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PIERS Proceedings, Cambridge, USA, July 5–8, 2010

300

Permanent Magnet Synchronous Motor Decoupling Control Study
Based on the Inverse System
Xiaoning Li1 , Xumei Mao1 , and Weigan Lin2
1

School of Mechanical Engineering, University of Electronic Science and Technology of China
No. 4, Section 2, North Jianshe Road, Chengdu 610054, China
2
School of Electronic Engineering, University of Electronic Science and Technology of China
No. 4, Section 2, North Jianshe Road, Chengdu 610054, China

Abstract— In this parer, multivariable,nonlinearity inverse system method is applied on the
PMSM control system, which is complicated nonlinearity, strong coupled, and we have realized
global linearization, at the same time, the motor rator speed and electromagnetic torque have
been dynamic decoupled. The validity of this method can be proved by the simulation result.
1. INTRODUCTION

The PMSM is a multivariable, nonlinearity, strong, coupled controlled object. It is very hard to
control its speed and electromagnetic torque by extra signal. Only can we precisely control it
after the speed and torque have been dynamic decoupled. Vector control adopted the coordinate
transform to realize decouple based on the motor electromagnetic field theory, but vector controlling
just achieve the static decoupling not dynamic doing. Inverse system theory is a new strategy. Its
essence is to realize decoupling of multivariable, nonlinearity, strong coupled system by feedback
linezation. It can realize linearization in a global range, and then we can decouple the nonlinear
system. The inverse system method don’t need profound mathematical knowledge, so it is very fit
for engineering application. In this paper, multivariable, nonlinearity inverse system method was
applied on PMSM control system, by which motor rator speed and electromagnetic torque can be
dynamically decoupled. The validity of this method can be proved by the simulation result.
2. PMSM DECOUPLING CONTROL INVERSE SYSTEM DESIGN

About PMSM, one effective control tactics is vector control. We can decompose the staror current
into the id and iq , when we keep id = 0, the electromagnetic torque of PMSM is directly related
to the iq , so we can realize the linear control to PMSM. If we reglect the damping coefficient to
simple analyses, the PMSM model can be described by the following equtations based on d-q axis:
d axis staror voltage equation
did
+ Rid − ωr Lq iq
dt

(1)

diq
+ Riq + ωr Ld id + ωr ψf
dt

(2)

ud = Ld
q axis stator voltage equation
uq = Lq

q axis staror magnetic flux linkage equation
ψq = Lq iq

(3)

ψd = Ld id

(4)

Te = Pn [Lmd if d iq + (Ld − Lq )id iq ]

(5)

d axis staror magnetic flux equation
electromagnetic torque equation

Here, ud is d axis stator voltage; uq is q axis stator voltage; id is d axis stator current, iq is q
axis stator current; ψd is d axis stator magnetic flux linkage, ψq is q axis stator magnetic flux
linkage, ψf is permanent magnet magnetic flux linkage, Ld is stator winding d axis inductance, Lq
is stator winding q axis inductance; R is stator resistance, ωr is rator angle speed, Lmd is d axis

σ = 3Pn · ψf · (2J)−1 . so α2 = 2. July 5–8. Second step we calculate first order deriveate of y2 y20 = σ · x2 − TL J (17) Because there is no include U . x2 ] (14) First step we calculate first order deriveate of y1 R 1 (1) y1 = x01 = − x1 + u1 L L We set Y1 = y10 . then ¶ ·1 µ ∂Y2 = rank L t2 = rank 0 ∂U T Jacobian matrix full rank. h2 (X)]0 = [x1 .Progress In Electromagnetics Research Symposium Proceedings. u2 ]0 = [uind . so set Y2 = [Y1 . In order to simplified model. U is included in y200 . we set two parameter uind and uinq : dψd + R · id dt dψq = + R · iq dt uind = (6) uinq (7) Then the PMSM voltage equation can be simplified as: ud = uind − ωr Lq iq uq = uinq + ωr Ld id + ωr ψf (8) (9) We can prove reversibility by utlizing the Interactor arithmetic. y200 ]T . USA. x2 . ωr ]0 (12) Then the state equation can be expressed:  0 1  x1 = − R L x1 + L u1 R 0 x = − L x2 + L1 u2  20 x3 = σx2 − TJL (13) In this formula.0 = 1 L · (16) Namely Jacobian matrix full rank. so α1 = 1. Because µ ¶ · 1 ∂Y2 det = rank L 0 ∂U T 0 σ L 0 σ L (18) ¸ =2 (19) ¸ 6= 0 (20) . Cambridge. 2010 301 inductance between stator and rotor. ωr ]0 (11) X = [x1 . uinq ]0 (10) Select Output variable: Select State variable: Y = [y1 . we set up the PMSM state equation: Select input variable: U = [u1 . At first. Pn is magnetic poles Output equation is: y = [id . y2 ]0 = [id . iq . then µ t1 = rank ∂Y1 ∂U T ¶ (15) ¸ 1 = rank . x3 ]0 = [id . if d is permanent magnet equivalent d axis excitation current. we need to calculate second order deriveate of y2 µ ¶ R 1 00 y2 = σ · − · x2 + · u2 L L Obviously. ωr ]0 = [h1 (X). Te is electromagnetic torque.

According to Interactor arithmetic. turning intertia J = 8 × 10−4 kg · m2 . SIMULATION ANALYSE OF PMSM VECTOR CONTROL SYSTEM BASED ON THE INVERSE SYSTEM In this paper. so the system is reversible. July 5–8. The PMSM motor parameter is: Stator resistance R = 2.1 as PI controller parameter and kp = 1500. So for stator current and speed.5 mH. kd = 50 as PD controller parameter. we set load torque TL = 5 N · m during 0 to 0. the system nature order is equal to vector relative degree. complicated PMSM nonlinear system can be reduced to a linear system. after we add in a inverse system. . simultaneously. so we adopt generally PI controller. and suddenly load increase 5 N · m in 0. Stator current is corresponding to a first-order integrating object. By tuning. ki = 0. 2]0 (21) The highest order number of y1 and y2 is separately one and two. Figure 3: The response of speed when torque mutate. magnetic poles p = 4. we can discriminablily design current regulator and speed regulator to build compounded controller together with inverse system in order to realize PMSM decoupling control graph. Cambridge. and PD controller is used usually. we build PMSM inverse system decoupling control model and proceed simulation test based on MATLAB. USA. id * + - PI S-1 ud S-1 Inverse System ωm* + - PD S-1 S-1 uq PMSM Speed Control System id ωr Figure 1: The structure of PMSM based on the inverse system. we set kp = 30. 2010 302 The system vector relative degree is α = [α1 . PMSM inverse system decoupling control structure diagram is shown in Figure 1. 3.4 s. We embedded the PMSM inverse system before the original system to build a compounded pseudo linear system. 2]T (22) Clearly. α2 ]0 = [1. To verify the decoupling characteristics.875 Ω.PIERS Proceedings.2 s. stator inductance Ld = Lq = L = 8. but rotor speed is corresponding to a second order integrating object. so the system nature order is ne = [1. Figure 2: The response of torque when speed mutate. then we can convert it to one first order line integration subsystem and one two order line integration subsystem so that it can be better controlled.

Song. ACKNOWLEDGMENT This work was supported by: 1. 2. T. 2. Zhang. 2. 4. 3. Modern Power Electronics and AC Drives. F. S. 2. No. . Cambridge. C. July 5–8. A. Wang. Bose. 23. U. “Nonlinear control of induction motors based on direct feedback linearization. 192–206. No. we can separately control the speed and torque. REFERENCES 1. 99–107. J.. We build the inverse system and verified the system by simulation. and K. the load torque remain uncharged when the rator speed have a sudden charge from 60 rad/s to 120 rad/s from the simulation result. The validity can be proved by the simulation result. Beijing. “Control of nonlinear dynamical systems using neural networks: Controllability and stabilization.. Lin. K. 87–92. M. Vol.. Vol. we can see that the rator speed keep constant ωr = 60 rad/s when load torque varied suddenly from 5 N · m to 10 N · m. 4. K.” Proceedings of the CSEE.” IEEE Transactions on Neural Networks. Narendra.4 s. 2003 (in Chinese).Progress In Electromagnetics Research Symposium Proceedings. we adopt inverse system to realize the speed and torque dynamic decoupling control of permanent magnet synchronous motor. Tsang. 1993. Li.4 s. USA. et al.” Proceedings of the CSEE.. 4. “Differential algebraic observer based nonlinear control of permanent magnet synchronous motor. So we respectively control speed and torque of PMSM. and suddenly speed increase 60 rad/s in 0. from the Figure 2 and Figure 3. 25. No. we can see that the PMSM have been depouled by inverse system. 2005 (in Chinese). China Machine Press. 2. CONCLUSION In this paper.. B. Levin. University of Electronic Science Technology of China youth fund accented term (JX0792). et al. W. Vol. National Natural Science Foundation of China (60971037). 2005. 2010 303 we set rotor speed ωr = 60 rad/s during 0 to 0. similarly.