CALIFORNIA STATE UNIVERSITY, NORTHRIDGE

Permanent Magnet Synchronous Motor Drive System Utilizing D-Q Transformation

A graduate project submitted in partial fulfilment of requirements

For the degree of Master of Science in Electrical Engineering

By
Vinayak Kadnekar

May 2018
The graduate project of Vinayak Kadnekar is approved:

________________________________ _____________
Dr. Xiyi Hang Date

________________________________ _____________
Dr. John Valdovinos Date

________________________________ _____________
Professor. Ignacio Bruno Osorno, Chair Date

California State University, Northridge

ii
 Acknowledgement
I am expressing my gratitude and sincere thanks to Professor Osorno for

supervising my graduate project “Permanent Magnet Synchronous Motor Drive System”.

I really appreciate constant motivation and support throughout this project and also for

providing valuable instructions, reference textbooks and helpful IEEE papers. I am really

obliged for his guidance and encouragement all the way through my graduation project.

I am extending my sincere thanks to Dr. Xiyi Hang and Dr. John Valdovinos for

being part of this project committee team. I appreciate support and valuable involvement.

I would like to acknowledge ECE department for providing Lab access to carry out

MATLAB simulation as part of this thesis.

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 Table of Content
Signature Page…………………………………………………………………………….ii

Acknowledgement………………………………………………………………………..iii

List of Figures ……………………………………………………………………………..v

List of Tables………………………………………………………………….………….vii

Abstract………………………………………………………………………………….viii

Section 1 – Introduction…………………………………………………………………...1

1.1 – Background………………………………………………………………….1

1.2 – Objective…………………………………………………………………….2

1.3 – Outline……………………………………………………………………….2

Section 2 – Permanent Magnet Motor Drive System………………………………………4

2.1 – PMSM……………………………………………………………………….4

2.2 – Current Controller……………………………………………………………6

Section 3 – Modeling of a PMSM Drive System….……………………………………...10

3.1 – Dynamic D-Q Modelling…………………………………………………...10

3.2 – Mathematical Model of a PMSM…………………………………………...14

3.3 – Equivalent Circuit of a PMSM…………………………………..………….16

3.4 – Speed Control of PMSM……………………………………………………17

Section 4 – Simulink Modelling………………………………………………………….19

Section 5 – Simulation Results…………………………………………………………...25

5.1 – Current Hysteresis Controller………………………………………………25

5.2 – PWM Controller……………………………………………………………29

Section 6 – Conclusion…………………………………………………………………...36

References………………………………………………………………………………..37

iv
 List of Figures
Figure 2.1 Drive System Schematic………………………………………………......4
Figure 2.2 Arrangements of Permanent Magnets in Synchronous Motors……....…….5
Figure 2.3 Hysteresis Controller………………..……………………………….…….7
Figure 2.4 Schematic of Current Hysteresis Controller…………………………….…7
Figure 2.5 PWM Current Controller……………………………………………….….8
Figure 2.6 Schematic of PWM Current Controller……………………………………8
Figure 2.7 Voltage Source Inverter Connected to PM Motor……………………….…9
Figure 3.1 Vector representation of different reference frames……………………...11
Figure 3.2 Motor Axis……………………………………………………………….14
Figure 3.3 Equivalent circuit of PMSM……………………………………………..16
Figure 3.4 System flow diagram…………………………………………………….17
Figure 3.5 Structure diagram of vector control for PMSM………………………….18
Figure 4.1 PMSM Drive System using Current Hysteresis scheme………………….20
Figure 4.2 PMSM Drive System using PWM scheme…………………………….…21
Figure 4.3 Subsystem of abc to dq and dq to abc blocks…………………………….22
Figure 4.5 dq to abc block……………………………………………………………22
Figure 4.6 Subsystem of Current Hysteresis…………………………………………23
Figure 4.7 Current Hysteresis Controller…………………………………………….23
Figure 4.8 PWM Subsystem…………………………….…………………………..24
Figure 4.9 Pulse Generator…………………………………………………………..24
Figure 5.1 Motor Speed with Current Hysteresis Controller…………………………25
Figure 5.2 Motor Torque with Current Hysteresis Controller……………………….26
Figure 5.3 Torque Ripple with Current Hysteresis Controller…………………….…26
Figure 5.4 Stator Current Iabc obtained from Current Hysteresis controller....….…….27
Figure 5.5 Stator Current Iabc enlarged view……..…………………………….…….27

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Figure 5.6 Stator Currents Idq due to Current Hysteresis Controller………………….28
Figure 5.7 Stator Current Idq magnified view………………………………………...28
Figure 5.8 Motor Speed with PWM Controller……………………………………...29
Figure 5.9 Motor torque with PWM Controller……………………………………...30
Figure 5.10 Torque Ripple with PWM Controller…………………………………….30
Figure 5.11 Stator Current Iabc obtained from PWM Controller……………………….31
Figure5.12 Stator Current Iabc enlarged view…………………………………………31
Figure 5.13 Stator Current Idq due to PWM Controller………………………………..32
Figure 5.14 Stator Current Idq magnified view………………………………………...32
Figure 5.15 Torque characteristics for PWM & Current Hysteresis schemes…………33
Figure 5.16 Torque characteristics for PWM & Current Hysteresis schemes…………34
Figure 5.17 Stator Current for PWM and Current Hysteresis…………………………35

vi
 List of Tables
Table 2.1 Devices Power and Switching Capabilities………………………………..9
Table 3.1 Reference quantities in different reference frames……………………….10
Table 3.2 Parameters of PMSM drive systems……………………………………...16
Table 4.1 Parameters of PMSM…………………………………………………….19

vii
 Abstract

Permanent Magnet Synchronous Motor Drive System utilizing D-Q Transformation

By
Vinayak Kadnekar

Master of Science in Electrical Engineering

Permanent Magnet Synchronous Motors (PMSMs) have become driving force of

various industries. Being high efficiency, high power, low inertia, high steady state starting

torque and comparatively simple control methods PMSMs find many applications in

traction systems and electric vehicles (EVs). This is the main reason why control strategy

research of synchronous motor has attracted a lot of attention. With advancement in power

electronics technology and tremendous research over the years on motor control theory,

speed control systems of synchronous motor are widely used.

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 Vector Field oriented speed controller that regulates the speed of a PMSM based

on Park and Clarke (D-Q transformation) is most famous and widely used to control the

speed of various electrical motor drive systems. In this method, a quadrature axis current

component developed using speed control provides field oriented vector control.

In this project, 400 V four poles, three phase PMSM test bench is simulated using

two current controlling techniques – Current Hysteresis Control and Pulse Width

Modulation (PWM) control. Based on mathematical equations of PMSM, the dynamic

model is designed along with closed loop speed control using traditional proportional-

integral-derivative (PID) controller. Also following theory and mathematical equations on

Park and Clarke Transformation abc to dq and dq to abc blocks are designed in Simulink.

In addition to that, Pulse width modulation (PWM) block and three phase voltage source

inverters (VSI) block is designed using Simulink library.

As mentioned above simulation using Mathwork’s MATLAB/Simulink package

illustrates d-q transformation control of PMSM drive systems using both techniques.

Performance of both these techniques is presented along with graphical analysis.

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 SECTION 1
INTRODUCTION
This Thesis introduces Permanent Magnet Synchronous Motor Drive System
utilizing Park and Clarke Transformation (D-Q Transformation). This section will first give
the background of this study followed by objectives of this thesis. In the end of this section
a brief outline of this thesis is summarized.

1.1 Background

Due to high efficiency and suitability PMSM have been extensively used for a wide
range of applications. It is commonly used in low to medium power applications. Few
applications are as follows – Robotics, Electric Vehicles, adjustable speed drives etc.
Because of their various advantages such as an absence of rotor windings which eliminates
rushes and slip rings thereby cutting off regular maintenance cost. Also, since there is no
need of external excitation losses are reduced considerably which makes them highly
efficient machines. Other superiorities of PMSM includes reliability, low inertia, high
steady state torque density and comparatively simpler control mechanism than that of
induction machines makes them important player in servo applications.

In electric and hybrid electric vehicles, a PMSM drive system is usually used in
conjunction with power electronics converters. Since battery store power in DC form, it
acts as input for a PMSM system. DC power is inverted to AC input for PMSM through
inverter assembly. Therefore, inverter acts as driving force to the motor. With proper
control of gating signal using various algorithms various characteristics of PMSM can be
controlled. Since power electronics converters are relatively cheaper whole PMSM drive
system assembly along with control mechanism makes very affordable [3].

Due to increasing demand in industries it is important to operate these machines to

their full potential. To enhance control of PMSM various research is carried out over the
past decade. To meet ever increasing demands of these machines within a short period of
time it is need of industry to develop simulation programs capable of simulating such
machines by reducing cost and time. Simulation programs because of their flexibility and
expandability and ability to perform complex dynamic simulations in a visual environment

1
will help to develop new systems. In this thesis, a vector field oriented control (FOC) of a
PMSM is proposed. The proposed simulation model will be developed and simulated to
evaluate performance with two input current controlling techniques.

Using Simulink tool all virtual components can be used to imitate realistic
modelling operation in graphical interface. This will help in understanding transient and
steady state operation of the system. With the help of Simulink library tools various
currents and voltage measurements is possible. This measurement plays an important role
in determining power losses in different parts of the system. This will further help in
designing of the inverter system which will intern control the operation of PMSM [1].

1.2 Objective

The main aim of this project is to model the PMSM drive system using field
oriented control mechanism. For this thesis D-Q transformation is proposed which is also
known as Park-Clarke Transformation. Since the output of Voltage Source Inverter (VSI)
is an important control parameter to achieve efficient control of the PMSM drive system,
two current controlling techniques will be studied and later simulated. First being Current
Hysteresis Controller and second is based on Pulse Width Modulation (PWM). Both these
techniques control the operation of inverter gating signals. Later in study, two techniques
will be compared to determine which one is more effective.

1.3 Outline

This thesis is split into six sections. In the first section the importance of PMSM
drive systems and their various applications. Brief background of PMSM is discussed and
how simulation in virtual environments will improve control of drive system. In this
section, the main goal of this study is stated. In the next section, literature review of PMSM
drive system is discussed. The main topics includes classification of PMSMs, Current
controlled voltage Sources Inverter and Current control techniques (Hysteresis and PWM
Control). In the third section, mathematical modeling of the PMSM drive system will be
studied along with brief theory of DQ transformation (Park and Clarke Transformation)
and representation PMSM in its equivalent circuit.

2
 The fourth section is entirely dedicated for Simulink modelling of the PMSM drive
system with two current controlling techniques. This section will show how mathematical
equations are represented into Simulink interface. Various subsystems are built using
Simulink library components. Also, how measurements of various parameter values such
as Rotor speed, Electric Torque Current in dq domain and abc domain will be shown. In
the fifth section of this study presents simulation output in the form of graphs. All the
parameters listed above will be measured with respect to time and later comparative
analysis of measured parameters will be evaluated. In the final section of this thesis, the
conclusion based on the results of the fifth section of this study is presentenced.

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 SECTION 2
PERMANENT MAGNET MOTOR DRIVE SYSTEM

This section deals with a brief literature review of critical components of a

Permanent Magnet motor drive system. In the first part, a theory of PMSM is reviewed
which involves permanent magnet materials, classification of PMSM and position sensors.
In second part, the current controller is discussed with two current controlling mechanism
– Hysteresis Current Control and pulse Width Modulation Current Controller.

Four major components of Motor Drive Systems are as follows – PM motor,

position sensor, inverter and control unit. A Block diagram of how these different
subsystems are connected is portrayed in Figure 2.1

Figure 2.1: PM Motor Drive System Schematic [6]

2.1 PMSM
DC excitation which is needed for excitation of field windings is supplied by
permanent magnets. One advantage of using permanent magnets is elimination of copper
loss. The permanent magnet machine is known for their high efficiency. They have simpler
construction design, with comparatively lesser losses and they are relatively smaller in size
and lighter in weight for a machine with that performance [1].

4
 However, PMSM do have few challenges. Firstly, PM materials are expensive
(except for ferrites) and secondly, magnetization of Permanent magnet changes with time.
The selectivity of permanent magnets for PM motors is affected by factors such as - size
of motor, weight, efficiency, motor’s performance and economic factors like material used
and production process [1].

Permanent magnet motors are classified based on placements of permanent

magnets into two types. They are surface mounted and interior permanent magnet motor.
Typical arrangement of magnets inside the permanent magnet motor is shown in the figure
2.2 [1].

Figure 2.2: Arrangements of permanent magnets in synchronous motors [1]

As name suggests PM surface mounted motors have their magnets mounted on the
outer periphery of the rotor. This arrangement is easier to construct since poles are skewed
and are readily magnetized to reduce cogging torque. These type of motors are usually
finds low speed applications since risk of fly apart magnets from surface is involved when
they run at high speed. Permeability of magnets is almost equivalent to that of airgap. These
motors have small saliency and that is why they have equal inductances on both axis
𝐿𝑞 = 𝐿𝑑 [6].

Interior permanent magnet motors have each of their magnets mounted inside the
rotor as shown in Figure 2.2. Because of their construction design they have advantage
over surface mounted PM motors for high speed operations. Since the magnets are located

5
inside and a magnetic part is considered alike to an air gap in calculations, inductances are
different. Surface mounted PM motors have saliency with the inductance value of q-axis
is greater than that of d-axis [6].

When PM motors are operated without damper windings, it is necessary to have

position sensors on the rotor shaft. There are commonly used position measurement devices
such as potentiometer, optical encoder, linear variable differential transformer and
resolvers. Out of these resolvers and encoders find many most frequently used. With the
desired performance and an application requirements, a section of sensors can be made [8].

2.2 Current Controller

Voltage Source Inverter acts as an input source for PMSM. For appropriate control
of motor inverter operation is controlled with current control. By regulating the flow of
current through stator of PM motor control is achieved. Control is usually carried out by
sending gating signal to inverter to operate motor as desired.

In the high performance motor drive system, power converter perform function of
amplification of a low level control signal generated from controller to appropriate signal
to operate driven system. These type of high performance drive systems demands
appropriate control strategy to develop command signal. The choice of the current
controlled mechanism of a performance drive system is mainly because the dynamics of a
stator (induced EMF, stator resistance & inductance) are eliminated. In this way, a current
controller acts as an ideal current source which reduces complex circuit design and
simplified control can be achieved [8]. There are two types of current controlling schemes
used in this thesis – Current Hysteresis Control and Pulse Width Modulation Control.

2.2.1 Hysteresis Control

Hysteresis controller controls the flow of currents in inverter. This controller

generates reference currents signal within range that is fixed by a band gap. In this scheme
of current control, a desired control signal and measured current signal is compared and
resulting error signal is compared with a hysteresis band inside comparator and when the
error signal surpasses the lower limit of a hysteresis band, upper switch is turned on and
when a current is less compared to upper band, lower switch is turned on. In this type of

6
control there is no fixed switching frequency. Figure 2.3 shows a hysteresis controller and
Figure 2.4 shows control schematic of a Current hysteresis controller in a PMSM drive
system [8].

Figure 2.3: Hysteresis Controller [8]

Figure 2.4: Schematic of Current Hysteresis Controller [8]

7
2.2.2 PWM Controller
PWM current controlling scheme is most widely used for speed control drives. In
this control switching frequency is held at one constant. In this controller a triangular wave
of intended frequency is weighted with a control error signal. This error signal is generated
by subtracting actual motor current from a reference signal generated in a controller. This
will generate a gating signal to control switches of voltage source inverter. If an error signal
is greater than triangle waveform upper switch is turned on whereas lower switch is turned
on when an error signal is smaller than triangle wave. How this control scheme is achieved
is depicted in figure 2.5 & 2.6 shows a schematic of PWM control of the PMSM drive
system [8].

Figure 2.5: PWM Current Controller [8]

Figure 2.6: Schematic of PWM Current Controller [8]

8
2.2.3 Voltage Source Inverter (VSI)

A device that converts DC input to AC output of variable magnitude and frequency

as desired. They are vastly used in adjustable speed drives. Control using inverter is
achieved by operating switches of the inverter. Output AC voltage frequency can be
variable or constant depending upon applications. Three phase voltage source inverter is
composed of six switches connected to DC source as can be seen in Figure 2.7 [8]

Figure 2.7: Voltage Source Inverter Connected to PM Motor [8]

The choice of inverter switches depends upon ratings, requirements for the
operation and connected applications. Most commonly used switches for switching in
inverter are MOSFET, IGBTs, Thyristor GTO and BJT. Power handling capability and
switching speed is primary factors which determines their section. Table 2.1 lists devices
and their operating characteristics.

Table 2.1: Devices Power and Switching Capabilities [8]

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 SECTION 3
MODELLING OF PMSM DRIVE SYSTEM
Using mathematical equations, detail modelling of Permanent Magnet
Synchronous Motor is discussed in this section. This section will discuss how field oriented
control is achieved using D-Q transformation. This section will elaborate Park and Clarke
transformation and will show how voltages and currents are converted from one reference
frame to another. At the end PMSM an equivalent circuit is derived from Mathematical
expressions.

3.1 Dynamic D-Q Modelling

Three phase motors have three windings distributed 120 degrees phase apart. In the
stationary reference frame three phases abc are at fixed angles however they have a time
varying amplitude. Differential coefficient associated with these vectors is time varying
when the system is rotating. Since fluxes, currents induced voltages and flux linkages are
always changing it becomes challenging to model the system mathematically. For
simplification of this complex analysis, a mathematical transformation is carried out to
solve equations involving variables with respect to a common reference frame. In this
thesis, Park and Clarke transformation is discussed.

In a permanent magnet synchronous motor vector control scheme, Clarke and Park
transformation are mainly used. This section will discuss Clarke, Inverse Clarke, Park and
Inverse Park transformation. The table shows three phase reference quantities for Park and
Clarke transformation.

Quantities Description
𝑉𝑎 , 𝑉𝑏 , 𝑉𝑐 , 𝐼𝑎 , 𝐼𝑏 , 𝐼𝑐 Three phase reference phase quantities

𝑉𝛼 , 𝑉𝛽 , 𝐼𝛼 , 𝐼𝛽 Orthogonal stationary reference frame quantities

𝑉𝑞 , 𝑉𝑑 , 𝐼𝑞 , 𝐼𝑑 Rotating reference frame quantities

Table 3.1: Reference quantities in different reference frames [9]

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 The Combine representation of all three reference frame representation is shown in
the figure 3.1

Figure 3.1: Vector representation of different reference frames [9]

3.1.1 Clarke Transformation

“In this transformation, three phase quantities in a three phase reference frames are
transformed into the two-phase quantities of an orthogonal stationary reference frame” [9].

2 1
𝐼𝛼 = 3 (𝐼𝑎 ) − 3 (𝐼𝑏 − 𝐼𝑐 ) 3.1

2
𝐼𝛽 = (𝐼𝑏 − 𝐼𝑐 ) 3.2
√3

11
3.1.2 Inverse Clarke Transformation

“In this transformation, two-axis quantities of an orthogonal reference frame are

transformed into three-phase quantities of a stationary reference frame”[9].

𝑉𝑎 = 𝑉𝛼 3.4

−𝑉𝛼 +√3∗𝑉𝛽
𝑉𝑏 = 3.5
2

−𝑉𝛼 −√3∗𝑉𝛽
𝑉𝑐 = 3.6
2

3.1.3 Park Transformation

“In this transformation, two axis quantities of an orthogonal reference frame are
transformed into two-axis quantities of a rotating frame quantities” [9].

𝐼𝑑 = 𝐼𝛼 ∗ 𝑐𝑜𝑠𝜃 + 𝐼𝛽 ∗ 𝑠𝑖𝑛𝜃 3.7

𝐼𝑞 = 𝐼𝛽 ∗ 𝑐𝑜𝑠𝜃 − 𝐼𝛼 ∗ 𝑠𝑖𝑛𝜃 3.8

3.1.4 Inverse Park Transformation

“In this transformation, two-axis quantities in a rotating reference frame are

transformed into two-axis quantities of an orthogonal stationary reference frame” [9].

𝑉𝛼 = 𝑉𝑑 ∗ 𝑐𝑜𝑠𝜃 − 𝑉𝑞 ∗ 𝑠𝑖𝑛𝜃 3.9

𝑉𝛽 = 𝑉𝑞 ∗ 𝑐𝑜𝑠𝜃 + 𝑉𝑑 ∗ 𝑠𝑖𝑛𝜃 3.10

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 Dynamic modelling is helpful in study for transient and steady state analysis. For
modelling of PMSM drive systems, dq to abc block is used in case of Current Hysteresis
controlled scheme. And in case of PWM control scheme both abc to dq and dq to abc blocks
are used. D-Q to abc transformation is achieved by reverse Park transformation and abc to
d-q is achieved by Park Transformation

The following two equations are used to convert dq to abc [1].

𝑉𝑎 = 𝑉𝑞 𝑐𝑜𝑠𝜃 − 𝑉𝑑 𝑠𝑖𝑛𝜃 3.11

2𝜋 2𝜋
𝑉𝑏 = 𝑉𝑎 cos (𝜃 − ) − 𝑉𝑑 sin (𝜃 − ) 3.12
3 3

2𝜋 2𝜋
𝑉𝑐 = 𝑉𝑞 cos (𝜃 + ) − 𝑉𝑑 sin (𝜃 + ) 3.13
3 3

And to convert abc to dq following equations are used [1]

2 2𝜋 2𝜋
𝑉𝑞 = [𝑉𝑎 cosθ + 𝑉𝑏 cos (𝜃 − ) + 𝑉𝑐 cos (𝜃 + )] 3.14
3 3 3

2 2𝜋 2𝜋
𝑉𝑑 = − [𝑉𝑎 sinθ + 𝑉𝑏 sin (𝜃 − ) + 𝑉𝑐 sin (𝜃 + )] 3.15
3 3 3

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3.2 Mathematical Modelling of PMSM

For simulation of a PMSM drive system detailed modelling of the system is

required. Figure 3.2 shows d-q model of a PM drive system is developed on a rotor
reference frame. The rotating d-axis is inclined at an angle of 𝜃𝑟 with a stator axis. The
mmf of stator is inclined at an angle 𝛼 with respect to rotor axis. Also the rotor and stator
mmf rotates at the equal speed.

Figure 3.2: Motor Axis

The following assumptions have been made for the modelling of a PMSM on the
rotor reference frame.

1. Induced EMF is sinusoidal in nature

2. Saturation is not considered
3. Field current dynamics is none
4. Eddy currents and the hysteresis losses are negligible

Voltage equations in dq form are as follows

𝑉𝑞 = 𝑅𝑠 𝑖𝑞 + 𝜔𝑟 𝜆𝑑 + 𝜌𝜆𝑞 3.16

𝑉𝑑 = 𝑅𝑠 𝑖𝑑 − 𝜔𝑟 𝜆𝑞 + 𝜌𝜆𝑑 3.17

14
Flux linkages of a PMSM are

𝜆𝑞 = 𝐿𝑞 𝑖𝑞 3.18

𝜆𝑑 = 𝐿𝑑 𝑖𝑑 + 𝜆𝑓 3.19

Putting 3.18 and 3.19 equations in equations 3.16 and 3.17

𝑉𝑞 = 𝑅𝑠 𝑖𝑞 + 𝜔𝑟 (𝐿𝑑 𝑖𝑑 + 𝜆𝑓 ) + 𝜌𝐿𝑞 𝑖𝑞 3.20

𝑉𝑑 = 𝑅𝑠 𝑖𝑑 − 𝜔𝑟 𝐿𝑞 𝑖𝑞 + 𝜌(𝐿𝑑 𝑖𝑑 + 𝜆𝑓 ) 3.21

Arranging in above equations in the form of matrix

𝑅𝑠 + 𝜌𝐿𝑞 𝜔𝑟 𝐿𝑑 𝑖 𝜔𝑟 𝜆𝑓
(𝑉𝑉𝑞 ) = ( ) (𝑖𝑞 ) + ( 𝜌𝜆 ) 3.22
𝑑 −𝜔𝑟 𝐿𝑞 𝑅𝑠 + 𝜌𝐿𝑑 𝑑 𝑓

The torque developed is

3 𝑃
𝑇𝑒 = 2 ( 2 ) (𝜆𝑑 𝑖𝑞 − 𝜆𝑞 𝑖𝑑 ) 3.23

The mechanical torque is

𝑑𝜔𝑚
𝑇𝑒 = 𝑇𝐿 + 𝐵𝜔𝑚 + 𝐽 3.24
𝑑𝑡

The mechanical rotor speed from equation 3.24 is

𝑇𝑒 − 𝑇𝐿 −𝐵 𝜔𝑚
𝜔𝑚 = ∫ ( ) 𝑑𝑡 3.25
𝐽

2
𝜔𝑚 = 𝜔𝑟 (𝑃) 3.26

15
 Table 3.2: Parameters of PMSM drive systems [1]

3.3 Equivalent Circuit of PMSM

Equivalent circuits are needed for modelling and an implementation of Machines.

An equivalent circuit is obtained by representing machine in dq reference frame.

Figure 3.3: Equivalent circuit of PMSM [1]

16
3.4 Speed Control of PMSM

Precise speed control mechanism is primary requirements for any automatic speed
control. The control system consists of a motor, feedback system, speed setting device and
controller. A good control system is one which is robust to any changes in parameters.

The main objective of speed control mechanism is to achieve commanded speed

from input signal. With the aid of speed sensors, the closed loop speed controller with fast
response time can be obtained. The flow diagram of speed control is shown in Figure 3.4

Figure 3.4: System flow diagram [5]

17
 The block diagram of PM speed control and current control in dq coordinate
system is shown in the figure 3.5

Figure 3.5: Structure diagram of vector control for PMSM

18
 SECTION 4
SIMULINK MODELLING OF PMSM DRIVE SYSTEM

This section presents Simulink implementation of Permanent Magnet Drive system

using MATLAB/Simulink 2017a. Simulink is an add-on extension of MATLAB software
suit. Using this program various systems can be modelled. Simulink has a vast library of
electrical engineering toolbox and that is why it has a capacity to run complex dynamic
systems simulations and to display the output in the form of graphs and plots [1]. In
addition to that, it is very flexible and expandable which helps to build set of functions for
in-depth analysis of complex machines drive systems. It provides real time visuals of
simulation in a graphical environment. Simulink library has few inbuilt functional blocks
which can be used directly in modelling. Also, it has capability to mask a certain group of
functions under one subsystem.

In this section a comparative study of two current controlling schemes is carried

out. Both simulation schemes are based on dq transformation. A Simulink model is first
developed for a PMSM drive system using current hysteresis controller scheme as shown
in Figure 4.1. The second Simulink model is based on PWM scheme. This system is
modelled as shown in Figure 4.2. Parameters used for simulation purpose are listed in Table
4.1.

Name Symbol Value

Stator Resistance Rs 0.2 ohm
Armature Inductance L 0.000395 H
PM Flux Linkage λf 0.175 H
d-axis Inductance Ld 0.0085 Wb
q-axis Inductance Lq 0.0085 Wb
Pole Pairs P 4
Motor Inertia J 0.0027 Kg m2
Viscos Damping F 0.0004924 Nms
Initial Speed Wm 0 rad/s

Table 4.1: Parameters of PMSM

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Figure 4.1: PMSM Drive System using Current Hysteresis scheme

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Figure 4.2: PMSM Drive System using PWM scheme

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 PMSM drive systems is based on Park & Clark and Inverse Park & Clarke
transformation. Both these transformations are common for current and voltages. In this
simulation, abc to dq, dq to abc masks are shown in figure 4.3 and detailed blocks are
modelled as given in figure 4.4 & 4.5.

Figure 4.3: Subsystems of abc to dq & dq to abc blocks

Figure 4.4: abc to dq block

Figure 4.5: dq to abc block

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 In current hysteresis scheme, Current Iabc is obtained from inverter is fed to Current
Hysterias controller block where it is compared with Iabc* reference to control the operation
of PMSM. The figure 4.6 & 4.7 shows the Current Hysteresis subsystem mask and detailed
subsystem respectively.

Figure 4.6: Subsystem of Current Hysteresis

Figure 4.7: Current Hysteresis Controller

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 In the Pulse Width Modulation (PWM) scheme, Iabc is fed to abc to dq block to
control PID controllers and output of PID controllers is fed to PWM subsystem through dq
to abc block. Pulses generated from PWM is compared to input Vabc to give a certain control
gating signal to Voltage Source Inverter (VSI) which drives PMSM drive system. PWM
scheme is illustrated in figure 4.8 & 4.9

Figure 4.8: PWM Subsystem

Figure 4.9: Pulse Generator

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 SECTION 5
SIMULATION RESULTS
This section illustrates output waveforms of comparative study of two current
controlling techniques. The PMSM drive system was validated with these two current
controlling mechanism. Simulation results of Current hysteresis and PWM schemes are
presented in graphical forms. This simulation output helps to understand how the
performance of a PMSM drive system is affected. Plots for Speed, torque, stator current in
Iabc form and stator currents in Iq and Id form is presented in this section.

5.1 Results of Current Hysteresis Scheme

Dynamic response of Motor speed variation with time is shown in Figure 5.1. The
steady state speed of 100 rad/sec has a same value as an input command reference speed,
however motor takes a fraction of second to reach the speed value from zero. Also when
motor is run at the same speed of 100 rad/sec but in the opposite direction it takes a small
fraction of a second to reach command value.

Figure 5.1: Motor Speed with Current Hysteresis Controller

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 When speed is changing from zero to a steady state speed of 100 rad/sec value
torque is held at constant value of 15 N-m and when the speed is a constant value, torque
value drops to 10N-m. Also when motor is made to run at -100 rad/sec from 100 rad/sec,
during speed change torque takes negative value of 15 N-m and when speed reaches stead
state value torque drops to negative value of 10 N-m. This response of a torque to speed is
illustrated in figure 5.2

Figure 5.2: Motor Torque with Current Hysteresis Controller

Figure 5.3 shows the enlarged view of torque waveform. A considerable amount of
ripple can be seen in this plot. The value of this ripple can be estimated to be ±5 of mean
value of 10 N-m.

Figure 5.3: Torque Ripple with Current Hysteresis Controller

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 Figure 5.4 represents three phase stator current Iabc as a result of the current
hysteresis controller. These currents are obtained from reverse Park and Clarke
transformation. From Figure 5.5 it can be pointed out that current is non sinusoidal during
speed change. However, when speed reaches a stead state value Stator current speed takes
sinusoidal form.

Figure 5.4: Stator Current Iabc obtained from Current Hysteresis controller

Figure 5.5: Stator Current Iabc Enlarged View

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 Corresponding values of direct and quadrature axis components of currents are
shown in figure 5.6. Value of Id is zero since the field oriented control scheme is used.
Dynamic behavior of current Idq justifies the speed and torque characteristics. Figure 5.7
shows the magnified graphs if Idq

Figure 5.6: Stator Currents Idq due to Current Hysteresis Controller

Figure 5.7: Stator Current Idq magnified View

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5.2 Results of a PWM Scheme

Dynamic response of Motor speed variation with time is shown in Figure 5.8. The
steady state speed of 100 rad/sec has the same value as input command reference speed
however, motor takes a fraction of a second to reach speed value from zero. Also when the
motor is run at the same speed of 100 rad/sec but in the opposite direction, it takes a small
fraction of a second to reach command value.

Figure 5.8: Motor Speed with PWM Controller

When speed is changing from zero to a steady state speed of 100 rad/sec value,
torque is rippled at constant value of 15 N-m and when speed is constant, torque value
drops to 10 N-m. Also when the motor is made to run at -100 rad/sec from 100 rad/sec,
during speed change torque takes negative value of 15 N-m and when speed reaches stead
state value, torque drops to negative of 10 N-m. This response of torque to speed is
illustrated in Figure 5.9

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 Figure 5.9: Motor torque with PWM Controller

Figure 5.10 shows the enlarged view of torque waveform. A considerable amount
of ripple can be seen in this plot. However, the value of this ripple can be estimated to be
±3 of a mean value of 10 N-m.

Figure 5.10: Torque Ripple with PWM Controller

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 Figure 5.11 represents three phase stator current Iabc as a result of the current
hysteresis controller. These currents are obtained from reverse Park and Clarke
transformation. From Figure 5.12 it can be pointed out that current is non sinusoidal during
speed change. However, when speed reaches a stead state value Stator current speed takes
sinusoidal form.

Figure 5.11: Stator Current Iabc obtained from PWM Controller

5.12: Stator Current Iabc Enlarged View

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 Corresponding values of direct and quadrature axis components of currents are
shown in figure 5.13. Value of Id is zero since the field oriented control scheme is used.
Dynamic behavior of current Idq justifies the speed and torque characteristics. Figure 5.14
shows the magnified graphs if Idq

5.13: Stator Current Idq due to PWM Controller

5.14: Stator Current Idq magnified View

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 Figure 5.15 shows the comparison of torque characteristics as a function of time for
two current controlling schemes. Both these characteristics shows that ripple value of
torque in the current hysteresis control scheme is ±5 however in PWM control scheme
torque varies by a ripple of ±3.

Figure 15: Torque characteristics for PWM (up) & Current Hysteresis (Down) schemes

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 Figure 5.16 shows the comparison of stator current Idq characteristics as a function
of time for two current controlling schemes. Both these characteristics shows that
considerable amount of ripple. Id is zero with a ripple of ±1 in case of PWM control scheme
and ripple is ±2.5 in the current hysteresis control scheme. Iq has a ripple of ±2 and ±5 in
case of PWM and Hysteresis control respectively.

Figure 16: Idq characteristics for PWM (up) & Current Hysteresis (Down) schemes

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 Figure 5.17 shows the comparison of stator current Iabc characteristics as a function
of time for two current controlling schemes. Both these characteristics shows that
amplitude of Stator current in the current hysteresis control scheme is 15 A. However, in
the PWM control scheme Stator current is 10A. That proves that more energy is dissipated
in stator winding in the current hysteresis scheme compared to a PWM scheme.

Figure 17: Stator Current for PWM( up) and Current Hysteresis (down)

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 SECTION 6
CONCLUSION
In this thesis, Vector Field oriented control using D-Q transformation for PM motor
drive System is modelled in MATLAB/Simulink. Two current controlling schemes namely
current hysteresis control and PWM control is used to model the PMSM drive system. Each
system is evaluated and comparison is presented in the previous section.

Based on the mathematical equation presented in section 3 simulation of the PMSM

drive system is carried out using Simulink library toolbox. Various subsystems such as abd
to dq block, dq to abc block, PWM block, current hysteresis controller block, PMSM
subsystem, PID controllers and three phase voltage source inverters is built and then
interconnected to make a PMSM drive system. In both systems the voltage source inverter
is driven using the hysteresis current controller and the PWM controller and performance
of both system is studied.

Speed controller for a PMSM drive system is modelled using PID controllers for
closed loop control. They are designed in such a way that motor attains commanded speed
within a fraction of a second. Simulation proves that speed controller has very good
response to speed control with nearly zero steady state errors.

After performance evaluation and comparative study of PWM control and Current
Hysteresis control it can be concluded that former has better performance. Both torque and
stator current has less ripple in PWM controlled system. Further, a PWM scheme has
better power efficiency compared to the Current Hysteresis scheme. Also, simulation time
for a system with PWM scheme is much lesser than that with the current hysteresis
controller.

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 REFERENCES
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