Modelling and Control of a Dual Three-Phase Permanent Magnet Synchronous Motor
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Typ
Examensarbete för masterexamen
Master's Thesis
Master's Thesis
Program
Systems, control and mechatronics (MPSYS), MSc
Publicerad
2024
Författare
Forsbäck, Benjamin
Emvin, Albin
Modellbyggare
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Abstract
This project aimed to study different torque control techniques for a multi-phase PMSM with an emphasis on minimising the torque ripple. Where torque ripple refers to noise in the torque, mainly due to inverter steps and sensor noise. Multiple Field Oriented Control (FOC) approaches, including Linear Quadratic Regulator (LQR), Gain Scheduled Controller (GSC), and Model Predictive Control (MPC), were tested
in a simulation environment created in Simulink. The simulations showed similar performance for all controllers with the MPC having a slightly better performance. Different filter setups were also tested for their effect on the torque ripple. As the sensors equipped to measure angle and current had inherent noise, given sufficient computational power model-based filtering might improve the estimation of these
variables. When tested in simulation, the angle filter and the current filter showed a large reduction of torque ripple, while filtering the angular velocity did not decrease the torque ripple by any significant margin. Some key factors contributing to the torque ripple were identified, e.g.: motor inductance, switching frequency, sensor accuracy, and possible improvements to these factors were discussed thoroughly in
the concluding part of this thesis. Finally, one of the developed controllers was tested on the real motor, the behaviour was similar to the simulations, with very small torque ripple and responsive torque tracking.
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Keywords: Six-Phase Permanent Magnet Synchronous Motor, Dual Three-Phase Motor, Torque Control, Torque ripple minimisation, Simulation and Hardware, Field Oriented Control, Linear Quadratic Regulator, Gain Scheduled Controller, Model Predictive Control, Kalman Filter.