Documentation

Add a speed controller for PMSM motor. Speed control loop outputs Iq_ref current and this is the input for the current controller.

In the Simulink library browser, select the Discrete PI controller with anti-windup & reset block from Motor Control Blockset/Controls/Controllers library.

The MATLAB function mcb.internal.SetControllerParameters calculates the PI control gains for d and q axis current controller and speed controller. For more details on control parameter gain estimation, refer to the section Estimate Control Gains from Motor Parameters. Refer to mcb_pmsm_foc_qep_f28379d_data.m for Ts_speed (500 μs). Enable Data-store memory to reset the controller and this is optional.

Create a subsystem for speed controller and add a rate-transition block to the inputs with sample time as Ts_speed (execution time of speed control loop).

Integrate the above speed controller that you designed with the current controller and plant integrated model. Connect Iq_ref_PU output from Speed controller to the current controller input through a rate-transition block as both are executing in different sample rates. The below figure shows the settings for the Rate-Transition block connected between the speed controller and current controller.