20.6.13.3. PMSM Drive

PMSM Drive block is the block to model PMSM and Controller to control PMSM. Refer to PMSM (Permanent Magnet Synchronous Machine).

Dialog box

Figure 20.194 PMSM Drive dialog box

Table 20.132 Parameters of Current Controller

Parameter(s)	Description
Kcp_id	Proportional gain of PMSM Current Controller.
Kci_iq	Integral gain of PMSM Current Controller.
Kca_id	Anti-Windup gain of PMSM Current Controller.
Lower Limit	Output minimum value (Voltage) of PMSM Current Controller.
Upper Limit	Output maximum value (Voltage) of PMSM Current Controller.

Table 20.133 Parameters of Speed Controller

Parameter(s)	Description
Ksp	Proportional gain of PMSM Speed Controller.
Ksi	Integral gain of PMSM Speed Controller.
Ksa	Anti-Windup gain of PMSM Speed Controller.
Lower Limit	Output minimum value (q-axis Current) of PMSM Speed Controller.
Upper Limit	Output maximum value (q-axis Current) of PMSM Speed Controller.

Table 20.134 Parameters of Position Controller

Parameter(s)	Description
Kpp	Proportional gain of PMSM Position Controller.
Kpi	Integral gain of PMSM Position Controller.
Kpa	Anti-Windup gain of PMSM Position Controller.
Lower Limit	Output minimum value (Speed) of PMSM Position Controller.
Upper Limit	Output maximum value (Speed) of PMSM Position Controller.

20.6.13.3.1. Input Port and Output Port of PMSM Drive

• Input signals

Table 20.135 1st Port

Input data Mode	Input signal of 1st Port
Rotor Speed	Rotor Angle, Rotor Speed
Load Torque	Load Torque

Table 20.136 2nd Port

Controller Mode	Input signal of 2nd Port
None	Phase A, B, C Voltages
Current	Current Reference
Speed + Current	Speed Reference
Position + Speed + Current	Position Reference

• Output signals

Table 20.137 1st Port

No	Signal	Description	Unit
1	\(\theta\)	Is the rotor angle	rad
2	\(\omega\)	Is the rotor angular velocity	rad/s
3	\({{i}_{a}}\)	Is the stator current of phase a	A
4	\({{i}_{b}}\)	Is the stator current of phase b	A
5	\({{i}_{c}}\)	Is the stator current of phase c	A
6	\({{i}_{ds}}\)	Is the stator current of d-axis	A
7	\({{i}_{qs}}\)	Is the stator current of q-axis	A
8	\({{V}_{d}}\)	Is the stator voltage of d-axis	V
9	\({{V}_{q}}\)	Is the stator voltage of q-axis	V
10	\({{T}_{e}}\)	Is the generated electrical torque	N.m

Table 20.138 2nd Port

Controller Mode	Output signals of 2nd Port
None	None
Current	d-axis Voltage, q-axis Voltage
Speed + Current	d-axis Voltage, q-axis Voltage, Reference q-axis Current
Position + Speed + Current	d-axis Voltage, q-axis Voltage, Reference q-axis Current, Reference speed.

Table 20.139 3rd Port

Input data Mode	Output signal of 3rd Port
Rotor Speed	Driving Torque
Load Torque	Rotor Rotational Velocity

20.6.13.3.2. PMSM Controller

Figure 20.195 Current Controller

Figure 20.196 Speed + Current Controller

Figure 20.197 Position Controller

20.6.13.3.3. Design of Controller