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Ga Speed and DQ Currnets Control of PMSM With
Ga Speed and DQ Currnets Control of PMSM With
ISSN: 1992-8645
www.jatit.org
E-ISSN: 1817-3195
ABSTRACT
In recent years, permanent magnet synchronous motors (PMSM) have gained variety industrial
applications, because of simple structures, high efficiency and ease of maintenance. But these motors have
a nonlinear mathematical model. To resolve this problem several studies have suggested the application of
soft-computing technique. This paper presents vector control of PMSM fed by space vector modulation
inverter using genetic algorithm (GA) controllers to improve speed, currents and the electric torque by
significantly reducing their ripples, which offer an extra advantage of this study. The proposed method
effectiveness has been verified by computer simulations using Matlab/Simulink. These results are
compared with the ones obtained with a vector control using PI controllers for speed and current [1] and the
second obtained with adaptive controller based speed estimation technique [2].
Keywords: Permanent Magnet Synchronous Motor (PMSM), Vector Control, Space Vector Modulation
(SVM), Genetic Algorithm (GA).
1. INTRODUCTION
allows PMSM motor to be used widely in
industrials applications.
ISSN: 1992-8645
www.jatit.org
E-ISSN: 1817-3195
Xb
X
Xd
Xq
X X a
Xc
Figure 1. Vector diagram of PMSM.
Vd = Rid r q +
Vq = Riq + r d +
dt
(2)
(3)
d = Ld i d + m
(4)
q = Lq i q
(5)
o = Lo io
(6)
Te =
dq
(1)
d o
dt
Vo = Rio +
d d
dt
3
p ( m iq + (Ld Lq )id iq )
2
(7)
ISSN: 1992-8645
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d r
p
= (Te B r Tm )
dt
J
(8)
r = p m
(9)
Where R represents
resistance,
Vd and
E-ISSN: 1817-3195
V2 (110 )
V3 (010 )
Vq
V0 (000 )
V4 (011)
Vref
V1 (100 )
V7 (111)
rotor speed,
V6 (101)
V5 (001)
torque, and
V2
electrical torque:
Te =
3
p m iq
2
(10)
T2
V2
Tz
T1
V1
Tz
Vref
V1
Vref
can be
determined as follows:
Vref = V2 + V2
V
V
= arctan
(11)
(12)
T7 .
ISSN: 1992-8645
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E-ISSN: 1817-3195
T1 =
3.Tz .Vref
v dc
sin
3
n 1
sin
v dc
3
(T T1 T2 )
T0 = z
2
T T1 T2
T7 = z
T2 =
Initialization of GA
Evolution
3.Tz .Vref
Selection
(13)
Crossover
Mutation
Evolution
No
Stop or go
Yes
Stop
Tz
T0 T1 T2
2 2 2
T7
T2 T1 T0
2 2 2
4. PROPOSED GA CONTROLLERS
KPs + KI
is
s
ISSN: 1992-8645
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E-ISSN: 1817-3195
v dc
populationSize=80;
variableBounds=[-100 100;-100 100;100 100;100 100; 100 100;-100 100];
evalFN=GA_PI;
evalOps=[];
options=[1e-6 1 0 0];
initPop=initializega(populationSize,variableBo
unds,evalFN,evalOps,options)
PMSM
SVM
V ,V
dq
Vq , Vd
abc
dq
Block
d/dt
Decoupling
+
GAPI
iq
GAPI
GAPI
yq , yd
id
PARAMETERS
AND
SIMULATION
The following table represents the PMSM
parameters:
ISSN: 1992-8645
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Parameters
Stator resistance. R
d -axis inductance. Ld
Values
1.4
6.6 mH
q -axis inductance. Lq
5.8 mH
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7. RESULTS
In order to demonstrate the high performance of
the proposed GA controllers, numerous simulation
tests were performed under different operating
conditions. Sample significant simulation results
are presented below. Figure 7 shows the speed,
torque and stator currents control. The speed and
stator current references are applied as order
respectively with +100, -100 rad/s and 0A. It is
clear that the system follows these references faster
than the results shown in [1]. The torque and the
currents ripples due to the harmonic of SVM are
reduced in comparison with conventional PI [1]. It
is found that the GA controllers based PMSM drive
has small settling time (0,012s) for both positive
and
negative
speed
without
any
overshoot/undershoot. In contrast to [17] has
multiple overshoot/undershoot with the settling
time (0,025s). A comparison between the PI
controller presented in [1] and the proposed GA
controllers proves the superiority of the proposed
GA controllers.
0.15 wb
0.00038
Nmrad 1 s 1
2
0.00176 kgm
Ga_control.m
%main function
Initialisega.m
%Initialisation of genetic
%algorithm
GA_PI .m
% Evaluation function
Make_GAPI.m
sim(PMSM) %Simulink Model
Run_ga.m % the run of genetic algorithm
GA_PI .m
% Evaluation function
Make_GAPI.m
Sim(PMSM) %Sim Simulink Model
End
%end of main function
ISSN: 1992-8645
www.jatit.org
E-ISSN: 1817-3195
(b)
(a)
110
100
wm
wm*
80
100
90
wm
60
wm*
80
40
Speed (rad/s)
Speed (rad/s)
70
20
0
-20
60
50
40
-40
30
-60
20
-80
10
-100
0
0.2
0.4
0.6
0.8
Time (s)
(c)
0.02
(d)
40
30
10
20
10
iq (A)
id (A)
-10
-20
-30
-5
-40
-50
-10
0
0.2
0.4
0.6
0.8
-60
0.2
0.4
0.6
0.8
Time (s)
Time (s)
(f)
(e)
30
Te
Te*
40
20
10
Te (N.m)
ia (A)
30
20
-10
10
-20
-10
-30
0.2
0.4
0.6
0.8
-40
0.2
0.4
0.6
0.8
Time (s)
Time (s)
Figure 7. Simulated speed, torque and dq currents responses of the PMSM drive with GAPI for a +100,-100 speed
reference without fixed charge: (a)
(a)
(b)
60
50.5
wm
wm*
40
wm
wm*
20
50
Speed (rad/s)
Speed (rad/s)
0
-20
-40
-60
49.5
-80
-100
-120
0.2
0.4
0.6
0.8
49
Time (s)
0.1
0.2
0.3
Time (s)
0.4
0.5
0.6
ISSN: 1992-8645
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E-ISSN: 1817-3195
(c)
(d)
40
30
20
-2
10
iq (A)
id (A)
-4
-6
-8
0
-10
-10
-20
-12
-30
-14
-40
-16
0
0.2
0.4
0.6
0.8
-50
0.2
0.4
0.6
Time (s)
Time (s)
(e)
(f)
0.8
8
6
Te
Te*
20
4
10
2
Te (N.m)
ia (A)
0
-2
-4
-10
-6
-20
-8
-10
-12
-30
0
0.2
0.4
0.6
0.8
Time (s)
0.2
0.4
0.6
0.8
Time (s)
Figure 8. Simulated speed, torque and dq currents responses of the PMSM drive with GAPI for a +50,-100 speed
reference with a fixed charge of 4N.m: (a)
8. CONCLUSIONS
In this article a GA speed and (dq ) current
controllers of PMSM motor with space vector
modulation SVM has been proposed and simulated
with Matlab/Simulink. The speed controller
proposed is a GAPI controllers designed without
the mathematical model of the PMSM motor. The
excellent simulation results obtained show the
effectiveness of this technique in the speed, torque
and (dq ) current regulation of the PMSM.
[3]
[4]
[5]
REFERENCES:
[1]
[2]
[6]
ISSN: 1992-8645
www.jatit.org
E-ISSN: 1817-3195