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Paper from: Computers in Railways VIII, J Allan, RJ Hill, CA Brebbia, G Sciutto and S Sone (Editors).
ISBN 1-85312-913-5
Computers in Railways VIII 257

12, 16 7

a) rotor flux vs. speed b) maximum torque vs. speed

0 2003 4000 Moo

'Peed IQmI

c) supply voltage amplitude vs. speed

Fig. 1 Results of the computation of the optimal rotor flux.

Note that the formulation of the above problem is analogous to that illustrated
in [8], but its solution is different. In fact, in [SI three cases are considered
corresponding to situations in which one or both the constraints (7) and (8)
become equality constraints, whereas in this paper the solution is directly
obtained minimizing (10) subject to the constraints (9) and (1 1).

3 Design of the controller

Equations (3) and ( 5 ) show that the scaled rotor flux and the torque can be
controlled by means of the direct and the in-quadrature stator currents, whereas
(1) and ( 2 ) show that the dynamics of these currents is nonlinear and
multivariable. It follows that decoupling of the rotor flux and the torque can be
obtained by means of decoupling of the dynamics of the above currents. This can
be accomplished using the compensation scheme illustrated in ( [ 5 ] - [ 6 ] ) which
produces also linearization of the above dynamics. This scheme works according
to the equations:

Vd = d d +Ud,
V, =d, + u 9 '
where: