Modeling and Control of a seven-phase Claw-Pole Integrated Starter Alternator for Micro-hybrid Automotive Applications A. Bruyere*,**, E. Semail*, A. Bouscayrol*, F. Locment*, J.M. Dubus**, J.C. Mipo** * Arts&Métiers ParisTech and University of Lille, L2EP, Lille, FRANCE ** Valeo Electrical System, Créteil, FRANCE
CNRT Futurelec
Lille
ABSTRACT This study deals with the modeling and the control of a new high power 12V starter-alternator. This system is used to bring micro-hybrid functions to standard Internal Combustion Engine (ICE) vehicles. The drive is composed of a seven-phase synchronous claw-pole machine with separate excitation, supplied with a seven-leg Voltage Source Inverter (VSI) designed for low voltage and high current. The system is modeled in a generalized Concordia frame and a graphical description is used to highlight energetic properties of such a complex system. A control scheme is then deduced from this graphical description. A first open-loop control is achieved on the experimental set-up. The inversion-based control is implemented. Both controls are analyzed in the generalized Concordia frames.
7-PHASE STARTER-ALTERNATOR DESCRIPTION iDC
Concentrated stator windings
VDC
Permanent magnets
12
Ebatt
Rbatt
V+
Excitation coil
i1 34
56
SM
7
T, Ω
vF
iF
V-
7-phase, wye-coupled, claw-pole machine
7-phase starter-alternator description
Experimental set-up picture
INVERSION BASED CONTROL OF THE 7-PHASE DRIVE IN THE GENERALIZED CONCORDIA FRAME, USING ENERGETIC MACROSCOPIC REPRESENTATION (EMR) ⎧v0 = L0 d (i0 ) / dt + RS i0 + e0 :ignored (i0 always null) ⎪ ⎪v S1−d = LS1−d d (iS1−d ) / dt + RS iS1−d + eS1−d ⎪v = LS1−q d (iS1−q ) / dt + RS iS1−q + eS1−q ⎪⎪ S1−q ⎨v S 2−d = LS 2−d d (iS 2−d ) / dt + RS iS 2−d + eS 2−d ⎪v = LS 2−q d (iS 2−q ) / dt + RS iS 2−q + eS 2−q ⎪ S 2−q VDC ⎪v S 3−d = LS 3−d d (iS 3−d ) / dt + RS iS 3−d + eS 3−d ES ⎪ iDC ⎩⎪v S 3−q = LS 3−q d (iS 3−q ) / dt + RS iS 3−q + eS 3−q
VDC ichop
iF eSR-S1
vF
iF
iF
eSR
mchop
iVSI
vVSI imach
A. A Modeling in the Generalized Concordia frame (6 independent dq -axes equations)
iS2
iS2
S2 eS2
iS3
vS3
vVSI ref
iS1ref
vS2ref
iS2ref
vS3ref vFref
S3
eS3
iS3 vS1ref
B. Modeling and inversion-based control in the generalized Concordia frame, using PWM:
S1
eS1
vS2
mVSI
iS1,2,3 eS1,2,3
iS1,2,3
iS1,2,3ref
iS1
vS1 iS1
VDC
vS1,2,3
Excitation circuit modeling
iS3ref
7-phase drive modeling in Concordia subspaces
TS1
Ω TS2
T
Ω
Ω
Ω
TLoad
iS 1,2,3 reference
MS
ecompensation d
iS 1,2,3 d ref
+-
+
ecompensation q
iS 1,2,3 d
K S1,2,3 d
-
1 + τ S1,2,3 d
iS 1,2,3
eq K S1,2,3 q
vS 1,2,3 + -
+ Cq(s) +
iS 1,2,3 q ref + -
TS3
ed
+ Cd(s) +
1 + τ S1,2,3 q
iS 1,2,3 q
Ω T M1 ref
d- and q-currents controllers Cd,q(s), Two 1st order system with compensation of the (d- and q-axes) perturbation e with e as a perturbation
Control structure T ref
T M2 ref T M3 ref
C. Equivalence between EMR and block diagrams for controlling the dq-currents in S1, S2 and S3
iFref
ANALISYS OF TWO CONTROL MODES 150
i1 i2 i3 i4 i5 i6 i7
125 100 75
20
0
18
a
14
-150 0
0.002
0.004
0.006 Time (s)
0.008
200
10
0.01
125
4
0.002
100 75 Magnitude (A)
50
b
-25
0.008
0.01
0.012
-125 0.002
0.004
0.006 Time (s)
0.008
0.012
8 6 4 2 0 0
0.002
0.004
0.006 Time (s)
0.008
0.01
0.012
50 25 0
75 50 25 0
-25
-50
-50
-100 0
-75
-100 0
-100 0
0.004
0.006 Time (s)
0.008
0.01
0.012
iS1d iS1q
125 100
75 25 0
0.004
0.006 Time (s)
0.008
0.01
0.012
iS2d iS2q
150
100 50
0.002
200 175
125
25 0
25 0
-75
-75
0.012
-100 0
0.012
iS3d iS3q
75
-75 0.01
0.01
50
-25 -50
0.008
0.008
125
-25
0.006 Time (s)
0.006 Time (s)
100
75 50
-50
0.004
0.004
150
-25
0.002
0.002
200 175
-50
b 0.01
150 125
-75 0.002
iS3d iS3q
175
100
75
-25
-100 0
12 10
0
200
-50
150
14
-100
50 25
100
-75
200
16
-75
75
175
18
-50
-150 0
0.006 Time (s)
20
0
Torque (Nm)
- Excitation field current: (a): iF= 2.25A (b): iF= 3A
0.004
i1 i2 i3 i4 i5 i6 i7
125
25
150
-25
2 0 0
iS2d iS2q
175 125
100
150
- Delivered power P= 830W
150
8
200
iS1d iS1q
175
0.012
6
Experimental torque measurement:
- Rotation speed N= 1800rpm
12
Magnitude (A)
-125
Magnitude (A)
-100
Magnitude (A)
16
-75
Magnitude (A)
-50
Magnitude (A)
Operating point:
: experimental currents measurements in the stator frame
Magnitude (A)
- (b): Inversion-based control in the generalized Concordia frame, using PWM
a
25
-25
Torque (Nm)
- (a): Open loop 180° square wave control
Magnitude (A)
Analysis, in alternator mode, of:
50
0.002
0.004
0.006 Time (s)
0.008
0.01
0.012
-100 0
0.002
0.004
Projection of the currents in the generalized Concordia frame
0.006 Time (s)
0.008
0.01
0.012
