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This thesis demonstrates a practical implementation of a sensorless permanent magnet synchronousmotor (PMSM) drive for vehicle propulsion. The main design parameters and overall properties of themotor drive are derived for the case of an on-board electric powertrain as a substitute to the lift shuttle indownhill (DH) mountain biking.The theory behind field oriented control (FOC) for sensorless PMSMs is analyzed in some detail.Controller-inverter hardware and software are designed and prototyped in accordance with the deriveddesign parameters. Initial tuning and testing in a test bench environment is described. The powertrain isfinally installed on a test bike and tested on an incline. It is found that the performance of the controllerinvertercomplies with the target design parameters.

Visando uma opção de substituição, onde for possível e aplicável, do motor de indução monofásico, este trabalho relata o estudo teórico, a construção, o acionamento e os ensaios de um motor bifásico com ímã permanente no rotor, de baixa potência, utilizando imãs de ferrita na confecção do rotor. / This work shows the theoretical studies, building, driving systems and tests of a small-power double-phase motor with ferrite permanent-magnet in the rotor, based on the original structure of a single-phase induction motor. The objective is to create an option to replace the single-phase induction motor where it is possible and applicable.

A grande aplicação residencial de motores de indução monofásicos é em sistemas de refrigeração doméstica/comercial. O desenvolvimento de motores mais eficientes, associado ao controle de velocidade, fez com que, dentro os mais diversos tipos de motores, o motor síncrono de imã permanente tornasse objeto para a criação de uma metodologia de projeto, construção e realização de ensaios. Assim, para adequar o projeto do motor MSIP para substituição do motor de indução monofásico, foram feitos estudos de como aproveitar as laminações já existentes, através de definições das características básicas do estator e do rotor. O imã permanente a ser utilizado foi definido principalmente em função do custo do material e de suas propriedades magnéticas estarem adequadas à necessidade do projeto. O projeto magnético foi feito para maximizar o fluxo nos dentes, considerando as características construtivas e a curva de trabalho dos imãs. O projeto elétrico, a partir de um circuito equivalente do motor, permitiu explicar as relações de torque, corrente e tensão do motor MSIP, bem como a definição das bobinas do motor, quanto ao espaçamento destas entre as ranhuras, o cálculo do número de espiras e o diâmetro dos fios em função da área permitida pela ranhura da lamina do estator. Com as informações obtidas após o cálculo do motor MSIP, passou-se a construção de um protótipo constituído pelo estator, rotor e um sistema de suporte que permitisse o levantamento dos parâmetros do motor. Os parâmetros necessários foram definidos levando-se em consideração a necessidade para o projetista do conversor elétrico, sendo estes dados utilizados em simulações computacionais para a determinação do projeto do acionador. Com isto, os ensaios do motor MSIP permitiram o levantamento dos seguintes parâmetros: resistência, indutância, curvas de tensão de fase e linha da eletromotriz por velocidade em diversas rotações, momento de inércia e atrito viscoso, concluindo assim a proposta deste trabalho, e finalizando a metodologia para o motor MSIP. / A major residential application of single-phase induction motors is in domestic refrigeration. The development of more efficient motors, associated with speed control, has made that, among the most diverse types of electrical motors, the permanent magnet synchronous machine becomes an object of study for a design, construction and testing methodology. Therefore, to suit the PMSM design to replace the single phase induction motor, studies were made on how to take advantage of existing laminations, through definitions of the basic characteristics of the stator and rotor. The permanent magnet used was defined mainly as a function of the cost of the material and its magnetic properties since they suit the design requirements. PMSM magnetic design was made to maximize the magnetic flow in the slots considering the constructive characteristics and the magnet curve. The electric design, starting from a motor equivalent circuit, allowed to explain torque, current and voltage of the PMSM motor, as well as the definition of the motor windings regarding their filling in the slots, the calculation of coil number and the wire diameter as a function of the area allowed by the stator lamination slot. With the information obtained after the PMSM motor calculation, a prototype construction was initiated consisting of the stator, rotor and a support system to allow determining the motor parameters. The required parameters were defined taking into account the need the designer had of an electronic drive had. This data was used in computational simulations to determine the electronic driver design. After this, the motor testing allowed to identify the parameters, namely: winding resistance and inductance, various speed curves versus phase to phase and line voltage for back emf´s, moment of inertia and viscous friction, thus completing this work proposal, finalizing the project methodology for PMSM motor.

A grande aplicação residencial de motores de indução monofásicos é em sistemas de refrigeração doméstica/comercial. O desenvolvimento de motores mais eficientes, associado ao controle de velocidade, fez com que, dentro os mais diversos tipos de motores, o motor síncrono de imã permanente tornasse objeto para a criação de uma metodologia de projeto, construção e realização de ensaios. Assim, para adequar o projeto do motor MSIP para substituição do motor de indução monofásico, foram feitos estudos de como aproveitar as laminações já existentes, através de definições das características básicas do estator e do rotor. O imã permanente a ser utilizado foi definido principalmente em função do custo do material e de suas propriedades magnéticas estarem adequadas à necessidade do projeto. O projeto magnético foi feito para maximizar o fluxo nos dentes, considerando as características construtivas e a curva de trabalho dos imãs. O projeto elétrico, a partir de um circuito equivalente do motor, permitiu explicar as relações de torque, corrente e tensão do motor MSIP, bem como a definição das bobinas do motor, quanto ao espaçamento destas entre as ranhuras, o cálculo do número de espiras e o diâmetro dos fios em função da área permitida pela ranhura da lamina do estator. Com as informações obtidas após o cálculo do motor MSIP, passou-se a construção de um protótipo constituído pelo estator, rotor e um sistema de suporte que permitisse o levantamento dos parâmetros do motor. Os parâmetros necessários foram definidos levando-se em consideração a necessidade para o projetista do conversor elétrico, sendo estes dados utilizados em simulações computacionais para a determinação do projeto do acionador. Com isto, os ensaios do motor MSIP permitiram o levantamento dos seguintes parâmetros: resistência, indutância, curvas de tensão de fase e linha da eletromotriz por velocidade em diversas rotações, momento de inércia e atrito viscoso, concluindo assim a proposta deste trabalho, e finalizando a metodologia para o motor MSIP. / A major residential application of single-phase induction motors is in domestic refrigeration. The development of more efficient motors, associated with speed control, has made that, among the most diverse types of electrical motors, the permanent magnet synchronous machine becomes an object of study for a design, construction and testing methodology. Therefore, to suit the PMSM design to replace the single phase induction motor, studies were made on how to take advantage of existing laminations, through definitions of the basic characteristics of the stator and rotor. The permanent magnet used was defined mainly as a function of the cost of the material and its magnetic properties since they suit the design requirements. PMSM magnetic design was made to maximize the magnetic flow in the slots considering the constructive characteristics and the magnet curve. The electric design, starting from a motor equivalent circuit, allowed to explain torque, current and voltage of the PMSM motor, as well as the definition of the motor windings regarding their filling in the slots, the calculation of coil number and the wire diameter as a function of the area allowed by the stator lamination slot. With the information obtained after the PMSM motor calculation, a prototype construction was initiated consisting of the stator, rotor and a support system to allow determining the motor parameters. The required parameters were defined taking into account the need the designer had of an electronic drive had. This data was used in computational simulations to determine the electronic driver design. After this, the motor testing allowed to identify the parameters, namely: winding resistance and inductance, various speed curves versus phase to phase and line voltage for back emf´s, moment of inertia and viscous friction, thus completing this work proposal, finalizing the project methodology for PMSM motor.

Η παρούσα διπλωματική εργασία πραγματεύεται τη μελέτη, το σχεδιασμό και την εξομοίωση ενός σύγχρονου κινητήρα μόνιμου μαγνήτη οδηγούμενο από ελεγχόμενο τριφασικό αντιστροφέα. Η εργασία αυτή εκπονήθηκε στο Εργαστήριο Ηλεκτρομηχανικής Μετατροπής Ενέργειας του Τμήματος Ηλεκτρολόγων Μηχανικών και Τεχνολογίας Υπολογιστών της Πολυτεχνικής Σχολής του Πανεπιστημίου Πατρών. Σκοπός λοιπόν της παρούσας εργασίας είναι η μελέτη και προσομοίωση ενός σύγχρονου κινητήρα μόνιμου μαγνήτη μέσω της μεθόδου των πεπερασμένων στοιχείων, με τη βοήθεια του λογισμικού Opera σε δύο διαστάσεις (2d). Στο περιβάλλον σχεδίασης κυκλωμάτων του ίδιου προγράμματος, μοντελοποιήθηκε και ο τριφασικός αντιστροφέας ισχύος για την οδήγηση του κινητήρα. Στην συνέχεια, έγινε διασύνδεση του λογισμικού Opera με το πρόγραμμα Simulink του λογισμικού Matlab, με απώτερο σκοπό να επιτευχθεί έλεγχος κλειστού βρόχου της ταχύτητας περιστροφής του κινητήρα Συγκεκριμένα, έγινε μελέτη και προσομοίωση ενός συγκεκριμένου 8πολικού κινητήρα τύπου Brushless DC, ονομαστικής ισχύος 660 W, ονομαστικής τάσης 48 V, και ονομαστικής ταχύτητας 3000 rpm ο οποίος τροφοδοτήθηκε στην είσοδό του με τριφασικό αντιστροφέα. Ιδιαίτερη προσοχή δόθηκε, στην εξομοίωση του τρόπου λειτουργίας των αισθητήρων Hall, μέσω των ημιαγωγικών διακοπτικών στοιχείων του αντιστροφέα, τα οποία ρυθμίστηκαν για να λειτουργούν σε κατάλληλες, για την υπό μελέτη μηχανή, χρονικές περιόδους. Κρίσιμη ήταν επίσης, η διαδικασία εύρεσης των κατάλληλων κερδών των ελεγκτών PI, έτσι ώστε να βελτιωθεί η μεταβατική απόκριση του συστήματος κλειστού βρόχου και να μειωθεί το σφάλμα μόνιμης κατάστασης ταχύτητας. Αναλυτικά, στο κεφάλαιο 1 γίνεται αναφορά στα θεμελιώδη μεγέθη του μαγνητικού πεδίου, καθώς και στις ιδιότητες των μαγνητικών υλικών που χρησιμοποιούνται στην κατασκευή σύγχρονων μηχανών μόνιμου μαγνήτη. Στο κεφάλαιο 2 αναλύονται οι σύγχρονοι κινητήρες μόνιμου μαγνήτη και γίνεται εκτενής αναφορά στα κατασκευαστικά χαρακτηριστικά, στη βασική αρχή λειτουργίας και στις μαθηματικές εξισώσεις που τους περιγράφουν. Στο κεφάλαιο 3 περιγράφεται η διάταξη οδήγησης του κινητήρα και αναλύονται λεπτομερώς η λειτουργία και του αντιστροφέα και του κυκλώματος ελέγχου κλειστού βρόχου. Στο κεφάλαιο 4 περιγράφεται η διαδικασία διεξαγωγής μετρήσεων και σχεδιασμού του μοντέλου πεπερασμένων στοιχείων της μηχανής στο περιβάλλον του υπολογιστικού προγράμματος Opera-2d. Στο κεφάλαιο 5 περιγράφεται η διαδικασία σχεδιασμού του τριφασικού αντιστροφέα και παρουσιάζονται τα αποτελέσματα εξομοίωσης για το σύστημα ανοικτού βρόχου. Στο κεφάλαιο 6 εξηγείται η διαδικασία διασύνδεσης των δύο προγραμμάτων (Matlab-Opera) και παρουσιάζονται τα αποτελέσματα της εξομοίωσης για το σύστημα ελέγχου κλειστού βρόχου. / In this dissertation, the design and simulation of a permanent magnet synchronous motor driven by a three-phase inverter, is presented. The work was conducted at the Laboratory of Electromechanical Energy Conversion, Department of Electrical and Computer Engineering, University of Patras. The objective of this dissertation is the study and simulation of a permanent magnet synchronous motor employing the finite element method, with the help of Opera-2d simulation software. In the Circuit Editor environment of the same software, a three-phase inverter for driving the motor was designed, utilizing the PWM method and achieving open loop control of the motor rotation speed under constant loads. In addition, a closed loop control system was designed on Simulink user interface of Matlab software and making use of the interconnection capability of the two programs (Matlab-Opera) closed loop control of the motor rotation speed was achieved. Specifically, chapter 1 gives reference to fundamentals of the magnetic field and the magnetic properties of materials used in the construction of modern permanent magnet machines. Chapter 2 analyzes synchronous permanent magnet motors and makes an extensive reference to the constructional features, basic operation principle and the mathematical equations that describe them. Chapter 3 describes the motor driving converter and analyzes in detail the operation of the inverter and the closed loop control circuit. Chapter 4 describes the procedure for carrying out measurements and designing the finite element model of the machine in the environment of Opera-2d software. Chapter 5 describes the three-phase inverter design process and presents the simulation results for the open loop system. Chapter 6 explains the interconnection process of the two programs (Matlab-Opera) and presents the results of the simulation for the closed loop control system.

Made available in DSpace on 2016-12-12T20:27:39Z (GMT). No. of bitstreams: 1 ELISABETH CRISTINA LEMOS SPERB.pdf: 4249399 bytes, checksum: 689cbb6a5cf388bda83e27d4de4a8e1a (MD5) Previous issue date: 2011-08-05 / Coordenação de Aperfeiçoamento de Pessoal de Nível Superior / This project presents the implementation of an experimental test bed to drive the permanent magnet synchronous motor (PMSM) using a digital signal processor. The main purpose of the project is to develop a test bed with flexible features enabling the implementation and evaluation of different motor control techniques. Initially the constructive characteristics of the PMSM are studied, as the selection of the proper materials of permanent magnets and the possibilities of physical arrangement in the rotor. Then the mathematical model is developed with the currents and voltage equation in the rotating reference frame. An analysis is made, consequently, of the vector control using the method by considering the rotor flux approach with constant torque control and the space vector pulse width modulation technique. Some techniques of sensorless control based on the motor mathematical model and artificial neural network are also presented. To demonstrate the flexibility of the bed developed, some algorithms for estimating motor position and speed, earlier simulated, were implemented with the algorithm drive system. / Neste trabalho é apresentada a implementação de uma bancada experimental para o acionamento do motor síncrono de imãs permanentes (MSIP) utilizando um processador digital de sinais. O objetivo principal do trabalho é desenvolver uma bancada com características flexíveis que permita a implementação e avaliação de técnicas de controle variadas. Inicialmente, são estudadas as características construtivas do MSIP, como o material que compõe os imãs permanentes e as possibilidades de arranjo físico no rotor. Em seguida é desenvolvido o modelo matemático com as equações de corrente e tensão no referencial girante. É analisado na seqüência, o controle vetorial, utilizando o método direto pelo fluxo de rotor considerando a abordagem com controle de torque constante, e a técnica de modulação por largura de pulso por vetor espacial. São também apresentadas algumas técnicas de controle sem sensor de posição/velocidade (sensorless) baseadas no modelo matemático do motor e em redes neurais artificiais. Algumas técnicas de controle sensorless foram simuladas e analisadas. Para comprovar a flexibilidade da bancada desenvolvida, alguns algoritmos de estimação da posição e velocidade do motor, anteriormente simulados, foram implementados juntamente com o algoritmo de acionamento.

Made available in DSpace on 2016-12-12T17:38:33Z (GMT). No. of bitstreams: 1 Resumo - Roberto Andrich.pdf: 255410 bytes, checksum: 674d7034fd046a38194121da5d0b5f27 (MD5) Previous issue date: 2013-08-28 / Coordenação de Aperfeiçoamento de Pessoal de Nível Superior / In this work is presented the development of an experimental setup and a simulation plataform for the evaluation of performance in permanent magnet synchronous motors when drived with di_erent control strategies. The proposal of the experimental setup is to allow the driving and analysis of these types of motors with the main control strategies used in their applications in a easy and didactic way. The control strategies implemented are the well known Six-step technic for BLDC type motor, that is, motors having trapezoidal back-emf voltages, the classical Field Oriented Control for BLAC type motors, that is, motors having sinusoidal back-emf voltages and a modified field oriented control specially developed for non-sinusoidal back-emf voltage motors. The proposal of the simulation plataform is to estimate the results obtained in the experimental bench. This is done by implementing the same control strategies in the simulation bench and also by modelling the main losses in the driving inverter and motor. / Nesse trabalho é apresentado o desenvolvimento de uma Plataforma Experimental e de uma Plataforma de Simulação para a avaliação de desempenho em motores síncronos com ímãs permanentes quando acionados com diferentes estratégias de controle. A proposta da plataforma experimental é permitir o acionamento e a análise desses motores com as principais estratégias de controle utilizadas em suas aplicações de forma prática e didática. As estratégias implementadas são o controle Six-step para motores do tipo BLDC, ou seja, com tensões induzidas trapezoidais, o controle vetorial para motores do tipo BLAC, ou seja, com tensões induzidas senoidais e uma proposta de modificação no controle vetorial para o acionamento de motores com tensões induzidas não senoidais. A plataforma de simulação tem por objetivo estimar a priori os resultados obtidos na plataforma experimental através da implementação das mesmas estratégias de controle e do modelamento das principais perdas existentes no inversor e no motor

Made available in DSpace on 2016-12-12T17:38:33Z (GMT). No. of bitstreams: 1 Filipe - RESUMO.pdf: 27146 bytes, checksum: 965d13a57f8850f7f5953eb1442cb7ab (MD5) Previous issue date: 2015-09-18 / Coordenação de Aperfeiçoamento de Pessoal de Nível Superior / This paper discusses the implementation of some control strategies, without making use of mechanical sensors, for motor drives commonly used in white goods. In this way, initially, it is made a literature review about the system to be controlled, explaining about the different types of engines, discussing its details and classification, focusing particularly on permanent magnet synchronous motors. Thus, in order to facilitate the understanding of the control system, it is presented both the machine model as the known methods to control it. Then, a brief introduction to vector control with constant torque angle, which is the control approach used in this work. Thus, knowing the particularities involved in motor control, and knowing the problems inherent in the use of mechanical sensors at the control designs, it is presented various techniques that do not use these devices. Further, it is explained about the classification, advantages and restrictions related to these approaches, discussing three of them in a more specific way: using sliding mode approach; by adaptive models and neural networks. These respective techniques were simulated and then implemented on a trial bench, developed to analyze their characteristics facing pre-defined conditions in the machine drive. Finally, the results obtained were analyzed and discussed, based on similar implementations arranged in the literature. / O presente trabalho aborda a implementação de algumas estratégias de controle, sem fazer uso de sensores mecânicos de rotação, para o acionamento de motores comumente utilizados em produtos da linha branca. Deste modo, inicialmente, faz-se uma revisão bibliográfica acerca do sistema a ser controlado, explanando sobre os tipos de motores existentes, discutindo seus detalhes e classificação, focando particularmente, nos motores síncronos de ímãs permanentes. Com isso, visando facilitar o entendimento do sistema de controle em questão, apresenta-se tanto o modelo da máquina quanto os métodos conhecidos para controlá-la. Em seguida, é feita uma breve introdução ao controle vetorial com ângulo de torque constante, que é a abordagem de controle utilizada neste trabalho. Assim, sabendo das particularidades envolvidas no controle do motor, e conhecendo os problemas inerentes à utilização de sensores mecânicos nos projetos de acionamento, apresentam-se diversas técnicas que não fazem uso destes dispositivos. Na sequência, explana-se sobre a classificação, vantagens e restrições relacionadas a estas abordagens, discutindo três delas de forma mais específica: por modos deslizantes; por modelos adaptativos e por redes neurais. Essas respectivas técnicas foram simuladas e, posteriormente, implementadas em bancada experimental, desenvolvida para analisar suas características frente à condições pré-definidas no acionamento da máquina. Por fim, os resultados obtidos foram analisados, e discutidos, com base em implementações semelhantes dispostas na literatura.

The possibility to save energy in synchronous machines operation by dismissing d-axis damping bars and surrogating them with active excitation current control in sectored field winding is proved. In particular a way to recover the energy of rotor oscillations during power regulation is shown by means of a studycase generator whereas a self-starting machine is analytically and numerically designed in view of its next construction and test. Principal design requirements and limits for both applications are presented and discussed.