Fuzzy Self-adapting PID Control of

PMSM Servo System

Limei Wang, Mingxiu Tian and Yanping Gao
School of Electrical Engineering
Shenyang University of Technology,
Shengyang, 110023, China
E-mail: wanglmgsut.edu.cn

Abstract - The parameters of PID controller are needed to adjust practicable condition of control system(the magnitude,
on-line to satisfy the high performance requirement, because the direction and the change trend of the input signal
external disturbance to PMSM servo system is random and the deviation).The parameters of KPR KI and KD can be adjusted
controlled object often varies with the work condition variation. on-line, So the control performance of PMSM servo system
The PMSM servo system is nonlinear, time-varying, and complex
system. The traditional self adapting control is very difficult to can be improved
realize, which need the on-line identification to the system
characteristic parameters and the real-time change of control II. THE MODEL OF PMSM
strategy. A new fuzzy self-adapting PID control method is
proposed in this paper, which synthesizes the merits of fuzzy
control and PID control. Using fuzzy inferences method, the PID ru = R i + LqPiq + OrLdlq + Or/f
parameters can be adjusted adaptively on-line for the varying
state of the system. For the PMSM speed adjustment system, the d
=
s
L +P -
d +L dPid + PYJf - Or
(L)
q'q
vector control is used in current loop and fuzzy self-adjusting PID The torque equation of PMSM can be given in (2)
control is used in speed loop instead of traditional PI control. The
effectiveness of the proposed control method is verified by p,e [ Ifiq + (Ld- Lq )'dq] (2)
simulation based on Matlab. The controller has better The motion equation of PMSM is as (3)
performance and robustness than conventional PI controller in
the PMSM servo system. Tm = T, +BQ + JpQ (3)
Keywords- fuzzy control, self-adapting control, PID control, Where Ud and u are the d-q axes stator voltages,
PMSM Weeuan qarth d- axs tto vlag,
respectively; 'dand iq are the d-q axes stator cuirents; rrs
I INTRODUCTION the rotor electric angular velocity; Ldand Lq are the d-q axes
stator inductances, respectively;
Permanent magnet synchronous motor (PMSM) has been yVf
is the rotor magnetic flux
widely used in high performance drive applications for its linking the stator; p is the differential operator (d/dt); T is the
advantages, such as compactness, high efficiency, reliability load torque; B is the friction coefficient of the motor; Qr is
and suitability to environment. In order to achieve high the rotor speed; J is the moment of inertia of the motor and
performance, the vector control of the PMSM drive is load The fuzzy self-adapting PID controller is analyzed an
employed. However, the controller design of such a system designed based on vector control of current loop[2].
plays crucial role in the system performance. I. Fuzzy SELF-ADAPTING PID CONTROL
The PI control is used usually in the speed loop of PMSM
two closed loops control system. The adverse nonlinear of A. The Configuration ofSystem
PMSM interior variables, the coupling characteristic and the The fuzzy self-adapting PID controller is adopted in speed
external disturbance make it difficult to built the accurate
mathematical model of controlled object and the controlled loop instead of the traditional PI controller. The PI controller is
object often changes with the work condition. So the traditional used in current loop in the PMSM two closed loops control
fixed-gain PI controller is not suitable to higher degree of system[ ].
accuracy conditions. The fuzzy inference of fuzzy self-adapting PID controller is
The variation parameter control method is necessary in order based on the fuzzy rule table set previously. So the algorithm
to obtain good adjustment performances in various works of fuzzy inference is not complex. The parameters of PID can
conditions. But it is very difficult to identify system be adjusted on-line, which can be changed through the inquiry
characteristics in real-time and adjust dynamic control to fuzzy control rules table saved aforehand in the computer.
paraetestothe
du ompexit ofPMSMsero sytem'~.The calculation speed of controller iS very quick, which can
The accurate mathematical model iS not necessary to fuzzy PID
control. Te practica experienc is saved n the formof contro satisfy the rapid need of controlled object. The block diagram
rules, then the correct control decision is made according to the of control system is shown in Fig. 1.

1 -4244-0743-5/07/$20.00 ©2007 IEEE 860

 Fig. 1 Block diagram of PMSM servo control system

B. Fuzzy self-adapting PID controller design ouIt

The control algorithm of traditional PID controller can be (inputar
described as
The fuzzy variable of input variable e and ec is B and BC,
~~~~~~~~ paaeesou(k) =kpe(k) +k1/ e(k) + kdeC (k)
ietruhfzyifrne (4) The fuzzy
speed
ahe ofnhoutput variable
i variable
measurspetivly
kp, kj,,kd
is KP, Kl,KD.
where kpis the proportional factor; k1 is the integral Firstly, it must be confirmed the universe of discourse,
factor; kd is the differential factor. e(k) is the speed error; quantum rank and quantum factor( Ke , K ec' Kz,, KU1,KUd)
ec (k) is the change rate of speed error. The control of the input variables e, ec and output variable kp , k1,: kd .Here,
performance can become better through adjusting quantum rank of B, Cis chosen as thirteen ranks, E,EC= { -
thekk, k1 and kd according to the changing control 6, -5, -4, -3, -2, -1, 0, 1, 2, 3, 4, 5, 6}.
parameters condition. The design algorithm of PID The fuzzy sets of B and BC are all defined as { NB, NS,
controller in this paper is to adjust the kp, k, and ZO, PS, PB},where NB, NS, ZO,PS and PB represent negative
o trouh fzzyinfrene bsedon he big, negative small, zero, positive small and positive big,
kd araetes lie
current e and ec to make the controlled object attain the The quantum rank of KP, KI and KD is chosen as ten ranks,
good dynamic and static performances .The block diagram KP, se,KDo{O, 1, 2, 3, 4, 5, 6, 7, 8, 9}.
Of fuzzy self-adjusting PID controller is shown in Fig.2.tu
The design process of controller is divided into four b } Fwher Z,gu, M and B nrepreset zero all i
aspects:
(1) The input variables and output variables big.
In the design, speed error e and error change rate ec are used The membership function of B, BC, kIP, KI and KD is the
catiw
i EL Iffire respecRztivel oo
as fuzzy input and the proportional factor k the integral trianle distrbutionfuion, whi uisvery conveientrin
.

P' ~~~engineering application. The membership function of each

factor k and the differential factor kd are usedas fuzzy variable is shownainFig.3 and Fig.4respectively.

Ird/dee Fuzzif- Fuzzy K Deficci-

f PID

Fig.2.Block diagram of fuzzy self-adjusting PID controller

861
 TABLE III
NB NS 1 ZO PS PB THE CONTROL RULES OF Kd

K ec NB NS ZO PS PB
-6 -3 0 3 6 e _

NB Z M B M Z
NS S M B B S
Fig.3. The built fuzzy membership functions of E and EC ZO S B B M Z
PS S B M M S
PB Z S M S
1 Z S M B

The Mamdani inference method is used as the fuzzy

_______________________________________ inference mode. The inference can be written as "IF A AND
o 3 6 9 B THEN C".For example"IF E=NS AND EC=PS THEN
Fig.4. The built fuzzy membership functions of KP, KI and KD KP=S, KI=M, KD=B". KP, KI and KD are written the same
as 25 fuzzy condition statements. The output variable can be
The suitable quantum factor of each variable is adopted by obtained by the MIN - M\AX inference .The weighted average
considering the experiment and simulation results of PMSM method is adopted for defuzzification, which can reflect
servo system. The quantum factor of e is Ke =1O; The overall inference information. The exact value of KP KI and
quantum factor of ec is Kec = 100 . The quantum factor of KD can be obtained after the defuzzification. The practical
control value is the production of exact value and the quantum
k~, k, adis~~
kd
(3) Fuzzy rules regulation
2; J(~=O.8;
ud~0~5~factors (K =2; Kuj =O.8; Kud = .5

The principle of designing fuzzy rules is that the output of IV. SIMULATION RESULTS
controller can make the system output response dynamic and The 1\ATLAB software is used to the whole system
static performances optimal. The fuzzy rules are generalized simulation (The block diagram of system is shown in Fig. 1).
as table I ,table II and tablellIaccording to the expert The parameters of PMSM areas follows: rated power
experiment in PMSM servo system and simulation analysis of P=50OW; rated phase voltage U=22OV; rated speed
the system. n=1500rpm; d.q axes inductances Ld 0.027H ,
(4) PID parameters regulation L =0.067H; stator resistance R = 4.495Q; moment of
KP, KI and KD can be regulated after completing the q
fuzzy rule table of KP, KI, KD. inertia; J = 0.00179kg m; number of pole-pairs p=2; The
motor start at rated speed, n=15OOr/min and rated load torque.
TABLE I Simulink is the simulation tool in the MATLAB, which
THE CONTROL RULERS OF
Kp can provide user the function block. The whole system
simulation block diagram can be built up by connecting some
K ec< NB NS ZO PS PB function blocks. The program needn't be composed in the
NB B B B B M simulation, So the simulation analysis time can be saved and
NS M B 5 <; Sthe design work can be reduced. The fuzzy Self-adapting PID
ZO M BS 7 S B Controller can be designed conveniently usmg te Fuzzy
PS s s s s s Logic Toolbox of MATLAB. The FIS editor can be opened by
PB M 13 B M B the input command FUZZY in the MATLAB. The
membership function of every input and output variable are
TABLE II established in the FIS editor, which are shown as Fig.3 and
THE CONTROL RULES OF Ki Fig.4.The fuzzy rulers are edited according to table 1 and are
saved files as L1fis. The a=readfis(' 1 .fis') command is input to
K,< eC NB NS ZO PS PB the MATLAB command window and it is transferred in the
fuzzy block of Simulink. At last the whole system simulation
NB Z Z Z Z Z
block diagram is constructed. The response curve is shown as
I NS m11W 1[ EM IMI
NS M M M M M Fig.5. CurveO] is PI response curve and curve (2) is fuzzy
PS S M M M M self-adapting PID response curve.

862
 complex, time lag, time-varying and nonlinear system control
2000 but also don't need the mathematical model of controlled
object.
This paper presents fuzzy self-adjusting PID controller
S 1500 according to the PMSM servo system characteristic, which
E : W has the advantages of PID control and fuzzy control. The
Z 1000 controller is used as the speed controller in PMSM control
system, which can adjust the controller parameters on-line
500 according to the speed error and the speed error change rate.
The simulation results show that fuzzy self-adapting PID
0 _________________________________ controller have shorter regulating time and stronger robust
0.2 0.4 0.6 0.8 1.0 comparing with traditional PI controller.
Time (s) REFERENCES
Fig.5 Comparison of control result
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