Proceedings of the 40th IEEE

Conference on Decision and Control

Orlando, Florida USA, December 2001 WeP04-4
Modeling of PM Synchronous Motors for Control and
Estimation Tasks
Vladan Petrovic and Aleksandar M. Stankovic
Department of Electrical and Computer Engineering
442 Dana Building, Northeastern University, Boston, MA 02115, U.S.A.

Abstract and rotor saliency. Modeling is based on linear magnet-

In this paper we describe a general model for perma- ics (for saturation eects on motor inductances, see for
nent magnet synchronous motors in stationary frame. example [3]); symmetry of the stator phases and rotor
The model is based on linear magnetics and includes poles is assumed. Although present in the total torque
secondary eects caused by nonideal motor construc- produced by motor, cogging torque component is not
tion. Possible model transformations are introduced explicitly characterized. Since cogging torque does not
as well, producing various models suitable for dierent depend on the stator currents, it can be included in
control and estimation tasks. Several applications that the load torque as an external oscillatory disturbance,
illustrate uses of dierent models are also presented. if necessary. The complete PMSM model in abc frame
is given with the following equations:
1 Introduction v = R i + dabc
abc abc abc dt
(1)
Permanent magnet synchronous motors (PMSMs) are abc = Labciabc + r (2)
widely used in high performance variable frequency
abc

1 > dLabc > dr
drives [1]. Their popularity is justied by several ad- m = P 2 iabc d iabc + iabc d abc
(3)
vantages over commonly used motors in these appli-
cations. The absence of the rotor winding eliminates d!
J
dt
= m , B! , l (4)
losses on the rotor and makes PMSMs highly ecient.
In addition, the absence of the external rotor excitation d
dt
= ! (5)
renders slip rings on the rotor and brushes unnecessary,
and thus reduces the maintenance costs. New magnetic where vabc , iabc, and abc are vectors of the phase volt-
materials are capable of creating high magnetic elds
uxes, P is the number of pole pairs,
that yield high power density [2]. This in turn results in
a rapid dynamic response due to high torque{to{inertia
ratio.
The aim of this paper is to introduce and explain gen-
eral, detailed PMSM models that are used in electric
drives community, and to point out model transforma-
ages, currents, and
m is the torque produced by the motor, and l is the
load torque. J and B are the moment of inertia and the
friction constant (both normalized with P ). The posi-
tion  and angular velocity ! are measured in electrical
radians and rad/sec respectively. (The connection be-
tween electrical angles and actual, mechanical ones is
tions that lead to simplied models that are appropri-  = P mech .) In general, a part of the total phase
ux
ate for various control and estimation tasks. caused by the rotor eld (r ) is given with
2 abc
3
The rest of the paper is organized as follows. In Section X1 cos(2n , 1)
2 we present a complete model (i.e., with
ux and in- r = 2n,1 4 cos(2n , 1)( , 23 ) 5 (6)
cos(2n , 1)( + 23 )
abc

ductance harmonics) in the stationary frame. Section n=1

3 describes commonly used transformations of original where 2n,1 are the ux harmonic magnitudes. Higher
PMSM model. Finally, in Section 4 we present three harmonics in r (for n 6= 1) appear as a consequence
abc

applications of these models: to adaptive torque ripple
minimization via
ux harmonic estimation, to globally distribution. Finally, Rabc = diagf Rs ; Rs ; Rs g and
stabilizing energy{shaping control, and to saliency{
based sensorless control (i.e., operation without a me-
chanical position sensor).
2 A Complete PMSM Model in the abc Frame
The model presented in this section includes nonsinu-
soidal stator winding and rotor magnet distribution
0-7803-7061-9/01/$10.00 © 2001 IEEE
of the nonsinusoidal stator winding and rotor magnet
Labc are the stator resistance and inductance matrices.
In the case of the most common stator winding distri-
bution, inductance matrix takes the following form:
2 3
L s ( ) Lm (; 23 ) Lm (; - 23 )
Labc =4Lm( , 223; -223 ) Ls( ,223 )2 Lm( , 232; 23 )5
Lm ( + 3 ; 3 ) Lm ( + 3 ; - 3 ) Ls ( + 3 )
(7)
2229
where where xe = [xd ; xq ]> ; x 2 fv; i; ; r g, and:
     
e e

1
X
Ls () = Ls cos(2k) ; and
k
Le = LLdqd LLdqq ; R = R0s R0s ; Y = 01 ,01
e e

k=0 e e

1
X Keeping all the harmonics in the stator inductance ma-
Lm (; ) = Lm cos(2k , k)
k
trix (7), transformed inductance matrix elements are:
= (Lss0 , Lsm0 ) + ( Lss
k=0
^
2 + Lsm1 ) cos 2( , )
k=3;6;:::
6

Ld e
1

are position dependent self and mutual inductances of

the stator phases. Position dependence in the above + ( L2ss2 + Lsm2 ) cos(2^ + 4) + Lss3 cos(6)
expressions is due to the rotor saliency and to the non-
sinusoidal stator winding distribution. + ( L2ss4 + Lsm4 ) cos(2^ , 8)
+ ( Lss ^
2 + Lsm5 ) cos(2 + 10)
5

3 PMSM Model Transformations + Lss6 cos(12) + : : :

Coordinate transformations of the original model (1){ Lq e
= (Lss0 , Lsm0 ) , ( Lss 1 ^
2 + Lsm1 ) cos 2( , )
(5) often result in simpler motor models that oer ad-
vantages in later analysis and control. In the most com- , ( L2ss2 + Lsm2 ) cos(2^ + 4) + Lss3 cos(6)
mon motor drive setting, motor phases are arranged
either in a three wire wye connection or in a delta con- , ( L2ss4 + Lsm4 ) cos(2^ , 8)
nection. In that case phase currents or voltages sum up
to zero, and the original three phase model can be re- , ( Lss2 5 + Lsm5 ) cos(2^ + 10)
duced to a two phase model with an appropriate trans- + Lss6 cos(12) , : : :
formation. In addition, a rotating transformation is
often introduced as well to eliminate position depen- Ldq = ,( L2ss1 + Lsm1 ) sin 2(^ , )
dence of the fundamental components in the model.
e

The combined transformation involves multiplication , ( Lss2 2 + Lsm2 ) sin(2^ + 4)

of all vector variables with the following transforma-
tion matrix: , ( Lss2 4 + Lsm4 ) sin(2^ , 8)
r  ^) cos(^, 23 ) cos(^+ 23 ) 
2 cos( 
Ke = 3 , sin(^) , sin(^, 2 ) , sin(^+ 2 ) (8) , ( Lss2 5 + Lsm5 ) sin(2^ + 10) , : : :
3 3
Application of (8) to (6) yields a general expression for
xe = Ke
xabc the r :
r 
e

where xabc and xe are vector variables in abc and trans- r =

3 1 cos(^, )+5 cos(^+5)+7 cos(^, 7)
formed frame, respectively. In this transformation, ^ is
e
2 ,1 sin(^, ) , 5 sin(^+5) , 7 sin(^, 7)

the rotation angle which can be selected in several ways +11 cos(^+11)+13 cos(^, 13)+ : : :
yielding dierent models suitable for various applica- ,11 sin(^+11) , 13 sin(^, 13) , : : :
tions. For example, selection ^ = 0 yields  transfor-
mation which achieves 3=2 model reduction. When po-
sition measurement is available, (8) becomes the stan- Equations (9) and (10), along with Le and r ex- e

dard Blondel{Park (dq) coordinate transformation by pressions and equations for the mechanical subsystem,
setting ^ = . In position sensorless control, rotor po- dene the general PMSM model in the transformed
sition is not measured but rather estimated using cur- frame. The explicit expressions for model equations are
rent, and possibly voltage, measurements, and ^ in (8)
ux and
is the most recent value of position estimate.
In the following, we will present the general PMSM
model resulting from transformation of the original
model (1){(5) with (8). Immediate application of (8)
rather complex due to the innite number of
inductance harmonics. However, harmonic magnitudes
decay with harmonic number, and usual approximation
in practical applications is to keep only certain num-
ber of harmonics necessary to capture motor behavior
of interest. For example, standard approximation for
to (1) and (2) yields the following equations: salient motor inductances is truncation of innite sums
in (7) to only DC and second harmonic, yielding
v = Ri + de + !^ Y 
L ^
L ^ 
e e dt
(9)
e
Le = L,+
L2 sincos2(2(^,,)) L,, 2
Lsincos2(2( ^,,)) (11)
e = Le ie + r e
(10) 2 2
2230
where L = Lss0 , Lsm0 = L +2 L and
L = Lss1 +
d q
4 Applications
2Lsm1 = Ld , Lq . With such approximation, and keep-
ing
ux harmonics up to 13th, the following explicit 4.1 Adaptive Torque Ripple Minimization
PMSM model in the transformed frame is obtained: Many PMSMs are manufactured with an isotropic (or
   almost isotropic) rotor, which results in negligible in-
Rs 0 + !~
L , sin(2~) , cos(2) ~ ductance harmonics (i.e., reluctance torque). With
ve = 0 Rs , cos(2~) sin(2~) such construction, Ld = Lq = L and PMSM devel-

L  ops only the mutual torque (DC and higher harmon-
+ !^ 2
sin(2 ~) ,L +
2L cos(2~) i
L + L cos(2~) ,
L sin(2~) e ics). Having the position feedback available (^ = ),

L 2 ~
L 2 ~  di the model now reduces to
+ L + 2 cos(2) , 2 sin(2) e
,
2L sin(2~) L ,
2L cos(2~) dt di
L d = ,Rs id + !Liq , !d() + vd (12)
 ~) sin(~)  dt
+ cos(  diq
!
, sin(~) cos(~) () L
dt
= ,Rs iq , !Lid , !q () + vq (13)

L   m = P
(idd () + iq q ())
m = P
i > sin(2~) cos(2~) ie (14)
2 e cos(2~) , sin(2~) J
d!
= m , B! , l (15)
 ~) sin(~)   dt
+ > cos( 
ie , sin(~) cos(~) ()
d! This model can be further used to design the adap-
J
dt
= m , B! , l tive controller for minimization of mutual torque rip-
d ple components. For the purpose of control design, the
dt
= ! model (12){(15) is compressed into two equations in
vector notation:
d^
dt
= !^ di
L dt = ,Ri , !YLi , !()? + v (16)
where ~ = ^,, !~ = !^ ,!, and () = [d(); q ()]> , J
d!
= P ?> >()i , B! , l (17)
dt
d() = d6 sin(6) + d12 sin(12) where L = diagf L; Lg, R = diagf Rs ; Rs g,
q () = q0 + q6 cos(6) + q12 cos(12)      
with coecients dk , qk formed as linear combina-
Y = 01 ,01 ; i = iidq ; v = vvdq ;
tions of
ux coecients 2n,1 . Although some har-
monics were omitted, the above model is detailed () is a known 2  5 matrix whose entries are periodic
enough to be suitable for a broad class of PMSM con- functions of the rotor position, and ? is the unknown
trol and estimation applications. vector of the actual
ux coecients:
When the rotor saliency is negligible (which is reason- ? = [d6; d12 ; q0 ; q6 ; q12 ]> ;
able to assume in the back{emf based position estima-
tion) and torque ripple is not considered, the above  
model further reduces to: () = sin(6
0
) sin(12) 0
0
0 0
1 cos(6) cos(12) :
di
L d e
= ,Rs id + !^ Liq , q0 ! sin(~) + vd
dt e e e
Construction of the incremental error system, deni-
diq tion of its energy as Lyapunov function, and further
L e
= ,Rs iq , !^ Lid , q0 ! cos(~) + vq
dt e e e
Lyapunov analysis are presented in [5]. The resulting
m = P q0
(id sin(~) + iq cos(~))
e e
current loop controller is dened with
d!  
J
dt
= m , B! , l i? =
0
(18)

P  (;^)
?

d
= !
q

dt
d^ di
v = L ? + Ri? + !YLi? + !()^ + (i? , i) (19)
dt
= !^ dt
which is suitable for back{emf based sensorless control,
e.g, [4]. ^_ = ,!>()L~i (20)
2231
 th th
Zoom on the 6 and 12 harmonic where the state vector is dened as
2 3 2 3
id Ld 0 0
x = D 4 iq 5 ; D = 4 0 Lq 0 5 (22)
−30

! 0 0 J
−35
P
The system (21) can then be rewritten as
@H @H
Magnitude [dB]

−40

x_1 = ,Rs @x + x2 @x + vd
1 3
−45
@H @H
x_2 = ,Rs , (x1 + q0 ) @x + vq
@x2 3
@H @H 1
x_3 = ,x2 @x + (x1 + q0 ) @x , l
−50

1 2 P
which is so called port{controlled Hamiltonian (PCH)
−55

35 40 45 50 55 60 65 70 75 form. Application of the interconnection and damping

Frequency [Hz]
assignment passivity{based control (IDA{PBC) theory
Figure 1: Experimental steady state torque spectrum to this PCH system yields the following controller that
(frot = 3Hz and l = 1:1Nm) with adaptation achieves speed regulation:
(solid line), and without adaptation (dashed
line) around the 6th and 12th harmonic. vd = ,Rs K1 + x2 K3
The second order linear controller Gc (s) = Kc
s(ss++zp ) c
vq = ,Rs K2 , (x1 + q0 )K3
in the speed loop achieves speed servo operation by
c

providing the current loop controller with the torque " #

^l =P L ^
reference (and its time derivative) generated from the K1 = 2 2 x2 , q 2l (x1 + q0 )
dierence between the desired and actual speed. The x2 + (x1 + q0 ) P q 0
" #
experimental results, given in Fig. 1, show that the ^l =P
above controller achieves considerable torque ripple re- K2 = , 2 (x + q0 ) + PLq ^2l x2
x2 + (x 1 +  q 0 )2 1
duction. q0
K3 = ,!ref (1 + !ref (!ref , !));  > 0
4.2 Energy{Shaping Control where ^l is a load torque estimate produced by the
Although the
ux and inductance harmonics accurately following estimator
describe ripple in torque, in many applications those
higher harmonics can be neglected all together. The  
remaining model still captures the fundamental behav-
d!^
dt
= PJ LLd ,LLq x1 + Lq0 x2 , l(^! , !) , J1 ^l
ior of the system necessary to be considered for motion d q q
control. The resulting dq model is commonly used in d^l
dt
=
(^! , !)
servo applications, and is given with
di with l;
some positive design parameters. The results
Ld d = ,Rs id + !Lq iq + vd of simulations and experiments verifying the controller
dt performance are shown in Fig. 2.
diq
Lq
dt
= ,Rs iq , !Ldid , !q0 + vq (21)
d! 4.3 Saliency{Based Sensorless Control
J
dt
= P
((Ld , Lq )id iq + q0 iq ) , l
Note that in this model friction constant B is neglected
as well, since its eects are usually quite small com-
pared to the eects of the moment of inertia J , espe-
cially in larger machines.
In this section, we will present a passivity{based con-
troller (PBC) that solves the speed regulation problem
An application that uses PMSM model in the  frame
will be presented in this section. By setting ^ = 0
in the transformation matrix (8), the following PMSM
model is obtained (mechanical subsystem equations are
omitted as they will not be used in estimation)
di r
v = Ri + L dt + ! dd
for the above plant [6]. The energy function of the where v; i; r are the  vectors of voltages, currents,
system (21) is given by and magnet
uxes, respectively, and
 
1 L= L0 + L1 cos(2) L1 sin(2)
H (x) = x> D,1 x L1 sin(2) L0 , L1 cos(2) ;
2
2232
 Motor electrical speed (solid) and speed reference (dash−dotted) Motor electrical speed (solid) and speed reference (dash−dotted)
120 120

100 100

80 80
rad/s

rad/s
60 60

40 40

20 20

0 0
0.5 1 1.5 2 2.5 3 0 0.5 1 1.5 2 2.5 3

Controller command: vq (solid) and vd (dash−dotted) Controller command: vq (solid) and vd (dash−dotted)

30 30

20 20
Volts

Volts
10 10

0 0

−10 −10

0.5 1 1.5 2 2.5 3 0 0.5 1 1.5 2 2.5 3

Load torque estimate Load torque estimate

1.25 1.25

1.2 1.2
Nm

Nm
1.15 1.15

1.1 1.1

1.05 1.05
0.5 1 1.5 2 2.5 3 0 0.5 1 1.5 2 2.5 3
Time [s] Time [s]

Figure 2: Comparison of simulations (plots on the left) and experimental results (on the right) for the constant load torque
l = 1:09Nm and speed reference steps.
 
R = Rs2,!L2!L 1 sin(2)
1 cos(2)
2!L1 cos(2)
Rs + 2!L1 sin(2)
form Cp = w, where C is a 2(N , 1)  3 matrix con-
taining current slope measurements, w is a 2(N , 1){
dimensional vector containing voltage dierences, and
are inductance and eective resistance matrices (L0 = p = [L0; L1 cos(2); L1 sin(2)]> is parameter vec-
Ld+Lq ; L1 = Ld,Lq ; speed dependent terms in R are
2 2 tor to be determined. The parameter estimates can
due to ddtL ). Again, since inductance harmonics decay then be calculated as a linear least{squares solution
rapidly, the stator inductances are approximated only [7]: p^ = (C> C),1 C> w.
with DC and second harmonics.
To extract position and speed information from param-
Current and voltage waveforms in one PWM period eter estimates, an observer of mechanical variables can
can be used to determine position (and speed) depen- be used, e.g., [8]. A nonlinear observation error is con-
dent electrical parameters. At the PWM frequencies, structed from inductance parameters as
it is reasonable to assume that the resistive term (and
thus parameters of R) has negligible eect on system  = p^3 cos(2^) , p^2 sin(2^)  L1 sin(2~)
behavior, compared to the inductive term. Thus, the
model simplies to where ~ =  , ^, and  is used in observer to drive
the variable estimates to their true values. The experi-
v = L di + ! dr
dt d
(23) mental results of the above algorithm are shown in Fig.
3.
In each PWM subinterval (tn ; tn+1 ), a constant voltage
vector vn is supplied to the system, and the current
vector changes approximately linearly. To describe lin- 5 Conclusions
ear changes in currents, it is sucient to sample them
at the subinterval boundaries. The discretized system In this paper we rst presented a general PMSM model
(23) then becomes with linear magnetics. Next, we described a family of
transformations that are of interest in various appli-
vn = L tin+1 ,, itn + ! ddr cations. Finally, we presented three applications that
n+1 n
illustrate dierent facets of the general model. These
where n = 1; 2; : : : N , and N is a number of subin- applications include topics of practical (torque ripple
tervals in one PWM period. Under the assumption minimization), and theoretical interest (global speed
that mechanical variables are approximately constant regulation), as well as the emerging problem of shaft{
during one PWM period, the above equations can be sensorless operation that demonstrates the model util-
combined to yield an over{determined system of the ity in estimation{based control.
2233
 Measured rotor position Measured rotor speed

20 600

400
Rad

Rad/s
200
−20
0
0 1 2 3 4 5 6 7
Estimated rotor position
−200

20 −400
0 1 2 3 4 5 6 7
Rad

0
Estimated rotor speed
−20
600
0 1 2 3 4 5 6 7
Position estimation error 400

Rad/s
0.2 200
0.1
Rad

0
0
−0.1
−200
−0.2
−400
0 1 2 3 4 5 6 7 0 1 2 3 4 5 6 7
Time [s] Time [s]

Figure 3: Experimental results. On the left from top to bottom: actual position, position estimate, and position estimation
error. On the right from top to bottom: actual speed, and speed estimate.
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2234