1 views

Uploaded by erpublication

.

- Pressure Booster Pump V1 1
- Advanced Control
- Column Flotation Simulation and Control an Overview
- Online Statement of Purpose Accepted ONLY
- The Fourth International Conference of Information Technology, Control and Automation (ITCA 2016)
- Adaptative Control of Hammerstein-Wiener Nonlinear Systems - Zhang
- Aircraft Longitudinal Control Experiment.pdf
- A Quadruple Tank Process Control Experiment
- The Fourth International Conference of Information Technology, Control and Automation (ITCA 2016)
- CFD Analysis
- Wong Et Al-1986-AIChE Journal
- Induction Motor Control.pdf
- 02bfe50d99d8455b4a000000
- IRJET-Speed Control of Induction Motor using Hybrid PID Fuzzy Controller
- CONTROL OF DISSOLVED OXYGEN IN STIRRED BIOREACTORS
- DOB Presentation by Shim
- AEI504
- li2011
- Optimal Control of Uncertain Nonlinear Systems
- 1558280056725_AUTOMATIC_LOAD_FREQUENCY_CONTROL.doc

You are on page 1of 3

Regulator

Wen Jianping, Zhang Xuhui

AbstractThis paper introduces the novel current control control technique, modern control theory and nonlinear

strategy of interior permanent synchronous motor (IPMSM). control mechanisms, auto disturbance rejection control

The current control scheme consists of the improved auto

(ADRC) theory is developed [12]-[13].

disturbance rejection control current regulator and the modified

transition rules. The decoupling, linearizing and anti-windup This paper presents a novel discrete-time ADRC-based

control is realized simultaneously by disposing the current controller and the transition rules. The ADRC current

cross-coupling effects as the disturbances. Combining the regulator is used to cancel the cross-coupling terms between

modified transition rules with the reference output voltage of the d- and q-axis currents. By using the dynamic real-time

current regulator, the smooth transitions are achieved when the feedbacks, the ADRC current regulator converts the nonlinear

different control modes are switching. Test results are given to

current model into linear one and eliminates the integrator and

verify the validity of the proposed method.

achieves the anti-windup control. Combining with the output

Index TermsAnti-windup control, auto disturbance of the ADRC current regulator, the modified transition rules

rejection control (ADRC), decoupling control, interior uses the voltage modulation index to choose the control

permanent magnet synchronous motor (IPMSM). modes and achieve the smooth transition. The proposed

method is used over the entire speed range.

IPMSM is widely used in many industrial applications due

to its high efficiency, high power density and particularly A. Mathematical model of IPMSM

magnetic saliency increasing the power capability [1]-[3]. On the basis of assumptions that the stator windings

IPMSM drive is required to offer high efficiency operation generates sinusoidal magnetic field, air gap is uniform and

over wide-speed ranges and fast torque response [4]. In [5], a saturation is negligible. With reference to synchronous

linear torque control strategy is used to utilize the reluctance rotating reference frame, the voltage and torque equations of

torque and extend the maximum torque per ampere (MTPA) an IPMSM may be expressed as follows:

control in the constant torque region up to the entire ud Rs pLd r Lq id 0

field-weakening region i.e. constant power region. The both u L (1)

q d Rs pLq iq r f

regions are separated according to the rotor speed. The

change between the MTPA control and the field-weakening Te Pn f iq Pn ( Ld Lq )id iq (2)

control is determined according to the rotor speed and virtual where, id and iq are d- and q-axis currents; p equals d/dt; ud and

control bound. The current control, however, using uq are d- and q-axis voltages; Ld and Lq are d- and q-axis

conversional Proportional-integral (PI) control exists the inductances; Rs is resistance of the stator windings; f is

cross-coupling effects and windup phenomenon. The fast amplitude of the flux; Pn is Number of pole pairs; Te is

dynamic response is poor. In [6], the high-performance electromagnetic torque; r is angular speed of the motor.

current controller using the feedforward compensation PI The steady-state d- and q- axis voltage equations can be

regulator and voltage command compensation is proposed to simplified from Error! Reference source not found. as

improve the torque response. A nonlinear control ensuring follows:

maximum efficiency is proposed in [7] which cancelled the uds Rs id r Lq iq (3)

saturation dependent parameters such as d- and q-axis

inductances and armature reaction dependent magnet uqs Rs iq r Ld id f (4)

inductances. In [8]-[11], from the viewpoint of windup For voltage-source-inverter-fed IPMSM drive, there exists

produced by the integral term in the PI current controller, the an inverter output voltage limit and an output current limit.

new field-weakening control is proposed to improve the toque These constraints can be expressed as

response. The disadvantages of PI controllers limit the

I s id2 iq2 I sm (5)

performance of the current regulation for IPMSM drive.

U s ud2 uq2 U sm (6)

Wen Jianping, School of Mechanical Engineering, Xi'an University of where Ism and Usm are the maximum output current of the

Science and Technology, xian, China, and Key Laboratory of Expressway

Construction Machinery, Chang'an University, xian, China.

inverter and the maximum phase voltage.

Zhang Xuhui, School of Mechanical Engineering, Xi'an University of when r base , the maximum torque can be derived

Science and Technology, xian, China.

This study is supported by the Key Laboratory of Express-way

through the MTPA control strategy. For r C , the

Construction Machinery (Changan University), Shaanxi province, no. maximum torque per ampere trajectory and voltage limit

310825151135.

259 www.erpublication.org

ADRC speed Control of IPMSM with Current Regulator

ellipse have not an intersection point. When base r C , The control input ud for the IPMSM is expressed as:

called first field-weakening region. ud Ld u0d f d zd 2 (11)

When d- and q- axis currents are equal to zero, one can Substituting (12) into (9) yields

obtain the corresponding angular speed, C : id u0 d (12)

U sm The estimator of extended state is fed back to the control

C (7)

f input via disturbance compensation which makes d-axis

current model into a linear integral model. The q-axis current

B. ADRC regulator is the same with d-axis.

The ADRC consists of the tracking differentiator (TD), the

nonlinear state error feedback (NLSEF), the extended state III. TRANSITION RULES

observer (ESO) [14], as shown Fig. 2. v is input signal; y is When rotor speed is less than or equal to base speed, the

output signal; e0 is error integral signal; e1 is error signal; e2 is back-EMF is always less than the maximum output voltage of

error differential signal; u is controlled input; v1 can the inverter and the MTPA control is chose. When r > c ,

approximate the input signal; v2 is the differential signal of the field-weakening control is used. For base < r c , if the

input signal; b is system parameter. z1 and z2 are observation back-EMF is less than or equal to Usm, the MTPA control is

of v1 and v2. z3 is the disturbance observer. chose, or else the field-weakening control is chose.

During high speed operation, c is easily varied because

of the rotor permanent magnet performance change and the

available maximum voltage. Moreover, the voltage of

batteries in application for EV has much amplitude of

fluctuation. To smooth the transition between both control

modes, the voltage of batteries is introduced to determine the

choice of control modes combined with the base speed and the

output voltage of the ADRC current regulator. The flowchart

of the improved transition is shown in Fig. 5.

Fig. 1 the block diagram of ADRC

C. ADRC current regulator

From Error! Reference source not found., the d- and q-

axis current mathematical models of IPMSM in the d-q

reference frame is rewritten:

Rs r Lq u

id id iq d

Ld Ld Ld

Ld id f r uq

(8)

Rs

iq L iq Lq

Lq

q

Let cross-coupling terms as the system uncertainties, the Fig. 2 flowchart of transition of control modes

second-order ESO for id is constructed as follows:

IV. RESULTS AND DISCUSSIONS

ed zd 1 id

To verify the performances in terms of cross-coupling

1

zd 1 f d zd 2 d 1 fal (ed , d 1 , d ) ud (9) effects and current regulator saturation, d- and q-axis

Ld responses of the ADRC current regulator in field-weakening

z fal (e , , )

d2 d2 d d2 d region is shown in Fig. 3 when the speed varies from 0 to

where id is actual measured value through coordinate 3400rpm. The d- and q-axis current responses can effectively

transformation; zd1 is estimate of id; zd2 is estimate of wd; d 1 follow the current commands.

The transitions between both control modes in first

and d 2 are adjustable parameters which are determined by

field-weakening region are shown in Fig. 4. A step speed

Rs r Lq R command of 3400rpm is applied to the IPMSM drive system.

sampling time; f d id ; wd iq ; f q s iq ;

Ld Ld Lq The load torque is 1Nm. When the motor is accelerated

wd

L i

d d f r

below the base speed, the MTPA control mode is chosen to

produce maximum torque. The corresponding d- and q-axis

Lq currents follow the idm and iqm. When the motor speed is

The NLSEF of d-axis current is presented by: greater than the base speed, the smooth transition takes place.

When the motor speed reaches the command speed 3400rpm

id zd 1 id

*

uod kd fal id , 0 d , 0 d

occurs again. The MTPA control mode is used.

where id* is d-axis current reference, kd. is adjustable The ADRC current regulator can timely control the d- and

q-axis currents to provide the maximum torque during

parameter.

260 www.erpublication.org

International Journal of Engineering and Technical Research (IJETR)

ISSN: 2321-0869 (O) 2454-4698 (P), Volume-3, Issue-8, August 2015

IPMSM acceleration. The transitions between the MTPA technology, Mathematical Problems in Engineering, vol. 2010,

Article ID. 627836.

control to field-weakening control are smooth. [5] C.T. Pan, S.M. Sue, A linear maximum torque per ampere control for

IPMSM drives over full-speed range, IEEE Trans. on Energy

Conversion, vol. 20, no, 2, Jun. 2005, pp. 359-366.

[6] S. Morimoto, M. Sanada, Y. Takeda, Wide-speed operation of interior

permanent magnet synchronous motors with high-performance current

regulator, IEEE Trans. on Industry Applications, vol. 30, no, 4,

Jul./Aug. 1994, pp. 920-926.

[7] O. Ojo, F. Osaloni, Z. Wu, M. Omoigui, A control strategy for

optimum efficiency operation of high performance interior permanent

magnet motor drives, in Conf. Rec. IEEE IAS Annu. Meeting, vol. 1,

Oct. 2003, pp. 604-610.

[8] B. Bae, N. Patel, S. Schulz,S. Sui, New field weakening technique for

high saliency interior permanent magnet motor, in Conf. Rec. IEEE

IAS Annu. Meeting, vol. 2, Oct. 2003, pp. 898-905.

[9] T. Kwon, G. Choi, M. Kwar, S. Sul, Novel flux-weakening control of

an IPMSM for quasi-six-step operation, IEEE Trans. on Industry

Applications, vol. 44, no. 6, Nov./Dec. 2008, pp. 1722-1731.

[10] J. Kim, S. Sul, Speed control of interior permanent magnet

Fig. 3 Results of id and iq, when motor accelerating in synchronous motor drive for the flux weakening operation, IEEE

Trans. on Industry Applications, vol. 33, no. 1, Jan./Feb. 1997, pp.

field-weakening region. 43-48.

[11] G. Gabriel, S. Fan, E. James, Optimum torque control of

permanent-magnet AC machines in the field-weakening region, IEEE

Trans. on Industry Applications, vol. 41, no. 4, Jul./Aug. 2005, pp.

1020-1028.

[12] J.Q. Han, Auto disturbances rejection control technique, Frontier

Science, no. 1, 2007, pp. 24-31.

[13] [13] J.Q. Han, From PID technique to auto disturbance rejection

control technique, Control Engineering of China, vol. 9, no. 3, May,

2002, pp. 40-45.

[14] J.Q. Han, Auto-disturbances-rejection controller and its

applications, Contr. Decision, vol. 13, no. 1, Jan. 1998, pp. 19-23.

from Xian Jiaorong University. His research interests in the areas of the

technology on the control of drive for EV.

Fig. 4. Results of id and iq, in transition process of control measurement and control and mechanical & electric equipments technical

mode under lighter load study.

V. CONCLUSION

This paper introduces the high efficiency current control of

IPMSM and transition rules. The cross-coupling terms are

regarded disturbances and the ADRC is used to estimate the

disturbances. The estimators of the disturbances are

compensated. The nonlinear current model is converted to

linear integrator series one. The linear current model no

longer contains the motor parameters such as inductances,

stator resistance, electrical angular velocity and flux linkage.

The results demonstrate that the ADRC current regulator

realizes the desirable performance of the proposed method

for wide-speed operation

REFERENCES

[1] M. Uddin, T. Radwan, M. Rahman, Performance of interior

permanent magnet motor drive over wide speed range, IEEE Trans.

on Energy Conversion, vol. 17, no. 1, Mar. 2002, pp. 79-84.

[2] T. Noguchi, Trends of Permanent-magnet Synchronous Machine

Drives, IEEJ Trans. on electrical and electronic engineering, vol. 2,

2007, pp. 125142.

[3] C. Cavallaro, A. O. Di Tommaso, R. Miceli, A. Raciti, G. R. Galluzzo,

M. Trapanese, Efficiency enhancement of permanent-magnet

synchronous motor drives by online loss minimization approaches,

IEEE Trans. on Industrial Electronics, vol. 52, no. 4, Aug. 2005, pp.

11531160.

[4] J. Lian, Y. Zhou, T. Ma, W. Wang, Design for motor controller in

hybrid electric vehicle based on vector frequency conversion

261 www.erpublication.org

- Pressure Booster Pump V1 1Uploaded byHưng Ngô
- Advanced ControlUploaded byMohammadSoaeb Momin
- Column Flotation Simulation and Control an OverviewUploaded byJorge Armando
- Online Statement of Purpose Accepted ONLYUploaded byEthan Carlisle Couto Archibald
- The Fourth International Conference of Information Technology, Control and Automation (ITCA 2016)Uploaded byCS & IT
- Adaptative Control of Hammerstein-Wiener Nonlinear Systems - ZhangUploaded byFedericoGorrini
- Aircraft Longitudinal Control Experiment.pdfUploaded byChegrani Ahmed
- A Quadruple Tank Process Control ExperimentUploaded bycamilo
- The Fourth International Conference of Information Technology, Control and Automation (ITCA 2016)Uploaded byCS & IT
- CFD AnalysisUploaded byAnonymous EPSHB9tXZ
- Wong Et Al-1986-AIChE JournalUploaded byVinayakRao
- Induction Motor Control.pdfUploaded byTeklu Abebe Wolde
- 02bfe50d99d8455b4a000000Uploaded byAnonymous
- IRJET-Speed Control of Induction Motor using Hybrid PID Fuzzy ControllerUploaded byIRJET Journal
- CONTROL OF DISSOLVED OXYGEN IN STIRRED BIOREACTORSUploaded byDave Sanchez
- DOB Presentation by ShimUploaded byAhmed H El Shaer
- AEI504Uploaded byapi-26787131
- li2011Uploaded byMạnh Tuấn
- Optimal Control of Uncertain Nonlinear SystemsUploaded bydumiusername
- 1558280056725_AUTOMATIC_LOAD_FREQUENCY_CONTROL.docUploaded byRam Yadav
- Teodore ScuUploaded byThiago Moura Galvão
- 07402562Uploaded byJames Henry Dannatt
- Magnitude Symetric Optimum CriterionUploaded byasuhuane
- FOC Lect5 FeedbackUploaded byErhan ÖZ
- IRRIGATION CONTROL BASED ON SOLAR TRACKING SYSTEM.Uploaded byIJAR Journal
- Get PDFUploaded byAman Chitransh
- AppendixUploaded byMyrron Albert Aguila
- 157339644 Automation Process Control PptUploaded bySrimanthula Srikanth
- IWCSUploaded byChe Zul Aiman
- L04 - pfcUploaded byIon Avram

- IJETR033079Uploaded byerpublication
- IJETR033013Uploaded byerpublication
- IJETR033040Uploaded byerpublication
- IJETR033060Uploaded byerpublication
- IJETR033051Uploaded byerpublication
- IJETR033043Uploaded byerpublication
- IJETR033069Uploaded byerpublication
- IJETR033082Uploaded byerpublication
- IJETR033077Uploaded byerpublication
- IJETR033063Uploaded byerpublication
- IJETR033055Uploaded byerpublication
- IJETR033053Uploaded byerpublication
- IJETR033062Uploaded byerpublication
- IJETR033049Uploaded byerpublication
- IJETR033054Uploaded byerpublication
- IJETR033050Uploaded byerpublication
- IJETR032923Uploaded byerpublication
- IJETR033047Uploaded byerpublication
- IJETR033035Uploaded byerpublication
- IJETR033037Uploaded byerpublication
- IJETR033033Uploaded byerpublication
- IJETR033012Uploaded byerpublication
- Research paper on image matchingUploaded byVibhaBhat
- IJETR032922Uploaded byerpublication
- IJETR033011Uploaded byerpublication
- Charts for Cofficents of Moments for Continous BeamsUploaded byfat470
- IJETR033010Uploaded byerpublication
- IJETR032909Uploaded byerpublication
- IJETR032918Uploaded byerpublication

- 3.2 (Part 1) Understanding the Force on a Current-carrying Conductor in a Magnetic FieldUploaded bysfwong
- StereonetsUploaded byJas
- 23 - Electromagnetic InductionUploaded byKamran Khursheed
- Kinematic Sensors.pdfUploaded bymahsan2
- Sample Paper (N.C.E.R.T.)Uploaded bysmilingkid
- W. G. v. Rosser - Classical Electromagnetism via Relativity - BackmatterUploaded byshivnair
- ground waterUploaded byAzwar Arsyad S Si
- Expt4 Tech Paper Physics 72.1Uploaded bySheannen Tan
- scsvmv university ece syllabusUploaded byNaveen ND
- The Ideal TransformerUploaded bylegendmahen
- coil.pdfUploaded byari
- AccuracyUploaded byVikas Srivastava
- 2570_1Uploaded bymnemonia
- BT3RNOV2015Uploaded bybalu56kv
- Magnetic Materials.docUploaded byLily Sharma
- The Double Helix Theory of the Magnetic FieldUploaded byFrederick David Tombe
- MAGNETIC PARTICLEUploaded byjaimin
- Dc Generator1Uploaded byJoannah Agor Inguito
- Flux-Gate Magnetometer NoiseUploaded byolsteffensen4093
- Analytical Magnetic Field Analysis of HalbachUploaded byCazimir Bostan
- cbcs physics.pdfUploaded byManish Kumar Verma
- An Integrated Magnetotelluric and Aeromagnetic Investigation of the Serra Da Cangalha Impact Crater, BrazilUploaded byJefferson
- Railway Line Transmission Line ParametersUploaded byIsuru Premaratne
- (Modern Approaches in Geophysics) Lisa Tauxe-Paleomagnetic Principles and Practice-Springer (1998)(1)Uploaded byMitre
- QuestionUploaded byjose
- Technology_-_Magnetic_Eddy_Current_MEC_Inspection_Technique.pdfUploaded bycepi
- 45791-UlabyISMCh06Uploaded byKyle Ripperger
- NEET TEST SERIES 2017 TEST -4 MAGNETIC EFFECT OF CURRENT, MAGNETISM, E.M.I.Uploaded byAnonymous FLeMJZW
- Electromagnetismextrastudyquestions.pdfUploaded bylazaros
- A BOY AND A MOTORUploaded byJShearer