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r
rotor speed;
F
rotor permanent magnetic ux;
e
B
= P
r
F
, generated back EMF due to
F
;
T
e
generated electromagnetic torque.
Under base speed operation, the speed or torque control
can be achieved by forcing the stator current component i
sd
to be zero while controlling the i
sq
component to be directly
proportional to the motor torque T
e
as
T
e
=
3
2
P
F
i
sq
. (3)
The instantaneous q-axis current can be extracted from (3).
Hence, by setting i
sd
to zero, the instantaneous d- and q-axis
voltages can be calculated from (1) as
V
sd
= P
r
L
sq
i
sq
(4)
V
sq
=Ri
sq
+ pL
sq
i
sq
+ P
r
F
. (5)
Once the values of the d- and q-axis voltage components are
obtained, the Park and Clarke transformation can be used to
obtain the reference sinusoidal voltages as
_
_
v
a
v
b
v
c
_
_
= K
_
_
1 0
1/2
3/2
1/2
3/2
_
_
_
cos sin
sin cos
_ _
V
sd
V
sq
_
(6)
where K is the transformation constant, and is the rotor
position.
Fig. 3. Simplied power circuit of the proposed lter topology.
Fig. 4. Coupling circuit between the AF and the main inverter on one side and
the PMSM on the other side.
B. AF Compensation Circuit
Fig. 3 shows a simplied power circuit of the proposed
topology (the passive RCLlters are not shown). In this circuit,
V
dc
is the voltage of the main inverter circuit, and V
CF
is the
equivalent compensated voltage source of the AF. In order to
generate the required compensation voltages that follow the
voltage signal v
sig
, bearing in mind that the main inverter
changes switching state only when the line current violates the
condition of the hysteresis band and that the capacitor voltage
polarity cannot abruptly change, the switches sw
1
and sw
2
are
controlled within each consecutive voltage switching of the
main inverter to keep the motor winding voltages within the
acceptable hysteresis band.
The motor line current i
m
is controlled within the motor
main control circuit with hysteresis current controller to provide
the required load torque; therefore, two hysteresis controller
systems (i.e., one for voltage and the other for current) are
independently working to supply the motor with an almost
sinusoidal voltage.
In Fig. 3, when the switching signal (e.g., 100) is sent to
the main inverter, i.e., phase a is active high while phases b
and c are active low, then, following the path of the current i
m
in Fig. 3, the voltage provided to the motor terminal can be
expressed as
V
s
=
2
3
_
V
dc
V
CF
3
2
L
F
di
m
dt
_
. (7)
The limit values of the inductor L
F
and capacitor C
F
can be
determined as follows.
254 IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 55, NO. 1, JANUARY 2008
TABLE I
MOTOR PARAMETERS
TABLE II
L-TYPE FILTER PARAMETERS
Fig. 5. Motor phase voltage before and after applying the AF.
During a sampling period T
s
, the change in capacitor voltage
can be calculated as
V
CF
=
1
C
F
T
s
_
0
i
m
dt. (8)
So if the maximum capacitor voltage change is determined as
V
dc
, the minimum capacitor value can be calculated as
C
F
_
(n+1)T
s
nT
s
i
m
dt
V dc
T
s
i
mav
V
dc
(9)
where i
mav
is the maximum of the average current change that
can occur per sample period.
The limit values of the smoothing inductance L
F
can be
expressed as
1
(2f
sw
)
2
C
F
< L
F
V
LFmax
3
2
max
_
di
m
dt
_
(10)
where the lower limit is determined by selecting the resonance
frequency of the combination C
F
L
F
to be less than the inverter
switching frequency f
sw
to guarantee reduced switching fre-
quency harmonics. The upper limit is calculated by determining
the maximum voltage drop across the inductors V
LFmax
and the
maximum current change per sampling period di
m
/dt.
Fig. 6. Injected voltage from AF.
Fig. 7. Motor lines current before and after applying the AF.
Fig. 8. Motor torque before and after applying the AF.
C. Coupling
The coupling between the main inverter circuit and the AF
circuit is achieved through a 1 : 1 transformer, and to attenuate
the higher-frequency EMI noises, the LCR lters are used at
the transformer primary and secondary windings, as suggested
in Fig. 4.
The important point here is that the resonance that may arise
between the capacitor C
1
and transformer primary winding and
between the capacitor C
2
and motor inductance winding should
be avoided when selecting capacitor values.
At a selected cutoff frequency, the currents i
CR1
and i
CR2
derived by the RLC lters are given by
i
CR1
=
z
T
z
T
+
_
R
1
+ 1/sC
1
i
m1
i
CR2
=
z
PMSM
z
PMSM
+
_
R
2
+ 1/sC
2
i
m2
(11)
where z
T
and z
PMSM
are as dened in Fig. 4.
GULEZ et al.: TORQUE RIPPLE AND EMI NOISE MINIMIZATION IN PMSM USING AF TOPOLOGY AND FOC 255
Fig. 9. Rotor speed before and after applying AF.
Fig. 10. Phase a current (upper) and its spectrum (lower) before connecting
the AF.
At the selected cutoff frequency, these currents should be
large compared to i
m1
(which is drawn by the transformer)
and/or i
m
(which is drawn by the motor). On the other hand,
at the operating frequency, these currents should be very small
compared to i
m1
and i
m
. Another point in the selection of
the RLC parameters is that the lter inductors are essentially
shorted at the line frequency while the capacitors are open
circuit, and for the EMI noise frequencies, the inductors are
essentially open circuit while the capacitors are essentially
shorted; thus, a considerable amount of EMI noises will pass
through the lter resistors to the earth and cause a frequency-
dependent voltage drop across the inductors that in turn will
help in smoothing the voltage waveform supplying the motor.
Fig. 11. Phase a current (upper) and its spectrum (lower) after connecting
the AF.
III. SIMULATIONS AND RESULTS
To simulate the performance of the proposed lter topology,
Matlab/Simulink was used. The effectiveness of the lter topol-
ogy was shown by providing the lter into operation while the
motor is running.
The PMSM is star connected with earth return. The motor
parameters are shown in Table I, while the passive lter param-
eters are shown in Table II. The AF capacitor that was used is
200 F, and its inductors are 200 mH.
A. Motor Performance
The simulation results with 100-s sampling time are shown
in Figs. 513. Fig. 5 in particular shows the phase voltage
provided to the motor terminals. Observing the change of the
waveform after switching on the AF (at time = 0.15 s) into
the circuit, it is clear that the phase voltage approaches a
sinusoidal waveform. Fig. 6 shows the injected voltage from
the AF. A better waveform can be obtained by increasing the
AF inductance L
F
. However, the cost and size of the AF will
increase, so an acceptable inductance value can be selected to
achieve less than 2% of the total harmonic distortion (THD).
The motor performances before and after applying the AF
are shown in Figs. 79. In Fig. 7, the motor line currents
showconsiderable reduction in noise and harmonic components
after applying the AF, which is reected in a smoother current
waveform.
256 IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 55, NO. 1, JANUARY 2008
Fig. 12. EMI noise level before connecting the AF.
Fig. 13. EMI noise level after connecting the AF.
The torque response in Fig. 8 shows a dramatic drop in
torque ripple from 3.2 to 0.2 N m after applying the AF,
which will result in reduced motor mechanical vibration and
acoustic noise. This reduction is also reected in a smoother
speed response, as shown in Fig. 9.
B. Harmonics and EMI Noise Reduction
The status of the line current harmonics and the EMI noise
before and after connecting the AF are shown in Figs. 1013.
In Fig. 10, the spectrum of the line current before connecting
the AF shows that disastrous harmonics currents with THD of
15% have been widely distributed with a dominant harmonics
amplitude of 16% in the range of thirtieth to ftieth harmonic
order. After connecting the AF, the THD is effectively reduced
to less than 1.5% with dominant harmonics amplitude of 1%
in the range greater than the eight harmonic order, as shown in
Fig. 11.
The EMI noise level before connecting the AF in Fig. 12
shows a noise level of 13 dB near the operating frequency,
15 dB at the switching frequency (5 kHz), and less than
42 dB for the highest frequencies (> 0.3 MHz). When
the AF is connected, the EMI noise level is tuned down to
10 dB near the operating frequency, 30 dB at the
switching frequency, and less than 57 dB for the highest
frequencies (> 0.3 MHz), as shown in Fig. 13.
IV. CONCLUSION
In this paper, a new AF topology has been presented and
analyzed. The lter topology combines the compensation char-
acteristics of the series AF and the L-type passive EMI lters.
The proposed topology has been shown to be capable of re-
ducing the torque ripple and current harmonics, and providing
an almost sinusoidal voltage to the motor terminals, which was
reected in a smoother line current waveform. The harmonics
detection method is based on the same logic of the motor
control algorithm without time delay so that accurate reference
signals are expected. The topology has also shown effectiveness
in reducing the EMI noise level that harms the motor control
system.
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Kayhan Gulez (S92M00) was born in Istanbul,
Turkey, in 1970. He received the B.S., M.S., and
Ph.D. degrees from Yildiz Technical University
(YTU), Istanbul, in 1992, 1995, and 1999, respec-
tively, all in electrical engineering.
Between 1994 and 1997, he was a Research
Assistant with the Department of Electrical and
Electronics Engineering, Engineering Faculty, Celal
Bayar University, Manisa, Turkey. In July 1997, he
was with the Department of Electrical Engineering,
Electrical and Electronics Faculty, YTU. Between
1997 and October 1999, he continued to carry out his studies at the same
department. Between October 1999 and November 2002, he was a Re-
search Associate in a JSPS project and other short-term projects with Keio
University, Yokohama, Japan, and with the Tokyo Metropolitan Institute of
Technology, Tokyo, Japan. He is currently with the Department of Electrical
Engineering, YTU, where he has been an Assistant Professor since March
2003. His major research interests are articial neural networks and control
applications; the control of electric machines, control systems, EMC, and
EMI control methods; active, passive, and EMI lter design methods; and
applications for EMI noise and harmonic problems, on which he has over
150 scientic papers and technical reports in various journals and conference
proceedings.
Prof. Gulez was the recipient of three Science Grand Awards from YTU (in
1998, 1999, and 2000), and two Best Paper Awards from the 5th World Multi-
Conference on Systemics, Cybernetics and Informatics, and the Modeling and
Simulation Conference in 2001.
Ali Ahmed Adam received the B.Sc. degree in
electrical engineering from Khartoum University,
Khartoum State, Sudan, in 1991, the M.Sc. de-
gree from Baghdad University, Baghdad, Iraq, in
1997, and the Ph.D. degree in electrical engineering
from Yildiz Technical University, Istanbul, Turkey,
in 2007.
Since 1991, he has been with the Faculty of En-
gineering Science, Omdurman Islamic University,
Omdurman, Sudan, where he is a Lecturer. His main
research interest includes power electronics, control
of electrical machines, digital control, microcontroller- and microprocessor-
impeded systems, and active power lters.
Halit Pastaci was born in Macedonia in 1948. He
received the M.S. degree from Istanbul Technical
University, Istanbul, Turkey, in 1972 and the Ph.D.
degree from Yildiz Technical University (YTU),
Istanbul, in 1980.
From 1981 to 1982, he was with Colombia Uni-
versity, New York, NY, where he carried out his
research activities. Since 1992, he has been with
YTU, where is currently a Full Professor. Between
1994 and 2001, he was a Consultant with the Istanbul
Municipality for the Subway control systems of
Istanbul. He has over 50 papers in various journals and conference proceed-
ings, and is the author of ten books on his study areas. His research areas are
system and biomedical control, neural network and fuzzy logic control and
applications, industrial electronics, and transportation systems.
Prof. Pastaci was an Associate Editor of the IEEE TRANSACTIONS ON
INDUSTRIAL ELECTRONICS between 2000 and 2005.