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Speed Control of PMSM by Sliding Mode Control and PI Control

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 IJMTST Volume: 2 | Issue: 03 | March 2016 | ISSN: 2455-3778

Speed Control of PMSM by Sliding Mode

Control and PI Control

K. Venkata Kishore 1 | Bhavani Sampara 2

1, 2 Department of Electrical and Electronics Engineering, NRI Institute of Technology, Agiripalli, India.

ABSTRACT
Paper Setup must be in A4 size with Margin: Top 1.1 inch, Bottom 1 inch, Left 0.5 inch, Right 0.5 inch,

In order to optimize the speed-control performance of the permanent-magnet synchronous motor (PMSM)
system with different disturbances and uncertainties, a nonlinear speed-control algorithm for the PMSM servo
systems using sliding-mode control and disturbance compensation techniques is developed in this paper.
First, a sliding-mode control and PI control method based on one novel which allows chattering reduction on
control input while maintaining high tracking performance of the controller. Then, an PI control extended
sliding-mode disturbance observer is proposed to estimate lumped uncertainties directly, to compensate
strong disturbances and achieve high servo precisions. Simulation results PI control better than the SMC
control both show the validity of the proposed control approach.

KEYWORDS: Disturbance observer, permanent-magnet synchronous motor (PMSM), Sliding-mode control

(SMC), PI control

Copyright © 2015 International Journal for Modern Trends in Science and Technology
All rights reserved.

successfully applied in many fields[7]-[8]. In the

I. INTRODUCTION sliding-mode approach was applied to a six-phase
In the permanent-magnet synchronous motor induction machine. In a hybrid terminal
(PMSM) control system, the classical proportional sliding-mode observer was proposed based on the
integral (PI) control technique is still popular due nonsingular terminal sliding mode and the
to its simple implementation [1][2]. However, in a high-order sliding mode for the rotor position and
practical PMSM system, there are large quantities speed estimation in one PMSM control system. In
of the disturbances and uncertainties, which may the performance of a sliding-mode controller was
come internally or externally, e.g., unmolded studied using a hybrid controller applied to
dynamics, parameter variation, friction force, and induction motors via sampled closed
load disturbances. It will be very difficult to limit representations. The results were very conclusive
these disturbances rapidly if adopting linear regarding the effectiveness of the sliding-mode
control methods like PI control algorithm[3]-[4]. approach. A sliding-mode controller applied to
Therefore, many nonlinear control methods have induction machine can also be found in [9]-[10].
been adopted to improve the control performances However, the robustness of SMC can only be
in systems with different disturbances and guaranteed by the selection of large control gains,
uncertainties, e.g., robust control sliding-mode while the large gains will lead to the well-known
control (SMC) adaptive control back stepping chattering phenomenon, which can excite
control predictive control intelligent control and so high-frequency dynamics. Thus, some approaches
on[5]-[6]. In these nonlinear control methods, have been proposed to overcome the chattering,
SMC method is well known for its invariant such as continuation control, high-order
proper-ties to certain internal parameter sliding-mode method, complementary
variations and external disturbances, which can sliding-mode method [11], and reaching law
guarantee perfect tracking performance de-spite method. The reaching law approach deals directly
parameters or model uncertainties. It has been with the reaching process, since chattering is

1 International Journal for Modern Trends in Science and Technology

 Speed Control of PMSM by Sliding Mode Control and PI Control

caused by the non-ideal reaching at the end of the surface. A PMSM provides rotation at a fixed speed
reaching phase. In [12]-[13], authors presented in synchronization with the frequency of the power
some reaching laws, which can restrain chattering source, regardless of the fluctuation of the load or
by decreasing gain or making the discontinuous line voltage. The motor runs at a fixed speed
gain a function of sliding-mode surface. In synchronous with mains frequency, at any torque
[14]-[15], a novel exponential reaching law was up to the motor’s operating limit. PMSM are used
presented to design the speed- and in high-accuracy direct-drive applications mainly
current-integrated controller. To suppress due to their advantages. Compared to
chattering problem, system variable was used in conventional DC motors, they have no brushes or
this reaching law[16]-[17]-[18]. However, in the mechanical commutators, which eliminates the
aforementioned reaching laws, the discontinuous problems due to mechanical wear of the moving
gain rapidly decreases because of variation of the parts. In addition, the better heat dissipation
functions of the sliding surface, thus reducing the characteristic and ability to operate at high speed
robustness of the controller near the sliding render them superior to the PMSM drives.
surface and also increasing the reaching
A. Permanent Magnet Synchronous Motor Drive
time[19]-[20]-[21].
The motor drive consists of four main
In order to solve the aforementioned problems,
components, the PM motor, inverter, control unit
a novel reaching law, which is based on the choice
and the position sensor. The components are
of an exponential term that adapts to the
connected as shown in Fig.1.
variations of the sliding-mode surface and system
states, is proposed in this paper. This reaching law
is able to deal with the chattering/reaching time
dilemma. Based on this reaching law, a
sliding-mode speed controller of PMSM is
developed. Then, to further improve the
disturbance rejection performance of SMC
method, extended sliding-mode disturbance
observer (ESMDO) is proposed, and the estimated Fig.1 Drive System Schematic
system disturbance is considered as the feed
forward compensation part to compensate Descriptions of the different components are as
sliding-mode speed controller. Thus, a composite follows
control method combining an SMC part and a feed A permanent magnet synchronous motor
forward compensation part based on ESMDO, (PMSM) is a motor that uses permanent magnets
called SMC+ESMDO method, is developed. to produce the air gap magnetic field rather than
Finally, the effectiveness of the proposed control using electromagnets. These motors have
approach was verified by simulation and significant advantages, attracting the interest of
experimental results. researchers and industry for use in many
applications.
II. LITERATURE REVIEW
III. PI CONTROL AND SMC CONTROL
During the last decade, permanent magnet
synchronous motors have been used widely in the With the ever increasing need for the use of
industry to replace DC motors and induction drives in the modern applications, it is necessary
machines. The main characteristics of these that the drive being used should be compatible.
motors are the low inertia, the high efficiency, The PMSM drives are mostly used in all robotic
power density and reliability. Due these and position control devices. The different
advantages, permanent magnet synchronous techniques employed for the control of this drive
motors are ideal for the applications where a quick system has a direct relation with its performance.
accurate torque control is required.The Permanent So for a system run effectively the drive should
Magnet Synchronous Motor is a rotating electric have smooth performance characteristics. Hence
machine where the stator is a classic three phase the present work relates it to this by the use of
coils like that of an induction motor and the speed sensorless SVMDTC based on EKF with
permanent magnets are located on the rotor SMD controllers.

2 International Journal for Modern Trends in Science and Technology

 IJMTST Volume: 2 | Issue: 03 | March 2016 | ISSN: 2455-3778

A. Speed Sensor less Direct Torque Control (DTC) 4) There are no field current dynamics
Schematic diagram of speed sensorless DTC
control for SPMSM based on EKF is shown as Voltage equations are given by:
Fig.2. Switch voltage vector selection is shown as
TABLE I.

Flux Linkages are given by

Substituting equations 3.3 and 3.4 into 3.1 and

3.2

Fig.2 Speed sensor less DTC for SPMSM for based on EKF

Table 1. Switch Voltage Vector Selection Arranging equations 3.5 and 3.6 in matrix form

Δψ ΔT 1 2 3 4 5 6
1 Us2 Us3 Us4 Us5 Us6 Us1
0 Us7 Us8 Us7 Us8 Us7 Us8
1 -1 Us6 Us1 Us2 Us3 Us4 Us5 The developed torque motor is being given by
1 Us3 Us4 Us5 Us6 Us1 Us2
-1 0 Us8 Us7 Us8 Us7 Us8 Us7
-1 Us5 Us6 Us1 Us2 Us3 Us4
The mechanical torque equation is

B. Detailed Modeling of PMSM

Detailed modeling of PM motor drive system is
required for proper simulation of the system. The Solving for the rotor mechanical speed from
d-q model has been developed on rotor reference equation 3.9
frame as shown in Fig. 2 At any time t, the rotating
rotor d-axis makes and angle ¸r with the fixed
stator phase axis and rotating stator mmf makes
And
an angle ± with the rotor d-axis. Stator mmf
rotates at the same speed as that of the rotor.

In the above equations ωr is the rotor electrical

speed ωm is the rotor mechanical speed

C. Parks Transformation and d-q Modeling

The dynamic d q modeling is used for the study
of motor during transient and steady state. It is
done by converting the three phase voltage s and
currents to dqo variables by using parks
Fig. 3 Motor axis transformation.
Converting the phase voltages Vabc to Vdqo
The model of PMSM without damper winding variables in rotor reference frame the following
has been developed on rotor reference frame using equations are obtained
the following assumptions:
1) Saturation is neglected.
2) The induced EMF is sinusoidal.
3) Eddy currents and hysteresis losses are
negligible

3 International Journal for Modern Trends in Science and Technology

 Speed Control of PMSM by Sliding Mode Control and PI Control

Convert Vdqo to Vabc load disturbance of the ESMDO and load

disturbance command are shown in It can be
observed that the ESMDO can estimate the
disturbance exactly and quickly with low
chattering.
D. Equivalent Circuit of Permanent Magnet Motor
Equivalent circuits of the motors are used for va
i-alphabeta

study and simulation of motors, from the d-q

PI T
wr
Demux
Timer Satur vb
Tf fig 8(a)
Discrete te
PI Controller Uphase

modeling of the motor using the stator voltage

vc fig 11(e)
f lux
Vab
flux Table
PHIs TL Demux
phidq

equations the equivalent circuit of the motor can

torque
DTCSVM Timer1 PHASE ID AND IQ
From PMSM MODEL1

be derived. Assuming rotor d axis flux from the phis

From1
Demux

permanent magnets is represented by a constant

current source as described in the following Out1
In1

In2
theta
w
Vao
calculation of angular and velocity

equation.
Fig 5: Simulation diagram for PMSM drive for PI Control

3 400 Vcc
fl ux i ni t
f lux Ua
Vphace 1
1 Te
Out Dem ux Ub Uphase
T T f
T ransport
PHIs del ay Uc
tabl e
i nverter

Hol d1

2
Fig.4.Permanent magnet motor electric circuit without Tf

damper windings 4
PHIs
Hol d2

Fig 6: Simulation diagram for DTCSVM

IV. SIMULINK RESULTS 3
te

In this section, to demonstrate the 1

va
va
vd
vd
lambdad
lambdad
2
wr

effectiveness of the proposed SMC+ESMDO

2 vb
id id
te
vb
wr te wr
3 vc
lambdaq
4 TL
lambdaq
vc TL

approach, simulations, and experiments of the PI

vq
theta speed
iq
vq
iq
Subsystem torque

method and the SMC+ESMDO method in one

5
phidq

Integrator
1

PMSM system were made. Simulations are

s

established in MATLAB/Simulink,
va
id i-alphabeta
v -alpha
i-alpha

vb iq -K-
4 u[1]
Vab
i-beta Gain5
vc
v -beta theta Fcn

A. PI Control: Subsystem1 f(u) -K-

VOLTAGE
3PH TO 2PH Fcn1 Gain6
CONVERSION
f(u) -K-

The PI simulation parameters of the both Fcn2 Gain7

current loops are the same: the proportional gain

Kpc = 10, the integral gain Kic = 2.61. The PI Fig 7: Simulation diagram for PMSM model
simulation parameter of the speed loop is that
proportional gain Kps = 0.5, and integral gain Kis =
20. The parameters of the SMC+ESMDO speed
loop are: k = 20, δ = 10, ε = 0.1, and x1 = e. The
simulation results of the PI controller and the
SMC+ESMDO controller . From the simulation
results, it can be observed that the SMC+ESMDO
method has a smaller overshoot and a shorter
settling time compared with the PI method when
the reference speed is 1000 r/min. Moreover,
when load torque TL = 4 N·m is added suddenly at
t = 0.1 s and removed at t = 0.2 s, the
SMC+ESMDOmethod gives less speed and
electrical magnetic torque fluctuations. Estimated Fig 8: Simulation results for flux linkages for PI Control

4 International Journal for Modern Trends in Science and Technology

 IJMTST Volume: 2 | Issue: 03 | March 2016 | ISSN: 2455-3778

The above graph shows the relation between

flux linkages between the direct and quadrature
axis

Fig 13: Simulation results for speed of PMSM drive for SMC
Control

Fig 9: Simulation results for speed of PMSM drive for PI

Control

Fig 14: Simulation results for torque of PMSM Drive for SMC
Fig 10: Simulation results for torque of PMSM Drive for PI
control
control

First, an SMC speed controller should be

B. SMC Control: constructed according to the proposed reaching
va
i-alphabeta
law, and then drives the PMSM. Second, the
ESMDO can also be constructed using the, then
PI T
wr
Demux vb
Timer Satur
Tf fig 8(a)
Discrete te

we need to test the effectiveness of the ESMDO

PI Controller Uphase
vc fig 11(e)
f lux
Vab
flux Table
PHIs TL Demux

when the load is added or removed suddenly. If the

torque phidq
DTCSVM Timer1 PHASE ID AND IQ
From PMSM MODEL1

phis

From1
disturbance estimate is different from the actual
load, one must check whether the parameters of
In1

Out1
In1
the ESMDO are right. Finally, if the ESMDO can
estimate disturbances exactly, estimated
Out1
In2
theta
w
In2
calculation of angular and velocity

slidingmode disturbances can be considered as the feed

forward part to compensate disturbances
Fig 11: Simulation diagram for PMSM drive for SMC Control

V. CONCLUSION
In this paper, one nonlinear SMC algorithm is
proposed and has been A novel SMRL method is
introduced to control the chattering. In order to
estimate system PI disturbances, one extended
sliding-mode disturbance observer is presented. A
composite control method that combines PI and
SMC is developed to further improve the
disturbance rejection ability of SMC system.
Simulation results have validated the proposed
method.

Fig 12: Simulation results for flux linkages for SMC Control

5 International Journal for Modern Trends in Science and Technology

 Speed Control of PMSM by Sliding Mode Control and PI Control

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6 International Journal for Modern Trends in Science and Technology

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