Permanent Magnet (PM)

Motor Modeling

General Block Diagram (1)

General Block Diagram (2)

Motor Model

Dynamical Equations
dd
vd Rs id
me q
dt

vq Rs iq

dq
dt

me d

did
1
vd Rsid me Lqiq

dt Ld
1
vq Rs iq me Ld id me PM
dt Lq

diq

dm 1
Te TL Dmm
dt
J
d m
m
dt

where

Te iq P PM id Ld Lq
4

me

P
m
2

Controller in SimuLink

Governing Equations
PID controller can be designed as:

m* m k p e k i e k d e
m

where

e m mref m
e m mref m

e m mref m
From

(1)

Te J

d m
D m m TL
dt

(2)
(3)

Te K T i q
where

iq

Te

KT

d m
dt

KT

3P
PM ( L d L q ) i d
4

d m
D m m TL
dt
KT

(4)

Desired Quadrature Current

Then the desired quadrature current
d m*
J
D m m* T L
dt
i q*
KT
Eq. (2)

d m*
d m
J
D m m* (Te J
D m m )
dt
dt

KT
J / t Dm *
Te
J
m m
m

KT KT
KT

Eq. (3)

Eq. (1)

J / t Dm
J
( k p e m k i e m k d e m )
m
iq
KT
KT

~
~
~
J
i q* i q
m k p e m k i e m k d e m
KT
~
~
~
J / t Dm
where k p Ck p k i Ck i k d Ck d
C
KT

Adaptive for
different values of
J, t, Dm and KT.

Voltage Control Equations

From

d
d q r
dt
d
q d r
v q R s iq
dt
v d R s id

d L d i d PM
q L q iq

Then the desired control dq voltage

*
di
v d* R s i d* L d d r L q i q*
dt
di q*
*
*
v q R s iq L q
r ( L d i d* PM )
dt

*
Note: we set the desired direct current i d 0

for round rotor machine since it does not generate torque.

Angle and Angular Velocity Tracking

Angle
Tracking

Angular
Velocity
Tracking