International Conference on Advanced Engineering & Technology, 10

th
March Chennai, ISBN: 978-93-82702-20-7

187


Abstract- In this paper, closed loop operation of PMSM with PI controller has studied by using two & three level diode
clamped multilevel inverters using Space Vector Pulse Width modulation (SVPWM). Now a days, PMSMs are often used
in electric drives because of their simple structure, ease of maintenance and high efficiency. However, they have nonlinear
characteristics due to motor dynamics & load characteristics. To overcome this, a PI controller is designed by proper tuning the
Proportional and Integral gains. Mathematical model of PMSM, diode clamped two & three level inverters using IGBTs and
PI controllers are developed using MATLAB/SIMULINK. It has been observed that the performance characteristics of PMSM
improve with the increase in the level of the inverter.

Index Terms- PI controller, Diode Clamped Multilevel inverter, PMSM Drive.


I. INTRODUCTION

Among all of the existing motors on the market, there
are three classical motors: the direct current with
commutator (wound field) and two alternative current
motors the synchronous and the asynchronous motors.
These motors when properly controlled, produce
constant instantaneous torque (very little torque
ripples) and operate from pure DC or AC sine wave
supplies. In general Permanent Magnet Synchronous
Motors are used where there is high demand for speed
stability and the synchronous operation of several
interconnected motors. Permanent magnet
synchronous motors (PMSMs) have been widely used
in many industrial applications. Due to their
compactness and high torque density, the PMSMs are
particularly used in high-performance drive systems.
The permanent magnet synchronous motor eliminates
the use of slip rings for field excitation, resulting in
low maintenance and low losses in the rotor. The
PMSMs have the high efficiency and are appropriate
for high performance drive systems such as robotic
and automatic production systems in the industry. The
PMSM drive mainly consists of PMSM motor,
converter, controller and speed sensor. The system can
made insensible

to disturbance and changes of the parameter variations
by properly designing feedback controller. Motor
speed controller takes a signal representing the
demanded speed, and drives the motor at that speed.
Closed Loop speed control systems have fast response
and it needs feedback components such as speed
sensors. Generally PI controller is used as speed
controller. By proper tuning the proportional and
integral gains a smooth control is possible. Multilevel
inverters are not only used in high power applications
but also used in medium and low power applications
because of their advantages like lower device voltage
rating, a lower harmonic distortion and higher
efficiency compared to two level inverter. Among
multilevel topologies, diode clamped is especially
interested because of their simplicity and multiple
voltage levels are obtained through a series connection
of identical capacitors. Three level diode clamped
(Neutral point) inverter is most favorable among the
various multi level configuration. Using enough levels
the multi-level inverter generates approximately a
sinusoidal voltage waveform with very low harmonic
distortion [1]-[5]. To control multilevel converters,
the pulse width modulation (PWM) strategies are the
most effective, especially the space vector pulse width
modulation (SVPWM) one, which has equally divided
zero voltage vectors describing a lower total harmonic
distortion (THD). Although the complexity that
presents the SVPWM strategy (many output vectors)
compared with the carrier-based PWM one, it remains
the preferred seen that it reduces the power losses by
minimizing the power electronic devices switching
frequency (limiting the minimum pulse width)[1].
In this paper, two level and three level diode clamped
multilevel inverters are designed by using IGBTs,
and they are controlled by SVPWM technique. A
mathematical model of PMSM has simulated. A PI
controller has designed for two and three level
inverters by proper tuning the gains of the controller.
All the work has done in MATLAB/SIMULINK. The
performance of PMSM with three level inverter with
PI controller is improved compared with two level
inverter.
G. SREE LAKSHMI
1
, DR. S. KAMAKSHAIAH
2
, DR. G. TULASI RAM DAS
3

1,2&3
CVR College of Engineering, A.P., India, J NT University, Hyderabad, A.P., India,
Vice Chancellor, J NT University, Kakinada, A.P., India.
Email-s_sreelakshmi@yahoo.com , skamakshaiah@yahoo.com, das_tulasi@gmail.com
CLOSED LOOP PI CONTROL OF TWO & THREE LEVEL DIODE
CLAMPED MULTILEVEL INVERTER FED PMSM USING SVPWM
Closed Loop PI Control of Two & Three Level Diode Clamped Multilevel Inverter Fed PMSM Using SVPWM
International Conference on Advanced Engineering & Technology, 10
th
March Chennai, ISBN: 978-93-82702-20-7

188
II. PERMANENT MAGNET SYNCHRONOUS
MOTOR

The PMSM is a synchronous AC motor, normally
with a three phase stator winding similar to induction
motors. The rotor however, is different. Permanent
magnets provide a constant flux to magnetize the
motor. The lack of an electrical magnetization system
gives the advantage of a more energy efficient motor.
The PMSM is normally controlled with a frequency
converter that supplies the motor with the correct
frequency and voltage/current values. A three phase
PMSM is normally constructed with sinusoid ally
distributed phase windings, with a 120
0
phase shift
between the three windings. In a stator reference
frame coordinate system the phase vectors A, B, C can
be seen as they are fixed in angle, but with time
varying amplitudes. This three vector representation
makes calculation of machine parameters
unnecessarily complex. By transforming the system
into a two vector orthogonal system, the necessary
calculations could be much simpler.

The stators of the PMSM and the wound rotor
synchronous motor (SM) are similar and there is no
difference between the back EMF produced by a
permanent magnet and that back EMF produced by an
excited coil. Hence the mathematical model of a
PMSM is similar to that of the wound rotor SM
[12]-[13].

The stator d, q equations of the PMSM in the rotor
reference frame are:
(1)
(2)
Where
(3)
(4)

where P is the pole pairs, p is the d/dt operator,
q
and

d
are the q, d axis voltages, i
q
and i
d
are the q, d axis
stator currents, L
q
and L
d
are the q, d axis inductances,

q
and
d
are the q, d axis stator flux linkages, while r
and
r
are the stator resistance and rotor speed,
respectively.
m
is the flux linkage due to the rotor
magnets linking the stator.
The electromechanical torque developed by the motor
is :
(5)
By substituting the values of
q
and
d
in the above
equation
(6)
The relationship between the electromechanical
torque and the load torque is given as:
(7)
(8)

III. DIODE C LAMPED MULTILEVEL
INVERTER

Among different topologies, diode clamped multilevel
inverter is the most commonly used, in which the
diode is used as the clamping device to clamp the dc
bus voltage so as to achieve steps in the output voltage.
An m-level diode clamped converter typically consists
of m-1 capacitors on the dc bus and which produces m
levels of phase voltage. The diode clamped converter
produces (m-1)/2 levels above and below the zero
level. If one assumes that the rating of the diodes is
much more the same as the rating of the main switches
in the converter, a problem will arises with the diode
clamped converter and the number of diodes required
in the circuit will increases with the number of levels.
Let us consider that the switch chain from the positive
top rail, to the output connection. Having half of the
total number switches exist either in the top or bottom
half of the switch chain as this will corresponds to m-1
switches. If one has a chain of m-1 switches then there
will be m-2 connections in between the switches. The
diode chains are being connected to all these
connections points. Each of these diode chains will
stop on a switch junction point in the bottom half of
the inverter totem pole. Each diode chain has to bear
the total capacitor voltage such as assuming that the
diode voltage rating is the same as the switch rating
then this would mean that each diode chain has to
consist of m-1 diodes. As a result the total number of
diode is:
Number of diodes =(m-1) (m-2)

Fig.1. Single leg of three phase two & three level diode clamped
inverter

In three phase two level voltage source diode clamped
inverter, it consists of six power (IGBT) switches.
When the pulses are given to the switches the switches
will conduct accordingly. When the positive IGBT is
switched on (i.e) when the switches a, b or c is on then
the corresponding lower IGBT will be in off state.
Closed Loop PI Control of Two & Three Level Diode Clamped Multilevel Inverter Fed PMSM Using SVPWM
International Conference on Advanced Engineering & Technology, 10
th
March Chennai, ISBN: 978-93-82702-20-7

189
Therefore by properly switching the IGBTS we can
get the output voltage. Whereas in three level diode
clamped inverter, it consists of 12 -IGBTs; in each leg
it contains 4 switches [10]-[11]. Each switch contains
anti-parallel diode. The inverter leg A is composed of
four active switches S
1
to S
4
with four anti-parallel
diodes D
1
to D
4
. On the DC side of the inverter, the DC
bus capacitor is split into two, providing a neutral
point n. The diodes connected to the neutral point, D
n1

and D
n2
are the clamping diodes. When the switches
S
2
and S
3
are turned on, the inverter output terminal A
is connected to the neutral point through one of the
clamping diodes. The voltage across each of the dc
capacitors is V
dc
/2, which is normally equal to half of
the total dc voltage V
dc
. Therefore the voltage stress of
switching devices is greatly reduced. The output
voltage has three different states +V
dc
/2, 0, -V
dc
/2.
Each phase node (a, b, or c) can be connected to any
node in the capacitor bank (V
3
, V
2
, V
1
). Connection of
the a-phase to positive node, V
3
occurs when S
1ap
and
S
2ap
are turned on and to the neutral point voltage,
when S
2ap
and S
1an
are turned on and the negative node
V
1
is connected when S
1an
and S
2an
are turned on.

The advantages of diode clamped multilevel inverter
are the entire phases share a common dc bus, which
minimizes the capacitance requirements of the
converter. For this reason, a back-to-back topology is
not only possible but also practical for uses such as a
high-voltage back-to-back inter-connection or an
adjustable speed drive. The capacitors can be
pre-charged as a group. Efficiency is high for
fundamental frequency switching [4]-[5].

IV. SPACE VECTOR PULSE WIDTH
MODULATION

In order to generate the required voltage or current
to feed the motor or phase signal, Pulse Width
Modulation technique is used. This method is
increasingly used for AC drives with the advantage
that the harmonics current is small and the maximum
output voltage is large. It produces the switching
position patterns by comparing sinusoidal wave with a
triangular carrier.

In recent years, the Space Vector Pulse Width
Modulation is gaining advantage over PWM because
it produces improvement for both output crest voltage
and harmonic copper loss. The maximum output
voltage based on the SVPWM is 1.155 times as large
as the conventional PWM. IT enables to feed the
motor with a higher voltage than the easier
sub-oscillations modulation method. This modulator
allows having a higher torque at higher speeds and
higher efficiency [5]-[6]. The objective of space vector
PWM technique is to approximate the reference
voltage vector V
ref
using the eight switching patterns.
One simple method of approximation is to generate
the average output of the inverter in a small period, T
to be the same as that of V
ref
in the same period.
Therefore, space vector PWM can be implemented by
the following steps:

A. Transformation of 3-phase to 2-phase.
B. Calculating the space vector voltage.
C. Identifying the three nearest vectors
D. Calculation of the dwelling times on the three
nearest vectors.
E. Determination of the switching instants.

A. Transformation of 3-phase to 2-phase
We know that the AC voltage can be resolved into
three phase components such as V
A
, V
B
, and V
C
.
V=V
a
+V
b
e
j2/3
+V
c
e
j4/3
(9)

Now the obtained three phase component of voltage
are transformed into two phase by using following
formulas.

0 V
V
V
q
d
= (2/3)

2
1
2
1
2
1
2
3
2
3
0
2
1
2
1
1

cn
bn
an
V
V
V
(10)
From the above equations the two phase voltage
components V
d
and V
q
are obtained.

B. Calculation of Space Vector Voltage
Space vector voltage is the voltage in imaginary space
which rotates at switching frequency (T
s
). This can be
obtained by the following formulas.
V*= ( V
d
2
+V
q
2
)
(11)
=tan
-1
( V
d
/ V
q
)
(12)
Where V* is the space vector voltage in rotating frame
and the angle between the V* and the reference
voltage.

C. Identifying the three nearest vectors
The space vector voltage is located in hexagon
surrounded by different states of the inverter which
give different voltage magnitudes of the output
voltage. These inverter states are nothing but the
on/off status of the devices. We have to determine the
three states or the vectors around the space vector
voltage. In order to obtain these three nearest voltage
vectors we have to determine the region in which the
space vector voltage will fall. The hexagon as shown
in Fig.5 is divided into the six sectors and these sectors
are again divided into the triangles and sub-triangles
depending on the number of levels required in the
output voltage.
Closed Loop PI Control of Two & Three Level Diode Clamped Multilevel Inverter Fed PMSM Using SVPWM
International Conference on Advanced Engineering & Technology, 10
th
March Chennai, ISBN: 978-93-82702-20-7

190

Fig .2. Space vector hexagon

The sector is determined by the angle . As the angle
can vary between the angles 0 and 360 as shown in
table2.
TABLE.1 Sector determination


The following given conditions are used to determine
the sector for operating Secondly; we have to
determine the triangle in a particular sector so as to
locate the space vector voltage. This can be done by
considering determining the boundary conditions for
the various triangles in the sector. Each sector in the
hexagon is again subdivided into four triangles as
shown in Fig 6. The space vector voltage vector can be
in any of the four triangles depending on its
magnitude and angle made in each sector. The
following figures explain the procedure for the
determination of the triangle in which the space vector
voltage occurs.


Fig .3.Triangles in sector

D. Calculation of dwelling times
Dwelling times of the three nearest vectors are nothing
but the time required for the inverter to operate on a
particular state. As we know that in the SVPWM
approach we approximate the required command
voltage by time averaging the three nearest vectors.


Fig .4. Calculation of dwelling times

As shown in the Fig.4 the command or reference
voltage vector is resolved in three components such as
V
1
, V
2
& V
0
on the three nearest vectors as shown in
the figure. Let t
1
, t
2
& t
0
be the dwelling times on the
three vectors respectively.

E. Determination of switching instants
After the determination of the dwelling times on the
three nearest vectors we can obtain the reference
waveforms as shown in Fig.8. Then these waveforms
are compared with the triangular wave at the
switching frequency (F
s
). And the obtained pulses are
given to the gate terminals of the power devices.


Fig .5.Determination of switching instants

V. PI CONTROLLER

For a PM motor drive system with a full speed range
the system will consist of a motor, an inverter, a
controller. The operation of the controller must be
according to the speed range. For operation up to rated
speed it will operate in constant torque region and for
speeds above rated speed it will operate in
flux-weakening region. In this region the d-axis flux
and the developed torque are reduced. Speed
controller calculates the difference between the
reference speed and the actual speed producing an
error, which is fed to the PI controller [12].
Closed Loop PI Control of Two & Three Level Diode Clamped Multilevel Inverter Fed PMSM Using SVPWM
International Conference on Advanced Engineering & Technology, 10
th
March Chennai, ISBN: 978-93-82702-20-7

191

Fig.6.Block diagram of Closed loop PI control of PMSM drive

PI controllers are used widely for motion control
systems. They consist of a proportional gain that
produces an output proportional to the input error and
an integration to make the steady state error zero for a
step change in the input. Block diagram of the PI
controller is shown in figure 3.7. Speed control of
motors mainly consist of two loops the inner loop for
current and the outer loop for speed. The order of the
loops is due to their response, how fast they can be
changed. This requires a current loop at least 10 times
faster than the speed loop. Since the PMSM is
operated using field oriented control, it can be
modeled like a dc motor. The design begins with the
innermost current loop by drawing the block diagram.
But in PMSM drive system the motor has current
controllers which make the current loop. The current
control is performed by the comparison of the
reference currents with the actual motor currents.


Fig.7. Speed control using PI controller

VI. SIMULATION RESULTS AND ANALYSIS

In this paper, a two and three level diode clamped
multilevel inverter has developed using IGBTs, the
control topologies is developed by using Space Vector
Pulse width Modulation Technique. The two level and
three level diode clamped inverters are fed to
Mathematical modeled PMSM drive. The closed loop
speed control for PMSM drive is obtained by using PI
controller. Speed is taken as reference and the desired
speed is obtained with less transients and steady state
characteristics by proper tuning the gains of the
controllers. The entire work is carried in
MATLAB/SIMULINK.

vabc
torque
Continuous
powergui
iq
id
Theta
I_apha
I_ beta
park_inv
I_alpha
I_beta
Theta
Id
Iq
park
300
n_ref
PI
P I
0
id_ref
iabc
Valpha
Vbeta
Vdc
Fs
Va
Vb
Vc
clarke_inv
is_abc
I_alpha
I_beta
clarke
Torque
iabc vabc
speed
t
Step
Speed
Scope7
Scope5
Scope4
Scope3
Scope2
Scope1
Scope
Tm
Va
Vb
Vc
iabc
we
Te
idq
theta
P MSM Model
PID
PIDController
5
Constant2
600
Constant1
1000
Constant
Valpha
Vbeta

Fig.8. Closed loop PI control of PMSM with two level diode
clamped inverter

vabc
torque
Continuous
powergui
iq
id
Theta
I_apha
I_ beta
park_inv
I_alpha
I_ beta
Theta
Id
Iq
park
300
n_ref
PI
PI
0
i d_ref
iabc
Valpha
Vbeta
Vdc
F s
Va
Vb
Vc
clarke_inv
is_abc
I _alpha
I _beta
clarke
Torque
iabc vabc
speed
t
Step
Speed
Scope7
Scope5
Scope4
Scope3
Scope2
Scope1
Scope
Tm
Va
Vb
Vc
iabc
we
Te
idq
theta
PMSM Model
PID
PID Controller
5
Constant2
600
Constant1
1000
Constant
Valpha
Vbeta

Fig.9. Closed loop PI control of PMSM with three level diode
clamped inverter


Fig.10. Closed loop PI controller output of Torque,Three phase
current, speed, theta of a two level diode clamped fed PMSM


Fig.11.Output voltage of two level diode clamped inverter


Fig.11. Closed loop PI controller output of Torque,Three phase
current, speed, theta of a two level diode clamped fed PMSM
Closed Loop PI Control of Two & Three Level Diode Clamped Multilevel Inverter Fed PMSM Using SVPWM
International Conference on Advanced Engineering & Technology, 10
th
March Chennai, ISBN: 978-93-82702-20-7

192

Fig.12.Output voltage of two level diode clamped inverter

VII. CONCLUSION

Two level and three level doiode clamped inverters are
used to develop input to PMSM drive whose switches
are controlled by Space vector Pulse width
modulation.The simple closed loop system is used to
get the desired speed for PMSM drive.The closed
contains two loops inner loop for current control and
the outer loop for speed control.The analysis of PMSM
drive is done by using two & three level diode clamped
inverters. Diode clamped inverter is most commonly
used inverter among various inverters because of its
advatagesous over other inverters.

Application of the multilevel diode-clamped inverter
is an interface between a high-voltage dc transmission
line and an ac transmission line, variable speed drive
for high-power medium-voltage (2.4 kV to 13.8 kV)
motors, static var compensation is an additional
function for which several authors have proposed for
the diode-clamped inverters. The Space Vector Pulse
Width Modulation is gaining advantage over PWM
because it produces improvement for both output crest
voltage and harmonic copper loss. This modulator
allows having a higher torque at higher speeds and
higher efficiency. From the analysis it has observed
that as the level increases the performance of the
PMSM improves, so the authors can extend their work
by going for higher levels with advanced closed loop
operation.

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