Voltage optimization technique for a permanent magnet motor used in an electric submersible pump
A method for controlling a permanent magnet (PM) synchronous motor in an ESP application is provided. A load angle of the PM motor is estimated. A voltage adjustment value is determined for the PM motor based at least on the estimated load angle of the PM motor. A voltage to be applied to the PM motor is determined based on the voltage adjustment value.
1. A method for controlling a permanent magnet (PM) synchronous motor, comprising:
estimating a load angle of the PM motor by:
estimating a rotor angle of the PM motor, wherein the rotor angle corresponds to an induced electromagnetic field (EMF) within the PM motor;
obtaining an open loop reference angle of the PM motor, wherein the reference angle corresponds to a terminal voltage of the PM motor; and
calculating the load angle as a difference between the open loop reference angle and the rotor angle;
determining a voltage adjustment value for the PM motor based at least on the estimated load angle of the PM motor; and
determining a voltage to be applied to the PM motor based on the voltage adjustment value.
2. The method of claim 1 , further comprising estimating the rotor angle of the PM motor based on a current being output for application to the PM motor and a voltage being output for application to the PM motor.
3. The method of claim 1 , further comprising determining an estimated speed of the PM motor based on a current being output for application to the PM motor and a voltage being output for application to the PM motor.
4. The method of claim 1 , wherein determining the voltage adjustment value for the PM motor comprises:
detecting that the estimated load angle has decreased from a previous estimate of the load angle; and
in response, determining a negative voltage adjustment value to lower the voltage being applied to the PM motor and increase the load angle of the PM motor to a predetermined value.
5. The method of claim 1 , wherein determining the voltage adjustment value for the PM motor comprises:
detecting that the estimated load angle has increased from a previous estimate of the load angle; and
in response, determining a positive voltage adjustment value to raise the voltage being applied to the PM motor and decrease the load angle of the PM motor to a predetermined value.
6. The method of claim 1 , further comprising:
estimating a power factor related to the PM motor, wherein the power factor is indicative of a level of efficiency of operation of the PM motor, wherein the voltage adjustment value for the PM motor is determined based on a combination of the estimated load angle and the estimated power factor.
7. The method of claim 6 , wherein estimating the power factor comprises calculating the power offset based on a current being output for application to the PM motor and an open loop reference angle of the PM motor, wherein the reference angle corresponds to a terminal voltage of the PM motor.
8. The method of claim 6 , wherein determining the voltage adjustment value for the PM motor comprises:
detecting that the estimated load angle has decreased from a previous estimate of the load angle;
detecting that the estimated power factor has fallen below a predetermined value or a predetermined range of values; and
in response, determining a negative voltage adjustment value to lower the voltage being applied to the PM motor and increase the load angle of the PM motor to cause the power factor to increase to the predetermined value or to a value within the predetermined range of values.
9. The method of claim 6 , wherein determining the voltage adjustment value for the PM motor comprises:
detecting that the estimated load angle has increased from a previous estimate of the load angle;
detecting that the estimated power factor has increased above a predetermined value or a predetermined range of values; and
in response, determining a positive voltage adjustment value to raise the voltage being applied to the PM motor and decrease the load angle of the PM motor to cause the power factor to decrease to the predetermined value or to a value within the predetermined range of values.
10. A computer-readable medium for storing instructions which when processed by at least one processor perform a method for controlling a permanent magnet (PM) synchronous motor, the method comprising:
estimating a load angle of the PM motor by:
estimating a rotor angle of the PM motor, wherein the rotor angle corresponds to an induced electromagnetic field (EFM) within the PM motor;
obtaining an open loop reference angle of the PM motor, wherein the reference angle corresponds to a terminal voltage of the PM motor; and
calculating the load angle as a difference between the open loop reference angle and the rotor angle;
determining a voltage adjustment value for the PM motor based at least on the estimated load angle of the PM motor; and
determining a voltage to be applied to the PM motor based on the voltage adjustment value.
11. The computer-readable medium of claim 10 , further comprising instructions for:
estimating a power factor related to the PM motor, wherein the power factor is indicative of a level of efficiency of operation of the PM motor, wherein the voltage adjustment value for the PM motor is determined based on a combination of the estimated load angle and the estimated power factor.