Analysis of Field Oriented Control of Permanent Magnet Synchronous Motor for a Valveless Pump-Controlled Actuator †
Abstract
:1. Introduction
2. System Description
2.1. Pump-Controlled Actuator
2.2. Electric Drive
2.3. Control System Description
3. Modelling
3.1. Step Function Response
3.2. Operation in the Normal Conditions
- In the 1st region (from 0 s to 1 s) torque is around zero because EM has no load and zero reference speed, but currents and voltages are applied to EM to maintain the required position.
- 2nd region is from 1 s to 3 s. Increasing reference speed launches electromagnetic processes in the motor and rotation of the shaft gets an additional load from the hydraulic part. Maximal positive torque is achieved.
- 3rd region is from 3 s to 4 s. At this moment acceleration is equal to zero and the motor has a constant speed, however, the hydraulic load is still applied.
- 4th region is from 4 s to 6 s. This period has deceleration of the motor and the same hydraulic load. Torques from hydraulic and electric parts have different signs and the resulting electromagnetic torque is the smallest non-zero one.
- The 5th and 9th regions are identical to the 1st.
- 6th, 7th, and 8th correspond to 2nd, 3rd, and 4th regions but with a negative sign. As a result, the level of torque fluctuations is about 10% in the positive part (motoring mode) and 13.5% in the negative part (generating mode). The negative part demonstrates a higher level of fluctuations, because of applied to the cylinder mass, which creates an additional lowering force disturbing the system.
3.3. Operation in Failure Mode
4. Discussion
5. Conclusions
Author Contributions
Funding
Abbreviations
EM | Electric Motor |
PMSM | Permanent Magnet Synchronous Machine |
FOC | Field Oriented Control |
PWM | Pulse Width Modulation |
DDH | Direct-Driven Hydraulics |
AC | Alternative Current |
DC | Direct Current |
SRM | Switched-Reluctance Motor |
THD | Total Harmonic Distortion |
MCU | Microcontroller Unit |
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Hydraulic Cylinder | Hydraulic Pump/Motor 1 | Hydraulic Pump/Motor 2 | Hydraulic Accumulator |
---|---|---|---|
MIRO C-10-60/30x400 | XV-2M/14 | XV-2M/22 | HAD0.7-250-1X/80G04A |
Max pressure 190 bar | Max pressure 250 bar | Max pressure 200 bar | Max pressure 350 bar |
Area A 0.0028 mm | Displacement 14.4 cm/rev | Displacement 22.8 cm/rev | Precharge pressure 10 bar |
Area B 0.0021 mm | Vol. efficiency 97.22 % | Vol. efficiency 96.49 % | Volume 0.7 l |
Stroke length 0.4 m | Max. rot. speed 3500 rpm | Max. rot. speed 3000 rpm | Type: Hydro-pneumatic |
Rated/Peak Torque, [Nm] | Inertia, [kgcm] | Rated/Max Speed, [rpm] | Rated Current, [A] | Voltage, [V AC] |
---|---|---|---|---|
9.4/37.6 | 9.0 | 3000/4800 | 5.9 | 380/480 |
Rising Time, [s] | Transient Process Time, [s] | Overshooting, [%] | Steady-State Value Difference, [%] |
---|---|---|---|
0.051 | 0.13 | 0.53 | 0.16 |
Sim. Speed Difference, [%] | Torque Fluct., [%] | Flow Ampl. Pump A/Pump B, [m/s] | Current Ampl., [A] |
---|---|---|---|
0.33 | 11.75 average | 5.26/3.75 10 | 5.8 |
Current Amplitude, [A] | Rising Time, [s] | Steady-State Torque, [Nm] | Steady-State Speed, [rpm] |
---|---|---|---|
75.52 | 0.097 | 180.1 | 210 |
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Zakharov, V.; Minav, T. Analysis of Field Oriented Control of Permanent Magnet Synchronous Motor for a Valveless Pump-Controlled Actuator. Proceedings 2020, 64, 19. https://doi.org/10.3390/IeCAT2020-08491
Zakharov V, Minav T. Analysis of Field Oriented Control of Permanent Magnet Synchronous Motor for a Valveless Pump-Controlled Actuator. Proceedings. 2020; 64(1):19. https://doi.org/10.3390/IeCAT2020-08491
Chicago/Turabian StyleZakharov, Viacheslav, and Tatiana Minav. 2020. "Analysis of Field Oriented Control of Permanent Magnet Synchronous Motor for a Valveless Pump-Controlled Actuator" Proceedings 64, no. 1: 19. https://doi.org/10.3390/IeCAT2020-08491
APA StyleZakharov, V., & Minav, T. (2020). Analysis of Field Oriented Control of Permanent Magnet Synchronous Motor for a Valveless Pump-Controlled Actuator. Proceedings, 64(1), 19. https://doi.org/10.3390/IeCAT2020-08491