Simulink Control Design™ - MathWorks

Define three tunable discrete-time PID blocks and their I/Os for d-axis current control, q-

axis current control, and speed control.

Cd = tunablePID('Cd','pi',4e-6);

Cd.u = 'Id_e';

Cd.y = 'Vd';

Cq = tunablePID('Cq','pi',4e-6);

Cq.u = 'Iq_e';

Cq.y = 'Vq';

Cspeed = tunablePID('Cspeed','pi',4e-6);

Cspeed.u = 'speed_e';

Cspeed.y = 'Iq_ref';

Create three summing junctions for the inner and out feedback loops.

sum_speed = sumblk('speed_e = speed_ref - speed');

sum_id = sumblk('Id_e = Id_ref - Id');

sum_iq = sumblk('Iq_e = Iq_ref - Iq');

Define inputs, outputs, and analysis points for controller tuning.

input = {'Id_ref','speed_ref'};

output = {'Id','Iq','speed'};

APs = {'Iq_ref','Vd','Vq','Id','Iq','speed'};

Finally, assemble the complete control system, ST0, using these components.

ST0 = connect(sys_singletune,Cd,Cq,Cspeed,sum_speed,sum_id,sum_iq,input,output,APs);

13 Control System Tuning Examples