3rd International Conference on Materials Engineering, Manufacturing Technology and Control (ICMEMTC 2016)

Study on the Simulation of AC Permanent Magnet Synchronous Motor

Servo System

Caihong Zhu, Hongtao Zhang and Yongjian Zhao

Suzhou Vocational University, Suzhou, Jiangsu, China
[email protected]

Keywords: Permanent Magnetic Synchronous Motor; Vector Control; Simulation Model

Abstract. Based on the analysis of theories of vector control, the simulation model of permanent
magnet AC servo system built on MATLAB/SIMULINK is designed and studied, the simulation
results prove the validity of the simulation model.

Introduction
Simulation is an important means of system analysis, which can verify the correctness of the
theoretical analysis and design, simulate the operation process of the actual system, analyze the
system characteristics changing with the parameters, describe the status and characteristics of the
system, explore the design results how to meet the practical requirements, also can discuss the
stability of the system, study the influence on the system dynamic performance of the system control
parameters and the load change, and study the control methods and means to improve the
performance of the system. The simulation has the same effect as the experiment, and can avoid the
complexity of the actual experiments, and complete the simulation of experiment system or process,
which cannot be done on the actual experiment. There is a number of factors affecting the operation
of the servo system. How to find the optimal control parameters and adopt proper means of control in
the complicated environmental conditions, is the need to further discuss on the design and operation
of the servo system, and these factors will affect the operation of the actual system and its adaptability
to the environment.
The simulation model based on Matlab software is created according to the actual composition of
the permanent magnet synchronous servo system. The system simulation is carried in the Simulink
environment. The simulation results is need to be analyzed in order to find the system control rule,
optimize the system control method, analyze the operation characteristic of system, and design, adjust
and operate the system.

Vector Control Principle

Vector control principle is said that the stator current vector of the magnetic field orientation control
is decomposed into two components: the excitation current component id and the torque current
component id, and the two components are perpendicular to each other, independent of each other,
and then adjusted respectively, and can be obtained good decoupling control features.
The basic block diagram of the permanent magnet synchronous motor vector control system is
shown in Figure 1. First, the rotor position can be detected by the encoder, and converted to the
rotational speed ωr, the given rotational speed ωr* and the deviation of the feedback rotational speed
ωr, then the stator current reference input can be obtained by the speed PI regulator.The stator phase
current ia and ib can be extracted through the phase current detection circuit, and then, can be
transferred to d, q rotating coordinate system by Clarke and Park. The id* = 0, the ideal control volume
can be obtain by the current PI controller, through comparing the current signals of the d, q coordinate
system and their reference current input id* and iq*.The control signals form a complete speed FOC
double closed loop system through the Park inverse transformation, 6 PWM signals which are
generated from the SVPWM and the speed and torque by the inverter control motor.

© 2016. The authors - Published by Atlantis Press 1108

 Fig. 1 vector control system block diagram

Establishment of Simulation Model

Coordinate Transformation Module. There are number of coordinate transformations used in
vector control: Clark transformation, Park transform and Park inverse transformation, the
transformation matrices are as follows:
 1 1 
1   ia 
Clark transformation: i  2 2 2 (1)
i    ib 
 
 3  3 3 
 0 2  2  ic 

id   cos  sin   i 

Park transformation:     (2)
iq    sin  cos   i 
i   cos  sin   id 
Park transformation: i      (3)
    sin  cos   iq 
According to the transformation matrix, simulation model can be set up, the dq/abc transformation
model is shown in Figure 2.

3 cos(u) ia
Teta f(u) -K- 1
sin(u)
Ua
Mux
f(u) -K- 2
2
ib Ub
Iq* -K- 3
1
Uc
Id* ic

Fig. 2 dq/abc transformation model

SVPWM Generation Module. SVPWM is from motor's perspective, focusing on how to make
the motor for constant amplitude round rotating magnetic field, which is the sinusoidal magnetic flux.
It takes the ideal magnetic flux circle of the AC motor with balanced three-phase sine voltage power
supply mode as a benchmark. It simulates the actual flux generated by the different switch inverter
model to benchmark flux circle. It form a PWM waveform by comparing the results of the decision
inverter switch state. The number of vector inverter produces is limited, the space vector with
continuous changes angle cannot be produced. The generation method of SVPWM is the two
adjacent effective vector and zero vector of the eight basic space vector. According to their different
respective duration, the space voltage vector Vout is an equivalent vector of the motor. The space
voltage vector map is shown in Figure 3.

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 Fig. 3 space voltage vector map
Inverter and Motor Model. Inverter and the permanent magnet synchronous motor model used in
the simulation are given in the Simpowersystem of Matlab/Simulink model. The output parameters of
the motor inside the motor measurement module of the Simpowersystem in Matlab/Simulink can be
directly detected as the feedback parameters of the closed loop system of motor control.
Closed Loop Control System Model of PMSM Vector Control. Connecting each module and
the model to constitute the system simulation model, which is shown in figure 4.
+
v
-
Vab Vab1

+ A A is_abc iabc
300V
is_qd
B
- B
iq* m m wm ωm
PI PI Uq
Uα Uα C
iq
ω* Discrete Discrete theta
PI Controller PI Controller1 Ud
PWM pulses C
ω theta
Tm Te
0 PI Uβ Uβ Machines
theta
Universal Bridge Permanent Magnet
Measurement
id* id Discrete Synchronous Machine
Demux
PI Controller2 IPARK SVPWM Te
TL
Scope

em 2

Gain1
2

Gain

Fig. 4 closed loop control system model of PMSM vector control

Results of Simulation
In order to verify the correctness of the simulation model and effectiveness, the simulation test is
carried on. The selection algorithm of the simulation parameters is discrete algorithm, step length.
The parameters in the simulation test motor are:UDC=300V; np=2;J=0.0003kg·m2; ψf=0.175Wb;
R=1.4Ω. The given speed of the system is 30 r/s, switching frequency is 2 kHz, and the simulation
results is shown in figure 5.
The speed simulation waveform and the line voltage simulation waveform for no-load startup are
respectively shown in Figure 5 and Figure 6.The given speed is 30 r/s, the actual speed shown in
Figure 5 is almost no oscillation and small overshoot in the process of start, and can quickly achieve a
given value of 30 r/s. The line voltage shown in Figure 6 is small jitter, but basically stable in the
process of start. The stator three phase current simulation waveform of the motor load torque for
1 N  m is shown in Figure 7. The torque simulation waveform from 1 to 10 N  m for the load torque
on 0.5 s is shown in Figure 8.

Fig. 5 speed waveform Fig. 6 line voltage waveform

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 Fig. 7 three phase current waveform of stator Fig. 8 torque waveform

Conclusion
The simulation results conform to the operating characteristics of permanent magnet synchronous
motor seen from the results of simulation, SVPWM algorithm and built system model are correct. In
this paper, the author's innovative is that the magnetic field orientation control in the field of ac motor
speed control has a major development is proved theoretically through the theoretical analysis and
vector control research of PMSM speed control. The simulation research based on a 2.5kw AC
permanent magnet synchronous servo motor, fully verified the reliability and practicability of the
theory of design, and laid a good foundation for practical application.

Acknowledgements
At the point of finishing this thesis, I’d like to express my sincere thanks to all those who have lent me
hands in the course of my writing this thesis.

References
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