3

1 2
1
mfazli@tafreshu.ac.ir
2
arehpanahi@tafreshu.ac.ir
3
tahami@sharif.ir

. -
[ .]2 ,1 .
.

H [ ]3
.
[ ]4 [ ]5 . .
.
.
. [ ]6
[ ]7 [ ]8 .
[ ]9 .
.
. [ ]10
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. -1
( )PMSM
.
. .
.
.
. :
.
-2



.
.
.

( )1 ( )4
.
.

. .

( ) 1
= ) ( + ()1
( ) .

i a ,b ,c 1
) = (
Va ()2
ref Position
ref Speed
T ref i qref Current V b
K Motor 1
s

motor
Controller
motor
Controller Controller V c
1
) = (
()3

:1 3
= ] ) [ + ( ()4
2

.
.
( )5 [:]11 .

=
1 .
2 3

1+
1 4
+ 2 +
16
3 +
16
4
()5



. .

.
. ()6
-3
.
()
1
= 16 2 ()6

.

1 .
( ) = 1 . ()
( )7
. .
1 .

= 1+16 2 2 3 3 4 4 ()7
+64 +256 +256
( )7 . .
.

.
.
.
3

.
.


. 2
.
.
.

1 Reference Model Controller

R
= 2 2 +27 3 3 ()10
1+9 +27

( )10 iq TL
ref Position

Speed

i ref 1
Ki
i 1
mech
1

= = 0 .
Controller Controller 1 sT oi Js s

mech
.
= 0 .
:2

.
.
-4
.

.
1 .
. .
:1 3
Parameters Values
:
311v 1
4.4A = ()8
1 + 2 + 2 + 3
P 0.5 HP 1 1
0.09 wb
)Switching Frequency(1/inv 20 kHz
Rs 8.5
.
= 0.066 H
2
= 1

Tf 100 inv .
J 0.0036 kgm2
Ki 1 K2
Toi )2(inv+Tf
x 11
R K1 KK ii 1 1
11 sT
sToioi Js s

iq

:3

= 3[ . ]11
1 2 ( )9 .

= 1 2 ()9
: 4 27
2 = 9

4 ( )10 .
.

-5 .
2 ] 12[ ISE
. .
.
. :2
. )s( )s(
.
0.601 0.412

0.412 0.241

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Current-Control Scheme for a PMSM Vector Drive With a Simple
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: 5
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2987, 2013.
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[8] S. Kuo-Kai, L. Chiu-Keng, T. Yao-Wen, and I. Y. Ding, "A newly
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magnet synchronous motor," Industrial Electronics, IEEE
Transactions on, vol. 49, pp. 558-565, 2002. .
[9] L. Faa-Jeng and S. Po-Hung, "Adaptive fuzzy-neural-network control
for a DSP-based permanent magnet linear synchronous motor servo
drive," Fuzzy Systems, IEEE Transactions on, vol. 14, pp. 481-495,
2006.
[10] S. Ji-Liang, L. Tian-Hua, and C. Yung-Chi, "Position Control of an
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Shaft Position Sensor," Industrial Electronics, IEEE Transactions
on, vol. 54, pp. 1989-2000, 2007.
.1392 , , . .] 11[
[12] S. M. Shinners, Advanced Modern Control System Theory and
Design: Wiley, 1998.

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