I'm trying to investigate the Modelica example Modelica.Electrical.Machines.Examples.SynchronousInductionMachines.SMPM_VoltageSource
but I replaced the signalVoltage by an inverter and a PWM block signalPWM which is based on Modelica.Electrical.PowerConverters.DCDC.Control.SignalPWM. So instead of sine voltages I want to investigate PWM modulated voltages.
The problem is that the controller keeps increasing its output linearily because of the integrating part of the controller as it never reaches the reference value of the desired q-current. In addition it outputs strange values for voltageController.y[1] in the range of [24E3,...,150E3], which is probrably the problem.
The controller output:
and the current output:
Unfortunately I don't understand why the controller works fine with the sine voltages and doesnt with the PWM voltages.
Below is my main model:
model SMPM_INV_SineLoad "Test example: PermanentMagnetSynchronousInductionMachine fed by FOC"
extends Modelica.Icons.Example;
import Modelica.Constants.pi;
constant Integer m = 3 "Number of phases";
parameter Modelica.SIunits.Frequency f = 8000 "Switching frequency";
parameter Modelica.SIunits.AngularVelocity wRef = 30 "Desired speed of the PMSM";
parameter Modelica.SIunits.Current Idq[2] = {0, 10} "Desired d- and q-current";
parameter Modelica.SIunits.AngularVelocity wNominal = 2 * pi * smpmData.fsNominal / smpmData.p "Nominal speed";
parameter Modelica.SIunits.Torque TLoad = 5 "Nominal load torque";
parameter Modelica.SIunits.Inertia JLoad = 0.29 "Load's moment of inertia";
parameter Modelica.SIunits.Voltage VBat_2 = 100 "Half Battery Voltage";
Modelica.Electrical.Machines.BasicMachines.SynchronousInductionMachines.SM_PermanentMagnet smpm(phiMechanical(start = 0, fixed = true), wMechanical(start = 0, fixed = true), useSupport = false, useThermalPort = false, p = smpmData.p, fsNominal = smpmData.fsNominal, Rs = smpmData.Rs, TsRef = smpmData.TsRef, Lszero = smpmData.Lszero, Lssigma = smpmData.Lssigma, Jr = smpmData.Jr, Js = smpmData.Js, frictionParameters = smpmData.frictionParameters, statorCoreParameters = smpmData.statorCoreParameters, strayLoadParameters = smpmData.strayLoadParameters, VsOpenCircuit = smpmData.VsOpenCircuit, Lmd = smpmData.Lmd, Lmq = smpmData.Lmq, useDamperCage = smpmData.useDamperCage, Lrsigmad = smpmData.Lrsigmad, Lrsigmaq = smpmData.Lrsigmaq, Rrd = smpmData.Rrd, Rrq = smpmData.Rrq, TrRef = smpmData.TrRef, permanentMagnetLossParameters = smpmData.permanentMagnetLossParameters, TsOperational = 293.15, alpha20s = smpmData.alpha20s, TrOperational = 293.15, alpha20r = smpmData.alpha20r) annotation(Placement(transformation(extent = {{-20, -50}, {0, -30}}, origin = {-0, -10}, rotation = 0), visible = true));
Modelica.Electrical.Machines.Utilities.TerminalBox terminalBox(terminalConnection = "Y") annotation(Placement(transformation(extent = {{-20, -34}, {0, -14}}, origin = {-0, -10}, rotation = 0), visible = true));
Modelica.Mechanics.Rotational.Sensors.AngleSensor angleSensor annotation(Placement(transformation(extent = {{-10, -10}, {10, 10}}, rotation = 90, origin = {20, -10}), visible = true));
Modelica.Mechanics.Rotational.Components.Inertia inertiaLoad(J = JLoad) annotation(Placement(transformation(extent = {{50, -50}, {70, -30}}, origin = {-0, -10}, rotation = 0), visible = true));
Modelica.Electrical.MultiPhase.Sensors.CurrentSensor currentSensor(m = m) annotation(Placement(transformation(extent = {{-10, -10}, {10, 10}}, rotation = 270, origin = {-10, -10}), visible = true));
Modelica.Electrical.Machines.Utilities.VoltageController voltageController(p = smpm.p, Ld = smpm.Lssigma + smpm.Lmd, Lq = smpm.Lssigma + smpm.Lmq, Rs = Modelica.Electrical.Machines.Thermal.convertResistance(smpm.Rs, smpm.TsRef, smpm.alpha20s, smpm.TsOperational), fsNominal = smpm.fsNominal, VsOpenCircuit = smpm.VsOpenCircuit) annotation(Placement(transformation(extent = {{-50, 40}, {-30, 60}}, origin = {-0, -10}, rotation = 0), visible = true));
Modelica.Mechanics.Rotational.Sensors.TorqueSensor torqueSensor annotation(Placement(transformation(extent = {{10, 10}, {-10, -10}}, rotation = 180, origin = {40, -70}), visible = true));
Modelica.Mechanics.Rotational.Sensors.SpeedSensor speedSensor annotation(Placement(transformation(extent = {{-10, -10}, {10, 10}}, rotation = 90, origin = {50, -10}), visible = true));
Modelica.Electrical.Machines.Sensors.RotorDisplacementAngle rotorDisplacementAngle(p = smpm.p) annotation(Placement(transformation(origin = {20, -50}, extent = {{-10, 10}, {10, -10}}, rotation = 270), visible = true));
Modelica.Electrical.Analog.Basic.Ground groundM annotation(Placement(transformation(origin = {-80, -38}, extent = {{-10, -10}, {10, 10}}, rotation = 270), visible = true));
Modelica.Electrical.MultiPhase.Basic.Star starM(final m = m) annotation(Placement(transformation(extent = {{-10, -10}, {10, 10}}, rotation = 180, origin = {-60, -20}), visible = true));
Modelica.Electrical.Machines.Sensors.VoltageQuasiRMSSensor voltageQuasiRMSSensor annotation(Placement(transformation(extent = {{-10, 10}, {10, -10}}, rotation = 180, origin = {-30, -20}), visible = true));
parameter Modelica.Electrical.Machines.Utilities.ParameterRecords.SM_PermanentMagnetData smpmData(useDamperCage = false) annotation(Placement(transformation(extent = {{-20, -80}, {0, -60}}, origin = {-0, -10}, rotation = 0), visible = true));
Modelica.Electrical.Machines.Sensors.CurrentQuasiRMSSensor currentQuasiRMSSensor annotation(Placement(transformation(origin = {-10, 10}, extent = {{-10, -10}, {10, 10}}, rotation = 270), visible = true));
Modelica.Mechanics.Rotational.Sources.SignTorque signTorque1(tau_constant = -TLoad, w0 = wNominal) annotation(Placement(visible = true, transformation(origin = {90, -50}, extent = {{10, -10}, {-10, 10}}, rotation = 0)));
Modelica.Blocks.Sources.Constant id(k = Idq[1]) annotation(Placement(transformation(extent = {{-90, 60}, {-70, 80}}, origin = {-0, -10}, rotation = 0), visible = true));
SignalPWM signalPWM1[m](useConstantDutyCycle = false, f = f) annotation(Placement(visible = true, transformation(origin = {22.087, 64.88}, extent = {{-10, -10}, {10, 10}}, rotation = 0)));
Modelica.Electrical.PowerConverters.DCAC.MultiPhase2Level multiPhase2Level1 annotation(Placement(visible = true, transformation(origin = {22.083, 116.565}, extent = {{-10, -10}, {10, 10}}, rotation = 0)));
Modelica.Electrical.Analog.Sources.ConstantVoltage U_n(V = VBat_2) annotation(Placement(transformation(extent = {{-10, -10}, {10, 10}}, rotation = 270, origin = {-30, 97.365}), visible = true));
Modelica.Electrical.Analog.Basic.Ground ground annotation(Placement(transformation(extent = {{-10, -10}, {10, 10}}, rotation = 180, origin = {-50, 127.365}), visible = true));
Modelica.Electrical.Analog.Sources.ConstantVoltage U_p(V = VBat_2) annotation(Placement(transformation(extent = {{-10, -10}, {10, 10}}, rotation = 270, origin = {-30, 137.365}), visible = true));
Modelica.Blocks.Sources.Constant iq(k = Idq[2]) annotation(Placement(transformation(extent = {{-90, 20}, {-70, 40}}, origin = {0, -10}, rotation = 0), visible = true));
initial equation
smpm.is[1:2] = zeros(2);
equation
connect(terminalBox.plug_sn, smpm.plug_sn) annotation(Line(points = {{0, 0}, {0, 0}, {0, 0}}, color = {0, 0, 255}, visible = true, origin = {-16, -40}));
connect(terminalBox.plug_sp, smpm.plug_sp) annotation(Line(points = {{0, 0}, {0, 0}, {0, 0}}, color = {0, 0, 255}, visible = true, origin = {-4, -40}));
connect(smpm.flange, angleSensor.flange) annotation(Line(points = {{-6.667, -10}, {3.333, -10}, {3.333, 20}, {13.333, 20}}, visible = true, origin = {6.667, -40}, color = {64, 64, 64}));
connect(currentSensor.plug_n, terminalBox.plugSupply) annotation(Line(points = {{-10, -10}, {-10, -28}}, color = {10, 90, 224}, visible = true, origin = {-0, -10}));
connect(angleSensor.phi, voltageController.phi) annotation(Line(points = {{20, 11}, {20, 34}, {-34, 34}, {-34, 38}}, color = {1, 37, 163}, visible = true, origin = {0, -10}));
connect(currentSensor.i, voltageController.iActual) annotation(Line(points = {{-21, 0}, {-46, 0}, {-46, 38}}, color = {1, 37, 163}, visible = true, origin = {-0, -10}));
connect(inertiaLoad.flange_a, torqueSensor.flange_b) annotation(Line(points = {{50, -40}, {50, -60}}, visible = true, origin = {-0, -10}, color = {64, 64, 64}));
connect(torqueSensor.flange_a, smpm.flange) annotation(Line(points = {{30, -60}, {30, -40}, {0, -40}}, visible = true, origin = {-0, -10}, color = {64, 64, 64}));
connect(speedSensor.flange, smpm.flange) annotation(Line(points = {{23.333, 20}, {13.333, 20}, {13.333, -10}, {-26.667, -10}}, visible = true, origin = {26.667, -40}, color = {64, 64, 64}));
connect(rotorDisplacementAngle.flange, smpm.flange) annotation(Line(points = {{10, -40}, {0, -40}}, visible = true, origin = {-0, -10}, color = {64, 64, 64}));
connect(rotorDisplacementAngle.plug_p, smpm.plug_sp) annotation(Line(points = {{14, -30}, {-4, -30}}, color = {10, 90, 224}, visible = true, origin = {-0, -10}));
connect(rotorDisplacementAngle.plug_n, smpm.plug_sn) annotation(Line(points = {{26, -30}, {26, -20}, {-16, -20}, {-16, -30}}, color = {10, 90, 224}, visible = true, origin = {-0, -10}));
connect(voltageQuasiRMSSensor.plug_p, currentSensor.plug_n) annotation(Line(points = {{-20, -10}, {-10, -10}}, color = {10, 90, 224}, visible = true, origin = {-0, -10}));
connect(starM.plug_p, voltageQuasiRMSSensor.plug_n) annotation(Line(points = {{-50, -10}, {-40, -10}}, color = {10, 90, 224}, visible = true, origin = {-0, -10}));
connect(groundM.p, starM.pin_n) annotation(Line(points = {{-70, -28}, {-70, -10}}, color = {10, 90, 224}, visible = true, origin = {-0, -10}));
connect(currentQuasiRMSSensor.plug_n, currentSensor.plug_p) annotation(Line(points = {{0, 0}, {0, 0}, {0, 0}}, color = {0, 0, 255}, visible = true, origin = {-10, 0}));
connect(inertiaLoad.flange_b, signTorque1.flange) annotation(Line(visible = true, origin = {75, -50}, points = {{-5, 0}, {5, 0}}, color = {64, 64, 64}));
connect(id.y, voltageController.id_rms) annotation(Line(points = {{-69, 70}, {-60, 70}, {-60, 56}, {-52, 56}}, color = {1, 37, 163}, visible = true, origin = {-0, -10}));
connect(voltageController.y[1:3], signalPWM1[1:3].dutyCycle) annotation(Line(visible = true, origin = {-16.728, 52.44}, points = {{-12.272, -12.44}, {-7.272, -12.44}, {-7.272, 12.44}, {26.815, 12.44}}, color = {1, 37, 163}));
connect(ground.p, U_n.p) annotation(Line(visible = true, origin = {-40, 112.78}, points = {{-10, 4.585}, {-10, 4.557}, {10, 4.557}, {10, -5.415}}, color = {10, 90, 224}));
connect(U_p.n, U_n.p) annotation(Line(visible = true, origin = {-30, 117.365}, points = {{0, 10}, {0, -10}}, color = {10, 90, 224}));
connect(U_n.n, multiPhase2Level1.dc_n) annotation(Line(visible = true, origin = {-15.583, 93.045}, points = {{-14.417, -5.68}, {-14.417, -10.68}, {0.583, -10.68}, {0.583, 13.52}, {27.666, 13.52}}, color = {10, 90, 224}));
connect(U_p.p, multiPhase2Level1.dc_p) annotation(Line(visible = true, origin = {-15.583, 141.045}, points = {{-14.417, 6.32}, {-14.417, 11.32}, {0.583, 11.32}, {0.583, -14.48}, {27.666, -14.48}}, color = {10, 90, 224}));
connect(signalPWM1[1:3].fire, multiPhase2Level1.fire_p[1:3]) annotation(Line(visible = true, origin = {16.085, 85.551}, points = {{0.002, -9.671}, {0.002, -4.671}, {-0.002, -4.671}, {-0.002, 19.014}}, color = {190, 52, 178}));
connect(signalPWM1[1:3].notFire, multiPhase2Level1.fire_n[1:3]) annotation(Line(visible = true, origin = {28.085, 85.551}, points = {{0.002, -9.671}, {0.002, -4.671}, {-0.002, -4.671}, {-0.002, 19.014}}, color = {190, 52, 178}));
connect(multiPhase2Level1.ac, currentQuasiRMSSensor.plug_p) annotation(Line(visible = true, origin = {22.417, 66.626}, points = {{9.666, 49.939}, {27.583, 49.939}, {27.583, -26.626}, {-32.417, -26.626}, {-32.417, -46.626}}, color = {10, 90, 224}));
connect(iq.y, voltageController.iq_rms) annotation(Line(visible = true, origin = {-62.25, 27}, points = {{-6.75, -7}, {-1.75, -7}, {-1.75, 7}, {10.25, 7}}, color = {1, 37, 163}));
annotation(experiment(StopTime = 2.0, Interval = 0.1), Diagram(coordinateSystem(extent = {{-200, -200}, {200, 200}}, preserveAspectRatio = true, initialScale = 0.1, grid = {10, 10})), Icon(coordinateSystem(extent = {{-100, -100}, {100, 100}}, preserveAspectRatio = false, initialScale = 0.1, grid = {10, 10})), Documentation(info = "<html>
<p>
A synchronous induction machine with permanent magnets accelerates a quadratic speed dependent load from standstill.
The rms values of d- and q-current in rotor fixed coordinate system are controlled by the voltageController,
and the output voltages fed to the machine. The result shows that the torque is influenced by the q-current,
whereas the stator voltage is influenced by the d-current.</p>
<p>
Default machine parameters of model <a href=\"modelica://Modelica.Electrical.Machines.BasicMachines.SynchronousInductionMachines.SM_PermanentMagnet\">SM_PermanentMagnet</a> are used.
</p>
</html>"));
end SMPM_INV_SineLoad;
And the signalPWM model:
model SignalPWM "Generates a pulse width modulated (PWM) boolean fire signal"
extends Modelica.Electrical.PowerConverters.Icons.Control;
parameter Boolean useConstantDutyCycle = true "Enables constant duty cycle";
parameter Real constantDutyCycle = 0 "Constant duty cycle" annotation(Dialog(enable = useConstantDutyCycle));
parameter Modelica.SIunits.Frequency f = 1000 "Switching frequency";
parameter Modelica.SIunits.Time startTime = 0 "Start time";
Modelica.Blocks.Interfaces.RealInput dutyCycle if not useConstantDutyCycle "Duty cycle" annotation(Placement(transformation(extent = {{-140, -20}, {-100, 20}})));
Modelica.Blocks.Interfaces.BooleanOutput fire "Firing PWM signal" annotation(Placement(transformation(extent = {{-10, -10}, {10, 10}}, rotation = 90, origin = {-60, 110})));
Modelica.Blocks.Interfaces.BooleanOutput notFire "Firing PWM signal" annotation(Placement(transformation(extent = {{-10, -10}, {10, 10}}, rotation = 90, origin = {60, 110})));
Modelica.Blocks.Sources.Constant const(final k = constantDutyCycle) if useConstantDutyCycle annotation(Placement(transformation(extent = {{-100, -60}, {-80, -40}})));
Modelica.Blocks.Nonlinear.Limiter limiter(uMax = 500000, uMin = -500000) annotation(Placement(transformation(extent = {{-60, -10}, {-40, 10}})));
Modelica.Blocks.Logical.Less greaterEqual annotation(Placement(transformation(extent = {{-10, 10}, {10, -10}}, origin = {22, -8})));
Modelica.Blocks.Discrete.ZeroOrderHold zeroOrderHold(final startTime = startTime, final samplePeriod = 1 / f) annotation(Placement(transformation(extent = {{-30, -10}, {-10, 10}})));
Modelica.Blocks.Sources.SawTooth sawtooth(final period = 1 / f, final amplitude = 1000000, final nperiod = -1, final offset = -500000, final startTime = startTime) annotation(Placement(transformation(origin = {-50, -50}, extent = {{-10, -10}, {10, 10}})));
Modelica.Blocks.Logical.Not inverse annotation(Placement(transformation(extent = {{-10, 10}, {10, -10}}, rotation = 90, origin = {52, 20})));
equation
connect(const.y, limiter.u) annotation(Line(points = {{-79, -50}, {-70, -50}, {-70, 0}, {-62, 0}}, color = {0, 0, 127}));
connect(dutyCycle, limiter.u) annotation(Line(points = {{-120, 0}, {-62, 0}}, color = {0, 0, 127}));
connect(limiter.y, zeroOrderHold.u) annotation(Line(points = {{-39, 0}, {-32, 0}}, color = {0, 0, 127}));
connect(zeroOrderHold.y, greaterEqual.u2) annotation(Line(points = {{-9, 0}, {10, 0}}, color = {0, 0, 127}));
connect(sawtooth.y, greaterEqual.u1) annotation(Line(points = {{-39, -50}, {0, -50}, {0, -8}, {10, -8}}, color = {0, 0, 127}));
connect(greaterEqual.y, inverse.u) annotation(Line(points = {{33, -8}, {52, -8}, {52, 8}}, color = {255, 0, 255}));
connect(greaterEqual.y, fire) annotation(Line(points = {{33, -8}, {36, -8}, {36, 80}, {-60, 80}, {-60, 110}}, color = {255, 0, 255}));
connect(inverse.y, notFire) annotation(Line(points = {{52, 31}, {52, 80}, {60, 80}, {60, 110}}, color = {255, 0, 255}));
annotation(Icon(coordinateSystem(preserveAspectRatio = false, extent = {{-100, -100}, {100, 100}}, initialScale = 0.1, grid = {10, 10}), graphics = {Line(visible = true, points = {{-100, 0}, {-98, 0}, {12, 0}}, color = {64, 64, 64}), Line(visible = true, points = {{-60, -22}, {-60, -64}, {44, -64}, {44, -36}}, color = {64, 64, 64}), Line(visible = true, points = {{-80, -16}, {-80, -20}, {-40, 20}, {-40, -20}, {-36, -16}}, color = {64, 64, 64}), Line(visible = true, points = {{-62, 0}, {-76, 4}, {-76, -4}, {-62, 0}}, color = {64, 64, 64}), Line(visible = true, points = {{44, -36}, {44, -36}, {40, -50}, {44, -50}, {48, -50}, {44, -36}}, color = {64, 64, 64}), Line(visible = true, points = {{20, -20}, {22, -20}, {24, -20}, {24, 20}, {44, 20}, {44, -20}, {64, -20}, {64, -16}}, color = {190, 53, 179}), Line(visible = true, points = {{-40, -16}, {-40, -20}, {0, 20}, {0, -20}, {4, -16}}, color = {64, 64, 64}), Line(visible = true, points = {{60, -20}, {62, -20}, {64, -20}, {64, 20}, {84, 20}, {84, -20}, {84, -20}, {88, -20}}, color = {190, 53, 179})}), Documentation(info = "<html>
<p>
This controller can be used both for DC/DC and AC/DC converters.
The signal input of the PWM controller is the duty cycle; the duty cycle is the ratio of the on time
to the switching period. The output firing signal is strictly determined by the actual duty cycle, indicated as <code>d</code> in Fig. 1.
</p>
<table border=\"0\" cellspacing=\"0\" cellpadding=\"2\">
<caption align=\"bottom\"><b>Fig. 1:</b> Firing (<code>fire</code>) and inverse firing (<code>notFire</code>) signal of PWM control; <code>d</code> = duty cycle; <code>f</code> = switching frequency </caption>
<tr>
<td>
<img src=\"modelica://Modelica/Resources/Images/Electrical/PowerConverters/dutyCycle.png\">
</td>
</tr>
</table>
<p>
The firing signal is generated by comparing the sampled duty cycle input with a periodic saw tooth signal [<a href=\"modelica://Modelica.Electrical.PowerConverters.UsersGuide.References\">Williams2006</a>].
</p>
</html>"));
end SignalPWM;
Edit: I already lowered the desired q-current from Idq={0,84} Ato Idq={0,10} A and the load from TLoad = 120 Nm to TLoad = 5 Nm and still get those insanely high voltage signals from the voltageController.
- Has someone may an idea how to fix the problem with the controller so I get proper results for the simulation?
- Why is it not able to reach the reference value as in the MSL example? Is the PWM block that big of a problem?
- This behaviour of the simulation confuses me because I work with a real motor and a PWM control and it works fine with a similar configuration..
Any help would be highly appreciated!
