermissions@ 01923, tandf.co.uk Trademark notice: Product or corporate names may be trademarks or registered trademarks and are used only for identification and explanation without intent to infringe ISBN: 9781032038902 (hbk) ISBN: 9781032038926 (pbk) ISBN: 9781003189558 (ebk) DOI: 10.1201/9781003189558 Typeset in Times by codeMantra Dedicated to Our Beloved Family Members Taylor & Francis Taylor & Francis Group http://taylorandfrancis.com Contents List of Figures xi List of Tables xix Preface xxi Acknowledgements xxiii Authors xxv List of Symbols xxvii Chapter Introduction 1.1 1.2 Background and Problem Formulation Review of Mathematical Modelling and Open-LoopBased Control Strategy of a Self-Controlled PMSM Drive .2 1.2.1 Literature Survey 1.3 Review of Closed-Loop-Based Control Strategy of a PMSM Drive 1.3.1 Literature Survey 1.3.2 Review of Fuzzy Logic-Controlled PWMOperated PMSM Drive .4 1.4 Development of Different Control Strategies of a PMSM Drive 1.4.1 Literature Survey 1.5 Solar-Powered PMSM Drive Smart Electric Vehicle for Sustainable Development 1.5.1 Literature Survey 1.6 Smart Technology-Based Solar-Powered Electric Vehicle .9 1.7 Industrial Linkage in Smart Electric Vehicles 12 1.8 Research Objectives 13 1.9 Outline of the Thesis 14 Chapter Mathematical Modelling and Dynamic Performance Evaluation of a Self-Controlled Permanent Magnet Synchronous Motor Drive 17 2.1 Introduction��17 2.2 Contribution��18 2.3 Development of Mathematical Modelling and System Description��19 hree-Phase 2.3.1 Modelling of PWM-Operated T Voltage Source Inverter Topology�� 20 2.3.2 Transformation of abc-dq0 Matrix in Rotor Reference Frame��21 2.3.3 Modelling of PMSM Machine�� 22 2.4 Concept of Sensor Angle and Rotor Position Estimation .25 vii viii Contents 2.5 Simulation Results and Discussion�� 27 2.5.1 Performance Indices of a PMSM Drive without Sensor Angle Optimization�� 29 2.5.2 Comparative Performance Analysis with Sensor Angle-Based Optimization (No-Load Operation)�� 30 2.5.3 Comparative Performance Analysis with Sensor Angle-Based Optimization (On-Load Operation)��33 2.5.4 Some Case Studies under Various Operating Conditions��37 2.5.5 Illustration of Dynamic Behaviour of a PMSM Drive at Various DC Link Voltages��39 2.5.6 Illustration of Dynamic Behaviour of a PMSM Drive at Various Load Torques��41 2.6 Experimental Results and Discussions��41 2.7 Chapter Summary�� 48 Chapter Design and Comparative Analysis of Closed-Loop Control Strategy in a Simplified PMSM Drive Using Various Classical and Fuzzy Logic Controllers 49 3.1 Introduction 49 3.2 Contribution 50 3.3 Establishment of Mathematical Model of a Simplified Closed-Loop PMSM Drive 51 3.4 Performance Evaluation of a Simplified PMSM Drive Using Proportional Integral Controller 55 3.5 Performance Evaluation of Proposed Simplified C losedLoop PMSM Drive Using Lead Speed Compensator 56 losed3.6 Performance Evaluation of Proposed Simplified C Loop PMSM Drive Using Lead-Lag Speed Compensator .60 3.7 Investigation of a Closed-Loop PMSM Drive Employing PID Controller 61 3.8 Discussion and Comparative Performance Evaluation between a PI- and PID-Controlled Simplified PMSM Drive 63 3.9 Observation of Various Case Studies 70 3.10 Development of Fuzzy Logic Controller for Simplified Closed-Loop Model of a Simplified PMSM Drive 73 3.10.1 Development of Fuzzy Logic Controller Rule Base 75 3.10.2 Dynamic Performance Evaluation of Fuzzy Logic Speed-Controlled PMSM Drive 75 3.10.3 Performance Indices of Control System Use Different Controllers (Time Domain and Frequency Domain) 77 3.10.4 Optimization of Dynamic Performance of Fuzzy-Controlled PMSM Drive 78 3.11 Chapter Summary 79 Contents ix Chapter Illustration of a Fuzzy-Controlled PWM-Operated PMSM Drive Employed in Light Electric Vehicle 81 4.1 Introduction 81 4.2 Contribution 82 4.3 Proposed System Description 83 4.3.1 Design Considerations of a Fuzzy Speed Controller 88 4.4 Performance of a Light Electric Vehicle 91 4.5 Simulation Results and Discussion 92 4.6 Experimental Results and Discussion 100 4.7 Chapter Summary 106 Chapter Development of Control Strategy of a Vector-Controlled PMSM Torque Drive for Energy-Efficient Electric Vehicle 109 5.1 Introduction 109 5.2 Contribution 111 5.3 Mathematical Modelling and Proposed System Description 111 5.3.1 Analysis of a Hysteresis Current Controller 116 5.3.2 Modelling of an Energy-Efficient Electric Vehicle 117 5.4 Simulation Results and Discussion 118 5.4.1 Performance of an Energy-Efficient Electric Vehicle 122 5.4.2 Some Case Studies 125 5.5 Experimental Investigation 130 5.6 Chapter Summary 134 Chapter Conclusions and Future Work 135 6.1 Conclusions 135 6.2 Future Work 136 References and Further Reading 137 Index 147 136 Control Strategies of Motor Drive exhibits greater dynamic response without hampering other parameters of the machine under a certain range of operation in a torque-controlled PMSM drive • To exhibit the comparative dynamic behaviour of this proposed drive applying a hysteresis current controller and a PWM current controller for energy-efficient electric vehicles Several case studies are also included to quantify the comparative assessment of the proposed controllers at various operating points This proposed PWM-operated strategy ensures lesser current ripples and reduces torque pulsation at higher switching frequency of the inverter without employing additional filter circuitry Furthermore, a relationship with the magnitude of torque pulsations and switching frequency of the inverter with the hysteresis window size is established also an achievement of the thesis • To establish the environmental impact of solar energy in energy-efficient electric vehicles and to identify and discuss some proposed smart technologies based on ICT infrastructure for s olar-powered electric vehicles in recent smart cities 6.2 FUTURE WORK During the period of this research, the following issues have been pointed out and listed below as possible future works in this proposed area: • Reduction of noise and vibration is a critical issue in recent days especially in automotive applications During this study, few issues related to the generation of noise and vibration have been observed Moreover, overall design of the machine, efficient operation of the inverter and such mechanical parameters can be taken into consideration in the future study to employ the proposed PMSM drive in automotive application more efficiently • To illustrate the dynamic performance of a PMSM drive using some advanced model of predictive control techniques Compared with the various classical control topologies, advanced model predictive control plays a vital role for such robust and optimal operation of the drive system under various operating conditions • For such smooth and reliable operation in various commercial and industrial applications, sensing as well as diagnosis of various kinds of faults occurred in a PMSM drive which is also a crucial future issue Moreover, incorporation of such fruitful measures for such better identification and quick mode of clearance of faults may be a sensitive approach in future study for sustainability of the system References and Further Reading [1] Han X, Jiang D, Zou T, Qu R, Yang K Two-Segment Three-Phase PMSM Drive with Carrier Phase-Shift PWM for Torque Ripple and Vibration Reduction IEEE Transactions on Power Electronics 2019; 34 (1):588–599 [2] Liu X, Zhang C, Li K, Zhang Q Robust Current Control-Based Generalized Predictive Control with Sliding Mode Disturbance Compensation for PMSM Drives ISA Transactions 2017; 71:542–552 doi:10.1016/j.isatra.2017.08.015 [3] Qian W, Panda SK et al Torque Ripple Minimization in PM Synchronous Motors Using Iterative Learning Control IEEE Transactions on Power Electronics 2004; 19 (2):272–279 [4] Xiao 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strategy for torque ripples minimization in three-phase four-switch inverter-fed PMSM drives IEEE Transactions on Industrial Electronics 2017; 64 (3): 2122–2134 Taylor & Francis Taylor & Francis Group http://taylorandfrancis.com Index Note: Bold page numbers refer to tables and italic page numbers refer to figures air quality 12 Akatsu K Ameur A artificial intelligence (AI) 74 Arumugam P axial field machines Daziano RA decoupling-controlled surface-mounted permanent magnet synchronous motor drive 111, 134, 135 defuzzification 89 demagnetization 49 Belie Brock S electricity electric motors electric propulsion system 1, 5, 81, 109 electric scooter 81 electric vehicles 7, electric vehicle technology 81 electromagnetic torque 24, 37, 38, 52 energy consumption energy-efficient electric vehicle case study 125–126, 126–130, 128–130 current control technique 110 electric propulsion system 109 Euler’s integration approach 110 experimental investigation 130–134, 131, 131, 132, 133 mathematical model 111–115, 112, 114 acceleration 117 aerodynamic design 117 electromagnetic torque 117 hysteresis current controller 116, 117 performance characteristics 122, 123, 123, 124, 124, 125 permanent magnet materials 110 permanent magnet technology 109 simulation results 118, 119 , 120–122 torque pulsations 110 energy management system 11 Ewing G Cai R Cao W Chaoui H Chen C Chen HC Chiew E Choudhury et al (2014) closed-loop control strategy current control loop 52, 53 current control unit 51 electromagnetic torque 52, 54 fuzzy logic controller 73–74, 74, 75 development 75, 76, 76 dynamic performance 78, 79 dynamic performance evaluation 75–77, 76, 77 performance indices 77, 78, 79 mathematical model 51, 52 proportional integral controller (see proportional integral (PI) controller) proportional integral derivative control technique 61–63 quadrature axis voltage 52 simplified speed control loop 52, 53 simplified structure 51 speed transfer function 54 two-loop control structure representation 51, 51 using lead-lag speed compensator 60, 60–61, 61, 62 using lead speed compensator 56, 58, 58–60, 59 closed-loop control system 3–4 closed-loop speed transfer function 54 comparative dynamic behaviour 51, 111, 120, 134, 136 current source inverter (CSI) 5, 19, 41, 44, 82, 107, 130, 135 faster dynamic response fast Fourier transform (FFT) analysis 95, 96, 105 Flieller D flux density flux linkage 87 fuzzy-controlled PWM design considerations 88–89, 89, 90, 91 experimental results 100–101, 101, 101–106, 103–106 light electric vehicle 91, 91–92 simulation results 92–96, 92–99, 98 147 148 fuzzy control technique 73–74, 74, 75; see also closed-loop control strategy development 75, 76, 76 dynamic performance 78, 79 dynamic performance evaluation 75–77, 76, 77 performance indices 77, 78, 79 fuzzy interface system 89, 89 fuzzy logic-based fault diagnosis method 4–5 fuzzy speed controller 88–89, 89, 90, 91, 135 Galus MD Garimella S Glerum et al (2013) gravitational search algorithm (GSA) Han X hardware inverter circuitry 82 high-energy density 5, 109 Huang H Huang J hybrid technique Idkhajine et al (2009) information and communication technology (ICT) intelligent control strategies 81 interaction torque 88 inverter current source inverter 5, 19, 41, 44, 82, 107, 130, 135 power switches in 18 voltage source inverter 17–18, 50, 135 ‘inverter sub-system block’ 86 Jung JW Kwon et al (2014) Kwon TS lead-lag speed compensator 60, 60–61, 61, 62 lead speed compensator 56, 58, 58–60, 59 light electric vehicle 91, 91–92 Li S load torque component (Tl) 37 Lu magneto motive force (MMF) 1, 17 ‘MAMDANI’-type fuzzy interface system 88 mathematical model 17–18, 111–115, 112, 114 acceleration 117 aerodynamic design 117 case study 37–38, 37–39 closed-loop PMSM drive 51, 51–55, 52, 53 DC link voltages 39, 40, 41 development 19–20, 20 Index abc-dq0 matrix transformation 21–22 PMSM machine 22–25, 23, 24 three-phase voltage source inverter topology 20–21, 21 electromagnetic torque 117 energy-efficient electric vehicle (see energyefficient electric vehicle) experimental results 41, 43, 43, 43–44, 44–48, 46–47 hysteresis current controller 116, 117 load torques 41, 42 rotor position estimation 25–27, 26, 27 sensor angle 25–27, 26, 27 sensor angle-based optimization 30–35, 31, 32, 34–36 mathematical modelling 2–3 MATLAB® 86 mechanical commutator Mehta et al (2016) Melkebeek Meng et al (2018) Mobility House 10, 11 MOSFET 43 Nakao N noise monitor 12 Ortega AJP Panda SK Parks et al (2007) Peng permanent magnet synchronous motor (PMSM) 1, 135, 136 phase voltage waveform 33 power switches, in inverter 18 proportional integral (PI) controller 50, 82 bode plot response 55, 56 proportional and integral gains 55 vs proportional integral derivative control technique 63–70, 64–70 root locus response 55, 57 simplified block diagram representation 55, 55 sub-systems 83, 84–85 time domain characteristics 55, 56 torque response 55, 57 proportional integral derivative (PID) control technique 4, 61–63 vs proportional integral controller 63–70, 64–70 pulse width modulation (PWM) 3, 50, 81–82, 135 Qian W radial field machines Ramesh T 149 Index renewable energy sources Richardson DB Robinson AP rotor position estimation 47 Runge–Kutta numerical computation 28 Sarigöllü E self-monitoring analysis and reporting technology (Smart) 9–12, 10, 11 sensorless control method sensor position information 25–27, 26, 27 sensors 18 SIEMENS Technology solution 10, 10 Simulink® model 86 Singh B sinusoidal pulse width modulation (SPWM) 4, 82 smart charging system 11 smart electric vehicle 10, 11 industrial linkage in 12–13 smart grid technology smart parking system 12 Soares et al (2011) solar-powered drive 7–9 solar-powered electric vehicle 9–12, 10, 11 speed control technique Sul SK switching combinations 86, 86 Taylor J three-phase line- to-line voltages 87 torque pulsations torque ripple 39 torque-speed curve 34, 48 total harmonic distortion (THD) 87 traffic congestion management 12 Tseng et al (2015) Vafaie MH voltage source inverter (VSI) 17–18, 50, 135 wireless power transfer (WPT) 13 Xi Xiao X Yan H Zakariazadeh et al (2015) zero-sequence voltage Taylor & Francis eBooks www.taylorfrancis.com A single destination for eBooks from Taylor & Francis with increased functionality and an improved user experience to meet the needs of our customers 90,000+ eBooks of award-winning academic content in Humanities, Social Science, Science, Technology, Engineering, and Medical written by a global network of editors and authors TA YLOR & FRANCIS EBOOKS OFFERS: A streamlined experience for our library customers A single point of discovery for all of our eBook content Improved search and discovery of content at both book and chapter level REQUEST A FREE TRIAL support@taylorfrancis.com ... http://iitram.ac.in/facultydetails.php?fac_id=9 Control Strategies of Permanent Magnet Synchronous Motor Drive for Electric Vehicles Chiranjit Sain, Atanu Banerjee and Pabitra Kumar Biswas Control Strategies of ? ?Permanent Magnet ? ?Synchronous. .. SelfControlled Permanent Magnet Synchronous Motor Drive 2.1 INTRODUCTION With the recent advancements of permanent magnet materials and some advanced control techniques, permanent magnet synchronous motor. .. Representation of a simplified permanent magnet synchronous motor (PMSM) drive with speed and current controller 51 Figure 3.3 Block diagram of the proposed simplified permanent magnet synchronous motor