International Journa l of Multidisciplina ry Research and Development

Volume: 2, Issue: 6, 354-359

June 2015 Simulation of PMSM Speed Control System with
www.allsubjectjournal.com Vector Control Method based on Matlab
e-ISSN: 2349-4182
p-ISSN: 2349-5979
Impact Factor: 3.762 Harshada V. Deo, R. U. Shekokar
Harshada V. Deo Abstract
Department of Electronics Permanent magnet synchronous motors (PMSM) are used in various motion control applications in
& Telecommunication, industry and it maximizes the performance in variable speed application. There are many approaches
RMDSSOE, Savitribai Phule regarding both the controller type used for PMSM and the hardware-software implementations. The aim
Pune University, Warje, of this study is modeling and simulation of a permanent magnet synchronous motor speed controller by
Pune, 411058, India effective use vector control method with space vector pulse width modulation. The modeling &
simulation for speed control system of PMSM is developed using Matlab Simulink environment and
R. U. Shekokar various parameters for speed control are analyzed through simulations.
Department of Electronics
Keywords: PMSM, vector control, FOC, Matlab, modeling and simulation, SVPWM.
& Telecommunication,
RMDSSOE, Savitribai Phule 1. Introduction
Pune University, Warje, The permanent magnet synchronous motor is increasingly playing an important role in
Pune, 411058, India
advanced motor drives. A "permanent magnet synchronous motor" (PMSM) or "permanent-
magnet motor" (PMM) is a synchronous motor that uses permanent magnets rather than
windings in the rotor that create constant magnetic field. The PMSM can be thought of as a
cross between an AC induction motor and a brushless DC motor (BLDC). They have rotor
structures similar to BLDC motors which contain permanent magnets. However, their stator
structure resembles that of its ACIM, where the windings are constructed in such a way as to
produce a sinusoidal flux density in the airgap of the machine. As a result, they perform best
when driven by sinusoidal waveforms. The use of magnets enables an efficient use of the
radial space and replaces the rotor windings, therefore suppressing the rotor copper losses.
There are two types of PMSM depending on the mounting of permanent magnets. One is
surface mounted PMSM and another is interior permanent magnet. Interior permanent magnet
(IPM) is the most widely used type in PMSM.

Fig 1: Permanent Magnet Synchronous Motor

Correspondence:
Harshada V. Deo
Department of Electronics
& Telecommunication,
RMDSSOE, Savitribai Phule
Pune University, Warje,
Pune, 411058, India Fig 2: Types of PMSM

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Because of their high performance cost ratio, these are mostly The goal of field oriented control on the synchronous and
used in variable speed applications. PMSM has gained a wide asynchronous machine is to separately control the torque
acceptance in motion control applications due to its high producing and magnetizing the flux components. The FOC
performance, compact structure, high air-gap flux density, allows you to decouple the torque and the magnetizing flux
high power density, high torque to inertia ratio, and high components of stator current. According to the
efficiency. Recent research has reported that the PMSM is electromagnetic laws, the torque produced in the synchronous
being increasingly used in high-performance applications, machine is equal to the vector cross product of the two
such as robots and industrial machines and motor drives. But existing magnetic fields of stator and rotor. With decoupled
these require speed controllers that provide not only accuracy control of the magnetization, the torque producing component
and high performance, but also flexibility and efficiency in the of the stator flux can be considered as independent torque
design process and implementation. But in industrial control. To decouple the torque and flux, it is necessary to
applications, there are many uncertainties, such as system engage several mathematical transforms. Clarke
parameter uncertainty, external load disturbance, friction transformation converts balanced three-phase quantities into
force, unmodeled uncertainty, which diminish the balanced two-phase quadrature quantities. Park transformation
performance quality of the motor driving system. To cope converts vectors in balanced two-phase orthogonal stationary
with this problem, in recent years, many intelligent control system into orthogonal rotating reference frame. In brief, the
techniques and other control methods have been developed three-phase voltages, currents, and fluxes of the AC-motors
and applied. Therefore the various control strategies and can be analyzed in terms of complex space vectors and if you
methodologies are available for speed control of PMSM. know the right rotor flux position then, the d,q component
Permanent magnet motor control is mainly consisting of the becomes a constant. At this point, the control becomes easier
type of controller used and the implemented algorithm. There where constant isd (flux component) and isq (torque
are many approaches regarding both the controller type used component) current components controlled independently
for drive system and hardware-software implementation. To using PI controllers for respective component. The reference
enhance the control performance, in recent years, many parameters and feedback parameters are input to PI
control methods have been developed such as Linearization controllers. PI controller consists of a proportional gain that
control, Adaptive control, Robust control, Sliding mode produces an output proportional to the input, eliminating the
control, Finite time control, Fractional order control, Fuzzy error. Using PI control, the steady state error can be brought
control, Neural network control. These approaches improve down to zero, and simultaneously, the transient response can
the control performance of the motor from different aspects. be improved. Then Inverse Park and Inverse Clarke are used
Control of torque, rotation speed, position and low speed to obtain three phase quantities from two phase reference
operation, with high-performance dynamic behavior, are often frame. Duty cycle or pulses are generated by using the space
required in industrial applications but they are sensitive from vector PWM generator & are applied to the inverter. Inverter
the standpoint of the control strategies reliability. Vector drives permanent magnet synchronous motor to generate
control (also called Field-Oriented Control, FOC) is one of the controlled rotor speed.
methods used in variable frequency drives to control the In addition to the decoupling, model of the motor is used for
torque and thus finally the speed of three-phase AC electric the computation of many quantities such as rotor flux angle
motors. Vector control provides better dynamic responses, and rotor speed. The angle or position is obtained by using
more accurate machine torque regulation and often more encoder and used in transformations. This means that their
silent operations. effect is accounted for and the overall quality of control is
better.
2. Field Oriented Control principle for speed control of
PMSM
In order to achieve better dynamic performance, an efficient
control scheme needs to be applied to control the PM motor.
With the mathematical processing, advanced control strategies
can be implemented, which uses mathematical
transformations in order to decouple the torque generation and
the magnetization functions in the PM motors. These are
called as field oriented control or vector control.
In DC motors, the flux and torque producing currents are
orthogonal. So the magneto motive forces, developed by these
currents are also held orthogonal and hence they can be
controlled independently. AC machines do not have the same
key features as the DC motor. On the synchronous machine,
the rotor excitation is given by the permanent magnets
mounted onto the shaft. On the synchronous motor, the only
source of power and magnetic field is the stator phase voltage. Fig 3: Block Diagram of field oriented control
Obviously, the flux and torque depend on each other. So in
AC machines, the stator and rotor fields are not orthogonal to A. Transformations Theory
each other. The only source that can be controlled is the stator The performance of three-phase AC machines is described by
current. The FOC consists of controlling the stator currents their voltage equations and inductances. A change of variables
represented by a vector. This control is based on projections is often used to reduce the complexity of these differential
that transform a three phase time and speed dependent system equations. FOC technique involves three reference frames and
into a two coordinate (d and q coordinates) time invariant needs transformations from one to the other. The Clarke and
system. park transforms & their inverse transforms are used for it.
Clarke and Park transformations are mainly used in vector
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control architectures related to permanent magnet c. Park Transformation

synchronous machines (PMSM) and asynchronous machines. The two-axis orthogonal stationary reference frame quantities
Using these transformations, many properties of electric are transformed into rotating reference frame quantities using
machines can be studied without complexities in the voltage Park transformation (ɑ-βd-q) as shown in Figure. The Park
equations. transformation is expressed by the following equations:
= ∗cos( )+ ∗sin( )
a. Clarke Transformation = ∗cos( )− ∗sin( )
Clarke transformation converts balanced three-phase where, Id, Iq are rotating reference frame quantities. Iα, Iβ are
quantities into balanced two-phase quantities (a-b-cɑ-β). orthogonal stationary reference frame quantities. θ is the
The three-phase quantities are translated from the three-phase rotation angle
reference frame to the two-axis orthogonal stationary
reference frame as shown in Figure. The Clarke
transformation is expressed by the following equations:
=2/3( )−1/3( − )
=2/√3( − )
where, Ia, Ib, and Ic are three-phase quantities.

Fig 6: Park transformation

Fig 4: Clarke transformation
d. Inverse Park Transformation
Iα and Iβ are stationary orthogonal reference frame quantities. The quantities in rotating reference frame are transformed to
When Iα is superposed with Ia and Ia + Ib + Ic is zero, Ia, Ib, two-axis orthogonal stationary reference frame using Inverse
and Ic can be transformed to Iα and Iβ as: Park transformation (d-qɑ-β) as shown in Figure. The
= Inverse Park transformation is expressed by the following
=1/√3( +2 ) equations:
where, Ia + Ib + Ic = 0 = ∗cos( )− ∗sin( )
= ∗cos( )+ ∗sin( )
b. Inverse Clarke Transformation where, Vα, Vβ are orthogonal stationary reference frame
The transformation from a two-axis orthogonal stationary quantities. Vd, Vq are rotating reference frame quantities.
reference frame to a three-phase stationary reference frame is
accomplished using inverse clarke transformation (ɑ-β  a-b-
c). as shown in Figure. The Inverse Clarke transformation is
expressed by the following equations:
=
=(− +√3∗ )/2
=(− −√3∗ )/2
where,Va, Vb, Vc are three-phase quantities. Vα, Vβ are
stationary orthogonal reference frame quantities

Fig 7: Inverse Park transformation

Basically, the three reference frames considered in this

implementation are:

1. Three-phase reference frame, in which Ia, Ib, and Ic are

co-planar three-phase quantities at an angle of 120
degrees to each other.
2. Orthogonal stationary reference frame, in which Iα (along
α axis) and Iβ (along β axis) are perpendicular to each
other, but in the same plane as the three-phase reference
Fig 5: Inverse Clarke transformation frame.

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3. Orthogonal rotating reference frame, in which Id is at an where, Va′, Vb′ and Vc′ are the third harmonic injected phase
angle θ (rotation angle) to the α axis and Iq is voltages.
perpendicular to Id along the q axis.
The combined representation of the quantities in the entire
reference frames is shown in Figure.

Fig 9: PWM Duty cycles for Space Vector Pulse Width Modulation

The main objectives of space vector pulse width modulation is

to generate gate pulses that have wide linear modulation
range, less switching loss, less total harmonic distortion in the
Fig 8: Combined Vector representation spectrum of switching waveform, easy implementation and
less computational calculations.
B. Space Vector Modulation
The output of the Inverse Clarke transformation provides the 3. Simulation & Result
duty cycles of the PWM channels that correspond to the three- Simulation tools have the capabilities of performing dynamic
phase voltages. For Sinusoidal excitation of the phase simulations of motor drives in a visual environment so as to
voltages, these duty cycle values can be used directly. There facilitate the development of new systems. Matlab Simulink
are many conventional ways of implementing the available has the advantages of being capable of complex dynamic
space vector pulse width modulation (SVPWM) algorithms. system simulations, graphical environment and broad
The objective of SVPWM technique is to generate average selection of tool boxes. The simulation environment of
output of inverter by approximating reference voltage. Simulink has a high flexibility and expandability which
The basic approach of SVPWM refers to selecting a special allows the possibility of development of a set of functions for
switching sequence of power transistors of three phase a detailed analysis of the electrical drive. Its graphical
inverter. Voltage is divided into sectors i.e set of vectors interface allows selection of functional blocks, their
which are created by various switching states and the average placement on a worksheet, selection of their functional
output is obtained in the small time period. The first step is to parameters interactively, and description of signal flow.
determine in which sector the voltage vector defined by The simulation of PMSM drive is done in Matlab Simulink
Vsɑref, Vsβref is found. The second step is to calculate and environment. The entire PMSM control system can be
saturate the duration of the two sector boundary vectors divided into several independent functional modules: PMSM
application. The third step is to compute the three necessary module, inverter module and coordinate transformation
duty cycles. The last step is to assign the right duty cycle module and SVPWM production module, PI controller and so
(txon) to the right motor phase. It generates less harmonic on. By combining these modules simulation model of PMSM
distortions in output voltage or output current applied to control system has been developed. The diagram shows the
phases of an AC motor and to provide more efficient use of Matlab Simulink model for speed control system of PMSM.
supply voltage.
A simplified approach, which is equivalent to the
conventional modulation strategy, can be used. In this
approach, the instantaneous average of the minimum and
maximum of all three-phase voltages is calculated as the
Voltage offset. This instantaneous Voltage offset is then
subtracted from each of the instantaneous three-phase
voltages. This method is known as SVPWM MIN-MAX
method. The Va, Vb, and Vc outputs of the Inverse Clarke
transformation that correspond to the phase voltages A, B, and
C respectively. The following equations are used for the
SVPWM MIN-MAX method (sine with third harmonics
injection).
= [( , , )+ ( , , )]/2
′= − Fig 10: Matlab/Simulink Model for PMSM speed control system
′= − f
′= − The simulation consists of several steps. The Space Vector
Generation using Clark & Park transforms has been
implemented. The inner current loop is present with two PI
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controllers for d and q axis separately. The speed and angle Table 1
measurement is done by using Encoder. Then outer speed Pole pairs P 1
loop is present with PI speed controller. The drive system Stator Resistance Rs 1.6 Ω
consists of the motor model, average value inverter fed by a Inductances Ld=Lq 0. 006365 H
200 V dc supply. The duty cycles are provided to inverter by Inertia J 0.0001854
the SVPWM block. The inverter drives the motor to generate DC voltage 200V
controlled rotor speed. To check the model performance and Encoder resolution 2000
field oriented control, conditions for different DC voltage
values are simulated and the results are analyzed. Figures shows the final harmonic injected phase voltage
The motor control and input parameters are defined for the waveforms corresponding to each phase, then stator currents
system given in Table 1. Based on these parameters, duty and rotor speed.
cycles, stator current and rotor speed are observed.

(a) Voltage for three phases (PWM Duty cycles)

(b) Stator current

(c) Rotor speed

Fig 11: Simulation waveforms

From graph it is observed that duty Cycle varies from 0.4 to level of voltage input. For Stator Current, graph shows the
0.6, stator current range is 30 to -30, rotor speed range is rotation rate of the stator's magnetic field (based on three
46.35 to 46.55 rad/s which is almost constant. Duty cycle vary phase input), which is expressed in revolutions in time scale.
a bit based on the waveform as waveform varies for different For rotor speed, graph shows the rotating magnetic field
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against the time scale. Simulations are carried out for different
DC voltage values and analyzed.

5. Conclusion
The graphs show the simulations for 200V DC voltage. The
Matlab Simulink model for PMSM drive and speed control
system with field oriented control for different DC voltage
values is simulated and the results are analyzed. Matlab
Simulink library provides easy modeling of PMSM drives and
the simulated results can be helpful in implementation of the
drive. The transient and steady state values of current, speed
and duty cycles are analyzed. From the graph and analysis is
clear that the variation is not in Rotor Speed and Stator
Current. It means system design is capable enough to maintain
the constant speed within the variation of input. This means
rotor speed is maintained within the tolerance range for the
given input. Thus this technique has the advantage of less
overshoot and quick response.

6. References
1. Pillay, P. Krishnan, R., “Modeling, Simulation, and
Analysis of Permanent-Magnet Motor Drives , Part I: The
Permanent-Magnet Synchronous Motor Drive”, IEEE
Transactions On Industry Applications, Vol. 25, No. 2,
March-april 1989.
2. Tianwen Li, Qingdong Yang, Baoying Peng, “Research
on Permanent Magnet Linear Synchronous Motor Control
System Simulation”, AASRI Conference on Modeling,
Identification and Control, Elsevier, 2012.
3. Liu T., Tan Yu, Wu Gang, Wang S., “Simulation of
PMSM Vector Control System Based on
Matlab/Simulink”, International Conference on
Measuring Technology and Mechatronics Automation,
2009.
4. Zhonghui Zhang, Jiao Shu, “Matlab-based Permanent
Magnet Synchronous Motor Vector Control Simulation”
IEEE, 2010.
5. R. K. Madhu and A. Mathew, “Matlab/Simulink Model
Of Field Oriented Control Of PMSM Drive Using Space
Vectors”, International Journal of Advances in
Engineering & Technology, July 2013.

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