Simulation of PMSM Vector Control System based on Non-linear

PID and Its Easy DSP Realization

Wang Song1,2, Shi Shuang-shuang2 ,Chen Chao3
1. Beijing Jiaotong University,Beijing,100044
E-mail: wszbs3@sdu.edu.cn
2. School of Mechanical and Electrical Engineering, Shandong University at Weihai ,Weihai,264209
E-mail: shuangshuangshi@yahoo.com.cn

3.Institute of Information Engineering Technology,Academy of Navy Equipment, Beijing,102200

Abstract: The basic principle of space vector pulse width modulation(SVPWM) and a method of building two
closed-loops vector control simulation model for Permanent Magnet Synchronous Motor (PMSM) are presented in
this paper .At the same time ,a new non-linear PID controller in speed closed-loop is studied .Simulation results
show that it has good dynamic and static performances with no overshoot and small speed pulsation .Furthermore
,with the tool of Embedded Target for TI C2000 (ETTI C2000) in MATLAB ,we convert SVPWM simulation
model into executable code and download it to TMS320F2812, achieving the open-loop control for PMSM based on
DSP. This approach exempts us from tedious programming work , shortens the cycle of system development
,achieves the goal of simulation and DSP realization for PMSM vector control system synchronously .
Key Words: PMSM, SVPWM, Simulation, Non-linear PID Controller, F2812, ETTI C2000

1 INTRODUCTION true of voltage vector .When flux vector rotates a period in

space ,the voltage vector also rotates a period following the
PMSM is widely used in AC servo system ,because of tangent line of flux circle .Therefore ,its trajectory coincides
its advantages ,such as quick response ,excellent control with the flux circle .The SVPWM is a technology that uses
performances ,small-size and light-weight . Recently, eight space voltage vectors to generate flux circle
SVPWM technology gradually replaces the conventional approaching stator flux circle of the motor.Fig.1 shows the
SPWM .The aim of SVPWM is to generate flux vector to circuit of a typical 3-phase voltage type inverter.
approach the real gap flux circle in AC motorby adjusting
switching time and controlling the on-off modes of power
devices in inverters .Comparing to SPWM , SVPWM
technology reduces harmonic contents and switching loss ,
its DC voltage utilization ratio enhanced a
lot .Furthermore ,it is easy to be digitalized. Hence, we apply
SVPWM technology in the paper.
ETTI C2000 supplies us with a method that combines
Simulink and TI DSP together for system development.
First of all, put SIMULINK blocks supported by
TMS320F2812 into a model file. Then , modify the 
configuration parameters of Real-Time Workshop in order
to converting model file to C code automatically .The usage Fig.1: Three-phase voltage type inverter
of Real-Time Workshop can create a project in
CCS ,compile ,link and download the executable file to
target system F2812. This paper implements real-time test
on the experimental board F2812 .Results show that this
novel and convenient method can realize the on-line
simulation of hardware and software under the same
environmentSimulink.

2 PRINCIPLE OF SVPWM
The stator flux space vector rotates in a constant
velocity with an invariable amplitude ,when it is supplied by
3-phase sinusoidal voltage .Meanwhile ,the movement of
flux vector forms a circular space rotating field .The same is 

This project is supported by co-operation plan between Weihai city and Fig.2: Voltage space vectors
Shandong University at Weihai .Project Number:115043210806.

978-1-4244-2723-9/09/$25.00 
c 2009 IEEE 949
 If we define state of transistor in the upper bridge arm other fields because of its simple control principle and
is on and the below is off is 1, otherwise is 0, there are eight strong adaptability. In a PID controller, integral effect can
on-off modes in the inverter. The inverters eight output reduce system steady-state error and improve its steady
voltages are shown as Fig.2. On-off modes (000)and (111) performances .But ,if too large, it will lead to integral
JJG JJG
are zero voltage vectors V0 (000) andV7 (111) ,while others are saturation and big overshoot .As for differential effect ,it
called nonzero effective voltage vectors .Their amplitudes has ability to obtain the trend of signal error
JJJG sensitively ,which means differential has a certain degree of
are 1.5Vdc .Given an arbitrary output voltage vector Vout ,we predictability. However, differential can only act in dynamic
can synthesize it by its neighboring effective voltage process ,in that it is expressed as the ratio of error
JJJG
vectors .For example ,given a Vout in sector ,it is incremental to time incremental. Furthermore, it is very
expressed as following: sensitive to noise, which can cause system instability easily .
JJJG JJG JJG With the change of controlled objects and higher
Vout Ts = V4T4 / Ts + V6T6 / Ts
1 demand of control accuracy, conventional PID control
JJJG algorithm is difficult to acquire a good control effect.
Where Ts T4 and T6 are the operating time of Vout
JJG JJG
V4 and V6 respectively. Tab.1: Parameters in the equations

Finally, compute switching time of transistors during voltage,current and inductance

ud uq id iq Ld Lq on d,q axis
the time T4 and T6 to realize SVPWM . , ,

Rs phase stator resistance

3 SYSTEM MODEL
we electric angular speed of rotor
3.1 PMSM Mathematic Model [1]
p differential operator
We use d-q rotating coordinate, fixed on the rotor axis
f rotor flux generated by
to analyze PMSM s steady and dynamic performances, it is permanent magnet
proved to be more convenient than other coordinates .
In d-q rotating coordinate ,voltage equations are B Viscous friction coefficient
expressed as follows:
uq = Rs iq + p q + we d r mechanical angular speed

ud = Rs id + p d + we q 2 J total moment inertia of rotor and load

And flux equations can be described as: pn number of pole pairs

 q = Lq iq
 Te Tm electro-magnetic torque and load torque
 d = Ld id + f 3
,

Torque equations are:

Te = p n ( d iq q id )
4
Replacing d and q in (4) with (3).Hereby, we get
(5) as follow:
3
Te = p n [ f iq ( Ld Lq )id iq ]
2 5
PMSM has a motion equation :
Te = Tm + B r + Jp r 6
Now , parameters appeared in the above equations are
Fig.3: Model of SVPWM
explained in the Tab.1.
3.2 SVPWM Simulation Model [4]
In paper [4],the method of building SVPWM model is
mature. Based on it, we make a more practicable model by
adding dead-time. Fig.3 shows the SVPWM simulation
model with five blocks: sector judgment, XYZ calculation
,operation time of effective vectors, operation time of 
transistor and generation of SVPWM pulses. Fig.4: Non-linear PID controller
3.3 Structure of Non-linear PID Controller PMSM , as our studying object, is a system with high
PID controller has obtained widely application in nonlinearity, strong coupling and time-varying features. As
a result, choosing a composite control strategy is necessary.
electric drive servo control, chemical engineering and

950 2009 Chinese Control and Decision Conference (CCDC 2009)

such as non-linear PID, fuzzy PID and differential forward Fig.5.The parameters of PI controller in current loop are
PID .In this paper ,we choose non-linear PID in speed loop. chosen as KP=8 and KI=3, the dead time is 2 s
The non-linear PID model is shown as Fig.4, which consists
of a PID controller, a PI controller and a switch device. Take Tab.2: Parameters of non-linear PID controller
speed error as the switching condition .when it is less than
the certain value, select PI controller to work, otherwise, KP KI KD
select PID controller. This method can not only reduce
speed pulsation and overshoot, but also quicken the PID 25 50 0.03
simulation speed remarkably. Parameters of non-linear PID
PI 5 5 0
controller are list out in Tab.2.
3.4 Simulation Model of the Whole System 4 SIMULATION AND EXPERIMENTAL
Combine the above blocks to complete two closed-loop RESULTS
vector control simulation model for PMSM, shown as


Fig.5: Simulation model of two closed-loop vector control system
PMSM motor parameters used in the model is listed in tracks the reference speed fast and precisely .Moreover , the
Tab.3. speed pulsation is very small after adding a load torque.
Fig.8 shows waveforms of three-phase current .
Tab.3: Parameters in motor

Rs Ld , Lq pn f J B

0.06784 0.001015 0.0001619

0.24 0.001015H 4
Wb Kg.m.m N.m.s


Fig.7: Waveforms of speed and torque with non-linear PID


Fig.6Waveforms of speed and torque with PI controller
Set 400rad /s as the reference speed and start motor
with no-load, then add a 7N.m load torque at 0.02s .The
simulation time is 0.08s and SVPWM carrier period 
0.0001s. Fig. 6 and Fig.7 show the speed and torque
Fig.8: The three-phase current
waveforms with the PI control strategy and non-linear PID
respectively. Fig.7 tells us that there is hardly any overshoot
after applying the non-linear PID , and real rotation speed

2009 Chinese Control and Decision Conference (CCDC 2009) 951

 5 EASY REALIZATION ON DSP FOR PID controller and vector control strategy .The system has
OPEN-LOOP SYSTEM the advantages of no overshoot, quick response and lower
speed pulsation. Moreover, it is insensitive to load torque.
This experiment uses software CCS3.1 and MATLAB
R2007a, the hardware is Da Sheng experimental box and
IPM -PS21267.
Establish a model in MATLAB/Simulink by ETTI
C2000, after that we need to manually configure some
parameters in simulation/ configuration parameters. In
solver options, select the Fixed-step and Discrete .In
Real-Time Workshop, select the target file as
CCSlink_ert.tlc and in Real-Time Workshop/Link for
CCS changing Project options to Debug. Then , connect
the experiment box, JTAG emulation and PC. Finally,
click the Tools/Real-Time Workshop/build Model, it can 
generate executable code and download them to target
F2812 automatically. Fig.11 Dead time is 2 s
This paper illustrates the simple and convenient
method by establishing a model in SIMULINK ,which can
generate SVPWM pulses in F2812. Simulation model with
dead time 2 s is showed in Fig.9. In Fig.9, different Vd,
Vq produce different duty cycle of SVPWM pulses . The
SVPWM pulses come out through expand interface J77 in
Da Sheng box, and we observe them through oscilloscopes
.The waveforms of PWM3 and PWM4 are showed in
Fig.10. Put PWM3 and PWM4 to the same horizontal line
 
for getting the dead time . Fig.11 shows the dead time is Fig.12:The structure of open-loop control system
2 s.
In the last part of the paper, we proposed a simple
method based on the ETTI C2000 which can output
SVPWM pulses in F2812. It exempts us from
programming DSP code line by line. Therefore, it can
greatly enhance the speed of system development , achieve
simulation and DSP realization of PMSM control system
synchronously.
Future work will focus on two aspects. The first is
 continuing to research control strategy for PMSM for
Fig.9: Model producing SVPWM pulses in F2812 improving the control accuracy and robustness . The other
one is to form closed-loop by adding encoder and other
protective circuitsdownload it to F2812 based on ETTI
C2000, realize the digitalization of AC servo system for
PMSM.

REFERENCES
 Code Generation[M]Xian Electronics and Technology
Fig.10: Waveforms of PWM3 and PWM4
The structure of open-loop control system is showed in
Fig.12. Supply IGBTs in the IPM with SVPWM pulses
generated by F2812, then the motor will rotate.
6 CONCLUSIONS
In this paper, a novel two closed-loops vector control
system for PMSM based on non-linear PID controller and
SVPWM is proposed. Simulation results proved that system
performances had been improved by applying non-linear
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952 2009 Chinese Control and Decision Conference (CCDC 2009)

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2009 Chinese Control and Decision Conference (CCDC 2009) 953