Simulation of PMSM Field-Oriented Control

Based on SVPWM
Xudong Wang Risha Na
School of Electrical & Electronic Engineering, School of Electrical & Electronic Engineering,
Harbin University of Science & Technology Harbin University of Science & Technology
Harbin, China Harbin, China
E-mail: wxd6158@163.com E-mail: narisha1982@hotmail.com
Ning Liu
School of Electrical & Electronic Engineering,
Harbin University of Science & Technology
E-mail: 617love520@163.com

Abstract: The space vector PWM has the character of wide linear
range, little higher harmonic and easy digital realization. The FOC
theory and SVPWM technique make the PMSM can achieve the
performance as well as DC motor. The mathematical model of PMSM
is analyzed and the system model of FOC vector control has been
established. The control system has been also simulated by
MATLAB/Simulink. The simulation results accord with the real
motor’s performance and provide the theory basis for the designing of
real system. Figure 1. Relationship of the α-β and d-q coordinate system

Keywords: space vector PWM (SVPWM), permanent magnetic

synchronous motor(PMSM), field-oriented control(FOC) ⎡ 1 1 ⎤ ⎡i ⎤
sin θ ⎤ ⎢1 − 2 −
2 ⎥ ⎢i ⎥
a
⎡i d ⎤ 2 ⎡ cos θ (1)
⎢i ⎥ = ⎢ ⎥⎢ b ⎥
⎣ q⎦ 3 ⎢⎣ − sin θ cos θ ⎥⎦ ⎢ 3 3⎥
I. THE MATHEMATICAL MODEL OF PMSM 0 − ⎢i ⎥
⎣⎢ 2 2 ⎦⎥ ⎣ c ⎦
The following assumptions are made before establishing the
mathematical model of PMSM: ⎡iα ⎤ ⎡cos θ − sin θ ⎤ ⎡id ⎤ (2)
⎢i ⎥ = ⎢ ⎢ ⎥
• Neglects the saturation of the electric motor ferrite ⎣ β ⎦ ⎣ sin θ cos θ ⎥⎦ ⎣iq ⎦
core.
B. The mathematical model of PMSM based on d-q
• Neglects turbulent flow and hysteresis loss in electric
motor. coordinate system
The most common method in analyzing electric control
• The current in electric motor is symmetrical three- PMSM is d-q axis mathematical model, which can be used in
phase sinusoidal current. analyzing the stable state performance of PMSM as well as in
studying the transient state performance. The mathematical
A. d-q reference coordinate system model of PMSM is usually composed of the voltage equation,
There are two kinds of coordinate system in FOC. One is the stator flux linkage equation, the electromagnetism torque
fixed on the stator, which is a static coordinate system relative equation, the mechanical movement equation. The equations
to us; the other is fixed on the rotor, which is a revolving under d-q coordinate system can be expressed as follows:
coordinate system. Both the three-phase stator A-B-C The voltage equation:
coordinate system based on three-phase winding of three-phase
stator and the two-phase stator α-β coordinate system are the ⎧ud = pψ d −ψ qω + Rs id
static coordinate system. The two-phase stator α-β coordinate ⎨ (3)
system is composed of α axis fixed on A axis and β axis that is ⎩ uq = pψ q + ψ d ω + Rs iq
vertical to α axis. While d-q coordinate system with d axis
fixed on the rotor spool thread is revolving[1]. Figure 1 shows The stator flux linkage equation:
the relationship of α-β coordinate system and d-q coordinate
system. is the angle between d and α axis which is also phase ⎧ψ d = Ld id + ψ r
A. Equation (1) gives the transforms from A-B-C to d-q ⎨ (4)
coordinate system. While Equation (2) gives the transforms ⎩ψ q = Lq iq
from d-q to α-β coordinate system. The electromagnetism torque equation:
This paper is supported by the key project of Chinese Ministry of
Education(208180)and by Heilongjiang Province

978-1-4244-2601-0/09/$25.00 ©2009 IEEE 1465

 Te = p (iqψ d − idψ q ) (5) Figure 2. FOC system structure

In this control system, stator current iA, iB outputted by the

The mechanical movement equation:
inverter is measured using electric current sensor, and iC is
J dω calculate with the formula iC=-(iA+iB). Transform the electric
⋅ = Te − TL (6) current iA,, iB, iC into the direct component isq, isd in the
p dt revolving coordinate system through the Clarke and the Park
transform. Then isq, isd can be used as the negative feedback
Where: quantity of the electric current loop.
u d 、 uq ——Applied d-q-axis control voltage The deviation between the given speed and the feedback
speed n is regulated through the speed PI regulator. The output
i d 、 iq ——Stator d-q-axis current is q axis reference component isqref to control the torque .The
deviations between isqref, isdref and current feedback quantity isq,
ψ q 、ψ d ——d-q-axis flux linkage isd go through the electric current PI regulator, and the
respectively output phase voltage Vsqref and Vsdref on the d-q
Lq 、 Ld ——d-q-axis inductance revolving coordinate system. Vsqref and Vsdref are transformed
into the stator phase voltage vector component Vsαref and Vsβref
Rs ——Armature resistance under α-β coordinate system through inverse Park transform. If
the stator phase voltage vector Vsqref, Vsdref and its sector number
ψ r ——Permanent magnet flux linkage is known, we can use the voltage space vector PWM technique
Te ——Electromagnetic torque to produce PWM signal to control the inverter, so as to achieve
closed-loop control of the PMSM.
TL ——Load torque If we take the algorithm of id=0(isdref =0) for a sufaced-
J ——Moment of Inertia mounted PMSM (SPM),the current vector trajectory as the
Maximum Torque-per-Amp trajectory. On this condition,
p ——Pole-pair numbers of the motor torque per current ampere becomes maximal, the copper loss
decreased and the efficiency increased. That’s why most SPM
ω ——Electrical angular speed take the algorithm of id=0. In this paper, we also take SPM as
the simulation motor model.
II. THE PRINCIPLE OF ROTOR FIELD-ORIENTED VECTOR
CONTROL SYSTEM III. THE ESTABLISHMENT OF THE FOC SIMULATION MODEL

The figure 2 shows the block diagram of Rotor field- After analyzing the mathematical model of PMSM and the
oriented vector control system [2]: principle of Rotor field-oriented vector control system, the
simulation model of field-oriented control system is established.
The simulation model is under the environment of
MATLAB7.0/Simulinkusing, due to its rich module libraries.
The system structure is shown as figure 3, and the main
simulation modules are introduced as follows:

Figure 3. FOC system structure diagram of the PMSM based on SVPWM

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 The sector judgment module is shown as figure 6.
A. The transform module from d-q to α-β coordinate system
The transform from d-q to α-β coordinate system is
realized mainly according to equation (2) and the position
angle of the rotor, namely the in figure 1. The specific interior
simulation diagram is shown in figure 4.

Figure 6. Simulation model of sector judgment

2) The calculation of the basic voltage vector act time

The relationship between the act time of the basic voltage
vectors t1、t2 and X、Y、Z, and sector N is shown as follows:
Figure 4. Block diagram of d-q to α-β transformation

TABLE II. THE RELATIONSHIP BETWEEN T1,T2 ANDX,Y,Z,N

B. The module of SVPWM production
Sector N 1 2 3 4 5 6
The SVPWM uses two neighboring effective vectors and
null vectors of the eight basis space voltage vector and their t1 Z Y -Z -X X -Y
different act time to obtain the equivalent space voltage vector t2 Y -X X Z -Y -Z
that the motor needs, as shown in figure 5 [3]. X、Y、Z can be given by equation (9).

⎧ Vα Ts
⎪X = 3
⎪ U dc
⎪
⎪ (
1 3Vβ + 3Vα Ts ) (9)
⎨Y =
⎪ 2 U dc
⎪
⎪Z = 1
(3Vβ − 3Vα Ts )
⎩⎪ 2 U dc
The module diagram is shown as figure 7.

Figure 5. Basic voltage vectors and reference vector

1) The judgment of the sector

According to figure 5, when Vout is given in the form of the
component Voutα、Voutβ on α-β coordinate system, we can use
equation (2) to calculate B0、B1、B2.
B =U
⎧ 0 β
⎪ B = sin 60D U − sin 30D U (7)
⎨ 1 α β
⎪
⎩ B2 = − sin 60 U α − sin 30 U β
D D
Figure 7. Simulation model of acting time of basic voltage vector
The value of equation P can be given by
P = 4sign(B2 ) + 2sign(B1 ) + sign( B0 ) (8) 3) The calculation of switching time
Firstly, Ta、Tb、Tc can be given by
where sign(x) is sign function.
Then the sector number can be given by looking up table Ts − T 1 − T 2 T1 T2
Ta = , Tb = T a + , Tc = Tb +
1. 4 2 2 (10)

TABLE I. RELATIONSHIP OF P AND SECTOR The switch time is shown as the following table, where taon
、tbon、tcon means the turned-on time of the three-phase bridge
P 1 2 3 4 5 6 arm power component respectively[4][5].

Sector number 2 6 1 4 3 5 TABLE III. THE TIME SCHEDULE OF A、B、C THREE-PHASE SWITCH

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Sector
Ⅰ Ⅱ Ⅲ Ⅳ Ⅴ Ⅵ
number IV. THE RESULT OF THE SIMULATION
Set the motor speed at 500 rad/s, PWM cycle T=0.001S. At
t aon Tb Ta Ta Tc Tc Tb time 0s, the electrical motor no-load start up, at time 0.03s, the
t bon Ta Tc Tb Tb Ta Tc load increases to3 Nm. Simulation time is 0.06s, and then the
simulation waveform shows as follows:
t con Tc Tb Tc Ta Tb Ta
The simulation diagram is shown in figure 8.

Figure 8. The simulation model of the inverter at the switch time

4) The production of PWM signal

Comparing the obtained , and with the isosceles triangle,
we can get symmetric space vector PWM signal. Making
PWM1,PWM3,PWM5 reverse ,We can get PWM2,PWM4 and
PWM6.
The overall simulation structure diagram of SVPWM as
shown in figure 9[6]:

Figure 10. The current and speed response when load is increased

Figure 9. SVPWM simulation model

5) The model of inverter and electrical motor

Both the inverter module and the PMSM mentioned in
simulation are provided by MATLAB/Simulink. The machine
parameters listed in Table IV are used for the simulations. The Figure 11. The torque response when load is increased
measurement module may be used for examining the outputs
physical quantity of the motor, and as feedback parameter to Simulation results are in accord with the performance
constitute closed-loop control system. characteristic of PMSM, which proves the accuracy of the
TABLE IV MACHINE PARAMETERS FOR SIMULATIONS SVPWM algorithm and the control model, and provides theory
basis for actual design of the control system.
Magnet flux linkage 0.3Wb
d-axis inductance 8.5mH
q-axis inductance 8.5mH
Armature resistance 0.5Ω

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