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APGRES 2019

Modelling and Control of PMSM Drive

by Field Oriented Control For HEV
Vishal.P.Virani a, Swapnil.V.Aryab, Jaydeepsinh.C.Bariab
a PG Student, EE Department, BVM Engineering College, Vallabh Vidyanagar, Gujarat, 388120, India .
bAssistant Professor of EE Department, BVM Engineering College, Vallabh Vidyanagar, Gujarat, 388120, India.

Abstract

The Hybrid Electric Vehicles (HEVs) have the best of both worlds significant fuel saving, on demand power, lowered
emission and quiet, smooth, emission-free electric motive power as well. Nowadays Permanent Magnet Synchronous Motor
(PMSM) minimizes the drawbacks of the BLDC motor and it has high efficiency and their inherently high-power density
they have been accepted as having great potential to compete with induction motor for HEV. Such that in this paper, The
Field Oriented Control (FOC) method is implemented to control the speed and torque of the PMSM motor by using dq
reference frame theory. The PI controllers are used to regulate the speed and the dq current to generate the gate pulses for
switching of the inverter according to correction voltage. The whole system is simulated under the MATLAB Simulink
environment. Results are carried out based on step change of speed and torque and we analyzed performance parameters
such as gate pulse for the inverter, inverter output voltage and current, rotor angle, motor speed, dq current, and
electromagnetic torque. Simulation results show that PMSM has a fast-dynamic response and tunable output speed and
torque with minimum deviation.

Keywords: dq Reference Frame Theory; Field Oriented control; Hybrid Electric Vehicle; Permanent Magnet Synchronous Motor; PI controller.

1 Introduction

Nowadays, population growth is increasing extremely in the all over the world day by day for sure the basic
requirements of the people are also increasing and to satisfy those requirements we should develop the automobile
companies to manufacture the vehicle for transportation and to create easy and fast life for human being. Thus, the
development of automobile companies and manufacture of internal combustion engine vehicles is one of the greatest
achievements of modern technology. But, due to the increasing order of vehicles around the world, it continues causes
a serious problem to the human life, an environment like as global warming, air pollution, and the earth’s petroleum
resources depletion. [1] In the recent decade, the government has decided to improve the fuel efficiency of the vehicle,
lower CO2 emissions and lower green- house emissions by the vehicle and to optimize those factors they proposed the
Electric vehicles, hybrid electric and fuel cell vehicles in place of conventional internal combustion engine vehicles

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Vishal. P. Virami 2

in the future decade. [1]

A hybrid electric vehicle (HEV) considered to have better performance and fuel economy compared to a
conventional one and it has an on-power demand so don't need to plug in it means no issue of charger station as
compared to electric vehicle. The various types of electric motor are used for the HEV like as the Permanent Magnet
Brushed DC Motor (PMDC), Permanent Magnet Brushless DC Motor (PMBLDC), Three Phase Induction Motor,
Reluctance Motor and Permanent Magnet Synchronous Motor (PMSM). [2] PMDC Motor has high torque at lower
speeds and control is easy but maintenance cost is high, low efficiency and large size so that it not preferred for HEV.
PMBLDC motor has a higher power to weight ratio, High-efficiency Ease of control but its drawbacks are maintenance
cost, cost of the controller is high, limited power range, high-speed capability and induction motor have advantages
such as small volume, high efficiency, lightweight nature and low cost. [2] Such that BLDC Motor and three-phase
induction motor are most widely used in HEVs but nowadays PMSM Motor overcome the disadvantages of the BLDC
Motor and it has high efficiency and their inherently high-power density they have been accepted as having great
potential to compete with induction motor for HEV application. [1]
At the end of the analysis, we have chosen to the control the PMSM motor. so that in this paper Field Oriented
Control (FOC) method is implemented to control the speed and torque of the PMSM motor. [3] FOC method is
achieved by regulating the three-phase stator current vector perpendicular to the rotor angle for that dq reference frame
theory is used. The PI controllers are used to regulate the speed and the current Id and Iq according to this they generate
the correction voltage and gate pulse for the switching of the inverter. [4] this output voltage of the inverter is fed to
the PMSM motor which always regulates the stator current vector perpendicular to rotor angle. The whole system is
simulated under the MATLAB Simulink environment and simulation is carried out based on step change of speed and
torque. we analysed the result of performance parameters such as gate pulse for the inverter, inverter output voltage
and current, rotor angle, motor speed, dq current and electromagnetic torque. Simulation results show the PMSM have
a fast-dynamic response and tuneable output torque and speed with lower error. [5]

2 PMSM Modelling

2.1 PMSM Drive

Synchronous motor are able to run at constant speed even when load is change. It has a high efficiency and
they are Mainly use in high precision application. constant magnetic field is introduced by rotor and revolving
magnetic field is introduced by stator. The stator has a field coil and it is excited by the three phase AC supply result
in it will produce revolving magnetic field at synchronous speed and in the Permanent magnet synchronous motor the
rotor is made of the permanent magnet so we not need to DC supply to excite the rotor. The RMF and rotor attract
each other and they magnetically locked so that at the synchronous speed of RMF rotor will be rotate. It has no brushes
so it is also called as the permanent magnet brushless synchronous motor (PMBLSM). [4]

2.2 Modelling of PMSM

The mathematical modelling of the PMSM motor is carried out based on following assumptions. [3][4][5]
1. Sinusoidal distribution of MMF in air gap.
2. saliency is restricted to the rotor.
3. saturation & hysteresis are ignored.
4. Balanced three phase supply.
5. The back EMF is sinusoidal.

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Modelling and Control of PMSM Drive by Field Oriented Control For HEV 3

Three phase supply voltage can be written as: [9]

VA = pψA + IA R S + ⋯ …. (1) VB = pψB + IB R S … …. (2) VC = pψC + IC R S … …. (3)
Where, VA , VB and VC are the phase voltage; IA , IB and IC are the phase current; P is the derivative operator;
R S is the phase resistance; ψA , ψB and ψC are flux linkage of rotor.

The rotor coupling flux linkage can be written as: [9]

2𝜋 2𝜋
ψA = LS IA + ψr cos θ … …. (4) ψB = LS IB + ψr cos (𝜃 − 3
) … …. (5) ψC = LS IC + ψr cos (𝜃 +
3
) … …. (6)
Where, phase inductance is LS.

Using the dq reference frame, the mathematical model of the PMSM in dq rotating reference frame represented as:
Voltage equation in dq form: [5]
Vq = R S Iq + ωr λd + pλq … …. (7) Vd = R S Id − ωr λq + pλd … …. (8)
Where flux linkage
λq = Lq Iq … …. (9) λd = Ld Id + λr … …. (10)
substitution equation 9 and 10 into equation 7 and 8. [5]
Vq = R S Iq + ωr (Ld Id + λr ) + pLq Iq … …. (11) Vd = R S Id − ωr LqIq + p(Ld Id + λr ) … …. (12)

The torque developed by the motor Te is the ratio of power to mechanical speed. [9]
3 P
Te = (ψr Iq + (Ld − Lq )Id Iq ) … …. (13)
2 2
Where, P=number of poles.

The electric torque as derived in equation (13) divided into two torque components. The first term of electric torque
is corresponding to “the mutual reactance torque” which is occurring between the permanent magnet of the rotor and
q axis current while the second term indicate “reluctance torque” due to q-axis and d-axis reluctance difference.

But, for PMSM motor Ld = Lq = Ls at that time the torque generated by the PMSM is [4]
3P
Te = (ψ I )
22 rq
Where, ψr is rotor flux and
Iq is component of stator current vector.

3 Field Oriented Control

fast acceleration and deceleration, smooth rotation and zero speed-full torque it characterized the High-
performance motor control. For PMSM Drive vector control techniques are used to achieve such control. field-
oriented control (FOC) is one of the best method to control PMSM Drive. Stator current decomposition has a
generating part of torque and a generating part of magnetic field is the purpose of the vector control. Individually
control Both components. Now we can control the PMSM drive like as the separately excited DC motor by this
method. [9]

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3.1 Measure the Current and Rotor Angle of Motor

In three-phase motor we should control the three current (𝐼𝐴 , 𝐼𝐵 , 𝐼𝐶 ) and those current on a space vector diagram
is the addition of three current. It has magnitude and angle. The torque produced by the PMSM Motor as a function
of the rotor flux and that current MMF vector angle. At the 0° torque will be zero because at right on top of the rotor
flux vector the current MMF vector is introduced. But at plus 90° or minus 90° we can get the maximum torque. So
that the objective of this method try to orient relation between the rotor flux and stator current MMF vector
perpendicular to each other [4]
3P
Motor Torque = (ψ I )
22 rq
Torque of the three phase PMSM motor is proportional to the product of component of the stator current vector and
the rotor flux. if the current flowing through the phase A and phase B is known then we can easily calculate the current
of phase C by the negative value of the sum of a current of phase A and phase B.
The angle of the rotor flux measure easily in the permanent magnet motor by measuring the rotor angle itself.
that's why this motor is called the synchronous motor because changing of the rotor angle is never changes the angle
of the rotor flux. But in AC induction motor it is complicated because the rotor flux is a slip in across the rotor phase
at the frequency of slip frequency. the resolver or encoder is used to measure this rotor angle.

Fig 1 Field Oriented Control Method

3.2 Forward Clarke Transformation.

The forward clarke transformation is conversion of the three-phase current vector into two orthogonal vector
that will result in the same net current vector. In this case only we have to regulate the only two current value (𝐼𝛼 ,𝐼𝛽 )
instead of three current (𝐼𝑎 , 𝐼𝑏 , 𝐼𝑐 ). Calculation quit be simple. αβ it is the stationary reference frame. [8]
3 √3 √3
𝐼𝛼 = 𝐼𝑎 𝐼𝛽 = 𝐼𝑏 − 𝐼
2 2 2 𝑐

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Modelling and Control of PMSM Drive by Field Oriented Control For HEV 5

3.3 Forward Park Transformation.

Tracking of the rotating vector (rotor angle) by the stationary reference frame (𝐼𝛼 and 𝐼𝛽 ) is diffilut task. To
minimize the complexity of the problem Forward park transformation is introduced in this tracking a rotating vector
by the rotating reference frame (𝐼𝑑 and 𝐼𝑞). So that we need to regulate the current in the rotating reference frame. [8]
𝐼𝑑 = 𝐼𝛼 cos 𝜃𝑑 + 𝐼𝛽 sin 𝜃𝑑 𝐼𝑞 = −𝐼𝛼 sin 𝜃𝑑 + 𝐼𝛽 cos 𝜃𝑑
An axis which is line up directly with the rotor flux angle this axis is called direct axis (d-axis) and the quadrature axis
with respect to the d-axis is called q-axis. 𝐼𝑑 and 𝐼𝑞 are handled independently. Thus, they are work as the DC quantities
frequency is not observed. at normal condition the permanent magnet of the rotor to supply d-axis flux. So desire 𝐼𝑑
value is zero.

3.4 Forward Clarke-Park Transformation

The Forward Clarke-Park Transformation is the direct transformation of the three-phase current (𝐼𝑎 , 𝐼𝑏 , 𝐼𝑐 ) into
rotating reference frame current 𝐼𝑑 and 𝐼𝑞. [5]
2 2𝜋 2𝜋 2 2𝜋 2𝜋
𝑉𝑞 = [𝑉𝑎 cos 𝜃 + 𝑉𝑏 cos (𝜃 − ) + 𝑉𝑐 cos (𝜃 + )] 𝑉𝑑 = − 3 [𝑉𝑎 sin 𝜃 + 𝑉𝑏 sin (𝜃 − ) +𝑉𝑐 sin (𝜃 + )]
3 3 3 3 3

3.5 PI Controllers

The three PI controllers are used in this FOC method out of this two are inner loop controllers and one is outer
loop controller. Outer loop controller is used to regulate the speed of the motor and inner loop controllers are used to
regulate the current 𝐼𝑑 and 𝐼𝑞 . We should tune the PI controllers by adjusting the gain value of 𝐾𝑝 and 𝐾𝑖 . To generate
the correction voltage they amplify the error signal. PI regulator generate 𝑉𝑑 and 𝑉𝑞 and these voltages are converted
back into the three-phase quantity (𝑉𝑎 , 𝑉𝑏 , 𝑉𝑐 ) based on this correction voltage generate the gate pulse for inverter to
regulate the stator current MMF vector perpendicular to the rotor angle.

3.6 Reverse Park Transformation

The reverse park transformation is convert the rotating voltage vectors (𝑉𝑑 and 𝑉𝑞 ) to the stationary reference system
(𝑉𝛼 and 𝑉𝛽 ). [8]
𝑉𝛼 = 𝑉𝑑 cos 𝜃 − 𝑉𝑞 sin 𝜃 𝑉𝛽 = 𝑉𝑑 sin 𝜃 + 𝑉𝑞 cos 𝜃

3.7 Reverse Clarke Transformation.

The reverse clarke transformation is convert the three phase voltages (𝑉𝑎 , 𝑉𝑏 , 𝑉𝑐 ) from the stationary reference system
(𝑉𝛼 and 𝑉𝛽 ). [8]
−𝑉𝛼 √3 −𝑉𝛼 √3
𝑉𝑎 = 𝑉𝛼 𝑉𝑏 = + 𝑉𝛽 𝑉𝑐 = − 𝑉𝛽
2 2 2 2

3.8 Reverse Park-Clarke Transformation.

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Vishal. P. Virami 6

The Reverse Park-Clarke Transformation is the direct transformation of the rotating reference frame
(𝑉𝑑 and 𝑉𝑞 ) into (𝑉𝑎 , 𝑉𝑏 , 𝑉𝑐 ). [5]
2𝜋 2𝜋 2𝜋 2𝜋
𝑉𝑎 = 𝑉𝑞 cos 𝜃 − 𝑉𝑑 sin 𝜃 𝑉𝑏 = 𝑉𝑞 cos (𝜃 − ) − 𝑉𝑑 sin (𝜃 − ) 𝑉𝑐 = 𝑉𝑞 cos (𝜃 + ) − 𝑉𝑑 sin (𝜃 + )
3 3 3 3

Three Phase Current (a.b.c) Stationary Reference Frame (αβ) Rotating Reference Frame (dq)

Fig 2 Forward Clarke-Park Transformation and

Reverse Park-Clarke Transformation [9]

After that this 𝑉𝑎 , 𝑉𝑏 and 𝑉𝑐 is compared with the triangular pulses and they generate the six gate pulses for the inverter
to acquire the desire current MMF vector. As the rotor angle of the motor is change the switching frequency of the
inverter will be change to regulate the desire speed and torque by maintaining the 90° between the rotor angle and
stator current MMF vector.

4 MATLAB Simulation

Table 1 Motor Specification

TYPE Rs Ld Lq Flux Linkage Inertia(J) Viscous damping(F) Pole Pairs(P)

PMSM 0.2 8.5*10-3 8.5*10-3 0.175 0.00062 Kg.m2 0.0003035 4

ohm H H N.m.s

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Modelling and Control of PMSM Drive by Field Oriented Control For HEV 7

Fig 3 Simulation Of Field Oriented Control For PMSM Motor

Fig 4 dq-abc transformations Fig 5 abc-dq transformation.

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Fig 6 Gate Pulse Generation

5 Results

Fig 1 gate pulse g1 and g2 Fig 2 gate pulse g3 and g4

The switching of the inverter is shown in Fig 7, 8 and 9. The main drawback of the FOC method is the switching
frequency of the gate pulses is not fixed it is a variable in nature.

Fig 3 gate pulse g5 and g6 Fig 4 Inverter Output Voltage (Vabc)

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Modelling and Control of PMSM Drive by Field Oriented Control For HEV 9

The output voltages Vabc are shown in Figure 10 it has the three-step positive 430V, 0V and negative 430V. the output
of the inverter is fed to the three phase PMSM motor. The output current Iabc are shown in Fig 11. The current Iabc are
sinusoidal and 120° apart from each other. It is the stator current of the PMSM motor. The vector summation of these
three currents introduced the stator current MMF vector.

Fig 5 Inverter Output Current (Iabc) Fig 6 Rotor Angle

The rotor angle of the motor is shown in Fig 12. The rotor angle increased from 0° to 225° within step 4 and afterword
it decreased from 225° to -350° in between step 4 to step 10. Rotor angle depend on the speed of the motor. We should
always track this angle by the resolver or encoder and it maintain perpendicular to stator current MMF vector to get
the maximum torque of the motor.

Fig 7 Stator Current Id and Iq Fig 8 Motor Torque

In the permanent magnet synchronous motor (PMSM) all the d-axis flux is supplied by the permanent magnet in the
rotor. So commanded 𝐼𝑑 is set to zero and as result shown in Fig 13 average value of measured I d is zero. The vector
summation of this both current is the stator current MMF but in this case it is equal to value of the I q because value of
Id is zero. That’s why the torque of the motor is not depend on the stator current Id it is only depend on the stator current
Iq. it means the output torque of the motor is controlling by varying the value of Iq. as per result shown in Figure 13
the value of Iq is positive 5A within step 3 afterword it is negative 10A in between step 3 to step 10 due to recommended
step value of the torque. As per result of motor torque shown in Figure 14 it is same the value of the stator current Iq.
in N.m.

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Fig 9 Motor Speed (Rad/s) Fig 16 Motor Speed (rpm)

The step of the speed is set to positive 60rad/s within step 4 afterword it is negative 100rad/s in between step 4 to step
10 another way it is the recommended speed as shown in upper portion of the fig 15. The measured speed shown in
lower portion of the figure 15 and it is same as the recommended speed. In the fig 16 show the motor speed in rpm
within step 4 motor speed is 572.952 rpm and in between step 4 to step 10 it is 954.92 rpm.

6 CONCLUSION
This paper proposes to control the Permanent Magnet Synchronous Motor drive by Field Oriented Control
method. It is achieved by maintain relationship between the stator current MMF and the rotor angle of the motor. The
regulation of the stator current is achieved by the tuning of the PI controllers. The result of the simulation is analysed
based on step change of the speed and torque. it shows that the torque of the motor is only depend on the q axis stator
current. FOC technique Transform a simple linear system from complex and coupled AC model. Similar to a DC
motor it has Independent control of flux and torque, so it has great flexibility for HEV application. The results say that
it has low current and high torque at starting, lower torque ripple, tuneable output speed and torque with lower error,
dynamic response is fast, good steady and transient state performance.

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[4] Remitha K Madhu and Anna Mathew. “MATLAB/Simulink Model Of Field Oriented Control Of PMSM Drive
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Modelling and Control of PMSM Drive by Field Oriented Control For HEV 11

[5] Erwan Bin Sulaiman, Wahyu Mulyo Utomo, Faisal Amin, Mahyuzie Jenal, Hassan Ali Soomro and Rajesh
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