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PMSM Torque Estimator

Estimate permanent magnet synchronous machine torque

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  • PMSM Torque Estimator block

Libraries:
Simscape / Electrical / Control / PMSM Control

Description

The PMSM Torque Estimator block implements a torque estimator for permanent magnet synchronous machines (PMSM).

Use this block to estimate the mechanical torque of a motor when it is not directly measurable. The block estimates torque using known machine parameters and the measured phase current vector in the dq0 reference frame.

Use the Park Transform block to convert the measured phase current vector in the abc reference frame to the dq0 reference frame.

Equations

The block estimates the mechanical torque Te of the PMSM using the torque equation in the d-q rotor reference frame:

Te=3p2(ψmiq+(Ld−Lq)idiq),

where

  • p is the number of pole pairs of the PMSM.

  • ψm is the flux linkage of the permanent magnet.

  • Ld and Lq are the d- and q-axis inductances of the PMSM.

  • id and iq are the d- and q-axis currents of the PMSM.

In practice, the machine parameters are not constants and depend on some physical phenomena. You can choose to define these parameters simply as constants or, more realistically, as functions of currents by using lookup tables.

Assumptions

The machine parameters are known.

Examples

Electric Engine Dyno

Electric Engine Dyno

Model an electric vehicle dynamometer test. The test environment contains an asynchronous machine (ASM) and an interior permanent magnet synchronous machine (IPMSM) connected back-to-back through a mechanical shaft. Both machines are fed by high-voltage batteries through controlled three-phase converters. The 164 kW ASM produces the load torque. The 35 kW IPMSM is the electric machine under test. The Control Machine Under Test (IPMSM) subsystem controls the torque of the IPMSM. The controller includes a multi-rate PI-based control structure. The rate of the open-loop torque control is slower than the rate of the closed-loop current control. The task scheduling for the controller is implemented as a Stateflow® state machine. The Control Load Machine (ASM) subsystem uses a single rate to control the speed of the ASM. The Visualization subsystem contains scopes that allow you to see the simulation results.

Energy Balance in a 48V Starter Generator

Energy Balance in a 48V Starter Generator

An interior permanent magnet synchronous machine (IPMSM) used as a starter/generator in a simplified 48V automotive system. The system contains a 48V electric network and a 12V electric network. The internal combustion engine (ICE) is represented by basic mechanical blocks. The IPMSM operates as a motor until the ICE reaches the idle speed and then it operates as a generator. The IPMSM supplies power to the 48V network, which contains the R3 power consumer. The 48V network supplies power to the 12V network which has two consumers: R1 and R2. The total simulation time (t) is 0.5 seconds. At t = 0.05 seconds, the ICE turns on. At t = 0.1 seconds, R3 switches on. At t = 0.3 seconds, R2 switches on and increases the load on the 12V electric network. The EM Controller subsystem includes a multi-rate PI-based cascade control structure which has an outer voltage-control loop and two inner current-control loops. The task scheduling in the Control subsystem is implemented as a Stateflow® state machine. The DCDC Controller subsystem implements a simple PI controller for the DC-DC Buck converter, which feeds the 12V network. The Scopes subsystem contains scopes that allow you to see the simulation results.

IPMSG Voltage Stabilization

IPMSG Voltage Stabilization

Control an Interior Permanent Magnet Synchronous Generator (IPMSG) based low voltage generator system for a hybrid electric vehicle (HEV). The Control subsystem includes a multi-rate PI-based cascade control structure which has an outer voltage-control loop and two inner current-control loops. The task scheduling in the Control subsystem is implemented as a Stateflow® state machine. The Scopes subsystem contains scopes that allow you to see the simulation results. An ideal angular velocity source, which represents a combustion engine, drives the IPMSG. The IPMSG supplies low-voltage power to loads R1 and R2. At t = 0.4 seconds, the switch closes, increasing the load.

IPMSM Torque Control in a Parallel HEV

IPMSM Torque Control in a Parallel HEV

A simplified parallel hybrid electric vehicle (HEV). An interior permanent magnet synchronous machine (IPMSM) and an internal combustion engine (ICE) provide the vehicle propulsion. The IPMSM operates in both motoring and generating modes. The vehicle transmission and differential are implemented using a fixed-ratio gear-reduction model. The Vehicle Controller subsystem converts the driver inputs into torque commands. The vehicle control strategy is implemented as a Stateflow® state machine. The ICE Controller subsystem controls the torque of the combustion engine. The Drive Controller subsystem controls the torque of the IPMSM. The Scopes subsystem contains scopes that allow you to see the simulation results.

IPMSM Torque Control in a Series HEV

IPMSM Torque Control in a Series HEV

An interior permanent magnet synchronous machine (IPMSM) propelling a simplified series hybrid electric vehicle (HEV). An ideal DCDC converter, connected to a high-voltage battery, feeds the IPMSM through a controlled three-phase converter. A combustion engine driven generator charges the high-voltage battery. The vehicle transmission and differential are implemented using a fixed-ratio gear-reduction model. The Vehicle Controller subsystem converts the driver inputs into relevant commands for the IPMSM and generator. The Drive Controller subsystem controls the torque of the IPMSM. The controller includes a multi-rate PI-based control structure. The rate of the open-loop torque control is slower than the rate of the closed-loop current control. The task scheduling for the controller is implemented as a Stateflow® state machine. The Scopes subsystem contains scopes that allow you to see the simulation results.

IPMSM Torque Control in a Series-Parallel HEV

IPMSM Torque Control in a Series-Parallel HEV

A simplified series-parallel hybrid electric vehicle (HEV). An interior permanent magnet synchronous machine (IPMSM) and an internal combustion engine (ICE) provide the vehicle propulsion. The ICE also uses electric generator to recharge the high-voltage battery during driving. The vehicle transmission and differential are implemented using a fixed-ratio gear-reduction model. The Vehicle Controller subsystem converts the driver inputs into torque commands. The vehicle control strategy is implemented as a Stateflow® state machine. The ICE Controller subsystem controls the torque of the combustion engine. The Generator Controller subsystem controls the torque of the electric generator. The Drive Controller subsystem controls the torque of the IPMSM. The Scopes subsystem contains scopes that allow you to see the simulation results.

IPMSM Torque Control in an Axle-Drive HEV

IPMSM Torque Control in an Axle-Drive HEV

An interior permanent magnet synchronous machine (IPMSM) propelling a simplified axle-drive electric vehicle. A high-voltage battery feeds the IPMSM through a controlled three-phase converter. The IPMSM operates in both motoring and generating modes. The vehicle transmission and differential are implemented using a fixed-ratio gear reduction model. The Vehicle Controller subsystem converts the driver inputs into a relevant torque command. The Drive Controller subsystem controls the torque of the IPMSM. The controller includes a multi-rate PI-based control structure. The rate of the open-loop torque control is slower than the rate of the closed-loop current control. The task scheduling for the controller is implemented as a Stateflow® state machine. The Scopes subsystem contains scopes that allow you to see the simulation results.

Ports

Input

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Stator direct and quadrature currents of the PMSM, in A.

Data Types: single | double

Output

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Estimated mechanical torque value of the PMSM, in N*m.

Data Types: single | double

Parameters

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Specify the type of machine parameters, which can be in the form of constant values or tabulated data.

Number of permanent magnet pole pairs on the rotor.

Direct-axis current vector used in the lookup tables for parameters determination.

Quadrature-axis current vector used in the lookup tables for parameters determination.

Ld matrix used as lookup table data.

Lq matrix used as lookup table data.

Permanent magnet flux linkage matrix used in the lookup table.

Direct-axis inductance.

Quadrature-axis inductance.

Peak permanent magnet flux linkage.

Sample time for the block (-1 for inherited). If you use this block inside a triggered subsystem, set the sample time to -1. If you use this block in a continuous variable-step model, set the sample time explicitly.

Extended Capabilities

C/C++ Code Generation
Generate C and C++ code using Simulink® Coder™.

Version History

Introduced in R2017b

See Also

Blocks