SIMULINK/MODELSIM CO-SIMULATION

OF FPGA-BASED PI SPEED CONTROL

FOR PMSM DRIVE
S T U D E N T: P H A M V A N D U N G
I D : M A 0 2 B 2 0 5

ELECTRICAL ENGINEERING DEPARTMENT
SOUTHERN TAIWAN UNIVERSITY OF TECHNOLOGY
CONTENT
Abstract
Introduction
System Description of PMSM Drive and PI Speed Controller
Design
Simulink/Modelsim Co-Simulation of PMSM Drive
Conclusion
References

ABSTRACT

The basic principle of (SVPWM) and the design of a PI-control
based speed control IC for PMSM from Simulink/Modelsim
cosimulation is presented

Firstly, a SVPWM algorithm, vector control method and PI
controller are derived and applied in the speed control IC of
PMSM drive

Secondly, Verilog that is Hardware Description Language is
adopted to describe the behavior of the aforementioned control
algorithms.

Finally, Simulations and the results will be discussed.
INTRODUCTION
- PMSM
- FPGA
- Electronic Design Automation (EDA) Simulator Link
- A co-simulation by EDA Simulator Link is applied to PI-control
based speed control IC for PMSM drive.
- The Simulink/Modelsim co-simulation architecture is shown in
Fig.1
- The PMSM, inverter and speed command are performed in
Simulink and the proposed speed control IC described by
Verilog code is executed in ModelSim
FIG.1. THE SIMULINK/MODELSIM CO-SIMULATION ARCHITECTURE
SVPWM
DC
Power
PMSM
PI
IGBT-
base
Inverter
PWM1
0
*
=
d
i
q
i
d
i
Park
-1
modify
Clark
-1
PWM6

+ +

PWM2
PWM3
PWM4
PWM5
PI
1 ref
v
3 ref
v
2 ref
v
q
v
d
v
o
v
|
v
*
q
i
r
e
*
r
e
+
a,b,c
| o, d,q
| o,
Current
controller
PI
Controller
Current controller and
coodinate transformation
Modelsim
Park Clark
o
i
|
i
b
i
c
i
| o,
d,q
| o,
a,b,c
sin /cos of
Flux angle
e
u
Flux angle
Transform.
a
i
Simulink
A B C
r
e
SYSTEM DESCRIPTION OF PMSM DRIVE AND PI
SPEED CONTROLLER DESIGN



-The Mathematical Model of PMSM

-Design of Current controller and Coordinate Transformation
(CCCT)

-Design of PI controller
THE MATHEMATICAL MODEL OF PMSM
where v
d
, v
q
are the d and q axis voltages; i
d
, i
q
, are the d and q axis
currents, r
s
is the phase winding resistance; L
d
, L
q
are the d and q
axis inductance; is the rotating speed of magnet flux; is the
permanent magnet flux linkage.

d
d
q
d
q
e d
d
s d
L
i
L
L
i
L
r
dt
di
v
1
+ + = e
q
q q
e q
q
s
d
q
d
e
q
L L
i
L
r
i
L
L
dt
di
v
1

f
+ =

e e
f

e
e
DESIGN OF CURRENT CONTROLLER AND COORDINATE TRANSFORMATION
(CCCT)
Clark
o
i
|
i
a
i
b
i
c
i
| o,
a,b,c
2 1 1
3 3 3
1 1
0
3 3
a
b
c
i
i
i
i
i
o
|

(
(
(
(
(
( =
(
(

(

(

(

modify
Clark
-1
1 ref
v
3 ref
v
2 ref
v
o
v
|
v
a,b,c
| o, v
ref2
v
ref3
1
3 1
2 2 2
3 1
3
2 2
1 0
ref
ref
ref
v
v
v
v
v
|
o

(
(
( (
(
=
( (
(

(
(


o,v
ref1
q
i
d
i
Park
o
i
|
i
| o,
d,q
cos sin
sin cos
d
e e
q
e e
i i
i i
o
|
u u
u u
( ( (
=
( ( (

e
u
e
u
cos sin
sin cos
d
e e
q
e e
v v
v v
o
|
u u
u u
( ( (
=
( ( (

Park
-1
q
v
d
v
o
v
|
v
d,q
| o,
WHICH USES ONE ADDER, ONE MULTIPLIER, AN 1-B LEFT SHIFTER, A SIN/COS LOOK-UP-TABLE
AND MANIPULATES 24 STEPS MACHINE TO CARRY OUT THE OVERALL COMPUTATION OF CCCT
DESIGN OF PI CONTROLLER
where Kp is proportional coefficient, Ki is integral coefficient,
Yn(n) is the output control volume in the n-sampling time, e(n)
is the input deviation in the n-sampling time, e(n-l) is the input
deviation in the (n-l )-sampling time.

e(n) K (n)
p
=
p
U
1) - e(n K 1) - (n (n)
i
+ =
i i
U U
1) - e(n K e(n) K 1) - (n
(n) (n) Yn(n)
i p
+ + =
+ =
i
i p
U
U U
The designed PI controller circuit adopted by using the FSM
method is proposed and shown in this figure which uses one
adder, one multiplier, and manipulates 10 steps

SIMULINK/MODELSIM CO-SIMULATION OF
PMSM DRIVE
Fig. 10 The Vector Control Block Diagram for PMSM

SIMULATION RESULTS
Simulation results of SVPWM waveform(STEP1)
Fig. 12 Simulation results of step speed respond, two-axis current respond
and three phase current response
CONCLUSION
This study has been successfully presented a speed control IC
for PMSM drive and demonstrated its performance from
Simulink/ModelSim co-simulation .Via this design
methodology, the Verilog code of the speed control IC can be
fast developed, and the risk in experimental development can
be greatly reduced.

REFERENCES

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2.Modeltech, ModelSim Reference Manual (2004)
3.Bogdan Alecsa, Marcian N. Cirstea: Simulink Modeling and Design of an Efcient Hardware-
Constrained FPGA-Based PMSM Speed Controller. In: IEEE Trans. Ind. Informatics, vol. 8,
no.3, August 2012
4.M. F. Castoldi, G. R. C. Dias, M. L. Aguiar and V. O. Roda. Chopper-Controlled PMDC motor
drive using VERILOG code. Proceedings of the 5th Southern Conference on
Programmable Logic, (2009), pp. 209~212
5.Weera Kaewjinda and Mongkol Konghirun. Vector Control Drive of Permanent Magnet
Synchronous Motor Using Resolver Sensor.In: ECTI Transactions on Electrical Eng.,
Electronics, and communications Vol.5 ,NO.1 February 2007
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(CMCE), pp. 223--227 (2010)
7.The Mathworks, Matlab/Simulink Users Guide, Application Program Interface Guide (2004)
8.Implementing a PID Controller in a Microsemi FPGA User guider
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based on FPGA and the Co-simulation of Modelsim and Simulink In: Proceedings of the
International Conference on Computer, Mechatronics, Control and Electronic Engineering
(CMCE), pp. 223--227 (2010)