Design and Simulation of PMSM Speed Regulating System Based on SMVSC

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1 ournal of Elctrical and Elctronic Enginring 016; 4(5): doi: /j.j ISSN: (Print); ISSN: (Onlin) Dsign and Simulation of PMSM Spd Rgulating Systm Basd on SMVSC Zhou ianhong 1, G Dbing, *, Zhang Yulong 1 Elctronic & Information Enginring Dpartmnt, Univrsity of Scinc and Tchnology Liaoning, Anshan, China Applid Tchnology Collg, Univrsity of Scinc and Tchnology Liaoning, Anshan, China addrss: @163.com (Zhou ianhong), @qq.com (G Dbing), @qq.com (Zhang Yulong) To cit this articl: Zhou ianhong, G Dbing, Zhang Yulong. Dsign and Simulation of PMSM Spd Rgulating Systm Basd on SMVSC. ournal of Elctrical and Elctronic Enginring. Vol. 4, No. 5, 016, pp doi: /j.j Rcivd: Sptmbr 3, 016; Accptd: Octobr 18, 016; Publishd: Octobr 0, 016 Abstract: Sliding mod variabl structur control (SMVSC) has vry strong robustnss, which has bn widly applid in prmannt magnt synchronous motor (PMSM) spd rgulating systm. Constant rat raching law approach spd is rlatd to th sliding mod raching gain. Th highr th sliding mod raching gain, th fastr th raching spd, and thn th strongr chattring. In this papr, a nw raching law is dsignd on th basis of constant raching law. With th analysis of MATLAB, th nw raching law not only incrass th approach spd of th sliding mod, but also has a bttr inhibition ffct on chattring. It provids a rfrnc for furthr xprimnts. Kywords: Prmannt Magnt Synchronous Motor (PMSM), Sliding Mod Variabl Structur Control (SMVSC), Chattring Rduction, MATLAB Simulation 1. Introduction Prmannt magnt synchronous motor(pmsm) has bn widly usd in th ral control nginring for its advantags such as high dynamic prformanc, high fficincy, simpl structur, and small siz. So th rsarch on th control tchnology of PMSM is gradually dvlopd[1-6].th PID controllr has such advantags as simpl structur and asy ralization. It is on of th most common control tchnologis in th fild of PMSM spd rgulating systm. Howvr, th PID control stratgy dpnds on th modl and th paramtrs of th systm. Whn th systm is affctd by intrnal paramtrs and xtrnal disturbanc, th convntional PID control can not mt th prformanc rquirmnts [7-10]. Sliding mod variabl structur control (SMVSC) gts popl's attntion, for its intrnal paramtrs prturbation and xtrnal disturbanc hav strongr robustnss [11-16]. Th constant raching law has bn widly usd in th dsign of SMVSC systm for its advantags such as simpl structur and asy paramtr dsign [17-18]. For constant raching law, th gratr th gain is, th fastr th spd of rspons is, but th chattring is mor obvious. This papr proposs a nw raching law with rducd control chattring, and th rspons spd improvs.. PMSM Mathmatical Modl Th voltag quation: did uq = Rsid + Ld + ωlqiq (1) diq ud = Rsid + L + ωldid + ωψr () Th lctromagntic torqu quation: 3 T = pψ riq (3) Th mchanical opration quation : d ω = T-TL (4) whr, Ld, Lqis d and q axis inductanc of th motor; ud, uqis d and q axis voltag of th motor; id, iqd and q axis

2 110 Zhou ianhong t al.: Dsign and Simulation of PMSM Spd Rgulating Systm Basd on SMVSC currnt of th motor; P is magntic pol pairs; ψ r is prmannt magnt flux linag; TLis load torqu; is systm inrtia. 3. Th Sliding Mod Variabl Structur Control Mthod Th constant raching law such as th formula (5): ds -sgn( s) = (5) In this papr, a raching law is dsignd on th basis of constant raching law, as is shown in formula (6): ds - = 1 δ + ( δ) 1 -σ s sgn( s) Whr, > 0, σ > 0,0 < δ < 1. As is nown in formula (6) whil s, th raching gain approaching is δ. From 0 < δ < 1 nown, δ > (6), th raching spd of th sliding mod raching motion has bn improvd. Whil s 0, ( -1) th raching gain is x. Basd on SMVSC, 0, 1 th raching law gain gradually dcrass to zro, and th chattring is rducd. 1 Slcting th Lyapunov function V = s to analyz th dv stability of th formula (6), th stability conditions is 0. By formula (6): dv ds -s = s = 1 δ + (1 + -δ) -1 -σs 1 -σ s dv And δ + ( 1+ -δ) 0 >, so 0, th formula (6) -1 satisfis th sliding mod raching condition. 4. Dsign of th Controllr Basd on SMVSC 4.1. Dsign of th Sliding Mod Surfac Th vlocity rror is dfind as: (7) s = = ω * -ω (8) Whr,ω*is th givn spd,ω is th actual spd valu. Th diffrntial of th sliding mod surfac: * ds d d s = = ω * -ω(9) ω ω = - (10) By th mchanical opration quation and th lctromagntic torqu quation: By formula (10) and (11): = ψ iq- TL (11) d p p r = - ψriq + TL (1) * ds d p p By formula (6) and formula (1): * P iq = [ TL + 3p ψf sgn ( s) ] 1 -σ s δ + (1 + - δ) -1 (13) Whr, iq* is th givn by th qaxis currnt controllr, = ω* ω flux linag. is th systm stat, ω f is th prmannt magnt 4.. Dsign of th Load Torqu Obsrvr Formula (13) contains th load torqu T L, but th load torqu T L can not b masurd. Thrfor, it is ndd to construct an obsrvr to obsrv th load torqu T L. Th xtnsion stat quation of PMSM: = ψ iq- TL (14) d p P r dtl Th quation of th sliding mod obsrvr: d p P ^ = ψriq- TL+ v = 0 (15) dtl = gv (16) (17) whr, v = λsgn( s), λ is sliding mod gain, and gis th fdbac gain. By formula (14), formula (15), formula (16) and formula (17) to gt th obsrvation rror quation:

3 ournal of Elctrical and Elctronic Enginring 016; 4(5): = + v (18) - P = gv (19) whr, 1 is spd obsrvation rror, and is th load torqu obsrvation rror. Slcting th sliding mod switching surfac S = 1, and to 1 analyz th stability by th Lyapunov function V = S, th dv stability conditions is = ss = 1* 1 0. By formula (18), dv P P = 1[ + λsgn( 1)]. if λ, th condition of rach th sliding surfac is satisfid. Whn th systm stat rachs and rmains in th sliding mod surfac, 1 = 1 = 0. By formula(18) and formula (19): P -g = 0 (0) gp By formula (0), th stability conditions - 0 >,and P > 0, > 0,so th rang of th fdbac gain is g < 0. According to th rang of th sliding mod gain λ and th fdbac gaing, slct th rasonabl paramtrs, and th obsrvr can obsrv th prcis load torqu. 5. Simulation Analysis Systm simulation modl is st up in MATLAB/Simulin. Th paramtr of th constant raching law is = 5000.Th paramtrs of th nw raching law ar = 5000, δ = 0.5, σ = 1. Th paramtrs of PMSM ar R s =.875Ω, Ld = Lq = 8.5mH, ψ r = 0.175Wb,, p =, = Th topology map of th prmannt magnt synchronous motor spd rgulating systm is shown in figur1. Th givn spd is 500r/min, and th load torqu is 1N M. Figur is th motor spd simulation wavforms of th constant raching law sliding mod control and th nw raching law sliding mod control. Through analysis, thy can achiv rapid rspons spd. For th constant raching law, th stabl tim is t=0.15s, but th nw raching law has fastr rspons spd, stabl tim for t=0.08s. Figur 3is th output wavforms of th currnt controllr undr th stratgy of th constant raching law and th nw raching law rspctivly. Th simulation rsults show that th output fluctuation rang of th constant raching law sliding mod control is -14 to 16A, but for th nw raching law sliding mod control, th output fluctuation rang is 6 to 1A. By comparison, it is nown that undr th nw raching law sliding mod control stratgy, th chattring lvl is lss than that undr th constant raching law sliding mod control stratgy. That is, th nw raching law sliding mod control has a bttr inhibitory ffct on th chattring. Fig. 1. Prmannt magnt synchronous motor spd rgulating systm.

4 11 Zhou ianhong t al.: Dsign and Simulation of PMSM Spd Rgulating Systm Basd on SMVSC 6. Conclusions In this papr, th dsign of a nw raching law is basd on constant raching law, and th simulation analysis of PMSM spd rgulating systm in MATLAB is carrid on. Th simulation rsults show that th nw raching law has a fastr dynamic rspons and also a bttr inhibition ffct on th chattring. Th simulation rsults undr th idal conditions without considring th ffcts of xtrnal disturbanc and masurmnt nois and modl uncrtainty, tc, so th simulation rsults can srv as a rfrnc for practical xprimnts, and th actual ffcts nds to b vrifid in furthr xprimnts. Rfrncs Fig.. Simulation rsults of spd. [1] Fanwi Mng, Chngying Liu, ZhijunLi, Liping Wang. Adaptiv PI control stratgy for flat prmannt magnt linar synchronous motor vibration supprssion []. Chins ournal of Mchanical Enginring,013,61. [] Gunpyo Mang, Han Ho Choi. Adaptiv sliding mod control of a chaotic nonsmooth-air-gap prmannt magnt synchronous motor with uncrtaintis []. Nonlinar Dynamics, 013, 743. [3] Wahyu Kunto Wibowo, So-won ong. Gntic algorithm tund PI controllr on PMSM simplifid vctor control[]. ournal of Cntral South Univrsity,013,011. [4] Tao Yang, Dal E. Schinstoc. Systmatic dsign of currnt control systm for prmannt magnt synchronous motors[]. Intrnational ournal of Control, Automation and Systms, 013, 116. [5] ianui Wang, Xiangqing Chn, ianuan Fu. Adaptiv finit-tim control of chaos in prmannt magnt synchronous motor with uncrtain paramtrs []. Nonlinar Dynamics, 014, 78. [6] Mihala Codruta Ancuti, Lucian Tutla, Ghorgh-Danil Andrscu, Frd Blaabjrg, CristianLascu, Ion Bolda. Practical Wid-spd-rang Snsorlss Control Systm for Prmannt Magnt Rluctanc Synchronous Motor Drivs via Activ Flux Modl []. Elctric Powr Componnts and Systms, 014, 41. [7] Li Zhng, Hu Guangda, Cui iarui t al. Prmannt magnt synchronous motor spd control systm of th intgral sliding mod variabl structur control []. Procdings of th CSEE, 014,03,pp: [8] Lai C K, Shyu K K.A novl motor driv dsign for incrmntal motion systm via sliding-mod control mthod[].ieee Transaction on Industrial Elctronics, 005,5(): [9] Zhng Zdong, Li Yongdong, Xiao Xi, t al. Load torqu obsrvr of prmannt magnt synchronous motor []. Transactions of China Elctrotchnical Socity, 010, 5(): Fig. 3. Simulation rsults of th output wav forms of th currnt controllr. [10] Zhang Xi, Chn Zongxiang, Pan unmin, t al. Fixd boundary layr sliding mod control of prmannt magnt linar synchronous motor[].procdings of th CSEE, 006, 6():

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