Simulink modeling and design of an efficient hardware-constrained FPGA-based PMSM speed controller

The aim of this paper is to present a holistic approach to modeling and FPGA implementation of a permanent magnet synchronous motor (PMSM) speed controller. The whole system is modeled in the Matlab Simulink environment. The controller is then translated to discrete time and remodeled using System Generator blocks, directly synthesizable into FPGA hardware. The algorithm is further refined and factorized to take into account hardware constraints, so as to fit into a low cost FPGA, without significantly increasing the execution time. The resulting controller is then integrated together with sensor interfaces and analysis tools and implemented into an FPGA device. Experimental results validate the controller and verify the design

High performance disturbance observer based control system design for permanent magnet synchronous AC machine applications

This thesis was submitted for the award of Doctor of Philosophy and was awarded by Brunel University LondonAn electrical machine is one of the main workforces in different industries and serves them in various applications. Machine drive control design involves many technical issues for efficient and robust exploitation. Over several decades, Permanent Magnet Synchronous Motor (PMSM) is getting preferred for industrial applications over its counterpart Squirrel Cage Induction Motor (SCIM) drive, because of their higher efficiency, power density, and higher torque to inertia ratio. In the prospective that PMSM drives are considered the drives of the future, there are still technical challenges and issues related to PMSM control. Many studies have been devoted to PMSM control in the past, but there are still some open research areas that bring worldwide researchers’ interests back to PMSM drive control. One of the approaches that may facilitate better performance, higher efficiency, and robust and reliable work of the control system is the disturbance observer-based control (DOBC) with linear and nonlinear output feedback control for PM synchronous machine applications. DOBC is adopted due to its ability to reject external and internal disturbances with improving tracking performance in the variable speed wind energy conversion system (WECS) to maximize power extraction. The high order disturbance observer (HODO) is utilized to estimate the aerodynamic torque-based wind speed without the use of a traditional anemometer, which reduces the overall cost and improves the reliability of the whole system. Also, this method has been designed to improve the angular shaft speed tracking of the PMSM system under load torque disturbance and speed variations. The model-based linear and nonlinear feedback control are used in the proposed control systems. The sliding mode control (SMC) with switching output feedback control law and integral SMC with linear feedback and state-dependent Riccati equation (SDRE) based approaches have been designed for the systems. The SDRE control accounts for the nonlinear multivariable structure of the WECS and is approximated with Taylor series expansion terms. The chattering inherited from SMC is eliminated by the continuous approximation technique. The sliding mode is guaranteed by eliminating the reaching mode in the proposed integral SMC. The model-free cascaded linear feedback control system based on the proportional-integral (PI) controllers use a back-calculation algorithm anti-windup scheme. The proposed speed controllers are synthesized with HODO to compensate for the external disturbance, model uncertainty, noise, and modelling errors. Moreover, servomechanism-based SDRE control, a near-optimal control system is designed to suppress the model uncertainty and noise without the use of disturbance observers. The proposed control systems for PMSM speed regulation have demonstrated a significant improvement in the angular shaft speed-tracking performance at the transients. Their performances have been tested under speed, load torque variations, and model uncertainty. For example, HODO-based SMC with switching output feedback control law (SOFCL) has demonstrated improvement by more than 78% than the PI-PI control system of the PMSM. The performance of the HODOs-based Integral SMC with SDRE nonlinear feedback is improved by 80.5% under external disturbance, model uncertainty, and noise than Integral SMC with linear feedback in the WECS. The HODO-based SDRE control with servomechanism has shown an 80.2% improvement of mean absolute percentage error under disturbances than Integral SMC with linear feedback in the WECS. The PMSM speed tracking performance of the proposed HODO-based discrete-time PI-PI control system with back-calculation algorithm anti-windup scheme is improved by 87.29% and 90.2% in the speed commands and load torque disturbance variations scenarios respectively. The simulations for testing the proposed control system of the PMSM system and WECS have been implemented in Matlab/Simulink environment. The PMSM speed control experimental results have been obtained with Lucas-Nuelle DSP-based rapid control prototyping kit.Center for International Program “Bolashak” of the Ministry of Education and Science Republic of Kazakhsta

Field oriented control of permanent magnet synchronous motor with third-harmonic injection pulse width modulation to reduce quadrotors’ speed ripples

The world’s commercial unmanned aerial vehicle (UAV) industry has witnessed unprecedented boom in recent years. Delighted with an ample supply of this excellent high-tech product, global consumers are paying more attention on UAVs. Civilian UAVs now vastly outnumber military ones, with the estimate of over a million sold by 2016. An UAV has various degrees of autonomy as enabled by the use and precise control of motors. Traditional Direct Current (DC) motors are replaced by permanent magnet synchronous motors (PMSM) associated with the new power electronic inverters. Because of a PMSM’s higher power density than a DC motor, it reduces the rotor losses, thus improving its efficiency. The other improvement comes from the advanced control methods. The simple drive system based on a DC motor with open-loop control is outdated. High frequency switches in power electronic inverters offer an opportunity to change motor input voltage values and frequencies faster than ever before. Vector control approaches are employed with closed-loop feedback control, which brings high precision and good dynamics. Integrated inverter-motor drive systems are in progress. This thesis focuses on how to control PMSM installed in the UVAs with a high performance of dynamic response and fewer speed ripples. Field Oriented Control (FOC) is one type of vector controls to control a PMSM in a quadrotor. FOC of PMSM and Pulse Width Modulation (PWM) are introduced. The simulation results of FOC of PMSM with third-harmonic injection PWM and traditional FOC are compared. This comparison proves that FOC of PMSM with third-harmonic injection provides a better dynamic response for a quadrotor’s movement in vertical direction. In addition, since PWM is helpful to reduce the speed ripples, PMSM has a better steady-state response during operations

Speed control of an SPMSM using a tracking differentiator-PID controller scheme with a genetic algorithm

In this paper, a tracking differentiator-proportional integral and derivative (TD-PID) control scheme is proposed to control the speed of a surface mount permanent magnet synchronous motor (SPMSM). The TD is used to generate the necessary transient profile for both the reference and the output speed, which are compared with each other to produce the error signals that feed into the PID controller. In addition to the TD unit parameters, the PID controller’s parameters are tuned to achieve the optimum new multi-objective performance index, comprised of the integral of the time absolute error (ITAE), the absolute square of the control energy signal (USQR), and the absolute value of the control energy signal (UABS) and utilizing a genetic algorithm (GA). A nonlinear model of the SPMSM is considered in the design and the performance of the proposed TD-PID scheme was validated by comparing its performance with that of a traditional PI controller in a MATLAB environment. Different case studies were tested to show the effectiveness of the proposed scheme, results including peak overshoot, energy consumption, control signal chatter, and 30% improvement in the OPI, with variable reference speeds, load torque, and parameters uncertainties. Illustrate the proposed scheme's success compared with PI controller

High performance position control for permanent magnet synchronous drives

In the design and test of electric drive control systems, computer simulations provide a useful way to verify the correctness and efficiency of various schemes and control algorithms before the final system is actually constructed, therefore, development time and associated costs are reduced. Nevertheless, the transition from the simulation stage to the actual implementation has to be as straightforward as possible. This document presents the design and implementation of a position control system for permanent magnet synchronous drives, including a review and comparison of various related works about non-linear control systems applied to this type of machine. The overall electric drive control system is simulated and tested in Proteus VSM software which is able to simulate the interaction between the firmware running on a microcontroller and analogue circuits connected to it. The dsPIC33FJ32MC204 is used as the target processor to implement the control algorithms. The electric drive model is developed using elements existing in the Proteus VSM library. As in any high performance electric drive system, field oriented control is applied to achieve accurate torque control. The complete control system is distributed in three control loops, namely torque, speed and position. A standard PID control system, and a hybrid control system based on fuzzy logic are implemented and tested. The natural variation of motor parameters, such as winding resistance and magnetic flux are also simulated. Comparisons between the two control schemes are carried out for speed and position using different error measurements, such as, integral square error, integral absolute error and root mean squared error. Comparison results show a superior performance of the hybrid fuzzy-logic-based controller when coping with parameter variations, and by reducing torque ripple, but the results are reversed when periodical torque disturbances are present. Finally, the speed controllers are implemented and evaluated physically in a testbed based on a brushless DC motor, with the control algorithms implemented on a dsPIC30F2010. The comparisons carried out for the speed controllers are consistent for both simulation and physical implementation

Vector Control Drive Of Permanent Magnet Synchronous Motor Based Dsspace DS1103 Implementation

This paper presented a vector controlled drives of permanent Magnet Synchronous Motor (PMSM) by using Proportional-Integral (PI) Speed controller based dSPACE implementation. The concept of vector control is applied to PMSM to obtain linear dynamics similar to that of a DC motor. The model consist of two control loops, hysteresis current controller is used for inner loop current control and PI controller for outer loop speed control. PI speed controller selected due to simplicity compare to fuzzy, neutral etc. to make sure dSPACE DS1103 successfully implemented. The PMSM vector control algorithm for a theoretical basic has been verified by experimental results and created a rapid control prototype environment by using MATLAB/ Simulink and the DS1103 DSP of dSPACE

Hybrid Electric Distributed Propulsion for Vertical Takeoff and Landing Aircraft

This research effort explores the interactions between aerodynamics and hybridelectric power system (HEPS) design and control for vertical takeoff and landing (VTOL) aircraft applications. Specifically, this research focuses on embedded distributed electric propulsion systems, for which the aerodynamic forces and moments are inextricably linked to power input. This effort begins by characterizing the performance of two similar embedded propulsion systems using computational fluid dynamics (CFD). From this initial analysis, a wind tunnel model is constructed and the systems are tested across the operating conditions required to characterize the performance of a VTOL aircraft, where 0 deg ≤ α ≤ 90 deg. One of these configurations is selected for evaluating the interaction with the hybrid-power system. An experimental HEPS is constructed based on a small two-stroke internal combustion engine as well, with a rated continuous power output of 2kW. This experiment is used to develop a validated dynamical HEPS model in MATLAB and Simulink, where the control systems are refined and the performance of the system is extended to accommodate the VTOL power demand during transitional flight. A robust control design is developed using a second order sliding mode controller (2-SMC), implemented using the super-twisting algorithm and integrated with classical linear control schemes in an interleaved-cascade architecture. The resulting system has a variable voltage output and a robust response to rapid changes in power demand. Additionally, the HEPS is also demonstrated to fully utilize the mechanical power output capability of the two-stroke engine. Ultimately, the HEPS is demonstrated, via the dynamical model, to be capable of supplying power for an embedded propulsion VTOL aircraft. This performance is further extended with the addition of an actively controlled slack bus, utilizing battery energy storage and a buck-converter integrated with the HEPS control system. In this configuration, the peak power demands of the system can exceed the maximum sustained power threshold (MSPT) of the HEPS

Simulink/Modelsim Co-Simulation and FPGA Realization of Speed Control IC for PMSM Drive

AbstractPMSM (Permanent Magnetic Synchronous Motor) has been increasingly used in many high performance application due to its advantages of high power density, high power factor and efficiency. The design and implementation of a fuzzy-control based speed control IC for PMSM from Simulink/Modelsim co-simulation to FPGA (Field Programmable Gate Array) realization is presented in this paper. Firstly, a SVPWM scheme, vector control method and fuzzy controller are derived and applied in the speed control IC of PMSM drive. Secondly, the Very-High-Speed IC Hardware Description Language (VHDL) is adopted to describe the behavior of the aforementioned control algorithms. To evaluate the effectiveness and correctness of the proposed speed control IC, a co-simulation work performed by Matlab/Simulink and Modelsim is firstly conducted. Then, an experimental system by FPGA chip, Nios processor and motor driving board is set up to further validate the performance of the proposed speed control IC. Finally, the results in simulation and in experiment will be compared and discussed

A Simulation Tool for Computing Energy Optimal Motion Parameters of Industrial Robots

This paper presents a novel robot simulation tool, fully interfaced with a common Robot Offline Programming software (i.e. Delmia Robotics), which allows to automatically compute energy-optimal motion parameters, for a given end-effector path, by tuning the joint speed/acceleration during point-to-point motions whenever allowed by the manufacturing constraints. The main advantage of this method, as compared to other optimization routines that are not conceived for a seamless integration with commercial industrial manipulators, is that the computed parameters are the same required by the robot controls, so that the results can generate ready-to-use energy-optimal robot code