After tuning all three controllers together using systune, the controller gains are:
- The speed PI controller has gains of P = 0.3609 and I = 0.1434.
- The d-axis current PI controller has gains of P = 2.7877 and I = 2676.7.
- The q-axis current PI controller has gains of P = 1.3371 and I = 881.3072.
Validate Tuned Controller
Examine the performances using the tuned controller gains. First, initialize the model to
its zero initial conditions using ctrlIniValues. Connect the PID controller blocks by
setting switch signals in the switchIniValue and set proper initial conditions for the
PMSM plant model.
switchIniValue.openLoopQ = 0;
switchIniValue.openLoopD = 0;
ctrlIniValues.currentDIC = 0;
ctrlIniValues.voltageD = 0;
ctrlIniValues.currentQIC = 0;
ctrlIniValues.voltageQ = 0;
ctrlIniValues.speedIC = 0;
ctrlIniValues.speedCurrent = 0;
pmsm.RotorVelocityInit = 0;
set_param(mdl,'LoadInitialState','off');
Configure the model to use a one-sided speed command signal and simulate the model.
Show the speed response of the model to the one-sided speed command that rises from 0
rad/s to 150 rad/s at 0.05 sec, and then to 200 rad/s at 0.8 sec. Save the simulation
result to logsout_tuned_oneside in the MAT-file, SystunedSpeed.mat.
signalbuilder(SignalBuilderPath, 'activegroup', 2);
sim(mdl);
logsout_tuned_oneside = logsout;
save('SystunedSpeed','logsout_tuned_oneside','-append')
Tune Field-Oriented Controllers Using SYSTUNE