Practical Exercises in Drives Systems with C++ Simulation Software and

Synchronous Motor

CHAPTER III
Built an AC drive system with permanent magnet
(PM) synchronous motor
3.1 PM synchronous motor mathematical model
The general equation of the stator armature for PM
synchronous motor is the usual equation of the AC electrical
machines.
u Ri j1

d
dt

(3.1)

All the quantities are expressed as complex phasors, in a (d,

q) coordinate system that rotates with stator voltage frequency 1 .
Direct and quadrature components of stator flux are:
d Ld id 0
(3.2)
q Lq iq
(3.3)
with 0 as PM flux.
Direct and quadrature components of equation (3.1) are:
u d Ri d 1q
u q Ri q 1d

dd
dt
dq

(3.4)
(3.5)

dt

From equation (3.2.3.5) results:

did
Rid u d 1Lq iq
dt
diq
Lq
Riq u q 1Ld i d 10
dt

(3.6a)

Ld

(3.6b)

The equations (3.6a, 3.6b) take the form:

Lq
di d R
u

i d d 1
i q u1
dt Ld
Ld
Ld
di q
dt

uq
L

R
iq
1 d i d 1 0 u 2
Lq
Lq
Lq
Lq

(3.7a)
(3.7b)

In figure 3.1 is represented the (operational) model derived

from equation (3.6a, 3.6b).
1

Fig.3.1 The operational model of equations (3.7)

Practical Exercises in Drives Systems with C++ Simulation Software and

Synchronous Motor

The torque equation is:

m K 1[(L d L q )i d i q 0 i q ]

(3.8)

The transfer functions obtained from equation (3.7a, 3.7b)

are:
Id Ld 1

U1 R Td s 1
Iq L q 1

U 2 R Tq s 1

where

(3.9)
(3.10)

Td=Ld / R , Tq=Lq / R;

(3.11)

U1 U d 1Lqd i q

(3.12)

U 2 U q 1Ldq i d 1 0
Lq

(3.13)

L
Ldq d
Lq

(3.14)

Lqd

Lq
Ld

Using z transform we have the following

mathematical model for PM synchronous machine.
Input variables: uq, ud, 1
Output variables: id, iq,
u1 u d 1Lqd iq k ;
id k 1 c1id k c 2 u1
;
u 2 u q 1Ldq id k 1
iq k 1 c3i q k c 4 u 2
;
id k = id k +1
iq k i q k 1

0
Lq

;
;

m k1 Ld Lq id k 1 iq (k 1) 0iq (k 1)

discrete

Practical Exercises in Drives Systems with C++ Simulation Software and

Synchronous Motor

(k 1) (k) Tp
(k) (k 1)
1 (k 1)

(M M r )
J
;

return;

The controls uq, ud, 1 are subjected to the followings

conditions:
The stator voltage frequency 1 and rotor angular frequency
are synchronous
1 , p
(3.15)
with p as rotor pair poles and mechanical rotor angular speed.
The stator voltages U are related with machine flux by
equation (3.1). Taking R=0 and stationary regime, we have:
U
(3.16)
The best command is obtained by field orientation. In the case
id= 0 and
3
m p 0iq
2

(3.17)

We analyze first the open loop control. From the relation

(3.13) results:
U d cos U cos
(3.18)
U q sin U sin
(3.19)
The open loop command implementation is represented in
fig.3.2
The C++ program sinc1 simulate the open loop control
schema (fig.3.3), for a PM machine with the following parameters:
R=0.6; Ld=1.4*10-3H; Lq=2.8*10-3H; p=2; U=100V.
0

v1

0
Fig.3.2 Simplified control schema of PMM synchronous machine

In figure 3.3 was represented the simulation results for start up and
brake of PM machine with the parameters mentioned above:
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Practical Exercises in Drives Systems with C++ Simulation Software and

Synchronous Motor

uds

uqs

V1

1
0.5

0.25

0.5

0.75

Fig.3.3 The simulation results of open loop control

The closed loop control of PM synchronous machines has three

main objectives:
To maintain the id current component near zero;
To control the torque by the uq voltage component;
To control the machine speed by imposing the appropriate
torque;
These three conditions are accomplished by flux, torque and
speed controllers (fig.3.4).

The closed loop control under schema represented in fig.3.4 was

simulating in C++ language. The simulation results obtained with
C++ program are shown in fig.3.5

Practical Exercises in Drives Systems with C++ Simulation Software and

Synchronous Motor

These results are very similar with the DC machine simulations.

That is why the PM synchronous machines is named as brushless
DC machine.

3.2 Decoupling the torque and flux controls for PM synchronous

machine
The two control channels for torque and flux are coupled by
product nonlinearities of machine equations.
From (3.6 a, b) results:
Td

Tq

Lq
did
u
i d d 1
iq
dt
R
R
diq
dt

iq

uq

1 d i d 1 0
R
R
R

(3.20)
(3.21)

The nonlinear parts of equations (3.20, 3.21) are:

f d 1

Lq
R

iq

f q 1 d id 1 0
R
R
5

(3.22)
(3.23)

Practical Exercises in Drives Systems with C++ Simulation Software and

Synchronous Motor

The two controllers, for torque and flux, must to generate the
and u*d voltage components in such a way that machine remains
always flux orientated. That means, if the i d current component is
maintained nearly zero by the flux controller, the torque will
depends mainly of the iq current component (see relation 3.8).
Because the inverter that supply the motor is voltage controlled, it
must determine the relations between the current controls i*d , i*q and
the corresponding voltage controls u*d , u*q . That is made by inverse
model which results from equations (3.20, 3.21).
u*q

Like in the case of the induction machine, based of the

inverse machine model, the linear part of the torque and flux
controllers are:
Hsq (s)

Hsd (s)

R(1 sTq )
q s
R(1 sTd )
d s

(3.24)
(3.25)

Applying the tuning relations (2.53, 54) we have:

q 2T K m
d 2T

where

(3.26)
(3.27)

K m K10 .

The PI torque controllers parameters results from (2.58):

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Practical Exercises in Drives Systems with C++ Simulation Software and

Synchronous Motor

K R1

RTq cross
Km

Ti1 Tq

and for flux controller

K R RTd cross
Ti Td
1
cross
2T

(3.28)
(3.29)
(3.30)
(3.31)
(3.32)

3.3The simulation algorithm of the motion system

Practical Exercises in Drives Systems with C++ Simulation Software and

Synchronous Motor

Reference speed and position trajectories

Practical Exercises in Drives Systems with C++ Simulation Software and

Synchronous Motor

(k)

m(k)

k=k+1
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Practical Exercises in Drives Systems with C++ Simulation Software and

Synchronous Motor

3.4 Experimental results

The simplified diagram associated with the motion control
algorithm (fig.3.7) of the electromechanical system with the
permanent magnets synchronous machine, is given in the fig. 3.8.

Fig. 3.8 The diagram of the electromechanical system with PM synchronous

machine

There are many analogies between the DC machine

algorithms and PM synchronous machine simulation algorithm. If
the PM synchronous machine is well field orientated (the two
command channels for torque and flux decoupled by f d and fq
functions), the control system for speed and position is similar to
DC machine.
In figures 3.9 and 3.10 are represented the dynamic responses
of PM synchronous drive system controlled by minimum energy
control law and respectively minimum time control (bang-bang
control).
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Practical Exercises in Drives Systems with C++ Simulation Software and

Synchronous Motor

The controlled system follows very well the feed-forward

imposed values for torque (m and mm) and speed (om and 1) in
conditions of strong variations of the load torque (mres).
In figures 3.9 and 3.10 the mres and mr are the estimated and
imposed load torque, m, mm is the machine and imposed
electromagnetic torque and 1, om are the machine speed and
respectively imposed speed.
The PM synchronous machine rated parameters are: power
PN=3Kw, voltage UN=220V, efficiency N=0.84, power factor cosN
= 0.81, the time constant Td=0.06s, Tq=0.03s, angular frequency
N=314 and electromechanical time constant Tem = 0.1s.
The dynamical behavior of PM synchronous machine
represented in figures 3.9 and 3.10 has the same performances as
DC motor (see figures 1.23 1.28). The simulation program for PM
synchronous machine allows to verify the efficiency of motion like
it was done for DC machine (table 1.1 1.4).

0.5

PM-SM

0.5

11

PM-SM

Practical Exercises in Drives Systems with C++ Simulation Software and

Synchronous Motor

Conclusions:
In this chapter a PM synchronous machine drive system
simulation was elaborated. The aim of the simulation program is to
confirm the advantages of minimal energy control for position drive
system. This is important for example when the mobile robots carry
their energy sources such as batteries.
First the PM synchronous machine model was developed in
rotor field orientation theory. Than we used the minimal energy
control law presented in section 1 for generation of the optimal
trajectories for torque, speed and position. A feed-forward control
system commands the motor actuator (PWM inverter) in order to
follow as well a possible the imposed trajectories as well as
possible.
All the techniques used in the simulation program (the load
and electromagnetic torque estimators, the tuning methods for
torque and flux controllers, the optimal trajectories generation) are
well suited for direct implementation in a real drive system.

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