The Design and Simulation of Permanent-magnet

Synchronous Motors Servo Control System Based

on DSP

He-song Huang,Jing-peng Bi,Ya-nan Wang Xiao-qi Zhang

College of Information and Electrical Engineering, Department of Computer Engineering,
Shandong University of Science and Technology, Shandong College of Information Technology,
Qingdao, China Weifang, China
huang_sust@163.com,bijingpeng@163.com, zxqsdust@163.com
123wangyanan@163.com

AbstractOn the basis of analyzing the mathematical model of
permanent-magnet synchronous motor, this paper uses vector
control methods such as coordinate transformation and space
vector pulse width modulation to put up nonlinear decoupling
control for motor model. Using TI C2000 series dedicated motor
control chip as the core of control system and combining with
external testing and driver chips, it designs the control schematic
of servo system. Finally, it verifies the feasibility of the project by
simulating the control system in MATLAB/Simulink toolbox.
permanent magnet structure, outer permanent magnet structure
and inner permanent magnet structure. Besides little armature
reaction, high linearity of torque and current characteristics,
small salient effect and simple control, the surface permanent
magnet structure has a series of advantages such as small rotor
diameter, large equivalent air gap, low inertia, small
positioning torque etc. So this structure is commonly used in
PMSM.

Keywords-permanent magnet synchronous motor;vector control; A. The mathematical model of PMSM

digital signal processor;simulation In the case of ignoring the core saturation effect, the eddy
current and hysteresis losses ,the PMSM has the circuit model
I. INTRODUCTION shown in figure 1 [1].
With the constant improvement of control efficiency and iu
uu

precision in digital age, servo system is widely used as an Lu

effective control system. In the field of servo control, AC Ra

servo motor, whose performance is similar to DC motor in

speed control, has gradually replaced DC motor and become
the leading implement component of servo system with Ra Ra
Lv
Lw uv
advantages of simple structure, reliable operation and high uw iw iv

efficiency.
With the development of integrated circuit technology, Figure 1. The circuit model of PMSM
complex control algorithms in a single chip are realized.
Meanwhile, the appearance of intelligent power module (IPM) The voltage equation in the u-v-w coordinate system of
and digital signal processor (DSP), making servo system PMSM can be obtained from the model
evolving into modular and all-digital direction, can fast uu Ra + pLu pM uv pM uw iu eu
calculate online and optimize the long-standing control u = pM
v Ra + pLv pM vw iv + ev
principle which establishes in modern control theory or some vu

other complex control algorithms. With the help of the special
internal bus structure and powerful computing logic of DSP,
the servo controller, integrating functions of control,
communication, fault identification and protection, constitutes
a high efficiency, high reliability motion control system.
II. SYSTEM SCHEME DESIGN
The rotor of permanent-magnet synchronous motor
(PMSM) is constituted by permanent magnets, according to
different positions of installation of permanent magnets, the
PMSM can be classified into three structures, the surface
uw pM wu pM wv Ra + pLw iw ew
(1)
There u is three-phase stator voltage, i is three-phase stator
current, e is rotary electromotive which is induced in the stator
winding by permanent magnetic field, Ra is the resistance of
stator winding, p is the differential operator d/dt, L is the
inductance of stator winding, M is the mutual inductance of
stator winding.
When use surface permanent-magnet structure, the
inductance of stator winding, ignoring salient effects,

(Aided by) SDUST Research Fund(2010KYTD101)

978-1-4577-0536-6/11/$26.00 2011 IEEE

4439
constitutes two parts, the stator leakage inductance La and the ud Ra + pLd Lq id 0
u = L +
Ra + pLq iq f
stator mutual inductance La 0 , namely Lu = Lv = Lw = La + La 0 . q d
(6)
And the mutual inductance of stator winding has the value of
L cos = L cos( ) = L on the assumption that the air-
2 2 1 There L = L = L = L + 3 L , = 3 . The equation
d q a a a0
a0
3
a0
3 2
a0 f fm
2 2
gap magnetic flux has sine distribution. above indicates that the voltage of dq axis can be controlled by
the current of dq axis. Since the axis of permanent-magnet
The rotary electromotive which is induced in the stator
excitation magnetic field is on the d axis, only induce rotary
winding by permanent magnetic field is
electromotive on the q axis. The transformed flux relation is

sin d Ld 0 id f
u
e = 0 +
Lq iq 0
2
e = sin( ) q (7)
v fm
3
ew The electromagnetic torque can be expressed as
2
sin( + )
3 (2) Te = pn ( d iq q id )
(8)
There fm is the magnitude of permanent magnet flux
There pn is the pole pair number of permanent magnet
which is cross-linked to the stator winding, is the angle of u- rotor, taking equation (7) into (8) yields
phase winding axis and fundamental magnetic axis of
permanent magnet field, is the angular velocity of rotor Te = pn [ f iq + ( Ld Lq )id iq ] = pn f iq (9)
rotation (electrical angle).
The formula above is equivalent in the case of ignoring
B. The vector control of PMSM salient-pole effect. In this way, the electromagnetic torque
only has the part of permanent magnet torque, thereby need
Because the flux is basically determined by the current of minimum stator current in the case of producing required
excitation winding and the rotor has little effect on the torque, and improve the operating efficiency. As no current in
magnetic field, the mathematical model and control system of d axis, the motor does not have armature reaction and will not
DC motor is relatively simple. The mathematical model of induce the demagnetization of permanent magnet.
PMSM is a high order, nonlinear and strongly coupled multi-
variable system, if we can transform the model of PMSM The control block diagram of PMSM servo system is
equivalently into a similar pattern of DC motor, then the shown in figure 2, composed of current loop, velocity loop
analysis and control can greatly simplified. Therefore, through and position loop. The role of current loop is to make the
the analysis of simplified flux linkage relations, we can make motor winding current tracking the current command signal
coordinate transformation to the motor model, the principle of accurately and in real time, and ensure that the armature
transformation is equal magnetometive force generated in current dose not exceed the normal operation limits in
different coordinates. dynamic process. The role of velocity loop is to improve the
ability of the system against load disturbances, inhibit rate
The coordinate transformation has three-phase/two-phase fluctuations, achieve steady-state and error-free of speed. The
stationary transformation, two-phase static/two-phase rotation role of position loop is to ensure the accuracy of steady-state
transformation, three-phase/two-phase rotation transformation and ability of dynamic tracking, it is directly related to the
and the corresponding inverse transformation, the stability and accuracy of servo system. Inverter using space
transformation matrix are as follows [2] vector pulse width modulation (SVPWM) technology, it can

1
1

1 form a circular rotating magnetic field in the motor space and
2 2 2 produce a constant torque. With advantages of small switching
C3 / 2 =
3
0
3

3 losses, simple computation, high output voltage and so on, it is
2
2 (3) better than sinusoidal pulse width modulation (SPWM)
technology.
cos sin
C2 s / 2 r =
cos

sin cos (4)

sin

id iu

2 2
cos cos( ) cos( + ) iq iv
2 3 3
C3s / 2 r = C2 s / 2 r C3/ 2 =
3 2 2
sin sin( ) sin( + ) ud*
3 3 (5) id* = 0 u*

In figure 1, taking d axis direction in accordance with the rm

*
rm
*
i q* uq*
u*

fundamental magnetic field direction of permanent magnet, rm rm

transform the voltage equation to the synchronous rotating

coordinate system using the coordinate transformation formula
(5) Figure 2. The block diagram of PMSM servo system

4440
 III. HARDWARE DESIGN
The servo system of PMSM consists of power conversion
main circuit, control circuit and interface circuit, whose block
diagram is shown in figure 3. The power conversion main
circuit consists of rectifier circuit, filter circuit and inverter
circuit, whose main function is to translate DC power supply
to three-phase AC power used in windings of the servo motor,
in order to produce desired electromagnetic torque. The main
function of the control circuit is to realize the control and
various protection functions of the power conversion main
circuit by sampling external signals and calculating. The
interface circuit, which is used to set the operating mode of the
servo motor and display the relevant parameters, can be
connected to a remote host.
The voltage of power switching devices is related to the
input AC voltage, the rise value of DC voltage when braking
and the surge voltage when turning off the device.
Considering certain voltage margin, generally select device in
the condition that the DC voltage is as much as 50% to 60%
rated voltage of the device. The rated current value of the
device is determined by the maximum current value which is
calculated by the capacity of the inverter circuit, and it is
related to the motor power, efficiency, power factor, overload
multiples and so on. This design selected IPM module
PS21564 of Mitsubishi, whose rated voltage is 600V, rated
current is 15A, and applied to motor of 750W capacity[3], the
circuit is shown in figure 5.
+16v
R35

2k
C31 104 28
VN1
27
VNC R34
35
N N
C32 102 26 0.01
CIN
C33 22nF 25
CFO
FAULT 24 34
FO W
C34 101 23
WN
CTRL1
C35 101 22
VN
CTRL2
C36 101 21
UN
CTRL3
20 V 33 PMSM C49
VNO
C37 101 18 CBB104/630V
WP
CTRL4
C40 104 16
VP1
R31 VD31
5.1 HER106 15
VWFB
C46 104
C43 13 32
VWFS
1uF/50V U
C38 101 12
VP
CTRL5
C41 104 10
VP1
R32 VD32
5.1 HER106 9
VVFB
C47 104 31
C44 P P
7
VVFS
1uF/50V
C39 101 6
UP
CTRL6
C42 104 4
VP1
R33 VD33
5.1 HER106 3
VUFB
C48 104
C45 1
VUFS
1uF/50V
U31 PS12564-P

Figure 5. The schematic diagram of inverter circuit

Figure 3. The hardware block diagram of PMSM servo system
A. Design of the main circuit
Including rectifier and filter circuit, the main circuit adopts
voltage source filter structure as shown in figure 4. Besides
filtering and storing energy, the filter circuit also plays the role
of decoupling between the rectifier and the inverter circuit,
that is, provides the necessary reactive power for inductive
load in order to eliminate the mutual interference between
them. In addition, the circuit also includes soft-start circuit and
pump rise control circuit.
FUSE1
K1
10A
R2 5W5K
1
C. Select of control chip
DSP is a microprocessor applied to process high-speed
digital signals and complex calculation, which uses a modified
Harvard bus architecture, and integrates dedicated hardware
multipliers and other facilitate digital computing and signal
processing structure. And the processing speed is much faster
than ordinary microprocessor.
TMS320F2812 is the first 32-bit microprocessor chip of TI
C2000 series, which integrates flash memory, fast AD
converter, enhanced CAN module, event manager, quadrature
C4 encoder pulse(QEP) circuit interface, and other peripheral
102/1kV equipments. Up to 150MIPS of processing speed, dealing with
P
many complex control algorithms in real time, it is one of the
most widely used DSP chip in industrial areas at present. The
R3

R5 510K
D1
50k/2W

~220V IN
R1
VARISTOR
4 KBJ1506 2
C1 C2 C3
minimum system circuit is shown in figure 6, including power
15A 600V
Q1
R4
supply, clock, reset and JTAG interface [4].
IRGB4056 3K
3

3V3 U71
C71
69
XDD3VFL 24pF
N 77 Y71
X1/XCLKIN
450V/270uF * 3 31 76 30M
VDDIO X2
64
VDDIO C72
81
BRAKE VOLT VDDIO
114
VDDIO
145 119
VDDIO XCLKOUT 24pF

Figure 4. The schematic diagram of main circuit 1V9

23
37
VDD XRS
160 XRS
VDD
56
VDD
75
VDD
100 67
VDD TEST1

B. Design of inverter circuit

112 66 3V3
VDD TEST2
POWER

128 134
VDD TESTSEL
143
VDD R71 R72
154
VDD MISC
In a variety of power devices, IGBT has become the most
R73
2.2k
19
VSS

widely used power device of the inverter circuit for both high
32 2.2k 2.2k 3V3
VSS
38 J71
VSS
52 137 13 5
VSS EMU0 EMU0 PD

current, low saturation voltage and high input impedance, high

58 146 14
VSS EMU1 EMU1
70 135 2 4
VSS TRST TRST GND
78 126 1 6
VSS TMS TMS GND
86 131 3 8
switching frequency characteristics. The IPM developed in 99
105
113
VSS
VSS
VSS
TDI
TDO
TCK
127
136
7
11
9
TDI
TDO
TCK
GND
GND
GND
10
12

recent years, integrates driver and protection circuit and IGBT 120
129
142
VSS
VSS
VSS
TCK_RET
JTAG_Header

in one, has changed the traditional discrete design style of 153

VSS
VSS
TMS320F2812
JTAG

inverter circuit, and has become a development trend of

inverter circuit. Figure 6. The schematic diagram of TMS320F2812's minimum system

4441
D. Detection Circuit
The detection circuit includes DC voltage detection, IPM
module temperature detection, encoder signal detection and
motor current detection. The voltage and temperature
detection is used for applications of fault diagnosis and
security protection, while the encoder signal detection and
current detection is used in vector control module, having
relationships with system operation parameters.
Each event manager module of TMS320F2812 has a QEP
circuit. The QEP circuit counts both the rising and falling
edges of input pulses, thus the acquired signal frequency is 4
times the frequency of input pulse. This signal can be used as
input clock of the general-purpose timer, as shown in figure
7[5] . The output signal of the encoder can be isolated by the
optocoupler and input to the QEP interface directly.
Figure 7. The detection principle of QEP circuit
IV. SIMULATION DESIGN
Simulink is a visual simulation tool in MATLAB toolbox.
It has the function of modeling, simulation and analysis to
dynamic system based on the block diagram design
environment of MATLAB, and has been widely used in the
modeling and simulation of linear systems, nonlinear systems,
digital control and digital signal processing[6], in which
SimPowerSystems model library is used in the simulation of
power electronics and electric drive.
Connect SVPWM module, coordinate transformation
modules, IGBT module and PMSM together to simulate the
overall block diagram, as shown in figure 8[7][8].
Figure 8. The simulation model of servo system
Select appropriate motor model, set the control parameters,
and start the simulation, the results are show in figure 9.
4442

(a) (b)
Figure 9. The simulation results of servo system
The figure 9(a) is the speed-torque-current response
waveform of no-position-closed-loop at the moment of
starting the system, inflicting sudden-torque and sudden-speed.
From the graph we can see that the speed and torque have
much fluctuation when starting or changing the speed, but
become stable after a short time. Connect the position closed
loop to constitute a three closed loop servo system, set the
motor load to 0.5N m, the position to 20rad, modulate the
parameters, and get the simulation results as shown in figure
9(b). It can be seen from the figure that the fluctuations of
torque and current only have much at the moment of starting,
the speed is decreasing with the increasing of motor position
until it is decreased to zero.
V. SUMMARY
Firstly, this paper derives a mathematical model of the
motor based on analyzing the principle of PMSM, and brings
forward vector control of the motor using coordinate
transformation theory. Then design the hardware circuits of
the servo system using high-speed DSP chip as the control
core, and with corresponding peripheral circuits. Finally,
simulate the servo system in MATLAB/Simulink
environment. The simulation results show that the designed
servo control system has good static and dynamic
performance.
REFERENCES
[1] Kou Baoquan, Cheng Shukang. AC servo motor and its control [M].
Beijing: China Machine Press ,2010,45-129(In Chinese)
[2] Chen Boshi. Electric drive control system [M]. Beijing: China Machine
Press ,2003,263-270(In Chinese)
[3] Mitsubishi Electric.PS21564-P Dual-In-Line Package Intelligent Power
Module Datasheet, www.mitsubishichips.com, 2005
[4] Texas Instruments.TMS320F2812 Digital Signal Processors Data
Manual, www.ti.com, 2010
[5] Su Kuifeng, Lv Qiang, Geng Qingfeng etc. TMS320F2812 principles
and development [M]. Beijing: Publishing of Electronic Industry
,2005,423-456(In Chinese)
[6] Chen Huaichen, Wu Dazheng, Gao Xiquan. MATLAB and its
application in the course of electronic information (version 3) [M].
Beijing: Publishing of Electronic Industry,2007,2-8(In Chinese)
[7] Fan Xinming. Simulation of SVPWM based on SIMULINK [J], Electric
Drive Automation, 2009,31 (3) :19-21(In Chinese)
[8] Mei Boshan, Cheng Xiaoyong, Yang Lintao. Simulation Research on
PMSM Control System Based on SVPWM Technique[J], Journal of
Shanghai University of Electric Power, 2009,25 (6) ,525-529(In Chinese)