Vector Control

Design motor control algorithms using vector control techniques like Field-Oriented Control (FOC) and Direct Torque Control (DTC)

Field-Oriented Control (FOC), helps you achieve high-performance dynamics in both Permanent Magnet Synchronous Motors (PMSM) and Induction Motors. The fundamental principle of FOC is the decoupling of stator current vectors into two orthogonal components: one for magnetic flux and the other for torque production. This decoupling is facilitated by mathematical abstractions known as the Clarke and Park transformations. First, the Clarke transformation converts the three-phase stationary current signals into a two-phase stationary alpha-beta frame. Subsequently, the Park transformation rotates these stationary vectors into a synchronous d-q frame that rotates in alignment with the rotor's magnetic field. By converting complex AC waveforms into DC-like quantities, FOC allows for the independent and precise control of torque and flux.

The Simulink model that you create using Motor Control Blockset can be used to integrate the power inverter, the motor’s mathematical representation, and the FOC algorithm consisting of nested Proportional-Integral (PI) control loops. You can simulate FOC for both PMSM and Induction Motors by adjusting the machine block parameters and the specific flux estimation logic required for each motor type.

Motor Control Blockset also supports Direct torque control (DTC), which is a vector motor control technique that implements motor speed control by directly controlling the flux and torque of the motor. Unlike field-oriented control (FOC) that controls d- and q-axis motor currents, the DTC algorithm estimates the torque and flux values from the motor position and currents. Then it uses PI controllers to control the motor torque and flux to eventually generate the optimum voltages that run the motor.

Note

The blocks listed here are compliant with the MISRA C™ guidelines.

Functions

`mcb.PMSMCharacteristics`	Compute and plot PMSM drive characteristics and constraint curves (Since R2022b)
`mcb.ACIMCharacteristics`	Compute and plot ACIM characteristic curves (Since R2022a)
`mcb.getPIControllerParameters`	Compute gains for PI controller in field-oriented control
`mcb.calcFOCGains`	Compute gains and transfer functions for PI controller in field-oriented control of PMSM (Since R2025a)
`mcb.getMotorControlAnalysis`	Frequency-domain analysis plots for PI controller of field-oriented control

Blocks

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Controls

Controllers

Field Oriented Control Autotuner	Automatically and sequentially tune multiple PID control loops in field-oriented control application
FOC Default Controller Gains	Compute controller gains for the FOC based algorithms at run time based on empirical method or optimum theory (Since R2023b)
Field-Oriented Current Controller	Implement current control for three-phase motors using field-oriented control (FOC) technique (Since R2023b)
MTPA Control Reference	Compute reference currents for maximum torque per ampere (MTPA) and field-weakening operation

Control Reference

ACIM Control Reference	Compute reference currents for field-oriented control of induction motor
ACIM Feed Forward Control	Decouple d-axis and q-axis current to eliminate disturbance
ACIM Slip Speed Estimator	Calculate slip speed of AC induction motor
ACIM Torque Estimator	Estimate electromechanical torque and power
PMSM FeedForward Control	Decouple d-axis and q-axis current to eliminate disturbance
PMSM Torque Estimator	Estimate electromechanical torque and power
Position Generator	Generate position ramp of fixed frequency
Vector Control Reference	Compute d and q axis components of reference vector
SRM Commutation	Generate switching sequences for n-phase switched reluctance motor (SRM) (Since R2022b)
SynRM FeedForward Control	Decouple d-axis and q-axis current to eliminate disturbance (Since R2024a)
SynRM Torque Estimator	Estimate electromechanical torque and power (Since R2024a)

Math Transforms

3-Phase Sine Voltage Generator	Generate balanced three-phase sinusoidal signals
atan2	Compute four-quadrant arctangent
Clarke Transform	Implement ab to αβ transformation
Inverse Clarke Transform	Implement αβ to abc transformation
Inverse Park Transform	Implement dq to αβ transformation
Park Transform	Implement αβ to dq transformation
SinCos Embedded Optimized	Implement sine and cosine functions (Since R2024b)
PWM Reference Generator	Generate modulation signals, duty cycles, and phase voltages from reference voltages based on modulation method
6-Phase VSD Transform	Compute vector space decomposition (VSD) based transformation on six-phase inputs (Since R2024b)
6-Phase Inverse VSD Transform	Compute vector space decomposition (VSD) based inverse transformation on orthogonal inputs (Since R2024b)
Phase Current Extractor for Single Shunt FOC	Transform DC shunt currents into phase currents for single shunt FOC (Since R2026a)
PWM Phase Shift for Single Shunt FOC	Add phase shift in three-phase PWM pulses for single-shunt FOC (Since R2026a)

Protection and Diagnostics

Protection Relay	Implement protection relay with definite minimum time (DMT) trip characteristics
Host Serial Receive	Configure host-side serial communications interface to receive data from serial port
Host Serial Setup	Configure communication ports used by Host Serial Receive and Host Serial Transmit blocks
Host Serial Transmit	Configure host-side serial communications interface to transmit data to serial port

Sensor Decoders

Hall Speed and Position	Compute speed and estimate position of rotor by using Hall sensors
Hall Validity	Compute rotor spin direction and validity of Hall sensor sequence
Mechanical to Electrical Position	Compute electrical position of rotor from mechanical position
Quadrature Decoder	Compute position of quadrature encoder
Resolver Decoder	Compute motor mechanical position and speed and sine and cosine values of motor electrical position
Software Watchdog Timer	Output true until counter reaches maximum count limit
Speed Measurement	Compute speed from rotor angular position

Sensorless Estimators

Sliding Mode Observer	Compute electrical position and mechanical speed of a surface-mount PMSM (Since R2021b)
Flux Observer	Compute electrical position, magnetic flux, and electrical torque of rotor
Pulsating High Freq Observer	Estimate initial rotor electrical position of interior PMSM using pulsating high frequency (PHF) injection (Since R2022b)
Extended EMF Observer	Compute electrical position and mechanical speed of permanent magnet synchronous motor (PMSM) (Since R2023a)

Signal Management

IIR Filter	Implement infinite impulse response (IIR) filter
Vector plot	Plot vectors in space domain
Position Compensation	Compensate for position offset due to different types of delays (Since R2022b)
PLL with Feed Forward	Compute position and angular frequency from orthogonal sinusoidal signals (Since R2023b)
Compute Parameter	Extend functionality of blocks by enabling additional inputs (Since R2024a)
Dead-Time Compensator	Overcome dead-time effect by modifying reference voltages (Since R2024a)
Protocol Encoder	Encode input data into a uint8 byte stream by specifying the packet structure (Since R2024a)
Protocol Decoder	Decode a uint8 byte stream by specifying the packet structure (Since R2024a)
Byte Pack	Convert input signals to `uint8` vector (Since R2024a)
Byte Unpack	Convert `uint8` vector to input signals (Since R2024a)
Byte Reversal	Reverse order of bytes in input word (Since R2024a)
Memory Copy	Copy data from and to memory section (Since R2024a)

Topics

Field-Oriented Control
Implement speed control for PMSM and induction motor by using field-oriented control.
Design Field-Oriented Control Algorithm

Design and integrate the torque-control and speed-control subsystems.
- STEP 1: Design Current and Position Scaling Subsystems
- STEP 2: Design Current Controller Subsystem
- STEP 3: Perform Manual Gain-Tuning of Current Controller
- STEP 4: Design Speed Control Algorithm
- STEP 5: Perform Manual Gain-Tuning of Speed Controller
Field-Weakening Control
Implement control for speeds above base speed for PMSM and induction motor by using field-weakening control.
Code Verification and Profiling Using PIL Testing
This example explains PIL profiling on Texas Instruments® LAUNCHXL-F28379D hardware board.
How to Use Single Shunt FOC Library Blocks
This example shows how to use the Simulink blocks for single shunt FOC available with Motor Control Blockset™.
Direct Torque Control (DTC)
Implement speed control for PMSM by controlling motor flux and torque.

Featured Examples

Field-Oriented Control of PMSM Using SI Units

Implements the Field-Oriented Control (FOC) technique to control the speed of a three-phase Permanent Magnet Synchronous Motor (PMSM). However, instead of the per-unit representation of quantities (for details about the per-unit system, see Per-Unit System), the FOC algorithm in this example uses the SI units of signals to perform the computations. These are the signals and their SI units:

Open Model

Control PMSM Loaded with Dual Motor (Dyno)

Uses field-oriented control (FOC) to control two three-phase permanent magnet synchronous motors (PMSM) coupled in a dyno setup. Motor 1 runs in the closed-loop speed control mode. Motor 2 runs in the torque control mode and loads Motor 1 because they are mechanically coupled. You can use this example to test a motor in different load conditions.

Open Model

Model Switching Dynamics in Inverter Using Simscape Electrical

Uses field-oriented control (FOC) to control the speed of a three-phase permanent magnet synchronous motor (PMSM). It gives you the option to use these Simscape™ Electrical™ blocks as an alternative to the Average Value Inverter block in Motor Control Blockset™:

Open Model

Field-Oriented Control of Induction Motor Using Speed Sensor

Implements the field-oriented control (FOC) technique to control the speed of a three-phase AC induction motor (ACIM). The FOC algorithm requires rotor speed feedback, which is obtained in this example by using a quadrature encoder sensor. For details about FOC, see Field-Oriented Control.

Open Model

Field-Oriented Control (FOC) of PMSM Using Hardware-in-the-Loop (HIL) Simulation

Uses hardware-in-the-loop (HIL) simulation to implement the field-oriented control (FOC) algorithm to control the speed of a three-phase permanent magnet synchronous motor (PMSM). The FOC algorithm requires rotor position feedback, which is obtained by a quadrature encoder sensor. For more information on FOC, see Field-Oriented Control.

Open Example

New

Field-oriented Control of PMSM with Six-Step Transition

Implement dynamic overmodulation to control a surface-mount permanent magnet synchronous motor (SPMSM) using field-oriented control (FOC). When the motor needs to reach higher speeds or produce more torque, the control method seamlessly transitions to six-step control. This allows the motor application to achieve better range without increasing the DC bus voltage of the inverter.

Since R2026a
Open Live Script

Field-Oriented Control of Six-Phase PMSM

Control the torque of an asymmetric six-phase permanent magnet synchronous motor (PMSM) using field-oriented control (FOC).

Open Model

Control PMSM Loaded with Dual Motor (Dyno)

Open Model

FOC of PMSM Using FPGA-Based Motor Control Development Kit

Use a Field-Oriented Control (FOC) algorithm for a Permanent Magnet Synchronous Motor (PMSM) by using blocks from the Motor Control Blockset™ on an FPGA device (Trenz Electronic™ Motor Control Development Kit TE0820).

Open Example

Field-Weakening Control (with MTPA) of PMSM

Implements the field-oriented control (FOC) technique to control the torque and speed of a three-phase permanent magnet synchronous motor (PMSM). The FOC algorithm requires rotor position feedback, which is obtained by a quadrature encoder sensor. For details about FOC, see Field-Oriented Control.

Open Model

Direct Torque Control of PMSM Using Quadrature Encoder or Sensorless Flux Observer

Implements direct torque control (DTC) technique to control the speed of a three-phase permanent magnet synchronous motor (PMSM). Direct Torque Control (DTC) is a vector motor control technique that implements motor speed control by directly controlling the flux and torque of the motor. The example algorithm needs motor currents and position feedback from PMSM. It uses space vector pulse-width modulation (DTC-SVPWM) variant of DTC, which uses space vector modulation (SVM) to produce the pulse-width modulation (PWM) duty cycles that are used by the inverter. For more details about the DTC-SVPWM algorithm used in this example, see Direct Torque Control (DTC).

Open Model