Field Oriented Motor Control Development in Matlab Simulink

The attendee will have a brief overview of the second section.

The attendee will have a general overview of the Field Oriented Control (FOC) algorithm throughout block effect diagram representation.

The attendee will have a fundamental knowledge of the typical signal shapes within the FOC algorithm. The importance of the Clarke-Park and Inverse Clarke-Park transformations will be introduced. The attendee will also have a general overview of the PMSM motor control software architecture as part of an embedded system.

The attendee will learn how to transform the measured three-phase currents (a, b, c) to the two-phase (x, y) coordinate-system. Simple scalar equations will be deducted that can be implemented in any programming language with ease.

The attendee will learn the correlation between the stationary two-phase (x, y) and the rotational two-phase (d, q) coordinate systems used for current transformation purpose within the FOC algorithm.

The attendee will have an overview of the commonly used Cascade control loops associated with FOC control algorithm. The attandee will be able to identify control loop priorities by firstly learning the main purpose of the Proportional-Intergal (PI) speed controller and its connection towards the motor control algorithm.

The attendee will have an overview of the Proportional-Integral (PI) current controllers. The attendee will be able to specify the main purpose of the diect- and quadrature current controllers.

The attendee will learn the inverse calculation method between the stationary two-phase (x, y) and the rotational two-phase (d, q) coordinate systems used for voltage transformation purpose within the FOC algorithm.

The attendee will learn the inverse calculation method between the stationary two-phase (x, y) and the stationary three-phase (a, b, c) coordinate systems used for voltage transformation purpose within the FOC algorithm.

The attendee will be able to describe the basic working principle of the State Vector Pulse Width Modulation technique as well as will be avare of the main advantage of this reference duty calculation method.

The attendee will have a general understanding of the importance of the dead-time insertion used in voltage inverters. Nonlinear hardware elements such as IGBTs and MOSFETs will be introduced briefly.

The attendee will have a fundamental understanding of the different angular sensor variants used for FOC control algorithm as part of an embedded system.

The attendee will be able to learn the general architecture of the Model In Loop (MIL) environment, where the developed FOC algorithm is going to be placed. General overview of the used Matlab and Simulink files will be given with detailed information regarding the main purposes and input output interfaces of them.

The attendee will have a fundamental understanding of the working principle of an ideal three-phase voltage inverter implemented within Matlab Simulink environment. The attendee will be also able to place the inverter model within the MIL environment, especially within the plant model itself.

The attandee will encounter with one of the possible ways to analytically model a PMSM motor in Matlab Simulink environment using general differential equations and Laplace transformation method. Modeling the controlled system is crucial for understanding the FOC algorithm better throughout the implementation of the model from pure analytical considerations.

The attendee will learn the basic idea behind the implementation of the PMSM motor model throughout detailed overview of an already existing solution.

After this lecture the attendees will be able to implement their own current transformation logic based on the deducted equations of the Clarke-and Park transformations introduced in the theoretical section.

After this lecture the attendees will be able to implement their own current reference generation logic based on the deducted general electromagnetic torque equation introduced in the theoretical section.

After this lecture the attendees will be able to implement their own voltage decoupling logic based on the deducted direct-and quadrature voltage equations introduced in the PMSM plant model section.

After this lecture the attendees will be able to implement their own proportional- integral regulator logic by simply following the steps of the tutor.

After this lecture the attendees will be able to implement their own voltage transformation logic based on the deducted equations of the inverse Clarke-and Park transformations introduced in the theoretical section.

After this lecture the attendees will be able to implement their own SVPWM algorithm by simply following the steps of the tutor.

After this lecture the attendees will be able to implement their own electromagnetic torque calculation logic based on the deducted general PMSM torque equation introduced in the theoretical section.

After this lecture the attendees will be able to simulate their own developed FOC algorithm as part of the MIL environment. They are going to understand the main differences between the so called sine and SVPWM reference duty calculation methods. Based on the measured direct-and quadrature currents as well as the mechanical rotational speed of the motor they will be able to decide which modulation method is best suited for their simulation needs.

After this lecture the attendees will be able to modify different PMSM model parameters in the attached external data file according to their needs. They will understand the main effects of the rotor pole-flux value to the actual controlled system by interpreting the measured quadrature current and actual torque of the PMSM machine.

After this lecture the attendees will understand the benefits of using the so called voltage decoupling logic within the direct-and quadrature current controllers by interpreting the relevant simulation data.

After this lecture the attendees will have a general understanding of the effect of increased load torque on the PMSM machine's shaft towards the controlled system, they will also learn how to tune the used speed controller within the MIL environment to achieve better system performance.