Performance Analysis of Permanent Magnet Synchronous Motor Based on Transfer Function Model Using Pid Controller Tuned by Ziegler-Nichols Method

Abstract

Proportional Integral and Derivative (PID) controller tuning is one of the most important factors in control systems engineering for achieving an efficient and desired system performance. There are many tuning methods available but in this article, Ziegler-Nichols (ZN) tuning method is proposed to determine the gain values (Kp, Ki and Kd) of PID controller based on system behavior. The ZN method is a heuristic and popular technique especially intended for PID controller tuning because of it having the advantages which are reliability, fast, simple and adaptable. The speed response of Permanent Magnet Synchronous Motor (PMSM) is enhanced using PID controller tuned by proposed method. The PMSM is predominantly used in Electric Vehicles (EV), electric traction and industrial drive applications. The ZN method provides the distinctive dynamic speed response and also analyzes peak overshoot, settling time and steady-state error which are 1.677%, 1.133 s and 1.16 times respectively, compared to the Gradient Descent (GD) algorithm. Proposed PID controller is used in both outer and inner feedback loops to control the speed and torque respectively. In this article, proposed PID controller is tuned offline using the ZN method. This work primarily depends on transfer function model based Field Oriented Control (FOC) approach using MATLAB R2019b/Simulink software. The proposed PID controller improves the speed response of PMSM in terms of time domain specifications over existing PID controller tuned by GD algorithm. The MATLAB R2019b /Simulation work is completed and validated. The hardware results are compared with MATLAB/Simulation results.

Keywords: Gradient Descent algorithm, Field Oriented Control, Proportional Integral and Derivative controller, Permanent Magnet Synchronous Motor, Ziegler-Nichols tuning method.