Permanent Magnet Synchronous Motor Control Algorithm Based on Mathematical Model Considering Time Delay Link

This paper focuses on a class of control system of permanent magnet synchronous motor (PMSM) with the time delay link. Because of the delay of the inverter, the delay of the conditioning circuit, and the dead zone, there is a time delay between the input voltages of the motor and the output voltages of the controller. However, this time delay link is ignored in conventional vector control algorithms with respect to the d-q model, which inevitably leads to poor system stability and even divergence. In order to solve this problem, a novel control algorithm based on the mathematical model considering the time delay link is proposed in this paper. On one hand, the nonlinear time delay link is linearized and converted into a first-order inertial link through the Taylor series expansion method. Thus, nonlinear d-loop and q-loop are linearized. But the systems are changed into second-order systems. On the other hand, proportional-integral (PI) controllers with respect to the third-order optimum design method are designed to solve the design problem of controllers for higher-order systems than the conventionally d-q model. Experimental results show that the control algorithm proposed in this paper has good system stability with small current fluctuations, torque fluctuations, and speed fluctuations.