LETTERS International Journal of Recent Trends in Engineering, Vol 2, No.

2, November 2009

Digital Simulation of Direct Torque Fuzzy Control of PMSM Servo System

Jagadish H Pujar 1, S.F. Kodad 2
1

Research Scholar (JNTU, Hyderabad) & Faculty in Department of EEE, BVB College of Engg & Tech., Hubli, India Email: jhpujar@bvb.edu 2 Professor, Department of EEE, Auroras Engineering College, Hyderabad, India Email: kodadsf@rediffmail.com in nature, giving robust performance under parameter variation and load disturbance effect. In general, a fuzzy control algorithm consists of a set of heuristic decision rules and can be regarded as an adaptive and nonmathematical control algorithm based on a linguistic process, in contrast to a conventional feedback control algorithm [3], [4]. Robust self-learning fuzzy controller for a class of non-linear MIMO systems was discussed in brief by Kim & Bien in [17]. Fuzzy control using linguistic information possesses several advantages such as robustness, model-free, universal approximation theorem and rules-based algorithm [5], [6]. Recent literature has explored the potentials of fuzzy control for machine drive application [7], [8]. It has been shown that a properly designed direct fuzzy controller can outperform conventional proportional integral derivative (PID) controllers [8]. In this paper the application of fuzzy logic technique for direct torque control of PMSM is described. The PMSM offers several features, which make it attractive for use in electric drive systems. For example, PMSM only requires torque control instead of a speed control system. In the 1980s, Takahashi proposed a direct torque control for an induction machine drive [9]. Followed by its commercialization in induction machine drive products, the DTC concept has been extended to other AC machine drives like PMSM, because induction motors efficiency changes with slip value, it needs reactive current, and not able to produce the high torque weight ratio which needed for high performance applications such as robotics. Furthermore, Zhong et. al. discussed DTC application in PMSM for the first time [11]. DTC provides very quick response with simple control structure and hence, this technique is gaining popularity in industries. To find suitable solution for any application that requires torque control, FOC and DTC are compared in [16] and it concluded that the DTC give fast response with compare to FOC. Though DTC has high dynamic performance, it has few drawbacks such as high ripple in torque, flux, current and variation in switching frequency of the inverter. Benaicha & et.al. presented an improved Direct Torque Control (DTC) based on fuzzy logic technique in [18]. Two major problems that are usually associated with DTC drives are the high torque ripple and switching frequency that varies with the operating conditions were discussed here. To overcome these problems, Fuzzy Controllers (FC) were proposed by them and then they associated with the DTC scheme. The proposed approach showed a reduction ability of the torque and flux ripples and a DTC 89

AbstractFuzzy logic is recently getting increasing emphasis in soft computing applications in the recent days. This paper presents an application of the fuzzy logic scheme to control the speed of an AC servo system & the same is proposed for a space vector pulse width modulation (SVPWM) inverter-fed permanent magnet synchronous motor (PMSM) drive. Based on the analysis of the PMSM transient response, a Direct Torque Fuzzy Control (DTFC) is developed. A high-performance AC servo motor system modeling and the designing simulation scheme of direct torque fuzzy control of a low speed permanent magnet synchronous motor is proposed. Direct torque control is known to produce quick and robust response in AC drive system. However, during steady state, torque, flux and current ripple occurs. Due to large torque ripples in low speed conditions, a permanent magnet synchronous motor, the PI-type speed controller in a conventional DTC is replaced by a fuzzy logic controller. The direct torque fuzzy control strategy of a permanent magnet synchronous motor drive system is simulated by using MATLAB-Simulink. This scheme integrates the direct torque fuzzy controller strategy, the time speed measurement algorithm, the fuzzy logic regulating technique and the space vector pulse width modulation principle. The simulation results indicate the DTFC provides satisfactory high dynamic and static performance compare to conventional DTC. The method presented in this paper shows the effectiveness of the scheme which is further verified through the simulation results. Index TermsFuzzy Logic Control (FLC), Permanent Magnet Synchronous Motor (PMSM), Space Vector Pulse Width Modulation (SVPWM), Direct Torque Control (DTC), Direct Torque Fuzzy Control (DTFC).

I. INTRODUCTION The fuzzy logic control technique has been an active research topic in automation and control theory since the work of Mamdani proposed in 1974 based on the fuzzy sets theory of Zadeh proposed in 1965 to deal with the system control problems which are not easy to be modeled [13]. The concept of FLC is to utilize the qualitative knowledge of a system to design a practical controller. For a process control system, a fuzzy control algorithm embeds the intuition and experience of an operator designer and researcher. The control doesnt need accurate mathematical model of a plant, and therefore, it suits well to a process where the systems with uncertain or complex dynamics. Of course, fuzzy control algorithm can be developed by adaptation based on learning and fuzzy model of the plant [14]. The fuzzy control is basically nonlinear and adaptive
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LETTERS International Journal of Recent Trends in Engineering, Vol 2, No. 2, November 2009
performance improvement in [18]. Direct torque control of induction motors for low speed drives considering discrete effect of control and dead time timing of inverters was discussed in brief in [19] by Shao & Si. Toufouti et .al. proposed an approach to improve the direct torque control (DTC) of an induction motor (IM) in [20]. The proposed DTC was based on fuzzy logic technique switching table & compared with conventional direct torque control (DTC). To test the fuzzy control strategy a simulation platform using MATLAB Simulink was built by them which included induction motor d-q model, inverter model, fuzzy logic switching table and the stator flux and torque estimators. They also verified the developed model with their simulation results. The effects of flux and torque hysteresis band amplitudes in the induction motor drive performance have been analyzed in [15]. To improve the performance of conventional DTC in terms of ripple a fuzzy logic controller is used in conventional DTC. The choice of direct torque fuzzy control of PMSM, compare to other types of control methods, it is more advantageous due to faster torque control, high torque at low-level speed and high-speed sensitivity. The simulation result shows the effectiveness of this direct torque fuzzy control of PMSM servo system. The main objective of this research paper is to develop the digital simulation software for direct torque fuzzy control of SVPWM-inverter-fed PMSM drive to reduce the ripples at all modulation indices and to improve the speed performance, under transient and steady state uncertainties caused by the variation in load torque. MATLAB Simulink is used here. The paper is organized in the following sequence. A brief review of the related literature was presented in the previous paragraphs. Section 2 presents the mathematical modeling of the machine along with the DTC fundamentals. The proposed DTFC strategy scheme employed for the control purposes is presented in section 3. The simulation results are shown in section 4. In section 5, conclusions are presented. The paper finally concludes with the references. II. PMSM MODEL AND DTC FUNDAMENTALS In this section, a brief review of the PMSM modeling and the fundamentals of the direct torque control techniques are presented. A. Machine equations The PMSM machine under the investigation can be modeled in the rotor reference frame as follows:
of revolving rotor; f is the rotors magnetic linkage of permanent magnet; TM is the electromagnetic torque; TL is the load torque; J is the moment of inertia; D is the electric dipole moment. For the DTC of the PMSM machine, the estimation of flux linkage and torque were carried out in the stationary reference frame as follows:

= ( v Rs i ) dt
TM = 3 3 p ( i) = p ( i i ) 2 2

(V R i ) dt = ( v R i ) dt
=
DC s s

(4) (5) (6)

(7)

where is the inductance; , are and axis inductances; i , i are and axis currents; and are and axis voltages respectively. B. The Principle of conventional DTC The key idea of the conventional DTC is the rate of change of torque that is proportional to the instantaneous slip between the stator flux and rotor flux under constant stator flux linkage. It has been widely recognized for its fast and robust torque and flux control. As the rotor time constant of a standard squirrel-cage induction machine is very large, the rotor flux linkage changes slowly compared to the stator flux linkage. However, during a short transient, the rotor flux is almost unchanged.

ref ref FLC TL TM

Hysteresis Controller Hysteresis Controller Flux and Torque Estimator

VDC Switching Table VDC PWM Inverter

S V M i

i
Encoder Z -1
PMSM

Figure 1. The Structure of the DTFC SVPWM Inverter-fed PMSM AC Servo System.

vd Rs + pLd Lq id 0 + v = Rs + pLq iq f q Ld
TM =

(1)

3p (2) f iq + ( Ld Lq ) id iq 2 J d D (3) + + TL TM = p dt p where vd, id and vq, iq respectively represent the d and the q axis voltages and the currents; p is the number of pole pair; Ld, Lq are the d and the q axis inductances; Rs is the stator armature resistance; is the electric angular speed
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Thus, rapid changes of the electromagnetic torque can be produced by rotating the stator flux in the required direction, as directed by the torque command. On the other hand, the stator flux can instantaneously be accelerated or decelerated by applying proper stator voltage phasors. Thus, the simultaneous and decoupled control of torque and flux is achieved by direct adjustment of the stator voltage, in response to the torque and flux errors. The DTC regularly applies the most appropriate voltage vector in order to maintain the torque and stator flux within two hysteresis bands, which results bang-bang behavior and produces variation in witching frequency and significant ripple in flux, torque and current.

LETTERS International Journal of Recent Trends in Engineering, Vol 2, No. 2, November 2009
C. The Structure of the DTFC SVPWM Inverter-fed PMSM Servo System The DTFC SVPWM PMSM servo system includes flux and torque estimators, flux and torque hysteresis controllers, fuzzy logic controller and a switch table and three phase PWM inverter as shown in Fig.1. In addition, we needed a DC bus voltage sensor and two output current sensors for flux and torque estimation purposes. III. THE STRATEGY OF THE PROPOSED DTFC In this section, we present the proposed DTFC control strategy for the induction machine. A fuzzy controller is a composition of following three parts: fuzzification, fuzzy inference and de-fuzzification. The output of the controller is added to a vector table. The corresponding voltage vector subsequently can be obtained [12]. In a DTFC SVPWM Inverter-fed PMSM AC drive system, the whole voltage vector plane is divided into 6 regions, viz., I, II, III, IV, V, and VI as shown in Fig. 2. When the flux linkage is in a proper voltage vector region, it can be kept evolving and the track is a circle. Because the function of each space voltage vector was symmetric in each sextant region, we could derive fuzzy reasoning rules for the entire DTFC system based on only one sextant region. The whole 360 plane can be mapped onto one sextant region ( / 6 to + / 6) as shown in Fig. 2 to reduce the number of fuzzy reasoning rules by using the equation
rule. In the DTFC SVPWM Inverter-fed PMSM servo system, simultaneous control of the torque and the flux linkage was required. However, the simulation results show that none of the space voltage vectors in Fig.1 could achieve accurate control on the torque and flux linkage at the same time. Because it was easier to control the flux linkage than the torque, hence prioritize the requirement of torque first whenever there was a contradiction between these two control variables. The flux linkage error and the torque error linguistic variables membership functions will be divided into seven fuzzy subsets with the linguistic values, NL (negative large), NM (negative medium), NS (negative small), ZE (zero), PS (positive small), PM (positive medium), PL (positive large). The fuzzy associative memory of Mamdani rule base model to develop DTFC is as shown in Table I. Meanwhile, according to the vector selection rules, the vector functions were classified into three types, namely increasing torque and increasing flux linkage, increasing torque and decreasing flux linkage, and decreasing torque and decreasing flux linkage. These three functions were fuzzified as the foregoing seven singleton fuzzy sets. In this paper, a Mamdanis fuzzy rule base model of Max-Min algorithm is used for inferring the output of DTFC. In the de-fuzzification stage, a crisp value of the DTFC output is computed by using the center of gravity method.
TABLE I.

RULE BASE MODEL TABLE OF DTFC.

NB NVB NVB NVB NB NM NS ZE NM NVB NVB NB NM NS ZE PS Change In Error (Ce) NS Z PS NVB NB NM NB NM NS NM NS ZE NS ZE PS ZE PS PM PS PM PB PM PB PVB PM NS ZE PS PM PB PVB PVB PB ZE PS PM PB PVB PVB PVB

where, r is the real flux linkage angle input of the fuzzy controller after mapping; and is the real stator flux linkage angle [10].

Error (E)

+ 6 r = in t 3 3

(8)

NB NM NS Z PS PM PB

IV. SIMULATION AND RESULTS To verify the proposed scheme, a numerical simulation has been carried out by using Matlab/Simulink. In the simulation performed, certain stator flux and torque references are compared to the values calculated in the driver and errors are sending to the hysteresis comparators. The outputs of the flux and torque comparators are used in order to determine the appropriate voltage vector and stator flux space vector. Vector locations are shown in order to validate the control strategies as discussed above. A digital simulation studies were made by using the Simulink software in MATLAB environment for the system described in Fig. 1. The speed and torque loops of the drive were also designed and simulated respectively with fuzzy logic control. The feedback control algorithms were iterated until best simulation results were obtained. For the simulation, the stator magnetic flux amplitude value is assumed to be the same as the value of the permanent magnet flux. Meaning is that flux reference is applied as 1.0 Wb and starting torque is limited to 10 Nm. The inverter DC bus voltage is 160 V.

Figure 2. SVPWM output trajectory

The fuzzification was performed by a membership function whose shape affects the function of each fuzzy

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LETTERS International Journal of Recent Trends in Engineering, Vol 2, No. 2, November 2009
Also, a differential step reference torque of 5 Nm at t = 0.4 seconds, 5 Nm at t = 0.8 seconds, 10 Nm at t = 1 seconds and 10 Nm at t = 1.2 seconds are applied as the reference torque values. Motor parameters are; p = 2, Rs = 5.8 , f = 0.533 Wb, Ld = 44.8 mH, Lq = 102.7 mH, J = 0.000329 kgm2, D = 0.0003882. The system dynamic responses obtained by simulation at a sampling time of 2e005 seconds are shown in the Figs. 3 to 9 respectively for all possible entities of this system to conclude the comparative results of conventional DTC and proposed DTFC. The fuzzy logic based DTC for PMSM presents the best performances, to achieve tracking of the desired trajectory. The DTFC speed response shown in Fig. 8 rejects the load disturbance rapidly with no overshoot and with a negligible steady state error. The reason for superior performance of fuzzy control system is basically an adaptive system in nature and the controller is able to realize different control law for each input state of error and change in error.
Figure 6. Conventional DTC speed simulated response

Figure 7. DTFC torque simulated response

Figure 8. DTFC speed simulated response.

Figure 3. Stator current simulated response

Figure 9. DTFC stator flux locus simulated response. Figure 4. Estimated torque simulated response

V. CONCLUSIONS The paper presents a new approach for speed control of PMSM servo system using fuzzy logic technique. In this paper, a fuzzy logic based DTC methodology for PMSM servo system intended for an efficient control of the torque and flux without changing the motor parameters and load is developed. Also, the flux and torque can be directly controlled with the inverter voltage vector using SVPWM technique. Two independent hysteresis controllers are used in order to satisfy the limits of the flux and torque. These are the stator flux and torque controllers. The conventional DTC is simple and gives quick response. But, it gives a considerable ripple in torque, flux and current in the steady state. Hence, the acoustical noise is more. To reduce the ripple in steady state, in this paper, a DTFC space vector based PWM technique is proposed. From the simulation results, it can be observed that, with the proposed method, the ripple in torque, flux and current in the steady state will be reduced. 92
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Figure 5. Conventional DTC torque simulated response

LETTERS International Journal of Recent Trends in Engineering, Vol 2, No. 2, November 2009
A complete direct torque fuzzy control of SVPWM inverter-fed PMSM AC servo system has been described. The system was analyzed, designed and performances were studied extensively by simulation to validate the theoretical concept. The simulation results shows that the proposed controller is superior to conventional DTC in robustness and in tracking precision. The simulation study clearly indicates the superior performance of DTFC, because it is inherently adaptive in nature. It appears from the response properties that it has a high performance in presence load disturbances. The control of speed by DTFC gives fast dynamic response with no overshoot and negligible steady-state error. So, it is concluded that DTFC can be applied for the PMSM servo system and is reliable in a wide speed range. Especially in AC servo motor applications where high dynamic performance is demanded. DTFC has a great advantage over other control methods due to its property of fast torque response. In order to increase the performance, control period should be selected as short as possible. When the sampling interval is selected smaller, it is possible to keep the bandwidth smaller and to control the stator magnetic flux more accurately. The method presented in our paper rectifies the drawbacks of many of the concepts used by other researchers. REFERENCES
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