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Robust Speed Control of Interior Permanent Magnet

Synchronous Machine Fractional Order Control
1
Chaudhary Arshad Mehmood, 3Rahat Nasim, 1Sahibzada Muhammad Ali, 1Muhammad Jawad, 1Saeeda Usman,
2
Sikandar Khan, 4Saqib Salahuddin, 5Mian Atif Ihsan, 6Ahsan Khawja
1
Electrical and Computer Engineering Department, North Dakota State University, Fargo ND, 58108-6050, USA
2
Department of Computer Sciences COMSATS Institute of Information Technology Sahiwal 57000, Pakistan
.3Emerson Group of Colleges, Abbottabad, Pakistan.
4
Department of Computer Sciences, COMSATS Institute of Information Technology, Abbottabad, Pakistan.
5
Department of Mathematics, COMSATS Institute of Information Technology, Islamabad, Pakistan.
6
Department of Electrical Engineering, COMSATS Institute of Information Technology, Islamabad, Pakistan.

Abstract- The parameter sensitivity is a major cause of AC
drives to stop working optimally. This paper looks into
fractional order controller for Interior Permanent Magnet
motors. The interior permanent magnet motors have become
more demanding in hybrid vehicles, for which the parameter
(resistance, inductance, magnetization of permanent magnets)
drift is a common cause of degradation of drive due to rise in
ambient temperature. The fractional PI/PID controller, which
has five degree of freedoms, compared to classical PI/PID which
have three degree of freedoms. This paper presents the
simulations of fractional order controller (PI) based on
fractional order calculus, for robust speed control of the Interior
permanent magnet motors. The fractional order controller is
compared with the well-tuned PI controller. The analysis
constitutes the big range of parameters drift of the motor, to
compensate the range of actual drift in the parameters.
Index Terms Permanent magnet synchronous motor,
vector control, Fractional order Control.
I. INTRODUCTION
The industry predominantly uses classical PID controllers to
control industrial processes. It is considered to the best and
cheap solution in industry, due to its one knob operation to
tune the parameters. Different tuning algorithms have been
proposed so far for selection of optimum parameters of PID
controllers. The Zieglor Nicholas [1] is still extensively used
in for tuning the PID controller parameters. Astrom and
Hagglund [2] in 1984 proposed new technique for automatic
tuning method based on relay feedback test. Another
modified technique is used in [3], which introduces the
artificial delay along with relay in closed loop system to
change the oscillation frequency in relay feedback test. The
modified Zieglor Nicholas [2] and [4] technique introduced
the new equation for the selection of parameters of PID, Ti =
Tds. Ti and Td are chosen to be constant to obtain a unique
solution. Where is given a magic number of 4. The PID
controller used is of the form
1 (1)
In [5] iso-damping technique is used to find the robust tuning
parameters based on relay feedback test incorporated with
artificial delay. The iso damping property gives the flat phase
at the , i.e., 0 , inother words it can
_
equivalently written as:
(2)
_
In Eqn (2) _ is critical frequency on Nyquist that touches
the sensitivity circle tangentially. Also G(s) is the open loop
transfer function containing both plant P(s) and controller
K(s). In [6] the relay feedback with artificial delay is used to
tune the fractional order PID. The fractional order
controller gives more degree of freedom than classical PID
controller. The [7] designed a fractional order controller of
DC motor. The Simulink blockset used is obtained from [8].
The Interior Permanent Magnet Synchronous Machine
(IPMSM) model is available in texts [9], [10]. Different
controller techniques have been developed for the variable
speed drives in [11]. All of these are using the classical
controller.
In this paper fractional order controller effect is studied for
most commonly used technique indirect vector control
technique for variable speed drives. The classical PI
controller in current loop is replaced with fractional order
controller. The paper is assembled as, section II gives the
basic information of fractional calculus, section III describes the
fractional order controller. Section IV explains the model of
IPMSM. Section V shows the simulation diagram and results. The
conclusion and future work is given in section VII.
II. Fractional Calculus
Fractional calculus defines the branch of calculus where derivatives
and integrals are classified as noninteger. Fractional Calculus came
into existence nearly at the same time as integerorder calculus and
is generalization of integerorder calculus. The differentiator and
integrals can be defined as:

978-1-4799-4774-4/14/$31.00 2014 IEEE

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, 0

(6)
1 , 1 (3) The implementation of Oustaloups in MATLab is given as
, 0 function by [8]. The approximate transfer function
using = .01 and = 1000 and selecting the transfer
In Eqn. (3), is noninteger fractional order operator with function as with N = 5 and r = 1/3. The bode
and as the limits of operation, and is the order of plot of the approximate transfer function is shown in figure 1.
operation. The bode plot of the approximated transfer function closely
matches the ideal bode transfer function . The step
The PID controller is generally most widely used in industries response is also shown in figure 2.
in different nomenclatures based on the requirements of the
plant or process. It is not feasible to design a model of system
using fractional calculus, because the systems models are
already well defined in the subject of Dynamic System
Theory. So, the question comes to design and tune the
fractional order controller. Fractional order controller
constitutes a generic form of classical PID controller where
and defines the order of the differentiator and integrator,
and and . The transfer function of the fractional order
controller is:
(4)

In Eqn. (4) , 0

If 1 and 1 the classical PID controller is obtained.

Similarly as in classical control theory, , ,
controllers can be obtained by keeping any of the values to
Fig. 1: Bode Plot of Approximated Fractional Order Transfer Function
zero, depending upon the requirements of the plant or
process. Theoretically the fractional order controller
can enhance the performance because it behaves like
an infinite dimensional linear filter, due to non-integer
integrator and differentiator. So, to implement the fractional-
order controller, requires an infinite memory.

a. Continuous Approximation of Fractional Order Control

As to implement fractional order control an infinite memory

is required, it is necessary to obtain an approximate band limit
filter. Different approximation techniques are discussed in
[15]. The band should be carefully selected so that all
frequencies of interest are in range. The Oustaloups
recursion algorithm [16] and [17] is selected for simulation
purposes as it gives the frequency response more closely like
ideal Bode. The approximation is based on selection of band
limits for the system. The transfer function of the type can be
used to find the approximation of fractional order transfer
Fig. 2: Step Response of Approximated Fractional order transfer function
function:
III. MODEL OF INTERIOR PERMANENT
, , 1: 1 (5) MAGNET MOTOR
The band limit , is defined, where
The equivalent dynamic dq model of IPMSM is shown in
figure 3. The model is derived from the equivalent circuit
discussed in Neds model in [9]. The model is assumed
without damper winding. As without damper winding torque
The Oustaloups approximation is then given as:
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will directly change with the change in direct and quadrature

axis currents.
b. Torque in IPMSM
a. Flux Linkage Equations
The electromagnetic torque is given as:
The flux linkage equation of IPMSM from dq-equivalent
circuit 2 is: (13)

(7) Inserting the values of in Eqn. (13), yields:

dq- Stator winding voltages
The q-axis and d-axis voltages can be written as:
To find flux linkages
as:
(8)
(14)
The electromagnetic torque equation 14 of IPMSM composed
of electromagnetic torque and reluctance torque. The later
portion of torque is due to the presence of saliency.
(9)
c. Mechanical Subsystem
(10)
The mechanical rotational subsystem of IPMSM is:
rearrange Eqns. (9) and (10) (15)
Rearranging Eqn. (15) and integrating on both sides gives

(16)

Where is in rad/sec.

d. Machine Parameters

Parameters Values
Rs (Stator Resistance) 0.1641 ohm
Ld (d-Axis Inductance) 1.96 mH
Lq (q-Axis Inductance) 3.47 mH
q-axis equivalent circuit Jeq (Equivalent Inertia) 3.4e-4 Kg.m2
P (number of poles) 4

IV. MATLAB /SIMULINK SIMULATION

The MATLab/Simulink model of the IPMSM is shown in

figure 4. The inputs of IPMSM are three phase voltages, load
torque with three phase currents, electromagnetic torque and
rotor speed as output. The dynamic simulation requires the
conversion from thee-totwo phase voltages and currents
conversion. The output currents of the machine are sensed
and converted to two phase dqcurrents.

a. Implementation of Fractional Order Controller

Fig. 3: d-axis equivalent circuit
The indirect vector control is used to study the effects of
implementation of fractional order control on the speed
control of IPMSM with varying torque. This show the
Simulink model of the IPMSM with indirect vector control
(11) using fractional order control. The fractional order controllers
are used for controlling currents . The PI
(12) parameters are chosen based on the ideal bode plot
assumption.
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The actual motor block is formmed using the Eqns. 9, 10, and
13. The mechanical part of thhe machine is obtained using
b. Simulink Block Explanation equation 16. The dq to abc anda abc to dq blocks are the
conversions of three to two phasse and vice versa [9].

b
em is_dq
c

theta_da

abc --> dq

is
id nipid v sd va
v sd* ia
Flux_a i-abc
ib
Subsystem F
Fractional PID v sq v _abc* -K- em vb
Inertia
ic
Ideal
theta_da SV_PWM vc 1
1 v sq* Tem 1/Jeq
ki s
s
dq --> abc Flux_a
Wmech
nipid
isq* v sq* Actual Motor
Step6 kp
Frractional PID1 Wmech

1 Step1
(p/2)
s

Fig. 4: Simulink Block Diagram of IPMSM

V. SIMULATION RESULTS

The speed and torque response of the IPM MSM with classical
PI and with fractional controller is shownn in Figure 5. The
fractional order controller gives the better result in
eliminating the spikes at the start and when the torque
changes from current value to its half valuee.

Fig. 5(a) Torque

T and Speed Response with PI Controller

Fig. 5 (b): Torque and Speed Response with Fractional Order controller
The three phase voltages are shown in Figure 6 for both
classical PI controller and fractional order controller. The
[3]
spikes produced in the voltages at the time of step change in
torque are reduced by using the fractional order controller.
[4]
VI. CONCLUSION AND FUTURE WORK
[5]
The behavior of the fractional order control is studied with
Interior permanent magnet synchronous machine as a test
bed. The objective of the simulation carried out is to run the [6]
motor under speed variations and obtain the output speed with
nominal overshoot. The overshoot and oscillation at transition
of the torque while motor is running at steady state, is reduced [7]
by fractional order controller compared to the classical PI
controller. This work forms the basis for the implementation
[8]
of the fractional order controller.
[9]
REFERENCES
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[2] K. J. strm and T. Hgglund, Automatic tuning of simple [11]
regulators with specifications on phase and amplitude margins,
Automatica, vol. 20, no. 5, pp. 645651, 1984.
201
(a) Three Phase Voltage with Classical PI Controller
Fig 6 (b) : Three Phase voltages with Fractional Order controller
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