Field-weakening Control Algorithm for Interior Permanent Magnet Synchronous Motor Based on Space-Vector Modulation Technique

Jun Li, Qinruo Wang, Jiajun Yu, Jianbin Xiong

Field-weakening Control Algorithm for Interior Permanent Magnet

Synchronous Motor Based on Space-Vector Modulation Technique
1
Jun Li, 2Qinruo Wang, 3Jiajun Yu, 4Jianbin Xiong
1, First Author
School of Automation, Guangdong University of Technology, Guangzhou, China,
510006, lijun920510@sina.com
2
School of Automation, Guangdong University of Technology, Guangzhou, China, 510006,
wangqr2006@gdut.cn
*3,Corresponding Author
School of Automation, Guangdong University of Technology, Guangzhou,
China, 510006, yujiajun.mail@qq.com
4
Guangdong Petrochemical Equipment Fault Diagnosis Key Laboratory, Guangdong
University of Petrochemical Technology, Maoming, China, 525000, 276158903@qq.com

Abstract
We investigate the implementation of field-weakening control for interior permanent magnet
synchronous motor (IPMSM), and analyze the algorithm of field-weakening control in d-q axes. To
deal with the problem that the dc-link voltage is not fully utilized when the voltage regulation is
employed, we propose a new field-weakening scheme based on the space-vector modulation technique.
The duty-time of zero-voltage vector is used as the feedback signal to decide the switching of field-
weakening. To avoid the regulation lag in the q-axis component, we apply the lead-angle control
during the field-weakening progress. The proposed scheme is validated with Matlab/Simulink tool.
Simulation results show that the scheme is feasible. It not only improves the utilization ratio of the
space-vector-pulse-width-modulation (SVPWM) inverter, but also achieves a smooth transition
between the constant-torque mode below the base-speed and the constant-power mode above the base-
speed.

Keywords: Permanent Magnet Synchronous Motor, Field-Weakening Control, Space-Vector

Modulation, Zero-Voltage Vector, Lead-Angle Control

1. Introduction
In recent years, permanent magnet synchronous motors are widely used in applications that require
high level speed regulation system, such as electric vehicles. The reason is that the permanent magnet
synchronous motor has the advantages of high power density, high control accuracy and easiness to
achieve field-oriented control compared with the induction motor [1]. Besides a good performance on
torque control, speed regulating system with high-performance also requires a wide speed range. For
interior permanent magnet synchronous motor, according to different requirements and different
control purposes, id = 0 control [2], maximum torque per ampere control [3] or any other ordinary
current control methods [4] can be used under constant-torque mode below the base-speed. However,
because of the limit of voltage source inverter, when the motor speed increase to the base-speed, the
terminal voltage of the motor will reach the limit value of the inverter. At this moment, current
regulator reaches its saturation and the armature current of the motor can no longer tracks the reference
value output from the controller. Without increasing the dc-bus voltage, there is no way to get higher
speed by adjusting voltage. Thus, to achieve further acceleration, field-weakening control is necessary
to keep the voltage in balance while the speed of the motor is increasing [5].
The rotor flux of permanent magnet synchronous motor is produced by permanent magnet so that
the air-gap field has to be reduced by the direct axis armature reaction which implemented the field-
weakening effect indirectly [6]. Based on this fundamental idea, many scholars were working on this
research and have developed many methods. CT Pan, with other academicians, proposed the formula
calculation method. Based on the analysis of the mathematical model, they derived the mathematical
relationship between rotor speed and the two current components, from which they calculate the
current values of the quadrate axis as well as the direct axis while the permanent magnet synchronous
motor is under field-weakening mode [7]. However, its incapability to ensure a fast dynamic response

Journal of Convergence Information Technology(JCIT)

Volume8, Number3,Feb 2013
doi:10.4156/jcit.vol8.issue3.20
Field-weakening Control Algorithm for Interior Permanent Magnet Synchronous Motor Based on Space-Vector Modulation Technique
Jun Li, Qinruo Wang, Jiajun Yu, Jianbin Xiong

and sensitivity to parameters result that this method can only make sense in theoretical analysis. RU
Lenke, with his colleagues, proposed the look-up table scheme in order to achieve field-weakening
control. The controller of this scheme generates the reference current value of the q-axis and the d-axis
from the look-up table which correspond to the reference value of torque and stator flux [8]. Although
this method enhances the real-time performance, the look-up table scheme is still sensitive to the motor
parameters. And its precision is seriously depends on massive experiment data. Gradient descent
method, proposed by YD Yoon, achieves field-weakening by modifying the current reference value.
The field weakening region is determined by the angle between the constant-torque direction and the
voltage decreasing direction. Compared with the look-up table method, the gradient descent method is
more convenient but its calculation is still too complex [9-11]. The outer loop voltage control,
introduced by ZB Zeng et al. has made the field-weakening control switch automatically by using the
differentials between the given voltage value and the threshold value [12-14]. The arithmetic is simple
and reliability with good robustness. The drawback is that the bus voltage is not fully used.
In this paper, a field-weakening method based on space vector modulation technology is proposed.
To determine the switching of the field-weakening controller, the acting time of the zero-voltage is
introduced as a feedback value. During the field-weakening process, lead-angle control scheme is
adopted for the sake of avoiding the lag caused by the q-axis current regulation. The simulation result
showed that this strategy is feasible because not only the efficiency of the inverter is improved but also
the transition between the constant-torque mode below the base-speed and the constant-power mode
above the base-speed is achieved smoothly.

2. Mathematic model of IPMSM

IPMSM is a kind of nonlinear multivariable system with strong coupling. Therefore, In order to
eliminate the time-varying coefficients and simplify the calculation, the differential equations with
variable coefficients are transformed to constant coefficients by means of coordinate transformation,
furthermore, to implement the vector control finally.
For IPMSM, Ld ≠ Lq and its voltage balance equations are as follows:

did
U d  Rs id  Ld   Lq iq (1)
dt

diq
U q  Rs iq  Lq   Ld id   f (2)
dt

The electromagnetic torque created under the interaction between stator current and field of
permanent magnet is as follow:

3
Te  Pn [ f iq  ( Ld  Lq )id iq ] (3)
2

In the equations, id and iq are the currents of d-axis and q-axis. Ud and Uq are the voltages of d-axis
and q-axis. Ld and Lq are the armature inductances of d-axis and q-axis. Rs are the resistances from each
stator winding. ω is the electric angular velocity. ψf is the linked flux of rotor. Te is the electromagnetic
torque and Pn is the number of pole pairs.
The mathematical model indicates that the control of the output torque of IPMSM is essentially the
control of the component currents from d-axis and q-axis. In practice, the equality of the component
currents from d-axis and q-axis to the given value namely means the realization of the independent
control of these two component currents, which thereby achieves the vector control [15].
Field-weakening Control Algorithm for Interior Permanent Magnet Synchronous Motor Based on Space-Vector Modulation Technique
Jun Li, Qinruo Wang, Jiajun Yu, Jianbin Xiong

3. Space vector modulation technique

In order to attain higher control performance, the inverter generate a rotating circular field with
constant amplitude which is approximating the circular flux based on the ideal flux trajectory of AC
motors supply by three-phase sine voltage. This method is namely space-vector pulse width modulation
technique. The model of this modulation approach is simple and convenient for MPU to realize real-
time control. In addition, it has the advantages of low noise, high DC usage factor and small torque
pulsation. Thus SVPWM has become the most popular modulator approach in recent years.
SVPWM introduces the conception of "average voltage-vector during switching time". It obtain an
equivalent space-voltage vectors the motor required by controlling the action time of each two
neighboring valid-vector and zero-voltage vector from 8 fundamental space-voltage vectors in a
switching period. Its principle is shown in Figure 1. As it describes, voltage vector us locates inside the
fan-shaped sector made up of u1 and u2. According to the principle above, we have:

T1u1  T2u2  T0u0,7  Tsus (4)

T1  T2  T0  Ts (5)

T1, T2 and T0 are the duty-times of valid-voltage vector u1, u2 and zero-voltage vector u0(u7) in one
PWM period respectively. Ts is PWM switching time. When T1 + T2 < Ts, T0 > 0, the inverter is in linear
modulation mode and has enough modulation margin to follow the reference voltage. When T1 + T2 > Ts,
T0 < 0, the inverter is in over-modulation condition. The reference voltage is beyond its capability,
which will lead to the decline of actual output and the disability to follow the tracks of the reference
voltage [16]. Thus it can be seen that the duty-time of zero-voltage vector T0 can clearly reflect the
relationship between the reference voltage and the output capability of the inverter.

u3 (010) u2 (110)

uB us
u0 (000)
u4 (011) u1 (100)
u7 (111) uA

u5 (001) u6 (101)
Figure 1. Basic voltage space vector

4. Theory of field-weakening control

Permanent magnet synchronous motor drive system requires not only a highly performance on
torque control, but also a wide speed range in order to satisfy the requirement of high speed application.
Along with the increase of the motor speed, back electromotive force generated by stator winding is
rising at the same time. When the counter electromotive force arrives at the maximum output of the
inverter, the current regulator will reach saturation and can no longer regulate the voltage. At this point,
just as DC motors, IPMSM also needs field-weakening control. Inside IPMSM, rotor flux is generated
by permanent magnet so that the only way to weaken the magnetic field is to enlarge the d-axis current.
Therefore, it is necessary to redistribute stator current for the sake of field weakening.
Field-weakening Control Algorithm for Interior Permanent Magnet Synchronous Motor Based on Space-Vector Modulation Technique
Jun Li, Qinruo Wang, Jiajun Yu, Jianbin Xiong

4.1. Basic principle of field weakening control

When drove by three-phase voltage source inverter, PMSM, due to the limited capacity of the
inverter, can only supply voltage and current of which the vector amplitudes are both finite. We assume
that the maximum vector amplitude of the voltage and current are Umax and Imax, then the motor’s
operating state should satisfy the following expressions:

id 2  iq2  is 2  Imax2 (6)

ud 2  uq2  us2  Umax2 (7)

Stator voltage can be ignored when the motor is in steady high-speed condition. So the voltage
balance equations can be rewritten as below:

ud  e Lq iq (8)

uq  e Ld id  e f (9)

Put Eq. (8) and Eq. (9) into Eq. (7), then we have:

us U
(Lqiq )2  (Ld id  f )2  ( )2  ( max )2 (10)
e e

With Eq. (6) and Eq. (10), we get the voltage limit ellipse and the current limit circle in id - iq
coordinate, which are shown in Figure 2.

Figure 2. Voltage and current constraints

We analyze the process of field-weakening and accelerating by Figure 2. After the current regulator
reaches saturation, stator voltage of PMSM attains its ultimate value. The current working point locates
in the intersection of current circle and maximum torque per ampere (MTPA) curve (point A shown in
Figure 2). At this moment, the current of PMSM is out of control. The working point of the stator
current should separate from point A and goes along the direction in which iq is reducing and id is
increasing gradually. It results that the reverse current of direct axis id can offset the magnetic field
generated by the permanent magnet. As we can see from Eq. (10), it would reduce the amplitude of the
stator voltage and that followed, us < Umax, regulator will break away from saturation. id will increase
and iq will reduce by degrees, which meanwhile extend the speed range of the motor. As the field-
weakening theory shows above, in the d-q rotating coordinates, current phasor is turns a certain angle in
Field-weakening Control Algorithm for Interior Permanent Magnet Synchronous Motor Based on Space-Vector Modulation Technique
Jun Li, Qinruo Wang, Jiajun Yu, Jianbin Xiong

counter-clockwise direction along the current limit circle, which is namely the current lead-angle β. In
this circumstance, id can be used to weaken the permanent magnet flux to ensure the terminal voltage
of the motor is within its limiting value which would prevent the current regulator from saturation. The
control over id and iq is called the field-weakening of PMSM [17].

4.2. Field weakening control algorithm based on SVPWM technique

Motor speed control system includes constant-torque control and constant-power control. In
constant-torque control region, the proportion of copper loss is higher than iron loss while the speed is
below the base-speed. Thus the maximum torque per ampere control is usually adopted to control the
stator current.
With the increase of speed, field-weakening control is necessary, by adjusting the stator current,
voltage outer loop feedback control is employed in literature [12]. It can determine the current of d-axis
and ensure that it would not exceed the limiting voltage by using the difference between the voltage
reference value and its maximum limit value udc 3 . It solves the saturation problem of current
regulator under field-weakening control and hence improves the performance of the control system. In
fact, however, the maximum output of inverters with SVPWM is able to reach the edge of the hexagon
showed in Figure 1, while the voltage outer loop feedback control keeps the output of inverters within
it which does not fully utilized the voltage of the dc-bus [18]. Therefore we improve this control
method combine with SVPWM technology.
The analysis of section 3 indicates that the duty-time of zero-voltage vector can clearly reflect the
inverter’s output situation. Now we propose a new method which employs the duty-time of zero-
voltage vector as feedback for the switching of the field-weakening controller. When T0 < 0, the
reference voltage has already grown beyond the output capability of the inverter and the system needs
to turn to field-weakening mode. To ensure that the current would not exceed the limit circle during the
mode switching, lead-angle control of stator current is employed. It separates the amplitude of the
stator current from its phase angle and restricts the current amplitude inside the limit circle by a limiter.
The regulation of the phase angle is applied according to the field-weakening coefficient calculated by
field-weakening controller. So then, stator current reference value given by the regulator can be
redistributed, which achieves a smooth transition between these two modes and wide speed range. The
control block diagram of the field-weakening algorithm is shown in Figure 3.

Ts
K fw

K aw
T1  T2 c

id idfw

iq iqfw

Figure 3. Control block diagram of the field weakening algorithm

On field-weakening mode, the equation of field-weakening coefficient is as follow:

c  k  T0 dt (11)

In Eq. (11), k is a positive constant and it determines the change rate of the field-weakening
coefficient βc. T0 is the input of the anti-saturation integrator. And βc, which is generated as the field-
weakening coefficient, modifies the lead-angle of the stator current. Then the stator current is
Field-weakening Control Algorithm for Interior Permanent Magnet Synchronous Motor Based on Space-Vector Modulation Technique
Jun Li, Qinruo Wang, Jiajun Yu, Jianbin Xiong

redistributed. The q-axis component and the d-axis component (iqfw, idfw) are calculated according to
adjusted phase angle.
Below the base-speed, T0 is higher than 0 and thus βc is equal to 1. The lead-angle of stator current
remains unchanged, so we have:

idnew  is cosis  id
iqnew  is sin is  iq (12)

Field-weakening controller doesn’t contribute to the system while the motor is operating in constant
torque mode at the moment.
When the speed of the motor is increased to the base-speed, T0 tends to 0. Due to the function of the
anti-saturation loop, the integrator withdraws from saturation rapidly. The modified coefficient output
from the controller is between 0 and 1. After multiplying the lead-angle by this coefficient, the phase
angle of the current vector is raising which achieves redistribution of stator current. Their relation is
described as follow:

idfw  is cos[  c ( is )]

iqfw  is sin[  c ( is )] (13)

During the process, d-axis current is increasing while q-axis current is decreasing. A synchronous
regulation of them can avoid the delay problem caused by the q-axis current regulating. Thus, the
system smoothly switches to field-weakening model. The variety of the current vector during this
process is shown in Figure 4.

iq

is
 c (  is ) id

Figure 4. Current vector variation under lead angle control

5. Simulation results
In order to verify the effect of the control method mentioned above, a drive system of IPMSM has
been established using Matlab/Simulink tool and its simulation model is shown in Figure 5. The
correlative parameter is: stator resistance Rs = 9.62 mΩ, direct axis inductance Ld = 28.7 μH, quadrature
axis inductance Lq = 86.1 μH, number of pole-pairs Pn = 6, moment of inertia J = 0.02017 kg·m2, rotor
flux ψf = 0.00971 Wb, damping coefficient of motor B = 0 N·m·s. The driving system employs the
SVPWM modulation mode with two electrical level structures. The dc-bus voltage is 35 V and the
switching frequency of the inverter is 5 kHz [19].
Field-weakening Control Algorithm for Interior Permanent Magnet Synchronous Motor Based on Space-Vector Modulation Technique
Jun Li, Qinruo Wang, Jiajun Yu, Jianbin Xiong

U dc
T1 T2
*
id * idfw U
n* Te

iq* iqfw U
n
id iq 

Figure 5. Simulation model

Figure 6 gives a description of the dynamic response curve of a motor accelerated from rest to a
speed of 2500 r/min under a load of 8 N·m. Figure 6(a) and Figure 6(b) indicate that below the base-
speed the motor outputs a maximum torque of 44 N·m using maximum torque per ampere control
within constant-torque operation area. Beyond base-speed, the field-weakening module comes into
effect, with direct axis current increasing in negative direction and quadrature axis current decreasing.
Along with the motor’s speed up, driving torque drops and the motor is on constant-power operation
area. After the motor reaches the reference speed, the working point of stator current would shift to the
stable state point where the 8 N·m constant-torque curve meets the voltage limit ellipse. Obviously,
field-weakening process runs in accordance with the designed algorithm.

300

iq
200

100
id ,iq (A)

-100

-200
id

-300
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35
t(s)
(a). The current respond of d-axis and q-axis
50

40
Te(N*m)

30

20

10

0
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35
t(s)
(b). The torque respond of the motor
Field-weakening Control Algorithm for Interior Permanent Magnet Synchronous Motor Based on Space-Vector Modulation Technique
Jun Li, Qinruo Wang, Jiajun Yu, Jianbin Xiong

3000 method based on SVM

method based on voltage outer loop

2500
2550
2500
2000
2450
n(r/min)
2400
1500 2350
0.16 0.165 0.17 0.175 0.18

1000

500

0
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35
t(s)
(c). The speed respond of the motor
Figure 6. Results of simulation by the field weakening algorithm

Figure 6(c) shows the comparison between field-weakening scheme we proposed and the traditional
flux-weakening method based on voltage outer loop in the speed response. We can see that, below the
base-speed their trajectory are appear as one while above the base-speed the control scheme this paper
presented achieve a better speed response, with 3% off in response time. Compared to the voltage
outer-loop control scheme, the field-weakening scheme we proposed improves the utilization ratio of
voltage and enhances the motor’s speed response performance to some extent. Therefore, the field-
weakening control scheme we presented is effective and feasible.

6. Conclusion
Aiming at field-weakening control for interior permanent magnet synchronous motor (IPMSM), we
propose a field-weakening control scheme which is based on space-vector modulation technique.
Compared with traditional field-weakening method, this new scheme has no need of look-up table and
complicated online calculation. Combining with space-vector modulation technique which makes the
voltage vector work along with the hexagon locus, it can make fully use of the dc-bus voltage. Besides,
the field-weakening control employs the lead-angle control method, avoid the lag problem of q-axis
current regulation. The simulation result has proved its effectiveness. The control scheme discussed
here can be available as reference for those speed control systems that require field-weakening control,
such as electric vehicle, to a certain extent.

7. References
[1] Yuan Zhang, Longya Xu, Gu ven M.K, Song Chi, Illindala M, "Experimental verification of deep
field weakening operation of a 50-kW IPM machine by using single current regulator", IEEE
Trans. Industry Applications, vol. 47, no. 1, pp. 128-133, 2011.
[2] Tingting Liu, Yu Tan, Gang Wu, Shumao Wang, "Simulation of PMSM vector control system
based on matlab/simulik", In Proceedings of ICMTMA on Measuring Technology and
Mechatronics Automation, IEEE, pp. 343-346, 2009.
[3] A Consoli, G Scarcella, Scelba G, Testa A, "Steady-state and transient operation of IPMSMs under
maximum-torqueper-ampere control", IEEE Trans. Industry Application, vol. 46, no. 1, pp. 121-
129, 2010.
[4] Zhihong Wu, Gensheng Li, Yuan Zhu, "Efficient Optimization Control of Permanent Magnet
Synchronous Motor Using Artificial Neural Network", AISS: Advances in Information Sciences
and Service Sciences, Vol. 3, No. 7, pp. 260-267, 2011.
[5] Gaolin Li, Derong Luo, Sheng Ye, Rongyao Li, "Flux-weakening control of permanent magnet
synchronous motor used in electric Vehicles", Power Electronics, vol. 44, no. 6, pp. 88-89, 2010.
Field-weakening Control Algorithm for Interior Permanent Magnet Synchronous Motor Based on Space-Vector Modulation Technique
Jun Li, Qinruo Wang, Jiajun Yu, Jianbin Xiong

[6] Yifa Sheng, Shouyi Yu, Weihua Gui, Zhennan Hong, "Field weakening operation control
strategies of permanent magnet synchronous motor for railway vehicles", In Proceedings of the
CSEE, vol. 30, no. 9, pp. 74-79, 2009.
[7] Ching-Tsai Pan, Sue Shinn-Ming, "A linear maximum torque per ampere control for IPMSM
drives over full-speed range", IEEE Transactions on Energy Conversion, vol. 20, no. 2, pp. 359-
366, 2005.
[8] Lenke R.U., De Doncker, R.W., Mu-Shin Kwak, Tae-Suk Kwon, Seung-Ki Sul, "Field weakening
control of interior permanent magnet machine using improved current interpolation technique", In
Proceedings of the 37th IEEE Power Electronics Specialists Conference, IEEE, pp. 1-5, 2005.
[9] Qiang Ding, "Study of the flux weakening control strategy for PMSM vector control system",
Central South University, China, 2010.
[10] Young-Doo Yoon, Seung-Ki Sul, "New flux weakening control for surface mounted permanent
magnet synchronous machine using gradient descent method", In Proceedings of the 7th
International Conference on Power Electronics, pp. 1208-1212, 2007.
[11] Kai Sun, Qi-fang Shu, "Field weakening operation control strategies of interior permanent magnet
synchronous motor for electric vehicles", In Proceedings of the 30th Chinese Control Conference,
pp. 3640-3643, 2011.
[12] N Bianchi, S Bolognani, M. Zigliotto, "High-performance PM synchronous motor drive for an
electrical scooter", IEEE Trans. on industry applications, vol. 37, no. 5, pp. 1348-1355, 2001.
[13] Zhaohui Tang, Qiang Ding, Shouyi Yu, Weihua Gui, Yonggang Li, "Research of flux weakening
strategy of interior permanent magnet synchronous motor", Electric machines and Control, vol. 14,
no. 5, pp. 68-72, 2010.
[14] Derong Luo, Zhibo Zeng, Shoudao Huang, Ziqiang Chen, Jianye Li, "A leading angle field
weakening control method for permanent magnet synchronous motor on electric vehicles", Journal
of Hunan University(Natural Sciences), vol. 38, no. 3, pp. 40-44, 2011.
[15] Chenyuan Wang, Jiakuan Xia, Junyou Yang, et al. Modern Control Technology in Motor, China,
2006.
[16] Yang Li, Peng Dai, Yuesen Yu, Xing Cao, Zhengyou Jiang, "Overview of the SVPWM over-
modulation strategies of three-level inverter", Electric Drive, vol. 40, no. 7, pp. 8-11, 17, 2010.
[17] Zhongqi Guo, "Research and implement the permanent magnet synchronous motor speed control
method of field weakening", Hunan University, China, 2011.
[18] Ping-Yi Lin, Yen-shin Lai, "Voltage control of interior permanent magnet synchronous motor
drives to extend DC-link voltage utilization for flux weakening operation", In Proceedings of 36th
Annual Conference on IEEE Industrial Electronics Society, America, Glendale, pp. 1689-1694,
2010.
[19] Xi Zhang, Lei Jiang, Chengliang Yin, "Indirect vector based hybrid control implemented with
digital signal processor for traction motor in pure electric vehicle", JDCTA: International Journal
of Digital Content Technology and its Applications, Vol. 6, No. 22, pp. 449-458, 2012.