Field Oriented Control of Permanent Magnet Motors

Building on the previous session, we investigate the Field Oriented Control process in an easy to understand way using animations and simulations. We then introduce the topic of observers and how they can be applied in a field-oriented application to eliminate the motor shaft sensor, resulting in sensorless control.

[@felixre7]

11 years now, still the best FOC explanation. I think at this point we can say this is the literally the best explanation humankind will ever have.

[@diehardmetalhead3797]

After 8 years, still the best FOC explanation on the face of the internet. Great Job!!!

[@gerrychen5656]

Amazing video - explained very dense material in a very easy to understand, logical, and practical way. Despite how intimidating a 53 minute long video can be, Dave did an amazing job of making the time fly by and I thoroughly enjoyed every minute.

[@harryhalfmoon]

I would give this ten thumbs up if I could. Absolutely fabulous seminar. Thank you Dave!

[@kimothefungenuis]

It's good this channel acknowledges that most of it's audience are engineers or engineering students

[@yyunko7764]

oh my god, thank you some much Dave, this is an absolute masterpiece of teaching, just a great and short explanation of what seems immensely complex at first!

[@TexasInstruments]

Hi Marc. The previous video in the series is on the topic of permanent magnet synchronous motors. We hope you find it helpful: Permanent Magnet AC Motors - Motor Control & How It Works

[@Jim_One-wl4ke]

Thank you for making this video. 👍You have done a great job & service to us learners by sharing your knowledge. I say it’s the best I have seen so far. You are a good teacher and also a great presenter with lots of supporting graphics n diagrams to explain it very clearly. Thank you very much ❤

[@Impedancenetwork]

Fantastic video. All these classes I take in my electrical engineering program and they never talk about the practical stuff that goes on everyday in the electrical world.

[@esk8spirit362]

Welcome to college.

[@Impedancenetwork]

This is fascinating. I just took a controls and electric machines class. I'm taking a microprocessor class next semester so this video encompasses all those topics applied to the solution of a real problem. I'm going to have to watch this a couple more times.

[@sewingmachinesindetail]

Thank you for this amazing video about FOC. I have previously worked a bit with diesel generators and the control of them got some close similarities. They also use a synchronous generator (or machine), and when you connect it to the mains grid with, you control the power applied by the throttle of the diesel engine. When you increase the throttle, the diesel in some ways try to increase the frequency of the mains grid (but it will of cause not succeed in this situation). You control the reactive power applied to the mains by the changing the magnetization of the generator. In is a bit the same situation, than having two diesel generators in service on a ship. When you want to take one diesel out of service, you ramp up the power on the other generator, and in principle it could end by turning the other diesel generator around unless it is disconnected from the local grid. Your analysis show, that the control of a three phase inverter comes down to the same principles of control as the control a diesel generator.

[@byugrad1024]

Amazing. Extremely well done. I feel like I could implement a vector controller in an FPGA now.

[@gergelytakacs]

I wish I had teachers/professors like you. Hats off to you.

[@hassanak7]

Amazing video. I like the way how everything was explained step by step.

[@galenchai]

Thank you Dave. I really benefit a lot from your video!! I learn FOC in a very way by sitting on the sofa and watching your video, instead of studying papers in front of my desk and still don't understand what's going on...🤩

[@Ir_Han]

i like when study any control system and the application is given. moreover u give us the hardware explanation and the example of controller. thank youu so much, i really love your explanation. hope you stay healthy and spread more your knowledge.

[@reima8]

Thank you, thank you and one more time: Thank you. You are a great teacher.

[@surajg.7369]

one of best tutorials ever seen.. great job !

[@str8up598]

This is what the internet SHOULD be. Great video. Makes me think.. I wish I understood all I know.

[@magyarandrastamas2485]

Amazing video, way better than my 5 years of electronic engineering studies at the university.

[@shawnhue4386]

2021 and can not find anything better. Thanks!

[@stanislavsubrt886]

Great presentation. Thanks a lot! I have seen it already like five times and Im definitely going to watch it again :)

[@robn2497]

Thank you Texas Instruments I am starting to understand :) Very cool information.

[@MM-vq6sk]

Awesome tutorial. Please keep it coming.

[@mrmatias2618]

It was interesting to know about the Tracking Filter and the Observe to replacing the angular position expensive sensor. It is interesting to know if any company is using it on their Electric Vehicle to control the Inner Mounted Permanent Magnetic Synchronous Motor.

[@dimchohvarchilkov683]

An excellent video! A very good way of explanation! Thank you!

[@Benz901123]

This is gold! Thank you so much

[@wariskn7096]

Excellent Excellent Excellent.....Dale Wilson u made this so simple....

[@caiofuccio5788]

Very helpful tutorial. Thanks for sharing.

[@jenskapmeyer2579]

TI guys are the best ... thanks a lot for that video.

[@elsnowman123]

Great video. Exactly what I was looking for

[@th1alb]

great video and really well explained

[@TexasInstruments]

Hi Nikola, The tool used for simulations in this video is LTSpice. The task of estimating the rotor flux vector in an AC induction machine is the subject of thousands of papers related to sensorless control of ACIMs, and is too involved to answer effectively in this venue. Texas Instruments offers a proprietary way to do this called InstaSPIN-FOC, which does this job very well. Learn more: www.ti.com/ww/en/mcu/instaspin/instaspin-foc.shtml However, if you are only interested in calculating the rated value of flux in an ACIM, you can use the following formulae: Rated flux (Webers) = (Rated RMS Voltage * sqrt(2/3) * Lm) / (2 * pi * line_frequency * Ls)

[@nikolaradakovic5050]

+Texas Instruments Many thanks. I wish to have a flexible system that will allow me to close the loop on my motion controller instead of servo drive which is a common practice. Can InstaSPIN or Design Drive suite be applied in robotics or CNC applications? How well AC induction motor compares with brushless DC in applications requiring precise positioning? Kind regards, Nikola

[@TexasInstruments]

+Nikola Radakovic InstaSPINcomes in two basic variations; InstaSPIN-FOC and InstaSPIN-MOTION. Both implement a field oriented control algorithm. We typically see InstaSPIN-FOC used with sensorless applications, and InstaSPIN-MOTION used with sensored systems. Another way to look at the differences is that InstaSPIN-FOC is used primarily for speed control applications, and InstaSPIN-MOTION is used for position control applications. So for robotics and CNC applications, it sounds like InstaSPIN-MOTION might be a better fit. In regards to AC induction motors in position control applications, they can be a little more complicated to control due to the slip between rotor and rotor flux. As long as you use a shaft sensor, this solution can be implemented. However, I typically see permanent magnet machines used for servo applications (especially in sub-horsepower applications) due to the increased power density and smaller size possible.

[@nikolaradakovic5050]

+Texas Instruments I read your Users Guide InstaSPIN-FOC and InstaSPIN-Motion. Might I notice that Piccolo processor used in InstaSPIN is a MIPS one core CPU. In order to implement slave motors or parallel kinematics, I unfortunately don't see a way to apply simultaneous multitreading. Time slice threading on one core would cause inconsistent timing. As a result parallel axis would compete and cause internal strains like in a case of delta robot or gantry mill where we have two or more motors driving the same axis at the same time. However, I would like to ask you a few questions related to SpinTAC API , more precisely SpinTAC Plan . My idea is to make a post processor for G-Code and translate it for InstaSPIN . As far as I understood , you use a state machine for motion control.So in my case of G-Code, to move from a point A to point B I need to create two configuration states using a function STPOSPLAN_addCfgState(ST_POS_PLAN_Handle, int32_t, _iq24,int32_t) . Every transition from point n to point n+1 requires additional state. In that case my SpinTAC Position Plan would leak the memory of your CPU. Is it possible to load a position plan from external memory? What are the units of second and third argument of function STPOSPLAN_addCfgState(ST_POS_PLAN_Handle, int32_t, _iq24, int32_t) ? Documentation states that these two parameters are called PostStepInt_mrev and PostStepFrac_mrev.How do we determine the values of PostStepInt_mrev and PostStepFrac_mrev ? Many thanks, Nikola

[@EETechs]

+Texas Instruments Where is Dave Wilson's 10 part series and mathematical proof papers? I cannot find them on site www.ti.com/motorblog.

[@sheepman6291]

I look for months on how to do this.Thank you!

[@markgjunter3659]

Great job! Thank you!

[@Kafi1986]

this was so helpful for me, thank you very much :)

[@chassismate]

Hi Wilson. What if I control motor pole 2. 4. 8 in automatically?

[@BrittoEdwardVictor]

A nice tutorial thank you. Can you recommend some good books or articles on this?

[@adambodom]

Hye Dave Do you have Induction motor speed control vids? By the way, what is the final objective of FOC; is it to control the speed of the motor slowly until it teaches the full speed?

[@inhibited44]

6:52 is a nice explanation of vector math for current

[@hassanebrahimi8713]

Excellent tutorial.

[@adricat59]

Does anybody know which is the angle that is used in the reverse park transformation for the two correction voltages? The measured or the ones you actually have?

[@tarunbajaj9091]

This is the most indept tutorial for pmsm i have found on the internet. Great video but may have to go through it a few more times u get all of it..

[@danielashbaugh9820]

Great job!

[@avikrajnitdgp]

where can i get a video explaining the field oriented control in a Permanent Magnet Synchronous Generator

[@RathodDharmin]

Can I use the same approach for BLDC ?

[@atahghighi]

Questio! The input to the top sigma block has to be the stimated position , but it's gotten from wrong place. Am I right?

[@naveenreddy1010]

Really Amazing video sir .

[@ramchandrareddyatigadda8748]

awesome tutorial

[@Debraj1978]

Exactly. Even I was wondering the same.

[@giaoconhuynh7330]

Amazing video

[@dohafaris293]

Thank you so much , that's smart 💕✨

[@natezimmer4489]

whoa, LTSpice and not Tina? Neat video, thanks for sharing!

[@danielsanichiban]

TI bought LT before this vid

[@ThePanthersdkfz]

Thank you

[@mohitbhola7104]

Sir can this same be apply to the Permanent Magnet Generator torque control i.e. controlling load on the primemover?

[@khalidMohammed-dg2fi]

thank u Texas instruments. Can I buy complete FOC or V/f system, How much money do they cost?

[@byugrad1024]

Did you make some of those LTSpice components yourself? If not, can you point me to where you found them?

[@ethanlin8332]

I have one question for the system model at time 45:40: We get -K*sin and K*cos, then why do you multiply them cos and sin? In the next step, we get -2K*sin*cos, which is nothing to do with wn and angle.....

[@ddegn]

Is there an updated motor control kit to take the place of TMDS1MTRPFCKIT?

[@akkudakkupl]

About section on the observer - isn't the rotor angle just simply arctan(BEMFa/BEMFb)? Ergo not needing any complicated demodulation in software? Also do we need to measure our alpha and beta voltages, or can we just take them straight from inverse Park transformation that is fed to the inverter?

[@tebbotebbo309]

the LTspice simulation files , where can i get a link to them ???

[@LeonidKorobeynikov]

Great! Do you have this video in better resolution?

[@baderaldeennofal6033]

thanks

[@PlanetPresident]

Do you have a unit that is plug &play, I built a new type of power generator that uses a LG Direct Drive washing machine motor(BLDC) as its primary Driver. what I need is a controller to control the speed of the unit, something ready to connect to my 3 phase wires and to a power source(12v, 120v or 240v).

[@JKDPowerandEnergySolutions]

Nonlinear Speed Control for PMSM System Using Sliding-Mode Control & Disturbance Compensation KZbin demonstration: kzbin.info/www/bejne/ZpLMpmhmerKUn80 High-speed Sliding mode observer: kzbin.info/www/bejne/gpzWhZ2Igdd2itE

[@chehar]

Is this not Direct Torque Control?

[@pablitosax]

Very good video, but for better understanding could you add the subtitles of youtube?

[@luunguyenang6160]

the rotor speed is equal to the synchronous speed which is 50 Hz in my country. you need to change the synchronous speed to change the rotor speed. look at FOC control strategy for permanent magnet synchronous motor, i can't figure it out how this can change the frequency. Can any engineer here explain this for me? I'd appreciate that!

[@circuitdotlt]

Did I understand correctly that this will work well with non-sinusoidal bemf? Also how do you deal with very high erpm, like 150k, which is higher than 10kHz observer? And how about sensorless start under load in EV application?

[@misan2006]

Great tutorial. It's a pity resolution is so low.

[@DehimVerveen]

Do you really need any extra resolution for this presentation?

[@franciskatende1566]

@@DehimVerveen 2yrs later, please ask him that question again

[@harryhalfmoon]

@@DehimVerveen Another summer came and went and we're still waiting for the answer. Miguel, give us a sign of life! For the love of Christ!

[@Cannabic]

Could you please upload again this video with a higher quality? thanks

[@mkacytchannel]

I have a .38HP bldc motor drive and hall sensor damage is it possible to run the motor with vfd.

[@dkeall1]

Excellent lecture. Can you come and teach at my university?

[@nikolaradakovic5050]

Extremely useful video. By the way, how do we estimate flux for asynchronous induction machine?

[@khalidMohammed-dg2fi]

+Nikola Radakovic Dear Nikola, Read chapter 34, Electrical Technology book, authored by Theraja

[@lauronunes7832]

In the 21:20 time section, I see Id and flux commands loose on the diagram. Only commanded Iq is connected?

[@KieranEboard]

can someone tell me, if I have a hall sensor in my BLDC and I drive my motor by Sinusoidal wave current, can I say that I am using FOC?

[@TexasInstruments]

Hi Kieran: Our experts in the motor drivers E2E community may be able to help with questions on FOC. e2e.ti.com/support/applications/motor_drivers/

[@PowerON-Tech]

Great presentation, enjoyed it a lot. Can the LTSpice files be accessed somewhere?

[@dadamkd]

e2e.ti.com/support/archive/motor/m/spice

[@gtoonstra]

Could you tell us which simulator program is being used around 40 minutes?

[@TexasInstruments]

Thanks for your question. The simulation program used was LTSpice.

[@adrishchatterjee8954]

Where can we get the slides?

[@malap123]

May we know, why u are using LT Spice rather than Tina

[@WildMan7856]

LT Spice is built from the ground up to deal with discontinuities. Therefore, LT Spice is great for this since it uses PWM signals.

[@chehar]

This is amazing. How can this you-tube video be referenced for my thesis?

[@TexasInstruments]

Thank you! You should follow any guidelines from your instructor on what style to use to list video resources. Good luck!

[@youssefsalimi7473]

very well explained sir.

[@mazhar214]

Can u please make a video on voltage oriented control and direct power control of pwm rectifiers

[@husseinshutari5209]

awesome video. but I have a question, in time 0f 17:30, How the PI controller converts the error signal into Vd? thank you in advance

[@mohammadrezaadib8999]

it doesn't convert! in fact these signal haven't any unit. these are just numbers that we define and label

[@red_juan]

So technically, FOC is NOT used for Brushless DC motors ??

[@fadymmoussa]

can i use field oriented control on a permenant magnet synchronous generator???

[@GreenTechValidation]

i think you can

[@saraf3306]

On the slide 4, if current Ic is equal to the negative sum of currents Ia and Ib, shouldn't the net current be zero?

[@QSQCaito]

Yes, the net current has to be zero. Whatever is entering through phase A and B MUST come out of phase C. If not there would be charge accumulation.

[@surajg.7369]

I agree net current is zero then "Is" value is zero all the time .How it can drive the motor then ?

[@QSQCaito]

When you plug something on the wall, on your socket the net current is also zero. What comes through one cable leaves through the other. Still you can use the fridge, laptop, etc.. Make sure you understand that first

[@surajg.7369]

Oh right one of them serves as a return path after load.. didn't strike at that moment..Thank you.

[@alexlo7708]

17.00 How can current I pass to the PI integrator then become V voltage? No any physical circuit approved that. Any knowledge I pass R-resistor by multiplying value , So given V-voltage, I pass C-capacitor by integrator I , So given V- voltage and I pass L-inductor by differentiated I , So given V-voltage. Or you don't know PI controller has automatically changed I to V without any description.

[@ElectricalEngineeringApp]

#EEE

[@jjmvos7894]

Slide 4: *Kirchhoff's law

[@ferriswhitehouse1476]

Texas instruments is the best

[@wariskn7096]

So I have some questions, please correct me with that issue as soon as possible as it is so important for me. 1. In our step2 what is the desired current actually ment for is it my reference current which I have provided(let's say 20A) or is it the desired current at the point which should be 90deg to the rotor flux at given period of time(u said it is like that and after sometime you have mentioned about car throttle that is the desired current)..So I am Little bit confused. 2.the d axis is take from the rotor position right so we will get an angle so, what will be the desired angle axis at that point, how we will identify it(we will know the angle from sensor,but the desired will be what) 3 in that video we are inputing the desired speed(proportional to torque and current there will be speed right) so is this will be desired speed compare with the actual speed or is it calculating at the moment at which measured d axis flux should be 0 with respect to the actual flux angle as both are on same reference (As we are measuring with rotating frame of reference we only magnitude not angle). Please correct me with this issue Dale....m so much concerned about it right now...if anybody knows what I am trying to say please resolve my issue..right now I am working with FOC and m facing this trouble.

[@alexlo7708]

I think the post part in clip is some description of sensorless vector control, In case they didn't have rotor position sensor to tell the angle at all. Or may be he use estimated angle from calculation as a feed forward angle in model observer. Actually say, he make use estimated rotor angle to calculate desired torque current instead of real angle from rotor sensor as an excuse that sensor always give lagging value on anytime. So he forwarding estimated it and use them instead.

[@pacerodi]

I guess, the moto is: - Why simplify, when, we can complicate it. Nowadays, we can run a 3 phase motor, with a mosfet(s), and a voltage regulator.

[@maynardr6]

Time to give all my friends more unsolicited knowledge about motors again. They are gonna be soooo bored, but if you're gonna be friends with a geek, you gotta accept the whole package.

[@hisheighnessthesupremebeing]

Bookmark 19

[@ivan868]

Quality is too low!

[@jithinsankar]

മലയാളികൾ ഉണ്ടെൽ like adi

[@bajrangiyadav4351]

mm

[@chrisdrake9160]

The idea "regulate current" is spoken a hundred times, but I'm 99.9% sure that no such thing happens - FETS don't regulate current. This Video needs a preliminary explanation of how an ON/OFF silicon switch is used through PWM to *approximate* a method for current regulation... 5 amps for 1 second is the same as 10 amps for half a second... well - no it is not, but, if you make that time shorter and shorter, you end up with something that comes somewhat close to what you want... but involves wasted heat and lost torque the faster you try to do that... Personally - I think FOC is just plain wrong. All that math only makes sense in theory - as soon as you try to apply it in the real world, it all breaks down from wrong assumptions, shortcuts, and mistaken timing choices. We should NOT be trying to program a "blind" ESC to output what we think is probably the right phase signals - we SHOULD be programming a "smart" ESC to optimise what it is delivering to meet what we are asking for (typically max RPM for Min current (boats/planes) or max torque for constant current (cars/skateboards)), and the ESC itself should be continuously performing micro-adjustments to output ideal optimal signals without involving any human assumptions (you know - those hundreds of numbers you need to program into your ESC software for anything to work - we should not be giving it *any* numbers, it should work it ALL out itself).

[@robertlake2753]

Can't afford conventional circuit simulators? Spot: androidcircuitsolver/app.html

[@Omarbg95]

This video gives me a headache, i thought it was going to be easy but it's not.

[@honzaperoutka]

Really great and useful presentation! Thank you, TI