Desıgn Of Trajectory Of Velocıty Controller For Permanent Magnet Synchrnous Motors

Thesis Type: Postgraduate

Institution Of The Thesis: Gazi University, Turkey

Approval Date: 2019

Thesis Language: Turkish

Student: Çağdaş Hisar

Supervisor: İBRAHİM SEFA


In this thesis, the design and implementation of the controller which can generate and track a nonlinear velocity trajectory within a large speed range for a PMS Motor. PMSM is increasingly used in robotic systems, electrical and hybrid vehicles and many areas of the industry because of its features such as fast dynamic response, higher power density. The proposed system was first simulated in order to develop a reliable system and shorten the design process and then the embedded program is designed and implemented for a dual-core microcontroller. The simulation studies cover the control of the motor to track the trajectory for different torque values and speed ranges by using the motor parameters. As a results of simulation studies, it has been seen that, the current ripples are reduced with the help of generated trajectory and thus, operation efficiency also incerases. Besides, it is known that, the driving comfort can also be improved by generating corner free starting speed trajectory. In experimental study stage, LAUNCHXL-F28379D evalution board which consists of two 32 bit floating point microntroller is used to execute real time control with high perfromance. The algorithm is tested on the designed drive hardware. Although the field oriented control, which requires complex mathematical calculations, is applied, it is confirmed that, the microcontrollers can handle the tasks. It is also seen that, since only some portion of the total microcontroller capability is used, it is expected to meet the communication tasks which are required in not only in the car bu also other industrial applications.