Substantial Analysis of Permanent Magnet Synchronous Motor (PMSM) Drive with Three Self-
Governing Investigators – SVPWM, MPC & DBPC
K. Thangarajan
Associate Professor
Department of Electrical & Electronics Engg.
RVS College of Engineering &Technology.
Coimbatore.
Abstract – High performance current control is required to obtain a
smooth output torque & essential speed output in Permanent Magnet
Synchronous Motor (PMSM) drives. In this paper, substantial analysis
is taken to control the output torque ripple, to minimize the acoustic
noise & also get the required speed by simulating PMSM with three
different investigators such as SVPWM, Model Predictive Control
(MPC) and Dead-Beat (DB) Predictive Controller. The designed
controllers are tested through the numerical simulations in the
MATLAB Simulink Platform and also experimental validation is taken
in the laboratory. Among these investigators, DB controller has good
transient response, less torque ripple, delay compensation also possible,
reduced harmonics in phase currents. The comparison between the
simulation and experimental results are presented at the end. The DB
control is easy to implement and suitable for high performance PMSM
drives.
Keywords – Torque Ripple Reduction, Space Vector Pulse Width
Modulation (SVPWM); Model Predictive Control (MPC); Dead-Beat
Predictive Controller (DBPC); Permanent Magnet Synchronous Motor
(PMSM).
I. INTRODUCTION
AC drives are dominating in the variable speed drive market. It
also replaces the DC drives in the high performance applications and torque
control requirements. In the industrial field such as electrical vehicles,
electrical traction, servo control system, wind power generation, Permanent
Magnet Synchronous Motor (PMSM) is widely used [1]. The PMSM drive
has several benefits such as i) high efficiency, ii) high power density, iii)
high torque to weight ratio, iv) excellent dynamic performances. For high
dynamic performances done by PMSM drives requires high dynamic
control strategies. In the recent days, variable speed control strategies for
PMSMs are Field Oriented Control (FOC) and Direct Torque Control
(DTC).
The conventional DTC is widely accepted control strategy and it
has hysteresis comparators and switching table [2]. The hysteresis
comparators get the current limiting values and it maintains the current
value within that given limits. By limiting the current values, torque can be
controlled. The performance evaluation of DTC, MPDTC, DDTC methods
for drive of a SPMSM is simulated and performance results are compared
in [3].
The mathematical model of PMSM based on SVPWM with PI
controller is implemented using MATLAB is presented in [4]. The
simulation of model predictive control with SVPWM based PMSM using
Simulink block is peaceful when compared to m-code is explained in [5].
The Model Predictive Control (MPC) is to a certain degree
progress compared the previously explained ideal flux path technique. The
researchers did many experiments in the PMSM motor with MPC controller
in a different point of views. Among them, some of the few transactions are
1
Dr. A. Soundarrajan
Professor
Department of Electrical & Electronics Engg.
PSG College of Technology.
Coimbatore.
listed below. At first, a comparative study between the MPC and PID
controller is made in the aircraft applications. This study is implemented in
the vertical take-off and landing in lab prototype is explained in [7]. The
simulation of speed control of PMSMs project is done by using MPC
controller is presented and concluded that enables the flexible control
because of the presence of cost function estimation and prediction methods
[8]. The ANFIS and LMS algorithm also implemented to predict the
current control strategy, hybrid set control in the field oriented parameter
control is presented in the paper [9] & [10]. The torque ripple compensation
of variable speed drives [11] and the PMSM model with field-weakening is
implemented in the paper [12]. Field Weakening Techniques have been
developed and research is going on to eliminate the drawbacks & to
improve the better performance. The decoupling of torque and flux are used
to control the torque of the machine. It is already employed in the DC
machine. The same principle is behind the field oriented control techniques.
It facilitates a self-sufficient control of field & torque by handling
corresponding field oriented quantities to perform high dynamic
applications. The Limitations of FOCs are i) High sensitivity to machine
parameters & ii) Large computing cost.
The speed finite set of predictive control fed by matrix
converter is a novel way in the MPC controller. This method overtakes the
conventional cascaded control scheme with single control logic. It controls
both the phase current and speed simultaneously in [13]. The paper [14] &
[15] presents the generalized explicit predictive controller is used to control
the motor and robust control practice is implemented.
This paper is organised as in the following sections. The section
–II presented the mathematical model of the PMSM with electrical &
mechanical dynamics. Section-III, IV & V presents the SVPWM, MPC,
DBPC generalized block diagram, expressions involved in the controller,
numerical values calculations with detailed theoretical explanations
respectively. Section – VI presents the numerical simulations of all the
three investigators with detailed simulation diagrams with output results
obtained through workspace is presented clearly. Section – VII presents the
comparison between the laboratory experiments done using deadbeat
control based motor with simulation results are tabulated and conclusion.
II. Mathematical Modelling of PMSM
The PMSM mathematical model can be designed for
continuously operating time mode. In a rotating frame of a PMSM model
consists of two dynamics. They are:
i) Electrical &
ii) Mechanical dynamics.
The general block diagram of PMSM model in the rotating
frame (dq-axis) are shown in the Fig. 1.
A. Electrical dynamics
The differential equations of PMSM model with respect to
electrical dynamics part can be expressed as
 By Park’s transformation,
The 2ϕ Stationary co-ordinates are transformed into
synchronous rotating co-ordinates. These expressions are as equ. 8,

[ ] * +[ ] (8)

The basic space vector diagram is shown in the fig.2. The

following sector determination and duty cycle calculation is as follows. The
reference speed is given as input to the error signal (comparator) with the
position and speed sensing output voltage. The output error signal is

Fig. 1.General Block Diagram of PMSM Model – Rotating Frame generated and it given as the input to proportional plus integral (PI-1)
controller. There are 3 PI controller is involved in the SVPWM control
based PMSM and is shown in the Fig. 3.
The PI-1 gives the value of isqref & isq from the park
transformation block is given to the comparator & error signal produced
(1) and then the signal set to the PI-2 input to get the Vsqref. Similarly, isdref and

The electromagnetic torque developed by PMSM rotor can be isd from the park transformation block is compared and signal generated is

expressed as given to the PI-3 to get the Vsdref.

[ ( ) ] (2)
B. Mechanical dynamics
The differential equations of PMSM model with respect to
mechanical dynamics part can be expressed as

( (3)

Euler method is used to obtain the discrete time model of

PMSM. The discretization techniques are presented in [18] & [19]. The
Euler method affords an unpretentious model without introducing any
undesirable supplementary nonlinear terms.

( ( ) ( ( ( ( (4)

Fig. 2. Space Vector Diagram

( ( ) ( ( ( ( (5) Table 1. Determination of Sector number
Determination of Sector Duty Cycle Calculation
Number
( ( ( ( ) ( ( (6)
Duty = Sector (Vαβ,Vdc); √
( )
arg = atan2*( Vαβ(2), Vαβ(1)); √
III. Space Vector Pulse Width Modulation ( ( ) )

Control based PMSM mag = hypot (Vαβ(1), Vαβ(2)); d0 = 1 – dx – dy

a. SVPWM based control

The Space Vector Pulse Width Modulation (SVPWM) is the From the above table, D is calculated as,

basic technique to take the ideal flux path, when the PMSM is powered by Duty Cycle, D = 0.5 * (1 + [dx, dy, d0])

3ϕ sine wave voltage [6]. By approaching the flux circle with the actual The Vsqref & Vsdref is given as the input the inverse park transformation

flux made by inverter, so motor could acquire constant sine magnetic field. which is transformed from d-q axis to αβ components. The Vsαref & Vsβref are

By the way it is easy to achieve high performance with reduced torque agreed to generate the gate pulses in the SVPWM. The six gate pulses is

ripple. generated from the SVPWM block is set as the input the 3ϕ inverter which

In the process of controlling PMSM, the actual current in is coupled with the 3ϕ PMSM motor.

armature winding in 3ϕ ac current ia, ib & ic is undergone certain The Clark transformation is involved to produce the two αβ

transformation should be done to get current components of d-q axis. components from the abc voltage produced in the inverter output side as per
the equation (7). The cycle is fully follows the closed path to produce the
By Clark’s transformation,
sine magnetic field and produce continuously.

The 3ϕ Stationary co-ordinates are transformed into 2ϕ The same principle is simulated in MATLAB as per the

Stationary co-ordinates. These expressions are as equ.7, numerical calculation made from the theoretical explanation and simulated
diagram and its results are clearly presented in the following section. The
sector number determination and its arguments values calculated to find the
[ ] √ [ √ √
][ ] (7)
duty cycle is tabulated in Table 2.

2
 present in the electromagnetic torque output. Because current is
proportional to the torque in the output side shown in the fig. 5(e).

Fig.3. Schematic diagram of SVPWM Control based PMSM (a)

Table 2. Sector number & its conditions to find duty cycle
Sector Conditions Values
1 arg>=0 and arg<pi/3 0.1 to 1.047
2 arg>=pi/3 and arg<2*pi/3 1.047 to 2.094
3 arg>=2*pi/3 and arg<pi 2.094 to 3.14
4 arg>=-pi and arg<-2*pi/3 -3.14 to -2.094
5 arg>-2*pi/3 and arg<-pi/3 -2.094 to -1.047
6 arg>=-pi/3 and arg<0 -1.047 to 0.1

(b)
b. Simulation of SVPWM Control
The simulation of SVPWM control based PMSM consists of the
following blocks. They are i) Reference Speed, ii) Proportional-Plus-
Integral (PI) controllers, iii) Comparators, iv) Feedback block, v) SVPWM,
vi) Park’s Transformation, vii) Clark transformation, viii) U-bridge
Converter, ix) Dc voltage source, x) PMSM, xi) Derivative w.r.to time, xii)
Display (Scope).

(c)

Fig.4. Simulation Diagram of SVPWM Control based PMSM

The simulation of SVPWM control PMSM is a closed loop (d)
control. The feedback get from the produced torque and rotor speed is given
as an input after compares with the reference signal. Here the subsystem 1
used to produce fluxes fα & fβ for the response given to the svpwm. It
generates the six gate pulses to the switches which is present in the VSI
inverter. The 3ϕ inverter output voltage and current is transformed to two
stationary coordinates by Clark’s transformation as in equ. 7. The two
stationary coordinates is renovated to the rotating coordinates by Park’s
transformation as in equ. 8. The reaction of torque, flux & current is
derivate and given as input to the system to maintain the ideal flux path. (e)
From the simulation results, Vdc is given from a dc source of 300v is mutual Fig. 5. Simulation Results obtained from SVPWM based PMSM
for all the three investigators which is shown in the fig. 5(a). The output Control (a) Input DC Voltage Vdc, (b) Phase Output Currents iabc, (c)
phase currents produces sine waveform of 11A with distorted harmonics in Rotor Speed ωm, (d) Electromagnetic torque developed, (e) Ripple
fig. 5(b). Due to the harmonics present in the current waveform, ripple Content in the output torque

3
 Also, there is a chance to produce the acoustic noise because of Vq (x,y) = M(x) sin[θv (x,y) - θr] (12)
the harmonics current and torque ripple present is 9.375%. The rotor speed Where θr ∊ [0,2π] is the rotor flux angle.
and torque waveform is shown in the fig. (c) & (d). The electromagnetic
torque produced in the motor is 5.2Nm. The speed settling time in the
controller based motor is 1.56s ≈ 1.6s.

IV. Model Predictive Control based PMSM

a. MPC based control
The Model Predictive Control (MPC) is intended on the basis of
operation research techniques which is subjected to minimize the time and
cost and to maximize the performance of the system. To detention the
control objectives, an optimization problem can be displayed as:
Minimize Objective function
(Control Set) Fig.7. Simulink diagram of MPC Control based PMSM
Subject to Predictive Model
Constraints like Ld ≤ Lq, etc. In a successive of equ. (9-12) can be disseminated via Euler
Where, Control set includes all possible voltage vectors. Predictive Model – approximation and then the predictive model of PMSM can be expressed
Predicted currents for every vector in CS are generalized. Control objective as:
is entrenched into the objective function explicitly and some constraints can isdxy(k+1) = ( ) isd (k)+ [dxy Vd (xy) - esd (k )] (13)
be enforced as well.
isqxy(k+1) = ( ) isq (k)+ [dxy Vq (xy) - esq (k )] (14)

where,
esd (k )= - ( Lqisq(k) (15)
esq (k )= - ( [Lqisq(k)+ ψPM] (16)
isdxy(k+1) & isqxy(k+1) are the predictions of isd & isq w.r.to vs =
dxyVxy at instant (k+1)Tc. isd(k) & isq(k) are the sampling quantities of isd and
isq at instant kTc.
Fig.6. Block diagram of MPC Control based PMSM The advantages of MPC control are i)compactness, ii) without
The earlier step of the MPC control is the compares the cascaded duty cycle calculations, iii) efficiency by the way of simplified
reference speed wm* with the actual speed wm and error signal generates is evaluations, iv) good performance in the lower ripples and harmonics
given as a input the PI controller. The output of the PI controller is disortion in the steady-state operation.
separated into the two signals; one is directly taken as torque reference and
other signal is fed into the Maximum Torque per Ampere (MTPA) gives the
flux reference. These signals are directly given to the MPC controller which
consists of cost function minimization, torque & flux prediction and
estimation. The voltage source vs get from the MPC block and send it to the
SVPWM produces pulses for the voltage source inverter to the PMSM
motor. These blocks are shown in the fig. 6. And the MPC controller is
designed on the basis of the following expressions (9)-(16).
b. Simulation of MPC Control
The MPC controls based PMSM consist of the following
fragments are dq-abc, PWM inverter, PMSM, MPC are shown in the fig.7. (a)

The dq-abc gets the id*, iq*,i0, theta taken as feedback from the PMSM
motor output. The current iabc* is engaged to PWM inverter is set to PMSM
motor. The MPC controller acquires duty cycle and angle output vector
simultaneously to solving the optimization problem.
To launch the rotating d-q coordinates & support the rotor flux
on the d-axis. The stator voltage equation of PMSM in the rotating d-q
coordinates can be expressed as:
dxyVd (x,y) = Rsisd + Ld isd - Lqisq (9)

dxyVq (x,y) = Rsisq + Lq isq - ωr Ldisd + ωr ψPM (10) (b)

Ld≤Lq and Vd & Vq are the d-axis and q-axis projections of vector Vxy,
which can be expressed as:
Vd (x,y) = M(x) cos[θv (x,y) - θr] (11)

4
 and maintains the ideal flux path by choosing the vector in svpwm with
DBPC. The block diagram of DBPC based pmsm is shown in the fig. 9.

(c)
Fig.9. Block diagram of DBPC Control based PMSM
b. Simulation of DBPC Control
The Dead-Beat (DB) controller designed on the basis of the
following equations with delay compensation techniques are used for quick
response. The succeeding fig.10. Shows the Simulink bock used inside the
Deadbeat controller with the data store memory from the feedback of the
motor.
The current prediction vector is calculated as
Ḯ(k+1) = ik + T{ Fkik + dk + L0-1vk – (1/T)(Kηηk) } (17)
(d)
With Ḯk = i0 where Kη ∊ 𝕽2x2 symmetric gain matrix, &
ηk = ∑ (18)
The prediction error can be defined by,
ek = ik - Ḯk (19)

(e)
Fig. 8. Simulation Results obtained from MPC based PMSM Control
(a) Input DC Voltage Vdc, (b) Phase Output Currents iabc, (c) Rotor
Speed ωm, (d) Electromagnetic torque developed, (e) Ripple Content in
the output torque Fig.10. Dead-Beat Predictive Controller Simulink block
From the simulation results, Vdc is given from a dc source of The DBPC block is composed of required speed reference ωm*, d-q
300v is mutual for all the three investigators which is shown in the fig. 8(a). axis reference or prediction current idq*, actual speed ωm as feedback, 3ϕ
The output phase currents produces sine waveform of 9A with distorted stationary currents iabc from the motor, angular rotational theta θr are given
harmonics in fig. 8(b). Due to the harmonics present in the current as inputs to produce the voltage vαβ for the SVPWM block input set value.
waveform is moderately, less ripple present in the electromagnetic torque The triggering pulse also required for the block of sampling frequency 5
output. Because current is proportional to the torque in the output side kHz.
shown in the fig. 8(e). Also, there is a chance to produce the acoustic noise
because of the harmonics current and torque ripple present is 6.55%. The
rotor speed and torque waveform is shown in the fig. 8(c) & 8(d). The
electromagnetic torque produced in the motor is 8.2Nm. The speed settling
time in the controller based motor is 0.0066s.

V. Dead-Beat Predictive Control based PMSM

a. DBPC based control
The main objective of the deadbeat controller with delay
Fig.11. Simulink diagram of DBPC Control based PMSM
compensation is to minimize the torque ripples, sinusoidal phase currents
The two level voltage source inverter with dead time is taken iabc
with constant torque output. The reasons for the undesired fluctuations of
& dc voltage vdc as input response. The vdc is transformed to the vabc for the
pmsm phase currents, oscillations in the output, acoustic noises are
three phase winding present in the armature of the motor. The output
uncertainties, imperfection and harmonics produced in the back emf. The
responses got from the pmsm model are presented as output waveforms in
proposed model consists of prediction and correction of the flux produced
the successive fig. 12. The overall output values are tabulated at the end and
comparison with experimental results also presented in the section VII.
5
 output shown in the fig. 12(e). Acoustic noise & fluctuation of motor is
less and torque ripple present is only 2%.

(a)

(f)
Fig. 12. Simulation Results obtained from DBPC based PMSM Control
(a) Input DC Voltage Vdc, (b) Phase Output Currents iabc, (c) Rotor
Speed ωm, (d) Electromagnetic torque developed, (e) Ripple Content in
the output torque, (f) Rotor angle & torque vs time
The rotor speed and torque waveform is shown in the fig. 12(c)
& 12(d). The electromagnetic torque produced in the motor is 12.2Nm. The
speed settling time also less in the controller based motor is 0.005s.
(b)

VII. Hardware Implementation & Testing

a. Experimental Setup
From the above MATLAB simulation sections, Dead-Beat (DB)
controller is tremendous in the control of the torque ripple in the output of
PMSM motor drive. So, acoustic noise production can also be in
controllable through this controller. This identical hardware setup is made
in the laboratory to analyse its performance while the regular atmospheric
condition. The investigational arrangement consists of DC power supply,
voltage source inverter circuit, variac, deadbeat controller circuit, svpwm
(c)
generation circuit, cathode ray oscilloscope, load, 3ϕ PMSM motor as
shown in the fig. 13.

(d)

Fig. 13. Experimental Setup – PMSM Control

b. Experimental Results Analysis
The results carried out from the cathode ray oscilloscope and
speed tachometer by two different dc source voltages. The d-axis current
indicates the amplitude of phase currents and q-axis current waveform is
exactly proportional to the electromagnetic torque produced by the motor.
The d-q axis phase currents with fluctuations are shown in the fig.
14(a,b,h&i). Even though the sinusoidal phase voltage is prearranged as
(e)
input response, due to the losses in the heat dissipation and aging of motor
From the simulation results, Vdc is given from a dc source of
it provides 100v less than whatever the given input volts. From the
300v is mutual for all the three investigators which is shown in the fig.
analytical point of view, there is an impact of Vdc & Nm plays a vital role in
12(a). The output phase currents produces sine waveform of 10A with
the PMSM drive. The overall conclusion from the studies is DB control
distorted harmonics in fig. 12(b). There is no harmonics present in the
results obtained from numerical; simulation & implementation are quite
current waveform, so ripple percentage is less in the electromagnetic torque
identical with reduced ripples and harmonics. The quantitative comparison
& values are clearly presented in the Table 4 & parameters employed in the
6
PMSM drive in the Table 3. The following graphical representation shows Table 3. Quantitative Comparison between the output waveforms
the d-q axis phase currents idq, stator output voltages vdq, rotor speed output Result Numerical Simulations Experimental
ωm, electromagnetic torque Te with different input voltage level are shown Analysis Testing
Parameters SVPWM MPC DBPC Ex 1 Ex 2
in the fig. 14. Input dc
300v 300v 300v 200v 300v
Voltage
Phase
Output 11A 9A 10A 8A 10A
Current
Harmonics More Sensible Less More Less
Sinusoidal
Fig.5b Fig.9b Fig.12b Fig.14n Fig.14g
Iout
(a) (h) Rotor Speed
1498 1499 1499.8 1450 1499.5
Output,rpm
Speed
2s 0.006s 0.005s 0.05s 0.008s
Settling
O/P Torque 5Nm 8Nm 12Nm 10Nm 12.2Nm
Torque
9.375≈9% 6.55≈7% 2.3≈2% 13.2≈13% 2.83≈3%
Ripple
(b) (i) Acoustic
High Medium Low High Low
Noise Level

VIII. Conclusion
A substantial analysis taken over with PMSM drive under
SVPWM, MPC & DB with delay compensation control is carried out in this
(c) (j)
paper. The analysis is fully based on the reduction of torque ripple,
harmonics and acoustic noise production through numerically, simulations
and implementation in hardware in the laboratory. Among all the
investigator’s, DBPC performs in the fast response, harmonic reduction in
the phase currents, torque ripple (≈2%) provides better performance results
(d) (k)
both the simulation as well as hardware testing. The compactness, good
performance & efficiency have shown from the comparative numerical
simulations & experimental studies.

List of Nomenclature
(e) (l)
Stator Current Components w.r.to Direct Axis
Stator Current Components w.r.to Quadrature Axis
Stator Voltage Components w.r.to Direct Axis
Stator Voltage Components w.r.to Quadrature Axis
w.r.to With respect to
Stator Inductance Components w.r.to d & q Axis
(f) (m) Number of Pole Pairs
Mechanical Speed w.r.to Rotor frame
Electromotive Force(EMF) Constant
Electro-Magnetic Torque developed in PMSM
Load Torque
J Moment of Inertia
Sampling Period
ia,ib,ic Actual armature current components
(g) (n)
id,iq Stationary current components referred to dq axis
iα, iβ Two stationary current co-ordinates
Fig. 14. Experimental Waveforms with different dc input voltages Align Rotor flux on d-axis
Permanent Magnet Flux Modulus
vdc= 300v (a-g) & vdc= 200v (h-n)
Rs Stator resistance
Rotor flux angular velocity
Table 3. Parameters of the Employed PMSM Drive isq & isd d-axis & q-axis projections of Stator Current is
Tc Control Period
Symbol Description Value arg Argument Values
P Rated Power 10.7 kW mag Magnitude Values
Rs Stator Resistance 1.3Ω (ohm) MPC Model Predictive Controller
Ls Stator Inductance 0.000835H MTPA Maximum Torque per Ampere
PM Rotor Magnetic Flux 0.175wb DBPC Dead Beat Predictive Controller
B Viscous friction Coefficient 0.001 kg m2 s-1 PMSM Permanent Magnet Synchronous Motor
p No. of Pole Pairs 4 SVPWM Space Vector Pulse Width Modulation
J Moment of Inertia 0.0008 kg m2
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