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Table Of Contents

1.1 Introduction
1.2 Background
1.3 Reading instruction
1.4 State of the Art
1.4.1 Back-EMF sensing techniques
1.4.2 Observers
1.4.3 Position estimation from voltage equation
1.4.4 Current injection and PWM
1.4.5 Others
1.5 About the Magnetic Anisotropy Method
2.1 Overview
2.2 Choice of modelling strategy
2.3 Definition of variables and zero position
2.4 The electrical system
2.5 The mechanical system
2.5.1 Cogging torque
2.5.2 Non-linear friction
2.6 Core losses
2.7 A state-space model for PMSM’s
2.8 Simplifying the model
2.8.1 The neutral point voltage and vector control
2.8.2 Simplifying or neglecting the inductance
2.8.3 Induced voltage equations
2.8.4 Linear friction torque
2.8.5 Neglecting core losses
2.8.6 A simplified model
2.8.7 Neglecting changes in rotor speed
2.9 Identification of unknown parameters
2.9.1 Identification data
2.9.2 Choice of sampling frequency
2.9.3 A few words about identification tools
2.9.4 Identification process
2.10 Verification of model
2.11 Validity of model
3.1 Overview
3.2 Coordinate transformations
3.2.1 The Clarke-transformation
3.2.2 The Park-transformation
3.2.3 Transformation of a PMSM motor model
3.3 The PID controller
3.4 The LQ controller
3.4.1 The state-feedback controller
3.4.2 Calculating the LQ gain
3.4.3 Stability and noise rejection
Chapter 4 OBSERVERS AND KALMAN FILTER THEORY
4.1 Overview
4.2 Why using the Kalman filter and related work
4.3 Choosing a coordinate system
4.4 Introduction to observers
4.5 The Kalman filter
4.6 The Extended Kalman filter
4.6.1 Linearization of the system model
4.6.2 Discretization of the system model
4.6.3 Estimating unknown parameters
4.7 Numerical tricks in Kalman filters
4.8 Setting the Filter Covariances
4.9 Initializing the Kalman filter
4.10 Observability and Kalman filters
4.10.1 Linear systems
4.10.2 Non-linear systems
4.10.3 Observability of a PMSM
4.11 Stability/Robustness of the Kalman filter
5.1 Overview
5.2 Classical standstill position detection methods
5.2.1 Carrier signal injection
5.2.2 PWM method
5.2.3 The current impulse method
5.2.4 Comparing standstill methods
5.3 Hybrid stepper motor example
5.3.1 Method and results
5.3.2 Improving the precision
5.4 The MAM method
5.4.1 Measurement setup
5.4.2 Choosing the measurement frequency
5.4.3 Measurement results and position estimation
5.4.4 Explaining the phenomena
6.2.1 DSP Board/Driver
6.2.2 Motor characteristics
6.2.3 Sensors
6.3 Model
6.3.1 Assumptions
6.3.2 Motor model in stator reference frame
6.3.3 Motor model in dq-reference frame
6.3.4 Identification of model parameters
6.4 EKF implementation
6.4.1 Estimating unknown load force
6.4.2 Setting the covariance matrices
6.4.3 Initializing the EKF and initial glider position
6.5.2 LQ-controller, with explicit force control
6.5.3 Comparison
6.5.4 Holding the position at zero speed
6.6 Simulation
6.6.1 Step response of control loop
6.6.2 Step response of Extended Kalman filter
6.6.3 Robustness against initial position error
6.7 Experimental results
6.7.1 Step response
6.7.2 Multiple steps
6.7.3 Multiple steps with load
6.7.4 Comparison simulation/experiments
6.7.5 Robustness against parameter variations
6.8 Analysis and conclusion
Chapter 7 HYBRID STEPPER MOTOR EXAMPLE
7.1 Overview
7.2 Experimental setup
7.2.1 Hardware/Sensors
7.2.2 Motor characteristics
7.3 Model
7.3.1 Assumptions
7.3.2 Motor model in stator reference frame
7.3.3 Motor model in dq-reference frame
7.3.4 Identification of model parameters
7.4 Extended Kalman filter
7.4.1 Estimating unknown load torque
7.4.2 Setting the covariance matrices
7.4.3 Initializing the EKF and initial rotor position
7.5 The control structure
7.6 Experimental results
7.6.1 Startup
7.6.2 Speed tracking
7.6.3 Load disturbance
7.6.6 Optimal efficiency in HSM’s
7.7 Analysis and conclusion
8.1 Conclusion
8.2 Comments on the experimental results
8.3 Originality
8.4 Outlook
Appendix A ELEMENTS OF PRACTICAL CONTROL THEORY
A.1State-space to transfer function representation
A.2Going from a continuous to a discrete systems
A.3 Decoupling of MIMO systems
A.3Decoupling of MIMO systems
A.4Observability
A.5Controllability
B.1ETEL ILD(B) 06-030-XXX
B.2 Sonceboz Bipolar HSM 6600-20
B.2Sonceboz Bipolar HSM 6600-20
C.2 Indexes
C.3Abbreviations
BIBLIOGRAPHY
CURRICULUM VITAE
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EPFL_TH3221

EPFL_TH3221

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Published by: djole07 on Feb 02, 2011
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08/13/2013

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