Performance analysis of permanent magnet synchronous motor based on transfer function model using PID controller tuned by Ziegler-Nichols method
V. Ramanaiah Nippatla, Srihari Mandava
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 ( K p , K i and K d ) of PID controller based on system behaviour. The ZN method is a heuristic and popular technique especially intended for PID controller tuning because of its advantages which are simple design, fast and perfect tuning, good reliability and mostly used in industrial applications. 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. In this article, the proposed ZN-PID controller is tuned offline and used in both outer and inner feedback loops to control the speed and torque respectively. This work primarily depends on transfer function model based Field Oriented Control (FOC) approach using MATLAB R2019b/Simulink software. The proposed ZN-PID controller improves the speed response of PMSM in terms of time domain specifications over existing GD-PID controller. The MATLAB R2019b/Simulation work is done and also tested the stability analysis with Bode plot. The hardware results are compared with MATLAB/Simulation results.