Mechatronics xxx (2013) xxx–xxx

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Mechatronics
journal homepage: www.elsevier.com/locate/mechatronics

Fractional order modeling and control for permanent magnet synchronous

motor velocity servo system
Wei Yu, Ying Luo, YouGuo Pi ⇑
Key Laboratory of Autonomous Systems and Network Control Ministry of Education, Department of Automation Science and Engineering, South China University of Technology,
Guangzhou, PR China

a r t i c l e i n f o a b s t r a c t

Article history: This paper presents the application of fractional order system on modeling the permanent magnet syn-
Received 17 December 2012 chronous motor (PMSM) velocity servo system. The traditional integer order model of the PMSM velocity
Revised 28 March 2013 system is extended to fractional order one in this work. In order to identify the parameters of the pro-
Accepted 29 March 2013
posed fractional order model, an integer order approximation of the fractional order operator is applied
Available online xxxx
and a state-space structure is presented for using the output-error identification algorithm. In real-time
PMSM velocity servo plant, the fractional order model is identified according to some experimental tests
Keywords:
using the presented algorithm. Two proportional integral (PI) controllers are designed for velocity servo
Fractional order model
System identification
using a simple scheme according to the identified fractional order model and the traditional integer order
Control one, respectively. The experimental test performance using these two designed PI controllers is compared
Permanent magnet synchronous motor to demonstrate the advantage of the proposed fractional order model of the PMSM velocity system.
Output-error identification Ó 2013 Elsevier Ltd. All rights reserved.

1. Introduction
Fractional order systems, or systems containing fractional order
derivatives and integrals, have been studied widely in the engi-
neering research area. Some typical discussions and applications
on this direction are presented by Podlubny [15], Luo et al. [13],
and Hajiloo et al. [1]. It should be noted that there is a growing
number of physical systems whose behavior can be compactly de-
scribed using fractional system theory [9]. In [18], it is mentioned
that most of the real systems are actually with fractional order
dynamics. It is straightforward that the fractional order mathemat-
ical models are better than integer order ones to describe the
plants with fractional order characteristics. For example, the frac-
tional capacitor and inductor are used for the fractional order
Chua’s system [10], and numerical experimental examples and
measurements are shown to verify the fractional order characteris-
tics of inductor.
Permanent magnet synchronous motor (PMSM) has received
widespread acceptance in high performance industrial servo appli-
cations of accurate speed and position control due to some of its
excellent features such as super power density, high torque to cur-
rent ratio, fast response and low noise [19,12]. In this paper, a frac-
tional order model is proposed for PMSM velocity control system
which allows simultaneous estimation of model’s coefficients and
derivation orders. The input–output behavior of this proposed frac-
⇑ Corresponding author. Tel.: +86 020 87114827.
E-mail address: auygpi@scut.edu.cn (Y. Pi).
tional order system is presented with four model parameters, e.g.,
a steady-state gain, a time constant and two fractional orders. In
order to estimate these four parameters of this proposed fractional
order model, an output-error identification technique is applied in
real-time PMSM velocity servo plant with some experimental tests.
Two proportional integral (PI) controllers for velocity servo are de-
signed using a simple scheme according to the identified fractional
order model and the traditional integer order one, respectively. The
experimental velocity tracking performance using these two de-
signed PI controllers is compared to demonstrate the advantage
of the proposed fractional order model of the PMSM velocity
system.
The major contributions of this paper include: (1) fractional or-
der model of the PMSM velocity servo system; (2) output-error
identification algorithm application for this proposed fractional or-
der model with real-time experimental results; and (3) experimen-
tal demonstration of the advantage for using fractional order
model on PMSM velocity plant by fairly comparing the perfor-
mance with two PI controllers designed according to the identified
fractional order model and traditional integer order one using the
same design scheme.
This paper is organized as follows: Section 2 presents the frac-
tional order model used to characterize the PMSM velocity servo
system. In Section 3, the output-error identification algorithm is
introduced with the state-space presentation. The process of frac-
tional order system identification is shown in Section 4. In Section 5
two PI controllers are designed with the same scheme according to
the identified fractional order model and the traditional integer

0957-4158/$ - see front matter Ó 2013 Elsevier Ltd. All rights reserved.
http://dx.doi.org/10.1016/j.mechatronics.2013.03.012

Please cite this article in press as: Yu W et al. Fractional order modeling and control for permanent magnet synchronous motor velocity servo system.
Mechatronics (2013), http://dx.doi.org/10.1016/j.mechatronics.2013.03.012
2 W. Yu et al. / Mechatronics xxx (2013) xxx–xxx

order one, and real-time experimental results are presented to defined using a fractional phase-lead filter and a conventional inte-
demonstrate the advantage of the proposed fractional order model. grator 1/s [16]:
The conclusion is given in Section 6.
Gn YN
1 þ s=x0i
2. Fractional order model for PMSM velocity servo In ðsÞ ¼ : ð5Þ
s i¼1 1 þ s=xi

According to the motor control theory, three-phase PMSM con- This operator is characterized by the following parameters:
trol can be similar to DC motor control by applying the space vec-
tor pulse width modulation (SVPWM) control strategy [12], as  x01 and xN define the frequency range which is equal to
shown the equivalent circuit of synchronous motor in Fig. 1 [7]. [xb, xh];
The mathematical model of PMSM is given in Ref. [4]  N is the number of cells;
8    Pulsations xi and x0i have the relationship of xi ¼ ax0i with
dId
>
> U d  E ¼ R I d þ T l ; a > 1, and x0iþ1 ¼ gxi with g > 1;
< dt
log a
2 ð1Þ  n ¼ 1  log ag ;
>
>
GD
Id  Ifz ¼ 375C dn
dt
¼ TRm dE
dt
;
: m
 The coefficient Gn is defined for achieving the same gain for 1/sn
and In(s) at the pulsation xu = 1 rad/s.
where Ud is the armature voltage, E is the back electromotive force,
R is the stator resistance, Id is the armature current, Tl is the electri- From Eq. (5), the corresponding state-space representation is
cal time constant. Ifz is the external load current, Cm is the torque 8 x ðtÞ
< : I ¼ A xI ðtÞ þ B uðtÞ;
constant. Tm is the mechanical time constant. After the Laplace t I I
: ð6Þ
transform, the transfer function of PMSM velocity control can be ex- :
yI ðtÞ ¼ C TI xI ðtÞ;
pressed as an integer model as follows:
K where AI ¼ M1  1 T
GðsÞ ¼ ; ð2Þ I AI , BI ¼ M I BI , and C I ¼ ½0; . . . ; 0; 1; u is the input,
s2 þ T1 s þ T m1T with
l l

2 3
where K is the steady-state gain, In[6], the results show that differ- 1 0 0
... 2 3
Gn
ent arrangements of RLC devices may lead to non-integer behavior. 6 .. 7
6 a 1 .7 6 0 7
Meanwhile considering the fact that the electrical characteristics of 6 7 6 7
MI ¼ 6 . .. .. 7; BI ¼ 6 7;
capacitor and inductor are fractional [14], Now, we consider the 6 . 7 4 0 5
4 . . . 05
fractional
8 order
 PMSM system
 as follows: 0
f
0 . . . a 1
>
< U d  E ¼ R Id þ T l dIdf ; 2 3 2 3
dt 1 0 ... 0 x1
ð3Þ 6 .. 7
> 6 x1 6 7
: I  I ¼ GD2 dn
¼ TRm dE#
; 6 x1 . 7
7 6 x2 7
d fz 375C m dt dt# AI ¼ 6 . .. .. 7; xI ¼ 6
6 .. 7:
7
6 . 7 4 . 5
After the Laplace transform, the transfer function of PMSM 4 . . . 0 5
velocity control can be expressed as a fractional model as follows: 0 ... xN xN xNþ1
K Then, the state-space diagram of fractional order operator In(s) is
Gf;# ðsÞ ¼ ; ð4Þ
sfþ# þ T1 sf þ T m1T shown in Fig. 2.
l l

Applying this fractional order model (4), it is estimated that the

3.2. Fractional order model Gf,#(s)
characteristics of PMSM velocity control dynamics can be de-
scribed with better accuracy over the traditional integer order
In this section, the fractional order model Gf,#(s) in (4) can be
model (2) since this fractional order feature in model (4) is closer
presented with two operators If(s) (n = f for In(s)) and I#(s)(n = #
to the nature of the components in PMSM. In next sections, the
for In(s)) as follows [3]:
fractional order model (4) is identified with parameters estimation.
The loop gain K is steady-state gain which can be easily estimated K
by open-loop response [11]. But the identification of the fractional Gf;# ðsÞ ¼ ; ð7Þ
If I# þ T1 If þ T m1T
l l
orders f and # in (4) is not straightforward.
where If(s) and I#(s) corresponds to the state-space model (6) with
3. Identification algorithm for fractional order model the diagram in Fig. 2. The differential equation set for fractional or-
der model (7) is,
3.1. Definition of fractional order operator 8 df x ðtÞ
>
< dtf ¼ x# ðtÞ;
f
>
In this paper, the fractional order operator In(s) is defined as a d# x# ðtÞ ð8Þ
> ¼ uðtÞ  T m1T xf ðtÞ  T1 x# ðtÞ;
conventional integrator, except in a limited frequency band [x >
: dt# l l

b, xh] where it acts like s

n
with n 2 R+. This operator In(s) is then yðtÞ ¼ K  xf ðtÞ:

Based on the state-space representation (6) and diagram in Fig. 2 for

L R fractional order operator In(s), and the differential equation set (8),

AC

Fig. 1. Equivalent circuit of synchronous motor. Fig. 2. State-space diagram of the fractional order operator In(s).

Please cite this article in press as: Yu W et al. Fractional order modeling and control for permanent magnet synchronous motor velocity servo system.
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 W. Yu et al. / Mechatronics xxx (2013) xxx–xxx 3

Fig. 3. State-space diagram of Gf,#(s).

the state-space representation for the fractional order model (7) can
be presented as,
8 " # " #
>
> AI1 BI1 C TI2 0
> xðtÞ
< _
¼ xðtÞ þ uðtÞ;
t_
BI2 T m1T C TI1 AI2  BI2 T1 C TI2 BI2 ð9Þ
>
> h l
i l
>
: yðtÞ ¼ K  C T 0 xðtÞ;
I1
 
where (AI1 , BI1 ) and AI2 ; BI2 are the matrices defining the two
integrators If(s) and I#(s) with C TI1 ¼ C TI2 ¼ ½ 0 . . . 0 1 , e.g.,
2 31 2 3
1 0 ... 0 1 0 ... 0
6 .. 7 6 .. 7
6 a1 1 7 6
. 7 6 x1 x1 . 7
6 7
AI1 ¼6 . .. .. 7 6 . .. .. 7;
6 . 7 6 7 Fig. 4. Output-error identification technique.
4 . . . 0 5 4 .. . . 0 5
0 . . . a1 1 0 ... xN  xN
2 31 programming (NLP) algorithm, using the gradient and the hessian of
1 0 ... 0 2 3
Gn J.
6 .. 7
6 a1 1 .7 6 0 7
6 7 6 7 An Marquardt’s iterative algorithm [16,3] is used to obtain the
BI1 ¼ 6 . 7 6 7;
6 . .. .. 7 4 0 5 accurate ^
h:
4 . . . 05
0 . . . a1 1 0
hiþ1 ¼ hi  f½J 00hh þ kI1 J 0h g^h¼hi ; ð12Þ
0
and xðtÞ ¼ ½ x1 x2 . . . x2Nþ2  is the state vector. The state-space dia- P PM
where J0h ¼ 2 M 00
m¼1 em rm;hi is the gradient, J hh  2 m¼1 rm;hi rm;hi is
T
gram for (9) is shown in Fig. 3.
the hessian, k is a monitoring parameter, and rm;hi ¼ @@hy^mi is the out-
put sensitivity function.
3.3. Output-error identification algorithm
This Marquardt’s algorithm insures the robust convergence,
even with a bad initial value of ^
h , in the vicinity of the global opti-
Let us recall that n = 1  (loga/logag) from Section 3.1. Then the
mum. Fundamentally, this technique is based on the calculation of
fractional orders for If(s) and I#(s) can be calculated as:
the gradient and hessian which dependent on the numerical inte-
f = 1  (loga1/loga1g1),# = 1  (loga2/loga2g2), where a1, g1, a2
gration of the sensitivity function rm;hi [17].
and g2 are constant values.
Assuming that m data pairs are available (um ðtÞ; ym ðtÞ) where
t = mTe(Te is the sampling period), ym is the output measurement 4. System identification for the fractional order model
with noise.
Define hT = [Ka1g1a2g2], and ^ h as the estimation of the parame- 4.1. Introduction to the experimental platform for system
ter array h. Then, if giving ^h and u(t), we can numerically simulate identification
the state-space model as (9), one can construct the residuals [16]:
In this paper, the PMSM velocity control experimental platform
em ¼ ym  y^m ðuðtÞ; ^hÞ; ð10Þ
is applied for the system identification of the proposed fractional
where y^m ðuðtÞ; ^
hÞ represents the estimated output measurement order model and the performance verification. The experimental
based on estimated parameter ^ h and input u(t). This technique setup for the system identification is introduced in this section.
can be schematized as shown in Fig. 4 [17], where NLP stands for As shown in Fig. 5, the input is a voltage signal Uq, through the
non-linear programming (NLP) algorithm. space vector pulse width modulation (SVPWM) [12] control
The optimal value of the parameter estimation ^ h is obtained scheme, six channels of PWM control signals are sent to the Indus-
from minimization of the quadratic criterion: trial Frequency Inverter to drive the PMSM. The SVPWM control is
a special scheme using 3-phase power converter with six power
X
M
transistors. The 3-phase inverter consists of three groups of IGBT
J¼ e2m : ð11Þ
power transistors. Every group is composed of upper and lower
m¼1
two transistors, the six IGBT power transistors are controlled by
Notice that e(t)? output disturbance when ^ h ! h . This consider- the PWM1-PWM6 signals from the SVPWM module, and the out-
ation justifies output-error appellation, where output y ^ðtÞ depends puts of the inverter connect to the 3-phase inputs of the motor.
^ðtÞ is non-linear in the parameters ^
on past values of y ðtÞ:y h : thus, The details of the SVPWM control with 3-phase inverter are intro-
quadratic criterion J has to be minimized iteratively by a non-linear duced in [12]. The output signal is the motor speed which is

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persistently exciting to the order of the period of the signal [2]. A

PRBS signal is a series of step functions generated by a series of
shift registers with an exclusive or operator [20]. A maximum
length PRBS signal has a correlation function that resembles a
white noise correlation function. This property does not hold for
non-maximum length sequences. Thus the PRBS signal used in
identification processes should be a maximum length PRBS signal.
For the PMSM velocity system identification of the proposed
Fig. 5. Block diagram of the experimental platform for system identification. fractional order model in this paper, a PRBS is chosen as the input
signal. In order to design an effective PRBS test sequence, the per-
iod and length must be proper chosen. The determination of PRBS
Table 1 period D and length Np should follow the rules [8]:
Nominal parameters of the PMSM.
 
Rated power 1 (kw) 1 1 1
D 6 0:3  ; Np 2 1:2  ; 1:5  : ð13Þ
Rated speed 2000 (r/min)
fM fM D fM D
Rated torque 4.7 (N m/Arms)
Armature resistance 1.32 (X) where fM is the system cut-off frequency.
Mechanical time constant (Tm) 5.9 (ms) Then, it is easy to determine the PRBS input signal with period
Electrical time constant (Tl) 4.5 (ms) D = 0.003 s and the length Np = 127 according to (13). Applying this
Number of poles 8 input PRBS sequence, the PMSM velocity system can be fully ex-
Moment of inertia 0.00251 (kg m2)
cited to achieve the accurate identification of the system model
behavior. Fig. 7 shows the PRBS input applied in experiment and
measured by the optical encoder mounted on the PMSM. The the PMSM speed response excited by the PRBS input. Conse-
parameters of the PMSM is shown in Table 1. quently, the system identification scheme introduced in the Sec-
tion 3.3 can be applied to obtain the parameters of the fractional
4.2. System identification on the experimental platform order model (4).

4.2.1. Cut-off frequency identification
For the system identification of the proposed fractional order
model on PMSM velocity system, the cut-off frequency fM of the
PMSM velocity system model needs to be found firstly. Some
square wave inputs with different period ts are added to the system
identification platform as shown in Fig. 5. As long as the system no
longer responses to the square wave input with period tsM, the cut-
off frequency can be obtained from fM = 1/tsM [8]. Fig. 6 shows the
real-time PMSM speed response excited by the square wave input
signal with the magnitude of 310 V voltage and the period of
tsM = 0.0125 s. Therefore, the cut-off frequency fM can be calculated
as 80 Hz.
4.2.2. PRBS Input signal selection for system identification
The preudo random binary sequence (PRBS) signal is popularly
applied as the input signal for system identification because it is
4.2.3. System identification result from real-time experiment
In fractional order model (4), the mechanical time constant
Tm = 0.0059 s and electrical time constant Tl = 0.0045 s can be
found from the specifications in Table 1 of the PMSM used in the
experiment. The loop gain K in (4) can be determined according
to open-loop unit step response of the PMSM velocity system. As
shown in Fig. 8, the steady-state speed is 6.8251 rpm with the unit
step open-loop excitation. Thus the loop gain can be calculated as
K = 6.8251.
Next, the fractional orders f and # in (4) need to be identified.
Because fractional systems have long memory, the system initial
condition is crucial in the identification of the fractional order sys-
tems. The truncation of the fractional integrator is necessary to
take into account all the past of the system. The solution proposed
in this paper is to replace the fractional integrator by an integer
one when the frequency tends to zero. This truncation permits to

-3
x 10
5
350
4
300
3

250 2
Speed (rpm)

1
Voltage (V)

200
0

150 -1

-2
100

-3
50
-4

0 -5
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0 0.5 1 1.5 2 2.5
Time (s) Time (s)

Fig. 6. The experimental signals for cut-off frequency identification.

Please cite this article in press as: Yu W et al. Fractional order modeling and control for permanent magnet synchronous motor velocity servo system.
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8
1

0.8 6

0.6
4
0.4

Speed (r/m)
Voltage (V)

0.2 2
0

-0.2 0

-0.4
-2
-0.6

-0.8 -4

-1
-6
0 0.1 0.2 0.3 0.4 0.5 0.6 0 0.2 0.4 0.6 0.8 1 1.2
t (s) t (s)

Fig. 7. The experimental signals for system identification.

" # " #
8 AI1 BI1 C TI2 0
Response of the PMSM with ðAðhÞ ¼ ; BðhÞ ¼ ;
Input of Unit step BI2 T m1T C TI1 AI2  BI2 T1 C TI2 BI2
7 l l
h i
and ðC T ðhÞ ¼ K  C TI1 0 :
6
@ x_
Notice that @h i
is the partial derivative of the state vector by the ith
5
parameter hi of the vector h. Here r_ x;hi , rx;hi , and @BðhÞ are 42  1 vec-
Speed (r/min)

@hi
tors. A(h) and @AðhÞ@hi
are 42  42 matrices.The sensitivity function of
4
the identified order as following:
8
3 < @h@x_ ¼ r_ x;ha ¼ AðhÞrx;ha þ @AðhÞ
a 1 1 @ha
x
1 1
; ð16Þ
2
:r ¼ C T ðhÞrx;ha1
y;ha1

1 8
< @h@x_ ¼ r_ x;hg ¼ AðhÞrx;hg þ @AðhÞ
@hg
x
g 1
1 1 1
; ð17Þ
0 :r ¼ C T ðhÞrx;hg1
0 0.02 0.04 0.06 0.08 0.1 0.12 0.14 0.16 0.18 0.2 y;hg1

Time (s)
8
Fig. 8. Unit step response of the PMSM velocity system. < @h@x_ ¼ r_ x;ha ¼ AðhÞrx;ha þ @AðhÞ
@ha
x þ @BðhÞ
@ha
u
a 2 2
2 2 2
; ð18Þ
: ry;ha2 ¼ C T ðhÞrx;ha2
restrict the number of state-space variables and to avoid keeping
all the past of the system. In this identification case, the initial con- 8
< @h@x_ ¼ r_ x;hg ¼ AðhÞrx;hg þ @AðhÞ x
dition issue is solved by using the following criterion [16]: g 2
2 2 @hg 2
: ð19Þ
:r ¼ C T ðhÞrx;hg2
X
M y;hg2
J¼ e2m ; ð14Þ
m¼mr Then, each sensitivity function can be simulated using the lsim func-
where em can be found in Eq. (10), mr is directly linked to the time tion in MATLAB. With x01 ¼ 104 rad=s and x20 = 104 rad/s, a and g
response tr of the system by mr = tr/Te, Te is the sampling period, satisfying a20  g19 = 108, and the initial values a1 = 2, g1 = 1.2711,
here tr = 0.2 s and Te = 0.0025 s with x01 = 104 rad/s and xN = 104 - a2 = 1.5, and g2 = 1.7207, the parameters of the fractional order
rad/s. This method is not specific to non-integer systems and must model (4) can be identified with the result shown in Table 2 using
always be used in output-error algorithms when the model is linear. the output-error identification algorithm in Section 3.3.
On the other hand, N = 20 cells are used for the phase lead filter to Fig. 9 shows the Bode plots for comparing the integer order
approximate the non-integer behavior in this interval. Choosing model (2) and the fractional order model (4) with identified model
M = 300, the input and output signals for output-error identification parameters in Tables 1 and 2. Here the integer model is
6:8251
algorithm is shown in Fig. 7. GðsÞ ¼ s2 þ222:222sþ37665 , the fractional model is
6:8251
From Section 3.3, we know that the minimizing procedure relies Gf;# ðsÞ ¼ s1:7452 þ222:222s0:9251 þ37665.

on rh ¼ @ y^=@h. With the state-space representation (9) of Gf,#(s), Table 2

the sensitivity function @ y^k =@hi can be obtained: System identification result for the fractional order model (4).
8 @ x_ @AðhÞ @BðhÞ
< @hi ¼ r_ x;hi ¼ AðhÞrx;hi þ @hi x þ @hi u; Parameters K a1 g1 f a2 g2 #
h i ð15Þ Estimated 6.8251 1.0750 2.4434 0.9251 1.8365 1.3905 0.8201
: @ y^k ¼ r ¼ C T ðhÞr þ @CðhÞ T x; values
@h y;hi x;hi @h
i i

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Bode Diagram
-50

Fractional order model

Integer order model

Magnitude (dB)
-100

-150

-200

-45
Phase (deg)

-90

-135

-180
-2 -1 0 1 2 3 4 5 6
10 10 10 10 10 10 10 10 10
Frequency (rad/sec)

Fig. 9. Bode plots of the fractional and integer model.

5. Experimental validation

In this section, the real-time PMSM velocity control experimen-

tal platform is presented for the experimental validation. As shown
in Fig. 10, the PMSM is controlled by the servo drive with JTAG emu-
lator interface connecting to the computer for signal monitoring.
The code composer studio software tool is used for the online tuning
and debugging. The control board in the servo drive is based on the
TMS320F2812 DSP control unit. The speed feedback signal is mea-
sured from optical encoder output for velocity closed-loop control.
In order to verify that the identified fractional order model (4)
of the PMSM velocity system is more precise than the traditional
integer order one (2), the experimental validation is implemented
with the block diagram as shown in Fig. 11. The reference speed in-
put xr ¼ 800 rpm. A proportional integral (PI) controller is chosen
as the velocity controller.
The PI controller applied in the experiment has the following
form: Fig. 10. Experimental platform setup.
 
Ki
CðsÞ ¼ K p 1 þ : ð20Þ
s
This PI controller is designed following a simple scheme as fol-
lows. From the definitions of gain crossover frequency and phase
margin, we can get two specifications [5]:
SVPWM Inverter
(i) Phase margin specification

Arg½Cðjxc ÞGðjxc Þ ¼ p þ um ; ð21Þ

(ii) Gain specification
jCðjxc ÞGðjxc Þj ¼ 1: ð22Þ PMSM
Encoder
In order to compare the proposed fractional order model (4) and the
traditional integer order model (2) fairly, two PI controllers are de- Fig. 11. Block diagram of the experimental validation.
signed following the same tuning rule with the same two specifica-
tions presented above, based on models (2) and (4), respectively.
The phase and amplitude of open-loop system with model (2)
 PI controller design based on integer order model (2): can be given,

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Bode Diagram
50
Sensitivity function for the fractional order system
Sensitivity function for the lnteger order system

Magnitude (dB)
-50

-100

-150

180

90
Phase (deg)

-90

-180

-270
-2 -1 0 1 2 3 4 5
10 10 10 10 10 10 10 10
Frequency (rad/sec)

Fig. 12. The error sensitivity function Bode plots for the fractional and integer systems.

Bode Diagram
150

100
Magnitude (dB)

50 System: H1
Frequency (rad/sec): 101
Magnitude (dB): -0.0539
0
System: H2
Frequency (rad/sec): 101
-50 Magnitude (dB): 0.366

-100

-150 System: H1
-90 Frequency (rad/sec): 101
Phase (deg): -110
Phase (deg)

System: H2
Frequency (rad/sec): 101
-135 Phase (deg): -112

-180

-225
-4 -3 -2 -1 0 1 2 3 4 5 6
10 10 10 10 10 10 10 10 10 10 10
Frequency (rad/sec)

Fig. 13. Open-loop system Bode plots with two designed controllers.

 
xc xc  T m Given the gain crossover frequency xc = 100 (rad/s) and the phase
arctan  arctan ¼ p=2 þ um ; ð23Þ
K i1 1  T m  T l  x2c margin um = 70°. Clearly, we can solve equations (23) and (24) to
qffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi get Kp1 = 5390.15 and Ki1 = 658.33. So the first designed PI controller
K p1  x2c þ K 2i1 based on integer order model (2) is
rffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
 2  2 ¼ 1: ð24Þ
 
xc  T m T x2 þ xT c
1 658:33
l c l C i ¼ 5390:15 1 þ :
s

Please cite this article in press as: Yu W et al. Fractional order modeling and control for permanent magnet synchronous motor velocity servo system.
Mechatronics (2013), http://dx.doi.org/10.1016/j.mechatronics.2013.03.012
8 W. Yu et al. / Mechatronics xxx (2013) xxx–xxx

1000 responding designed controller, and H2 is the open-loop system

Response with integer model
Response with fractional model
with the traditional integer model (2) with the corresponding de-
900
signed controller.
800 In the experiments, the speed responses using the two designed
PI controllers are presented in Fig. 14. The main performance indi-
700
cators are listed and compared in Table 3, where d is the overshoot,
and ts is the settling time with steady-state error within 5%. From
Speed (rpm)

600
the experimental comparison, it can be concluded that the real-
500 time PMSM velocity servo system with fractional order model out-
performs that with traditional integer order model in tracking
400
performance.
300
6. Conclusion
200

100 In this paper, a fractional order modeling, system identification

and controller design for a PMSM velocity servo system is pre-
0
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 sented. The fractional order model is proposed by extending the
Time (s) traditional integer order model. An output-error identification
scheme is applied for the system identification of the proposed
Fig. 14. Speed responses using controllers based on integer/fractional order fractional order model. After the model parameters are estimated
models. with real-time experimental results, a simple PI controller is de-
signed using the phase margin and gain crossover frequency spec-
ifications according to the identified fractional order model. The
Table 3
advantage of the proposed fractional order model over traditional
Tracking performance comparison.
integer order model is demonstrated by the fair experimental per-
Model based on Overshoot, d Settling time, ts (s) formance comparison.
Integer order model 3.75% 0.17
Fractional order model 0 0.08 References

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Please cite this article in press as: Yu W et al. Fractional order modeling and control for permanent magnet synchronous motor velocity servo system.
Mechatronics (2013), http://dx.doi.org/10.1016/j.mechatronics.2013.03.012