Servo Drive System Control

Design Combining SIMPLORER

and Simulink

Lei Xia, Ph.D.

Application Engineer
 Servo Drives
w Torque and Speed Controlled Drive Systems
w High Dynamic Requirements
w Components
w Torque and Speed Control
w Inverter
w Servo Motor
w Spindle Drive
w Strong interactions between the system
components
 Basic Drive System Structure

Control System
(Analog, Digital, DSP, FPGA etc.)

AC/DC DC/AC
Supply
Power

DC Servo
Converter/ Converter/
Link Motor
Rectifier Inverter

Mechanical
Load
SIMPLORER Modeling Capabilities

Block Diagrams, State Machines

Control System
(Analog, Digital,
C-Code, DSP, FPGA etc.)
VHDL-AMS

ar al
AC/DC DC/AC
Supply
Power

br ic
Electric
DCCircuits Servo

Li han
Converter/ Converter/

y
Link
VHDL-AMS Inverter Motor
Rectifier

ec
M
Mechanical
Load
Electrical Machine Modeling
tY GAIN NEG GAIN

GAIN GAIN I GAIN

NEG NPG

Machine Modeled from Individual Components (-> Macro)

Alternative 2:
Alternative 1: A_phase_p torque
A_phase_m
RMxprt and/or
SIMPLORER C_phase_p
B_phase_p Maxwell
Built-In Machine B_phase_m generated
Models
theta
Models
 Vector Control
EQU
phiold:=phi
Phase Transformation
phi:=phiold + omel.VAL * h Using SIMPLORER
cosphi:=cos(phi) Equation Block
sinphi:=sin(phi) t Y
GAIN NEG GAIN

mload mldm mldmn vcnt

uialpharef:=uiqrefl.VAL * (-sinphi) + uidref * cosphi GAIN GAIN I GAIN

Iq_In mm mdm omm omel

uibetaref:=uiqrefl.VAL * cosphi + uidref * sinphi 0.64 0.1527k
0 0 0
NEG NPG

uiaref:=uialpharef mcntmn mcntm 2

uibref:=0.5 * (sqrt3 * uibetaref - uialpharef) GAIN GAIN NEG

ut unact unactn
0.191 0.2

ialpha:=twothird * am_ma.I - onethird * (am_mb.I + am_mc.I)

ibeta:=sqrt3third * (am_mb.I - am_mc.I) GAIN

unctrlp
5
id:=ialpha * cosphi + ibeta * sinphi t Y
GAIN GAIN I LIMIT

unrefxy unrefx
iq:=ibeta * cosphi - ialpha * sinphi unref
1 unerr
unctrli
6k
0 10 -10
uiqref
uiqrefl
10 -10

GAIN GAIN NEG GAIN

ia uiaact uiaactn uiactrlp

vcnta:=vcnt.VAL * sin(phi) am_ma.I 0.153 4.2
GAIN LIMIT I LIMIT

vcntb:=vcnt.VAL * sin(phi - 2.0944) ExtVal_uiarefuiarefl uiactrli uiactrll

uiaref 9 -9 uiaerr 0.6k uiactrl 10 -10
vcntc:=vcnt.VAL * sin(phi + 2.0944)
NEG
0 10 -10
uiactrln LIMIT
GAIN GAIN NEG GAIN
NEG uicctrll
ib uibact uibactn uibctrlp uicctrl 10 -10
am_mb.I uibctrln
tona:=tphalf * (kctrl * uiactrll.VAL + 1) GAIN
0.153
LIMIT
4.2
I LIMIT

tonb:=tphalf * (kctrl * uibctrll.VAL + 1) ExtVal_uibrefuibrefl

uibref 9 -9 uiberr
uibctrli
0.6k uibctrl
uibctrll
10 -10
0 10 -10

tonc:=tphalf * (kctrl * uicctrll.VAL + 1)

 PWM Phase B
tp
tonmax

tb>=tp Switching Period (Frequency)

tonmin tonb
Only at
SET: tb:=0 Valid
STEP: tb:=tb + h
STEP: tb:=tb + h Steps
SET: itrbn:=1
SET: itrbn:=0
SET: itrbp:=0
SET: itrbp:=1

ON/OFF Signal
Lower IGBT
ON/OFF Signal
tb>=tonb and tb>=tonmin or tb>=tonmax
Upper IGBT

Current Time
From Controller Parameters
Phase B
 Overall Model
tY
GAIN NEG GAIN

mload mldm mldmn vcnt

et_a

GND IAP IBP ICP GAIN GAIN I GAIN

et_b
C1 Iq_In mm mdm omm omel
0.64 0.1527k
10m 0 0 0
et_c
NEG NPG

STEP: phi:=phi + (2 * pi)

mcntmn mcntm 2
IAM IBM ICM

ta>=tp TRUE GAIN GAIN NEG

phi<-6.28319
ut unact unactn
A A A 0.191 0.2
STEP: ta:=ta + h am_ma am_mb am_mc
SET: ta:=0
SET: itran:=1 STEP: ta:=ta + h
SET: itrap:=0 SET: itran:=0
r_ma r_mb r_mc TRUE GAIN
SET: itrap:=1
0.198 0.198 0.198 phi>6.28319
unctrlp
5
ta>=tona and ta>=tonmin or ta>=tonmax EQU tY
l_ma l_mb l_mc GAIN GAIN I LIMIT
phiold:=phi STEP: phi:=phi - (2 * pi)
2.7m 2.7m 2.7m
tb>=tp phi:=phiold + omel.VAL * h unrefxy unrefx unref unctrli uiqrefl
1 unerr 6k uiqref 10 -10
cosphi:=cos(phi) ICA:
0 10 -10
sinphi:=sin(phi) et_ma et_mb et_mc kctrl := .1
SET: tb:=0 GAIN GAIN NEG GAIN
STEP: tb:=tb + h fp := 2.5k
STEP: tb:=tb + h uialpharef:=uiqrefl.VAL * (-sinphi) + uidref * cosphi
SET: itrbn:=1 tp := 1 / fp ia uiaact uiaactn uiactrlp
SET: itrbn:=0 uibetaref:=uiqrefl.VAL * cosphi + uidref * sinphi
SET: itrbp:=0 tphalf := tp / 2 am_ma.I 0.153 4.2
SET: itrbp:=1 uiaref:=uialpharef
uibref:=0.5 * (sqrt3 * uibetaref - uialpharef) tonmin := 30u GAIN LIMIT I LIMIT

tonmax := tp - tonmin
ExtVal_uiarefuiarefl uiactrli uiactrll
ialpha:=twothird * am_ma.I - onethird * (am_mb.I + am_mc.I) phiold := 0
tb>=tonb and tb>=tonmin or tb>=tonmax uiaref 9 -9 uiaerr 0.6k uiactrl 10 -10
ibeta:=sqrt3third * (am_mb.I - am_mc.I) 0 10 -10 NEG
phi := 0
id:=ialpha * cosphi + ibeta * sinphi
tc>=tp sqrt3 := sqrt(3) uiactrln LIMIT
iq:=ibeta * cosphi - ialpha * sinphi
GAIN GAIN NEG GAIN
sqrt3third := sqrt3 / 3
NEG uicctrll
vcnta:=vcnt.VAL * sin(phi) twothird := 2 / 3 ib uibact uibactn uibctrlp uicctrl 10 -10
STEP: tc:=tc+h SET: tc:=0 vcntb:=vcnt.VAL * sin(phi - 2.0944) onethird := 1 / 3 am_mb.I 4.2 uibctrln
0.153
SET: itrcn:=1 STEP: tc:=tc + h vcntc:=vcnt.VAL * sin(phi + 2.0944)
uidref := 0 GAIN LIMIT I LIMIT
SET: itrcp:=0 SET: itrcn:=0
tona:=tphalf * (kctrl * uiactrll.VAL + 1) ExtVal_uibrefuibrefl uibctrli uibctrll
SET: itrcp:=1
tonb:=tphalf * (kctrl * uibctrll.VAL + 1) uibref 9 -9 uiberr 0.6k uibctrl 10 -10
tonc:=tphalf * (kctrl * uicctrll.VAL + 1) 0 10 -10

tc>=tonc and tc>=tonmin or tc>=tonmax

 Co-Simulation

Simulink

Controls, Systems

Physical Quantities Control Quantities

(Speed, Current, (Switch ON/OFF,
Voltage, Position etc.) Torque Command etc.)

SIMPLORER
Electrical, Mechanical, Hydraulic, Electrical Machines, Solenoids, Sensors
 Implementation

Control System
(Analog, Digital, DSP, FPGA etc.)

AC/DC IC/AC
Supply
Power

DC Servo
Converter/ Converter/
Link Motor
Rectifier Inverter

Mechanical
Load
 Modified SIMPLORER Model
et_a

GND
et_b
IAP IBP ICP Simulink Link Block
et_c
C1
10m and Linkage Dialog

IAM IBM ICM

ta>=tp
A A A
am_ma am_mb am_mc
SET: ta:=0
STEP: := ta:=ta + h STEP: ta:=ta + h
SET: := itran:=1 SET: itran:=0 ICA: r_ma r_mb r_mc
SET: := itrap:=0
SET: itrap:=1 kctrl := .1 0.198 0.198 0.198
fp := 2.5k
tp := 1 / fp
ta>=tona and ta>=tonmin or ta>=tonmax tphalf := tp / 2 l_ma l_mb l_mc
2.7m 2.7m 2.7m
tb>=tp tonmin := 30u
tonmax := tp - tonmin

STEP: := tb:=tb + h et_ma et_mb et_mc

SET: tb:=0 EQU
SET: := itrbn:=1
STEP: tb:=tb + h tona:=tphalf * (kctrl * SiM2SiM.uiactrll + 1)
SET: := itrbp:=0 SET: itrbn:=0
SET: itrbp:=1 tonb:=tphalf * (kctrl * SiM2SiM.uibctrll + 1)
tonc:=tphalf * (kctrl * SiM2SiM.uicctrll + 1)

tb>=tonb and tb>=tonmin or tb>=tonmax uiactrll

tc>=tp uibctrll

uicctrll am_ma.I
STEP: tc:=tc+h

SET: := itrcn:=1
SET: := tc:=0

STEP: := tc:=tc + h
vcnta

vcntb
SiM2SiM 
SIMPLORER Link Interface
am_mb.I

am_mc.I
SET: := itrcp:=0 SET: := itrcn:=0 vcntc SiM2SiM
SET: := itrcp:=1 unref

unact

tc>=tonc and tc>=tonmin or tc>=tonmax

 Simulink Model
Coordinate
Transformation

Speed Controller

Motor Torque and

Speed Computation

Linkage
Dialog

Back EMF Computation

 Conclusions
w SIMPLORER offers complete servo drive system
design environment
w A variety of predefined machine models and a
specialized electrical machine library are available
w Integration of sophisticated Maxwell and RMxprt
models increases accuracy
w For companies with distributed design groups co-
simulation offers valuable benefits
w Co-Simulation between SIMPLORER and Simulink
is fast, efficient and easy to use