Speed Control of High Performance IPMSM Drives Using

Feedforward Load Torque Compensator

Mohamed S. Zaky

Mahmoud A. Hassanien

Skokry S. Shokralla

Department of Electrical Engineering

Faculty of Eng., Minoufiya University
Shebin El-Kom 32511, Egypt
mszaky78@yahoo.com

Department of Electrical Engineering

Faculty of Eng., Minoufiya University
Shebin El-Kom 32511, Egypt
mhd_ahmed21@yahoo.com

Department of Electrical Engineering

Faculty of Eng., Minoufiya University
Shebin El-Kom 32511, Egypt
shokrysaad1@yahoo.com

AbstractConventional PI controller generally gives

unsatisfactory performance and it is inherently incapable of
simultaneously meeting good step reference tracking and good
load torque disturbance rejection. This paper presents a PI speed
controller with feedforward load torque compensator (FLTC) for
high performance interior permanent magnet synchronous motor
(IPMSM) drives. The proposed FLTC is used to estimate the load
torque and provide a feedforward value in the speed controller in
order to decouple the load torque from the speed control.
Therefore, it can improve both the reference tracking and load
torque rejection properties of the IPMSM drive. The validity and
usefulness of the proposed control scheme are verified using
simulation and experimental results. It ensures a significant
dynamic performance in comparison to the conventional PI one,
particularly during load torque disturbances and parameters
variation.
Index Terms Feedforward load torque compensator, IPMSM,
speed controller, field oriented control.

I. INTRODUCTION

IGH performance motor drives used in robotics, rolling

mills, machine tools, etc., require fast and accurate
response, quick recovery from any disturbances, and
insensitivity to parameters variation. The dynamic behavior of
an ac motor can be significantly improved using vector control
theory where motor variables are transformed into an
orthogonal set of dq axes such that speed and torque can be
controlled separately. This gives the interior permanent
magnet synchronous motor (IPMSM) the highly desirable
dynamic performance capabilities of a separately excited dc
motor, while retaining the general advantages of the ac over dc
motors [1].
In industrial applications, there are many uncertainties, such
as system parameter uncertainty, external load disturbance,
friction force, unmodeled uncertainty, etc. which always
diminish the performance quality of the pre-design of the
motor driving system. Therefore, most of the reported works
on IPMSM mainly emphasized on the control techniques to
achieve high dynamic performance of the drive.
Conventionally, proportionalintegral (PI) and proportional
integralderivative (PID) speed controllers have been utilized
to meet these control challenges. However, they are very
sensitive to step change of speed command, parameters
variation, and load torque disturbances. Accordingly, the

decoupling characteristics of a vector-controlled IPMSM are

strongly affected by parameters variation [2]-[4].
For designing high performance drives, the speed controller
gains have to be adapted to achieve fast transient response,
accurate speed response, non-linear load handling capability
and adaptability, and quickest recovery from any kind of
uncertainties. In vector control, many other different control
techniques of varying degree of complexity have appeared
based on the nature of drive applications [3]-[15]. They
include adaptive control methods such as model reference
adaptive controller (MARC) [3], sliding mode controller
(SMC) [4], variable structure controller (VSC) [5], and
nonlinear control [6]. Adaptive control methods give good
dynamic performance. However, they are complex and need
the exact machine paramters to be known. Artificial intellgent
techiniques, such as fuzzy logic controller (FLC) [7]-[15], are
recently used for speed control. These methods exahibit an
excellent performance and do not need the exact mathemtaical
model. However, they suffer from large computation burden
and need expertise to thier design.
Because of their simplicity and ease of implementation in
real-time, fixed gain controllers have been used in industry for
a long time. However, they are not suitable for high
performance drives. Since these controllers are very sensitive
to plant parameters variation, load torque disturbances and any
other kinds of uncertainties. Furthermore, they unable to
simulatenously ensure good step reference tracking and good
load torque disturbance rejection.
Feedforward load torque compensator (FLTC) is presented
parallel with the speed controller to overcome these limitations
and simultaneously maintain the simplicity of the controller.
Feedforward compensator is an effective technique for
industrial systems in operation, because the feedforward
compensator only changes input of the system without
requirement of changing the hardware of the system such as
addition of sensors, which causes the increase of the cost of
the systems. Some systematic design methods for feedforward
controllers have been proposed for special purposes as given
in [16]-[17].
To ensure a high dynamic performance of an IPMSM drive
under different operating conditions with good reference
tracking and good load torque disturbance rejection, a FLTC
approach in conjecntion with PI controller is proposed in this
work.

In this paper, a PI speed controller with FLTC for a high

dynamic performance IPMSM drive is proposed. The FLTC
uses a load torque estimator to compensate the speed control
by setting a feedforward torque value through the q-axis
current reference. This can be achieved by dividing the
electromagnetic torque in a feedforward value which should
compensate the load torque, and a dynamic value which takes
account of the speed variation. The IPMSM drive system has
been implemented using a dSPACE digital signal processor
(DSP) control board. Simulation and experimental results are
provided to confirm the efficacy of the drive system using the
proposed PI controller with FLTC in comparison to the
conventional PI one. An excellent speed response under load
torque disturbances and parameters variation is achieved.

The mathematical model of an IPMSM drive can be

described by the following equations in the d-q synchronously
rotating reference frame as [1]:

Rs
L
1

iqs d r ids
Vq m r
dt
Lq
Lq
Lq
Lq
L
dids
R
1
s ids q r iqs
Vd
dt
Ld
Ld
Ld

(1)
(2)

The developed torque can be expressed as

3
Te P miqs Ld Lq idsiqs
2

(3)

d r
B r
dt

(4)

III. FEEDFORWARD LOAD TORQUE COMPENSATOR

In this section, the load torque estimator is defined and it is
applied to the speed control loop as a feedforward path.
(A) Load Torque Estimation
The proposed speed control method requires information of
the load torque for feedforward compensation. A direct
measurement of the load torque is difficult because other high
cost equipment is required. Therefore, this paper used to
estimate the load torque value by the state estimator.
The electromagnetic torque is given by the following
equation, where the friction torque is part of the load torque.

d r
Te TL
dt

(5)

The control principle of an IPMSM drive is based on a field

oriented control (FOC) method. For PM rotor, the flux m is
constant. In (3), if id = 0, the electromagnetic torque is then
proportional to iq, which is determined by closed-loop control.
Thus, the electromagnetic torque in (3) can be expressed as
(6)
Te Kt iqs
where,

compensate the load torque TL , and a dynamic value Te

which takes account of the speed variation.
Thus, equation (5) can be rewritten as

Te TeTL Te TL J

d r
dt

(8)

where,

TeTL TL

Te J

(9)

d r
dt

(10)

Therefore, the speed controller provides Te for speed

control and the feedforward path provides TeT for load torque
L

compensation. However, the electromagnetic torque is not

directly known, but it is proportional to the q-axis current and
can be calculated. The load torque can be estimated with the
calculated electromagnetic torque and the variation of the
motor speed as given in (11).

3
d r
TL TeTL Te Te P miqs J
2
dt

(11)

(B) Feedforward Term

and the motor dynamics can be represented by

Te TL J

(7)

The load torque estimator should be used to provide a

feedforward value in the speed controller in order to decouple
the load torque from the speed control. The electromagnetic
torque is divided in a feedforward value TeT which should

and

II. FIELD ORIENTED CONTROL OF IPMSM

diqs

K t 3 2 P m

The modification of reference input to generate an actual

input is an effective and easily applicable technique to improve
the control performance of industrial systems because it does
not demand to rearrange the hardware of the systems such as
the addition of sensors, which causes the increase of the cost
of the systems.
The speed controller sets the torque indirectly by giving a
current reference value on the q-axis. For this reason the
estimator has to provide the reference current iqTL as follows,

iqTL

TL
(3 2)P m

(12)

where TL is the estimated load torque.

The value of iqTL from the FLTC is added to the PI controller
output iq . Therefore, the total reference current is then
calculated as given in (13).

iqs iqTL iq

(13)

According to the mathematical model given above, block

diagram of the speed control for IPMSM drive system can be
represented as shown in Fig. 1. Structure of the modified speed
controller, i.e. the PI controller with feedforward path is also
shown in Fig. 1. Block diagram of the FLTC using load torque
estimator is shown in Fig. 2.

Speed controller with FLTC

PI
controller

iq

iqTL

FLTC

iqs

iqs
ids 0

3-phase
220V
50Hz

idq-Synch.
to
idq-Stat.
sinr

PWM
Inverter

Rectifier

iqss

cosr

idss

ia
idq-Stat. i
b
to

i
iabc
c

IPMSM

ia

DC
Gen.

Current i
b
Controller

Encoder

Unit vector
Generator

d dt

Fig. 1 Block diagram of a field oriented controlled IPMSM drive using the proposed PI controller with FLTC.

3
Pm
2

3
Pm
2

Fig. 2 Block diagram of the FLTC using load torque estimator.

IV. SIMULATION RESULTS

The block diagram for FOC of the IPMSM drive as well as
the proposed speed controller with FLTC, shown in Figs. 1
and 2, is built using Matlab/Simulink software package. The
parameters of IPMSM are given in Table I.
(A) Load Torque Disturbances
The IPMSM drive is examined during sudden load change to
test the robustness of the proposed PI speed controller with
FLTC. Fig. 3 shows the responses of the motor speed, the
developed torque, the stator currents and the d-q currents
under sudden change of 4 N.m load torque at t = 1.2 sec. The
figure is presented for the proposed controller with FLTC in
comparison to the conventional PI controller. It is observed
from Fig. 3(b) that the estimated torque reaches the load
torque smoothly. Furthermore, the motor speed recovers
quickly to the steady state value under load torque change with
small speed variation. This is because the FLTC modifies the
current reference value iqs to compensate quickly the variation
of speed due to the load torque change. However, the speed
error is large and takes a longer time to reach the steady state
speed using the conventional PI controller as shown in Fig.
3(a).
Effectiveness of the proposed speed controller with FLTC is
also examined during repetitive torque variations. Fig. 4 shows
the simulated responses for repetitive torque variations using
the conventional and the proposed controllers, respectively. It
is obvious that the estimated torque follows the torque
command quickly. Moreover, the motor speed follows the
reference speed and recovers quickly under the repetitive
torque variations. However, the speed response with the
conventional PI controller is slower and takes a large time to
reach the steady state value.

A fair comparison between the conventional PI controller

and the proposed PI controller with FLTC is presented under
different operating conditions. Figs. 5 and 6 show a
comparison between the motor speed responses using the two
controllers at high and low speeds. It is found that the
overshoot of the PI controller is less than the proposed one
with FLTC. However, the proposed controller with FLTC
reachs to steady state faster. The superiority of the proposed PI
controller with FLTC is observed during starting at low speed
with loading conditions as shown in Fig. 6. The same
conclusion is confirmed during speed reversal using the two
controllers as shown in Fig. 7.
(B) Effect of Parameters Variation
In order to test the sensitivity of the IPMSM drive under
parameters variation, the response of the motor is simulated
for two different inertias. Fig. 8 shows the simulated speed
responses under motor inertias of J = Jo =0.005 kg.m2 and J =
2Jo = 0.01 kg.m2 using the conventional PI controller and the
proposed PI controller with FLTC. It can be observed that the
speed response of the PI controller with FLTC is better than
the corresponding one using the conventional PI controller in
terms of small rising time and small settling time.
Speed (rad/s)

iqTL

Te (N.m)

J
P

Iabc (A)

iqs

TL

110
105
100
1.1
6
4
2
0
-2
1.1
2

1.15

1.2

1.25

1.3

1.35

1.4

1.15

1.2

1.25

1.3

1.35

1.4

1.15

1.2

1.25

1.3

1.35

1.4

0
-2
1.1
2

Iqd (A)

id

iq

0
-1
1.1

1.15

1.2

1.25
Time (sec)

1.3

1.35

(a) using the conventional PI controller.

1.4

1000

1.15

1.15

1.2

1.25

1.2

1.3

1.25

1.3

1.35

1.4

1.35

Iqd (A)

0
-2
1.1
2

1.15

1.2

1.25

1.35

1.15

1.2

1.25
Time (sec)

1.4

id

iq

0
-1
1.1

1.3

1.3

1.35

1.4

Speed (rad/s)

105

Iabc (A)

Te (N.m)

110

0.55

0.6

0.65

0.7

0.75

0.8

0.55

0.6

0.65

0.7

0.75

0.8

Iqd (A)

0.55

0.6

0.65

id

0.7

0.75

0.8

0.55

0.6

0.65
Time (sec)

0.7

0.75

0.8

0.55

0.6

0.65

0.7

0.75

0.8

0.15

0.175

0.2

30

Conventional PI Controller
with
FLTC with FLTC
PI Controller

20
10
0

0.05

0.1

0.15

0.2 0.25 0.3 0.35 0.4 0.045 0.5

Time (sec)
Fig. 6 Simulated speed responses using the conventional PI controller and the
proposed PI controller with FLTC at speed reference of 48 rpm under load
torque of 4 N.m.
1500

Conventional PI Controller
with
FLTC
PI Controller
with FLTC

500
0
-500
-1000
0.24

0.25

0.26
Time (sec)

0.27

0.28

0.29

Fig. 7 Simulated speed responses using the conventional PI controller and the
proposed PI controller with FLTC during speed reversal at 1000 rpm.
1400
1000
800
600

J = 2Jo

400

J = Jo

200
0
0.55

0.6

0.65

0.7

0.75

0.8

0.025

0.05

0.075
Time (sec)

0.1

0.125

0.15

(a) using the conventional PI controller.

1400

0
0.55

0.6

0.65

0.7

0.75

0.8

id

iq

Speeds (rpm)

1200

Iqd (A)

0.075
0.1
0.125
Time (sec)

40

Speeds (rpm)

Speed (rad/s)
Te (N.m)
Iabc (A)

105

-1
0.5

0.05

1200

110

-2
0.5

0.025

Fig. 5 Simulated speed responses using the conventional PI controller and the
proposed PI controller with FLTC at speed reference of 1000 rpm under load
torque of 4 N.m.
60

(a) using the conventional PI controller.

100
0.5
6
4
2
0
-2
0.5
2

-1500
0.23

iq

0
-1
0.5

250

1000

0
-2
0.5
2

Conventional PI Controller
with FLTC
PI Controller with FLTC

500

50

(b) using the proposed PI controller with FLTC.

Fig. 3 Simulated responses of rotor speed, developed torque, 3-phase stator
currents and d-q axes currents during sudden change of 4 N.m load torque at
speed reference of 105 rad/s.

100
0.5
6
4
2
0
-2
0.5
2

750

1.4

Speeds (rpm)

100
1.1
6
4
2
0
-2
1.1
2

Speeds (rpm)

105

Speeds (rpm)

Speed (rad/s)

1250

Iabc (A)

Te (N.m)

110

1000
800
600

J = 2Jo

400

J = Jo

200
0.55

0.6

0.65
Time (sec)

0.7

0.75

0.8

(b) using the proposed PI controller with FLTC.

Fig. 4 Simulated responses of rotor speed, developed torque, 3-phase stator
currents and d-q axes currents during repetitive load torque variations of 4
N.m at speed reference of 105 rad/s.

0.025

0.05

0.075
Time (sec)

0.1

0.125

0.15

(b) using the proposed PI controller with FLTC.

Fig. 8 Simulated speed responses at speed reference of 1000 rpm and load
torque of 4 N.m under motor inertia variations (J = Jo and J = 2Jo).

V. REAL-TIME IMPLEMENTATION

Else no change.
*

For the negative half cycle ia

(A) Drive Setup

In order to investigate the performance of the proposed
controller, laboratory experiments are carried out on a
dSPACE DS1102 DSP-board-based IPMSM drive system.
The block diagram of the experimental system is shown in Fig.
9. The specifications of the motor used in the experiments are
given in the Appendix.
The DSP-board is installed in a Pentium II PC. The control
algorithm developed in Sections II and III is built in Simulink
environment and is executed within sampling time by the DS1102 board main processor (TMS320C31) in real-time. The
board is used for PWM signal generations, current signal
collection and speed calculation from position feedback. The
optical incremental encoder coupled to the rotor can generate
2048 pulses per revolution of the rotor. The IPMSM is
supplied by a three-phase voltage-source PWM inverter, which
is composed of six IGBTs and a gate driver board. A dc
power supply is used to supply the inverter with a maximum
voltage of 500 V and a current of 5 A. The motor phase
currents are measured by using LA NP-25 mounted HallEffect current sensors and these signals are in turn sent to the
DS1102 board via analog-to-digital (A/D) ports for current
control and PWM pulses generation. Hysteresis controller is
used for current control and producing gate pulses. These
pulses are six logic signals, which are sent to the inverter via
digital Input/Output (I/O) ports and isolation gate drive circuit.
(B) Hysteresis Current Controller Design
Because of its ease implementation, fast current control
response and inherent peak current-limiting capability,
hysteresis current control is considered as the simplest
technique used to control the motor currents for an IPMSM
drive.
In the FOC scheme, the current controller has direct
influence on the drive performance and its design requires
special considerations. The basic requirements from the
current controllers are low harmonics to reduce losses, low
torque pulsation, low noise in the motor and fast response in
order to provide high dynamic performance.
In the hysteresis current controller of Fig. 10, motor currents
ia, ib, and ic are forced to follow the reference currents
*

ia* , ib* ,

and ic , respectively, within a hysteresis band (i) by the

switching action of the inverter.
In a basic implementation of the hysteresis current controller,
the switching signals are derived from the comparison of the
current error with a fixed hysteresis band. The hysteresis
controller logic control can be described according to the
following rules taking phase a as an example,
For the positive half cycle
If

ia* 0 : S4 = 0,

ia ia* i Then S1 = 0;

Else if

ia ia* i Then S1 = 1;

If

0 : S1 = 0,

ia i i Then S4 = 1;
*
a

Else if ia ia i Then S4 = 0;
Else no change.
Fig. 11 shows the steady state responses of speed, motor
torque, motor currents and dq currents at 105 rad/sec speed
reference and 3 N.m load torque. The flowchart of the
software program for real time implementation of IPMSM
drive system is shown in Fig. 12.
*

VI. EXPERIMENTAL RESULTS

Sample of the experimental results of the IPMSM drive is
presented to confirm the effectiveness of the proposed
controller in comparison to the conventional PI controller. Fig.
13 shows the experimental starting speed responses of the
drive system at 90 rad/sec using the conventional PI controller
and the proposed PI controller with FLTC, respectively. It is
obvious that the proposed controller gives better responses in
terms of fast response. This figure shows also the experimental
speed responses with step change in reference speed from 90
rad/sec to 150 rad/sec using the conventional PI and the
proposed one, respectively. It is clear that the proposed
controller can handle the sudden change in reference speed
quickly without overshoot, undershoot, or steady-state error,
whereas the PI-controller-based drive system has an overshoot
and the response is not as fast as that of the proposed speed
controller.
Performance of the IPMSM drive system with the two speed
controllers is also evaluated and tested under sudden change of
load torque. The experimental speed and stator current results
with step applying the load at 150 rad/sec are shown in Fig. 14
for the conventional PI controller and the proposed PI
controller with FLTC, respectively. There is a big dip in the
speed with sudden applying the load using the PI speed
controller as shown in Fig. 14(a). Moreover, the speed
response takes a longer time to reach the steady-state speed
using the PI speed controller. Whereas the proposed PI speed
controller with FLTC takes a lower time to reach the steadystate speed, Fig. 14(b). Thus, the proposed PI speed controller
with FLTC has been found to be better than the conventional
PI-controller-based system and, hence, it improves the
dynamic performance of the IPMSM drive system.
VII. CONCLUSION
The proposed FLTC-based PI speed controller of an IPMSM
drive has been successfully implemented in real time. The
validity of the proposed control technique has been examined
and assessed experimentally and using computer simulation
under different operating conditions. From the results, it has
been clearly established that the FLTC-based PI speed
controller provided superior dynamic performance of the
IPMSM drive in comparison to those obtained under the

conventional PI controller. It has been found that the PI

controller suffers from overshoot and takes a longer time to
reach the steady state. However, the proposed speed controller
takes a shorter time to reach the steady state smoothly despite
parameters variation and load torque disturbances. Also, the
rotor speed has a very small change during the load
disturbance and recovers quickly. Consequently, the FLTCbased PI speed controller has fast transient response, good
load torque disturbance rejection, and good refrence tracking.
Supply

DC
Gen.

Isolation
and Gate
Drive Circuit

Digital I/O
Ports
A/D

Current
Sensor

S 1- S 4

ic

A/D Conversion

Read Encoder Interface

Read Motor Currents

Calculate r and r

Hysteresis Current Controller

Generate PWM Signals

Calculate TL and iqTL

Proposed Controller to
get iqs and using ids=0
Axes transformation to r
get reference currents

Fig. 12 Flowchart of the software program for real time implementation of

IPMSM drive system.

ia

ib
ic

S 3- S 6
+

Real-Time Interface
(Compilation Stage)

Restart Timers

Fig. 9 Block diagram of DSP-based real- time implementation of control

algorithms for IPMSM drive system.
Vdc

Start Timers

Output Signals through

Digital I/O Ports

Encoder
Interface

ISA Bus

+
b

Real-Time Workshop

IPMSM

DSP-DS1102
Control Board

ia

Loading Parameters in Memory

Inverter

Rectifier

Vdc

Computer

START

IPMSM

Reference speed

S 5- S 2

32 rad/sec/div

Rotor speed

Te (N.m) Speed (rad/s)

Fig. 10 Schematic diagram of hysteresis current controller.

150

50
0
0.1
4

Iabc (A)

(a) using the conventional PI controller.

0.15

0.2

0.25

0.3

Reference speed

2
1
0.1
2

0.15

0.2

0.25

0.3

0
-2
0.1
2

Iqd (A)

0.5 sec/div

100

Rotor speed
0.15

0.2

0.25

0.3

0.5 sec/div

iq

0
-1
0.1

32 rad/sec/div

id
0.15

0.2
Time (sec)

0.25

0.3

Fig. 11 Steady state responses of speed, torque, motor currents and dq

currents at 105 rad/sec and 3 N.m load torque.

(b) using the proposed PI controller with FLTC.

Fig. 13 Experimental speed response of the IPMSM drive for starting at 90
rad/sec and sudden change of reference speed from 90 rad/sec to 150 rad/sec.

TABLE II

Reference speed

GAINS OF CONVENTIONAL PI SPEED CONTROLLER

21.42 rad/sec/div

Rotor speed

0.35 sec/div

Stator Current (1 Amp./div)

Proportional gain
Integral gain

1
3.5

REFERENCES

(a) using the conventional PI controller.

Reference speed
21.42 rad/sec/div

Rotor speed

0.35 sec/div

Stator Current (1 Amp./div)

(b) using the proposed PI controller with FLTC.

Fig. 14 Experimental speed and stator current responses of the IPMSM drive
during sudden change of load torque from 13 N.m at 150 rad/sec speed
reference.

APPENDIX
A. List of symbols
vd, vq
d and q-axes stator voltages;
id, iq
d and q-axes stator currents;
Rs
stator resistance;
Ld, Lq
d and q-axes stator inductances;
Te, TL
electromagnetic and load torques;
Jo
moment of inertia of the motor and load;
B
friction coefficient of the motor;
P
number of pair poles of the motor;
r
rotor speed in angular frequency;
m
rotor magnetic flux linkage.
B. Motor and Controller Parameters
TABLE I
PERMANENT MAGNET SYNCHRONOUS MOTOR PARAMETERS

Rated power (HP)

Rated voltage (Volt)
Phase current (Amp.)

1
220 V
1.6

Rs
Ld
Lq

Rated Speed (rpm)

1000

Number of poles
Rated Frequency

6
50 Hz

Jo
Rated torque

3.7 Ohm
30 mH
38 mH
0.495
V.S/Rad
5e-3 Kg.m2
5 N.m

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