PMSM Servo System With Speed And Torque Observer
Xu Dianguo, Wang Hong, Shi Jingzhuo
Department of Electrical Engineering
Harbin Institute of Technology
Harbin CHINA, 150001
Abstract - A compact state observer on PMSM for velocity
estimation and rejection of torque ripple is proposed in this
paper. By means of the field orientation principle of PMSM, a
linear model is used in this state observer. A PID regulator is
tuned in it to reject parameter variation. Since the instantaneous
velocity can't be estimated truly when speed is very low because
too little position pulses from optical encoder can be gotten in
one time interval, a sliding compensation scheme is merged in
this state observer to compensate the low estimated velocity
error. Simulation and experimental results verify the validity of
this scheme. The servo performance can be improved
dramatically and this hybrid observer can be easily used in the
PMSM servo system.
0 Keyword- State observer, Velocity estimation, PMSM,
Torque Rejection.
I. INTRODUCTION
Precision speed control systems are crucial in the
numerous industrial applications. With the development of
magnetic materials, microprocessor, semiconductor devices
and control theories, PMSM permanent-Magnet
Synchronous Motor) servo systems have become
advantageous for adjustable speed and high performance
applications. Different from other motors, PMSM drives need
the information of rotor position and velocity for vector
control and servo implement. Optical encoder often is used in
PMSM servo systems now as feedback transducer. Since
optical encoder is inherently position transducer, the velocity
has to be estimated from discrete position versus time
information. This backward difference approach results in
delay and quantization noise that would limit the fast
dynamic response of the servo application.
At present there are three approaches are applied to address
this problem: phase lock loop (PLL) [1][2], digital filter [3]-
[5] and velocity observer [S]-[Il]. The technology of the
phase lock loop is introduced in [I]. The PLL normally needs
hardware to achieve and its effect is the same as a frequency
filter. Many velocity estimation algorithms of digital filter are
provided in [3] and [4], but these methods that use older
samples has to compromise the instantaneous accuracy of the
speed estimated. Compared with the former two methods, the
velocity observer is more promising to estimate velocity.
Lorenz et al. proposed a speed observer on measured position
in [SI. An instantaneous speed can be estimated from the
closed loop Observer. However, the scheme did not work well
at low speed. So some improved schemes are provided in [9]-
[II]. These methods use nonlinear or adaptive theories to
improve performance of speed measurement. But they need a
floating point DSP to implement much calculation tasks.
0-7803-7754-0/03/$17.00 02003 IEEE 241
This paper proposes a compact and state observer model of
PMSM drives. The instantaneous speed and disturbing torque
can be estimated through this observer. These estimated
values are used as the speed feedback signal and
compensation of load torque ripple in the speed regulator. It
is practical by using this method to improve the dynamical
performance of PMSM servo system.
This paper is organized as follows. Section 2 gives the
mathematic model of PMSM on the field orientation and the
observer is based on this model. In section 3, the state
observer that estimates velocity and rejects disturbance
torque is designed. In section 4, simulation and experiment
are done to verify the validity of this method. Some
concluding remarks are given in section 5.
11. MODELOF PMSM
The optical encoder is a position detector that generates a
pulse when it is displaced by one unit distance. The backward
difference popularly is used to estimate the velocity [2].
- e ( ( k - I)T)
o ( k )= (1)
T
Where W is rotor velocity, 8 is rotor position, and T is
sampling time.
r e a l soead
,
I I
I
I
I
I
w
tj-* ti&, ti ti+, t
Fig.I Relation between actual speed and defected speed
Suppose that the motor velocity U varies as shown in
Fig.1. The estimated velocity w(k) is the mean value that
bas evident error with the instantaneous value. It is difficult
to obtain a higher velocity response with these values.
Therefore it is essential to estimate velocity through a
velocity observer.
In this paper, the electrical and mechanical equations ofthe
PMSM are as follows [6]:
 px=Ax+Bu
y=cx
d@Y
uq =R,iq +-+qbd where
dt x= [e, 0, T,Y
u = i7
(3) Y =e,

Where u d ,U, , i d ,i, ,I,,,L, , ed and @, are respectively

dq frame stator voltages, currents, inductances and flux
linkages. @, is rotor flux, Rais stator resistance and W is
inverter frequency.
The electromagnetic torque T, , on the other hand, is given
hY
Te =Pn(@Jiq+ ( L d -Lq)idiq) (4)
and the equations for the motor dynamics are 111. DESIGN
OF STATE OBSERVER

A state observer [7] for the system described by (8) can be

T, -T, = J * + B ~ ,
dt constructed as follows:
dB der -
_
--' - w , - a,
dt
~~~
dt
Where J is rotor inertia, B is viscous friction coefficient,
p n is number of pole pairs, e, is rotor position and w, is
mtor velocity.
For simplicity, several assumptions are made in the
derivation of this model. Magnetic saturation is neglected and
the motor is assumed to have a smooth rotor and no saliency
effect is considered, thus L, = L, = L . The induced EMF is The block diagram in Fig2 can he given by (9) and the
sinusoidal and the eddy current and hysteresis losses are feedback loop consists of PID regulator. The estimated states
are adjusted by the difference between the estimation of
assumed to he negligible. As the field excitation is from
permanent magnets, there are no field current dynamics and position 9 and the measurement of position y . The
there is no cage on the rotor. magnitude I, determines how fast or slow the estimates will
The load torque vanes very slowly; therefore it can be follow the true states. Larger gain will speed up the process
reasonably supposed to be a constant in one sampling period. and smaller gain will slow it down. The integral gain can
The eauation is as follows: reduce the steady-state tracking error of the observer. The
variation of parameters can be partly rejected by this PID
(7)
. . regulator which can be tuned easily by usual method. The
dt
From above equations, we know the motor model is state space equation of (9) is:
p i = A i + Bu + L(x - i) (10)

i %]
nonlinear, as it contains product terms such as speed with id
and i, . Based on the field orientation principle and current
feed hack control, the direct axis current id is forced to zero L = l
in order to orientation all the linkage flux in the d-axis and to
achieve maximum torque per ampere. This implies that Where 2 is the estimated state vector, and L is the
- - 0 . It is assumed that the measurement of the rotor
i -i'- proportional gain matrix to be chosen so as to achieve
prespecified error characteristics. The error dynamics for the
position 8, and the currents i, , ib and i, be available. By observer is obtained from (8) and (IO) as:.
choosing (e,,
U , , i", ) as state variables, the simplified state pe = (A -L)e (1 1)
space equation is given by: where e = x - i ;

242

I,Js t I, J -2
State Observer B a switching frequency of lo&. The controller is based on
Fig.2 The block diagram of observer
To ensure that the observer (9) is stable, the error dynamics
(11) must be stable. The instantaneous eigenvalues of the
observer have to be placed in the left-half side in the complex
or s plane. The characteristic equation of the error dynamics
is given by
det[Ls -(A - L)] = 0 (12)
then
B
f ( s ) = s 3+ ( l , +-)s2
J
B 1
+(12 --l,)s---ll = o
J J
t is needed to place poles for confining the eigenvalues of
(13) to a region far away from the origin in left-half plane.
Select the suited locations of eigenvalues of the observer p I,
We can get the values of 1, from the equation (14). The
error e can converge quickly with poles place. Thus, the
estimated values can be forced to converge on reasonable
estimation of the actual values.
When speed is very low, very little even no position pulses
can be detected in one sampling period. The velocity values
estimated by state observer have ripple due to discontinuous
measured position pulses. The ripple will cause oscillation in
the actual motor speed and torque. For this problem we use a
sliding compensation method to rectify the instantaneous
velocity estimation while the motor speed is low. The
algorithm of this method is as follow:
v = sG+ (1-s)v, (15)
Where s is the sliding variable between 0 and 1, while the
speed is lower, the value is larger. When the position pulse is
less than one pulse in one period, the value of s is equal to 1.
3 is estimated by observer and v, is the low velocity
243
compensation which is decided by a second order filter
provided in 141.
..
v, =
43, - 3Gi_, +
2
~
The velocity can he estimated smoothly by this method
when the speed is a constant. But it inevitably exists a delay
to the velocity estimation when the speed is changed since the
previous values are used.
IV. SIMULATION AND EXPERIMENTALRESULTS
The servo system is constructed as shown in Fig. 3. A
750W eight-pole permanent magnet synchronous servo motor
is used with the 250Cppr incremental optical encoder. The
three-phase voltage source inverter is composed of IPM with
DSP, TMS320F240, which implements the whole velocity
and current modulation algorithm. The sampling frequency of
the current loop is IO& and that of the velocity loop is
I=.
Fig. 3 Structure of PMSM servo system
Parameters of PMSM experimented in this paper are
Input voltage U=llOV
rated velocity n=3000rpm
Self-inductance L=5.2mH
Phase resistance R=l.ZOhm
Moment of inertia J=2.48*104kgm2
The measured real values are O r , i, and ib which are
assumed to be accurate. The quadrature current i, can be
given by the coordinating transform Thus, the instantaneous
velocity can be estimated by the observer without the past
position values. The matrix L determines the speed and
accuracy of convergence of the state Observer. The disturbing
torque can be estimated from this observer too. So the
compensation can be added on the controller to minimize the
torque ripple.
In this implementation, a series of simulations was
previously performed. The waveforms of the various estimate
methods are shown in Fig.4, Fig.5 and Fig.6. Fig.4 is the
waveform of velocity derived from differential method further more. The load torque estimate is directly fed back to
without a filter. Fig.5 is as the same as Fig.4 but with a first compensate for the load, while removing steady-state errors
order filter. The values in Fig.6 are estimated from the state quickly. The performance of the PMSM servo system can he
observer and are the most smoothing and instantaneous. improved by feed hack with this state observer.
E-,,, 1. , I . ,[, I , ,, I ,,
I

,,II I ?, , I , , , 1 , .

E
3
I...:
1 ;. . . I ....
.
....
.
.... f. . . . I . . I. ..: . . . . ;...j

Tme 0.05ddev
Fig.4 Speed responseestimated from encoder 1 ...:... I .... I. . . ; . . . $ . . . . . . . . [. . . . ; . . . .
~ ;...j
...................... ............... .......
. .
1) Ctd&Z].Ckl 20i mV 1W mS 1
I.,,,,,,#,,-,*, 1 1 1 1 1 1 , , , 1 , , , 1 1 , , , , 1 , , 1

Tvnc lOOmJdcv
Fig.7 Speed response with a first filter
[ I

0 0.1 0.2 0.3 0.4

Time 0.05sldev
FFig.5 Speed responseestimated from a filter
I

. . . .

Time 0.05rldev
Fig.6 Speed response estimated fobserver
The waveforms of the experiment are shown as Fig. 7 and
Fig. 8. The step speed signal is added and varied from 20rpm
to 50rpm. The velocities are estimated by DSP and are
outputted by D/A converter. Figures indicate that the noise of
velocity estimated by observer is less than that estimated by
one order filter. The time lap of system with observer is less
than that without observer too. The velocity estimated by
filter is lower tan the real velocity while the velocity
estimated by observer equals it
VCONCLUSION
The state observer proposed in this paper incorporates
estimates of the position, velocity and load torque. A sliding
compensation scheme is merged in it when speed is low. It
uses the h e a r equations of PMSM, so a compact structure
can be implemented easily by fixed point DSP. If a float point
DSP is used, the intelligent adaptive algorithm can be added
on it. Thus the capability of the observer can be improved
. . . . . .
T- lOOmrldrr
Fig.8 Speed response with proposed observer
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