Module 2
Electric motors for EVs
Module 2: Drivetrain: Electric Motors for EVs
DC Motor
Module 2: Drivetrain: Electric Motors for EVs
DC Motor
Module 2: Drivetrain: Electric Motors for EVs
AC Induction Motor
Stator Squirrel Cage Rotor Slip ring type rotor or wound rotor
Module 2: Drivetrain: Electric Motors for EVs
AC Induction Motor Working Principle
1. [Link]
2. [Link]
Module 2: Drivetrain: Electric Motors for EVs
PMSM Motor
[Link]
Module 2: Drivetrain: Electric Motors for EVs
BLDC Motor
1. [Link]
Module 2: Drivetrain: Electric Motors for EVs
Reluctance Motors
1. Switched Reluctance Motor vs Synchronous Reluctance Motor, SRM vs SYNRM, Know which is better.
2. PY SD VS58 UV 16x9
3. Reluctance motors explained
Motor Control Algorithms
• The Constant V/f control method is used to control the speed of a three-phase
induction motor by maintaining a constant ratio of applied voltage (V) to supply
frequency (f).
• The principle is based on the fact that the magnetic flux in the motor depends
on the V/f ratio.
• To avoid core saturation at low frequencies and under-fluxing at high
frequencies, the voltage is varied proportionally with frequency such that:
• V/f=Constant
• This keeps the flux constant, ensuring stable torque and efficient operation
across a wide speed range.
• The method is simple, cost-effective, and widely used for variable speed control
in industrial applications.
Motor Control Algorithms
Field Oriented Control
• Working of FOC Scheme
• Reference Inputs:
• Desired motor speed (ω*) and torque (or current) are provided as input.
• Current Transformation (abc → dq):
• The three-phase stator currents (Ia, Ib, Ic) are transformed into dq-axis
components (Id and Iq) in a rotating reference frame aligned with the rotor flux.
• PI Controllers:
• The Id component controls flux, and the Iq component controls torque.
• Errors between reference and actual currents are processed by PI controllers to
generate voltage commands in the dq frame.
• Inverse Transformation (dq → abc):
• The voltage commands are transformed back to three-phase stationary frame
voltages.
• PWM & Voltage Source Inverter:
• PWM signals drive the inverter switches to apply the calculated voltages to the
motor.
• Motor Operation:
• The stator currents produce a rotating magnetic field.
• Rotor flux aligns with the stator field, producing controlled torque and speed.
Motor Control Algorithms
Field Oriented Control
• 1. Clarke Transformation (abc → αβ):
Converts the three-phase (a, b, c) stator currents or
voltages into a two-phase orthogonal stationary
reference frame (α, β).
• 2. Park Transformation (αβ → dq):
Converts the stationary two-phase (α, β) quantities into
a rotating reference frame (d, q) aligned with the rotor
flux. This simplifies control by decoupling torque and flux
control.
• 3. Inverse Park Transformation (dq → αβ):
Converts control signals from the rotating (d, q) frame
back into stationary (α, β) frame.
• 4. Inverse Clarke Transformation (αβ → abc):
Converts the (α, β) components back into three-phase (a,
b, c) signals to generate appropriate gate signals for the
inverter.
Direct Torque Control
Motor Control Algorithms
• The core of the control system in DTC is the sub-system containing torque and flux
hysteresis controller and optimal inverter switching logic induction motor.
• In this system the instantaneous values of the flux and torque are calculated from only
the primary variables.
• They can be controlled directly and independent by selecting optimum inverter
switching modes.
• The selection is made so as to restrict the errors of the flux and torque within the
hysteresis band and to obtain the faster torque response and highest efficiency at every
instant.
• In an induction motor the stator flux can vary quickly compared to rotor flux. DTC
makes use of this property.
• The DTC uses two hysteresis controllers namely flux controller and torque controller to
achieve this. The control variables flux and torque are expressed in terms of stator
variables.
• So the estimation and control of these variables becomes simple.
• The output of the controller determines the switch positions of the inverter which in turn
accelerate or decelerate the stator flux.
• Hence the torque is changed at faster rate.
• At the same time flux controller tries to keep the operating flux around the reference.
Motor Control Algorithms
Parameter FOC (Field Oriented Control) DTC (Direct Torque Control)
Controls stator currents by transforming them into rotating reference frame (d-q Directly controls stator flux and electromagnetic torque using
Control Principle
axes). hysteresis controllers.
Relatively simpler control structure: No coordinate
Relatively complex: Requires coordinate transformations (Park and Clarke transforms),
Controller Complexity transformation or PWM required. Uses hysteresis comparators
PI controllers, PWM generation.
and switching table.
Good dynamic response, but slightly slower due to PI controller action and PWM Faster dynamic response due to direct control of torque and
Dynamic Response
update cycle. flux without intermediate loops.
Lower torque and flux ripple due to precise control by PWM and closed-loop Higher torque and flux ripple due to switching between voltage
Torque and Flux Ripple
regulation. vectors based on hysteresis bands.
High accuracy in controlling torque and speed, suitable for applications requiring Less accuracy compared to FOC, but sufficient for many EV
Control Accuracy
precise control. applications.
Lower computational load; simpler algorithms and fewer
Computational Load Higher computational load because of transformations and PI control loops.
calculations.
Implementation Cost More complex hardware (due to fast digital controllers needed). Simpler implementation, lower hardware cost.
Typically uses Hall sensors or sensorless methods for flux
Sensor Requirement Requires accurate rotor position sensors or estimators for coordinate transformations.
estimation.
Efficiency at Low Speeds Efficient and smooth operation even at low speeds. Slightly less efficient at very low speeds due to higher ripple.
More robust to parameter variations because flux and torque
Robustness to Parameter Variations More sensitive to motor parameter variations (requires accurate motor parameters).
are controlled directly.
Often used in industrial applications or cost-sensitive EV
Application in EVs Common in high-performance EVs requiring precise torque control.
designs.
Integration of electric motors into vehicle
architecture and drive train systems.
PowerPoint Presentation
Sample Questions
1. Illustrate working principle of following motors with the help of basic construction.
a. Three phase induction motor
b. PMSM motor
c. Switched Reluctance Motor
d. BLDC Motor
2. Compare performance of different types of motors.
3. Advantages and limitations of motors for EV integration. (PMSM and Reluctance Motors)
4. Compare different types of reluctance motors used in EV.
5. Discuss working of FOC scheme with the help of block diagram.
6. Discuss working of DTC scheme with the help of block diagram.
7. Discuss integration of motors into EV, its impact on vehicle deisgn, weight distribution, and overall
performance.
8. Discuss different EV drivetrain configurations.