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Feedback Linearization Control of PMSM Based on

Differential Geometry Theory

Zhengcheng WU, Yanxia SHEN, Tinglong PAN, Zhicheng JI

Institute of Electrical Automation, Jiangnan University
Wuxi, China
zcji@jiangnan.edu.cn

Abstract—in this paper, it is proved that 3-order nonlinear model designed respectively for decoupled direct axis current and
of PMSM can be exactly linearized using Differential Geometry rotor speed linear subsystems; DSPACE-based on-line
Theory. Through diffeomorphism coordinate transformation and simulation results show that: this control method is simple and
nonlinear state feedback, the nonlinear motor model is decoupled robust, with which the system possesses good stable, dynamic
into two linear sub-systems: speed system and current system, performance.
and an active disturbance rejection controller is designed
respectively. The on-line simulation results based on dSPACE
II. MATHEMATICAL MODEL OF PMSM
illustrate the feasibility of this design method. This permanent
magnet synchronous servo system possesses good stable and PMSM is a high-order, non-linear, strong coupling system,
dynamic performance. electromagnetic relations are very complicated. In order to simplify
the mathematical model of PMSM, some assumptions [9] are made as
Keywords- PMSM; Differential Geometry Theory; Exact follows:
Linearization; Active Disturbance Rejection Control; dSPACE
• Magnetic saturation, eddy current loss and hysteresis
loss are neglected;
I. INTRODUCTION
Permanent magnet synchronous motors (PMSM) are widely • Three-phase stator windings are symmetrical and
used in aerospace, aviation, computers, robotics areas, etc. difference of each phase is 120° electric angle;
because of its compact structure, high efficiency and energy- • No-loading EMF of stator windings is sine wave;
saving, etc. [1]. In recent years, more and more scholars draw
attention to high-precision control of permanent magnet • Stator winding current produces only sine distribution
synchronous motor. of magnetic potential in the air gap, ignoring the high-
order harmonic of magnetic field;
Feedback linearization control is an effective method to
achieve system dynamic decoupling and global linearization. • There is no damper winding rotor;
After nonlinear state feedback and nonlinear coordinate
• Conductivity of permanent magnet is zero.
transformation, appropriate controller is designed to achieve
desired performance index according to linear control theory Consider mathematical model of PMSM under d − q coordinate
[2]. Differential-geometry-based feedback linearization is one system.
of the feedback linearization methods, which transforms
nonlinear problem to the "geometry domain” by
diffeomorphism coordinates and nonlinear state feedback. For
ªid º ª − R1id Ld + ω Lq iq Ld º
no higher-order nonlinear term is omitted, the system using this « » « »
method can achieve exact linearization [3]. Differential i = −
«q» « 1q q R i L − ω L i
d d Lq − ωψ f Lq»

geometry theory has increasingly demonstrated its superiority «ω » « n ψ i J − T J − βω J

¬ ¼ ¬ p f q l
»
¼ (1)
in addressing decoupling and linearization of multi-variable
nonlinear coupled systems as in [4] and [5]. On the basis of ª1 Ld 0 º
« » ª ud º
reference [6], reference [7] exactly linearized PMSM with + «0 1 Lq » « »
differential geometry theory, using pole placement method to «0 ¬ uq ¼
¬ 0 »¼
design a state feedback controller. Simulation results proved its
effectiveness. where id ˈ iq denote d-q reference frame current, ω is
In this paper, PMSM is abstracted into a two-input, two- rotor speed, Ld , Lq represent main inductances in d-q reference
output PMSM mathematical model. Firstly, it is verified that
this model can be exactly linearized using differential geometry frame, R1 is stator resistance, n p denotes the number of pole
method; and then linear model of PMSM is obtained through pairs, Tl represents load torque, J is the moment of inertia,
diffeomorphism coordinate transformation and nonlinear state β denotes friction coefficient, ψ f represents the flux.
feedback; active disturbance rejection controllers [8] are
The National Natural Science Foundation of China (60774030).

978-1-4244-5046-6/10/$26.00 2010
c IEEE 2047
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This paper consider only no-load operating conditions ª Lg1 Lr1f −1h1 ( x ) ! Lgm Lr1f −1h1 ( x ) º
( Tl = 0 ) of surface-mounted PMSM ( Ld = Lq = Ls ). Then « »
« Lg1 L f2 h2 ( x ) ! Lgm L f2 h2 ( x ) »
r −1 r −1
equation (1) can be written in the form of affine nonlinear A( x) = «
systems standards: » is nonsingular,
« # # # »
« Lg Lrfm −1 hm ( x ) ! Lg Lrf2 −1hm ( x ) »
¬ 1 m ¼
2 then claim that multiple-input multiple-output affine
x = f ( x ) + ¦ g j ( x ) u j
j =1 (2) nonlinear systems have vector relative order ( r1 ,...rm ) .
yi = hi ( x ) i = 1, 2 m
If v = [ v1 v2 ] ˈ r = ¦ ri = n ˈwhere n denotes system
T

i =1
Where
dimension, then through feedback transformation
u = A−1 ( x ) ( −b ( x ) + v ) and local coordinate
T
x = [ x1 x3 ] = ª¬id , iq , ω º¼
T
x2 transformation z = Φ ( x ) , the nonlinear system can be
ª − R1 x1 Ls + x2 x3 º transformed into a controllable and observable linear system,
« »
f ( x ) = « − x1 x3 − R1 x2 Ls −ψ f x3 Ls » ( )
T
where b ( x ) = Lr1f h1 ( x ) Lrf2 h2 ( x ) ... Lrfm hm ( x ) .
« n pψ f x2 J − β x3 J »
¬ ¼ For affine nonlinear system (2):
1
ª sL 0 º
g ( x ) = ª¬ g1 ( x ) g 2 ( x ) º¼ = « 0 1 Ls »» .
«
Lg2 h1 ( x ) = 0
«¬ 0 0 »¼
Lg1 h1 ( x ) = 1 Ls ≠ 0
h1 ( x ) = x1 , h2 ( x ) = x3 ,
u1 = ud , u2 = uq Relative order of current loop is r1 = 1 ; meanwhile

III. EXACT LINEARIZATION OF PMSM

Lg1 h2 ( x ) = 0
Conventional linearization methods usually approximate
the controlled object in the vicinity of the operating point with Lg2 h2 ( x ) = 0
a first-order Taylor series. In this way, when the system is Lg1 L f h2 ( x ) = 0
running near the selected operating point, the control effect is
better. But if there is interference with the system, resulting in Lg2 L f h2 ( x ) = n pψ f JLs ≠ 0
the offset between actual operating point and ideal operating ,
point is large, it is difficult to obtain good control
performances. Relative order of speed loop is r2 = 2 .
Exact feedback linearization method is under the condition ª1 Ls 0 º
of global state space or a large enough state space to realize For vector A ( x ) = « is nonsingular, then
exact linearization of a nonlinear system through appropriate ¬ 0 n pψ f JLs »¼
state transformation. With the controller based on this linear we can obtain the overall relative order of the system
model, the system possesses good robustness performance. is r = r1 + r2 = 3 , equal to the system dimension. The
mathematical model of PMSM satisfying conditions listed in
A. Exact feedback linearization conditions Definition 1 can be exact linearized.
Considering a multi-input multi-output affine nonlinear
system, its relative order is defined [10] as follows: B. Coordinate transformation and evaluation of control rate
Definition 1: Given x0 ∈ X , if there's a neighborhood V of Introduce nonlinear coordinate transformation z = Φ ( x ) ,
x0 and an integer vector ( r1 ,...rm ) to satisfy the condition: where

• Lg j Lkf hi ( x ) = 0 ˈ ∀x ∈ V ˈ 0 ≤ j ≤ m ˈ1≤ i ≤ m ­ z1 ( x ) = h1 ( x ) = x1
and 0 ≤ k ≤ ri − 2 ; °
® z21 ( x ) = h2 ( x ) = x3
°
¯ z22 ( x ) = L f h2 ( x ) = n pψ f x2 J − β x3 J
• ∀x ∈ V , Vector
(3)

State equation of the system under new coordinate system

as follows:

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­ z1 = L f h1 ( x ) + Lg1 h1 ( x ) ud + Lg 2 h1 ( x ) uq A. Tracking Differentiator(TD) Module

° In order to address the contradiction between fast and
® z21 = z 22 overshoot of classic PID control method, a reasonable
°
¯ z22 = L f h2 ( x ) + Lg1 L f h2 ( x ) ud + Lg2 L f h2 ( x ) uq
2
transition process is arranged according to the capacity of
(4) object, so the slow increase in input can make the system non-
overshoot to reach steady state. Systems using this method
Take control action possess good robust performance.
In order to solve output noise amplification problems of the
u = A−1 ( x ) ( −b ( x ) + v ) traditional differentiator, Reference [8] proposed new
. construction of differentiator to solve the noise amplification
and differential signal delay problem. State equation of
Where u = A−1 ( x ) ( −b ( x ) + v ) is motor control variables, transition process and new differentiator is as follows:
v = [ v1 v2 ]
T
is virtual control variables. And
­° x11 ( k + 1) = x11 ( k ) + hx12 ( k )
®
ª Ls 0 º °̄ x12 ( k + 1) = x12 ( k ) + hu, u ≤ r
A− 1 ( x ) = «
¬0 JLs n pψ f »¼ u = fhan ( x11 − v, x12 , r , h0 ) :
b ( x ) = ª¬ L f h1 ( x ) L h2 ( x ) º¼ 2
f
T
­ d = rh0
°d h d
ª − R1 x1 Ls + x2 x3 º ° 0= 0
=« » ° y11 = ( x11 − v ) + h0 x12
¬« −n pψ f ( x1 x3 + R1 x2 Ls +ψ f x3 Ls ) J »¼ °
° a = d 2 + 8r y
ª 0 º ° 0 11

+« 2 » °° ( 0 d)
−
«¬ − β ( n pψ f x2 J − β x3 J ) »¼
2 ­ a
® °° x12 + sign ( y11 ) , y11 > d0
, 2
°a = ®
° ° x + y11 , y11 ≤ d 0
Under control action u , system can be decoupled into two ° °̄ 12 h (6)
mutually independent sub-systems as follows: °
° ­ rsign ( a ) , a >d
° fhan = − °
z1 = v1 ° ® a
°r , a ≤d
°¯ ¯ d
ª z21 º ª 0 1 º ª z 21 º ª0 º
« z » = « 0 0 » « z » + «1 » v2
¬ 22 ¼ ¬ ¼ ¬ 22 ¼ ¬ ¼ Where v is the reference input, x11 is the transition process,
(5)
x12 represents the differential signal of the reference input,
Permanent magnet synchronous motor feedback h denotes sampling step, h0 is filter factor and r is speed
linearization system block diagram shown in Fig. 1: factor, the left parameters are intermediate variables.
v u
2
yi
u = A−1 ( x ) ( −b ( x ) + v ) x = f ( x ) + ¦ g j ( x ) u j hi ( x ) When the sampling step h is chosen, the adjustable
j=0

parameters are the filter factor h0 and speed factor r .

B. Nonlinear State Error Feedback(NLSEF) Control

Fig. 1. PMSM feedback linearization block diagram
In active disturbance rejection control system, output of the
controller with nonlinear feedback is related to nonlinear
IV. DESIGN OF CONTROLLER feedback functions. Appropriate nonlinear feedback functions
For decoupled system shown in equation (5), active can enhance system performance. The form of nonlinear error
disturbance rejection controller is designed. Since the function in active disturbance rejection controller is usually
controlled object has been linearized with the use of differential taken as follows:
geometry method, and did not take system uncertainty
disturbances into account, the active disturbance rejection
controller design using only the tracking differentiator module
and nonlinear state error feedback control rate module.

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TABLE I. PARAMETERS OF PMSM

e0 ( k ) = ¦ e1 ( k ) , parameters values parameters values
e1 ( k ) = x11 ( k ) − x21 ( k ) , R 2.875ȍ np 2

e2 ( k ) = x12 ( k ) − x22 ( k ) Ls 8.5mH Bs 0.02 N <ms

ψf 0.175 Wb J 0.0008 kg*m2
u0 ( k ) = k0 ⋅ fal ( e0 ( k ) , α1 , δ1 ) (7)
Control parameters are calculated as follows:
+ k1 ⋅ fal ( e1 ( k ) , α1 , δ1 )
Sampling step tracking differentiator is h = 0.001 .
+ k2 ⋅ fal ( e2 ( k ) , α 2 , δ 2 )
System simulation block diagram is constructed in
­ e α sign(e) e > δ ≥ 0 Matlab/Simulink. Regulate the adjustable factors in speed and
° current loop respectively as follows: filter factor h0 , speed
fal (e, α , δ , ) = ® e
° 1−α e ≤δ factor r in tracking differentiator, non-linear error feedback
¯δ control rate parameters k0 , k1 , k2 , α 0 , α1 , α 2 , δ 0 , δ1 , δ 2 .
Where e0 is error integration, e1 is the error of input, e2 is
the differential error of the input, k0 , k1 , k2 , α 0 , α1 , α 2 , δ 0 , δ1 , δ 2 TABLE II. PARAMETERS OF TRACKING DIFFERENTIATOR IN SPEED LOOP
are adjustable parameters, usually takes 0 < α 0 , α1 , α 2 < 1 ˈ Tracking values Tracking values
δ 0 = δ1 = δ 2 . differentiator differentiator
I II
This nonlinear function is the mathematical fitting of “small r 100 r 1000
error, big gain, big error, small gain” in control engineering h0 0.1 h0 0.1
field. As a feedback function, it is more effective in the (Note: these parameters of speed loop and current loop are equal)
inhibition of steady-state error. Its convergence to system
origin is also greatly accelerated, thus the error attenuation time
TABLE III. NON-LINEAR ERROR FEEDBACK CONTROL RATE (SPEED LOOP)
is relatively smaller. This nonlinear feedback function is PARAMETERS
commonly used in active disturbance rejection control system.
Structure of the control system is shown in Fig. 2. parameters values parameters values
α0 -0.6 δ1 0.5
e0 = ¦ e1
k0 200 α2 1.2
x11 0.5 10000
y δ0 k2
− e1
v u 0.6 0.5
α1 δ2
x12 e2
k1 500 - -
− x21
TABLE IV. NON-LINEAR ERROR FEEDBACK CONTROL RATE (CURRENT
LOOP) PARAMETERS

x22 parameters values parameters values

α0 -0.6 δ1 0.5

Fig. 2. Structure of the controller k0 500 α2 1.2

δ0 0.5 k2 100

α1 0.6 δ2 0.5
V. ON-LINE SIMULATION RESULTS
k1 100 - -
dSPACE real-time simulation system is set based on
Matlab/Simulink and can realize completely seamless Simulation results are as follows: no-load starting,
connection with Matlab. dSPACE real-time simulation system at t = 1.5s , the system speed settings mutate from
is a control system developing and testing platform which has w* ( t ) = 100 rad s to w* ( t ) = 180 rad s , the speed response
high-speed computing power of hardware, it is very convenient
and output of d axis current is observed.
to use the software environment to generate codes, download
and debug. It is a good way to complete control algorithm
design, testing and implementation, effectively overcome all
the inconvenience caused by traditional off-line simulation
between practical applications.
In the dSPACE simulation environment, take the initial
value w* ( t ) = 100 rad s ˈ id* ( t ) = 0.0001A , and electrical
parameters, such as in Table I below:

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Fig. 3. Output of motor speed
Fig. 4. Output of d axis current (A)
From the on-line real-time simulation results, we can
conclude that speed control of linearized PMSM mathematical
model with an active disturbance rejection controller achieve
good results. There is no overshoot when the motor starts with
no load, and the speed deviation has remained very small. After
the motor reaches stable speed, there is no static error of speed,
and direct-axis current has been stable at 1 × 10 −4 A . At t = 1.5s ,
the speed reference mutate from 100 rad s up to 180 rad s ,
speed tracking rapid and stable, and has no effect on the direct
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axis current, indicating the control of permanent magnet
synchronous motor using differential geometry methods can
achieve full decoupling.
VI. CONCLUSION
For permanent magnet synchronous motor, the use of
differential geometry realized exact feedback linearization, and
achieved the decoupling of speed loop and current loop. The
controller was designed with the active disturbances rejection
control technology, tracking differentiator solved contradiction
with fast and overshoot, non-linear state feedback control rate
is designed to achieve the mathematical fitting of "big error,
small gain; small error, big gain". On-line simulation results
verify the effectiveness of the method of the system
construction. dSPACE-based establishment of permanent
magnet synchronous motor control system provides an
effective means and tools for analyzing and designing real-time
control strategy of high-performance permanent magnet
synchronous motor, which has good application prospects.
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