College of Electronic Information and Control Engineering, Beijing University of Technology, Beijing, , China

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1 4th Intrnational Confrnc on Mchatronics, Matrials, Chmistry an Comptr Enginring (ICMMCCE 2015) Rsarch of th Mtho for Position Dtction of th Rotor in th Intrior Prmannt Magnt Synchronos Motor LiniangQiang1,a,SongjianGo2,b,DaiJi3,c,MopngTao4, 1 Collg of Elctronic Information an Control Enginring, Bijing Univrsity of Tchnology, Bijing, , China 2 Collg of Elctronic Information an Control Enginring, Bijing Univrsity of Tchnology, Bijing, , China 3 Bijing rsarch institt of prcis mchatronics an controls, Bijing, , China 4 Collg of Elctronic Information an Control Enginring, Bijing Univrsity of Tchnology, Bijing, , China a mail: @.com, b mail:sjglcy@163.com,c mail: @.com mail: @163.com Ky Wors: IPMSM,Vctor control, Rotating transformr, AU6802N1 Abstract.Th vctor control of intrior prmannt magnt synchronos motor (IPMSM) ns tct th position of rotor. In this papr, th position snsor of IPMSM is rotating transformr an w sign th coing circit bas on AU6802N1.At last, w masr th rotor position throgh th control systm bas on TMS320F28335 an o th tst withot loa to vrify th accracy of th rotor position tction. Introction Th AC srvo motor can b mol as th on with armatr wining an xcitation wining which rotat synchronosly with th rotor by sing vctor control mtho. Ths, DC sp control systm thory is appli to th control of IPMSM to achiv high-prformanc control ffct[1]. Clark transformation is to convrt thr-phas static coorinat systm to th two-phas on. Park transformation is to convrt th two-phas stationary coorinat systm into a two-phas rotating coorinat systm which is rotating with th magntic fil of th rotor. By Clark an Park two kins of coorinat transformation, vctor control mtho copls thr-phas ABC axis crrnt to -axis xciting crrnt an -axis tor on. Th vctor control mtho col al th AC motor control to th DC on[2]. Park transformation n to s th position angl of th rotor magntic fil, so th prmis of th vctor control is th xact location of th magntic fil of th rotor. W can obtain this accrat position by installing absolt ncor or Hall lmnt, or it ns to rotat th rotor to a prtrmin position at th bginning of starting th motor. Manwhil, th installation of th position snsor will also gnrat som problms. That is to say, thr is a crtain viations btwn th position masr by th snsor an th actal position of th rotor[3]. Ths, w n to masr th angl of viation in th practical application,which is call compnsation angl. Bas on stying th thory of IPMSM vctor control mtho, th ssay scribs a mtho of masring th compnsation angl of th rotor position. In this ssay, a coing circit of rsolvr bas on AU6802N1 is sign an it col vrify th accracy of th rotor position masrmnt[4]. Vctor Control Principl Figr 1 is th vctor control systm block iagram of a obl-loop intrior prmannt magnt synchronos motor. Whrin w can gt th motor sp n by tcting th angl to Th athors - Pblish by Atlantis Prss 1370

2 iffrntiat, obtain a givn cross-axis crrnt i by PI calclation aftr comparing with th givn sp an convrt th thr-phas AC i a an i into b th an -axis crrnt rotating synchronosly with th rotor. Thn w obtain th -axis an -axis voltag of th stator in th rotating coorinat systm by IP calclating with th givn i. i An thn w gt Park invrs transformation with ths two amonts. So w can gt th -axis an -axis voltags an of stator in a fix two-phas coorinat systm. Howvr, rgaring ths two antitis as th inpts which SVPWM sirs, six-way otpt PWM controls six IGBT of th voltag-sorc invrtr to trn on an trn off[5]. In th whol control systm, th calclation of motor actal sp an th lctrical angls of Park an Park invrs transformation ar all th position angls of th rotor which ar tcting by th rotor tction circit. Yo can s that th accrat masrmnt of th rotor position is an important part of achiving IPMSM vctor controlling. Fig. 1 th vctor control systm block iagram of a obl-loop intrior prmannt magnt synchronos motor In this articl, w scribs a mtho for masring th rotor position compnsat angl irctionally bas on th voltag vctor, an whil w bil a rotor position tction circit throgh th cor chip AU6802N1. Using this masrmnt mtho, th crrnt snsor osn t n to work, an th systm is also simpl an asy to achiv. Th masrmnt mthos of th rotor position compnsation angl Whn masring th initial position of th IPMSM rotor, w choos mainstram injction. Thn by coing circit bas on AU6802N1, th forc lock shaft mtho of th motor can co positiv an cosin signals transmitt from th rsolvr. That is to say, DC injction maks th stators to gnrat Magntomotiv forc vctors which is st th irction in th coorinat spac. This Magntomotiv forc vctors can attract th -axis of th rotor to fix in this irction. W s a fix voltag vctor mtho to mak th stators of IPMSM to gnrat Magntomotiv forc vctor for bing forc to st th irction in th coorinat spac. So IPMSM oprats at a voltag vctor stat with a fix angl. This voltag angl ns to b givn artificially. Rgaring TMS320F28335 as th mastr chip, this articl achivs that this voltag vctor with fix angl can b givn in th program. Th spcific implmntation principl is as follows: From figr 1 w know that th inpt is obtain by Park invrs transformation, th inpt of which is. Hr w mak =0. Throgh an xtrnal givn an consiring th limitation DC bs voltag, w giv an nogh larg val. At th sam tim, st th lctrical angl forc forc, of Park invrs transformation as th position of -axis of th crrnt vctor which is givn artificially. Thn th irction of Magntomotiv forc vctor will b gnrat 1371

3 ral by forc 90. Thn axis of IPMSM rotor will align with th irction of this Magntomotiv forc vctor. Th sign of th coing circit bas on AU6802N1 R / D convrtr chip AU6802N1 is proc by Japans Tamagawa company. AU6802N1 can asily convrs th axis anglar isplacmnt signal (analog signal) of th rsolvr to igital signal rir by th control systm corrsponingly. AU6802N1 owns a varity of stanar signal otpt mo[6]. Th srial otpt mo is s in this articl. Figr 2 is th 10k xcitation signal intrfac circit gnrat by th al powr. Slct R1 R2 as th xcitation signal intrfac of th rsolvr an V EXT is 15v. Th coing prcision of AU6802N1 is slct 12. Figr 3 is th circit of rsolvr otpt sin an cosin signal inpt[7]. Fig. 2 Th xcitation signal circit Fig. 3 Th sin an cosin signal inpt circit Th initial position masrmnt of th orinting rotor of th voltag vctor Figr 4 is a motor control systm for initial position masrmnt of th rotor of a prmannt magnt synchronos. Th igital antity ra by th mastr chip can b consrv as th lctrical angl. An thn compar th rslt which 90 grs is pls in th givn coorinat transformation lctrical angl with this lctrical angl to gt th compnsation angl at th last. Fig. 4 Th motor control systm for initial position masrmnt of th rotor In th figr, w st a val forcly for th magntic fil position of th rotor. St i = 0 an giv j a sfficintly larg val. Thn gt a voltag vctor an on th stationary fram aftr Park invrs transform. Th spcial ation is as follows: 1372

4 cos sin Rgar forc forc forc sin forc cos as th inpt of SVPWM. Gnrat th pls signal of powr vics an rir by th voltag sorc invrtr. Forc axis of th rotor to convrs to a stabl position forc c. Gt th position angl r by th coing circit an calclat th compnsation angl 90. forc r Th xprimnt rslts Th xprimnt control systm ss 32-bit floating-point igital signal procssing chip TMS320F28335 to achiv th whol procss. Sampling prio is 100s. Th rotor position can b masr by th rotary transformr of Tamagawa an th coing circitry bas on AU6802N1. Thr is a srial bs connction by McBsp (as SPI mo) intrfac btwn DSP an th cor chip. MPU s in th xprimnt is as shown in Figr 5: Fig. 5 Th xprimntal MPU Th 3 paramtrs of th PMSM ar s in th xprimnt:rat powr is 40KW,Rat sp is5000r/min,rat tor is70n.m,stator rsistanc is ,Whn th main control plat is gnrat by th 10K sin wav xcitation signal snt to th rotating transformr,th COS+,COS-an SIN+,SIN- gnrat sin signal lik Fig. 6. Fig. 6 Th wavform of th rsolvr Aftr th otgoing signal of th rsolvr co bas on AU6802N1, th transmission ata wavform is as shown in figr 7: Fig. 7 Th srial commnication wavform of th rotor position 1373

5 forc Th xprimntal motor is nloa. is st by th program. Th stator gnrats ral Magntomotiv forc vctor with forc 90 irction on th spac. It maks -axis of th PMSM rotor align an gt into a stabl stat of th lock shaft. By chip AU6802N1N, w can ra ot th igital antity an obtain th lctrical angl. Bcas thr ar always rrors in vry masrmnt, w tak th avrag of svral masrmnt as th compnsation angl. This masrmnt rslts ar sbstitt into th vctor control program to o no-loa tst. Th th rotor has goo ffct rotation. So th crrnt wavform of th stator is masr as shown in figr 8: Smmary Fig. 8 Th phas crrnt wavform of th stator Nowaays, IPMSM is s mor wily. Whn th control stratgy ss th vctor control, it ns to know th position of th rotor xactly. Thn th orint control of th rotor fil will b achiv. Howvr, IPMSM rgars th rsolvr as th position snsor. So thr is a compnsation angl btwn th actal masr position lctrical angl of th rotor with th tr on. In this articl, w chang th angls with th givn Park so that it procs a fix irction vctor mmfs for th stator an mak th motor into a stabl stat of th lock shaft. W sign a coing circit bas on AU6802N1. This circit can transform th analog signal of th rotary transformr into a igital signal. An it commnicats throgh SPI bs way an th mastr chip TMS320F Thn by masring th compnsation angl of th typical lctrical angl rpatly, w can calclat th avrag. Th loa xprimnt rslts show that th compnsation angl masrmnt mthos s in this papr is simpl an accrat. Rfrnc [1] Tang R Y. Th thory an sign of th morn prmannt magnt motor[m]. Bijing: Mchanical Instry Prss, [2] Wang C Y. Th AC srvo riv motor controll by th vctor[m] Bijing: Mchanical Instry Prss, [3]Morimoto S, Taka Y, Hirasa T, t al. Expansion of oprating limits for prmannt magnt motor by crrnt vctor control consiring invrtr capacity[j]. Instry Applications, IEEE Transactions on, 1990, 26(5): [4] Tamagawa. Smartcor (AU6802N1) spcification [M ]. TAMAGAWA SEIKI CO.,LTD., [5]Li Y D. Th igital control systm of th AC motor[m]. Bijing: Mchanical Instry Prss, [6] Jiang S Z, Cha K T, Chan C C. Spctral analysis of a nw six2phas pol2changing inction motor riv for lctric vhicls[ J ]. IEEE Trans on Instrial E2lctronics, 2003 (1) : [7]Tamagawa Siki Co., L t. Smartsyn fasolvr[r ]. Catalog No. T N ,