Abstract: The basic principle of space vector pulse width modulation(SVPWM) and a method of building two
closed-loops vector control simulation model for Permanent Magnet Synchronous Motor (PMSM) are presented in
this paper .At the same time ,a new non-linear PID controller in speed closed-loop is studied .Simulation results
show that it has good dynamic and static performances with no overshoot and small speed pulsation .Furthermore
,with the tool of Embedded Target for TI C2000 (ETTI C2000) in MATLAB ,we convert SVPWM simulation
model into executable code and download it to TMS320F2812, achieving the open-loop control for PMSM based on
DSP. This approach exempts us from tedious programming work , shortens the cycle of system development
,achieves the goal of simulation and DSP realization for PMSM vector control system synchronously .
Key Words: PMSM, SVPWM, Simulation, Non-linear PID Controller, F2812, ETTI C2000
2 PRINCIPLE OF SVPWM
The stator flux space vector rotates in a constant
velocity with an invariable amplitude ,when it is supplied by
3-phase sinusoidal voltage .Meanwhile ,the movement of
flux vector forms a circular space rotating field .The same is
This project is supported by co-operation plan between Weihai city and Fig.2: Voltage space vectors
Shandong University at Weihai .Project Number:115043210806.
978-1-4244-2723-9/09/$25.00
c 2009 IEEE 949
If we define state of transistor in the upper bridge arm other fields because of its simple control principle and
is on and the below is off is 1, otherwise is 0, there are eight strong adaptability. In a PID controller, integral effect can
on-off modes in the inverter. The inverters eight output reduce system steady-state error and improve its steady
voltages are shown as Fig.2. On-off modes (000)and (111) performances .But ,if too large, it will lead to integral
JJG JJG
are zero voltage vectors V0 (000) andV7 (111) ,while others are saturation and big overshoot .As for differential effect ,it
called nonzero effective voltage vectors .Their amplitudes has ability to obtain the trend of signal error
JJJG sensitively ,which means differential has a certain degree of
are 1.5Vdc .Given an arbitrary output voltage vector Vout ,we predictability. However, differential can only act in dynamic
can synthesize it by its neighboring effective voltage process ,in that it is expressed as the ratio of error
JJJG
vectors .For example ,given a Vout in sector ,it is incremental to time incremental. Furthermore, it is very
expressed as following: sensitive to noise, which can cause system instability easily .
JJJG JJG JJG With the change of controlled objects and higher
Vout Ts = V4T4 / Ts + V6T6 / Ts
1 demand of control accuracy, conventional PID control
JJJG algorithm is difficult to acquire a good control effect.
Where Ts T4 and T6 are the operating time of Vout
JJG JJG
V4 and V6 respectively. Tab.1: Parameters in the equations
Fig.5: Simulation model of two closed-loop vector control system
PMSM motor parameters used in the model is listed in tracks the reference speed fast and precisely .Moreover , the
Tab.3. speed pulsation is very small after adding a load torque.
Fig.8 shows waveforms of three-phase current .
Tab.3: Parameters in motor
Rs Ld , Lq pn f J B
Fig.7: Waveforms of speed and torque with non-linear PID
Fig.6Waveforms of speed and torque with PI controller
Set 400rad /s as the reference speed and start motor
with no-load, then add a 7N.m load torque at 0.02s .The
simulation time is 0.08s and SVPWM carrier period
0.0001s. Fig. 6 and Fig.7 show the speed and torque
Fig.8: The three-phase current
waveforms with the PI control strategy and non-linear PID
respectively. Fig.7 tells us that there is hardly any overshoot
after applying the non-linear PID , and real rotation speed
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Fig.10: Waveforms of PWM3 and PWM4
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The structure of open-loop control system is showed in Motor[M]Beihang University PressBeijing2004.
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In this paper, a novel two closed-loops vector control Speed and Torque Observer. Annual Power Electronics
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