×

Modeling of synchronous electric machines for real-time simulation and automotive applications. (English) Zbl 1373.93051

Summary: Recent research in the field of vehicle electrification has indicated that synchronous machines, which include the Permanent Magnet Synchronous Machine (PMSM) and the Externally Excited Synchronous Machine (EESM), represent a viable solution for electric propulsion. A challenging problem for synchronous machines drives employed in automotive applications is to obtain accurate mathematical models which can deal with parametric variation and which are suitable for real-time simulations and synthesis of control laws. The goal of this paper is to provide a mathematical modeling framework for synchronous machines that can answer to this challenging problem. To this end, using the rotor reference frame, the mathematical models of PMSMs and EESMs are constructed taking into account also the parametric variation due to magnetic saturation and temperature variation. Then, a complex state-space bilinear model for both EESM and PMSM with parametric variation due to magnetic saturation and temperature are developed. Considering the parametric variation as a polytopic bounded disturbance, it is then shown how to split the bilinear complex model in two PWA variable parameter state-space models suitable for a cascade control structure. Based on the developed models, a dynamic unified simulator is constructed in Matlab\(^{\circledR}\)/Simulink\(^{\circledR}\). Measurement data obtained in a real test-bench system were used to verify the accuracy of the simulator. The discrete-time simulator was then integrated in an industrial hardware-in-the-loop test bench for real-time evaluation of a current control scheme in EESM drives.

MSC:

93A30 Mathematical modelling of systems (MSC2010)
93C95 Application models in control theory

Software:

Simulink; Matlab
PDFBibTeX XMLCite
Full Text: DOI

References:

[1] Schwickart, T.; Voos, H.; Hadji-Minaglou, J.-R.; Darouach, M.; Rosich, A., Design and simulation of a real-time implementable energy-efficient model-predictive cruise controller for electric vehicles, J. Frankl. Inst., 352, 2, 603-625 (2015) · Zbl 1307.93154
[2] de Santiago, J.; Bernhoff, H.; Ekergård, B.; Eriksson, S.; Ferhatovic, S.; Waters, S.; Leijon, M., Electrical motor drivelines in commercial all-electric vehicles: a review, IEEE Trans. Veh. Technol., 61, 2, 475-484 (2012)
[3] Park, G.; Lee, L.; Jin, S.; Kwak, S., Integrated modeling and analysis of dynamics for electric vehicle powertrains, Expert Syst. Appl., 41, 5, 2595-2607 (2014)
[4] Wu, G.; Zhang, X.; Dong, Z., Powertrain architectures of electrified vehicles: review, classification and comparison, J. Frankl. Inst., 352, 2, 425-448 (2015) · Zbl 1307.93298
[5] Wang, H.; Kong, H.; Man, Z.; Tuan, D. M.; Cao, Z.; Shen, W., Sliding mode control for steer-by-wire systems with ac motors in road vehicles, IEEE Trans. Ind. Electron., 61, 3, 1596-1611 (2014)
[6] Fan, Y.; Zhang, L.; Huang, J.; Han, X., Design, analysis, and sensorless control of a self-decelerating permanent-magnet in-wheel motor, IEEE Trans. Ind. Electron., 61, 10, 5788-5797 (2014)
[7] Fabian, J.; Hirz, M.; Krischan, K., State of the art and future trends of electric drives and power electronics for automotive engineering, SAE Int. J. Passeng. Cars Electron. Electr. Syst., 7, 1, 293-303 (2014)
[8] Carpiuc, S. C.; Lazar, C., Real-time constrained current control of permanent magnet synchronous machines for automotive applications, IET Control Theory Appl., 9, 2, 248-257 (2015)
[9] Boldea, I.; Tutelea, L. N.; Parsa, L.; Dorrell, D., Automotive electric propulsion systems with reduced or no permanent magnets: an overview, IEEE Trans. Ind. Electron., 61, 10, 5696-5711 (2014)
[10] Carpiuc, S. C.; Lazar, M., Efficient state reference generation for torque control in externally excited synchronous machines, J. Dyn. Syst. Meas. Control. Trans. ASME, 137, 5, 7 (2015)
[11] Ulsoy, A. G.; Peng, H.; Cakmakc, M., Automotive Control Systems (2012), Cambridge University Press
[12] Choi, C.; Lee, W., Analysis and compensation of time delay effects in hardware-in-the-loop simulation for automotive PMSM drive system, IEEE Trans. Ind. Electron., 59, 9, 3403-3410 (2012)
[13] Fallah, S.; Yue, B.; Vahid-Araghi, O.; Khajepour, A., Energy management of planetary rovers using a fast feature-based path planning and hardware-in-the-loop experiments, IEEE Trans. Veh. Technol., 62, 6, 2389-2401 (2013)
[14] Park, R. H., Two-reaction theory of synchronous machines - generalized method of analysis, part I, AIEE Trans., 48, 716-727 (1929)
[15] Krause, P. C.; Wasynczuk, O.; Sudhoff, S. D.; Pekarek, S., Analysis of Electric Machinery and Drive Systems (2013), Wiley/IEEE Press
[16] Retif, J. M.; Lin-Shi, X.; Llor, A. M.; Morand, F., New hybrid direct-torque control for a winding rotor synchronous machine, Proceedings of the Thirtieth Annual IEEE Power Electronics Specialists Conference, vol. 2, 1438-1442 (2004), Aachen, Germany
[17] Naouar, M.; Naassani, A. A.; Monmasson, E.; Belkhodja, I. S., FPGA-based predictive current controller for synchronous machine speed drive, IEEE Trans. Power Electron., 23, 4, 2115-2126 (2008)
[18] Jain, A. K.; Ranganathan, V. T., Modeling and field oriented control of salient pole wound field synchronous machine in stator flux coordinates, IEEE Trans. Ind. Electron., 58, 3, 960-970 (2011)
[19] Magri, A. E.; Giri, F.; Fadili, A. E.; Chaoui, F. Z., An adaptive control strategy for wound rotor synchronous machines, Int. J. Adapt. Control Signal Process., 26, 821-847 (2012) · Zbl 1274.93146
[20] Liu, H.; Li, S., Speed control for PMSM servo system using predictive functional control and extended state observer, IEEE Trans. Ind. Electron., 59, 2, 1171-1183 (2012)
[21] Mariethoz, S.; Domahidi, A.; Morari, M., High-bandwidth explicit model predictive control of electrical drives, IEEE Trans. Ind. Appl., 48, 6, 1980-1992 (2012)
[22] Grobler, A.; Holm, S.; van Schoor, G., A two-dimensional analytic thermal model for a high-speed PMSM magnet, IEEE Trans. Ind. Electron., 62, 11, 6756-6764 (2015)
[23] Diaz Reigosa, D.; Fernandez, D.; Zhu, Z.-Q.; Briz, F., PMSM magnetization state estimation based on stator-reflected PM resistance using high-frequency signal injection, IEEE Trans. Ind. Appl., 51, 5, 3800-3810 (2015)
[24] Zhou, K.; Pries, J.; Hofmann, H., Computationally efficient 3-D finite-element-based dynamic thermal models of electric machines, IEEE Trans. Transp. Electrific., 1, 2, 138-149 (2015)
[25] Carpiuc, S. C., Rotor temperature detection in permanent magnet synchronous machine-based automotive electric traction drives, IEEE Trans. Power Electron., 32, 3, 2090-2097 (2017)
[26] Wipke, K. B.; Cuddy, M. R.; Burch, S. D., Advisor 2.1: a user-friendly advanced powertrain simulation using a combined backward/forward approach, IEEE Trans. Veh. Technol., 48, 6, 1751-1761 (1999)
[27] Jeanneret, B.; Trigui, R.; Badin, F.; Harel, F., New hybrid concept simulation tools, evaluation on the toyota prius car, Proceedings of the Sixteenth International Electric Vehicle Symposium, 1-11 (1999), Beijing, China
[28] Vinot, E.; Trigui, R.; Jeanneret, B., A complete set of tools for hybrid vehicle design from cybernetic model to hardware in the loop simulation, Proceedings of the International Conference on Advances in Hybrid Powertrains (2008), Rueil Malmaison, France
[29] Gragger, J. V.; Giuliani, H.; Kral, T.; Buml, C.; Kapeller, H.; Pirker, F., The smartelectricdrives library powerful models for fast simulations of electric drives, Proceedings of the Fifth International Modelica Conference, 571-577 (2006), Vienna, Austria
[30] Conte, F. V.; Badin, F.; Debal, P.; Alakla, M., Components for hybrid vehicles: results of the IEA annex VII “hybrid vehicle” phase III, World Electr. Veh. Assoc. J., 1, 208-214 (2007)
[31] Cipek, M.; Pavkovi, D.; Petri, J., A control-oriented simulation model of a power-split hybrid electric vehicle, Appl. Energy, 101, 121-133 (2013)
[32] Hyde, R. A., Using simscape(TM) to support system-level design, in: Proceedings of the UKACC International Conference on Control, 1-6 (2010), Coventry: Coventry UK
[33] Märgner, M.; Hackmann, W., Control challenges of an externally excited synchronous machine in an automotive traction drive application, Emobility Electrical Power Train, 1-6 (2010), Leipzig, Germany
[34] Janiaud, N.; Vallet, F.; Petit, M.; Sandou, G., Electric vehicle powertrain simulation to optimize battery and vehicle performances, Proceedings of the IEEE Vehicle Power and Propulsion Conference (VPPC), 1-5 (2010), Lille, France
[35] Kiencke, U.; Nielsen, L., Automotive Control Systems: For Engine, Driveline and Vehicle (2005), Springer Verlag: Springer Verlag Berlin
[36] Piippo, A.; Hinkkanen, M.; Luomi, J., Adaptation of motor parameters in sensorless PMSM drives, IEEE Trans. Ind. Appl., 45, 1, 203-212 (2009)
[37] Wilson, S. D.; Stewart, P.; Taylor, B. P., Methods of resistance estimation in permanent magnet synchronous motors for real-time thermal management, IEEE Trans. Energy Convers., 25, 3, 698-707 (2010)
[38] Seilmeier, M., Modelling of electrically excited synchronous machine (EESM) considering nonlinear material characteristics and multiple saliencies, Proceedings of the Fourteenth European Conference on Power Electronics and Applications, 1-10 (2011), Birmingham, UK
[39] Ding, X.; Liu, J.; Mi, C., Online temperature estimation of IPMSM permanent magnets in hybrid electric vehicles, Proceedings of the Sixth IEEE Conference on Industrial Electronics and Applications, 179-183 (2011), Beijing, China
[40] Grune, L.; Pannek, J., Nonlinear Model Predictive Control: Theory and Applications (2011), Springer Verlag: Springer Verlag London · Zbl 1220.93001
[41] Carpiuc, S. C.; Lazar, C., Fast real-time constrained predictive current control in permanent magnet synchronous machine based automotive traction drives, IEEE Trans. Transp. Electr., 1, 4, 326-335 (2015)
[42] Bryson, A. E.; Ho, Y. C., Applied Optimal Control: Optimization, Estimation, and Control (1975), Taylor and Francis Group
[43] Carpiuc, S. C.; Lazar, M., Constrained state-feedback control of an externally excited synchronous machine, Proceedings of the Twelveth Mediterranean Conference on Control and Automation, 1133-1140 (2013), Chania, Greece
[44] Carpiuc, S. C.; Lazar, C., Low-computational-complexity algorithm for current predictive control of an externally excited synchronous machine, Proceedings of the seventeenth International Conference System Theory, Control and Computing, 103-108 (2013), Sinaia, Romania
[45] Carpiuc, S. C.; Lazar, C., Real-time multi-rate predictive cascade speed control of synchronous machines in automotive electrical traction drives, IEEE Trans. Ind. Electron., 63, 8, 5133-5142 (2016)
This reference list is based on information provided by the publisher or from digital mathematics libraries. Its items are heuristically matched to zbMATH identifiers and may contain data conversion errors. In some cases that data have been complemented/enhanced by data from zbMATH Open. This attempts to reflect the references listed in the original paper as accurately as possible without claiming completeness or a perfect matching.