Reduced Structure Inverter Fed Reduced Structure Inverter Fed Electric Motor Drives: an Attempt Electric Motor Drives: an Attempt
toto Improve the Cost-effectiveness, Improve the Cost-effectiveness, the Compactness and the Reliability of the Compactness and the Reliability of ElectricElectric andand Hybrid Propulsion SystemsHybrid Propulsion Systems
Research Unit on Renewable Energies & Electric Vehicles
University of Sfax
Sfax Engineering School
Tunisia
Ahmed Masmoudi
Life Cycle Protection: Life Cycle Protection: a Universal Commitmenta Universal Commitment
Automotive Industry: Automotive Industry: FlashbackFlashback
Till the 60th, automotive manufacturersdidn’t worry about the cost of fuel. They have never heard of air pollution, and theyhave never thought about life cycle. Ease of operation with reduced maintenance costs meant everything back then.
Air Pollution: the MajorAir Pollution: the MajorDrawback of ICEDrawback of ICE
ICEICE
airairpollutiopollutio
nn
Automotive Industry: Automotive Industry: New TrendsNew Trends
Times have changed. In recent years, clean air mandates are driving the market to embrace new propulsion systems in order to substitute or to assist the ICE,resulting in electric and hybrid vehicles.
Series Hybrid PowertainSeries Hybrid Powertain
Parallel Hybrid PowertrainParallel Hybrid Powertrain
Series/Series/Parallel Hybrid Parallel Hybrid PowertrainPowertrain
Electric Machine DesignElectric Machine Design::New TrendsNew Trends
New approach which considers that the best machine design is the one providingthe optimum match between the machine and the associated converter leading to the so-called converter-fed machines.
Electric Machine DrivesElectric Machine Drives: : Conventional SSTPIConventional SSTPI
ElectricMotor
Vc
S3S2S1
S4 S5 S6
AB
C
Reduced Structure Inverters:Reduced Structure Inverters:What is gained?What is gained?
Lower number of the power switches and of the Lower number of the power switches and of the associated control boards with respect to the associated control boards with respect to the conventional SSTPIconventional SSTPI
Improvement of the cost-effectivenessImprovement of the cost-effectiveness
Decrease of the occupied volume Decrease of the occupied volume
Enhanced reliability thanks to the reduction of Enhanced reliability thanks to the reduction of the luck of failuresthe luck of failures
OutlineOutline
Study statement
FSTPI fed electric machine drives
FSTPI fed BDCM drives
FSTPI fed IM drives
TSTPI fed electric machine drives
TSTPI fed BDCM drives
TSTPI fed IM drives
Conclusion and Outlook
Four-switch Three-phase Four-switch Three-phase Inverter Fed Electric Inverter Fed Electric
Machine DrivesMachine Drives
Connections of the FSTPIConnections of the FSTPI
FSTPI Fed Brushless DCFSTPI Fed Brushless DCMotor DrivesMotor Drives
FSTPI Fed BDCM Drive: FSTPI Fed BDCM Drive: Principle of Operation Principle of Operation
FSTPI Fed BDCM: FSTPI Fed BDCM: Principle of Operation Principle of Operation
FSTPI Fed BDCM Drive: FSTPI Fed BDCM Drive: Principle of Operation Principle of Operation
FSTPI Fed BDCM Drive: FSTPI Fed BDCM Drive: Principle of Operation Principle of Operation
FSTPI Fed BDCM Drive: FSTPI Fed BDCM Drive: Principle of Operation Principle of Operation
FSTPI Fed BDCM Drive: FSTPI Fed BDCM Drive: Principle of Operation Principle of Operation
FSTPI Fed BDCM Drive: FSTPI Fed BDCM Drive: Linear Speed Control Linear Speed Control
FSTPI Fed BDCM Drive: FSTPI Fed BDCM Drive: Start-upStart-up
SSTPI Fed BDCM Drive: SSTPI Fed BDCM Drive: Start-upStart-up
FSTPI Fed BDCM Drive: FSTPI Fed BDCM Drive: Start-upStart-up
SSTPI Fed BDCM Drive: SSTPI Fed BDCM Drive: Start-upStart-up
FSTPI Fed BDCM Drive: FSTPI Fed BDCM Drive: Steady-state OperationSteady-state Operation
SSTPI Fed BDCM Drive: SSTPI Fed BDCM Drive: Steady-state OperationSteady-state Operation
FSTPI Fed BDCM Drive: FSTPI Fed BDCM Drive: Fuzzy Speed Control Fuzzy Speed Control
FSTPI Fed InductionFSTPI Fed InductionMotor DrivesMotor Drives
FSTPI Fed IM Drive:FSTPI Fed IM Drive:Direct Torque Control SchemeDirect Torque Control Scheme
Φs
θs1
3
65
4
2
Vα
Vβ
V2
V1
V3
V4
V5 V6
V0
V7
DTC of FSTPI Fed IM Drive:DTC of FSTPI Fed IM Drive:Vector Selection Table Vector Selection Table
V4
V3
V2
V1
V7
V0
V7
V0
V7
V0
V2
V1
V6
V5
V4
V3
V5
V4
V3
V2
V1
V6
V0
V7
V0
V7
V0
V7
V1
V6
V5
V4
V3
V2
S6
S5
S4
S3
S2
S1
-10+1-10+1
-1+1
cT
c
V5
V6
3
2
1
Vα
Vβ4
V1
V3V4
V2
V2
V4V8
V6
V3V1
V5V7
DTC of FSTPI Fed IM Drive:DTC of FSTPI Fed IM Drive:Vector Selection TableVector Selection Table
7
Vαs
Vβs
V1
V2
V4V8
V6
V7
V1
V3
V5
1019
1
2
3 45
6
7
8
9
11
12
131415
16
17
18
20
3
2
4
1
Vαs
Vβs
V1
V2
V4V8
V6
6
8
V7
V1
V3
5
V5
DTC of FSTPI Fed IM Drive:DTC of FSTPI Fed IM Drive:Vector Selection TableVector Selection Table
0 0.5 1 1.5 20
20
40
60
80
100
120[rad/s]
0 0.5 1 1.5 20
20
40
60
80
100
120
*m m [rad/s]*
m m
Time [sec] Time [sec]
*m *
mm m
SSTPISSTPI FSTPIFSTPI
DTC of a FSTPI Fed IM Drive:DTC of a FSTPI Fed IM Drive:Transient Behavior During Start-upTransient Behavior During Start-up
SSTPISSTPI FSTPIFSTPI
DTC of a FSTPI Fed IM Drive:DTC of a FSTPI Fed IM Drive:Transient Behavior During Start-upTransient Behavior During Start-up
0 0.5 1 1.5 2-10
0
10
20
30
40
50
60
Time [sec]0 0.5 1 1.5 2
-10
0
10
20
30
40
50
60
Time [sec]
[Nm]Tem lT[Nm]Tem lT
lT lT
SSTPISSTPI FSTPIFSTPI
DTC of a FSTPI Fed IM Drive:DTC of a FSTPI Fed IM Drive:Transient Behavior During Start-upTransient Behavior During Start-up
0 0.5 1 1.5 2-120
80
-40
0
40
80
120ias [A]
Time [sec]0 0.5 1 1.5 2
-120
80
-40
0
40
80
120ias [A]
Time [sec]
SSTPISSTPI FSTPIFSTPI
DTC of a FSTPI Fed IM Drive:DTC of a FSTPI Fed IM Drive:Transient Behavior During Start-upTransient Behavior During Start-up
-0,8 -0,4 0 0.4 0.8-0.8
-0.4
0
0.4
0.8
αs[Wb]
βs[Wb]
-0,8 -0,4 0 0.4 0.8-0.8
-0.4
0
0.4
0.8
αs[Wb]
βs[Wb]
SSTPISSTPI FSTPIFSTPI
DTC of a FSTPI Fed IM Drive:DTC of a FSTPI Fed IM Drive:Steady-state FeaturesSteady-state Features
1.96 1.975 1.990
1
2
3
4
5
6
7
Time [sec]
Sk
1.96 1.975 1.990
2
4
6
8
10
12
14
16
18
20
22
Time [sec]
Sk
SSTPISSTPI FSTPIFSTPI
DTC of a FSTPI Fed IM Drive:DTC of a FSTPI Fed IM Drive:Steady-state FeaturesSteady-state Features
1.96 1.975 1.99-30
-20
-10
0
10
20
30
Time [sec]1.96 1.975 1.99
-30
-20
-10
0
10
20
30
Time [sec]
ibs ics ias ias ibs ics
SSTPISSTPI FSTPIFSTPI
DTC of a FSTPI Fed IM Drive:DTC of a FSTPI Fed IM Drive:Steady-state FeaturesSteady-state Features
5 10 15 20 25 30 35 40 45 500
5
10
15
20
25Amplitude [A]
Harmonic rank
5 10 15 20 25 30 35 40 45 500
5
10
15
20
25Amplitude [A]
Harmonic rank
Three-switch Three-phase Three-switch Three-phase Inverter Fed Electric Inverter Fed Electric
Machine DrivesMachine Drives
Connections of the TSTPIConnections of the TSTPI
S1
S2
S3
D3
D2
D1
i1
i2
i3
TSTPI
i a
i b
i c
electricmotor
TSTPI Fed Brushless DCTSTPI Fed Brushless DCMotor DrivesMotor Drives
TSTPI Fed BDCM Drive: TSTPI Fed BDCM Drive: Principle of operationPrinciple of operation
Principle of OperationPrinciple of Operation
TSTPI Fed BDCM Drive: TSTPI Fed BDCM Drive: Linear Speed ControlLinear Speed Control
Time (s)0 0.4 0.7 1 1.3
0
2
4
6
8
10
12
14
16
18
(N.m)
Tem
Tl
0 0.4 0.7 1 1.30
2
4
6
8
10
12
14
16
18
Time (s)
(N.m)
Tem
T l
1.21 1.211 1.212 1.213 1.214 1.215 1.216 1.217 1.218 1.2194
4.5
5
5.5
6
Time (s)
(N.m) Tem Tl
Electromagnetic and Load TorquesElectromagnetic and Load Torques
SSTPISSTPITSTPITSTPI
TSTPI Fed BDCM Drive: TSTPI Fed BDCM Drive: Start-upStart-up
0 0.4 0.7 1 1.3-100
-80
-60
-40
-20
0
20
40
60
80
100
Time (s)
(A)
i a
1.21 1.215 1.22 1.225 1.23-40
-30
-20
-10
0
10
20
30
40
ia (A)
Time (s)
TSTPI Fed BDCM Drive: TSTPI Fed BDCM Drive: Start-upStart-up
Phase CurrentPhase Current
EeqRΩ
Cdl
Rtc
Zw
Zi
Modified Modified RandlesRandles Equivalent Circuit Equivalent Circuitof an Ni-mH Batteryof an Ni-mH Battery
)(1
)( pZsCR
RRsZi w
dltc
tc
Ω
C
R1
C
R2
C
Rn
Accounting for the Accounting for the Equivalent Equivalent Circuit of the Battery PackCircuit of the Battery Pack
-1000 0.4 0.7 1 1.3
-80
-60
-40
-20
0
20
40
60
80
100
Time (s)
ia (A)
Ideal battery pack Equivalent circuit of thebattery pack accounted for
-1000 0.4 0.7 1 1.3
-80
-60
-40
-20
0
20
40
60
80
100
Time (s)
ia (A)
Accounting for the Accounting for the Equivalent Equivalent Circuit of the Battery PackCircuit of the Battery Pack
Ideal battery pack Equivalent circuit of the battery pack
Accounting for the Accounting for the Equivalent Equivalent Circuit of the Battery PackCircuit of the Battery Pack
1.21 1.215 1.22 1.225 1.23-40
-30
-20
-10
0
10
20
30
40
ia (A)
Time (s)1.21 1.215 1.22 1.225 1.23
-40
-30
-20
-10
0
10
20
30
40
ia (A)
Time (s)
TSTPI Fed Induction TSTPI Fed Induction Motor DrivesMotor Drives
i1
Inductionmotor
S2
i2
i3
S1S3
*+-m
m
Speed controller
Tem*
Tem
K1 K2 K3
Bang-bang current controllers+
-
+ -
-+
Park transform
2 3Currents (a-b-c)
Currents (1-2-3)
i2
i3
i1
*
*
*
ib
ic
ia
*
**
i2
i1
i3
*ids
+- Torque
controller
iqs*
++ p
ωs
θs
Currents (a-b-c)
Currents (1-2-3)Park transform
3 2
ib
ic
iaids
iqs
ФrRotor flux controller
Фr*
ωr
TSTPI Fed IM Drive:TSTPI Fed IM Drive: RFOC Implementation Scheme RFOC Implementation Scheme
SSTPI TSTPI
20 0.4 0.8 1.2 1.60
100
200
300
400
500
600
Time (s)
(rpm) *m
m
0 0.4 0.8 1.2 1.6 20
100
200
300
400
500
600
Time (s)
(rpm) *m
m
TSTPI Fed IM Drive TSTPI Fed IM Drive Performance Under RFOCPerformance Under RFOC
Reference and motor speeds
SSTPI
0 0.4 0.8 1.2 1.6 2-10
0
10
20
30
40
50
Time (s)
(N.m)
Tem
Tl
TSTPI
0 0.4 0.8 1.2 1.6 2-10
0
10
20
30
40
50
Time (s)
(N.m) TemTl
TSTPI Fed IM Drive TSTPI Fed IM Drive Performance Under RFOCPerformance Under RFOC
Electromagnetic and load torque
The ‘’a’’ phase current
SSTPI TSTPI
-40
-30
-20
-10
0 0.4 0.8 1.2 1.6 2
0
10
20
30
40
Time (s)
ia (A)
0 0.4 0.8 1.2 1.6 2-40
-30
-20
-10
0
10
20
30
40
Time (s)
ia (A)
Steady-state phase current profiles
1.8 1.81 1.82 1.83 1.84 1.85-20
-15
-10
-5
0
5
10
15
20
Time (s)
(A) ia ib ic
1.8 1.81 1.82 1.83 1.84 1.85-20
-15
-10
-5
0
5
10
15
20
Time (s)
(A) ia ib ic
TSTPI Fed IM Drive TSTPI Fed IM Drive Performance Under RFOCPerformance Under RFOC
TSTPI Fed IM Drive:TSTPI Fed IM Drive: Sensorless RFOC Strategy Sensorless RFOC Strategy
Sensorless RFOC strategy Conventional RFOC strategy
Reference and motor speeds
20 0.4 0.8 1.2 1.60
100
200
300
400
500
600
Time (s)
(rpm) *m
m
0 0.4 0.8 1.2 1.6 20
100
200
300
400
500
600
Time (s)
(rpm) *m
m
TSTPI Fed IM Drive TSTPI Fed IM Drive Sensorless RFOCSensorless RFOC
Speed estimation error
0 0.4 0.8 1.2 1.6 2-0.04
-0.02
0
0.02
0.04
Time (s)
m- est
TSTPI Fed IM Drive TSTPI Fed IM Drive Sensorless RFOCSensorless RFOC
ConclusionConclusion
Improvement of the Improvement of the cost-effectivenesscost-effectiveness, the , the compactnesscompactness and the and the reliabilityreliability of electric and hybrid propulsion systems of electric and hybrid propulsion systems gained by the integration of reduced structure invertersgained by the integration of reduced structure inverters
Feasibility thanks to the availability of the Feasibility thanks to the availability of the battery packbattery pack
Both FSTPI and TSTPI associated with machines fed by:Both FSTPI and TSTPI associated with machines fed by: rectangular currents (BDCM) rectangular currents (BDCM) sinusoidal currents (IM)sinusoidal currents (IM)
Almost Almost the same performancethe same performance as those achieved with as those achieved with conventional SSTPIconventional SSTPI
Limitation of the speed rangeLimitation of the speed range due to the reduction of the due to the reduction of the average DC voltage supplyaverage DC voltage supply
OutlookOutlook
The development of The development of experimentalexperimental test benchestest benches for the sake of the for the sake of the validation of the predicted validation of the predicted performanceperformance
Rethought the capabilities of reduced structure Rethought the capabilities of reduced structure inverters from a inverters from a troubleshootingtroubleshooting point of viewpoint of view in in an attempt to solve temporarilyan attempt to solve temporarily SSTPI failures SSTPI failures
Solve the problem of Solve the problem of speed limitationspeed limitation through a through a reconsideration of the machine designreconsideration of the machine design in order in order to to extend the flux weakening range extend the flux weakening range
AcknowledgmentAcknowledgment
These works were partly supported byThese works were partly supported by
Allison Transmission Division of GMsAllison Transmission Division of GMs
(ATDGM, Indiana, USA). (ATDGM, Indiana, USA).
Many thanks should be addressed to Dr. Many thanks should be addressed to Dr.
Ahmed El-Antably, staff project engineer Ahmed El-Antably, staff project engineer
with ATDGM, for the valuable discussions.with ATDGM, for the valuable discussions.
AcknowledgmentAcknowledgment
Full recognition needs to be given here Full recognition needs to be given here
to Prof. Abdessattar Guermazi, to Asso. Prof.to Prof. Abdessattar Guermazi, to Asso. Prof.
Asma Ben Rhouma and Bassem EL Badsi, andAsma Ben Rhouma and Bassem EL Badsi, and
to Ass. Tec. Mariem Sahbi and Mourad Masmoudi.to Ass. Tec. Mariem Sahbi and Mourad Masmoudi.
Reduced Structure Inverter Fed Reduced Structure Inverter Fed Electric Motor Drives: an Attempt Electric Motor Drives: an Attempt
to Improve the Cost-effectiveness, to Improve the Cost-effectiveness, the Compactness and the Reliability of the Compactness and the Reliability of
Electric and Hybrid Propulsion SystemsElectric and Hybrid Propulsion Systems
Research Unit on Renewable Energies & Electric Vehicles
University of Sfax
Sfax Engineering School
Tunisia
Ahmed Masmoudi
4 Switch 3 Phase Inverter 4 Switch 3 Phase Inverter Fed Brushless DC MotorFed Brushless DC Motor
Transverse Flux Transverse Flux Permanent Magnet Permanent Magnet
MachinesMachines
Connections of the TSTPIConnections of the TSTPI
AchievementsAchievements 1 patent financed by Allison Transmission Division of GM (IN, USA)1 patent financed by Allison Transmission Division of GM (IN, USA)
6 papers in the Int. J. for Computation & Mathematics in Electrical 6 papers in the Int. J. for Computation & Mathematics in Electrical and Electronic Engineering (COMPEL)and Electronic Engineering (COMPEL)
2 keynote speeches in the Int. Workshop on Electric and Hybrid 2 keynote speeches in the Int. Workshop on Electric and Hybrid Automotive Technologies (WAT’07, Sfax, Tunisia)Automotive Technologies (WAT’07, Sfax, Tunisia)
8 communications in conferences:8 communications in conferences: 1 in EPE’03 (Toulouse, France)1 in EPE’03 (Toulouse, France) 3 in SSD’05 and SSD’07 (Sousse and Hammamet, Tunisia) 3 in SSD’05 and SSD’07 (Sousse and Hammamet, Tunisia) 4 in EVER’07 (Monte-Carlo, Monaco)4 in EVER’07 (Monte-Carlo, Monaco)
DiplomasDiplomas 1 HDR supported 1 HDR supported 3 PhD in progress3 PhD in progress 4 Masters (3 supported, 1 in progress)4 Masters (3 supported, 1 in progress)
TSTPI-BDCM drive test bench under development TSTPI-BDCM drive test bench under development