Thc 2004 IEEE .
4sia-Pncilic Conicrcncc on
HIGH PERFORMANCE PMLSM DRIVES USING TMS320F2812
DSP CONTROLLER
Ying-Shieh Kung,member IEEE
Department of Electrical Engineering
Southem Taiwan University of Technology
Yung-Kang City, Tainan Hsien, 710, Taiwan
kung@mail.stut.edu.tw
ABSTRACT
A high performance position control for PMLSM drives
using TMS320F2812 DSP controller is presented. Due to
the DSP has the characteristics of fast computation and
the complete integrations of motor peripheral circuit, a
fully digital controller of PMLSM drives system can be
integrated and realized by s o h a r e in single chip. To
increase the perfonance of PMLSM drives, an adaptive
fuzzy controller is applied to cope with the system
uncertainty and load variations. Some experimental
results have been validated the theoretical ones.
1. INTRODUCTION
W i g to the advantages of high power density, high
performance motion control in fast speed and better
accuracy, permanent magnet linear synchronous motors
(PMLSM) have been gradually used in many automation
control fields as an actuators [l-21, such as
computer-controlled machining tools and semiconductor
manufacturing equipments. But in industrial applications,
there are many uncertainties, such as system parameter
uncertainty, external load disturbance, kiction force,
model uncertainty, always diminish the performance
quality of the pre-design of the motor driving system. To
cope with those problems, in recent years, many
intelligent control techniques [3-41, such as fuzzy control,
neural networks control, adaptive fuzzy control etc., have
been developed and applied to the position control of
servo motor drives to obtain high operating performance.
A high performance motor control system should have a
fast dynamic response in adjusting its control parameters
so that the motor outputs affected by the disturbances can
recover to their original status as soon as possible [5].
With the rapid development in microprocessor, the high
performance digital signal processor @SP) becomes a
popular research on digital control [6-71 for ac drives due
to their high-speed performance, simple circuitry, on-chip
peripherals of a micro-controller into a single chip
0-7803-8660-4/04/$20.00 02004 IEEE 645
Circuits and Systems, Deccmbcr 6-9.2004
solution. Especially the new generation DSP controller
TMS320F28x [8] produced hy Texas Instrument, which
has the advantages of high speed (150MIPS) performance,
up to 128Kx16 flash, 2 set (12 channels) ofPWM output,
2 set (4 channels) of QEP input, 12 channels 12-hit A D
converter (20011s conversion time), 56 hits GPIO, is very
suitable to develop a fully digital controller and a
complicated intelligent control algorithm in servo motor
drives. Therefore, in this paper, a TMS320F2812 DSP
embedded with the function of current vector control,
SWWM scheme and adaptive fuzzy position control has
been developed a high performance drives for PMLSM.
With the exceilent characteristics of proposed system, it
will make drives of PMLSM more programmable, robust
and easy implementation.
2. THEORETICAL ANALYSIS
The architecture of the proposed intelligent control
system for a PMLSM is shown in Fig. 1, in which the
current vector control and the intelligent position control
are all implemented in a TMS320F2812 DSP chip. The
detailed are introduced in the following section:
2.1 Mnthematical model of PMLSM:
The dynamic model of a typical PMLSM can be
represented with synchronous rotating reference 6” as
follows [I]
!%=-R-;,+lTL,x; 1
dt L, T Ld ‘I L,
where vd, vq are d- and q-axis voltages; id, is, are the d-
and q-axis currents, R, is the phase winding resistance; L d ,
L,are the d- and q-axis inductance; f is the translator
speed; 1
, is the permanent magnet flux linkage; T is the
pole pitch. The developed electromagnetic thrust force is
given by
The current control of a PMLSM drive is based on a
vector control, that is, if we control idto 0 in Fig.1, the
PMLSM will be decoupled and control a PMLSM
become easy as to control a DC motor. After
simplification and considering the mechanical load, the
model of a PMLSM can be expressed in the following
equation,
(4)
where
and e, de and q a s input and output variable of fuzzy
controller, respectively. The design procedure of the
fuzzy controller is as follows:
0 Defme the linguist value are { A , ,A 2 , E ) with the
symmetrical triangular membership function:
I n

and the mechanical dynamic equation of PMLSM is where X, is input value, L(.) is output value,
d2x, dx x," and W ; are mean value and width of the
E - FL = J , -tdt2 B,
dt triangular membership function.
where Fe ,K , ,J , , B, and FL are represented with 0 Derive M fuzzy control rules as initial condition, such
the motor thrust force, force constant, inertial value, as,
damping ratio and external force, respectively. In Fig.1, IF eisAy and AeisA; THENu, isEm,m=1,2,..,M(10)
the configuration of the current loop using vector control
for PMLSM drives includes PI controller, coordinate
0 Construct the fuzzy system with u,(zl e)
kom those
transformation for Clarke, Clarke-' , Park , Park-' M rules using the singleton fuzzifier,
and SVPWM, A/D conversion, pulse signal detection of product-inference rule, and central average
the encoder etc. which are not to discuss here. defuzzifier method. Therefore, (IO) is replaced with
the following expression:
M M
2.2 Adaptive fuzzy controller in position control loop:
C c m [ n : = , 5, (x, 2: W:)I A"='
3 9 cmpm

The structure of an adaptive fuzzy controller for u,(x18)= "2 = M

PMLSM drives is depicted in the dotted line of Fig. 1,
which consists of a fuzzy controller, a reference model
and an adjusting mechanism. In Fig.1, the tracking error
and the change of the error, e , Ae are defmed as
e(k)= x,(k)-x,(k), (7)
&(k) = e(k)- e(k -I), (8)
C[rI:=,s,(.,.Y,m
,=I
CPm
m=l
those c I ,c 2,.., c y are adjustable parameters.
The gradient descent method is adopted to derive the
fuzzy control law in Fig. 1. The main purpose of
adjusting the parameters of the fuzzy controller is to
m i n i u m the square error (instantaneous cost function)
between the position of moving part of the linear motor

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and the output of the reference model. The instantaneous
cost function is defined as follows:
1 1
J(k+l)=- g(k+ly =- [xJk+I)-xp(k+$ (12)
2 2
and the parameters of c, is adjusted with,
aJ(k + 1)
Ac,(k) oc - ~
aqk)
To derive the formulation of adjusting the parameters
c, ,at first, we assume FL to be zero, and take Laplace
transformation with (4)-(6), and then
The bilinear transformation is applied and the difference
equation of PMLSM drive system can be derived as
(~-e-wJ")z-~
(15)
(1 -e-B-r"-z-')(l - 2.') '
where z-' is a back-shift operator, and T is the sampling
period. In Fig.1, the current command ii and the output
of fuzzy controlleruJ can be obtained by the following
expression
i~(k)=~(u,(k-l)+(K,+Kp)u,(k)-xp(k)+xp(R-l)) (16)
From(15)and(16), wehave
x , ( k ) = ( A + I - B k v ) x p ( k - l ) - ( l - BK,)x,(k-2)
+ Bk,u,(k - 2)+ Bk, ( K , + K,)u,(k-
with A = exp(-B,T/ J.). B = K,(1 -A)/B,.
Furthermore, according to the chain rule, the partial
differential equation of J(k +1) in (12) can be
rewritten as
where a is learning rate. From (1 I), (13), (17) and (18),
it is straightforward that the parameters c, of fuzzy
controller in (1 I ) can be derived by the following
expression.
= aSign(B)K,(K, + K,) e,(k)
cpm
Because the motor parameter B is not easy to know, the
sign(B) is employed to calculate in (19) and it is always
one due to B be positive. The sign(.) denoted the sign
operator.
3. EXPERIMENTAL SYSTEM AND RESULTS
The overall experimental system is depicted in Fig. I ,
and it includes a TMS320F2812 DSP controller. a
voltage source IGBT inverter and a PMLSM. The
PMLSM is single-axis stage with cog-free linear motor
and its stroke length is 600mm. The maximum speed and
acceleration are 4m/s and 4 g's, respectively. The
moving mass is 2.5kg, the maximum payload is 22.5kg
and the maximum thrust force is 73N at continuous
condition. A linear encoder with 5pm resolution is
mounted on the PMLSM as position sensor, and the pole
pitch is 30.5mm (about 6100 pulses). The
TMS320F2812 DSP controller in Fig.1 is used to
develop a fully digital controller for PMLSM drives,
which the current vector control scheme and intelligent
adaptive position control strategy are all realized by
(14) software in this DSP chip. In the implementation, the
PWM switching frequency of inverter is designed with
16k Hz, dead-band is l p , and the control sampling
frequency of current and position loop are chosen as
BkHz, and ZkHz, respectively. The flay chart of main
program and the intermpt service routine for digital
motor control algorithm are designed and shown in Fig.
2. The programs are coded by C language and the
computation time of DSP for executing current loop is
3 . 6 and
~ executing the adaptive fuzzy control algorithm
of position loop is 16 p.
In experiment, for testing the learning effect of the
proposed controller and choosing an adequate learning
rate a, a square wave position command with amplitude
of 5mm with no external load is applied and the tracking
results between the output of reference model and the
measured position of the moving part of PMLSM under
different learning rate of 0.05, 0.1, and 0.15 is shown in
(17)
1) Fig. 3. All cases in Fig. 3, at initial, the moving part of
PMSLM tracks the output of reference model with
oscillation, meanwhile the parameters of fuzzy controller
continuous tuning toward reducing the error between the
output of the reference model and the position of the
moving part at each control sampling interval. After one
square wave position command tracking, the parameters
of fuzzy controller are almost tuned to the adequate
value. It has also shown that a choose 0.15 is better
learning performance than a choose 0.05. Furthermore,
in order to compare the advantages between the
proposed adaptive fuzzy controller and conventional PI
controller, the same square wave with amplitude of 5mm
but 1 Hz frequency position command is used, and the
step response error between them are shown in Figs.
4(a)-4(b). It shows that after one command period
learning, in steady state, both of them all have zero error,
but in transient state, the peak of the tracking errors for
the proposed adaptive fuzzy controller is only the half of
those of the PI controller. At last, to demonstrate the
performance of the frequency response, a tested input
signal of sinusoid wave with Y2.5 mm amplitude and 5
Hz frequency value is provided. In this design, the
moving part of the PMLSM tracking the tested signal is
shown in Fig. 5(a) and the tracking errors is plotted in
Fig. 5(b). The results reveal that they have good position
tracking. Therefore, from Figs. 3-5, they demonstrate
that the use of a TMS320F2812 DSP chip to construct a
vector control and an adaptive fuzzy position controller
for PMLSM drives is effectiveness, high performance
and robustness.
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 4. CONCLUSIONS

A high performance o f PMLSM drives using a new

generation TMS320F2812 DSP chip has been presented
in this paper. In order to reach this high performance
goals, those key techniques, such as the current vector
controller, the SVPWM scheme and the adaptive fuzzy
speed controller of the PMLSM drives are all
implemented in this DSP chip. Emulation result shows
that even in the complicated operation of the proposed
control algorithm, it only spends about Z O p
computation time of DSP for executing an overall
control loop. Experimental results also demonstrate that
in step command response and fiequency command
response, the position of the moving part of PMLSM
adopting the proposed system can fast track the
prescribed dynamic response well.

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0 0.15 0.5 0.75 I 1.25 1.5 1.75 I 1.25 2.5

U Fig. 5 . (a) Tracking a 5Hz sinusoid input signal (b) Trackingemr.

Fig. 2. Flow chan of main and ISR program in DSP chip

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