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Application of AC/DC/AC converter for sensorless nonlinear control of permanent magnet synchronous motor
Abstract
In this paper, a nonlinear controller is presented for permanent magnet synchronous motor (PMSM) sensorless drives. The nonlinear controller is designed based on input-output feedback linearization control technique. The extended Kalman filter is used to estimate the speed, position and load torque. The PMSM is fed from indirect power electronics converter. This indirect converter is controlled by the sliding mode technique. This control technique allows the minimization of harmonics introduced by the line converter, including the control of power factor and DC-link voltage. We study the robustness of the overall system using simulation for different operating modes and parameters variation.
... The errors in parameters will normally also handled as noise. The dynamic state model for non linear stochastic machine is as follows where all symbols in the formulations denote matrices or vectors [9, 11]: ...
This paper deals with the design of sliding mode controllers (SMC) for a vectorcontrolled of permanent magnet synchronous motor (PMSM). The advantages of the sliding mode controller are disturbance rejection, strong robustness and simple implementation. Speed and torque control of permanent magnet synchronous motors are usually attained by the application of position and speed sensors. However, speed and position sensors require the additional mounting space, reduce the reliability in harsh environments and increase the cost of motor. Many studies have been performed for the elimination of speed and position sensors. Our proposed control strategy is based on an accurate Extended Kalman Filter (EKF) observer which estimates speed, position, rotor - fixed current ids,iqs and load torque. The investigations show that the EKF is capable of tracking the actual rotor speed, position and load torque provided that the elements of the covariance matrices are properly selected. Moreover, the performance of the EKF is satisfactory even in the presence of noise or when there are variations in permanent magnet synchronous motor load.
... The application of the EKF in the sensorless PMSM drive system will be increased a lot [29,48]. The main steps for a speed and position sensorless PMSM drive implementation using a discredited EKF algorithm can be found in [45,[48][49][50][51]. ...
... The power converter can only flow from AC to DC, and the line current is not continuous. Because this type of AC-DC conversion does not control line current harmonics, the displacement power factor is poor and the DC side voltage is not constant [4,5]. One remedy is a reversible converter to replace the diode-bridge rectifier and to allow a reversible power line flow which allows the energy recovered from motor-load inertia to be fed back to the utility supply [4,6]. ...
In this paper, a adaptive non-linear controller is presented for permanent magnet synchronous motor (PMSM) sensorless drives. The adaptive non-linear controller is designed based on an input-output feedback linearization control technique. The unscented Kalman filter is used to estimate the speed, position and load torque. The PMSM is fed by an indirect power electronics converter. This indirect converter is controlled by a sliding mode technique that enables minimization of harmonics introduced by the line converter, as well as the control of the power factor and DC-link voltage. We study the robustness of the overall system using simulation for different operating modes and varied parameters.
This paper proposes a permanent magnet direct current (PMDC) motor position control under armature current limitation due to different factors like motor driver limitation, motor winding current limitation, etc. To limit the armature current, it has to be measured. However, adding a current sensor might not be the best solution. Here, the Kalman filter was used to estimate the armature current. To overcome the current limitation, cascaded PID controller was proposed and by only using integral term in the current controller, the current can be reduced by significant amount. Simulations for the Kalman filter and the cascaded PID controller has been done and presented.
This paper presents an analysis by which the dynamic performances of a permanent magnet synchronous motor (PMSM) motor is controlled through a hysteresis current loop and an outer speed loop with different controllers. The dynamics of the wind turbine pumping drive system with (PI) and a fuzzy sliding mode (FSM) speed controllers are presented. In order to optimize the overall system efficiency, a maximum power point tracker is also used. Simulation is carried out by formatting the mathematical model for wind turbine generator, motor and pump load. The results for such complicated and nonlinear system, with fuzzy sliding mode speed controller show improvement in transient response of the PMSM drive over conventional PI. The effectiveness of the FSM controller is also demonstrated.
In this paper, a new sensorless interior permanent magnet synchronous motor (IPMSM) drives method with extended Kalman filter (EKF) for speed, rotor position and load torque estimation is proposed. The direct torque control (DTC) technique for permanent magnet synchronous motor (PMSM) is receiving increasing attention due to the important advantages of the low dependence on motor parameters when compared with other motor control techniques. The Kalman filter is an observer for linear and non-linear systems and is based on the stochastic intromission, in others words, noise. The PMSM is fed by an indirect power electronic converter which is controlled by a sliding mode technique. The simulation tests performed for different operating conditions have confirmed the robustness of the overall system; and it is shown that the sliding mode technique has successfully minimized the different harmonics introduced by the line converter.
This paper presents a comprehensive overview of the application of Variable Structure Systems (VSSs) with Sliding Mode (SM) methods in motion control systems. Our aim is to give implementable sliding mode design solutions for complex motion systems, actuators and supply converters. This paper provides a frame for further study of sliding mode applications in motion control systems.
This paper proposes a new state observer based on an extended Kalman filter (EKF) for the sensorless systematic fuzzy sliding mode control of permanent magnet synchronous motors (PMSM). The observer can obtain a precise estimation of rotor speed and position. Load torque is also observed and used as the feed-forward compensation to improve the system performance during load torque changes. In this system, the initial rotor position is not necessary for the start up. The PMSM is fed by an indirect power electronics converter. The systematic fuzzy sliding mode control technique for PMSM is receiving increasing attention due to the important advantage of independence on motor parameters when compared with other motor control techniques. The Kalman filter is an observer for linear and non-linear systems and is based on the stochastic intromission, in others words, noise. Simulation results show a good performance and robustness. The error between the real speed and estimated speed is within a few (rad/s) speed.
This paper describes a study and experimental verification of sensorless control of permanent magnet synchronous motor. This structure bases on the extended Kalman filter theory using only the measurement of the motor current for on-line estimation of speed, rotor position and load torque reconstruction. Control structure such as Kalman filtering, in real time requires a very fast signal processor in special way, adapted to perform complex mathematical calculations. The digital signal processors have become cheaper and their performance greater. Without using position and torque sensors, it has become possible to apply described control structure as a cost-effective solution
In this paper a method of modem control, total linearization by state-feedback, with choice of an input-output behaviour, is applied to a selfcontrolled servomotor. This solution may be a successful alternative to classical strategies. Some examples relative to speed or position control with constraint on the direct axis current show dynamical behaviours which illustrate the possibilities of this method. Dans cet article une méthode de l'automatique, la linéarisation totale par retour d'état, avec choix d'un comportement entrée-sortie, est appliquée à un actionneur électrique non linéaire, un servomoteur synchrone autopiloté. Cette solution est une alternative prometteuse aux stratégies classiques. Des exemples de dynamiques obtenues sur des commandes en vitesse ou en position, avec contrainte sur le courant d'axe direct, illustrent les possibilités de cette méthode.
This investigation confirms and controls chaotic motion in a permanent magnet synchronous motor (PMSM) system. Complex nonlinear behaviors may be observed over a range of parameter values in the bifurcation diagram. The method of the Lyapunov exponent is adopted to identify the onset of chaotic motion and verify the analysis. Finally, a technique for effectively controlling a chaotic PMSM system will be offered. It involves applying an external input, called a dither signal, to the system. Some simulation results are presented to demonstrate the feasibility of the developed approach.
This paper is concerned with vector control of permanent magnet synchronous motor (PMSM). Recent research has indicated that PMSM could become a serious competitor to the induction motor (IM) for high performance servo applications. Mathematical model of a PMSM is developed with the help of Park and Clarke transformations. The concept of vector control is applied to PMSM to obtain linear dynamics similar to that of a DC motor. The linearized model consists of two control loops namely, current loop and speed loop. The objective of the control scheme is to achieve very fast response. The performance of PMSM drive system under different speed reference input is evaluated on the basis of simulation and experimental results. All the experiments have been done on PMSM with the help of ADMC-401 motor control DSP and an inverter circuit.
A comparison of the performance of an interior permanent synchronous motor drive, when driven by two different types of direct torque controllers, is presented in this paper. Both these controllers utilize space vector modulation (SVM) to generate switching signals for the inverter. The first of these control strategies uses a Proportional and Integral (PI) controller and reference flux vector calculator (RFVC) to determine the reference stator flux linkage vector, instead of a switching table and hysteresis controllers employed by the basic DTC. The other control strategy, namely variable structure control scheme, is based on the design of discontinuous control signal that drives the system states towards special manifolds in the state-space. The switching surfaces are chosen in a way that the system will have the desired behaviour as the states converge to the manifolds. Both these control strategies have had positive impacts on improving the performance of the interior permanent magnet (IPM) synchronous motor drive during transient, steady state and dynamic operations. However, they each have their own drawbacks.
In order to reduce the torque and flux ripples of interior permanent magnet synchronous motor (IPMSM) drives, a variable structure speed controller with integral-operation switching surface for direct torque controlled IPMSM has been proposed. The variable structure control law is derived from the proposed integral-operation switching surface and the system equations of direct torque control (DTC) IPMSM. Furthermore, integral-operation switching surface can possess the exponential stability for variable structure control (VSC) by using its integral component. Moreover, the dynamic response of the variable structure speed controller is studied. Then, the chattering which is a very significant problem in variable structure control is investigated. In this paper, we proposed a proper continuous function to substitute the traditional discontinuous sign function to obtain a continuous control signal which can reduce the chattering of the system. Finally, the validity of the proposed scheme is demonstrated through computer simulations. The results show that, in comparison with conventional DTC, variable structure DTC (VS-DTC) obviously reduces the torque and flux ripples of IPMSM and with this integral-operation switching surface, the stability is guaranteed and insensitivity to uncertainties and disturbance is obtained as well.
In this paper, we proposed a modified sliding mode controller with chattering free and high robust for stochastic systems. The proposed controller uses an integration term of the error in the sliding surface and uses a continuously exponentially varying time sliding surface to eliminate the chattering problem. Also a model-based state estimator that works with system errors and noisy measurements is presented based on the extended Kalman filter (EKF). The estimator is then used in a nonlinear and robust control algorithm based on sliding mode control. The proposed controller can result in fast transient dynamics and keep the robustness properties. By using the proposed controller, we make it applicable in automation industry. Also a systematic design procedure of sliding mode controller for nonlinear system is presented. To verify superiority of the proposed controller, the proposed controller applied to a nonlinear model of a permanent magnet synchronous motor (PMSM) where we assume that the only output accessible to measure is the angular velocity.
Permanent-magnet synchronous motor (PMSM) is a multivariable nonlinear system with strong coupling. In this paper, a new decoupling method is proposed for a double closed-loop system with the speed feedback in external loop and the current feedback in internal loop, in which the sampling time of external speed loop is much longer than that of internal current loop. When the calculation of the current loop is carried out using sliding mode control (SMC), the speed in external loop is made as a constant. In this case, the SMC controller is a multi-input multi-output system with variable coefficients. Compared with conventional PID control, the proposed approach demonstrates strong robustness against disturbance and has a rapid response.
Many industrial applications require new control techniques in order to obtain fast response and to improve the dynamic performances. One of the techniques used, is the fuzzy logic control which is characterized by robustness and insensitivity to the parameters variation. In this paper, the technique is applied for the design of a drive system fed from indirect power electronics conversion. The adaptive fuzzy controller (AFC) is applied in all regulation loops, starting from speed regulation of permanent magnet synchronous machine (PMSM) until the minimization of harmonics introduced by the line converter, including the control of power factor and DC-link voltage. We study the robustness of the controller using simulation results for different operating modes and parameters variation.
This paper presents a novel speed control technique for interior
permanent magnet synchronous motor (IPMSM) drive based on newly
developed adaptive backstepping technique. The proposed stabilizing
feedback law for the IPMSM drive is shown to be globally asymptotically
stable in the context of Lyapunov theory. The adaptive backstepping
technique takes system nonlinearities into account in the control system
design stage. This makes the tracking performance of the IPMSM drive
superior and this is evident from the test results presented in this
paper
An improved nonlinear speed control of a permanent magnet
synchronous motor (PMSM) is presented. A quasi-linearized and decoupled
model including the influence of parameter variations and speed
measurement error on the nonlinear speed control of a PMSM is derived.
Based on this model, a boundary layer integral sliding mode (BLISM)
controller to improve the robustness and performance of the nonlinear
speed control of a PMSM if designed and compared with the conventional
controller. A sliding load torque observer to improve the performance of
the control is designed and its performance is compared with the
asymptotic load torque observer in the conventional control scheme. By
employing the proposed control scheme, both the transient and steady
state responses are greatly improved under the parameter variations and
speed measurement error
In this paper, the concept and implementation of a new simple
direct-torque neuro-fuzzy control (DTNFC) scheme for
pulsewidth-modulation-inverter-fed induction motor drive are presented.
An adaptive neuro-fuzzy inference system is applied to achieve
high-performance decoupled flux and torque control. The theoretical
principle and tuning procedure of this method are discussed. A 3 kW
induction motor experimental system with digital signal processor TMS
320C31-based controller has been built to verify this approach. The
simulation and laboratory experimental results, which illustrate the
performance of the proposed scheme, are presented. Also, nomograms for
controller design are given. It has been shown that the simple DTNFC is
characterized by very fast torque and flux response, very-low-speed
operation, and simple tuning capability
Three-phase pulsewidth modulation (PWM) converters, specifically,
voltage-source inverters (VSI), are possibly the most frequently used
power converters for applications such as industrial motor control,
robotics, air conditioning and ventilation, uninterruptible power
supplies, electric vehicles, etc. With the introduction of standards on
limiting harmonic pollution of electrical power distribution systems,
three-phase PWM converters are being considered as prime candidates for
interfacing high-power electronic equipment to power supply lines. In
these applications, converters can provide input currents without
distortion and with unity power factor. In this paper, the idea of using
variable-structure system (VSS) control strategy of a boost rectifier in
sliding mode is described. A new discrete-time control algorithm has
been developed by combining VSS and Lyapunov design. It possesses all
the good properties of the sliding mode and avoids the unnecessary
discontinuity of the central input, thus eliminating chattering, which
has been considered a serious obstacle to applications of VSS. A unified
control approach for output DC voltage and input AC currents based on
discrete-time sliding mode is developed. The reference tracking
performance is demonstrated in terms of transient and steady-state
characteristics by simulation and experimental results. The invariance
and the robustness features of the proposed control method are verified
by experiment in the presence of large uncertainty in parameters and
external perturbations
A three-phase AC/DC/AC converter is presented with a power factor
preregulator to improve the power quality in the input side and a
pseudorandom noise generator to reduce the emitted acoustic noise and
the mechanical vibration for an induction motor drive. The space vector
modulation with hysteresis current control for a voltage source
rectifier is adopted to simplify the hardware circuit. A control scheme
is presented to drive the supply current following the reference
current. The amplitude of reference current for the pulsewidth
modulation (PWM) rectifier is derived from the DC bus voltage regulator
and the estimated output power. Random switching frequency technique for
a three-phase PWM inverter system to reduce the annoying tonal noise and
resonant vibration from an induction motor is described. By randomly
varying the instantaneous PWM switching frequency from one cycle to the
next, the frequency distribution of harmonics is spread in a wide
frequency range. The major advantage for using such a strategy is the
nonrepetitive output spectral characteristic that results in reduction
of torque pulsations in motor drive systems. The nearly unity power
factor at the three-phase rectifier and the absence of acoustic noise
concentrated at the specific tones which is usually present with
conventional sinusoidal modulation are verified by the experimental
tests
Modélisation et commande des moteurs triphasés, commande vectorielle des moteurs synchrones
- G Sturtzer
- E Smigiel
Variable structure control of power converters for unity power factor and harmonics minimization, First Internationel Conference on Electrical Systems
- A Saiad
- A Goléa
- N Goléa