2013 International Conference on Mechatronic Sciences, Electric Engineering and Computer (MEC)

Dec 20-22, 2013, Shenyang, China

Simulation of Speed-control System for PMSM

Based on Sliding Mode Control
Li Fang1 , Wang Yushun2 , Wang Ruiqi3
1 Control Theory and Control Engineering, 2 Control Theory and Control Engineering,
College of Automation Engineering,Qingdao University, College of Automation Engineering,Qingdao University,
Qingdao 266071 ,China Qingdao 266071 ,China
E-mail:ning mengluoluo@126.co m E-mail:wysh5902 @163.com
3 Control Theory and Control Engineering,
College of Automation Engineering,Qingdao University,
Qingdao 266071 ,China
E-mail:ricky.0129@163.co m

Abstract —In this paper, we research permanent magnet

synchronous motor control system through combining the II. THE LINEARIZAT ION AND DECOUPLING
method of rotor field-oriented control and space vector MAT HEMAT ICAL MODEL OF PMSM BASED ON MAGNET IC
control strategy. Traditionally PI regulator is used in the ORIENT AT ION CONT ROL
design of current-control loop, while sliding mode control
The basic equations of PMSM are co mposed of the
with an improved exponential reaching law is researched in
motion equations and the physical equation and torque
the speed-control loop. The simulation indicates that the
speed control system have excellent static and dynamic
equation of motor, which are the basis of the mathematical
performance and robustness in the permanent magnet model. Mathematical model can reflect controlled system’s
synchronous motor control system, and the improved static and dynamic performance, and its accuracy also
exponential reaching law can effectively weaken the tremble affects the static and dynamic performance to a great
produced by sliding mode control. extent.
In the premise of not affecting the performance of the
Keyword: Permanent mag net synchronous motor; control system, we can make some assumptions to PMSM
Sliding mode control; Improved exponenti al reaching as follows:
law; Speed control a) Ignore the motor core saturation effects;
b) The three-phase windings of motor are
I. INT RODUCT ION symmetrical and the air-gap magnetic of motor is
distributed evenly, and induction EMF is sinusoidal wave;
With the continuous improvement of the performance c) Hysteresis and eddy current loss should be
of permanent magnetic materials and the falling of price, negligible, and the permeability of permanent magnet
the servo system which regards permanent magnet materials is zero;
synchronous motor(PMSM) as actuator is more and more
widely used. In recent years, domestic and foreign scholars d) No rotor excitation winding.
have done a lot of research and practices from different We can analyze the mathematical properties of PMSM
angles on control strategies and effects around the PMSM in a relatively stationary d-q coordinate system through the
servo system, and they actually have made certain vector transformation, and the current, voltage, torque and
achievements[1]. However, PMSM is a mult ivariable motion equations of PMSM in the d-q coordinates are
nonlinear system. In normal operation, the system is Eq.(1) as follows:
influenced by external interference and results in the ­ did ud Rid Lq PnZr iq
change of the mathemat ical model. So some traditional °  
control strategies can’t meet the higher control ° dt Ld Ld Ld
requirements. As a kind of nonlinear control method, ° diq uq Riq Lq PnZr id < f PnZr
sliding mode variable structure control is not strict with °   
° dt Lq Lq Lq Lq
mathematical models, so it is widely used in the servo ® (1)
system control field. In this paper, we use space vector ° 3
control and field oriented control, and we design PI control °Te Pn [< f iq  ( Lq  Ld )id iq ]
in current loop and an improved exponential reaching law ° 2
sliding mode variable structure control in velocity loop. ° d Zr Te BZr TL
The simulation is carried out with Matlab / Simulink °̄ dt  
software, and we compare the simulation results with J J J
current loop and velocity loop PI control. The result shows where
that improved exponential reaching law of sliding mode ud , uq the stator voltages in the d-axis and q-axis,
variable structure control is better than traditional PI
respectively
control.

978-1-4799-2565-0/13/$31.00 ©2013 IEEE 52

 id , iq the stator currents in the d-axis and q-axis, 3Pn\ f
By substituting A  into Eq.(4) ˈ the
respectively 2J
following equation can be obtained:
Ld , Lq the inductances in the d-axis and q-axis,
respectively x2 Zr Aiiq (5)
<f the magnetic potential generated by the rotor The switching function of sliding surface can be
defined as Eq.(6):
of permanent magnets
J the motor moment inertia s cx1  x2 (6)
TL the electric torque
s 0 is the switching boundary, and the control on
switching line is discontinuous. To ensure a stable sliding,
B the motor damping coefficient the switching function need satisfy Eq.(7) as follows .
Zr the rotor angular speed ­° lim s  0
s o0
Pn the pole-pairs number of PMSM ® or sss d 0 (7)
In practice, the control processes interior of the motor °̄ slim 
s!0
o0
are generally ignored, and academics or technical staffs Eq.(7) can guarantee that the status parameter X will
prefer to pay more attention to the specific control tend to switching boundary no matter wh ich sides of s=0 is
algorithms. Rotor field oriented control (FOC) is used to belongs to. When the system is in slid ing mode, we can
PMSM control, let id=0. Suppose B=0 and Ld=Lq=L , affirm that the state of phase plane trajectory satisfies the
then we can obtain the linearization and decoupling state
switching function or s=0.
equation of PMSM as Eq.(2):
ª diq º ª R Pn < f º ª uq º B. The design of an improved exponential reaching law
« » «  » ªiq º « » The traditional exponential reaching laws are
« dt » « L L »
« »«
L » (2) composed of exponential reaching term and constant speed
« d Zr » « 3Pn < f » i « T »
0 » ¬ d ¼ « L »
reachingg item as Eq.(8).The e xponential reaching term is
«¬ dt »¼ «¬ 2 J ¼ ¬ J¼ s ks ,and it can lead to reaching speed decreasing to
We can obtain PMSM mathematical model in the s- 0.We can make the conclusion that the exponential
domain as shown in Figure 1 by Laplace transform. reaching term not only shortens the reaching time, but also
reduces the reaching speed near the switching surface. The
Pn < f constant speed reaching item is s H sign s ( s) .If we
increase the value of H ,the convergence speed may be

uq 1 iq Te Zr faster, but it also may lead to the jitter of sliding mode.
On the contrary, if we decrease the value of H , the jitter
1
Kc
R  Ls Js
 T may be weaken, but the convergence speed may be
L
slower[4].
Figure1. T he mathematic model of PMSM s H sign
sig ( s )  ks k ! 0, H ! 0 (8)
By substituting s H s sa
2
III. DESIGN OF SPEED REGULAT OR BASED ON SLIDING sat (s) into Eq.(8),an
MODE VARIABLE ST RUCT URE improved xponential reaching law is as Eq.(9).Then the
reaching speed is proportional to s 2 ,and the system can
A. The design of sliding surface control the discontinuous part flexib ly because of the
The state variable model is as follows: saturation function.
­ x1 Zr *  Zr
° s H s 2 sa
s (s)  ks
sat k ! 0, H ! 0 (9)
® (3) The saturation function is as follows:
°̄ x2 Zr ­1 p!'
where °
° 1
Zr * the given speed sat ( s) ® ps ' d p d ' p (10)
° '
x1 the speed error °̄1 p  '
x2 the rate of speed error ' is the boundary layer.It means that the system adopts
switching control out of the boundary layer,otherwise
The mathematical model in phase space of the system
linear feedback control will be used inside the boundary
can be defined as:
layer[3].
­ 3Pn\ f iq TL By substituting Eq.(9) for Eq.(6),we can get
°° x1 Zr ((
  )
2J J H s 2 sat ( s)  ks cxx1  x2 cx2  x2 ,and the output
® (4)
°x 3P
3 Pn\ f iq of the sliding mode regulator are as Eq.(11).
Zr  1
°̄ 2 2J iq 
A ³ (cx2  ks  H s 2 sat ( s))dt (11)

53
 1 2
Stability proof: We choose V s as the Lyapunov
2
function, and the sliding mode control system must satisfy
s ss((H s 2 sat (s)  ks) d 0 ( H >0,
Eq.(7).We can get ss
k >0), so the system is stable when controlled by
improved exponential reaching law.
IV. SIMULAT ION OF PMSM SPEED CONT ROL SYST EM
A. Simulation Model
PMSM speed control system includes two closed loops,
which are the current-control loop and the speed-control.
The current-control loop is situated on the inter ring of the
control structure, in order to fast reflects the controller
performance. So we usually use PI control, which can fast
track the current signal. The speed-control loop as the
outer ring, its input is the difference between the given
speed value and the feedback velocity value, and the
output is as given value of the current-control loop[5].In
this paper, we design sliding mode control with an
improved exponential reaching law in the speed-control
loop, which can well follow the given speed.
For testing and verifying the superiority of the sliding
mode control with an improved exponential reaching law,
we build the simulation model of the PM SM speed control
system in Simu link, as shown in Figure 2. It mainly
includes the given speed, the speed regulator, the current
regulator, the coordinate transformation, the DC power
supply, the inverter and the PMSM motor. The sub
modules of the current-control loop ACR-q and the speed-
control loop ASR are shown in Figure 3 and Figure 4.

Figure 2. Simulation structure diagram of the speed control system for PMSM

Figure 3. T he current loop

Figure 4. Sliding mode variable structure controller of the speed loop

The saturation function “sats” in the module of the

sliding mode control with an imp roved exponential

54
reaching law is shown as S-Function in Simu lin k , and
partial programs are as follows:
function sys=mdl Outputs(t, x, u)
delta=0.05;
p=1/delta;
If u>delta
sys=1;
else if abs(u)<=delta
sys=p*u;
else if u<-delta
sys=-1;
End
B. Simulation Results
Motor parameters are as follows: Rated speed
n 2000rad / min ,stator resistance R 2.875: ,magn-
etic flu x ) 0.175Wb ,the inductance of the stator d-q
axis Ld Lq 8.5mH ,moment of inertia J 8 u103
kg.m2 ,pole-pairs Pn 1 . The motor is starting with no
load , and it will load 4 N.m at t 0.1s .
Simu lation result that the motor speed from zero speed
to 2000rad / min rated speed, and the actual value of Figure 6. T he torque response curve
the sliding mode control mode control system is greatly
different fro m that of the PI control. In Figure 5, under the
PI control, the overshoot of speed response curve is 2.4%.
Under the sliding mode control system, the speed response
curve basically can be achieved without overshoot, shorter
regulating time, and no obvious tremble phenomenon.

Figure 7. T he current response curve

As can be seen from figure 6, the fluctuation of the

Figure 5. T he speed response curve
The situation of the torque response curve is shown in
figure 6. And the current response curve is shown in figure
7.
torque response curve of the sliding mode control is minor
than that of the PI control. When the time is at t 0.1s ,
there has a step change, and the sliding mode control
system can achieve the desired goals in a relatively short
period of time, and gradually tend to be steady.
As can be seen from figure 7, the three-phase stator
current response curve of the sliding mode control is
smoother than that of the PI control.

V. CONCLUSION
The simu lation results show that, in this paper, the
simulation of PMSM speed control system has a good

55
dynamic and static performance and robustness. And the
application of saturating functions effectively eliminates
the tremble of the sliding mode variable structure control
system. Since the simulation is carried out under ideal
conditions, there will be a lot of uncertain factors in
engineering applications. At last, there is a further study in
the control effect of Sliding Mode Variable Structure
Control in engineering applications.
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Synchronous Motor Control Improved Index Reaching Law
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