Proceedings of the 39th Chinese Control Conference

July 27-29, 2020, Shenyang, China

A Vector Control System of PMSM with the Assistance of

Fuzzy PID Controller
Wanwan Ren1, You Wu1, Ronghua Du1
1.School of Automotive and Mechanical Engineering, Changsha University of Science and Technology, Changsha 410114, China
E-mail:澳wu_you@csust.edu.cn, csdrh@csust.edu.cn

Abstract漣In this paper, the speed loop and current loop controllers in vector control system are improved by using fuzzy
control theory with parameter self-tuning function. The vector control system model of permanent magnet synchronous motor
(PMSM) is established in MATLAB/Simulink environment. The speed control of PMSM under starting and sudden load is
simulated. Comparing the performance of traditional PID control and fuzzy PID control, the results show that fuzzy PID
control perfectly combines the accuracy of PID control with the dynamic characteristics of fuzzy control.
Key Words: PMSM, MTPA, vector control, fuzzy PID control

1 Introduction
In recent years, with the aggravation of environmental
pollution and the emergence of energy crisis, the
development of electric vehicles has become the
transformation direction of automobile industry. Therefore,
it is of great theoretical and practical significance to study
[14]
the drive control system of electric vehicle
magnet synchronous motor has the advantages of simple
structure, high power density, low manufacturing cost,
strong overload capacity, low loss and fast response [13]. It
has been widely used in new energy vehicles and other
fields.
The mathematical model of PMSM in three-phase
coordinate system is very complex, so it is very difficult to
analyze and control. In order to make PMSM control
system approximately equivalent to DC motor control
system, various control strategies are put forward. At
present, there are four main types: motor vector
control[15,17] ˗ motor direct torque control[12,19]; motor
sensorless control[8,5]; motor intelligent control[11,6].
The most commonly used control strategies in PMSM
vector control system are id = 0 control strategy and the
maximum torque per ampere (MTPA) control strategy
id = 0 is a much simpler strategy than other control
strategies. However, it is not suitable for all types of
PMSM, only for surface mounted PMSM, and has high
requirements of inverter capacity and limited output torque
capacity. MTPA control strategy system has lower loss,
lower requirements of inverter and higher rotation
efficiency.
As the most representative control strategy in traditional
control fields, PID control strategy has been applied in
various fields because of its simple structure, high control
accuracy, and stable control performance. Fuzzy control is
a typical intelligent control method, which has strong
adaptability to the nonlinear changes of parameters. Its
. Permanent control does not depend on the controlled object, and has
high control accuracy [4,1,3].
In this paper, the control strategy of space vector and the
control algorithm of the combination of fuzzy control and
traditional PID control are adopted for PMSM. The
parameters of traditional PID control are self-tuning by
fuzzy control, and traditional PID control model and fuzzy
PID control model are built by MATLAB [9,10,18,16,7]
. By
comparing the simulation results of PMSM in two control
modes, the performance of PMSM in fuzzy PID control
mode is improved. It provides theoretical basis and
reference for the design and implementation of the actual
control system.
2 PMSM Mathematical Model
In three-phase coordinate system, PMSM is a system
[20,2]
. with multivariable, strong coupling, nonlinear, and high
order, which makes it very difficult to control. To solve
this problem, the mathematical model of the motor can be
simplified from the electromagnetic coupling relationship.
The idea of vector control is to transform the complex
mathematical model of PMSM into a simple mathematical
model of DC motor through coordinate transformation,

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which is equivalent to a linear system that is easy to
analyze and control. In order to simplify the mathematical
model of PMSM, the following assumptions are made:
z The magnetic circuit is linear, ignoring saturation.
z Ignoring the loss caused by hysteresis and the eddy
current in the motor.
z In steady state operation, the induction electromotive
force of stator winding is sine wave.
z Ignoring rotor damping.
this curve, there is a single point closest to the origin,
which is the working point that meets the minimum
demand of stator current when the system outputs the same
torque. The purpose of applying the MTPA control strategy
is to make the system work at this working point and
achieve the lowest loss. By connecting the working point
on each constant torque curve in the id-iq coordinate system,
the stator current trajectory of the MTPA of the PMSM
(AB) can be obtained, as shown in Fig.1.

According to the above assumptions, the mathematical

model of PMSM in the rotation coordinate system of d-q
axis can be obtained as follows:
Voltage equation:

澳 澳 (1)

Flux equation:
澳 澳 澳 澳 澳 澳 澳 澳 (2)

Torque equation:
Fig.1: MTPA trajectory
(3) Therefore, the problem can be transformed into a
mathematical extremum problem of stator current(is) under
Motion equation:
the condition of (3):

澳 澳 澳 澳 澳 澳 澳 澳 澳 澳 澳 澳 澳 (5)澳
(4)

Where
澳 澳 澳 d- and q-axes stator voltages; (6)
d- and q-axes stator currents;
stator per-phase resistance;澳
d- and q-axes stator flux;
澳
澳 澳 澳 澳 澳 澳 澳 rotor speed in angular frequency;
澳 澳 澳 澳 electromagnetic and load torques;
澳 澳 澳 澳 d- and q-axes stator inductances;
澳 澳 澳 澳 澳 澳 澳 澳 rotor magnetic flux linking the stator; (7)
澳 澳 澳 澳 澳 澳 澳 澳 澳 number of poles of the motor; Solving for id gives
澳 澳 澳 澳 澳 澳 澳 澳 澳 friction coefficient of the motor;
澳 澳 澳 澳 澳 澳 澳 澳 澳 moment of inertia. (8)

3 PMSM Control Strategy

By substituting (8) into (3), the following equation can
It can be known from (3) that electromagnetic torque is be derived:
determined by the combination of the quadrature-direct
(9)
axis. When the electromagnetic torque is constant, there are
countless combinations of id and iq, so the constant torque Using (8) and (9), online current references for MTPA
curve on the id-iq coordinate system can be obtained. On strategy can be achieved. 澳澳澳澳澳澳澳澳澳澳澳澳

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 By applying this control strategy, the motor can be system need the position of the rotor. Speed control also
accelerated or decelerated with maximum torque to achieve requires rotor position sensor to provide rotor position
the target speed, while the method can reduce the loss of information, and then real-time speed is calculated to
the motor, the inverter and the whole system to the achieve feedback.
minimum, thus improving the motor efficiency.

4 PWSM Vector Control System
D E F
It is indicated by Fig.2 that the vector control system of =
$
PMSM includes speed and current closed loops. % 1
8GF
&
D˃ E˃ F˃


Fig.3: Circuit diagram of three-phase voltage source inverter

Clark transformation matrix:

澳 (10)
Fig.2: PMSM vector control system block diagram
The given value of speed (n*) is converted into the given
value of motor torque (Te*) by speed controller (SC), and Park transformation matrix:
then into the given value of stator current component (id*,
iq*) by function processor (MTPA), combined with the (11)
functional relationship between motor torque (Te) and
stator current (is). Then, it is converted into the given value 5 Fuzzy PID Controller
of stator voltage component (ud*, uq*) by current controller
Since conventional PID controller does not have the
(CC), and the voltage control quantity (ud, uq) in the static
function of on-line adjusting parameters, it cannot meet the
two-phase orthogonal coordinate system is obtained by
requirements of on-line self-tuning of controller parameters.
Park inverse transformation. Finally, space vector pulse
In order to improve the performance of the speed loop and
width modulation (SVPWM) is used to output pulse width
modulation (PWM) signals. PWM signals drive and the current loop, conventional PID controller and fuzzy

regulate PMSM by controlling the voltage source inverter control theory are combined in this paper. The error

(VSI). and the error change rate of the output value and the
SVPWM is a special switch trigger sequences and pulse given value at different times are taken as the input
width combination of three-phase voltage source inverter. variables. After being processed by fuzzy adaptive
It will generate three-phase sinusoidal current wave with an regulator, the correction amount , , are
electrical angle of 120° different from each other. The generated, and the proportional, integral and differential
circuit diagram of three-phase voltage source PWM coefficients of PID are corrected by (12), adjusting the PID
inverter is shown in Fig.3. The purpose of vector control parameters , and in real time to meet the control
strategy based on SVPWM technology is to obtain a requirements at different times, and the principle is shown
circular magnetic field by combining different width in Fig.4.
voltage pulse sequences.
In vector control process, the stator current component (12)
(id, iq) needs to be fed back through Clark transformation
(10) and Park transformation (11). Both Park
transformation and Park inverse transformation in the The selection of value determines the response

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speed of the system. Increasing value can improve
response speed and reduce steady-state deviation. However,
the high value can cause a large overshoot, and even
destabilize the system. Reducing the value of
reduce overshoot and improve stability, but if the value of
is too small, it will slow down the response speed and
prolong the adjustment time. Based on the above
description, the fuzzy rules of are as Table1.
The function of differential coefficient is to change the
dynamic characteristics of the system. If the value is
too large, the adjustment process braking will be ahead of
can time, resulting in too long adjustment time; if the
value is too small, the adjustment process braking will be
behind, resulting in the increase of overshoot. Based on the
above analysis, the fuzzy rules of are as follows:
Table 3: Fuzzy Control Rules of

ec
e
NB NM NS ZE PS PM PB
NB PS NS NB NB NB NM PS
NM PS NS NB NM NM NS ZE
NS ZE NS NM NM NS NS ZE
ZE ZE NS NS NS NS NS ZE
PS ZE ZE ZE ZE ZE ZE ZE
Fig.4: The principle of fuzzy PID control
PM PB NS PS PS PS PS PB
Table 1: Fuzzy Control Rules of PB PB PM PM PM PS PS PB
ec
e Based on the above analysis, the fuzzy logic toolbox in
NB NM NS ZE PS PM PB the MATLAB/Simulink simulation model is used to
NB PB PB PM PM PS ZE ZE establish the fuzzy controller as shown in Fig.5.
NM PB PB PM PS PS ZE NS
NS PM PM PM PS ZE NS NS
ZE PM PM PS ZE NS NM NM
PS PS PS ZE NS NS NM NM
PM PS ZE NS NM NM NM NB
PB ZE ZE NM NM NM NB NB
Fig.5: The design of fuzzy controller
In the control system, the integral control is mainly used
to eliminate the steady-state deviation of the system. Due 6 Simulation Analysis
to some reasons (such as saturation nonlinearity, etc.), the
In order to verify the rationality of the design, the
integral saturation may occur in the early stage of the
simulation model of PMSM space vector control system
regulation process, resulting in a large overshoot of the
was established in the MATLAB/Simulink environment, as
regulation process. Based on the above analysis, the fuzzy
shown in Fig.6.
rules of are as follows:
Table 2: Fuzzy Control Rules of

ec
e
NB NM NS ZE PS PM PB
NB NB NB NM NM NS ZE ZE
NM NB NB NM NS NS ZE ZE
NS NB NM NS NS ZE PS PS
ZE NM NM NS ZE PS PM PM
Fig.6: Simulation diagram
PS NM NS ZE PS PS PM PB
Several sets of simulation are actually completed, and
PM ZE ZE PS PS PM PB PB
two of them are taken as examples. The simulation
PB ZE ZE PS PM PM PB PB
parameters are set as follows:

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 Rs=0.18煜, Ld=0.8mH, Lq=1.2mH, P=4.The simulation
time is 0.1s, the given speed n*=1000rpm. The load torque
TL mutated from 5N·m to 10N·m at 0.04s. The comparison
between fuzzy PID control and traditional PID control is
shown in Fig.7 and Fig.8.
As shown in Fig.9 and Fig.10. When the parameters of
the system remain unchanged and the given value is set to
1200, the speed waveform of PID control appears
overshoot and the adjustment time is longer. After the
sudden increase of load, the speed of PID control decreases
obviously, the recovery is slow, and the static error exists
after the stabilization. But the speed waveform of fuzzy
PID control has almost no change.

Fig.7: Speed waveform (the given value is 1000rpm)

Fig.9: Speed waveform (the given value is 1200rpm)

Fig.8: Torque waveform (the given value is 1000rpm)

As is shown in Table 4, fuzzy PID control makes the
system has a faster response time after starting, and the
overshoot is far less than PID control system. When the
load suddenly increases, traditional PID control system
fluctuates obviously, while fuzzy PID control system has
almost no fluctuation.
Table 4: The comparison between fuzzy PID control and
traditional PID control (the given value is 1000rpm)
Fig.10: Torque waveform (the given value is 1200rpm)
7 Conclusion
In this paper, the control algorithm of combining fuzzy
control and PID control is proposed for PMSM, and the
simulation models of traditional PID and fuzzy PID are
established respectively by using space vector control
strategy, and the response characteristics of PMSM under
sudden load are simulated. The experimental results show

澳 澳 that compared with PID control, the fuzzy self-tuning PID

PID Fuzzy PID
control has the advantages of smooth start, no overshoot,
Rise time 2.438ms 2.323ms fast response and strong robustness. It shows that the
Overshot 5.10% 0.04% vector control of PMSM based on fuzzy PID control has
good dynamic characteristics. The control of a single motor
Peak time 2.886ms 2.628ms
could be extended to the cooperative control of multiple
Steady state error 0.3483rpm 0.2252rpm
motors, and the application of networked multi-motor
Speed disturbance cooperated system could be studied based on the
caused by sudden 35.9734rpm 4.0944rpm data-driven method in the future.
increase of load

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