PMSM motor drive and their control schemes

Qureshi, I.; Sharma, V.; Qureshi, I.; Sharma, V.

doi:10.22201/icat.24486736e.2024.22.2.2321

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Journal of applied research and technology

versión On-line ISSN 2448-6736versión impresa ISSN 1665-6423

J. appl. res. technol vol.22 no.2 Ciudad de México abr. 2024 Epub 04-Ago-2025

https://doi.org/10.22201/icat.24486736e.2024.22.2.2321

Articles

PMSM motor drive and their control schemes

I. Qureshi^*^a

V. Sharma^a

^{^a} Engineering College Bikaner, Rajasthan, India

Abstract:

This work examined various MATLAB/Simulink control strategies for a permanent magnet synchronous motor (PMSM) Drive, including closed-loop PI control, fractional order (FO) control and open-loop control. More tuning flexibility and improved adaptability to intricate and nonlinear systems are possible with Fractional Order Controllers. Especially in systems with unknown or time-varying dynamics, this frequently results in improved control performance. When compared to integer order PI controllers, it aids in lowering steady-state error. The characteristics of the system and the controller's response were more closely matched after the fractional order exponent was changed. Furthermore, by precisely controlling the transient response and constant speed response available at the desired load, the fractional order (FO) controllers facilitate smoother transitions between various control modes or set points and aid in lowering overshoot and rise time in dynamical systems. With MATLAB simulation software, the control techniques have been modelled and simulated in under steady-state and dynamic load scenarios, the suggested scheme offer effective performance.

Keywords: Closed-loop; open-loop; PMSM Drive; Fractional Order Control

1. Introduction

In this section various control strategies described by the researchers have been presented.

1.1. Open loop control

^{Zhao et al. (2004)} have developed a novel Volt/Hz scheme for extra high speed Permanent magnet synchronous motor (PMSM). ^{Chandra et al. (2015)} have presented an open-loop control technique with space vector PWM scheme PMSM Drive. ^{Liu et al. (2017)} have proposed stability operation of PMSM Drive in open loop. ^{Tang and
Akin (2017)} have developed an improved least-mean-square (LMS) based algorithm to minimize dead-time glitches in PMSM V/F controller techniques. For commercial appliances such as fan, thrust, and compressor drive, a cost-effective sensor-less controller scheme of PMSM constructed on Volt/Hz control is developed by ^{Tu et al. (2017)}.

Volt/Hz control scheme PMSM Drive is proficient in acquiring relief from the pricey rotor location sensor and it has vast investigative importance. This scheme for PMSM Drive is proposed by ^{Aijun and
Xinhai (2017)}. (^{Pacha & Zossak,
2019}), starting of PMSM Drive in open loop has been described.

1.2. PMSM MTPA control

^{Ahmed et al. (2017)} have presented a novel MTPA technique for IPMSM motor with online search algorithm. Wide speed control concerning machines nonlinearity has been described (^{Ge et al., 2016}). ^{Lai et al.
(2018)} have proposed a novel MTPA based scheme with speed harmonics measurement. ^{Li et al. (2019)} have developed MTPA control method which is independent of drive parameter. ^{de Castro et al. (2020)} have presented an ANN based MTPA control algorithm.

Han and Liu (2021) have described the effect of vibration and noise in MTPA control PMSM Drive. ^{Lee and Choi (2022)} have proposed MTPA control with P&O algorithm for PMSM Drive. ^{Huang et al. (2023)} have investigated an offline data based MTPA control technique for IPMSM drive.

1.3. PMSM field weakening control

^{Sun et al. (2017)} have developed a novel flux weakening algorithm with hybrid dual inverter technique. DC link voltage has been more utilize by this scheme. ^{Xu et al.
(2019)} have explained swarm optimization scheme for flux weakening control in PMSM Drive. ^{Zheng and Sun
(2020)} have investigated cost function predictive model flux control scheme for PMSM motor. The advantage of this method is to increase the torque at greater speed. ^{Zheng et al. (2020)} also studied the predictive model technique. ^{Wang et
al. (2022)} have proposed a novel modulation technique for PMSM Drive.

1.4. Fractional order PI controller

^{Rajasekhar et al. (2011)} have developed a special hybrid PSO FO-PI scheme for PMSM Drive. ^{Li et al. (2014)} have proposed FO-Pi scheme for PMSM Drive. ^{Thakar et al. (2016)} also explained the FO-PI technique for PMSM Drive.

^{Kumar et al. (2021)} have presented the FO-PI scheme for PMSM Drive speed control. The system was developed in a labview, and an evaluation of FOPI and Existing PI was studied. ^{Li et al. (2023)} have proposed the FO-PI scheme to minimize for voltage faults in PMSM Drives.

The usefulness of a fractional order-proportional integral (FO-PI) controller in optimizing the dynamics of a dynamic system has been examined. The efficiency of the FO-PI controller was found to have the potential to improve the performance of dynamical systems.

The characteristics of the system better matched the response of the controller by modifying the fractional order exponent of FO-PI control. Additionally, because they enable more precise control of the transient response, the proposed controllers help to reduce overshoot and rise time in dynamical systems and enable smoother transitions between various control modes or set points.

2. Suggested control scheme

This paper presented the various PMSM Drive speed control schemes. The Figure 1 shows the proposed scheme.

Figure 1 Proposed scheme.

The voltage and current of the drive are used to compute the momentum of the motor. So, the sensor is not used for speed sensing.

Clark and Park's conversions are used for vector control. Calculated speed is then compared with reference speed then a FOPI control is being used to minimize error. FOPI is superior to exiting PI controller. The FOPI gives smother transitions between different states.

2.1. Vector transforms

Park’s and Clark's transformations are key to vector control. The transformation function is used is given by following program.

𝑓𝑢𝑛𝑐𝑡𝑖𝑜𝑛 [𝑣𝑑, 𝑣𝑞] = 𝑃𝑎𝑟𝑘𝐶𝑙𝑎𝑟𝑘𝑒(𝑣𝑎, 𝑣𝑏, 𝑣𝑐, 𝑡ℎ𝑒𝑡𝑎)

𝑖𝑓 𝑖𝑠𝑒𝑚𝑝𝑡𝑦 (𝑡ℎ𝑒𝑡𝑎)

𝑡ℎ𝑒𝑡𝑎 = 0;

𝑒𝑛𝑑

𝑣𝑑 = (2/3) ∗ (𝑣𝑎 ∗ 𝑐𝑜𝑠(𝑡ℎ𝑒𝑡𝑎)+ 𝑣𝑏 ∗ 𝑐𝑜𝑠(𝑡ℎ𝑒𝑡𝑎 − (2 ∗ 𝑝𝑖/3))+ 𝑣𝑐 ∗ 𝑐𝑜𝑠(𝑡ℎ𝑒𝑡𝑎 + (2 ∗ 𝑝𝑖/3)));

𝑣𝑞 = (2/3) ∗ (−??𝑎 ∗ 𝑠𝑖𝑛(𝑡ℎ𝑒𝑡𝑎)− 𝑣𝑏 ∗ 𝑠𝑖𝑛(𝑡ℎ𝑒𝑡𝑎 − (2 ∗ 𝑝𝑖/3))− 𝑣𝑐 ∗ 𝑠𝑖𝑛(𝑡ℎ𝑒𝑡𝑎 +(2 ∗ 𝑝𝑖/3)));

𝑒𝑛𝑑

3. Control schemes for PMSM Drives

Different techniques to control the PMSM Drive have been presented in this section and simulated in MATLAB. The block diagrams have been depicted of these schemes.

In open loop, there is no feedback signal to speed; only reference speed is used as shown in Figure 2. In closed loop, there is a feedback signal of the speed; this signal is compared with the reference signal as shown in Figure 3. The PI regulator reduced the fault signal and the 2-𝜙 quantity is being transformed to 3- 𝜙 before being applied to the PWM inverter PMSM Drive.

Figure 2 Open-loop PMSM Drive.

Figure 3 Closed-loop PWM-controlled PMSM Drive.

Two manage loops have been used. The interior loop controls the motor's stator currents. The external loop with FOPi controller controls the rpm of the motor as depicted in Fig.4. A 3 − 𝜙 PMSM driven via a PWM inverter. The PWM inverter is designed by using the MATLAB library. Its output passes through the restricted voltage source blocks before giving to the stator windings of the PMSM Drive.

Figure 4 FOPI control PMSM Drive.

4. Simulation results and discussion

Figure 5 shows the open-loop control of PMSM Drive.

Figure 5 Open-loop PMSM Drive.

In open-loop system no feedback signal for the speed so the desired speed is not achieved with this, we must use some closed-loop system for this.

As shown in Figure 6 the closed-loop PI control PMSM Drive, the desired speed around 300 rps achieved and the is 3Nm; After 0.5 sec. load torque reduced and the torque is 1 Nm.

Figure 6 Closed loop with PI control PMSM Drive.

Figure 7 shows the FO control PMSM Drive. The results are better the existing PI control. Torque and speed are found very stable. A comparison of the speed and torque has been provided in the Section 4.2.

Figure 7 FOPI control sensor-less PMSM Drive.

4.1. Fractional order proportional integral (FOPI) controller

A FOPI (^{Qureshi & Sharma, 2023}) employed in the speed loop of the PSMM drive is represented in Figure 8.

Figure 8 FOPI controller.

The transferal function of a FOPI is given by (1).

Cs=kp+kiS-λ (1)

Where, 𝜆 is a positive real parameter between 0 and 1.

In FOPI controller values can be tuned by different ways. But in our system, a simple method is being used, because of their commercial used purpose. The parameter of 𝑘_𝑝 and 𝑘_𝑖 changed by existing hit and trial method for pi controller and value of 𝜆 in FOPI is set via same method to achieve the desired response.

4.2. Comparison of FOPI and PI control techniques

Figure 9 Shows speed comparison of controllers.

Figure 9 Comparison of PI and FOPI controller for speed.

Using FOPI controller speed reaches stable condition faster the PI as depicted in Figure 9. As seen from the starting of motor. The Figure 10 shoes the torque comparison between the PI and FOPI controller, FOPI has smother response than PI controller as seen from the Figure 10 FOPI control waveform has fewer transients the PI.

Figure 10 Comparison of PI and FOPI controller for torque.

The Table 1 has been presented the comparison of FOPI and PI controller.

Table 1 Comparison of FOPI and PI.

Parameter	FO Control	PI Control
Response time	Very good	Good
Stability	Much faster to reach stable condition than PI	Better than open loop but not as FOPI
Dynamic system	Smother transient response than PI.	Good but not as FOPI
Switching	Switching in different states is smother than PI	God but not as FOPI
Fluctuations	Less fluctuation in motor	Fluctuations are more compared to PI

5. Conclusion and Future Scope

In this the speed-toque control of PMSM Drive using PI and Fractional Order Control methods has been presented. The open-loop PMSM Drive is easy to implement for the low cost and small industrial applications. The close loop PMSM Drive has been used widely in many applications like, EVs, HEVs, Water Pumping and etc. Here a comparison of existing PI controller with FO controller has been presented. Fractional Order Controller provides smother transient response and better stability control the existing PI controller.

For the Future Scope, further research the purposed Fractional Order Controller may be used in many multi-order systems and with other Artificial Intelligent system.

References

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Funding

The author(s) received no specific funding for this work.

Appendix

The Parameters used for the proposed 30kW PMSM motor drive scheme have been depicted in Table 2.

Table 2 Parameters of PMSM Drive and FOPI controller.

Parameters	Value	Unit
Stator resistance	2.98	Ω
D-Q axis inductance	7*10^-3	Henry
Flux Linkage	0.125
Movement of inertia	0.47*10^-4	Kg.m²
Value of fractional order	0.5	-
Kp	3.62	-
Ki	26.61	-
DC voltage	240	Volts
Reference speed	300	Rps

Received: September 18, 2023; Accepted: January 22, 2024; Published: April 30, 2024

^* Corresponding author. E-mail address: irfanqureshi.ee@ecb.ac.in (I. Qureshi).

Conflict of interest

The author(s) has (have) no conflict of interest to declare.

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