To design a speed control algorithm:
Create a speed controller subsystem. The
output of the speed controller subsystem is used as an input to the current
controller subsystem that you created earlier.
To create a speed controller subsystem, from the Simulink® Library Browser, select the Discrete PI Controller with
anti-windup & reset block from the
The MATLAB® function
mcb.internal.SetControllerParameters (in the model
initialization script) calculates the PI control gains for the
d-axis and q-axis current
controller and speed controller. For details regarding the control parameter
gain estimation, see Estimate Control Gains from Motor Parameters. See the
model initialization script file
mcb_pmsm_foc_qep_f28379d_data.m (used in the example
Field-Oriented Control of PMSM Using Quadrature Encoder) for the
sampling time (Ts_speed) of
Enable Data-Store Memory block to reset the
controller but this is optional.
Create a subsystem for the speed controller and add a Rate
Transition block ( from the
Attributes library) to the inputs with the sample time as
Ts_speed (execution time of the speed control
Integrate the Speed Controller subsystem with the integrated Current Controller and plant model subsystems. Connect the Iq_ref_PU output port of the Speed Controller subsystem to the Current Controller subsystem input port through a Rate Transition block as both ports execute in different sample rates. This figure shows an example of settings of the Rate Transition block connected to the Speed Controller and Current Controller subsystems.
This figure shows the integrated Speed Controller, Current Controller, and plant model subsystems.