1. Industrial Electrical Engineering and Automation Elenergiteknik1 Control

2. Industrial Electrical Engineering and Automation Elenergiteknik2 Position control position reference position control speed reference speed control current reference current control Motor speed current position + - equip acc/ torq/ curr motor voltage + -

3. Industrial Electrical Engineering and Automation Elenergiteknik3 Speed control speed reference ω* current loop inertia Speed ω + - KwKw torque reference - + load torque torque Torque reference

4. Industrial Electrical Engineering and Automation Elenergiteknik4 DC-motor

5. Industrial Electrical Engineering and Automation Elenergiteknik5 Detailed picture of the rotor

6. Industrial Electrical Engineering and Automation Elenergiteknik6 Current control of DC-motor Current reference current control voltage Mod4QCMotor Current + - torque reference

7. Industrial Electrical Engineering and Automation Elenergiteknik7 Current control of DC-motor, cont’d

8. Industrial Electrical Engineering and Automation Elenergiteknik8 Puls width modulation Carrier wavevoltage reference Output voltage sa 0 va +50 -50

9. Industrial Electrical Engineering and Automation Elenergiteknik9 4Q PWM 1 voltage, 2 potentials infinite number of combainations of va* and vb* for u=va-vb. Set va*=u*/2 och vb*=-u*/2

10. Industrial Electrical Engineering and Automation Elenergiteknik10 Control of a 4-kv. DC conv: v a *=u*/2 v b *=-u*/2 Example: –Udc=300 V –u*=100 V

11. Industrial Electrical Engineering and Automation Elenergiteknik11 Permanent magnetized synchrounous motor, PMSM

12. Industrial Electrical Engineering and Automation Elenergiteknik12 3-phase PMSM

13. Industrial Electrical Engineering and Automation Elenergiteknik13 Vektor control of a PMSM-motor i sx -reg i sx * i sy * i sx -reg u sx * u sy * e +jΘ r 2Φ/3Φ2Φ/3ΦMod 3fas- omr 2Φ/3Φ2Φ/3Φ e -jΘ r Motor + - i sa,b,c u sa,b,c usα,βusα,β

14. Industrial Electrical Engineering and Automation Elenergiteknik14 Convertion of current from stator to rotor coordinates

15. Industrial Electrical Engineering and Automation Elenergiteknik15 Current control PMSM

16. Industrial Electrical Engineering and Automation Elenergiteknik16 Convertion of stator voltage from rotor to stator coordinates

17. Industrial Electrical Engineering and Automation Elenergiteknik17 Conversion from two phases αβ-frame to three phases abc-frame m  x y   a u b u c u m  x y    u  u s u s u r 

18. Industrial Electrical Engineering and Automation Elenergiteknik18 The 3-phase voltage

19. Industrial Electrical Engineering and Automation Elenergiteknik19 Symmetrized motor voltage

20. Industrial Electrical Engineering and Automation Elenergiteknik20 Control of 3-phase converter Symmetration of references

21. Industrial Electrical Engineering and Automation Elenergiteknik21 3-phase output voltage as vector