Investigation of PI and Fuzzy Controllers for Speed

Control of PMSM Motor Drive

S.Sakunthala M..Tech ( Ph..D.)
Assistant Professor (Adhoc)& Research Scholar, Dept. of EEE
JNTUACEK – Kalikiri, JNTUA University, Anantapur
shakuntala.btech@gmail.com, s.sakunthala@ieee.org

Dr.. R.Kiranmayi M..Tech,, Ph..D Dr.. P.Nagaraju Mandadi M..Tech,, Ph..D

Professor & Head, Dept. of EEE Professor, Dept. of EEE
JNTUA University, Anantapur SITAMS, Chittoor, JNTUA University, Anantapur
kiranmayi0109@gmail.com mandadi.nagaraju@gmail.com

Abstract—This paper consists of modeling of PM synchronous

motor drives (PMSM)) with PI controller Fuzzy based Controller..
PMSM has hysteresis controller which is used to estimate the speed
and current controller errors.. The common PI controller is used in
industry reason that the ruggedness this regulator acquires..
Controlling torque and flux is important in electrical drives due to
that problem DTC method is used to control flux and torque
estimated errors and fed to the power electronic converters.. A PI and
fuzzy controllers are used as a speed controller whose input is used as
a speed controller whose input is the error between the speed
command and feedback speed.. Conventional DTC techniques are
best compared to field oriented control (FOC)) and basic block
diagram of fuzzy based controller and PI controllers are presented..
Keywords—— PMSM,, Speed Control technique,, DTC
mathematical model,, PI controller..
I. INTRODUCTION
PMSM Motor Drives
The action of electric drives is the controlled conversion of the
electrical form of energy to a mechanical form, and vice versa.
Electric drives are various sectors of the investigation,
excepting proper synthesis of the ability of electrical machines,
actuators, power electronic converters, sensors and Figure 1: Electrical machine Drive System
instrumentation control hardware and operating system, and
communication links represented in figure 1. Past decades Synchronous Machines run at speed (Ns) where it represents
there is a development in machine drives due to the usage of synchronous speed determined by the supply frequency Ns =
AC supply. Beginning days research concentrated on electrical 120f/P and are categorized into three main types: rotor excited,
machine drives design with the objective of reducing the PMSM, and SRM (synchronous reluctance) types. Good-
weight per unit power and increasing the efficiency of the performance AC electrical drive refers to the drive systems
motor. Never-ending work by researcher experience assists to capability to provide accurate control, in addition to an active
the generation of energy coherent industrial motors with response and a good steady-state response. Since the
minimized capacity machines. Motors that do not run with beginning of AC electrical machines, various methods have
synchronous speed are Induction motors with a field wound evolved to control AC drives speed, torque, and Flux [2]-[4].
circuit or supply cage rotors. great-potential drives are The basic controlling parameters are the V and F of the
considered for protection-uncertain applications due to their applied voltage /current to the Machine.
accuracy of control [17]-[18]. The power grid provides fixed magnitude and F in Hz
voltages/currents, and are thus not capable of applying
regulating operation of AC electrical machines.

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 CONTROLLING METHODS OF PMSM II. MATHEMATICAL MODELING EQUATIONS OF PMSM
Control of PMSM motor drives is most important due to A. Modeling of PMSM Motor Drive
continuous and frequent use in various systems. The
governing of AC motor drives can be mainly divided into
‘scalar’ and ‘vector’ controls. Scalar control is easy to perform
and provide a satisfactorily steady-state response, stable
though the changes are stagnant. To get high accurate and
good robust, as well as steady-steady response, ‘vector’
control advances are to be employed with closed-loop
feedback control. the ‘vector’ based approaches, are shown in
figure 2. The FOC fundamental depends on the instantaneous
control of stator current space vectors. The research on FOC is
effective, with the objective of organizing many progressive
features for highly accurate control, such as sensorless
operation, and utilization of accessible specification
adjustments.
The DTC can be be applicable to power electronic
converter-fed electrical machines. DTC takes a different look
at the machine and the associated power electronic converter.
First, it is recognized that, regardless of how the inverter is Figure 3: Equivalent Diagrams of PMSM Motor Drive
controlled, it is by default a voltage source rather than a
current source. Next, it distributes with one of the important From the equivalent circuit as shown 3 of PMSM we can
characteristics of the vector control, indirect flux, and torque frame the below equations[11]- [15]
control by means of two stator current factors. vabcs = rsiabcs+ d (labcs) --------------- (1)
dt
 Indirect control of stator currents and voltages; vq = rsiq+wrld+d (lq) --------------- (2)
 the nonapperiance of coordinate transformation; dt
 the nonapperiance of depurate voltage modulation vd= rsid-wrlq+d (ld) --------------- (3)
block, generally essential in vector drives; dt
 the nonapperiance of current controllers; lq= Lqiq --------------------------------(4)
 In its basic form, the DTC scheme is sensitive to the
only variation in stator resistance. ld= Ldid+lm ----------------------------- (5)

Te=(3/2) (P/2)(ψαiβ-ψβiα) ---------------(6)

J dwr
Te - TL = -----------------------(7)
P dt

()
Vq
Vd =
V0
2
3 (
cos θr cos (θr-120)
sinθr sin (θr-120)
1/2 1/2 1/2
)( )
cos (θr+120) Va
sin (θr+120) Vb ---(8)
Vc
Transformation equations for stator voltage and stator currents
are shown in equations (9) to (14),
Where θ is the instantaneous angle of the rotor:
Vd =
2
3 ⌊ ( ) ( )⌋
Vacos θ+Vbcos θ-
2π
3
+Vccos θ-
4π
3
--(9)

Vq =
2
3 ⌊ ( ) ( )⌋
Vasin θ+Vbsin θ-
2π
3
+Vcsin θ-
4π
3
--(10)
Ia = ids cos θ -iqssin θ ----------------------------------(11)
Ib = ids cos θ-( ) ( )
2π
3
-iqssin θ-
2π
3
------------------(12)

Figure 2: AC motor Drive Control Schemes

Ic = ids cos θ-
t
( ) ( )
4π
3
-iqssin θ-
4π
3
------------------(13)
θ = ∫0ωr(τ)dτ+θ(0) --------------------------------------(14)

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 III. IMPLEMENTATION OF PMSM USING A PROPORTIONAL PLUS
INTIGRAL CONTROLLER AND FUZZY LOGIC CONTROLLER
B. PROPORTIONAL PLUS INTEGRAL CONTROLLER(PI)
In general speed, the control scheme is important in PMSM.
The proportional plus integral controller is used as a speed
controller whose input is the error between the speed
command and feedback speed. Feedback speed is the speed
estimator for better performance of speed responses and
reduction of flux and torque ripples. PI controller lower
overshoot, faster time response, reduced or zero steady state
error. Figure 4 shows the representation of PI controller in
PMSM which is connected to reference speed and speed
torque estimator to control speed and reduce torque and flux
errors in PMSM. Indirect torque control of PMS motor drives,
PI controller plays an important role which gives a better
performance of the overall machine. PI controller is most
widely used a controller than PID controller. It combines the
advantages of PID controller.
Transfer function for PI control
P'(s)
E(s)
= Kc 1+ ( )
1
τi s
Generally, PI controller for the estimation of flux and torque
and control the speed. PI controller two regulating
specifications: The gain or proportional band and the integral
time or the integral rate. The improvement is that combination
removes the offset. The disadvantage of PI controller is that
addition of integration adds some amount of instability to the
PMS motor drives. The smaller the integral time the stronger
the integral action, the faster the system removes the offset,
but weaker the stability of the system. Due to this
disadvantage, we can use a fuzzy controller instead of PI
controller [19]-[20].
Figure 4: Block diagram of PMSM Motor Drive using PI controller
C. FUZZY LOGIC CONTROLLER
Basically, it provides an efficient means of occupying the
relative, imprecise type of the real world. The fuzzy controller
operates mainly fuzzification which is the initial step of the
system. Next rule evaluation after that finally Defuzzification.
These three are the main steps takes place in the fuzzy
system[1].
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Figure 5: Structure of Fuzzy Logic controller
The FLC is designed as a precious methodology because it
produces results superior to those obtained by conventional
control algorithms [16]. diagrametic representation of FLC is
shown in figure 5.
The fuzzy logic system consists Five main steps:
Step 1: fuzzification interface transforms input crisp values
into fuzzy values and it involves the functions as it
receives the reference speed values as input values.
Translate input values in to truth values [1], [5].
Step 2: Rule evaluation take place which computes output
Truth values
Step 3: The results are summed together to generate a set of
fuzzy outputs.
Step 4: Selection making logic performs the human resolution
making procedure based on fuzzy concepts.
Step 5: Defuzzification interfaces the function which produces
a non-fuzzy control action from an inferred fuzzy
control action.
In PMSM instead of PI controller Fuzzy logic controller is
used which is represented in figure5. The fuzzy logic
controller consists of four main modules:
(i) Fuzzy rule base
(ii) Fuzzy interface engine
(iii) fuzzification module
(iv) defuzzification module
The above four modules are operated step by step in PMSM
based on the errors of flux and torque estimator after
deffuzzifying the errors are fed to the vector modulation and
finally, the machine may operate in a stable manner [5]-[10].
Advantages of Fuzzy Logic Controller
 Simple inference system
 Easy to design
 Good for simple control
 Control system with nonlinear characteristics.
 Decision making systems for the controller.
 Reduce development time.
135

Figure 6: Block diagram of PMSM Motor Drive using Fuzzy Logic controller
IV CONCLUSION
In this paper, mathematical modelling equations of PMSM are
derived from the equivalent circuit. The main aim of
Permanent Magnet Synchronous motor (PMSM) drives is to
control speed and minimize torque and flux ripples due to that
reason PI controller fuzzy logic controllers are presented in
this paper. These two controllers with the block diagram
representation of PMSM is presented. To run the machine in a
stable manner and more efficiently these two controllers are
implemented. PMSM with direct torque control method is
presented which give better performance than field oriented
control(FOC). Based on modelling equations of PMSM we
can design the machine using MATLAB software.
Acknowledgment
I am very happy to be a part of the electrical world as a
researcher. And I wish to thank all authors who supported me
in writing this paper. The paper, participating in its early stage
and giving the idea to extend it up to a review paper. I would
also like to thank the colleagues and friends for their fruitful
cooperation, contribution, and discussions. My special thanks
to my husband for complete support to do this paper.
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Authors’ Information
S.Sakunthala M.Tech ( Ph.D.)
She is currently pursuing Ph.D. in the
Department of EEE at JNTU University,
Anantapur and also working as Assistant
Professor (Adhoc) Lecturer Department
of EEE in JNTUACEK, Kalikiri, India.
Her research interest is in Modeling and
Control of Permanent Magnet Motor
Drives using MATLAB/Simulink. Her interesting areas
include Power Electronics, Electrical Machines, & Modeling
and Analysis of AC Drives. She is a life member of ISTE,
ISCA, IAENG and also a member of IEEE.
Dr. R.Kiranmayi M.Tech, Ph.D
Presently working as Professor &
Head Department of EEE in
JNTUA College of Engineering,
Anantapur, AP.
Dr. P.Nagaraju Mandadi M.Tech,
Ph.D.Presently
working as Professor
Department of EEE in SITIAMS,
Chittoor,AP.