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PMSM vector control design

Multi-physics modeling and field-oriented control (FOC) for a 1-DOF robotic joint driven by a permanent-magnet synchronous motor.

Academic integrator project developed with a classmate.

  • MATLAB/Simulink
  • FOC
  • Park transform
  • State observer
  • PID
Single-DOF robotic manipulator joint used in the PMSM control study

Physical modeling

Built a nonlinear model of the electromechanical chain: mechanical load, PMSM electromagnetic subsystem, thermal behavior, inverter, and feedback sensors. Linearized the plant with Jacobian and feedback linearization techniques to obtain LPV/LTI representations for analysis.

Block diagram of the PMSM electromagnetic subsystem
Electromagnetic subsystem block diagram with Park transform.
Open-loop pole map of the linearized system
Stability analysis from the open-loop pole map.

Control architecture

Designed a cascaded motion controller with an outer PID loop, torque modulator, nonlinear compensations, and a reduced-order integral state observer for unmeasured rotor speed. Discretized the controller with Tustin integration for digital implementation.

Cascaded motion control architecture
Outer motion loop, torque modulator, and inner current control.

Simulation results

Validated the full closed-loop system in MATLAB/Simulink: setpoint tracking, disturbance rejection, and operation within electrical and thermal limits. Results support the proposed FOC strategy as a basis for future hardware-in-the-loop work.

Angular position and velocity tracking under closed-loop control
Setpoint tracking on the final closed-loop system.
Velocity response under load disturbance
Disturbance rejection on the angular velocity loop.