2015 IEEE 12th International Conference on Electronic Measurement & Instruments ICEMI'2015

Active disturbance rejection control strategy for symmetrical six-phase and

three-phase PMSM two-motor series-connected system

Xiao Zhicai, Wang Jing, Liu Huasong, Han Haopeng, Liu Lingshun
Department of Control Engineering, Naval Aeronautical and Astronautical, YanTai 264001, China
Email: [email protected]

Abstract -Multiphase multi-motor series-connected drive system Symmetrical six-phase PMSM and three-phase PMSM
can achieve independent operating supplied from a single two-motor series-connected system is research object,
inverter, which has obvious advantages of save inverter legs and which applies ADRC method to the speed regulator. A
space of the system. The dynamic response speed and overshoot
model of symmetrical six-phase series-connected
is contradictory and the system is weak in terms of
three-phase PMSM tow-motor system based on ADRC
anti-interference in classical PI speed regulator. In this paper, an
speed regulator is built in matlab/simulink. [t is verified
active disturbance rejection controller (ADRC) is applied to the
speed control of the symmetrical six-phase and three-phase
through comparison with classical P[ control that speed
PMSM two-motor series-connected system. The system model regulator based on ADRC can eliminate the contradiction
based on the speed control system using ADRC in between dynamic response speed and overshoot and
Matlablsimulink is built. Simulation results show that ADRC can improve anti-interference performance.
follow the reference speed quickly without overshoot and
enhance the robustness of the system.
Keywords -Symmetric six-phase PMSM; Three-phase PMSM;
II. PRINCIPLE OF SYMMETRICAL
Series-connected; ADRC
SIX-PHASE PMSM AND
I. INTRODUCTION THREE-PHASE PMSM TWO
MOTOR SERIES-CONNECTED
Multi-motor variable speed drive system has theoretical SYSTEM
research and application significance in the fields of ship
traction and More-Electric-Aircraft. However, the According to the general theory of multi-phase machine,
disadvantages of traditional multi-motor variable speed flux and torque control of multiphase motor can be
drive system greatly limit its application. To improve the achieved by two current components of a-� plane and is
performance of multi-motor variable speed drive system, it independent from current components of the other planes,
is necessary to solve the problem of independent operation which making current of the other planes free current
of motors in multi-motor system supplied from a single components. Excess free current components may be
inverter. According to electric motor theories, a number of utilized to series-connected a certain number of multiphase
series-connected multiphase motors following appropriate motors. However, in order to achieve independent
phase sequence transposition rules can enable independent decoupled control of series-connected motors, it is
operation of multi-motors supplied from a single necessary to connect multiphase stator windings of the
inverter[1-2l. This series-connected system has the obvious machines in series and perform an appropriate phase
advantages of saving the number of inverter legs and space. sequence transposition[3-5l.
In this paper, the symmetrical six-phase and three-phase Series-connected system of symmetrical six-phase
PMSM series-connected is the research object because of PMSM and three-phase PMSM is shown in Fig 1. Output
the excellent properties of PMSM[3-4l. current of six-phase inverter projects into three mutually
PMSM may encounter interferences such as unknown orthogonal sub-planes (a-�, and ) by space decoupling
load in practical application. However, presently transposition. Current components of a-� plane are utilized
multiphase motor series-connected drive system adopts to control symmetrical six-phase PMSM and current
classical PI speed regulation method. The structure of PI components of plane are utilized to control three-phase
regulator would cause contradiction between dynamic PMSM. Stator windings of symmetrical six-phase PMSM
response speed and overshoot in the system at the initial and three-phase PMSM are connected through appropriate
time of process control and is weak in anti-interference. It phase sequence transposition. Thus realizing independent
is difficult for this kind of linear regulator to meet high decoupled control of two machines supplied from a single
regulating performance requirement. Active Disturbance inverter[3-4l.
Rejection Control (ADRC ) proposed by Professor Han
Jingqing, utilizes advanced modern technology of signal
processing and develops non-linear effect to eliminate the
drawbacks of PID control, while keeping the advantage of
"error-based error elimination" of PID control[S-sl.

978-1-4799-7071-1 /15/$31.00 ©2015 IEEE

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20 IS IEEE 12th International Conference on Electronic Measurement & Instruments ICEMI'2015

Six-phase Symmetrical slx- Three-phaes NLSEF basically eliminates static error and avoids the side
PMSM
effect of the integral link[5-IOl.
inverter phasePMSM
r--
al a2
A

B bl / IV. SPEED REGULATOR BASED ON

�
C
cl ADRC
\ b2

D
dl / The equation of motion for surface-mounted permanent
el magnet synchronous motor is written as:
E

dOJr np� npTL FOJr

F
fl \ c2 --
-- - -- - -- (1)
"----
dt J J J
Fig 1 Symmetrical six-phase PMSM and three-phase PMSM
in series connection Make X = OJr '

III. ADRC PRINCIPLE np u(t) �, and OJr denoting the motor speed.
b = , =

J
Automatic disturbance rejection controller (ADRC) is According to ADRC principle, it can be seen that variation
composed of three parts, namely nonlinear tracking of load torque and friction coefficient serves as external
differentiator (TO), extended state observer (ESO) and disturbance of the speed controller, and variation of
nonlinear state error feedback (NLSEF). The general moment of inertia serves as the internal disturbance of the
structure of AORC is shown in Fig 2. In the figure, speed controller. f(t) denotes total disturbance, which is the
vet) denotes the object of control while sum of internal and external disturbance of the system.
Since output signal of the speed controller is the given
vJi 1,2,..., n) denotes the transient period and
�
=

signal of magnetic torque, it is necessary to replace by

�* . Equation (1) is rewritten as:

derivatives that the non-linear tracking differentiator
outputs; z; and ZI1+1 denote the object state and extended
state the extended state observer outputs; e; denotes the x = J(t) + bu(t) (2 )
state error of object tracking control target; and nonlinear A. Mathematical model ojspeed regulator based on
state error feedback "integrates in a nonlinear way" the ADRC
errors to get uo; u denotes object control variable and y It is seen in equation (2) that the motion of equation
denotes object output. of PMSM is a first-order equation. Therefore, according to
Exterior
disturbance
the principle of ADRC, nonlinear tracking-differentiator is
I designed as first-order and extended state observer
vet) Nonlinear
Nonlinear
trace-
estate- f-oUo� -';-.j designed as second-order.
differentiator
error +- __

Input of nonlinear tracking-differentiator is the set

feedback
value of rotational speed OJ; , and the mathematical model
of nonlinear tracking-differentiator is designed as
z, z" VI = fst(vi -OJ;,r,h) (3 )
Input of ESO is the actual motor rotational speed OJr,

{:,���: :P
Expand
and the mathematical model of ESO is designed as
state
L-____--'---j observation

o,fal(e,a" Ii) + bu(i) (4 )

Fig 2 General structure of ADRC Z2 - -f302Jal(e,a2,l5)
In general, ESO estimates system disturbance and Where, el VI -ZI is state error. The mathematical
=

implements feed-forward compensation in real time,

establishing the nonlinear uncertain system as a simple model of NLSEF is designed as
certain and linear integral series. NLSEF designs ideal uo(t) f3Jal(el,a3,51)
= (5 )
controller for the integral series system. Nonlinear
tracking-differentiator can arrange for the transient process B. Series-connected system based on ADRC speed
of input signals and output excellent differential signals, regulator
alleviating the contradiction between dynamic response
speed and overshoot. In addition, the nonlinearity of The set speed OJ; and actual speed OJr serve as input
of AORC based regulator and the reference magnetic

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20 IS IEEE 12th International Conference on Electronic Measurement & Instruments ICEMI'2015

torque value �* serve as the output. The structure is as motion parameters:

2
shown in Fig 3.
J2 = O.lkg· m F; = 0.005
Nonlinear TO can arrange the transition process on
the basis of the value of OJ; and PMSM tolerance, Detailed performance of decoupled control of
series-connected motors include variable speed has no
effectively eliminating overshoot in the startup period. influence on rotational speed or torque of series-connected
ESO estimates potential disturbance and implement motors and variable torque has no influence on torque or
feed-forward compensation integrated with nonlinear state
�*
rotational speed of series-connected motors.
error feedback Uo (t) to get reference torque value Variable load simulation: the load torque and
Exterior rotational speed of symmetrical six-phase PMSM are
disturbance
3N*m and 100r/min separately; no-load rotate speed of
three-phase PMSM is 150r/min. Load torque of
symmetrical six-phase PMSM changes to 5 N*m at 0.5s
and 3N*m at 0.8s. Working state of the two motors is
shown in Fig 5.
160 ,--�--�-�--�----,

1501-------0--------------1
t�
140
Three phase PMSM
Fig 3 Structure of ADRC speed regulator 130

E 120
By replacing ADRC-based speed regulator with "-
traditional PI-based speed regulator, can get structure of � 110
QJ
QJ

the series-connected system based on ADRC speed � 100 1_-----�---------___1

regulator, as is shown in Fig 4. 90 '"�

Six phase PMSM
80

70

60L-�-�L- -��-��- �-�

0.4 O.s -�
0.6 0.7 0.8 0.9
1(5)
a) Rotational speed waveform
10 ,--�--�-�--�--�-�-__,

E
6 4 QJ
"
cr-
<;
>-

Fig 4 Structure of the series-connected system based on

ADRC speed regulator
-2 L--='O.-,---
4 --
-
-=O'::-
.s -----O"=
-: .6,----
-- -='O.=--
7
-
-=0'::-
.s
-
----0"=-: .g,-------
-- --'
1(5)
b) Torque waveform
v. SIMULATION RESULTS AND Fig 5 System working state of variable load
ANALYSIS
Variable speed simulation: rotate speed of three-phase
PMSM is 100r/min in no-load condition; load torque and
A simulation model is built in Matlab/simulink on the
rotational speed of symmetrical PMSM are 3N*m and
basis of the ADRC speed regulator structure based
150r/min separately. Rotational speed of three-phase
series-connected system. The regulation performance of
PMSM accelerates to 200 r/min at 0.6s and decelerates to
the series-connected system based on ADRC speed
50r/min at Is. Working condition of the two motors is
regulator was verified via simulation and a comparison of
shown in Fig 6.
it made with traditional PI control. The simulation
The above-mentioned simulations at variable speed
parameters of the system are set as follows:
and loading conditions indicate that ADRC control
Udc =300V technology can be applied to symmetrical six-phase
DC voltage motor parameter:
LI = 8.5mH L2 = 1 2mH
PMSM and three-phase PMSM two-motor
series-connected system. ADRC speed regulator based
0.175Wb 0.2Wb P2
series-connected system can be utilized to realize
lj/fl =
lj/f2 =
PI = =
6
decoupled control of series-connected motors supplied

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2015 IEEE 12th International Conference on Electronic Measurement & Instruments ICEMI'2015

from a single inverter, i. e. independent operation of the

54

/PI
two motors.
220 ,-----�----�---____, 53
200 52
180 'E51 �
160
�----�-----�r--�
/(�
-� ====�======���--�
� 50 �J�------
�
E
140

EO- 120
� 49
48 ADRC
'0
:ll100i---J IJ
�
80
4
7 II
46
60
45 "--;
0.c-
1;' -:c0-'c , -0o':.2:---o-0.=22 ----;O.:C: 2c- 4 ----;:
- .12:-::-'0.- 1:-:-4----:0-'c.16:-0-:- - . C:cS 0.-=26:--00:.28
40 t(s)

20 5
3,, -----�----__-----,

0.5 t(s) I 1.5 52

ADRC
a) Rotational speed waveform
51
Three phase PMSM 'E

f 50 rr��----��==�==�l
�

48 PI
-2
4 �0�.5---- ----:0�.55:------o':
0.6:------0:
0.65
7 t(s)
-4
b) Partial zoom in waveform of rotational speed
-6 Fig 7 Rotational speed waveform at SOr/min

-8 Simulation 2: No-load rotational speed of three-phase

L-�O�5------IS )�'-------�1.5
(-
PMSM is set at 400r/min, and loading torque changes to
b) Torque waveform
Fig 6 System working state during speed variation
SN*m at 1.1s. Simulation results are as shown in Fig 11.
410 ,--.---__
- - -- - --__-____,
__ __ __

400
PI
Simulation of comparison between ADRC and PI
control: section II discusses specific advantages of ADRC 400
404
compared with PID control, which is that ADRC
eliminates the contradiction between dynamic response E402
e-
]400 r---.
/
speed and overshoot and improves anti-interference and �
398
�
Q.

robustness of the control system. �

In this part, three-phase PMSM in the 398 ADRC

series-connected system is taken as research object, and 394

the superiority of ADRC is verified through simulation 392
comparison of motor rotational speed waveform of
398 'c7-
0 8----,-
7-
0 9 --L----,,�,-==,�2--,-73-�,.4
I(S)
three-phase PMSM at different rotational speed based on a) Rotational speed
ADRC controller and PI controller separately, and analysis waveform
of control performance of the two controllers. 410

Simulation I: no-load speed of three-phase PMSM 408

set as SOr/min. Loading torque changes to SN*m at O.Ss.
Simulation results are as shown in Fig 7:
406

404
PI
80 r--r--r--�-�-�-�--,

70
PI E
EO-
402 /
60

/ l:t� ADRC
394

30

20
\ ADRC
392

390L-L--�-�-�-�-�--L--�-..J
08 0 82 084 0 86
t(s)
088 09 0 92 094 096

10

O L-_L-_L-_L-_L-_L-_L-_L-_L-�
o 0.1 0.2 0.3 04
. I
(s) 0.5 0.6 0.7 0.8 0.9

a) Rotational speed waveform

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20 IS IEEE 12th International Conference on Electronic Measurement & Instruments ICEMI'2015

410 r--�-�-�-�--�-�-�-�-----'

408

406 ACKNOWLEDGMENT
404
The authors acknowledge financial supported by
'[ 402 National Natural Science fund(51377168)
t 400 1-\3;;::::=�::::=
:: ====��-�-�-j
�
398
��Pl. REFERENCES
396
�. ADRC [I] LEVI E, JONES M, VUKOSAVIC S N, et a!. Operating principles
394 of a novel multiphase multimotor vector-controlled drive[J]. IEEE

392
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390 ':::-
:- :-'-:--,--L:-
: --:-'-.,-----:-':-:-----
-- --,--:::----
-:--':-:--:-'::-
:- -,---
-c-: --' multiphase, multimotor vector controlled drive system supplied
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Fig 8 Rotational speed waveform at 400rimin
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regulator based on ADRC principle analysis, building
ADRC regulator based symmetrical six-phase PMSM and AUTHOR BIOGRAPHY
three-phase PMSM two-motor series-connected system in
Matlab/simulink. It is shown in simulation studies that Xiao Zhicai was born in Hanchuan,China,in 1977.He
ADRC regulator based symmetrical six-phase PMSM and received MS from Naval Aeronautical and Astronautical
three-phase PMSM two-motor series-connected system University,China , in 2003 ,respectively. Now he is a vice
can achieve independent control of the two motors professor in Naval Aeronautical and Astronautical University,
supplied from a single inverter. Compared with traditional China. His research interests include PMSM.
PI speed controller, ADRC speed regulator effectively
eliminates overshoot and improves in system
anti-interference. ADRC technique further promotes
multiphase multi-motor series connection drive system.

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