distributed drives monitoring and control: a laboratory setup

Hindawi Publishing CorporationJournal of EngineeringVolume 2013 Article ID 924928 10 pageshttpdxdoiorg1011552013924928

Research ArticleDistributed Drives Monitoring and Control A Laboratory Setup

Mini Sreejeth Parmod Kumar and Madhusudan Singh

Department of Electrical Engineering Delhi Technological University Bawana Road New Delhi 110042 India

Correspondence should be addressed to Mini Sreejeth minisreejethdceacin

Received 21 November 2012 Revised 24 December 2012 Accepted 30 December 2012

Academic Editor Paolo Colantonio

Copyright copy 2013 Mini Sreejeth et al This is an open access article distributed under the Creative Commons Attribution Licensewhich permits unrestricted use distribution and reproduction in any medium provided the original work is properly cited

A laboratory setup of distributed drives system comprising a three-phase induction motor (IM) drive and a permanent magnetsynchronousmotor (PMSM) drive ismodeled designed and developed for themonitoring and control of the individual drivesTheintegrated operation of IM and PMSMdrives systemhas been analyzed under different operating conditions and their performancehas been monitored through supervisory control and data acquisition (SCADA) system The necessary SCADA graphical userinterface (GUI) has also been created for the display of drive parameters The performances of IM and PMSM under parametricvariations are predicted through sensitivity analysis An integrated operation of the drives is demonstrated through experimentaland simulation results

1 Introduction

Monitoring and control of drives is a necessary prerequisitefor quality control of a product as well as for energy con-servation in automated process plants Electrical energy issupplied to the motors through power electronic converterto get the desired torquespeed characteristics of the motorsfor motion control in industrial processes This is achievedthrough modern motor drives advance control algorithmsand intelligent devices such as programmable logic controller(PLC) digital signal processor (DSP) and microcontrollerThis makes the operation of drives complex sophisticatedand expensive [1] Further in production plant the processis distributed at shop level based on functional require-ments which results in distribution of the various drivesfor different process operations In distributed drives systemthe processing tasks are physically distributed among thevarious drives which requires placement of the necessarycomputing with optimal volume of data close to the processSuch system also provides fault tolerant and self-diagnosticcapability and enhances the reliability of overall systemThusa distributed drives system has partially autonomous localcomputing devices with input output and storage capabil-ity interconnected through a digital communication linkcoordinated by a supervisory control and data acquisitionsystem The distributed system has the advantages of local

as well as centralized control In such cases the SCADAand programmable logic controller coordinate the localcontrollers through a communication link [2]

In the past few decades limited literatures are available ondistributed drives control using PLC Applications of PLChave been reported for monitoring control system of aninduction motor [3 4] PLC has been also used as a powerfactor controller for power factor improvement and to keepthe voltage to frequency ratio of a three-phase IM constantunder all control conditions [5] Also a vector-oriented con-trol scheme for the regulation of voltage and current of three-phase pulse widthmodulation inverter which uses a complexprogrammable logic device (CPLD) [6] has been reportedRemote control and operation of electric drive need a largeamount of data to be acquired processed and presented bythe SCADA system [7 8] In this paper distributed controlfor a three-phase IM drive and a three-phase PMSM drive isconfigured designed and developed for experimental workand integrated control operation is demonstrated throughexperimental and simulation results The application ofadjustable speed drives (ASDs) for fans pumps blowers andcompressors do not require very precise speed control Speedsensor in a drive adds cost and reduces the reliability of thedrive Therefore for applications requiring moderate per-formance sensorless drive is a better option and hencesensorless vector control is used for IM control [9ndash14] On the

2 Journal of Engineering

other hand PMSMs are generally used for low-power servoapplications where very precise position control is requiredA PID controller is applied [15] to the position control and amodel reference adaptive control has been implemented forthe PMSM [16] As speed estimators and observers rely onthe knowledge of motor parameters they are inadequate foraccurate position estimation In the present work a positionfeedback encoder is used for PMSM and an indirect field-oriented control is employed for its control [17ndash19]

A detailed study on distributed drives including designdevelopment and testing of prototype distributed drives isdemonstrated The monitoring and supervisory control ofIM and PMSM drives thereby validating the concept ofdistributed drives is also described Further the developedexperimental setup enables and facilitates imparting trainingand providing the facilities with hands of experimentationresearch and practical training The necessary SCADA GUIhas also been created for the display of drive parameters suchas speed The performances of IM and PMSM are predictedby sensitivity analysis

2 Control Algorithm

Sensorless control for IM and indirect field-oriented controlfor the PMSM have been used in distributed control of thedrives

21 Sensorless Control of Three-Phase IM Drive

211 Flux Estimator The direct and quadrature rotor fluxcomponents (120595119904

119889119903and 120595

119904

119902119903) are estimated from the IM ter-

minal voltages (119907119886 119907119887 and 119907

119888) currents (119894

119886 119894119887 and 119894

119888)

stator resistance of the motor 119877119904 the stator and rotor self-

inductances 119871119904and 119871

119903 respectively and their mutual induc-

tance 119871119898 which are described in (1) to (3) [20] consider

120595119904

119889119904= int (119907

119904

119889119904minus 119877119904119894119904

119889119904) 119889119905

120595119904

119902119904= int (119907

119904

119902119904minus 119877119904119894119904

119902119904) 119889119905

(1)

where

119907119904

119902119904=2

3119907119886minus1

3119907119887minus1

3119907119888

119907119904

119889119904= minus

1

radic3119907119887+

1

radic3119907119888

119894119904

119902119904=2

3119894119886minus1

3119894119887minus1

3119894119888

119894119904

119889119904= minus

1

radic3119894119887+

1

radic3119894119888

120595119904

119889119903=119871119903

119871119898

(120595119904

119889119904minus 120590119871119904119894119904

119889119904)

120595119904

119902119903=119871119903

119871119898

(120595119904

119902119904minus 120590119871119904119894119904

119902119904)

(2)

Figure 1 Phasors showing rotor flux orientation

where

120590 = 1 minus1198712

119898

119871119903119871119904

(3)

and 119894119904119889119904 119894119904119902119904 120595119904119889119904 and 120595119904

119902119904are stator direct and quadrature axis

currents and fluxes respectivelyAlso

120595119903= radic(120595119904

119902119903)2

+ (120595119904119889119903)2

(4)

The correct alignment of current 119894119889119904 in the direction of

flux 120595119903 and the current 119894

119902119904 perpendicular to it are needful

requirements in vector control This alignment is depictedin Figure 1 using rotor flux vectors 120595119904

119889119903and 120595

119904

119902119903 where 119889119890-

119902119890 frame is rotating at synchronous speed with respect tostationary frame 119889

119904-119902119904 and at any instance the angularposition of 119889119890 axis with respect to the 119889119904 axis is 120579

119890 where

120579119890= 120596119890119905 cos 120579

119890=120595119904

119889119903

120595119903

sin 120579119890=120595119904

119902119903

120595119903

(5)

212 Speed Estimator The speed is estimated by using thedata of the rotor flux vector (120595

119903) obtained in a flux estimator

as followsThe rotor circuit equations [20] of 119889119904-119902119904 frame are writ-

ten as

119889120595119904

119889119903

119889119905+ 119877119903119894119904

119889119903+ 120596119903120595119904

119902119903= 0

119889120595119904

119902119903

119889119905+ 119877119903119894119904

119902119903minus 120596119903120595119904

119889119903= 0

(6)

Journal of Engineering 3

Adding terms (119871119898119877119903119871119903)119894119904

119889119904and (119871

119898119877119903119871119903)119894119904

119902119904 respec-

tively on both sides of the previous equation we get

119889120595119904

119889119903

119889119905+119877119903

119871119903

(119871119898119894119904

119889119904+ 119871119903119894119904

119889119903) + 120596119903120595119904

119902119903= (

119871119898119877119903

119871119903

) 119894119904

119889119904 (7)

119889120595119904

119902119903

119889119905+119877119903

119871119903

(119871119898119894119904

119902119904+ 119871119903119894119904

119902119903

) minus 120596119903120595119904

119889119903= (

119871119898119877119903

119871119903

) 119894119904

119902119904 (8)

119889120595119904

119889119903

119889119905=119871119898

120591119903

119894119904

119889119904minus 120596119903120595119904

119902119903minus1

120591119903

120595119904

119889119903 (9)

119889120595119904

119902119903

119889119905=119871119898

120591119903

119894119904

119902119904+ 120596119903120595119904

119889119903minus1

120591119903

120595119904

119902119903 (10)

where

119871119898119894119904

119889119904+ 119871119903119894119904

119889119903= 120595119904

119889119903

119871119898119894119904

119902119904+ 119871119903119894119904

119902119903

= 120595119904

119902119903

(11)

and 120591119903(ie 119871

119903119877119903) is the rotor time response Also from (5)

120579119890= tanminus1

120595119904

119902119903

120595119904119889119903

(12)

Differentiating the aforementioned we get

119889120579119890

119889119905=120595119904

1198891199031205951015840119904

119902119903minus 120595119904

1199021199031205951015840119904

119889119903

1205952119903

(13)

Combining (7) (8) and (13) and simplifying one yields

120596119903=119889120579119890

119889119905minus119871119898

120591119903

[120595119904

119889119903119894119904

119902119904minus 120595119904

119902119903119894119904

119889119904

1205952119903

]

120596119903=

1

1205952119903

([120595119904

1198891199031205951015840119904

119902119903minus 120595119904

1199021199031205951015840119904

119889119903] minus

119871119898

120591119903

[120595119904

119889119903119894119904

119902119904minus 120595119904

119902119903119894119904

119889119904])

(14)

where1205951015840119904

119902119903and1205951015840

119904

119889119903are first derivatives of120595s

119902119903and120595119904

119889119903 respec-

tivelyThe torque component of current 119894lowast

119902119904and the flux compo-

nent of current 119894lowast119889119904are evaluated from the speed control loop

and the flux control loop respectively as follows

119894lowast

119902119904= (120596119903minus 120596lowast

119903) 1198661

119894lowast

119889119904= (Ψ119903minus Ψlowast

119903) 1198662

(15)

where 120596lowast119903and 120595

lowast

119903are the reference speed and flux 119866

1and

1198662are the gain of speed loop and flux loop 120595

119903and 120596

119903are

computed using the flux and speed estimators respectivelyas explained earlier

The principal vector control parameters 119894lowast119889119904and 119894lowast119902119904 which

are DC values in synchronously rotating frame are convertedto stationary frame with the help of unit vectors (sin 120579 andcos 120579) generated from flux vectors120595119904

119889119903and120595119904

119902119903as given by (5)

The resulting stationary frame signals are then converted tophase current commands for the inverter [20] The torque isestimated using (16) as

119879119890=3

2(119875

2)119871119898

119871119903

(120595119904

119889119903119894119904

119902119904minus 120595119904

119902119903119894119904

119889119904) (16)

The block diagram of the sensorless vector control for theIM drive is shown in Figure 2

22 Control Scheme for Three-Phase PMSM Drive The rotorof PMSM is made up of permanent magnet of Neodymium-iron-boron which offers high energy density Based on theassumptions that (i) the rotor copper losses are negligible (ii)there is no saturation (iii) there are no field current dynamicsand (iv) no cage windings are on the rotor the stator 119889-119902equations of the PMSM in the rotor reference frame are asfollows [17 21]

119907119902119904= 119877119904119894119902119904+119889

119889119905120582119902119904+ 120596119904120582119889119904

119907119889119904= 119877119904119894119889119904+119889

119889119905120582119889119904minus 120596119904120582119902119904

(17)

where

120582119902119904= 119871119902119904119894119902119904

120582119889119904= 119871119889119904119894119889119904+ 120582119891

(18)

119907119889119904

and 119907119902119904are the 119889 119902 axis voltages 119894

119889119904and 119894119902119904are the 119889 119902

axis stator currents 119871119889119904and 119871

119902119904are the 119889 119902 axis inductance

120582119889119904

and 120582119902119904

are the 119889 119902 axis stator flux linkages 120582119891is the

flux linkage due to the rotor magnets linking the stator while119877119904and 120596

119904are the stator resistance and inverter frequency

respectively The inverter frequency 120596119904is related to the rotor

speed 120596119903as follows

120596119904=119875

2120596119903 (19)

where 119875 is the number of poles and the electromagnetictorque 119879

119890is

119879119890=3

2(119875

2) [120582119891119894119902119904+ (119871119889119904minus 119871119902119904) 119894119889119904119894119902119904] (20)

This torque 119879119890 encounters load torque moment of

inertia of drive and its damping constantThus the equationfor the motion is given by

119879119890= 119879119871+ 119861120596119903+ 119869

119889

119889119905120596119903 (21)

where 119879119871is the load torque 119869 moment of inertia and 119861

damping coefficientFigure 3 shows the typical block diagram of a PMSM

drive The system consists of a PMSM speedposition feed-back an inverter and a controller (constant torque and fluxweakening operation generation of reference currents andPI controller) The error between the commanded and actual


Invertertoto

LoadIM

Flux

estimationto

Speed

estimation

Figure 2 Block diagram of sensor less vector control for three-phase IM drive

PIConstant

torqueParkrsquos

inversetransformation

CurrentPMSM

Encoder

Fluxweakeningcontroller

controllercontroller

controller

Figure 3 Block diagram of three-phase PMSM drive

speed is operated upon by the PI controller to generate thereference torque

The ratio of torque reference and motor torque constantis used during constant torque operation to compute thereference quadrature axis current 119894

119902119904 For operation up to

rated speed the direct axis current is made equal to zeroFrom these 119889ndash119902 axes currents and the rotor positionspeedfeedback the reference stator phase currents are obtainedusing Parkrsquos inverse transformation as given in (22)

[

[

119894119886

119894119887

119894119888

]

]

=

[[[[[

[

cos 120579119903

sin 120579119903

1

cos(120579119903minus2120587

3) sin(120579

119903minus2120587

3) 1

cos(120579119903+2120587

3) sin(120579

119903+2120587

3) 1

]]]]]

]

[

[

119894119902119904

119894119889119904

1198940119904

]

]

(22)

where 1198940119904

is the zero sequence current which is zero for abalanced system

The hysteresis PWM current controller attempts to forcethe actual motor currents to reference current values usingstator current feedback The error between these currents isused to switch the PWM inverter The output of the PWMis supplied to the stator of the PMSM which yields thecommanded speed The position feedback is obtained by anoptical encoder mounted on the machine shaft

In order to operate the drive in the flux weakening modeit is essential to find the maximum speed The maximumoperating speed with zero torque can be obtained from thesteady state stator voltage equations The flux weakeningcontroller computes the demagnetizing component of statorcurrent 119894

119889119904 satisfying the maximum current and voltage

limits For this direct axis current and the rated stator currentthe quadrature axis current can be obtained from (23)

119868119904= radic1198942119889119904+ 1198942119902119904 (23)


HMI

ModbusRTU PLC

Servodrive IM drive

ModbusRTU

Ethernet

SCADA PC

Profibus DP

Figure 4 Schematic layout of distributed drives laboratory setup

These 119889ndash119902 axes currents and the rotor positionspeed can beutilized to obtain the commanded speed

3 Sensitivity Analysis of IM and PMSM

Sensitivity analysis is used by designers of machines forthe prediction of the effect of parameter of interest on theperformance variables of themotor In the present study sen-sitivity values of the performance variables like power inputpower output efficiency power factor stator current startingcurrent magnetizing current developed torque and startingtorque with respect to the equivalent circuit parameters areobtained for the IM The sensitivity is computed by (24) assensitivity of a variable 119873 with respect to a parameter 120572 canbe represented as

119878119873

120572= 100 sdot

(119873119888minus 119873119899)

119873119899

(24)

where 119873119899is the performance variable with nominal param-

eters and 119873119888is the value of the performance variable when

the value of the parameter 120572 is increased by defined deviationvalue A similar analysis is also carried out for PMSM

4 Laboratory Setup of theDistributed Drives System

To analyse the utility of distributed drive system a labo-ratory setup has been designed and developed for researchand development activities Figure 4 shows laboratory setupwhich incorporates industry standard networking It has anIEEE 8023 complaint Ethernet data highway and is currently

supporting a network of two-operator consoles a PLC andtwo drives (IM drive and PMSM drive) all connected instar topology The PLC (GE Fanuc 90-30) coordinates theoperation of these drives The PLC passes real-time data tothe operator console via Ethernet interface using customizedsoftware namely VersaMotion for PMSM drive and DCTsoftware for the IM drive The inputoutput (IO) units ofPLC and drives communicate using Profibus-DP [22 23]Thecommunication between individual drives and PCs SCADAis through Modbus protocol

41 PLC in Distributed Drive System The PLC used in thelaboratory setup consists of several modules namely PowerSupply CPU Digital Input Digital Output and NetworkModules The digital input module is a 0ndash30V DC 7mAwith positivenegative logic and 16 input points This moduleis used to read ONOFF position of different contacts usedto control the drives There are two output modules with32 points operating at 24V DC which are used to outputthe status of the individual drive alarm signal and so forthbased on the decision made by the control strategy thatis written as ladder logic program in the PLC The powersupply of PLC is capable of supporting 100ndash240VACor 125VDC The CPU has a user logic memory of 240 Kbytes Thecommunication module includes Profibus module operatingat baud rate of 15Mbps with a power requirement of 5VDC Proficy Machine Edition 59 provides software utilitiesfor PLC programming The PLC is programmed in ladderdiagrams and program is downloaded in the PLC from apersonal computer throughRS 232C serial interface A ladderdiagram consists of graphic symbols like contacts coilstimers counters and so forth which are laid out in networks


1

2

3

4

5

6

M00001

Q00013

Q00014

Q00001

Q00015

Q00013

Q00016

Q00014

Q00017

Q00001

Q00003

Q00004

Q00013

Q00014

Q00015

ONDTRTENTHS

45R00001R

PV30

ONDTRTENTHS

15R00004R

PV60

ONDTRTENTHS

0R00007

R

(a)

Speed control of motors

Induction motor Control switch

OFF ON

PMSM

On-state

Speed mode Position mode Torque mode

1037

Speed mode 1

500

(b)

Figure 5 (a) Ladder logic for integrated operation of IMandPMSMdrives (b) SCADAGUI developed for the speed control of the distributeddrives

similar to a rung of a relay logic diagram The PLC stores theinputs (ONOFF status of coils) execute the user programcyclically and finally writes the outputs (energizing a coilfor actual openingclosing of contacts) to the output statustable This read-execute-write cycle is called a scan cycle Theladder logic diagram for the integrated operation of the IMand PMSM drives is shown in Figure 5(a)

42 SCADA For the remote monitoring and control of thedrives GE Fanuc SCADA Cimplicity 75 software is usedThe SCADA software is loaded on the server PC whichprovides supervision in the form of graphical animation anddata trends of the processes on the window of PC or screenof HMI The Cimplicity project wizard window is used toconfigure various communication ports and the controllertype and also to create new points corresponding to addressesused in the controller This graphical interactive window isused to animate the drive system At present controls likestart stop speed control and so forth are developed on thesoftware window to control the drives remotely Each drivecan be controlled locally at the field level through the PLCor through the SCADA interfaceTheSCADAGUIdevelopedfor the speed control of the distributed drives is shown inFigure 5(b) The control algorithm has been implementedand tested for a three-phase squirrel cage induction motorand three-phase PMSMdriveThe technical specifications forthese drives are presented in Tables 1 and 2

5 Results and Discussions

A three-phase sensorless induction drive and a three-phasePMSM drive are configured in the SCADA system The

050

100150200250300350400450

0 2 4 6 8 10 12 14 16 18 20

Vo

ltag

e (V

)

Time (s)

Motor voltage at no load

Motor voltage at 25 load

Figure 6 Voltage variation of IM drive during starting at differentloads and 1440 rpm speed

operation and performance characteristics of the drives aremonitored and studied under varying torque and speedconditions Simulation results are also described In order tostudy the effect of parametric variation on the motor per-formance variable sensitivity analysis is carried out for bothIM and PMSM with respect to their respective equivalentcircuits

51 Performance of Three-Phase IM Drive under DifferentLoad Conditions Figure 6 to Figure 11 show the variationof various parameters of sensorless control induction motordrive during starting at no load and 25 load conditionsFigures 6 and 7 show the variation of voltage and frequencyBoth the voltage and frequency increase linearly till theyattain a value of 385V and 48Hz respectively at rated speed


Table 1 Technical specifications of three-phase induction motor

Connection type Δ

Input voltage 415V plusmn 10Input current 7ARated power 37 kWInput frequency 50HzPole number 4Rated speed 1440 rpm

Table 2 Technical specifications of three-phase PMSM

Parameter ValueRated output 10 kWRated torque 318NmMotor voltage 110VRated current 73 AMaximum current 219 AEncoder position feedback 2500 pprPeak torque 954NmRated speed 3000 rpmMoment of inertia 0000265 kgsdotm2

Armature resistance 02ΩArmature inductance 2mH

under no load starting condition While the machine isstarted with a load of 25 the variations in voltage andfrequency are almost similar to that of the previous case

Figure 8 shows the variation of current during startingunder no load and 25 load conditions The starting currentwas 438A during starting which is settled down to a steadystate value of 31 A in 2 s under no load case While with 25load the starting current was 57 A which is settled down tosteady state value of 325 A in about 10 s

Figure 9 shows the variation of torque during startingwith no load and 25 load At no load starting it is observedthat the negative peak torque value is 59Nm at the firstinstance and then it reaches a positive peak value of 103Nmand finally settles down to a steady state value of 07Nm inabout 10 s While with 25 load starting the negative peaktorque value at the first instance is 6Nm and the positive peakvalue is 201 Nmwhich finally settles down to a steady value of45Nm in 12 s Figure 10 shows the power variation at startingwith no load and 25 loadThepower drawnduring transientperiod is 018 kW which decreases to a value of 01 kW then itincreases linearly to a value of 03 kW and finally settles downto a value of 014 kW in 11 s When the machine is startedwith 25 load the initial power drawn is 042 kWwhich thenincreases to a value of 13 kW and finally settles down to avalue of 08 kW in 13 s

Figure 11 shows the speed response of IM during startingat no load and 25 load It is observed that the motor reachesits rated speed that is 1440 rpm in about 9 s under no loadstarting and in about 10 s under 25 load at starting Figure 12shows simulated dynamic performance of IM drive under no

0

10

20

30

40

50

60

Fre

qu

ency

(H

z)

Frequency at no load

Frequency at 25 load

0 2 4 6 8 10 12 14 16 18 20

Time (s)

Figure 7 Frequency variation of IM drive during starting atdifferent loads and 1440 rpm speed

0

1

2

3

4

5

6

Mo

tor

curr

ent

(A)

Current at no load (A)

Current at 25 load (A)

0 2 4 6 8 10 12 14 16 18 20

Time (s)

Figure 8 Current variation of IM drive during starting at differentloads and 1440 rpm speed

3

8

13

18

23

To

rqu

e (N

m)

Torque at no load

Torque at 25 load

0 2 4 6 8 10 12 14 16 18 20

Time (s)

minus2

minus7

Figure 9 Torque variation of IM drive during starting at differentloads and 1440 rpm speed

load and at rated speed of 1440 rpm The motor attains thedesired speed of 1440 rpm in about 55 s

52 Starting Performance of Three-Phase PMSM Drive underNo Load Condition Figure 13 shows the dynamic perfor-mance of PMSM under no load with a reference speed of3000 rpm The motor attains the set synchronous speed of3000 rpm in about 300ms Figure 14 shows simulated dy-namic performance of PMSM at no load with a reference


0

02

04

06

08

1

12

14

Po

wer

(k

W)

Power at no load

Power at 25 load

0 2 4 6 8 10 12 14 16 18 20

Time (s)

Figure 10 Power variation of IM drive during starting at differentloads and 1440 rpm speed

0

200

400

600

800

1000

1200

1400

1600

Spee

d (

rpm

)

Speed at no load

Speed at 25 load

0 2 4 6 8 10 12 14 16 18 20

Time (s)

Figure 11 Speed variation of IM drive during starting at differentloads and 1440 rpm speed

0 1 2 3 4 5 6 7 8 9 10

200

400

600

800

1000

1200

1400

Time (s)

Spee

d (

rpm

)

Set speed

Actual speed

Figure 12 Simulated speed response of three-phase IM drive at noload and rated speed

speed of 3000 rpm The motor attains the set synchronousspeed of 3000 rpm in about 280ms

53 Sensitivity Analysis for Performance Variables of PMSMMotor parameters like stator resistance and inductance varydepending on operating conditions mainlymotor duty cycleeffect of magnetic saturation and so forth The effect of

3138

Time (ms)

28237

25094

21951

18808

15665

12522

9379

6236

3093

0

53

8

10

76

16

14

21

52

26

9

32

28

37

66

43

04

48

42

53

8

Spee

d (

rpm

)

Speed input

Motor rotation speed

command

minus5

Figure 13 Experimental starting response of three-phase PMSM atno load and rated speed

0 005 01 015 02 025 03 0350

500

1000

1500

2000

2500

3000

3500

Time (s)

Spee

d (

rpm

)Set speed

Actual speed

Figure 14 Simulated starting response of three-phase PMSM at noload and rated speed

parametric variations on the efficiency of PMSM has beenanalyzed and is shown in Figure 15 for rated speed and ratedtorque conditionswhere120575 represents the parameter variationcoefficient and is defined as the ratio of new parameter valueto the actual parameter value That is

120575 =1198771015840

119904

119877119904

=1198711015840

119904

119871119904

(25)

where 1198771015840

119904and 119871

1015840

119904are the new stator resistance and stator

inductance respectively In the present analysis 120575 is deter-mined for 1 deviation in motor parameters

It is observed from Figure 15 that the variation in theefficiency is negligibly small with variation in 119877

119904and 119871

119904 and

it follows a Gaussian distribution The variation in efficiencydue to change in 119877

119904and 119871

119904is expressed as a fourth order

polynomial using best fit curve in Figure 15 where

Δ120578 |119877119904

= 0381205754

minus 1581205753

+ 2071205752

minus 091120575 + 004

Δ120578 |119871119904

= 016 1205754

minus 0591205753

+ 0551205752

+ 001120575 minus 013

(26)

54 Sensitivity Analysis for Performance Variables of IMTable 3 shows the sensitivity of different performance vari-ables of three-phase IM with respect to its equivalent circuit


Table 3 Sensitivity of performance variables of three-phase IM

(Output power = full load = 37 kW 119904 = 0043)Parameters 119877

119904119877119903

119883119904

119883119903

119883119898

119881 119891

Power input minus0022 minus0891 minus0099 minus0014 0035 2010 minus0078Power output minus0107 minus0888 minus0103 minus0021 0085 2090 minus0037Efficiency minus0085 0003 minus0004 minus0006 0051 0078 0041Power factor 0029 minus0235 minus0050 minus0038 0289 0000 0202Stator current minus0052 minus0658 minus0050 0023 minus0254 1000 minus0280Starting current minus0184 minus0131 minus0352 minus0309 minus0022 1000 minus0681Magnetizing current minus0052 0063 minus0050 minus0004 minus0950 1000 minus1003Torque minus0103 minus0854 minus0099 minus0020 0082 2010 minus0036Starting torque minus0367 0734 minus0702 minus0707 0047 2010 minus1357

0025 05 075 1 125 15 175 2

minus002

minus004

minus006

minus008

minus01

minus012

Figure 15 Effect of parametric variations on the efficiency of PMSMfor rated speed and rated torque

parameters The sensitivity of the power input and poweroutput with respect to 119877

119903is the highest and is the lowest

with respect to 119883119903 Motor efficiency is less sensitive to all

the equivalent circuit parameters with variation in 119877119904and

119883119898

affecting it more compared to other parameters Thepower factor is more affected by variation in 119883

119898and 119877

119903

while variations in other parameters have less effect on itThestator current is more affected by variation in 119877

119903and least by

variation in119883119903The sensitivity of starting currentwith respect

to 119883119904and 119883

119903is the highest while with respect to 119883

119898is the

lowest Magnetizing current is more sensitive to changes in119883119898and less sensitive to changes in119883

119903 The developed torque

and starting torque are mainly affected by variations in 119877119903

The sensitivity of developed torque is the least with respect to119883119903and119883

119898 respectively

The sensitivity of the performance variables with respectto frequency and supply voltage is also obtained It is observed

that the frequency variation has maximum effect on startingtorque and magnetizing current followed by starting currentThe sensitivity of developed torque with respect to frequencyis the least The sensitivity of power input power outputdeveloped torque and starting torque with respect to supplyvoltage is 2 each Similarly the stator current startingcurrent magnetizing current and so forth change by 1 withrespect to variation in supply voltage The supply voltagevariation has negligible effect on efficiency while powerfactor is not affected by supply voltage variation

6 Conclusion

A prototype of distributed drives system consisting of athree-phase IM drive and a PMSM drive is designed devel-oped and implemented as a laboratory setup This prototypesystem demonstrates the operation and control of distributeddrives through PLC and SCADAThe operation control andmonitoring of various performance parameters of PMSMandIM under different operating conditions are carried out indetail A detailed sensitivity analysis is also carried out toobserve the effect of parametric variations on performanceof the motors

Conflict of Interests

In this research work GE Fanuc 90-30 Series PLC has beenused for creation of the laboratory setup The said PLCuses Profibus DP protocol for communication between theinputoutput modules and the drives The selection of thePLC is intended solely to facilitate research and developmentwork and is not based on any commercial interest

Acknowledgments

This work was supported in part by the MODROB Schemeof AICTE India The authors gratefully acknowledge thesupport provided by AICTE India and GE Fanuc in settingup the laboratory infrastructure in the Electrical EngineeringDepartment at Delhi Technological University New DelhiIndia


References

[1] J Chang ldquoHigh-frequency and precision three-phase sinePWM controller with near-zero frequency of MPU inter-vention-novel design supporting distributed AC drive systemsrdquoIEEE Transactions on Industrial Electronics vol 52 no 5 pp1286ndash1296 2005

[2] J M Liptak H R Orndorff and E M Innes ldquoA programmablelocal controller for AC adjustable frequency drive controllersrdquoin Proceedings of the IEEE Industry Applications Society AnnualMeeting vol 1 pp 572ndash577 October 1988

[3] M G Ioannides ldquoDesign and implementation of PLC-basedmonitoring control system for induction motorrdquo IEEE Trans-actions on Energy Conversion vol 19 no 3 pp 469ndash476 2004

[4] Y Birbir and H S Nogay ldquoDesign and implementation of PLC-based monitoring control system for three phase inductionmotors fed by PWM inverterrdquo International Journal of SystemsApplications Engineering and Development vol 2 no 3 pp128ndash135 2008

[5] A R Al-Ali M M Negm and M Kassas ldquoA PLC based powerfactor controller for a 3-phase induction motorrdquo in Proceedingsof the IEEE Industry Applications Society Annual Meeting (IASrsquo00) vol 2 pp 1065ndash1072 October 2000

[6] J Y Jyang and Y Y Tzou ldquoA CPLD based voltagecurrent vectorcontroller for 3- phase PWM invertersrdquo in Proceedings of the29th Annual IEEE Power Electronics Specialists Conference vol1 pp 262ndash268

[7] M S Thomas P Kumar and V K Chandna ldquoDesign devel-opment and commissioning of a supervisory control and dataacquisition (SCADA) laboratory for research and trainingrdquoIEEE Transactions on Power Systems vol 19 no 3 pp 1582ndash1588 2004

[8] R D Pedroza Internet based FLARE and LFGTE facilitiesRemoteMonitoring andControl httpwwwscsengineerscomPapersPedroza Internet Based Flare and LFGTE SWANA2007pdf

[9] R Krishnan and F C Doran ldquoStudy of parameter sensitivity inhigh performance inverter fed Induction motor Drive systemsrdquoIEEE Transactions on Industry Applications vol 23 no 4 pp623ndash635 1987

[10] S B Bodkhe and M V Aware ldquoSpeed-sensorless adjustable-speed induction motor drive based on dc link measurementrdquoInternational Journal of Physical Sciences vol 4 no 4 pp 221ndash232 2009

[11] JHoltz ldquoSensorless control of inductionmotor drivesrdquoProceed-ings of the IEEE vol 90 no 8 pp 1359ndash1394 2002

[12] K Rajashekara A Kawamura and K Matsuse Eds SensorlessControl of AC Drives IEEE Press New York NY USA 1996

[13] B K Bose and N R Patel ldquoSensorless stator flux oriented vec-tor controlled induction motor drive with neuro-fuzzy basedperformance enhancementrdquo in Proceedings of the 32nd IEEEIndustry Applications Conference IAS Annual Meeting pp 393ndash400 October 1997

[14] C Schauder ldquoAdaptive speed identification for vector controlof induction motors without rotational transducersrdquo IEEETransactions on Industry Applications vol 28 no 5 pp 1054ndash1061 1992

[15] R C Garcıa W I Suemitsu and J O P Pinto ldquoPrecise positioncontrol of a PMSM based on new adaptive PID controllersrdquoin Proceedings of Annual Conference of the IEEE IndustrialElectronics Society pp 1912ndash1917 November 2011

[16] M Tarnık and J Murgas ldquoModel reference Adaptive controlof permanent magnet synchronous motorrdquo Journal of ElectricalEngineering vol 62 no 3 pp 117ndash125 2011

[17] P Pillay and R Krishnan ldquoModeling simulation and analysisof permanent-magnet motor drives I The permanent-magnetsynchronousmotor driverdquo IEEETransactions on Industry Appli-cations vol v pp 265ndash273 1989

[18] S Vaez-Zadeh ldquoVariable flux control of permanent magnetsynchronous motor drives for constant torque operationrdquo IEEETransactions on Power Electronics vol 16 no 4 pp 527ndash5342001

[19] Z Haigang Q Weiguo W Yanxiang G Shihong and Y YuanldquoModeling and simulation of the permanent magnet syn-chronous motor driverdquo in Proceedings of the International Con-ference on Uncertainty Reasoning and Knowledge EngineeringEnergy pp 256ndash260 2011

[20] B K Bose Modern Power Electronics and AC Drives PearsonEducation Upper Saddle River NJ USA 1st edition 2003

[21] R Krishnan Electric Motor Drives- Modeling Analysis and Con-trol Pearson Prentice Hall Upper Saddle River NJ USA 1stedition 2007

[22] Proficy Machine Edition 5 90 Userrsquos Manual GE Fanuc Yam-anashi Japan 2007

[23] ldquoVersa Motion Servo Motors and Amplifiers Userrsquos ManualrdquoTech Rep GFK-2480 GE Fanuc Yamanashi Japan 2007

International Journal of

AerospaceEngineeringHindawi Publishing Corporationhttpwwwhindawicom Volume 2014

RoboticsJournal of

Hindawi Publishing Corporationhttpwwwhindawicom Volume 2014


Active and Passive Electronic Components

Control Scienceand Engineering

Journal of



RotatingMachinery


Hindawi Publishing Corporation httpwwwhindawicom

Journal ofEngineeringVolume 2014

Submit your manuscripts athttpwwwhindawicom

VLSI Design



Shock and Vibration


Civil EngineeringAdvances in

Acoustics and VibrationAdvances in



Electrical and Computer Engineering

Journal of

Advances inOptoElectronics


Volume 2014

The Scientific World JournalHindawi Publishing Corporation httpwwwhindawicom Volume 2014

SensorsJournal of


Modelling amp Simulation in EngineeringHindawi Publishing Corporation httpwwwhindawicom Volume 2014


Chemical EngineeringInternational Journal of Antennas and

Propagation




Navigation and Observation



DistributedSensor Networks



other hand PMSMs are generally used for low-power servoapplications where very precise position control is requiredA PID controller is applied [15] to the position control and amodel reference adaptive control has been implemented forthe PMSM [16] As speed estimators and observers rely onthe knowledge of motor parameters they are inadequate foraccurate position estimation In the present work a positionfeedback encoder is used for PMSM and an indirect field-oriented control is employed for its control [17ndash19]

A detailed study on distributed drives including designdevelopment and testing of prototype distributed drives isdemonstrated The monitoring and supervisory control ofIM and PMSM drives thereby validating the concept ofdistributed drives is also described Further the developedexperimental setup enables and facilitates imparting trainingand providing the facilities with hands of experimentationresearch and practical training The necessary SCADA GUIhas also been created for the display of drive parameters suchas speed The performances of IM and PMSM are predictedby sensitivity analysis

2 Control Algorithm

Sensorless control for IM and indirect field-oriented controlfor the PMSM have been used in distributed control of thedrives

21 Sensorless Control of Three-Phase IM Drive

211 Flux Estimator The direct and quadrature rotor fluxcomponents (120595119904

119889119903and 120595

119904

119902119903) are estimated from the IM ter-

minal voltages (119907119886 119907119887 and 119907

119888) currents (119894

119886 119894119887 and 119894

119888)

stator resistance of the motor 119877119904 the stator and rotor self-

inductances 119871119904and 119871

119903 respectively and their mutual induc-

tance 119871119898 which are described in (1) to (3) [20] consider

120595119904

119889119904= int (119907

119904

119889119904minus 119877119904119894119904

119889119904) 119889119905

120595119904

119902119904= int (119907

119904

119902119904minus 119877119904119894119904

119902119904) 119889119905

(1)

where

119907119904

119902119904=2

3119907119886minus1

3119907119887minus1

3119907119888

119907119904

119889119904= minus

1

radic3119907119887+

1

radic3119907119888

119894119904

119902119904=2

3119894119886minus1

3119894119887minus1

3119894119888

119894119904

119889119904= minus

1

radic3119894119887+

1

radic3119894119888

120595119904

119889119903=119871119903

119871119898

(120595119904

119889119904minus 120590119871119904119894119904

119889119904)

120595119904

119902119903=119871119903

119871119898

(120595119904

119902119904minus 120590119871119904119894119904

119902119904)

(2)

Figure 1 Phasors showing rotor flux orientation

where

120590 = 1 minus1198712

119898

119871119903119871119904

(3)

and 119894119904119889119904 119894119904119902119904 120595119904119889119904 and 120595119904

119902119904are stator direct and quadrature axis

currents and fluxes respectivelyAlso

120595119903= radic(120595119904

119902119903)2

+ (120595119904119889119903)2

(4)

The correct alignment of current 119894119889119904 in the direction of

flux 120595119903 and the current 119894

119902119904 perpendicular to it are needful

requirements in vector control This alignment is depictedin Figure 1 using rotor flux vectors 120595119904

119889119903and 120595

119904

119902119903 where 119889119890-

119902119890 frame is rotating at synchronous speed with respect tostationary frame 119889

119904-119902119904 and at any instance the angularposition of 119889119890 axis with respect to the 119889119904 axis is 120579

119890 where

120579119890= 120596119890119905 cos 120579

119890=120595119904

119889119903

120595119903

sin 120579119890=120595119904

119902119903

120595119903

(5)

212 Speed Estimator The speed is estimated by using thedata of the rotor flux vector (120595

119903) obtained in a flux estimator

as followsThe rotor circuit equations [20] of 119889119904-119902119904 frame are writ-

ten as

119889120595119904

119889119903

119889119905+ 119877119903119894119904

119889119903+ 120596119903120595119904

119902119903= 0

119889120595119904

119902119903

119889119905+ 119877119903119894119904

119902119903minus 120596119903120595119904

119889119903= 0

(6)


Adding terms (119871119898119877119903119871119903)119894119904

119889119904and (119871

119898119877119903119871119903)119894119904

119902119904 respec-


119889120595119904

119889119903

119889119905+119877119903

119871119903

(119871119898119894119904

119889119904+ 119871119903119894119904

119889119903) + 120596119903120595119904

119902119903= (

119871119898119877119903

119871119903

) 119894119904

119889119904 (7)

119889120595119904

119902119903

119889119905+119877119903

119871119903

(119871119898119894119904

119902119904+ 119871119903119894119904

119902119903

) minus 120596119903120595119904

119889119903= (

119871119898119877119903

119871119903

) 119894119904

119902119904 (8)

119889120595119904

119889119903

119889119905=119871119898

120591119903

119894119904

119889119904minus 120596119903120595119904

119902119903minus1

120591119903

120595119904

119889119903 (9)

119889120595119904

119902119903

119889119905=119871119898

120591119903

119894119904

119902119904+ 120596119903120595119904

119889119903minus1

120591119903

120595119904

119902119903 (10)

where

119871119898119894119904

119889119904+ 119871119903119894119904

119889119903= 120595119904

119889119903

119871119898119894119904

119902119904+ 119871119903119894119904

119902119903

= 120595119904

119902119903

(11)

and 120591119903(ie 119871


120579119890= tanminus1

120595119904

119902119903

120595119904119889119903

(12)


119889120579119890

119889119905=120595119904

1198891199031205951015840119904

119902119903minus 120595119904

1199021199031205951015840119904

119889119903

1205952119903

(13)


120596119903=119889120579119890

119889119905minus119871119898

120591119903

[120595119904

119889119903119894119904

119902119904minus 120595119904

119902119903119894119904

119889119904

1205952119903

]

120596119903=

1

1205952119903

([120595119904

1198891199031205951015840119904

119902119903minus 120595119904

1199021199031205951015840119904

119889119903] minus

119871119898

120591119903

[120595119904

119889119903119894119904

119902119904minus 120595119904

119902119903119894119904

119889119904])

(14)

where1205951015840119904

119902119903and1205951015840

119904


119902119903and120595119904

119889119903 respec-





119894lowast

119902119904= (120596119903minus 120596lowast

119903) 1198661

119894lowast

119889119904= (Ψ119903minus Ψlowast

119903) 1198662

(15)


lowast


1and


119903and 120596

119903are




119889119903and120595119904

119902119903as given by (5)


119879119890=3

2(119875

2)119871119898

119871119903

(120595119904

119889119903119894119904

119902119904minus 120595119904

119902119903119894119904

119889119904) (16)



119907119902119904= 119877119904119894119902119904+119889

119889119905120582119902119904+ 120596119904120582119889119904

119907119889119904= 119877119904119894119889119904+119889

119889119905120582119889119904minus 120596119904120582119902119904

(17)

where

120582119902119904= 119871119902119904119894119902119904

120582119889119904= 119871119889119904119894119889119904+ 120582119891

(18)

119907119889119904


119889119904and 119894119902119904are the 119889 119902



120582119889119904

and 120582119902119904






120596119904=119875

2120596119903 (19)


119890is

119879119890=3

2(119875

2) [120582119891119894119902119904+ (119871119889119904minus 119871119902119904) 119894119889119904119894119902119904] (20)



119879119890= 119879119871+ 119861120596119903+ 119869

119889

119889119905120596119903 (21)





Invertertoto

LoadIM

Flux

estimationto

Speed

estimation


PIConstant

torqueParkrsquos


CurrentPMSM

Encoder



controller






[

[

119894119886

119894119887

119894119888

]

]

=

[[[[[

[

cos 120579119903

sin 120579119903

1

cos(120579119903minus2120587

3) sin(120579

119903minus2120587

3) 1

cos(120579119903+2120587

3) sin(120579

119903+2120587

3) 1

]]]]]

]

[

[

119894119902119904

119894119889119904

1198940119904

]

]

(22)

where 1198940119904






119868119904= radic1198942119889119904+ 1198942119902119904 (23)


HMI

ModbusRTU PLC

Servodrive IM drive

ModbusRTU

Ethernet

SCADA PC

Profibus DP





119878119873

120572= 100 sdot

(119873119888minus 119873119899)

119873119899

(24)









1

2

3

4

5

6

M00001

Q00013

Q00014

Q00001

Q00015

Q00013

Q00016

Q00014

Q00017

Q00001

Q00003

Q00004

Q00013

Q00014

Q00015

ONDTRTENTHS

45R00001R

PV30

ONDTRTENTHS

15R00004R

PV60

ONDTRTENTHS

0R00007

R

(a)



OFF ON

PMSM

On-state


1037

Speed mode 1

500

(b)






050

100150200250300350400450

0 2 4 6 8 10 12 14 16 18 20

Vo

ltag

e (V

)

Time (s)








Connection type Δ









0

10

20

30

40

50

60

Fre

qu

ency

(H

z)



0 2 4 6 8 10 12 14 16 18 20

Time (s)


0

1

2

3

4

5

6

Mo

tor

curr

ent

(A)



0 2 4 6 8 10 12 14 16 18 20

Time (s)


3

8

13

18

23

To

rqu

e (N

m)

Torque at no load

Torque at 25 load

0 2 4 6 8 10 12 14 16 18 20

Time (s)

minus2

minus7





0

02

04

06

08

1

12

14

Po

wer

(k

W)

Power at no load

Power at 25 load

0 2 4 6 8 10 12 14 16 18 20

Time (s)


0

200

400

600

800

1000

1200

1400

1600

Spee

d (

rpm

)

Speed at no load

Speed at 25 load

0 2 4 6 8 10 12 14 16 18 20

Time (s)


0 1 2 3 4 5 6 7 8 9 10

200

400

600

800

1000

1200

1400

Time (s)

Spee

d (

rpm

)

Set speed

Actual speed




3138

Time (ms)

28237

25094

21951

18808

15665

12522

9379

6236

3093

0

53

8

10

76

16

14

21

52

26

9

32

28

37

66

43

04

48

42

53

8

Spee

d (

rpm

)

Speed input


command

minus5


0 005 01 015 02 025 03 0350

500

1000

1500

2000

2500

3000

3500

Time (s)

Spee

d (

rpm

)Set speed

Actual speed



120575 =1198771015840

119904

119877119904

=1198711015840

119904

119871119904

(25)

where 1198771015840

119904and 119871

1015840




119904and 119871

119904 and


119904and 119871



Δ120578 |119877119904

= 0381205754

minus 1581205753

+ 2071205752

minus 091120575 + 004

Δ120578 |119871119904

= 016 1205754

minus 0591205753

+ 0551205752

+ 001120575 minus 013

(26)





119904119877119903

119883119904

119883119903

119883119898

119881 119891


0025 05 075 1 125 15 175 2

minus002

minus004

minus006

minus008

minus01

minus012






119883119898


119898and 119877

119903


119903and least by


to 119883119904and 119883


119898is the





119898 respectively



6 Conclusion




Acknowledgments



References


























RoboticsJournal of





Journal of



RotatingMachinery





VLSI Design



Shock and Vibration







Journal of



Volume 2014


SensorsJournal of





Propagation










Adding terms (119871119898119877119903119871119903)119894119904

119889119904and (119871

119898119877119903119871119903)119894119904

119902119904 respec-


119889120595119904

119889119903

119889119905+119877119903

119871119903

(119871119898119894119904

119889119904+ 119871119903119894119904

119889119903) + 120596119903120595119904

119902119903= (

119871119898119877119903

119871119903

) 119894119904

119889119904 (7)

119889120595119904

119902119903

119889119905+119877119903

119871119903

(119871119898119894119904

119902119904+ 119871119903119894119904

119902119903

) minus 120596119903120595119904

119889119903= (

119871119898119877119903

119871119903

) 119894119904

119902119904 (8)

119889120595119904

119889119903

119889119905=119871119898

120591119903

119894119904

119889119904minus 120596119903120595119904

119902119903minus1

120591119903

120595119904

119889119903 (9)

119889120595119904

119902119903

119889119905=119871119898

120591119903

119894119904

119902119904+ 120596119903120595119904

119889119903minus1

120591119903

120595119904

119902119903 (10)

where

119871119898119894119904

119889119904+ 119871119903119894119904

119889119903= 120595119904

119889119903

119871119898119894119904

119902119904+ 119871119903119894119904

119902119903

= 120595119904

119902119903

(11)

and 120591119903(ie 119871


120579119890= tanminus1

120595119904

119902119903

120595119904119889119903

(12)


119889120579119890

119889119905=120595119904

1198891199031205951015840119904

119902119903minus 120595119904

1199021199031205951015840119904

119889119903

1205952119903

(13)


120596119903=119889120579119890

119889119905minus119871119898

120591119903

[120595119904

119889119903119894119904

119902119904minus 120595119904

119902119903119894119904

119889119904

1205952119903

]

120596119903=

1

1205952119903

([120595119904

1198891199031205951015840119904

119902119903minus 120595119904

1199021199031205951015840119904

119889119903] minus

119871119898

120591119903

[120595119904

119889119903119894119904

119902119904minus 120595119904

119902119903119894119904

119889119904])

(14)

where1205951015840119904

119902119903and1205951015840

119904


119902119903and120595119904

119889119903 respec-





119894lowast

119902119904= (120596119903minus 120596lowast

119903) 1198661

119894lowast

119889119904= (Ψ119903minus Ψlowast

119903) 1198662

(15)


lowast


1and


119903and 120596

119903are




119889119903and120595119904

119902119903as given by (5)


119879119890=3

2(119875

2)119871119898

119871119903

(120595119904

119889119903119894119904

119902119904minus 120595119904

119902119903119894119904

119889119904) (16)



119907119902119904= 119877119904119894119902119904+119889

119889119905120582119902119904+ 120596119904120582119889119904

119907119889119904= 119877119904119894119889119904+119889

119889119905120582119889119904minus 120596119904120582119902119904

(17)

where

120582119902119904= 119871119902119904119894119902119904

120582119889119904= 119871119889119904119894119889119904+ 120582119891

(18)

119907119889119904


119889119904and 119894119902119904are the 119889 119902



120582119889119904

and 120582119902119904






120596119904=119875

2120596119903 (19)


119890is

119879119890=3

2(119875

2) [120582119891119894119902119904+ (119871119889119904minus 119871119902119904) 119894119889119904119894119902119904] (20)



119879119890= 119879119871+ 119861120596119903+ 119869

119889

119889119905120596119903 (21)





Invertertoto

LoadIM

Flux

estimationto

Speed

estimation


PIConstant

torqueParkrsquos


CurrentPMSM

Encoder



controller






[

[

119894119886

119894119887

119894119888

]

]

=

[[[[[

[

cos 120579119903

sin 120579119903

1

cos(120579119903minus2120587

3) sin(120579

119903minus2120587

3) 1

cos(120579119903+2120587

3) sin(120579

119903+2120587

3) 1

]]]]]

]

[

[

119894119902119904

119894119889119904

1198940119904

]

]

(22)

where 1198940119904






119868119904= radic1198942119889119904+ 1198942119902119904 (23)


HMI

ModbusRTU PLC

Servodrive IM drive

ModbusRTU

Ethernet

SCADA PC

Profibus DP





119878119873

120572= 100 sdot

(119873119888minus 119873119899)

119873119899

(24)









1

2

3

4

5

6

M00001

Q00013

Q00014

Q00001

Q00015

Q00013

Q00016

Q00014

Q00017

Q00001

Q00003

Q00004

Q00013

Q00014

Q00015

ONDTRTENTHS

45R00001R

PV30

ONDTRTENTHS

15R00004R

PV60

ONDTRTENTHS

0R00007

R

(a)



OFF ON

PMSM

On-state


1037

Speed mode 1

500

(b)






050

100150200250300350400450

0 2 4 6 8 10 12 14 16 18 20

Vo

ltag

e (V

)

Time (s)








Connection type Δ









0

10

20

30

40

50

60

Fre

qu

ency

(H

z)



0 2 4 6 8 10 12 14 16 18 20

Time (s)


0

1

2

3

4

5

6

Mo

tor

curr

ent

(A)



0 2 4 6 8 10 12 14 16 18 20

Time (s)


3

8

13

18

23

To

rqu

e (N

m)

Torque at no load

Torque at 25 load

0 2 4 6 8 10 12 14 16 18 20

Time (s)

minus2

minus7





0

02

04

06

08

1

12

14

Po

wer

(k

W)

Power at no load

Power at 25 load

0 2 4 6 8 10 12 14 16 18 20

Time (s)


0

200

400

600

800

1000

1200

1400

1600

Spee

d (

rpm

)

Speed at no load

Speed at 25 load

0 2 4 6 8 10 12 14 16 18 20

Time (s)


0 1 2 3 4 5 6 7 8 9 10

200

400

600

800

1000

1200

1400

Time (s)

Spee

d (

rpm

)

Set speed

Actual speed




3138

Time (ms)

28237

25094

21951

18808

15665

12522

9379

6236

3093

0

53

8

10

76

16

14

21

52

26

9

32

28

37

66

43

04

48

42

53

8

Spee

d (

rpm

)

Speed input


command

minus5


0 005 01 015 02 025 03 0350

500

1000

1500

2000

2500

3000

3500

Time (s)

Spee

d (

rpm

)Set speed

Actual speed



120575 =1198771015840

119904

119877119904

=1198711015840

119904

119871119904

(25)

where 1198771015840

119904and 119871

1015840




119904and 119871

119904 and


119904and 119871



Δ120578 |119877119904

= 0381205754

minus 1581205753

+ 2071205752

minus 091120575 + 004

Δ120578 |119871119904

= 016 1205754

minus 0591205753

+ 0551205752

+ 001120575 minus 013

(26)





119904119877119903

119883119904

119883119903

119883119898

119881 119891


0025 05 075 1 125 15 175 2

minus002

minus004

minus006

minus008

minus01

minus012






119883119898


119898and 119877

119903


119903and least by


to 119883119904and 119883


119898is the





119898 respectively



6 Conclusion




Acknowledgments



References


























RoboticsJournal of





Journal of



RotatingMachinery





VLSI Design



Shock and Vibration







Journal of



Volume 2014


SensorsJournal of





Propagation










Invertertoto

LoadIM

Flux

estimationto

Speed

estimation


PIConstant

torqueParkrsquos


CurrentPMSM

Encoder



controller






[

[

119894119886

119894119887

119894119888

]

]

=

[[[[[

[

cos 120579119903

sin 120579119903

1

cos(120579119903minus2120587

3) sin(120579

119903minus2120587

3) 1

cos(120579119903+2120587

3) sin(120579

119903+2120587

3) 1

]]]]]

]

[

[

119894119902119904

119894119889119904

1198940119904

]

]

(22)

where 1198940119904






119868119904= radic1198942119889119904+ 1198942119902119904 (23)


HMI

ModbusRTU PLC

Servodrive IM drive

ModbusRTU

Ethernet

SCADA PC

Profibus DP





119878119873

120572= 100 sdot

(119873119888minus 119873119899)

119873119899

(24)









1

2

3

4

5

6

M00001

Q00013

Q00014

Q00001

Q00015

Q00013

Q00016

Q00014

Q00017

Q00001

Q00003

Q00004

Q00013

Q00014

Q00015

ONDTRTENTHS

45R00001R

PV30

ONDTRTENTHS

15R00004R

PV60

ONDTRTENTHS

0R00007

R

(a)



OFF ON

PMSM

On-state


1037

Speed mode 1

500

(b)






050

100150200250300350400450

0 2 4 6 8 10 12 14 16 18 20

Vo

ltag

e (V

)

Time (s)








Connection type Δ









0

10

20

30

40

50

60

Fre

qu

ency

(H

z)



0 2 4 6 8 10 12 14 16 18 20

Time (s)


0

1

2

3

4

5

6

Mo

tor

curr

ent

(A)



0 2 4 6 8 10 12 14 16 18 20

Time (s)


3

8

13

18

23

To

rqu

e (N

m)

Torque at no load

Torque at 25 load

0 2 4 6 8 10 12 14 16 18 20

Time (s)

minus2

minus7





0

02

04

06

08

1

12

14

Po

wer

(k

W)

Power at no load

Power at 25 load

0 2 4 6 8 10 12 14 16 18 20

Time (s)


0

200

400

600

800

1000

1200

1400

1600

Spee

d (

rpm

)

Speed at no load

Speed at 25 load

0 2 4 6 8 10 12 14 16 18 20

Time (s)


0 1 2 3 4 5 6 7 8 9 10

200

400

600

800

1000

1200

1400

Time (s)

Spee

d (

rpm

)

Set speed

Actual speed




3138

Time (ms)

28237

25094

21951

18808

15665

12522

9379

6236

3093

0

53

8

10

76

16

14

21

52

26

9

32

28

37

66

43

04

48

42

53

8

Spee

d (

rpm

)

Speed input


command

minus5


0 005 01 015 02 025 03 0350

500

1000

1500

2000

2500

3000

3500

Time (s)

Spee

d (

rpm

)Set speed

Actual speed



120575 =1198771015840

119904

119877119904

=1198711015840

119904

119871119904

(25)

where 1198771015840

119904and 119871

1015840




119904and 119871

119904 and


119904and 119871



Δ120578 |119877119904

= 0381205754

minus 1581205753

+ 2071205752

minus 091120575 + 004

Δ120578 |119871119904

= 016 1205754

minus 0591205753

+ 0551205752

+ 001120575 minus 013

(26)





119904119877119903

119883119904

119883119903

119883119898

119881 119891


0025 05 075 1 125 15 175 2

minus002

minus004

minus006

minus008

minus01

minus012






119883119898


119898and 119877

119903


119903and least by


to 119883119904and 119883


119898is the





119898 respectively



6 Conclusion




Acknowledgments



References


























RoboticsJournal of





Journal of



RotatingMachinery





VLSI Design



Shock and Vibration







Journal of



Volume 2014


SensorsJournal of





Propagation










HMI

ModbusRTU PLC

Servodrive IM drive

ModbusRTU

Ethernet

SCADA PC

Profibus DP





119878119873

120572= 100 sdot

(119873119888minus 119873119899)

119873119899

(24)









1

2

3

4

5

6

M00001

Q00013

Q00014

Q00001

Q00015

Q00013

Q00016

Q00014

Q00017

Q00001

Q00003

Q00004

Q00013

Q00014

Q00015

ONDTRTENTHS

45R00001R

PV30

ONDTRTENTHS

15R00004R

PV60

ONDTRTENTHS

0R00007

R

(a)



OFF ON

PMSM

On-state


1037

Speed mode 1

500

(b)






050

100150200250300350400450

0 2 4 6 8 10 12 14 16 18 20

Vo

ltag

e (V

)

Time (s)








Connection type Δ









0

10

20

30

40

50

60

Fre

qu

ency

(H

z)



0 2 4 6 8 10 12 14 16 18 20

Time (s)


0

1

2

3

4

5

6

Mo

tor

curr

ent

(A)



0 2 4 6 8 10 12 14 16 18 20

Time (s)


3

8

13

18

23

To

rqu

e (N

m)

Torque at no load

Torque at 25 load

0 2 4 6 8 10 12 14 16 18 20

Time (s)

minus2

minus7





0

02

04

06

08

1

12

14

Po

wer

(k

W)

Power at no load

Power at 25 load

0 2 4 6 8 10 12 14 16 18 20

Time (s)


0

200

400

600

800

1000

1200

1400

1600

Spee

d (

rpm

)

Speed at no load

Speed at 25 load

0 2 4 6 8 10 12 14 16 18 20

Time (s)


0 1 2 3 4 5 6 7 8 9 10

200

400

600

800

1000

1200

1400

Time (s)

Spee

d (

rpm

)

Set speed

Actual speed




3138

Time (ms)

28237

25094

21951

18808

15665

12522

9379

6236

3093

0

53

8

10

76

16

14

21

52

26

9

32

28

37

66

43

04

48

42

53

8

Spee

d (

rpm

)

Speed input


command

minus5


0 005 01 015 02 025 03 0350

500

1000

1500

2000

2500

3000

3500

Time (s)

Spee

d (

rpm

)Set speed

Actual speed



120575 =1198771015840

119904

119877119904

=1198711015840

119904

119871119904

(25)

where 1198771015840

119904and 119871

1015840




119904and 119871

119904 and


119904and 119871



Δ120578 |119877119904

= 0381205754

minus 1581205753

+ 2071205752

minus 091120575 + 004

Δ120578 |119871119904

= 016 1205754

minus 0591205753

+ 0551205752

+ 001120575 minus 013

(26)





119904119877119903

119883119904

119883119903

119883119898

119881 119891


0025 05 075 1 125 15 175 2

minus002

minus004

minus006

minus008

minus01

minus012






119883119898


119898and 119877

119903


119903and least by


to 119883119904and 119883


119898is the





119898 respectively



6 Conclusion




Acknowledgments



References


























RoboticsJournal of





Journal of



RotatingMachinery





VLSI Design



Shock and Vibration







Journal of



Volume 2014


SensorsJournal of





Propagation










1

2

3

4

5

6

M00001

Q00013

Q00014

Q00001

Q00015

Q00013

Q00016

Q00014

Q00017

Q00001

Q00003

Q00004

Q00013

Q00014

Q00015

ONDTRTENTHS

45R00001R

PV30

ONDTRTENTHS

15R00004R

PV60

ONDTRTENTHS

0R00007

R

(a)



OFF ON

PMSM

On-state


1037

Speed mode 1

500

(b)






050

100150200250300350400450

0 2 4 6 8 10 12 14 16 18 20

Vo

ltag

e (V

)

Time (s)








Connection type Δ









0

10

20

30

40

50

60

Fre

qu

ency

(H

z)



0 2 4 6 8 10 12 14 16 18 20

Time (s)


0

1

2

3

4

5

6

Mo

tor

curr

ent

(A)



0 2 4 6 8 10 12 14 16 18 20

Time (s)


3

8

13

18

23

To

rqu

e (N

m)

Torque at no load

Torque at 25 load

0 2 4 6 8 10 12 14 16 18 20

Time (s)

minus2

minus7





0

02

04

06

08

1

12

14

Po

wer

(k

W)

Power at no load

Power at 25 load

0 2 4 6 8 10 12 14 16 18 20

Time (s)


0

200

400

600

800

1000

1200

1400

1600

Spee

d (

rpm

)

Speed at no load

Speed at 25 load

0 2 4 6 8 10 12 14 16 18 20

Time (s)


0 1 2 3 4 5 6 7 8 9 10

200

400

600

800

1000

1200

1400

Time (s)

Spee

d (

rpm

)

Set speed

Actual speed




3138

Time (ms)

28237

25094

21951

18808

15665

12522

9379

6236

3093

0

53

8

10

76

16

14

21

52

26

9

32

28

37

66

43

04

48

42

53

8

Spee

d (

rpm

)

Speed input


command

minus5


0 005 01 015 02 025 03 0350

500

1000

1500

2000

2500

3000

3500

Time (s)

Spee

d (

rpm

)Set speed

Actual speed



120575 =1198771015840

119904

119877119904

=1198711015840

119904

119871119904

(25)

where 1198771015840

119904and 119871

1015840




119904and 119871

119904 and


119904and 119871



Δ120578 |119877119904

= 0381205754

minus 1581205753

+ 2071205752

minus 091120575 + 004

Δ120578 |119871119904

= 016 1205754

minus 0591205753

+ 0551205752

+ 001120575 minus 013

(26)





119904119877119903

119883119904

119883119903

119883119898

119881 119891


0025 05 075 1 125 15 175 2

minus002

minus004

minus006

minus008

minus01

minus012






119883119898


119898and 119877

119903


119903and least by


to 119883119904and 119883


119898is the





119898 respectively



6 Conclusion




Acknowledgments



References


























RoboticsJournal of





Journal of



RotatingMachinery





VLSI Design



Shock and Vibration







Journal of



Volume 2014


SensorsJournal of





Propagation











Connection type Δ









0

10

20

30

40

50

60

Fre

qu

ency

(H

z)



0 2 4 6 8 10 12 14 16 18 20

Time (s)


0

1

2

3

4

5

6

Mo

tor

curr

ent

(A)



0 2 4 6 8 10 12 14 16 18 20

Time (s)


3

8

13

18

23

To

rqu

e (N

m)

Torque at no load

Torque at 25 load

0 2 4 6 8 10 12 14 16 18 20

Time (s)

minus2

minus7





0

02

04

06

08

1

12

14

Po

wer

(k

W)

Power at no load

Power at 25 load

0 2 4 6 8 10 12 14 16 18 20

Time (s)


0

200

400

600

800

1000

1200

1400

1600

Spee

d (

rpm

)

Speed at no load

Speed at 25 load

0 2 4 6 8 10 12 14 16 18 20

Time (s)


0 1 2 3 4 5 6 7 8 9 10

200

400

600

800

1000

1200

1400

Time (s)

Spee

d (

rpm

)

Set speed

Actual speed




3138

Time (ms)

28237

25094

21951

18808

15665

12522

9379

6236

3093

0

53

8

10

76

16

14

21

52

26

9

32

28

37

66

43

04

48

42

53

8

Spee

d (

rpm

)

Speed input


command

minus5


0 005 01 015 02 025 03 0350

500

1000

1500

2000

2500

3000

3500

Time (s)

Spee

d (

rpm

)Set speed

Actual speed



120575 =1198771015840

119904

119877119904

=1198711015840

119904

119871119904

(25)

where 1198771015840

119904and 119871

1015840




119904and 119871

119904 and


119904and 119871



Δ120578 |119877119904

= 0381205754

minus 1581205753

+ 2071205752

minus 091120575 + 004

Δ120578 |119871119904

= 016 1205754

minus 0591205753

+ 0551205752

+ 001120575 minus 013

(26)





119904119877119903

119883119904

119883119903

119883119898

119881 119891


0025 05 075 1 125 15 175 2

minus002

minus004

minus006

minus008

minus01

minus012






119883119898


119898and 119877

119903


119903and least by


to 119883119904and 119883


119898is the





119898 respectively



6 Conclusion




Acknowledgments



References


























RoboticsJournal of





Journal of



RotatingMachinery





VLSI Design



Shock and Vibration







Journal of



Volume 2014


SensorsJournal of





Propagation










0

02

04

06

08

1

12

14

Po

wer

(k

W)

Power at no load

Power at 25 load

0 2 4 6 8 10 12 14 16 18 20

Time (s)


0

200

400

600

800

1000

1200

1400

1600

Spee

d (

rpm

)

Speed at no load

Speed at 25 load

0 2 4 6 8 10 12 14 16 18 20

Time (s)


0 1 2 3 4 5 6 7 8 9 10

200

400

600

800

1000

1200

1400

Time (s)

Spee

d (

rpm

)

Set speed

Actual speed




3138

Time (ms)

28237

25094

21951

18808

15665

12522

9379

6236

3093

0

53

8

10

76

16

14

21

52

26

9

32

28

37

66

43

04

48

42

53

8

Spee

d (

rpm

)

Speed input


command

minus5


0 005 01 015 02 025 03 0350

500

1000

1500

2000

2500

3000

3500

Time (s)

Spee

d (

rpm

)Set speed

Actual speed



120575 =1198771015840

119904

119877119904

=1198711015840

119904

119871119904

(25)

where 1198771015840

119904and 119871

1015840




119904and 119871

119904 and


119904and 119871



Δ120578 |119877119904

= 0381205754

minus 1581205753

+ 2071205752

minus 091120575 + 004

Δ120578 |119871119904

= 016 1205754

minus 0591205753

+ 0551205752

+ 001120575 minus 013

(26)





119904119877119903

119883119904

119883119903

119883119898

119881 119891


0025 05 075 1 125 15 175 2

minus002

minus004

minus006

minus008

minus01

minus012






119883119898


119898and 119877

119903


119903and least by


to 119883119904and 119883


119898is the





119898 respectively



6 Conclusion




Acknowledgments



References


























RoboticsJournal of





Journal of



RotatingMachinery





VLSI Design



Shock and Vibration







Journal of



Volume 2014


SensorsJournal of





Propagation












119904119877119903

119883119904

119883119903

119883119898

119881 119891


0025 05 075 1 125 15 175 2

minus002

minus004

minus006

minus008

minus01

minus012






119883119898


119898and 119877

119903


119903and least by


to 119883119904and 119883


119898is the





119898 respectively



6 Conclusion




Acknowledgments



References


























RoboticsJournal of





Journal of



RotatingMachinery





VLSI Design



Shock and Vibration







Journal of



Volume 2014


SensorsJournal of





Propagation










References


























RoboticsJournal of





Journal of



RotatingMachinery





VLSI Design



Shock and Vibration







Journal of



Volume 2014


SensorsJournal of





Propagation











RoboticsJournal of





Journal of



RotatingMachinery





VLSI Design



Shock and Vibration







Journal of



Volume 2014


SensorsJournal of





Propagation









distributed drives monitoring and control: a laboratory setup

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