International Journal of Power Electronics and Drive Systems (IJPEDS)

Vol. 13, No. 2, June 2022, pp. 835~845

ISSN: 2088-8694, DOI: 10.11591/ijpeds.v13.i2.pp835-845  835

Improving control quality of PMSM drive systems based on

adaptive fuzzy sliding control method

Tran Duc Chuyen1, Roan Van Hoa1, Hoang Dinh Co1, Tran Thi Huong1, Pham Thi Thu Ha1,
Bui Thi Hai Linh2, Tung Lam Nguyen3
1
Faculty of Electrical, University of Economics and Technology for Industries, Ha Noi, Viet Nam
2
Faculty of Electrical, Thai Nguyen University of Technology, Thai Nguyen, Viet Nam
3
Department of Industrial Automation, School of Electrical and Electronic Engineering, Hanoi University of Science and Technology,
Ha Noi, Viet Nam

Article Info ABSTRACT

Article history: In this paper, a solution to improve the precision in speed control for
permanent magnet synchronous motors (PMSM) based on fuzzy adaptive
Received Aug 11, 2021 sliding mode controller (FASMC) is proposed. In order to tackle the
Revised Mar 22, 2022 nonlinear tracking problem, continuously switching topologies are
Accepted Apr 4, 2022 embedded. The designed algorithm and the closed electric drive system
stability is examined by employing corresponding Lyapunov candidate
functions. The results are numerically simulated and experimentally verified
Keywords: in the environment of MATLAB-Simulink, control Desk with dSPACE 1104
card, proving the applicability of the control algorithm which not only works
Card dSPACE 1104 well in simulations but also in practice for possible industrial traction drive
Fuzzy adaptive sliding control applications.
Intelligent control
Nonlinear control
Position control This is an open access article under the CC BY-SA license.

Corresponding Author:
Tung Lam Nguyen
Department of Industrial Automation, School of Electrical and Electronic Engineering
Hanoi University of Science and Technology
Ha Noi, Viet Nam
Email: [email protected]

1. INTRODUCTION
For decades, permanent magnet synchronous motors (PMSM) are widely used in industrial
applications. The drive provide high-quality speed adjustment applications such as electric vehicles, precise
position control such as industrial robots, industrial machining machines, traction drive systems, military
radar system, and rocket control systems. In addition, PMSM can be found in medication manufacturing,
such as pill-packing machine in the pharmaceutical industry, equipment and machinery for supporting
surgical operations in the field of medicine, due to its outstanding characteristics (wide and regularly stable
working speed range: from very low speed to high speed, with a large moment/current ratio, less interference,
stability with load, high performance, very high precision in position control). These PMSM motors are
intended to replace the previous drive control systems (which have been using DC motors, causing errors at
all times during speed control and position control), [1], [2]. In order to apply these given issues, an
intelligent controller – fuzzy adaptive sliding mode controller (FASMC); is an efficient control method that
has been widely applied to control for both linear and nonlinear systems [2]-[7].
In applications to precise control systems with various operating speed ranges such as traction
systems in pharmaceutical industry (pill-packing machine); and strict requirement in metalworking industry,
and in traction systems of military weapons, [5], [6], [8]-[10]. However, there exist some problems need to be

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836  ISSN: 2088-8694

solved to improve the quality of control. In [4], [6] and [11]-[13], the authors have only recommended fuzzy
control methods for PMSM without considering system uncertainties and external disturbances. In [14]-[17]
the authors have used adaptive sliding controller and adaptive backstepping controller, with evaluation of the
nonlinear component base on the estimators with light power motors hence limiting its practical
implementation with high power requirements. This paper have proposed the FASMC to handle mismatched
uncertainties and disturbances and alleviate chattering to gain good performances in the close-loop
system [18]-[23].
The appropriate structure is designed in the paper to ensure quality in the controlled system. The
control is constructed for achieving tracking response of drive systems. In electrical drives, it is necessary to
provide quality criteria such as: fast-acting in the control process, ensuring optimization of control law, non-
sensitivity to uncertainties in the control process, [1], [15]. This is a multi-objective optimization control
problem with various solutions [1], [5], [9], [13], [21]. This paper presents a technique to improve the control
quality PMSM in industrial applications; taking into account the nonlinear uncertainty, the dynamics of the
actuator and the converters based on the adaptive fuzzy sliding control method, and experimenting with the
dSPACE 1104 card to demonstrate the results, [3], [5], [8], [15], [24].

2. MATHEMATICAL MODEL OF PERMANENT MAGNET SYNCHRONOUS MOTORS

The mathematical model of the three-phase PMSM is described as in [4]. By considering the rotor
coordinates of PMSM as the reference coordinates, the systems dynamic is represented by (1) [4], [8], [10]:
𝜔̇ = 𝑘1 𝑖𝑞 − 𝑘2 𝜔 − 𝑘3 𝑀𝐿
{𝑖̇𝑞 = −𝑘4 𝑖𝑞 − 𝑘5 𝜔 + 𝑘6 𝑉𝑞 − 𝜔𝑖𝑑 (1)
𝑖̇𝑑 = −𝑘4 𝑖𝑑 + 𝑘6 𝑉𝑑 + 𝜔𝑖𝑞

where ML is the load torque, ω is the rotor angular speed, iq and id are linearized d-axis and q-axis stator
currents, Vq is q-axis voltage, Rs is stator resistance, Vd is d-axis voltage, and ki, i = 1….6 are obtained as (2)-(6):
3 1 𝑝2 𝐵 𝑝 𝑅𝑠 𝜆𝑚 1
𝑘1 = 𝜆𝑚 , 𝑘 2 = , 𝑘 3 = , 𝑘4 = , 𝑘5 = , 𝑘6 = (2)
2𝐽 4 𝐽 2𝐽 𝐿𝑠 𝐿𝑠 𝐿𝑠

𝑉𝑞 = 𝑅𝑠 𝑖𝑞 + 𝐿𝑞 𝑖̇𝑞 + 𝜔𝐿𝑑 𝑖𝑑 + 𝜔𝜆𝑚 (3)

𝑉𝑑 = 𝑅𝑠 𝑖𝑑 + 𝐿𝑑 𝑖̇𝑑 − 𝜔𝐿𝑠 𝑖𝑞 (4)

3𝑝
𝑀𝑒 = [𝜆𝑚 𝑖𝑞 + (𝐿𝑑 − 𝐿𝑞 )𝑖𝑑 𝑖𝑞 ] (5)
22

2 2
𝑀𝑒 = 𝑀𝐿 + 𝐵 𝜔 + 𝐽 𝜔̇ (6)
𝑝 𝑝

where Me is electromagnetic moment, p is number of pole pairs, Rs is stator resistance, Ld is the d-axis stator
inductance and Lq is the q-axis stator inductance, Ls is stator inductance, J is rotor moment of inertia, B is
viscous friction coefficient, is λm linkage magnetic flux and  =  ; Hence, a nonlinear control loop of
linearization methodology is used to estimate the  , the rotor speed  which are the unmeasured
components of the motor. Furthermore, the presentation of the d-q reference axis coordinate system of the
motor can be obtained as (7) and (8) [4].
𝐿𝑚 𝐿𝑚
𝑅𝑠 + 𝜎𝐿𝑠 𝑝 −𝜎𝐿𝑠 𝜔𝑒 𝑝 − 𝜔𝑒
𝐿𝑟 𝐿𝑟
𝑣𝑑𝑒 𝐿𝑚 𝐿𝑚
𝑖𝑑𝑒
𝜎𝐿𝑠 𝜔𝑒 𝑅𝑠 + 𝜎𝐿𝑠 𝑝 𝜔𝑒 𝑝 𝑖𝑞𝑒
𝑣𝑒 𝐿𝑟 𝐿𝑟
[ 𝑞] = (7)
0 −𝐿𝑚
𝑅𝑟
0
𝑅𝑟
+𝑝 −𝜔𝑠𝑙 𝜙𝑑𝑒
𝐿𝑟 𝐿𝑟
0 𝑅𝑟 𝑅𝑟 [𝜙𝑞𝑒 ]
[ 0 −𝐿𝑚 𝜔𝑠𝑙 +𝑝 ]
𝐿𝑟 𝐿𝑟

3 𝑛 𝐿𝑚
𝑀𝑒 = (𝑖𝑞𝑒 𝜙𝑑𝑒 − 𝑖𝑑𝑒 𝜙𝑑𝑒 ) (8)
2 2 𝐿𝑟

In the field oriented control (FOC) method, the magnetic flux is oriented completely along d-axis implying
qe = 0 and we get:

Int J Pow Elec & Dri Syst, Vol. 13, No. 2, June 2022: 835-845
Int J Pow Elec & Dri Syst ISSN: 2088-8694  837

𝜙𝑟𝑒 = 𝜙𝑑𝑒 (9)

then the slip speed is represented as (10).

𝐿𝑚 𝑅𝑟
𝜔𝑠𝑙 = ( ) 𝑖𝑞𝑒 (10)
𝜙𝑟𝑒 𝐿𝑟

The electromagnetic torque is obtained as in (11):

3 𝑛 𝐿2𝑚 ∗ ∗
𝑀𝑒 = 𝑖 𝑖 = 𝐾𝑡 𝑖𝑞∗ (11)
2 2 𝐿𝑟 𝑞 𝑑

in which:

3 𝑛 𝐿2𝑚 ∗
𝐾𝑡 = 𝑖 (12)
2 2 𝐿𝑟 𝑑

the mathematical equation describing the equations of motion of the motor is written as (13):

𝐽𝜔̇ 𝑟 (𝑡) + 𝐵𝜔𝑟 (𝑡) = 𝑀𝑒 + 𝑀𝐿 (13)

where Jr is rotor moment of inertia, B is viscous friction coefficient, ML is load moment, by replacing (11)
and (12) into (13), derivative of rotor speed r (t ) is given as (14):

𝐵 𝐾𝑡 *e 𝑀𝐿
𝜔̇ 𝑟 (𝑡) = − 𝜔𝑟 (𝑡) + 𝑖 − = 𝐵𝑝 𝜔𝑟 + 𝐴𝑝 𝑖𝑞*e + 𝐷𝑝 𝑀𝐿 (14)
𝐽𝑟 𝐽 𝑞
𝑟 𝐽𝑟

in which, 𝐵𝑝 = −𝐵/𝐽𝑟 < 0; 𝐴𝑝 = 𝐾𝑡 /𝐽𝑟 > 0; 𝐷𝑝 = −1/𝐽𝑟 < 0. In order to obtain a mathematical model that
is suitable for control design, the nominal value of the motor parameters must is considered when ignoring
influencing factors of nonlinear components and unaffected by any disturbances [13], [14], [17], [19].
Therefore, the kinematic model of the PMSM that given by (14) becomes (15):

𝜔̇ 𝑟 (𝑡) = 𝐵̄ 𝜔𝑟 (𝑡) + 𝐴̄𝑖𝑞*e (15)

where, 𝐴̄ = 𝐾̄𝑡 /𝐽̄𝑟 and 𝐵̄ = −𝐵̄ /𝐽𝑟 are the nominal values of Ap and Bp, respectively. Therefore, the
computations of unmodeled system in the (14) can be rewritten as:

𝜔̇ 𝑟 (𝑡) = (𝐵̄ + 𝛥𝐵)𝜔𝑟 (𝑡) + (𝐴̄ + 𝛥𝐴)𝑖𝑞*e + 𝐷𝑝 𝑀𝐿 + 𝛿 = 𝐵̄ 𝜔𝑟 (𝑡) + 𝐴̄𝑖𝑞*e + 𝐿(𝑡) (16)

where, 𝐿(𝑡) = 𝛥𝐵𝜔𝑟 (𝑡) + 𝐴𝑖𝑞*e + 𝐷𝑝 𝑀𝐿 + 𝛿. In (16), the unknown parameters are represented by ΔA and
ΔB; characteristics for the system containing the uncertainty components including the variable parameter
and the nonlinear estimation error which are unmeasurable components. In addition, these parameters are the
unchangeable depend on the dynamics of the system, so in order to simplify the analysis, calculation and
estimation of parameters in the paper, the above parameters are assumed to be constant and is denoted as  .
In the above question, L(t) is the unknown components satisfying |𝐿(𝑡)| < 𝑚, where m is a positive constant.

3. FUZZY ADAPTIVE SLIDING MODE CONTROLLER DESIGN

3.1. Conventional sliding mode controller
Sliding mode control offers many advantages in the synthesis of nonlinear control system [5], [8],
[12], due to invariance to disturbances on the system and unknown components; the order of the system is
decreased when the the system in on the sliding surface. We consider the change of speed adjustment error,
𝑒(𝑡) = 𝜔𝑟 (𝑡) − 𝜔𝑟∗ (𝑡), thus, in the sliding mode with the space state, S(t) can be obtained as:

𝑆(𝑡) = ℎ(𝐶𝑒(𝑡) + 𝑒̇ (𝑡)) (17)

in which, C and h are positive constants, substituting (16) into (17), with the first derivative of S(t) taking the
following form:

𝑆̇(𝑡) = ℎ(𝐶𝑒̇ (𝑡) + 𝐵̄ 𝜔̇ 𝑟 (𝑡) + 𝐴̄𝑢(𝑡) + 𝐿̇(𝑡) − 𝜔̈ 𝑟∗ (𝑡)) (18)

Improving control quality of PMSM drive systems based on adaptive fuzzy sliding … (Tran Duc Chuyen)
838  ISSN: 2088-8694

in which, 𝑢(𝑡) = 𝑖̇𝑒𝑞 (𝑡). Setting, 𝑆̇(𝑡) = 0 and 𝐿̇(𝑡) = 0, then according to the system dynamics, the
equivalent control is defined as, [1, 4, 5, 9, 20].

𝑢𝑒𝑞 (𝑡) = −(𝐴̄)−1 [(𝐶 + 𝐵̄ )𝑒̇ (𝑡) + 𝐵̄ 𝜔̇ 𝑟∗ (𝑡) − 𝜔̈ 𝑟∗ (𝑡)] (19)

Then the reaching law ur (t ) is designed as:

𝑢𝑟 (𝑡) = −(𝐴̄ℎ)−1 𝑘(𝑡)𝑠𝑖𝑔𝑛(𝑆(𝑡)) (20)

in which, 𝑘(𝑡) > 0 and the “sign” function are defined as follows:

1, 𝑖𝑓𝑆(𝑡) > 0
𝑠𝑖𝑔𝑛(𝑆(𝑡)) = { (21)
−1, 𝑖𝑓𝑆(𝑡) < 0

The controller is achieved when considering the unmodeled actuator dynamics, which can be defined as following:

𝑢(𝑡) = 𝑢𝑒𝑞 (𝑡) + 𝑢𝑟 (𝑡) (22)

1 𝑡
𝑖𝑞 = ∫0 𝑢(𝑡)𝑑𝑡 (23)
𝜏

in which,  is the integral positive constant. According to the designed control, a control Lyapunov function
(CLF) candidate is chosen in (24):
1
𝑉(𝑡) = 𝑆 2 (𝑡) (24)
2

the stability condition showing the stability can be obtained from the stability theorem of the Lyapunov
function of [1], [5], [8].

𝑉̇ (𝑡) = 𝑆(𝑡). 𝑆̇(𝑡) ≤ 𝜂|𝑆(𝑡)| (25)

Where  is a positive constant. From (18), (19) and (22), (25), it can be rewritten as:

𝑉̇ (𝑡) = 𝑆(𝑡). 𝑆̇(𝑡) = −𝑆(𝑡)ℎ𝐴̄𝑢𝑟 (𝑡) + ℎ𝑆(𝑡)𝐿̇(𝑡)

𝑉̇ (𝑡) ≤ −𝑘|𝑆(𝑡)| + ℎ|𝑆(𝑡)||𝐿̇(𝑡)| ⇒ 𝑉̇ (𝑡) ≤ −|𝑆(𝑡)|(𝑘(𝑡) − ℎ𝑚) (26)

compare (25) and (26) then consider |𝐿̇(𝑡)| < 𝑚, the stability of the system is guaranteed if the following
equation is fullfiled:

𝑘(𝑡) ≥ ℎ𝑚 + 𝜂 (27)

In practical applications, we may experience undesirable phenomenon of oscillations especially when

 is large recpectly. The chattering phenomenon can be reduced by replacing the discontinuous function with a
continuous function of approx 𝑠/(|𝑠| + 𝜇), in which,  is a positive constant. Thus, when 𝜇 → 0 the
approximate controller characteristic which is approached to the original controller as well [5], [14].
A nonlinear state observer to accurately estimate the position and speed of the motor with the influence of
unmeasured component parameters in both low and high-speed regions control is used in the paper. The
design procedure of the nonlinear state observer has been carefully presented in [21]. This nonlinear state
observer is used to estimate the rotor position (θ), rotor speed (ω), load torque component (ML) and
unmeasured component of the system (d1, d2), [25], [26].

3.2. Fuzzy adaptive sliding mode controller

In this paper, we investigated the fuzzy adaptive sliding mode controller for the disturbance
observer control tracking approach of the PMSM driven system. In field-oriented control (FOC), stator field
is continuously updated based on the position of the rotor field, since position and speed of the motor are
estimated based on current and voltage information. thus, a nonlinear state estimator which is estimated
accurately of the rotor is implemented as well. The block diagram of the FASMC system is shown in the
Figure 1, which in speed loop control, the stator current 𝑖𝑞∗𝑒 represents its output. The independent control
of Ids and Iqs consistst of two PI regulators. In the present implementation, the rotor position measurement is

Int J Pow Elec & Dri Syst, Vol. 13, No. 2, June 2022: 835-845
Int J Pow Elec & Dri Syst ISSN: 2088-8694  839

derived from an angle sensor. Chattering can be eliminated by smoothing the control discontinuity when the
signum function in (20) is replaced by the saturation action which is represented as:

𝑆
𝑠𝑖𝑔𝑛(𝑆),when|𝑆| > |𝜓|
𝑠𝑎𝑡 ( ) = { 𝑆 (28)
𝜓 ,when |𝑆| ≤ |𝜓|
𝜓

in which,  is the thickness of layer of the sliding surface. Thus, the discontinuous component control is
given by (20) becomes (29).

𝑢𝑟 (𝑡) = −(𝐴̄ℎ)−1 𝑘(𝑡)𝑠𝑎𝑡(𝑆(𝑡)/𝜓) (29)

to deals with the unknown of the motor mechanical load, fuzzy control strategy is an effective tool to deal
with the unknown process. The control variable 𝑢 𝑇𝑀𝑇𝑁 of FASMC algorithm is proposed as (30).

𝑢 𝑇𝑀𝑇𝑁 = 𝑇𝑀𝑇𝑁(𝑆(𝑡), 𝛥𝑆(𝑡)) (30)

Subsequently the reaching law and control law are defined as (31) and (32).

𝑢𝑟 (𝑡) = −(𝐴̄ℎ)−1 𝑘(𝑡)𝑢 𝑇𝑀𝑇𝑁 (31)

𝑢(𝑡) = 𝑢𝑒𝑞 − (𝐴̄ℎ)−1 𝑘(𝑡)𝑢 𝑇𝑀𝑇𝑁 (32)

Power
supply VDC

*
r + e(t) Fuzzy adaptive iq*e vq* Ta+ , Ta−
+ v*
sliding control PI d, q PWM T + , T − Inverter
rule generator - b b
r
- v* vector power
+ vd* space Tc+ , Tc− module
PI , 
k̂ iq id -
id*e
r
id ia
d, q i ,  Measurement
i ib
,  a, b, c
Measurement
iq
Nonlinear
Estimator
PMSM

d r Postition
sensor
dt

Figure 1. Block diagram of control structure of the drive system using PMSM based on FASMC

Because the plant is lack of an integral action, a PI type fuzzy controller is formulated. Additionally,
refer to [8], [14], we can build the structure of the FASMC which is shown in the Figure 1. The fuzzy
controller consists of: two input linguistic variables which are error S(t), and the error derivative ∆S(t); one
output linguistic variable UTMTN. The FASMC structure is depicted in Figure 2 and the fuzzy rule is presented as
in Table 1. Inputs and output relationship of the fuzzy controller is as shown in Figures 3-5 and Figure 6 the
relationship of the fuzzy controller. Tt is pivotal to minimize L(t) which is given in (26). In order to estimate
k(t) given in (30) we using the corresponding adaptation law presented in (33) [8].

𝑘̇ (𝑡) = 𝜆𝑘 |𝑆(𝑡)| (33)

In which, k is a positive constant. In fact, k(t) is as an adaptive filter to minimize control errors.

𝑘̇ (𝑡) = 𝜆𝑘 |𝑆(𝑡)| (33)

Consider the following Lyapunov candidate function:

1 1
𝑉(𝑡) = 𝑆(𝑡)2 + (𝑘(𝑡) − 𝑘̂ )2 (34)
2 2𝜆𝑘

Improving control quality of PMSM drive systems based on adaptive fuzzy sliding … (Tran Duc Chuyen)
840  ISSN: 2088-8694

substitute (18) and (34) for (25) to get |𝑆(𝑡)| < 𝜓(𝑡) as (35).

1
𝑉̇ (𝑡) = 𝑆(𝑡)ℎ(𝐴̄𝑢𝑟 (𝑡) + 𝐿̇(𝑡)) + (𝑘(𝑡) − 𝑘̂ )𝑘̇ (𝑡) = 𝑆(𝑡)ℎ(−𝐴̄𝑘(𝑡)(ℎ𝐴̄)−1 𝑠𝑔𝑛( 𝑆) + 𝐿̇(𝑡)) +
𝜆𝑘
1 1
+ (𝑘(𝑡) − 𝑘̂ )𝑘̇(𝑡) = −𝑆(𝑡)𝑘(𝑡) 𝑠𝑔𝑛( 𝑆) + ℎ𝑆(𝑡)𝐿̇(𝑡) + (𝑘(𝑡) − 𝑘̂)𝑘̇(𝑡). (35)
𝜆𝑘 𝜆𝑘

Substitute (33) for (35) and alter (25), we get (36).

𝑉̇ (𝑡) ≤ |𝑘(𝑡) − 𝑘̂ − 𝑘̂||𝑆(𝑡)| + ℎ|𝐿̇(𝑡)||𝑆(𝑡)| + |𝑘(𝑡) − 𝑘̂||𝑆(𝑡)|

< −|𝑘(𝑡) − 𝑘̂ ||𝑆(𝑡)| − 𝑘̂|𝑆(𝑡)| + ℎ𝑚|𝑆(𝑡)| + |𝑘(𝑡) − 𝑘̂ ||𝑆(𝑡)| < (−𝑘̂ + ℎ𝑚)|𝑆(𝑡)| (36)

Compare (25) and (36), we get (37).

𝑉̇ (𝑡) < (−𝑘̂ + ℎ𝑚)|𝑆(𝑡)| ≤ 𝜂|𝑆(𝑡)| (37)

Table 1. The rule base of fuzzy controller

S(t)
uTMTN
AL AV K DV DL
∆S(t) GN AL AN AV K DV
GV AL AV AV K DV
H AL AV K DV DL
TV AV K DV DV DL
TN AV K DV DL DL

Figure 2. Fuzzy controller structure Figure 3. Membership function of fuzzy controller

input S(t)

Figure 4. Membership function of fuzzy controller Figure 5. Membership function of fuzzy controller
input ∆S(t) output uTMTN

ˆ
Therefore, the component k can be selected such that −𝑘̂ + 𝑚ℎ + 𝜂 is negative. It is straight
forward to have −𝑘̂ ≥ +𝑚ℎ + 𝜂. In this paper, by applying the proposed adaptive fuzzy sliding controller
along with the designed fuzzy rules and the mentioned conditions, the system stability condition in (25) is
satisfied. In practical, the factors of frictional moment, elasticity, and clearance. always exist in the electro-
mechanical drive system including motor and working structure. By using the proposed FASMC, the effects
of the nonlinear factors on the quality of the drive system have been resolved [14]-[16].

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Int J Pow Elec & Dri Syst ISSN: 2088-8694  841

Parameters Vp, VI are chosen based on Zeigler - Nichols experimental method. After choosing
parameters Vp, VI, we can calculate parameters Vp and d. However, due to experimental method, in order to
improve control quality: short transient time and small overshoot since two parameters Vp and d need to be
adjusted furtherly. Parameters is set: VP=0.01; d=0.99 (with T=0.002). The quality of the PI controller after
calculating the selection, we obtain: KP=0.3; KI=0.0001. The PID-controller design process is considered
in [1], [14], [17], [18], [19].

Figure 6. The relationship of the fuzzy controller

4. SIMULATION AND EXPERIMENTAL RESULTS

The Simulation and experimental results of FASMC are shown as following. The parameters of
PMSM parameters are: Power P=2.1 kW; rated speed 3000 rpm; voltage U=315 V; rated current I=4.4 A;
number of poles 2p=8; static torque M0=8.0 Nm; Rated torque Mdm=6.8 Nm; coefficient of viscous friction
B=0.0001 N.m.s/rad; moment of inertia J=14200 kgcm²; maximum speed 6000 rpm; Simulation results is
presented in the following cases.
- Case 1: Simulation of evaluation the system’s working ability when the speed changes with amplitude of
1000 rpm to-1000 rpm, the load moment changes in sinusoidal form, the load torque is 0.5 Nm which
shows in Figure 7 to Figure 10. Where M is the loading torque, M (Obs) is the observed torque.
- Case 2: The motor speed with amplitude of 50 rpm and 0.5 rpm is examined to test the system ability in
low speed range. The responses are shown in Figure 11 to Figure 14.
- Case 3: The system's response when when reference position is set according Xv=Vt, (V=1rad/s) constant
load moment Mc=0,5Nm that shown in Figure 15 and Figure 16.

1500
wd M
1000 w M (Obs)
Speed (r/m)

500

-500

-1000

-1500
0 0.2 0.4 0.6 0.8 1
Time (s)

Figure 7. Response speed ωd and actual speed ω of Figure 8. Response torque and estimated torque in
motor in case 1 case 1

6 15
4 10
2 5
isd (A)
isq (A)

0 0

-2 -5

-4 -10

-6 -15
0 0.2 0.4 0.6 0.8 1 0 0.2 0.4 0.6 0.8 1
Time (s) Time (s)

Figure 9. Current response iq in Case 1 Figure 10. Current response id in case 1

Improving control quality of PMSM drive systems based on adaptive fuzzy sliding … (Tran Duc Chuyen)
842  ISSN: 2088-8694

250 2

200 1.5

Speed (r/m)
Speed (r/m) 150 1
100 0.5
50 0
0 -0.5
0 0.2 0.4 0.6 0.8 1 0 0.2 0.4 0.6 0.8 1
Time (s) Time (s)

Figure 11. Response speed ωd and actual speed ω of Figure 12. Response set speed ωd and actual speed ω
motor in case 2 of the working mechanism case 2

3
2
1
isq (A)

0
-1
-2
-3
0 0.2 0.4 0.6 0.8 1
Time (s)

Figure 13. Current response iq in case 2 Figure 14. Response torque and estimated
torque in case 2

1.5

1
Torque (Nm)
Goc (rad)

0.5
Xr
Xv
0

-0.5
0 0.2 0.4 0.6 0.8 1
Time (s)

Figure 15. Controller input/output response in Figure 16. Controller input/output response in torque
radian in case 3 in case 3

The simulation results of some cases shows that the FASMC is proposed with the sustainability,
stability of the control law against the effects of unknown parameters which will change the transition time,
increase the fast response of the system. Moreover, in the transient mode, the application of proposed
controller given a good performance response as well.
The experimental structure diagram as shown in Figure 17(a) and the experimental system in real
time is depicted in Figure 17(b) with its designed, built and simulated on MATLAB Simulink’s 2021 and
connected to the control board dSPACE 1104 with a combination of graphical control desk software in
controlling; observe system characteristics in real time. Combined with power electronics, and current
measurement sensors connected to the dSPACE panel. The PMSM motor parameters used in the experiment
are the same as those used in simulations, encoder AM 2048 S/R, DC motor used to generate loads, symbol
DOLIN - SH.198V with voltage U=190 V, I=13.5A, n=175 rpm.
Studying the process of changing low speed from 50 rad/s (478 rpm) to -50 rad/s (-478 rpm, timing
the conversion is 2.5s in the total response time of 5s, Figure 18. The results show that the FASMC controller
response is working well, the output is close to the input in the balance process, the current response value I d
and Iq in Figure 19 shows the correct working process of the system.

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Int J Pow Elec & Dri Syst ISSN: 2088-8694  843

Controlled
load torque

M c1
Power
converter
dSPACE
1 1104
Brake control Host computer
Protective ground
Transformer PMSM card

Controller
algorithm for
PMSM
Oscilloscope for
measuring
Matlab

Measurement
and Encoder

Simulink 2021

Control
Desk
Variable
power PMSM as the DC motor to
supply electrical drive generate load
Slave I/O under study
ADC
PC PWM
ADC1
PCI and Bus Encoder
PC and INCT
Card dSPACE 1104
DAC

dSPACE 1104 connector Panel

(a) (b)

Figure 17. The overall system in experimental: (a) control diagrams and (b) the experimental system

100 15
12.5
ωd 10
50 7.5
Speed (rad/s)

5
ω 2.5
Id, Iq (A)

0 0
-2.5
-50 -5
-7.5
-10
-100 -12.5
ωd 0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5 Id
-15
ω Time (s) 0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
Iq Time (s)

Figure 18. The experimental response by Figure 19. The experimental results with current values
changing speed from 50 rad/s to -50 rad/s speed Id and Iq

5. CONCLUSION
The traction drive system in industry applications needs very high reliability and accuracy. The
paper presented a new approach, researched and built an adaptive FASMC for industrial traction drive
systems. The main effectiveness of this method is that the robustness of the system is introduced. The second
advantage of the proposed FASMC is that the chattering phenomenon is significally reduced. Theoretical
research and simulation results show that the proposed FASMC algorithm for PMSM which achieves good
quality and more stable operation. The results of simulation and experimental studies with the dSPACE 1104
card show that the above control algorithm exhibits good dynamical responses when compared to other
works. This study has proven the correctness of the FASMC algorithm which has ability to apply in practice
to the traction electric drive systems.

ACKNOWLEDGEMENTS
This research was supported by Faculty of Electrical Engineering, University of Economics-
Technology for Industries, Viet Nam.

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BIOGRAPHIES OF AUTHORS

Tran Duc Chuyen received the Ph.D degree in Industrial Automation from Le
Qui Don Technical University (MTA), Hanoi, Vietnam in 2016. Now, works at Faculty of
Electrical Engineering, University of Economics - Technology for Industries. He is currently
the President of Council the Science of Faculty of Electrical Engineering. Dr Tran Duc
Chuyen′s main researches: Electric machine, drive system, control theory, power electronics
and application, adaptive control, neural network control, automatic robot control, motion
control, artificial intelligence. He can be contacted at email: [email protected].

Roan Van Hoa Graduated Engineering Degree major in Electronic Engineering

at Thai Nguyen University of Technology in 2008. Defensed Master Degree in Control
Engineering and Automation at Thai Nguyen university of technology, Vietnam in 2011. Now,
works at Department of Electrical Engineering, University of Economics - Technology for
Industries. The main researches: Adaptive control, fuzzy logic control, neural network control,
artificial intelligence. He can be contacted at email: [email protected].

Int J Pow Elec & Dri Syst, Vol. 13, No. 2, June 2022: 835-845
Int J Pow Elec & Dri Syst ISSN: 2088-8694  845

Hoang Dinh Co was born in Nam Dinh. He graduated as an Engineer in

Automation at Thai Nguyen University of Technology and Industry in 2002. He graduated
with a Master of Science in Control and Automation from Hanoi University of Science and
Technology, Vietnam in 2013. Since 2000, he is a lecturer at the Faculty of Electrical
Engineering, University of Economics - Industrial Technology; Ministry of Industry and
Commerce Vietnam. Main research direction: intelligent control, fuzzy control and neural
network. He can be contacted at email: [email protected].

Tran Thi Huong was born in Nam Dinh. She graduated in Electronic
Engineering from Le Quy Don University of Technology, Hanoi, Vietnam in 2009. Currently
working at the Faculty of Electronics, University of Economics-Industrial Technology. Tran
Thi Huong’s Main Research: electronic engineering, telecommunications engineering,
information technology, automated robots, artificial intelligence, control applications, neron
control networks. She can be contacted at email: [email protected].

Pham Thi Thu Ha was born in Nam Dinh. She graduated with a master's degree
in Electronic Education from the University of Technology, Hanoi, Vietnam in 2010.
Currently working at the Faculty of Electronics, University of Economics-Industrial
Technology. Pham Thi Thu Ha’s main research: Electronic engineering, Electronics applied in
industry, wireless sensor network, internet of things (IoT), telecommunications network. She
can be contacted at email: [email protected].

Bui Thi Hai Linh was born in Thai Nguyen city, Vietnam. She graduated with a
master's degree in Electrical Engineering from the Southern Taiwan University of Science and
Technology, Taiwan in 2011 and doctoral’s degree in the same school in 2015. Currently she
working at the Faculty of Electrical Engineering, Thai Nguyen University of Technology, Thai
Nguyen, Vietnam. Ph.D Bui Thi Hai Linh main researches: control engineering and
automation, robotics, PLC in Industry, application of FPGA. She can be contacted at email:
[email protected].

Tung Lam Nguyen received the B.S degree in Control and Automation
Engineering from Hanoi University of Science and Technology, Hanoi, Vietnam, 2005, the
M.S degree from Asian Institute of Technology, 2007, and the Ph.D from The University of
Western Australia, 2014. He is current working as a lecturer at Department of Industrial
Automation, School of Electrical Engineering, Hanoi University of Science and Technology.
He is currently appointed as an Associate Professor in Control Engineering and Automation at
Hanoi University of Science and Technology. His research interests include motion control,
control system and its applications, artificial intelligence. He can be contacted at email:
[email protected].

Improving control quality of PMSM drive systems based on adaptive fuzzy sliding … (Tran Duc Chuyen)