Proceedings of 2015 RAECS UIET Panjab University Chandigarh 21-22nd December 2015

Sensor less Speed Control of PMSM Using Space

Vector Pulse Width Modulation Based on MRAS
Method
Sandeep Dhundhara Pradeep Kumar Yajvender Pal Verma
Department of EEE Department of Electrical Engg. Department of EEE
UIET, Panjab University, Chandigarh, DPGITM, Guragon (Haryana), UIET, Panjab University, Chandigarh,
India India. India
e-mail:[email protected] e-mail: [email protected] e-mail: [email protected]

Abstract— Permanent Magnet Synchronous Motor (PMSM) is voltages and currents, estimator based on inductance variation
now available as better alternate to induction motor for variable due to geometrical and saturation effect, MRAS estimators,
speed drives applications in industries. This is due to their small high-frequency signal injection and artificial intelligence have
size, high potency, low weight, high ratio of torque to current,
been projected in the literature for PMSM [3-11]
high power factor, maintenance free and ease to operational
control. The study in this paper describes the structure and A speed controller has additionally been designed for
modeling of PMSM along with implementation of Model closed loop sensor-less control of the drive.
Reference Adaptive System (MRAS) technique with Space MATLAB/Simulink software is used for the analysis of
Vector Pulse Width Modulation (SVPWM) and voltage space MRAS based sensor less control using the SVPWM for the
vector process for speed estimation in sensor less speed control. PMSM motor [12-14]. The MRAS adaptive speed estimator is
Sensor less speed control of PMSM is achieved by using easy to implement that has been applied in this paper. It aims
estimated speed deviation as feedback signal for the PI controller. at design and implements a normal drive system for a PMSM.
Simulation studies reveal that the proposed MRAS technique can Simulations are carried out to indicate the validation of the
effectively estimate the speed of rotor with high exactness and
torque response is significantly quick. It demonstrates that the
SVPWM based MARS method to provide sensor less speed
entire control system is easy, effective, and feasible. control of PMSM over a large varying operational conditions.

Keywords— Permanent magnet synchronous motor; space vector II. SVPWM OF PMSM
pulse width modulation; model reference adaptive system.
The SVPWM of PMSM is used to manage the torque
I. INTRODUCTION variation demand, rotor speed and to regulate phase currents.
The SVPWM in synchronous motor is used on an individual
There has been tremendous demand for variable speed drives basis for maintaining torque and magnetic flux producing
in low and high power applications like aircraft, electrical parts. SVPWM decouple the torque and magnetizing parts of
vehicles, submarines, nuclear power stations, medical, the stator current [14]. Due to this decoupling, the torque
industrial servo drives and in many automotives. This has producing components of the stator flux now can be thought
resulted in variety of products offering many advanced of as an independent torque control. For decoupling these
features. In these products, the control strategy plays an components, it is necessary to use several mathematical
important in meeting the requirements of these applications. transforms.
But, high cost, temperature sensitivity and strict requirement In general, the SVPWM controls the stator current of the
are the major barriers in the practical implementation of these PMSM depicted by a vector. This control predicated on
drive system [1]. To overcome these problems, sensor less several mathematical transforms in which a 3- time and
speed control of PMSM can be useful, because position speed dependent system is converted into a two co-ordinate
sensing element might be large, less robust, may get failed in time variant system. SVPWM makes the control correct in
harsh atmospheric conditions [2]. every operation i.e. steady state or transient and freelance of
Extensive research is going on in the area of sensor less the restricted band with mathematical model [7].
speed control of PMSM and other motors. To develop the
position sensor less technology and to achieve high A. PMSM Modeling
performance and better reliability, a large number of
techniques like observer-based speed-position estimator, EMF The equations describing the performance of PMSM in the
based position estimators open-loop estimator using stator rotating d-q reference frame of reference are as given below:-

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 Proceedings of 2015 RAECS UIET Panjab University Chandigarh 21-22nd December 2015

d 1 Rs Lq The equation for space vector of output voltage of inverter

id = ud − id + ω r.iq (1) can be given as below [6-7]:
dt Ld Ld Ld
d 1 Rs Ld ψf VA(SA,SB,SC) = 2Vdc(SA+αSB+α2SC)/3 (6)
iq = uq − iq + ω rid − ω r (2)
dt Lq Lq Lq Lq
Where Vdc is inverter DC bus voltage and α is ej120.

Te = 1.5 P ⎡⎣ψ fiq − ( Lq − Ld ) idiq ⎤⎦ (3) If the state of upper and lower arm switches is considered 1
and 0 respectively, then there can be eight possible on-off
states. T denotes the operational time of two non-zero voltage
d 1 vectors within the same zone. V0(000) and V7(111) are known
ω m = (Te − Bω m − TL ) (4) as zero voltage space vector, while remaining six vectors are
dt J
known as effective vectors with magnitude of 2Vdc/3 [13].
ω r = pωm (5)

Equations (1-3) are electrical equations which describe the IV. SIMULINK MODELLING OF SVPWM
direct and quadrature axis current change and electrical torque,
while equation (4) is a mechanical equation giving angular The Simulink models for generating SVPWM waveforms
speed change. Here, ψ f = Magnetic flux of the rotor, Ld = d- are totally based on the operating principle of SVPWM which
mainly include the following:
axis inductance of the stator,Lq = q-axis inductance of the
stator, Rs = Resistance of the stator, Te = Electromagnetic A. Sector judgment model
torque of the drive, TL = Load torque of the drive, Before applying the technology of SVPWM, it is necessary
ωm = Mechanical speed of the rotor, ωr = Angular speed of to determine the sector in which there is voltage vector.
the rotor, J = Moment of inertia, B = Friction Coefficient, Considering that the expression of vector in the α-β coordinate
p = No. of poles. is suitable for controlling implementation, the subsequent
procedure is employed for deciding the sector [8]. When
Vβ > 0, Α = 1; when 3Vα − Vβ > 0, Β = 1;
III. PRINCIPLE OF SVPWM
when 3Vα + Vβ < 0, C = 1 . Then, the sector carrying the
Space vector control is the method to generate a PWM voltage vector can be implemented according to relation
modulation signal for PMSM voltage. In this technique, the N=A+2B+4C, as listed in table 1. The corresponding model is
inverse Clarke transform has been folded into the SVM shown in Fig.2.
routine which simplifies the equation. Each of the three
outputs of inverter can be in one of the two states which
TABLE 1. THE SECTOR CARRYING THE VOLATGES VECTOR
allows 23 =8 possible states of the output.
VERSUS N
SVPWM is subjected to a voltage vector which is close to a
reference circle through different switching modes of inverter SECTOR 1 II III IV V VI
[5]. The basic diagram of three phase VSI model is shown in
Fig. 1 N 3 1 5 4 6 2

Fig. 1 Basic Voltage Source Inverter

Fig. 2 Sector Judgment Simulation Model

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 Proceedings of 2015 RAECS UIET Panjab University Chandigarh 21-22nd December 2015

B. Calculation of operational time of fundamental vectors

Table 2 below lists the operational times of fundamental

vectors against N, where T1 and Tm is called the operation
times of two adjacent non zero voltage space vectors in the
same zone. The calculation model is shown in Fig. 3, where
Z =T(− 3Vα +Vβ )/( 2Vdc ),Y =T( 3Vα +Vβ )/( 2Vdc ), X = 2T[Vβ /( 2Vdc )].
The total sum of T1 and Tm must be less than or equal to T, i.e.
PWM modulation period. The over saturation state must be
considered if T1 + Tm > T , .
Where T1 = T1 [ T / ( T1 + T m )], T m = T m [ T / (T1 + T m )]

TABLE 2. OPERATIONAL TIME OF FUNDAMENTAL VECTOR

N 1 2 3 4 5 6
Fig. 5 Model of relation between Ta, Tb, TC N, Tcm , N and generation of
T1 Z Y -Z -X X -Y SVPWM waveform.
Tm Y -X X Z -Y -Z
D. Switch operation time calculation model
By examining the computed Tcm1, Tcm2, and Tcm3 with the
equilateral triangle diagram, a symmetrical space vector PWM
wave form can be generated whose model is shown in Fig. 5.
The PMSM operation is managed by switching on or off the
power electronics components. Fig.6 illustrates the general
model of SVPWM.

Fig. 3 Model for counting X, Y, Z.

C. Model for generation of SVPWM waveform

Fig. 4 shows the relation between N and switch operational
times, where Ta = (T − T1 − Tm ) / 4 , Tb = Ta + T1 / 2 , and
Tc = Tb + Tm / 2 , Tcm1 , Tcm 2 and Tcm3 are the operation Fig. 6 Overall model of SVPWM
times of three phases respectively.
V. MODELLING PRINCIPLE OF REFERENCE
ADAPTIVE SYSTEM

The MRAS is vital accommodative controller. In this

controller, the performance is demonstrated in terms of
reference model (which is PMSM itself) which provide the
required response to a command signal. As the speed of rotor
ω is enclosed in these equations we can use the present model
of PMSM as the adjustable model and PMSM itself as a
reference model. The output of these models is Id and Iq.
Through a particular adaptive mechanism, we can obtain the
estimated value of rotor speed and position [9].
Fig. 4 Model of switch operation time

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 Proceedings of 2015 RAECS UIET Panjab University Chandigarh 21-22nd December 2015

The eqn. (1) and (2) can be written in the matrix form as given
in equation (7).
⎛ − Rs ⎞
ω ⎟
d ⎡ id ⎤ ⎜ L s ⎡ id ⎤ 1 ⎡ u d ⎤ (7)
=⎜ ⎟⎢ ⎥+ ⎢ ⎥
dt ⎢⎣ i q ⎥⎦ ⎜ − R s ⎟ ⎣ i q ⎦ L ⎣ u q ⎦
⎜ −ω ⎟
⎝ Ls ⎠
The ωm has been compared with the system matrix for stability
analysis

⎛ −R ⎞
⎜ L ω ⎟
A=⎜ ⎟ (8)
⎜ −ω −R ⎟
⎜ ⎟
⎝ L ⎠ Fig. 8 Sensor less control block diagram with MRAS system [14]
Let
ψr VI. SIMULATION AND RESULTS
i′d = id + ; i′q = iq (9)
L
Simulation studies have been performed on the system
Rψ r using MATLAB/Simulink software version 7.10. Simulation
u ′d = ud + ; u ′q = uq (10)
L time is kept 0.5 sec. Results have been obtained and verified
The speed estimator process can be represented as given under following different operating conditions.
below 1) When speed and load both are constant.
2) When speed is constant and load is varied.
⎛ −R ⎞ 3) When speed is varied and load is constant.
ˆ ⎜ L ωˆ ⎟ ˆ
d ⎡ i ′d ⎤ ⎡i ′d ⎤ 1 ⎡u ′d ⎤ 4) When speed and load both are varied.
⎢ˆ ⎥ = ⎜ ⎟⎢ ⎥+ ⎢ ⎥ (11) 5)
dt ⎣ i ′q ⎦ ⎜ − R ⎟ ⎣ iˆ′q ⎦ L ⎣ u ′q ⎦
⎜ −ωˆ ⎟ For condition 1- When speed and load both are constant
⎝ L ⎠ [speed is 1400RPM and load torque is 3NM].
The error of the static variable is e= i′ − iˆ′ . This eqn. can be
written as
d ˆ ˆˆ
i′ = Ai′ + Bu ′ (12)
dt
From the above mention eqn. ω̂ can be obtained as [1-2]

ωˆ = ∫ k1(i′diˆ′q − i′qiˆ′d )dτ + k 2(i′diˆ′q − i′qiˆ′d ) + ωˆ (0) (13)

When k1 and k2 ≥0.

Replacing i ′d , i′q with id , iq , we get, Fig. 9. Reference and real speed of PMSM

ψr
ωˆ = ∫ k 1[i ′diˆq − i′qiˆd − (iq − iˆq )]dτ + k 2[idiˆq
L
ψr
−iqiˆd − (iq − iˆq )] + ωˆ (0) (14)
Ls
In above equation, iˆd and iˆq are of adjustable model
while id , iq can be obtained from the stator current
transformation. The position of rotor can be is estimated by
integrating the estimated speed. A complete sensor less control
scheme based on MRAS is shown in Fig. 8. Fig. 10.Three Phase Stator current

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 Proceedings of 2015 RAECS UIET Panjab University Chandigarh 21-22nd December 2015

Fig.13.Electromagnetic torque of PMSM

Fig. 11. Electromagnetic torque of PMSM
Fig.12 and Fig. 13 represent the simulation waveforms of
actual vs reference speed and load torque respectively. It is
Simulation results shown in Fig.9 present the comparative
noted that the speed is setup at 1400 RPM, while change in the
analysis between reference and actual speed of the PMSM. In
load torque at 0.1sec., 0.2sec., 0.3sec., as mentioned above. It
this case, reference speed and torque are 1400 RPM and 3NM
is observed that the speed follow the reference speed at 0.1 sec
respectively and the simulation time is 0.5 seconds. It is
and there is very small deviation in the speed while the load
clearly observed from the waveforms that motor is started as 0
torque is changing and after that it remains stable at 1400
second and attain its constant speed 1400 RPM at 0.1 sec.
RPM.
Fig. 10 shows the waveform of 3-Ø current of the PMSM.
At starting of the motor, the current is non sinusoidal due to
For condition 3- When speed is varied and load is constant
the difference between real values and estimated values of
[speed is 0-0.1sec(0-1400 RPM), 0.1-0.2sec(1400 RPM), 0.2-
current and settle down to steady state sinusoidal form when
0.3sec(800 RPM), 0.3-0.5sec(1400 RPM) and load torque is
motor attain its actual speed equal to reference speed (1400
3NM].
RPM).
The electromagnetic torque profile is shown in Fig.11. At
starting, there is large oscillations in the load torque. But, after
PMSM attains the speed equal to reference speed, torque
almost settled to steady-state value at 0.1 sec. These results
show that the proposed technique is also robust in countering
the torque variations of the PMSM.

For condition 2- When speed is constant and load is varied

[speed is 1400 RPM and load torque is 0-0.1sec (3NM), 0.1-
0.2sec (1NM), 0.2-0.3sec (2NM), 0.3-0.5sec (3NM)].

Fig. 14. Reference and real speed of PMSM

Fig. 15.Three Phase Stator current

Analysis of results with varying speed and constant load are

Fig. 12. Reference and real speed of PMSM shown in Fig. 14 and Fig.15 respectively. The speed is
changing at 0.1sec., 0.2sec., 0.3sec., as mentioned above and

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 Proceedings of 2015 RAECS UIET Panjab University Chandigarh 21-22nd December 2015

the load torque is constant at 3Nm. In this case also the motor developed. Mathematical model is incorporated within the
follows the reference speed after 0.1sec. simulation and the presence of various tool boxes and support
Fig. 15 shows the waveform of three phase currents of the guides simplifies the simulation. The SVPWM control
PMSM. The 3-phase currents of the motor is non sinusoidal technique is employed in PMSM drive that has its potential
when the speed is varied and attain sinusoidal values when the benefits like lower current waveform distortion, high
motor follow the reference speed. utilization of DC voltage, low noise and switching losses,
constant switching frequency and reduced dynamic
For condition 4- When speed and load both are varied [Speed performance. Matlab/Simulink based computer simulation
is 0-0.1sec (0-1400 RPM), 0.1-0.2sec (1400 RPM), 0.2-0.3sec results conclude that the adaptive algorithm improves dynamic
(800 RPM), 0.3-0.5 sec (1400 RPM) and load torque is 0- response, reduces torque ripple, and extended speed range.
0.1sec (3NM), 0.1-0.2sec (1NM), and 0.2-0.5 sec (3NM)]. Here, integration of sensed variables is not needed for the
proposed control algorithm. This novel control strategy based
Results obtained from condition 4 are shown in Fig. 16 and on MRAS approach gives good performance under various
Fig. 17. The results are obtained when both speed and load are operating conditions of low or high speed and can be
varied. In this case, the motor follow the reference speed. successfully implemented for PMSM drives in various
There are small fluctuations while the speed is changing and it application within reasonable cost.
attains steady state position due to proposed technique. It is
also observed that the torque response is fast. There are small
fluctuations while the speed is changing References
Hence, from above results we can analyze that the PMSM
using MRAS method is performed well for all speed and
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In this paper, a comprehensive Simulink model for a PMSM Torque PMSM Drive” , International Conference on electrical machines
drive system with SVPWM based on MRAS has being and system (ICEMS (Volume:2 ), pp 1682 – 1686,sept 2005.

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