SIMULINK/MODELSIM CO-SIMULATION OF FPGA-BASED PI

SPEED CONTROL FOR PMSM DRIVE

S T U D E N T : P H A M V A N D U N G

I D : M A 0 2 B 2 0 5

ELECTRICAL ENGINEERING DEPARTMENTSOUTHERN TAIWAN UNIVERSITY OF TECHNOLOGY

CONTENT

Abstract

Introduction

System Description of PMSM Drive and PI Speed Controller Design

Simulink/Modelsim Co-Simulation of PMSM Drive

Conclusion

References

ABSTRACT

The basic principle of (SVPWM) and the design of a PI-control based speed control IC for PMSM from Simulink/Modelsim cosimulation is presented

Firstly, a SVPWM algorithm, vector control method and PI controller are derived and applied in the speed control IC of PMSM drive

Secondly, Verilog that is Hardware Description Language is adopted to describe the behavior of the aforementioned control algorithms.

Finally, Simulations and the results will be discussed.

INTRODUCTION

- PMSM

- FPGA

- Electronic Design Automation (EDA) Simulator Link

- A co-simulation by EDA Simulator Link is applied to PI-control based speed control IC for PMSM drive.

- The Simulink/Modelsim co-simulation architecture is shown in Fig.1

- The PMSM, inverter and speed command are performed in Simulink and the proposed speed control IC described by Verilog code is executed in ModelSim

FIG.1. THE SIMULINK/MODELSIM CO-SIMULATION ARCHITECTURE

SVPWM

DCPower

PMSM

PIIGBT-base

Inverter

PWM1

0* di

qi

di

Park-1modifyClark-1

PWM6

—

—++

—

PWM2PWM3PWM4PWM5PI

1refv

3refv2refvqv

dvvv

*qi

r

*r

+ a,b,c

,d,q

,

Current controller

PIController

Current controller and coodinate transformation

Modelsim

Park Clark

i

ibici,

d,q ,

a,b,c

sin /cos of Flux angle

e Flux angleTransform.

ai

Simulink

A B C

r

SYSTEM DESCRIPTION OF PMSM DRIVE AND PI SPEED CONTROLLER

DESIGN

-The Mathematical Model of PMSM

-Design of Current controller and Coordinate Transformation (CCCT)

-Design of PI controller

THE MATHEMATICAL MODEL OF PMSM

where vd, vq are the d and q axis voltages; id, iq, are the d and q axis currents, rs is the phase winding resistance; Ld, Lq are the d and q axis inductance; is the rotating speed of magnet flux; is the permanent magnet flux linkage.

dd

qd

qed

d

sd

Li

L

Li

L

r

dt

div

1

qqq

eqq

sd

q

de

q

LLi

L

ri

L

L

dt

div

1

f

f e

DESIGN OF CURRENT CONTROLLER AND COORDINATE TRANSFORMATION (CCCT)

Clark

i

iai

bici

,

a,b,c

2 1 1

3 3 31 1

03 3

a

b

c

ii

ii

i

modifyClark-1

1refv

3refv2refv

v

v a,b,c

, vref2

vref3

1

312 2 2

313 2 2

1 0ref

ref

ref

vv

vv

v

,vref1

qi

di

Park

i

i ,

d,q

cos sin

sin cosd e e

q e e

i i

i i

eecos sin

sin cosde e

qe e

vv

vv

Park-1qv

dv

v

vd,q

,

WHICH USES ONE ADDER, ONE MULTIPLIER, AN 1-B LEFT SHIFTER, A SIN/COS LOOK-UP-TABLE AND MANIPULATES 24 STEPS MACHINE TO CARRY OUT THE OVERALL COMPUTATION OF CCCT

DESIGN OF PI CONTROLLER

where Kp is proportional coefficient, Ki is integral coefficient, Yn(n) is the output control volume in the n-sampling time, e(n) is the input deviation in the n-sampling time, e(n-l) is the input deviation in the (n-l )-sampling time.

e(n)K (n) ppU

1)-e(n K1)-(n (n) i ii UU

1)-e(n Ke(n)K1)-(n

(n)(n)Yn(n)

ip

i

ip

U

UU

The designed PI controller circuit adopted by using the FSM method is proposed and shown in this figure which uses one adder, one multiplier, and manipulates 10 steps

SIMULINK/MODELSIM CO-SIMULATION OF PMSM DRIVE

Fig. 10 The Vector Control Block Diagram for PMSM

SIMULATION RESULTS

Simulation results of SVPWM waveform(STEP1)

Fig. 12 Simulation results of step speed respond, two-axis current respond and three phase current response

CONCLUSION

This study has been successfully presented a speed control IC for PMSM drive and demonstrated its performance from Simulink/ModelSim co-simulation .Via this design methodology, the Verilog code of the speed control IC can be fast developed, and the risk in experimental development can be greatly reduced.

REFERENCES1.Kung, Y.S., Tsai, M.H.: FPGA-based speed control IC for PMSM drive with

adaptive fuzzy control. In: IEEE Trans. on Power Electronics, vol. 22, no. 6, pp. 2476--2486 (2007)

2.Modeltech, ModelSim Reference Manual (2004)

3.Bogdan Alecsa, Marcian N. Cirstea: Simulink Modeling and Design of an Efficient Hardware-Constrained FPGA-Based PMSM Speed Controller. In: IEEE Trans. Ind. Informatics, vol. 8, no.3, August 2012

4.M. F. Castoldi, G. R. C. Dias, M. L. Aguiar and V. O. Roda. Chopper-Controlled PMDC motor drive using VERILOG code. Proceedings of the 5th Southern Conference on Programmable Logic, (2009), pp. 209~212

5.Weera Kaewjinda and Mongkol Konghirun. Vector Control Drive of Permanent Magnet Synchronous Motor Using Resolver Sensor.In: ECTI Transactions on Electrical Eng., Electronics, and communications Vol.5 ,NO.1 February 2007

6.Li, Y., Huo, J., Li, X., Wen, J., Wang, Y., Shan, B.: An open-loop sin microstepping driver based on FPGA and the Co-simulation of Modelsim and Simulink In: Proceedings of the International Conference on Computer, Mechatronics, Control and Electronic Engineering (CMCE), pp. 223--227 (2010)

7.The Mathworks, Matlab/Simulink Users Guide, Application Program Interface Guide (2004)

8.Implementing a PID Controller in a Microsemi FPGA User guider

9.Y.S. Kung, C.S. Chen, K.I. Wong, M.H. Tsai. Development of a FPGA-based control IC for PMSM drive with adaptive fuzzy control. Proceedings of the Industrial Electronics Society, IECON2005, 31st Annual Conference of IEEE (2005).pp 1544 – 1549

10.Li, Y., Huo, J., Li, X., Wen, J., Wang, Y., Shan, B.: An open-loop sin microstepping driver based on FPGA and the Co-simulation of Modelsim and Simulink In: Proceedings of the International Conference on Computer, Mechatronics, Control and Electronic Engineering (CMCE), pp. 223--227 (2010)