Journal of Control Theory and Applications 2 (2004) 165- 168

A simple and robust speed control scheme of

permanent magnet synchronous motor

Dianguo X U , Yang G A O
(Department of ElectricalEngineering, Harbin Institute of Technology, Harbin Heilon~iang 150001,China)

Abstract: This paper presents a simple and robust speed control scheme of Permanent Magnet Synchronous Motor
(PMSM). It is to achieve accurate control performance in the presence of load torque and plant parameter variation. A robust
disturbance cancellation feed forward controller is used to estimate the torque disturbance. The simple and practical control scheme
is easily implemented on a PMSM driver using a TMS320LF2407 DSP. The effectiveness of the proposed robust speed control
approach is demonstrated by simulation and experimental results.
Keywords: Robust feed forward controller; PMSM; Torque ripple

been employed by Suh and Chun [ 7 ]. Although it can

1 Introduction
obtain fast speed responses and small ripples in the presence
The field-oriented control has made the permanent o f time-varying load, the proposed scheme has little effect
magnet synchronous motor drive possible for the high when the moment o f inertia variation exists. Kwon applied
performance applications. Therein, the torque and flux MCS algorithm [ 8 ] and Zhou used a backstepping method
equations are decoupled so that the independent torque and [ 9 ] . But both need to be accomplished in float-DSP.
flux control are possible as in D C motor. In PMSM drive This paper proposes a simple and robust speed control
system, the traditional speed controllers are mostly PI scheme o f PMSM. Robustness o f the controller is expected
controllers because o f their simplicity and practicality. in the presence o f load torque and plant parameter
However, this control scheme requires the information on variation. The simple control scheme is easily implemented
the plant parameters and operation conditions with suffi- on a PMSM using a TMS320LF2407 DSP.
cient accuracy, and cannot give a much satisfactory The organization o f this paper is as follows. Section 2
response under the moment o f inertia or load torque presents the mathematical model o f the PMSM. Based on
variation which unfortunately usually happens. To over- this model, the robust speed control scheme is given in
come such a limitation, different robust speed control Section 3. Simulation and experimental results are demon-
schemes o f PMSM are presented. strated to verify the validity o f this scheme in Section 4.
Slide mode control ( S M C ) has been studied by many And the conclusion is given in the last section.
researchers due to its favorable advantages, such as its insen-
2 Model of P M S M
sitivity to parameter uncelv.ainties and external disturbances
[ 1 - 3 ]. Only the bounds o f the uncertainties are needed. The system equation o f PMSM in a d-q model can be
But its worst drawback is the chattering, which limits the expressed as follows [ 10] :
application o f SMC. Boundary layer integral sliding mode Vq = rsi q + p~tq + r (1)
control technique was presented in [ 4 ] and [ 5 ] to reduce Vd = rsid + pad - OAs/~q, (2)
the chattering phenomenon. Kim and R_hew presented a .~q = Lqiq , (3)
method using a Kalman filter load torque observer. H o w -
A d = Ldi d + ,~f, (4)
ever, as it is based on the exact cancellation o f the nonlin-
Te = 3 P [ 2 f i q + (Ld - C q ) i d i q l / 2 , (5)
ear items of the system model, the desired results may not
T. = TL + B~or + Jpo9r , (6)
be obtained easily [ 6 ] . A new disturbance observer has

Received 10 December2003; Revised28 April2004.

This work was supportedHigh-TechResearch and DeveiopmentProgramof China (No. 2001AA423160).
 166 D. XU et at. /Joumal of Control Theory and Applications 2 (2004) 165- 168

where p is the differential operator, vd and Vq are the d , q compromise between the control requirement and the
axis voltages, i d and iq are the d , q axis stator currents, L d performance.
and Lq are the d , q axis inductances, Ad and Aq are the d , q Through proper rearrangement, the control system block
axis stator flux linkages, while rs is the stator resistance. A f diagram shown in Fig. 2 ( a ) can be equivalently simplified
is the flu[x hnkage of permanent magnet. P is the number to those shown in Fig. 2 ( b ) . It is obvious from F i g . 2 ( b )
of pole pairs, T e is the electromagnetic torque, T L is the that the parameter variations and the torque disturbance
load torque, B is the damping coefficient, cor is the rotor have all been reduced by a factor 1 - W. However, as the
speed and J is the moment of inertia. weighting factor W moves closer to 1, the control effort
By means o f the feld-oriented control, it can make id will increase accordingly and the operating stability will
become zero [ 10]. Therefore, the system equations of a become worse due to the amplification of system noise.
PMSM can be described as follows: Therefore, W = 0 . 9 is chosen in this paper.
rs 1 ;tf
ptq
9 = - - -
Lq tq + Lq vq - - -Lq
" - - ms, (7)

~r=--7~~ re- rE, (8)

3
T e = ~PAfiq = ktiq, (9)

3 I cfb D
where kt = ~- PA f.
(a) Control system configuration.
The block diagram of PI controller for PMSM speed
control system based on the above field-oriented control
model is shown in Fig. 1. K is the feedback gain.
. . . . / TL r - - : l ~
[], '
(b) Simplifiedequivalent block diagram.
Fig. 2 The proposed speed control scheme.
Fig. 1 The block diagram of PI control scheme.
4 Simulation and experimental results
3 Robust speed control scheme
The parameters of the PMSM used in the simulation and
In order to achieve accurate control performance in the
experiment are given in Table 1 as follows:
presence o f load torque and plant parameter variation,
many robust control schemes have been developed Table 1 Motor parameters.
[ 1 ~ 9]. Among the existing ones, the robust control Rated output 0.75 kW
scheme based on direct disturbance cancellation is the sim- Rated torque 2.39 N - m
plest in practical implementation. Based on the simplified Rated current 4.1 A
PI control scheme of PMSM in Fig. 1, a robust speed Rated speed 3000 r/rain
control scheme is proposed in Fig. 2 ( a ) . It consists of a Torque constant 0.641 N" m/A
feedback controller Gin( s ) and a robust disturbance cancd- Moment of inertia 2.1 x 10 - 4 k g ' m 2
Stator resistance 0. 925 f~
lation feed forward controller Grb( s ). The disturbance ~rL is
Stator inductance 8.5 mH
estimated using an inverse nominal plant model
Pairs of poles 3
Js+B
gfa - K ' (10)
The hardware of robust speed control system consists o f a
An additional control signal iqd = W T L / k t is generated DSP (TMS320F2dO7) which gives enough C P U resources
to yield the following composite control signal: to process the control algorithm. A 0 . 7 5 k W six-pole
iq = iqb + iqd = iqb + W T L / k t , 0 <~ W ~ 1, PMSM is used with a 2048 ppr optical encoder. The three-
(11) phase voltage source inverter is composed of IPM with a
where IV denotes a weighting factor used to make the switching frequency o f 10 kHz. The Simulation and exper-
 D. XU et a l . / Journol o f Control Theory and Applieations 2 ( 2 0 0 4 ) 165 - 168 167

iment results are shown from Fig. 3 to Fig 9. Fig. 3 is the 1200
n
PI controller speed respond without parameters variation. 1000
Fig.4 and Fig. 5 are the simulation speed responses o f PI
7 800 . . . . . . . + . . . . . . . 1 . . . . . . . - ]- ~ . " - . . . . . t. . . . . . .

control and robust control respectively when the moment

E
o f inertia is 2 J. Fig. 6 and Fig. 7 are the simulation speed 600
'.
response of the above controllers when the load torque K 400 . . . . . . . . . . . . . . . . . . . . . . . . ~ . . . . . . . . . . . . . . .
!
I
stepped from 0 to 2N" m at t = 0 . 3 s. Fig. 8 and Fig. 9
200, - . . . . . . . . . . . . . . . . . . . . . . -;. . . . . . . . . . . . . . . .
are the experimental results o f speed response when the I
i i

t i
o 1

moment o f inertia is 2 J and the load torque stepped from 0 0.1 0.2 0.3 0.4 0.5
t/s
to 2 N" m at t = 0 . 3 s. The preset step command changes
Fig. 6 Simulation speed response o f P M S M PI control system
are all from 0 to 1000 r" m i n - ~ in all o f the simulation and
w h e n load torque stepped from 0 to 2 N " m at t = O. 3 s.
experiment mentioned above.
1200 ,, ,,
i
1200[ ..... ,; . . . . . . . ] ....... ] ........ i. . . . . . r--- ~ J

1000 "--'= ,, ,,
1000/i,, _ ' 2 - - - - - : ---" ..... L J
t
'7
._= 800 ....... 9....... , ....... ~. . . . . . . . ,. . . . . . . .
8oo h"- ...... ........................ !........ E ; ', i ..............
600
.~ 600 t . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1I '~
'.n
i
400 ~-. . . . . . . . . . . . . . . "~. . . . . . . . ,. . . . . . . . . . . . . . . .
400 ! ........................................ i
200 t . . . . . . . ~. . . . . . . ~. . . . . . . -;. . . . . . . . ',. . . . . . .
i i i i

2001 ............... ! ................ i........ , ,, ,,

i

I i i
O0
" 0.1 0.2 0.3 0.4 0.5
t/s
0~ 0.1 0.2 0.3 0.4 0.5
t/s Fig. 7 Simulation speed response o f P M S M robust control system
Fig. 3 Simulation speed response o f P M S M drive system. w h e n load torque stepped from 0 to 2 N " m at t = O. 3 s.

1200 1250
t--x" t i i i

1000 _:- _ _ - ' > - - ~ ~ - - - . b ~ - . - . . g ' .... 1000

'7
"7
.=_ 800 ._=
E 750
E
d.
600
500
a~
400
250
200 L . . . . . . . A . . . . . . . a . . . . ~ . ~ . . . . . . . . ,. . . . . . . .

I i i i
o;
0.1 0.2 0.3 0.4 0.5
00 0.1 0.2 0.3 0.4 0.5 tls
t/s
Fig. 8 Experimental speed response o f P M S M PI control
Fig, 4 Simulation speed response o f P M S M PI control system system w h e n the m o m e n t o f inertia is 2 J and load
w h e n the m o m e n t o f inertia is 2 J . torque stepped from 0 to 2 N " m at t --' 0 . 3 s.

1200
1250
1000
1000
'7 800 T
B 750
600
500
400 i . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

i . . . . . . . * . . . . . . . a . . . . . . . J . . . . . . . . ,. . . . . . . 250
200
[ i i M +

o; 0.1
n

0.2
i

0.3
i

0.4
t

0.5
00 0.1 0.2
t/s
0.3 0.4 0.5
t/s
Fig. 9 E x p e r i m e n t a l speed response o f P M S M robust control
Fig. 5 Simulation speed response o f P M S M robust control
system w h e n m o m e n t o f inertia is 2 J and load torque
system w h e n the m o m e n t o f inertia is 2 J . stepped from 0 to 2 N ' m at t = 0 . 3 s.
 168 D. XU et a l . / Journal af Control Theory and Applications 2 ( 2 0 0 4 ) 165 - 168

[6] C . K . Kim, H. W . Rhew, Y. H. Kim, Robust speed control of PMSM

5 Conclusion
A simple and practical robust disturbance cancellation
feed forward controller is presented in this paper in order to
achieve accurate control performance in the presence of
usingKalman filter load torque observers industrial electronics, 23rd Int.
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[8] C.J.Kwon,W.Y.Han,C.G.Lee,Speed control of PMSM using a ro-
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