Modeling and Control of Electromechanical Systems

University of Modena and Reggio Emilia
Modeling and Control of

Electromechanical Systems
Prof. Roberto Zanasi email: roberto.zanasi@unimore.it

Davide Tebaldi email: davide.tebaldi@unimore.it
Outline
The covered topics are organized in two lessons:
December 10th, 2019:

• Power-flow Efficiency of Linear and Nonlinear
Physical Systems;
December 17th, 2019:

• Modeling and Control of Hybrid Architectures;
• PMSM Superblock;
• PMSM Parameters Estimation;
December 10th, 2019 2

First Lesson
Power-flow Efficiency of
Linear and Nonlinear
Physical Systems

Industrial Physical Systems
Industries typically describe some physical systems in terms of “black boxes”, to which they associate
an “average efficiency”.
E.g.
• Permanent Magnet
• DC Electric Motor: • Gear Trains:
Synchronous Motor (PMSM):
• Our objectives:
 The derivation of the system “point-to-point” unidirectional and bidirectional efficiency,
that is an efficiency being function of the operating point, based on the system model;
 Estimation of the unknown dissipative terms of the system starting from the efficiency map,
typically made available by the provider;

Generic Linear System
Let us consider a linear system 𝑯(𝒔) with positive power flow orientation from section 1 to section 2:
𝑷𝟏 > 𝟎 𝑷𝟐 > 𝟎 𝑷𝟏 > 𝟎 𝑷𝟐 > 𝟎
1 2 1 2
Power Sections Power Sections
𝑷𝟏 > 𝟎 𝑷𝟐 > 𝟎 𝑷𝟏 > 𝟎 𝑷𝟐 > 𝟎
1 2 1 2
Power Sections Power Sections

𝑷𝟏 > 𝟎 𝑷𝟐 > 𝟎
Power flowing through 𝑷 = 𝒚𝟏 𝒖 𝟏
ቊ 𝟏
the power sections: 𝑷𝟐 = 𝒚𝟐 𝒖𝟐
The linear system 𝑯(𝒔) can be given two possible

1 2 representations
Power Sections
• State-space representation: • Input/output representation through the

transfer matrix:
The transfer matrix representation is the one suitable for studying the system efficiency
In steady-state condition, the static transfer matrix is given by:

𝑷𝟏 > 𝟎 𝑷𝟐 > 𝟎
Power flowing through 𝑷 = 𝒚𝟏 𝒖 𝟏
ቊ 𝟏
the power sections: 𝑷𝟐 = 𝒚𝟐 𝒖𝟐
Static transfer matrix:

1 2
Power Sections
Graphical representation:
Static Input/Output relations of the

system:

• Static Input/output representation:
• All physical systems are strictly dissipative!

(𝟏)
• Property: If linear system 𝑯(𝒔) is strictly dissipative, then parameters 𝒂, 𝒃, 𝒄 and 𝒅 satisfy the
following relations:
Proof:
Let us define the total power flowing through the system as follows:
(𝟐)
Substituting (𝟏) in (𝟐), power flow 𝑷𝒊𝒏 can be rewritten as follows:
Quadratic
(𝟑) Form

• Static Input/output representation:
(𝟏) • All physical systems are strictly dissipative!
Power flow 𝑷𝒊𝒏 in (𝟑) is positive iff the symmetric part of matrix 𝑯𝒑 is positive definite, that is iff:
Minors of the matrix
By imposing the determinant of the two minors is strictly greater than zero, one obtains:
Lemma: If 𝒃 = −𝒄, then (𝒂 > 𝟎) ∧ (𝒅 > 𝟎) ∧ (𝒂𝒅 + 𝒃𝒄 > 𝟎) is a necessary and sufficient condition
for the system to be strictly dissipative. If 𝒃 ≠ −𝒄, then (𝒂 > 𝟎) ∧ (𝒅 > 𝟎) ∧ (𝒂𝒅 + 𝒃𝒄 > 𝟎) is a
necessary but not sufficient condition for the system to be strictly dissipative.
9

Proof: It is known that the following condition:
(𝒃 − 𝒄)𝟐
𝒂 > 𝟎, 𝒅 > 𝟎, 𝒂𝒅 >
𝟒
is necessary and sufficient for the system to be strictly dissipative.
(𝒃 − 𝒄)𝟐 𝒂𝒅 + 𝒃𝒄 >
(𝒃−𝒄)𝟐
+𝒃𝒄.
It is known that: 𝒂𝒅 > 𝟒
𝟒
1) Hp: 𝒔𝒊𝒈𝒏 𝒃 = 𝒔𝒊𝒈𝒏 𝒄 .
(𝒃−𝒄)𝟐
It follows that 𝒂𝒅 + 𝒃𝒄 > +𝒃𝒄 > 𝟎, which is a stronger than 𝒂𝒅 + 𝒃𝒄 > 𝟎.
𝟒
1
0
2) Hp: 𝒔𝒊𝒈𝒏 𝒃 ≠ 𝒔𝒊𝒈𝒏 𝒄 . Let us write 𝒃 as 𝒃 = −𝒌𝒄, ⩝ 𝒌 > 𝟎.
(𝒃−𝒄)𝟐 (−𝒌𝒄−𝒄)𝟐 𝒌𝟐 𝒄𝟐 +𝒄𝟐 𝒌𝒄𝟐

Let us solve the disequation +𝒃𝒄 = − 𝒌𝒄𝟐 = − >𝟎
𝟒 𝟒 𝟒 𝟐
𝒌𝟐 𝒄𝟐+𝒄𝟐 𝒌𝒄𝟐
The associated second order equation is: − = 𝟎, that is 𝒌𝟐 − 𝟐𝒌 + 𝟏 = 𝟎
𝟒 𝟐
The two coindident solutions are 𝒌𝟏,𝟐 = 𝟏.
(𝒃−𝒄)𝟐
2.1) 𝒌 ≠ 𝟏 +𝒃𝒄 > 𝟎
𝟒
(𝒃−𝒄)𝟐
It follows that 𝒂𝒅 + 𝒃𝒄 > +𝒃𝒄 > 𝟎 is a stronger than 𝒂𝒅 + 𝒃𝒄 > 𝟎.
𝟒
(𝒃−𝒄)𝟐
2.2) 𝒌 = 𝟏 (i.e. 𝒃 = −𝒄) +𝒃𝒄 = 𝟎
𝟒
It follows that, in this case, the necessary and sufficient condition for the system to be
strictly dissipative is:
(𝒂 > 𝟎) ∧ (𝒅 > 𝟎) ∧ (𝒂𝒅 + 𝒃𝒄 > 𝟎) 1

1
Unidirectional Efficiency
𝑷𝟏 > 𝟎 𝑷𝟐 > 𝟎
Power flowing through 𝑷 𝟏 = 𝒚𝟏 𝒖 𝟏
ቊ
the power sections: 𝑷 𝟐 = 𝒚𝟐 𝒖 𝟐
Definition:
1 2
Power Sections
By starting from the steady-state input/output representation of the system:
One can express the power variables characterizing section 1 as a function of those characterizing
section 2 and viceversa as reported in the following:
(𝟒)
The point-to-point efficiency is not affected by the dynamic elements within the system, i.e. it only
depends on parameters 𝒂, 𝒃, 𝒄 and 𝒅.
Cascade Systems
Let us consider two linear systems 𝑯𝟏 (𝒔) and 𝑯𝟐 (𝒔) connected in cascade:
𝑷𝟏 > 𝟎 𝑷𝟐 = 𝑷𝟑 > 𝟎 𝑷𝟒 > 𝟎
𝑷 𝟏 = 𝒚𝟏 𝒖 𝟏
ቐ 𝑷 𝟐 = 𝑷 𝟑 = 𝒚 𝟐 𝒖 𝟐 = 𝒚𝟑 𝒖 𝟑
𝑷 𝟒 = 𝒚𝟒 𝒖 𝟒
The static input/output relations of the two linear systems 𝑯𝟏 (𝒔) and 𝑯𝟐 (𝒔) are:
By assuming the positive power flow orientation in the figure, it is straightforward to cascade the two
linear systems 𝑯𝟏 (𝒔) and 𝑯𝟐 (𝒔) and compute the efficiency of the cascade system 𝐇(𝒔):

Unidirectional Efficiency
By replacing (𝟒) in 𝑬(𝒕), one can exress the efficiency as a function of the variables composing the
output plane (𝒚𝟐 , 𝒖𝟐 ) and as a function of the variables composing the input plane (𝒚𝟏 , 𝒖𝟏 ) as follows:
• Efficiency on the output plane (𝒚𝟐 , 𝒖𝟐 ): • Efficiency on the input plane (𝒚𝟏 , 𝒖𝟏 ):
(𝟓) (𝟔)
System
parameters:
𝒂 = 𝟎. 𝟐
𝒃 = 𝟎. 𝟔
𝒄 = 𝟎. 𝟖
𝒅 = 𝟎. 𝟏
𝑷𝒎𝒂𝒙 = 𝟏𝟎𝟎 𝑾
𝑬(𝒚𝟐 , 𝒖𝟐 ) and 𝑬(𝒚𝟏 , 𝒖𝟏 ) are interchangeable, related to each other by 𝑻𝟐𝟏 and 𝑻𝟏𝟐 in (𝟒)
Analysis on the output plane (𝑦2 , 𝑢2 )
Property: The efficiency 𝑬(𝒕) of a linear system is constant along the straight lines exiting
from the origin of the output plane (𝒚𝟐 , 𝒖𝟐 ): 𝒖𝟐 = 𝜸 𝒚𝟐 .
For positive values of 𝜸, the efficiency reaches its maximum value for 𝜸 = 𝜸∗ , where:
and the corresponding maximum efficiency value 𝑬∗ is given by:
Proof:
By replacing 𝒖𝟐 = 𝜸 𝒚𝟐 in (𝟓), one obtains:
which can be rewritten as: (𝟕)
where and .

Efficiency 𝑬(𝜸) in (𝟕) as a function of 𝜸: Efficiency 𝑬(𝒚𝟐 , 𝒖𝟐 ) in (𝟓) as a function of (𝒚𝟐 , 𝒖𝟐 ):
is shown in the following figure: is shown in the following figure:
𝐸<0 𝐸>1 𝐸<0 0<𝐸<1

Efficiency constant
Efficiency constant
along straight lines
along straight lines
… …
𝑬(𝜸) gives the same information as 𝑬(𝒚𝟐 , 𝒖𝟐 ) but in a one-dimensional space using 𝒖𝟐 = 𝜸 𝒚𝟐
If linear sustem 𝑯(𝒔) is strictly dissipative, the two solutions 𝜸𝟏,𝟐 of 𝒂 + 𝜷𝜸 + 𝜹𝜸𝟐 = 𝟎 at the
denominator of efficiency 𝑬(𝜸) are real and negative.
(𝟖)
In fact, if the system is strictly dissipative, then 𝒂 > 𝟎, 𝜷 > 𝟎 and 𝜹 > 𝟎, i.e. 𝑹𝒆 𝜸𝟏,𝟐 < 𝟎.
Additionally, the two solutions 𝜸𝟏,𝟐 are real, as the discriminant 𝚫 = 𝜷𝟐 − 𝟒𝒂𝒄 is positive:
From (𝟖), the two solutions can be expanded as follows: and
𝜸 <𝜸 if 𝒄𝒃 < 𝟎
Note that the following inequalities hold: ቊ 𝜸𝟏 < 𝜸𝟐
𝟐 𝟏 if 𝒄𝒃 > 𝟎

By deriving 𝑬(𝜸) with respect to 𝜸, one obtains:
𝒅𝑬(𝜸)
In order for the efficiency 𝑬(𝜸) to exhibit a local maximum or minimum, = 𝟎 must hold:
𝒅𝜸
(𝟗)
𝒅𝑬(𝜸)
By deriving with respect to 𝜸, one obtains: (𝟏𝟎)
𝒅𝜸
By replacing (𝟗) in (𝟏𝟎), it can be shown that the following relations are verified:
meaning that 𝜸 = 𝜸∗ represents a local maximum for the efficiency 𝑬(𝜸) and 𝜸 = −𝜸∗ represents a
local minimum for the efficiency 𝑬(𝜸).
ഥ ∗ of 𝑬(𝜸):
By replacing (𝟗) in 𝑬(𝜸), one obtains the local maximum 𝑬∗ and the local minimum 𝑬
The global behavior of efficiency 𝑬(𝒚) as a function of parameter 𝜸 is shown in the following figure:
𝐸ത ∗ • 𝐸ത ∗ : expression of the local minimum of efficiency
𝐸 𝛾 ;
• 𝐸 ∗ : expression of the local maximum of efficiency
𝐸(𝑦);
𝐸∗
• 𝛾1 : first solution of equation 𝑎 + 𝛽𝛾 + 𝛿𝛾 2 = 0;
• 𝛾2 : second solution of equation 𝑎 + 𝛽𝛾 + 𝛿𝛾 2 = 0;
• 𝛾 ∗ : value of 𝛾 giving the local maximum efficiency
𝐸∗ ;
−𝛾 ∗ 𝛾1 𝛾∗
• −𝛾 ∗ : value of 𝛾 giving the local minimum 𝐸ത ∗ of
𝛾2 efficiency 𝐸 𝛾 ;
The same meaningful quantities highlighted in the plot of efficiency 𝑬(𝒚) are present in the efficiency
map 𝑬(𝒚𝟐 , 𝒖𝟐 ), giving the same information as 𝑬(𝒚) but on the two-dimensional space (𝒚𝟐 , 𝒖𝟐 )
𝛾2
𝐸ത ∗ 𝛾∗
𝐸∗
−𝛾 ∗
𝛾1
• 𝐸ത ∗ : expression of the local minimum of efficiency

𝐸 𝛾 ; • 𝛾 ∗ : value of 𝛾 giving the local maximum
∗
• 𝐸 : expression of the local maximum of efficiency efficiency 𝐸 ∗ ;
𝐸(𝑦); • −𝛾 ∗ : value of 𝛾 giving the local minimum 𝐸ത ∗
2
• 𝛾1 : first solution of equation 𝑎 + 𝛽𝛾 + 𝛿𝛾 = 0; of efficiency 𝐸 𝛾 ;
• 𝛾2 : second solution of equation 𝑎 + 𝛽𝛾 + 𝛿𝛾 2 = 0;
𝐸<0 𝐸>1 𝐸<0 0<𝐸<1
… …
There are three situations occurring:

Case of power oriented
from section 1 to section 2 
from section 2 to section 1 X
Case of both powers
entering the system X
Note: the case 𝑷𝟏 𝒕 < 𝟎 and 𝑷𝟐 𝒕 > 𝟎 can never occur, as the dissipative system cannot
generate energy
Analysis on the input plane (𝑦1 , 𝑢1 )
Property: The efficiency 𝑬(𝒕) of a linear system is constant along the straight lines exiting
from the origin of the input plane (𝒚𝟏 , 𝒖𝟏 ): 𝒖𝟏 = 𝜶 𝒚𝟏 .
For positive values of 𝜶, the efficiency reaches its maximum value for 𝜶 = 𝜶∗ , where:
and the corresponding maximum efficiency value 𝑬∗ is given by:
Proof: the proof is left to the reader, by following the same procedure as the one carried out for the
analysis of the efficiency on the output plane (𝒚𝟐 , 𝒖𝟐 ).
The expression of efficiency 𝑬(𝜶) as a function of 𝜶 is:
(𝟏𝟏)
where and .

Efficiency 𝑬(𝜶) in (𝟏𝟏) as a function of 𝜶: Efficiency 𝑬(𝒚𝟏 , 𝒖𝟏 ) in (𝟔) as a function of (𝒚𝟏 , 𝒖𝟏 ):
is shown in the following figure: is shown in the following figure:
Efficiency constant Efficiency constant

along straight lines along straight lines
… …
0<𝐸<1
𝐸>1
𝐸<0
𝑬(𝜶) gives the same information as 𝑬(𝒚𝟏 , 𝒖𝟏 ) but in a one-dimensional space using 𝒖𝟏 = 𝜶 𝒚𝟏
If linear sustem 𝑯(𝒔) is strictly dissipative, the two solutions 𝜶𝟏,𝟐 of −𝒅 + 𝜷𝜶 − 𝜼𝜶𝟐 = 𝟎 at the
numerator of efficiency 𝑬(𝜶) are real and positive.
and are given by: and .
The local maximum 𝑬∗ = 𝑬(𝜶∗ )

of 𝑬(𝜶) when 𝜶 = 𝜶∗ is:
Note: the maximum efficiency value 𝑬∗ = 𝑬(𝜶∗ ) as a function of the variables on the input plane
(𝒚𝟏 , 𝒖𝟏 ) coincides with the maximum efficiency value 𝑬∗ = 𝑬(𝜸∗ ) as a function of the variables of
the output plane (𝒚𝟐 , 𝒖𝟐 ):

The global behavior of efficiency 𝑬(𝜶) as a function of parameter 𝜶 is shown in the following figure:
𝐸ത ∗ • 𝐸ത ∗ : expression of the local minimum of efficiency

𝐸 𝛼 ;
• 𝐸 ∗ : expression of the local maximum of efficiency
𝐸(𝛼);
𝐸∗ • 𝛼1 : first solution of equation −𝑑 + 𝛽𝛼 − 𝜂𝛼 2 = 0;
• 𝛼2 : second solution of equation −𝑑 + 𝛽𝛼 − 𝜂𝛼 2 = 0;
• 𝛼 ∗ : value of 𝛼 giving the local maximum efficiency
𝐸∗ ;
• −𝛼 ∗ : value of 𝛾 giving the local minimum 𝐸ത ∗ of
−𝛼 ∗ 𝛼1 𝛼∗ 𝛼2 efficiency 𝐸 𝛼 ;
Note: the two slopes 𝜶 and 𝜸 are related as:
Therefore, the folowing implications hold:

and

The same meaningful quantities highlighted in the plof of efficiency 𝑬(𝜶) are present in the efficiency
map 𝑬(𝒚𝟏 , 𝒖𝟏 ), giving the same information as 𝑬(𝜶) but on the two-dimensional space (𝒚𝟏 , 𝒖𝟏 )
𝛼2
𝐸ത ∗ 𝛼∗
𝐸∗
−𝛼 ∗
𝛼1
• 𝐸ത ∗ : expression of the local minimum of efficiency

𝐸 𝛼 ; • 𝛼 ∗ : value of 𝛼 giving the local maximum
• 𝐸 ∗ : expression of the local maximum of efficiency efficiency 𝐸 ∗ ;
𝐸(𝛼); • −𝛼 ∗ : value of 𝛾 giving the local minimum 𝐸ത ∗
2
• 𝛼1 : first solution of equation −𝑑 + 𝛽𝛼 − 𝜂𝛼 = 0; of efficiency 𝐸 𝛼 ;
• 𝛼2 : second solution of equation −𝑑 + 𝛽𝛼 − 𝜂𝛼 2 = 0;
… …
0<𝐸<1
𝐸<0
𝐸>1
There are three situations occurring:
Case of both powers
Note: the case 𝑷𝟏 𝒕 < 𝟎 and 𝑷𝟐 𝒕 > 𝟎 can never occur, as the dissipative system cannot
generate energy
Analysis on (𝑦2 , 𝑢2 ) & (𝑦1 , 𝑢1 ): Summing-up
• 1D view of 𝑬(𝜸) vs 𝜸, with 𝒖𝟐 = 𝜸 𝒚𝟐 • 1D view of 𝑬(𝜶) vs 𝜶, with 𝒖𝟏 = 𝜶 𝒚𝟏
𝐸<0 𝐸>1 𝐸<0 0<𝐸<1 𝐸>1 0<𝐸<1
𝐸<0
… … … …
Equivalent
Efficiency
representations
• 2D view of 𝑬(𝒚𝟐 , 𝒖𝟐 ) on plane (𝒚𝟐 , 𝒖𝟐 ) • 2D view of 𝑬(𝒚𝟏 , 𝒖𝟏 ) on plane (𝒚𝟏 , 𝒖𝟏 )

Bidirectional Efficiency
𝑷𝟏 > 𝟎 𝑷𝟐 > 𝟎
Let us recall the definition of unidirectional efficiency:
1 2 which agrees with the following set of inequalities:

Case of both powers
Accounted for by the definition of

Bidirectional Efficiency: (𝟏𝟏)

Let us consider the same linear system as before, characterized by parameters 𝒂 = 𝟎. 𝟐, 𝒃 = 𝟎. 𝟔, 𝒄 =
𝟎. 𝟖, 𝒅 = 𝟎. 𝟏 and 𝑷𝒎𝒂𝒙 = 𝟏𝟎𝟎 𝑾. Using the definition of bidirectional efficiency of the system (𝟏𝟏),
the bidirectional efficiency maps on the output plane (𝒚𝟐 , 𝒖𝟐 ) and on the input plane (𝒚𝟏 , 𝒖𝟏 ) are:
Property: The Bidirectional Efficiency Map of a linear system is symmetric with respect to the
origin of planes (𝒚𝟏 , 𝒖𝟏 ) and (𝒚𝟐 , 𝒖𝟐 ), therefore it is not necessary to represent all the four quadrants
of the map.
Note: the significant values −𝜸∗ , 𝜸∗ , 𝜸𝟏 and 𝜸𝟐 as far as the output plane (𝒚𝟐 , 𝒖𝟐 ) is concerned,
together with the significant values −𝜶∗ , 𝜶∗ , 𝜶𝟏 and 𝜶𝟐 as far as the input plane (𝒚𝟏 , 𝒖𝟏 ) is concerned,
within the two bidirectional efficiency maps 𝑬𝒃 (𝒚𝟐 , 𝒖𝟐 ) and 𝑬𝒃 (𝒚𝟏 , 𝒖𝟏 ) are the same as those
introduced in the analysis of the unidirectional efficiency.
The global behavior of the bidirectional efficiency 𝑬𝒃 (𝒚) as a function of parameter 𝜸 and of the
bidirectional efficiency 𝑬𝒃 𝜶 as a function of parameter 𝜶 is shown in the following figures:
𝐸∗ 𝐸∗
𝐸෨ ∗ 𝐸෨ ∗
−𝛼 ∗ 𝛼1
𝛾2 −𝛾 ∗ 𝛾1 𝛾 ∗ 𝛼∗ 𝛼2
∗
where 𝑬 is the maximum forward efficiency, i.e. with power flow oriented from section 1 to section
෩ ∗ is the maximum reverse efficiency, i.e. with power flow oriented from section 2 to section
2, and 𝑬
1. The maximum reverse efficiency 𝑬 ෩ ∗ is given by 𝑬
෩ ∗ = 𝟏ൗഥ∗ , where 𝑬
ഥ ∗ is the local minimum of the
𝑬
unidirectional efficiency functions 𝑬(𝜸) and 𝑬(𝜶), given in (𝟕) and (𝟏𝟏) respectively.
෩ ∗ coincide iff the condition 𝒃 = |𝒄|
Property: The maximum forward and reverse efficiency 𝑬∗ and 𝑬
holds.
Efficiency 𝑬𝒃 𝜸 as a function
of parameter 𝜸 when 𝒃 = |𝒄|

Overview of functions E 𝛾 , 𝐸𝑏 (𝛾) and E 𝛼 , 𝐸𝑏 (𝛼)
• 𝑬(𝜸) vs 𝜸, with 𝒖𝟐 = 𝜸 𝒚𝟐 • 𝑬(𝜶) vs 𝜶, with 𝒖𝟏 = 𝜶 𝒚𝟏
𝐸ത ∗ 𝐸ത ∗
∗
𝐸∗
𝐸
• 𝑬𝒃 (𝜸) vs 𝜸, with 𝒖𝟐 = 𝜸 𝒚𝟐 • 𝑬𝒃 (𝜶) vs 𝜶, with 𝒖𝟏 = 𝜶 𝒚𝟏
1 𝐸∗ 𝐸∗
𝐸෨ ∗ = 1
𝐸ത ∗ 𝐸෨ ∗ = ∗
𝐸ത

෩ ∗ = 𝑬∗ (𝒒) can be written as a function of 𝒒 = 𝒃 𝒄 as:
When 𝒃 = |𝒄|, the maximum efficiency 𝑬∗ = 𝑬 𝒂𝒅
1) If 𝒃 = 𝒄:
2) If 𝒃 = −𝒄:
Both functions 𝑬∗+ (𝒒) and 𝑬∗− (𝒒) can be represented by function 𝑬∗ (𝒒) defined as follows:
The global behavior of the maximum efficiency

described by function 𝑬∗ (𝒒) as a function of
parameter 𝒒 is reported in the following figure:

Efficiency: Nonlinear Case
Let us consider a linear system 𝑯(𝒔) which is affected by additional nonlinear friction terms:
𝑷𝟏 > 𝟎 𝑷𝟐 > 𝟎
Let 𝒖෥ 𝟏 = 𝒇𝟏 (𝒚𝟏 ) and 𝒖෥ 𝟐 = 𝒇𝟐 (𝒚𝟐 ) be the
two nonlinearities affecting the system,
which are supposed to be confined in the I
and III quadrants of the input plane
෥ 𝟏 ) and of the output plane (𝒚𝟐 , 𝒖
(𝒚𝟏 , 𝒖 ෥ 𝟐 ),
respectively, in order for them to have a
dissipative effect on the system.
1 2
• Efficiency 𝑬(𝒚𝟐 , 𝒖𝟐 ) on the output plane: • Efficiency 𝑬(𝒚𝟏 , 𝒖𝟏 ) on the input plane:
where where
By replacing these definitions in 𝑬𝒃 (𝒕) given in (𝟏𝟏), one obtains the expressions of the bidirectional
efficiency maps 𝑬𝒃 𝒚𝟐 , 𝒖𝟐 and 𝑬𝒃 𝒚𝟏 , 𝒖𝟏 of the system in presence of additional nonlinear friction
terms.
Property: Let us consider a linear system 𝑯(𝒔) with additional nonlinear dissipative terms on the
output plane (𝒚𝟐 , 𝒖෥ 𝟐 ) and on the input plane (𝒚𝟏 , 𝒖෥ 𝟏 ) described by nonlinear functions 𝒇𝟐 (𝒚𝟐 ) and
𝒇𝟏 (𝒚𝟏 ), respectively. If the nonlinear functions 𝒇𝟐 (𝒚𝟐 ) and 𝒇𝟏 (𝒚𝟏 ) exhibit a symmetry with respect to
the origin of the output and input planes (𝒚𝟐 , 𝒖 ෥ 𝟐 ) and (𝒚𝟏 , 𝒖
෥ 𝟏 ), respectively, the bidirectional
efficiency map 𝑬𝒃 (𝒚𝟐 , 𝒖𝟐 ) and the bidirectional efficiency map 𝑬𝒃 (𝒚𝟏 , 𝒖𝟏 ) exhibit a symmetry with
respect to the origin of the output plane (𝒚𝟐 , 𝒖𝟐 ) and of the input plane (𝒚𝟏 , 𝒖𝟏 ).
E.g. Let us assume the expressions of the two nonlinearities are:
and
which are graphycally shown in the following figures:
The figure highlights the symmetry

of functions 𝒖෥ 𝟏 = 𝒇𝟏 (𝒚𝟏 ) and 𝒖 ෥𝟐 =
𝒇𝟐 (𝒚𝟐 ) with respect to the origin of
෥ 𝟏 ) and (𝒚𝟐 , 𝒖
planes (𝒚𝟏 , 𝒖 ෥ 𝟐 ),
respectively.

By considering a system characterized by the two symmetric nonlinearities 𝒖 ෥ 𝟏 = 𝒇𝟏 (𝒚𝟏 ) and 𝒖෥𝟐 =
𝒇𝟐 (𝒚𝟐 ) just introduced and having the following parameters: 𝒂 = 𝟎. 𝟐, 𝒃 = 𝟎. 𝟔, 𝒄 = 𝟎. 𝟖, 𝒅 =
𝟎. 𝟏, 𝑷𝒎𝒂𝒙 = 𝟏𝟎𝟎𝑾, the corresponding bidirectional efficiency map 𝑬𝒃 (𝒚𝟐 , 𝒖𝟐 ) of the system on
the output plane (𝒚𝟐 , 𝒖𝟐 ) is shown in the following:
Note the symmetry of the map with respect to the origin of plane (𝑦2 , 𝑢2 ).
By considering a system having the same numerical values for the parameters 𝒂 = 𝟎. 𝟐, 𝒃 = 𝟎. 𝟔, 𝒄 =
𝟎. 𝟖, 𝒅 = 𝟎. 𝟏, 𝑷𝒎𝒂𝒙 = 𝟏𝟎𝟎𝑾 but affected by two nonsymmetric nonlinearities 𝒖 ෥ 𝟏 = 𝒇𝟏 (𝒚𝟏 ) and
෥ 𝟐 = 𝒇𝟐 (𝒚𝟐 ) such as those shown in the figure on the left, the corresponding bidirectional efficiency
𝒖
map 𝑬𝒃 (𝒚𝟐 , 𝒖𝟐 ) on the output plane (𝒚𝟐 , 𝒖𝟐 ) is the following one:
Note: the bidirectionl efficiency map

𝐸𝑏 (𝑦2 , 𝑢2 ) no longer exhibits a symmetry
with respect to the origin of the output
plane (𝑦2 , 𝑢2 ).

Efficiency: Industrial Case Studies
The analysis of the unidirectional and bidirectional efficiency of linear and nonlinear physical systems
can be applied to systems of interest for companies working in many industrial fields.
• Some examples of application:
• Permanent Magnet
• DC Electric Motor: • Gear Trains:
Synchronous Motor (PMSM):
• Electric Circuits:

DC Electric Motor
The POG bloch scheme, the POG state-space model and the static transfer matrix of the DC motor are:
POG block scheme:

POG state-space equations:
Static transfer matrix:
Electrical Electrical
Dynamics Energy Dynamics
Conversion
Note that the DC Electric Motor satisfies the condition 𝒃 = |𝒄|, in particular:
𝒃 = 𝒄 ⟺ 𝒒 > 𝟎!
DC Electric Motor
From the latter consideration, it follows that the maximum efficiency of the DC motor has to be looked
for on the right-hand side of function 𝑬∗ (𝒒), i.e. 𝑬∗ 𝒒 = 𝑬∗+ (𝒒) for 𝒒 > 𝟎.
𝑞≤0 𝑞>0
 𝒒>𝟎
By assuming the following numerical

values for the system parameters:
𝒔
𝑹 = 𝟏 [𝛀], 𝑩 = 𝟗. 𝟓 ∙ 𝟏𝟎−𝟑 𝑵𝒎 𝒓𝒂𝒅
𝑵𝒎
and 𝑲 = 𝟐 :
𝑨

Permanent Magnet Synchronous Motor (PMSM)
The steady-state equations of a PMSM with star-connected phases can be represented as follows:
If the PMSM is controlled in order to minimize the dissipations, i.e. 𝜔𝐼𝑑 = 0, the system nonlinear
static equations simplify as:
from which it follows:
meaning that, in first approximation, the PMSM behaves as a linear system.

Permanent Magnet Synchronous Motor (PMSM)
𝜔 𝑻 𝜔 𝑻
By expressing the output vector 𝒚 = 𝐼𝑞 , 𝝎𝒎 as a function of the input vector 𝒖 = 𝑉𝑞 , 𝝉𝒆 :
Therefore, parameters 𝒂, 𝒃, 𝒄 and 𝒅 are:
where .
𝑞≤0 𝑞>0
∗
The maximum efficiency 𝑬 of the motor is:
Note that the PMSM


satisfies the condition
𝒃 = |𝒄|, in particular:
where 𝒃 = 𝒄 ⟺ 𝒒 > 𝟎!
-

PMSM: Parameters Identification
In order to reproduce the efficiency map of an actual industrial PMSM, the linear approximation is
not sufficient. It becomes therefore necessary to introduce two additional nonlinear friction terms:
The new input vector of the linear part is

𝑻
ഥ = 𝜔𝑽
𝒖 ഥ 𝑞 , 𝝉ത 𝒆 , which is related to the
original input vector as follows:
1 1’ 2’ 2
As for the linear part, the

variables of the input plane
(section 1’) can be expressed as a
function of those of the output
plane (section 2’) as follows:
The efficiency map 𝑬 𝒚𝟐 , 𝒖𝟐 = 𝑬 𝝎𝒎 , 𝝉𝒆 is:

PMSM: Parameters Identification
Starting from the actual efficiency map of an industrial PMSM and applying a function minimization
(e.g. fminsearch), one can estimate the dissipative terms affecting the efficiency map of the motor:
• Actual efficiency map of the considered • Estimated efficiency map of the considered
PMSM on the output plane (𝝎𝒎 , 𝝉𝒆 ): PMSM on the output plane (𝝎𝒎 , 𝝉𝒆 ):
The Efficiency Error Matrix is defined as: 𝑬𝒆𝒓𝒓 𝝎𝒎 , 𝝉𝒆 = 𝑬𝒂𝒄𝒕 𝝎𝒎 , 𝝉𝒆 − 𝑬𝒆𝒔𝒕 𝝎𝒎 , 𝝉𝒆 , and the
rms value of the elements contained within matrix 𝑬𝒆𝒓𝒓 𝝎𝒎 , 𝝉𝒆 is:
where
for Good matching!

2-Gears Train
Let us consider the following 2-gears train:
From the system to

the POG model
POG state-space equations: Static transfer matrix:
Note that the 2-gears train satisfies the

condition 𝒃 = |𝒄|, in particular:
𝒃 = −𝒄 ⟺ 𝒒 ≤ 𝟎!

2-Gears Train
From the latter consideration, it follows that the maximum efficiency of the 2-gears train has to be
looked for on the left-hand side of function 𝑬∗ (𝒒), i.e. 𝑬∗ 𝒒 = 𝑬∗− (𝒒) for −𝟏 ≤ 𝒒 ≤ 𝟎.
−𝒓𝟐 𝒃𝟏 +𝒃𝟐 𝒓𝟐
𝑞≤0 𝑞>0 𝒒= 𝒃𝟏 +𝒃𝟐 𝒓𝟐 𝒓𝟐
= −𝟏 ⟺ 𝑬∗ 𝒒 = 𝑬∗− 𝒒 = 𝟏
X One of the necessary conditions for a linear system

to be strictly dissipative (𝒂𝒅 + 𝒃𝒄 > 𝟎) is not
satisfied, in fact 𝒂𝒅 + 𝒃𝒄 = 𝟎 holds in this case!
The system is not strictly dissipative, but is ‘simply’

dissipative, i.e. the maximum efficiency 𝑬∗ 𝒒 can
-
be equal to 1 in some limit operating conditions
By assuming the following numerical

𝑬∗ = 𝟏
values for the system parameters: 𝒃𝟏 =
𝒔 𝒔
𝟐𝟑. 𝟒 [𝒎𝑵𝒎 𝒓𝒂𝒅], 𝒃𝟐 = 𝟒𝟑 𝒎𝑵𝒎 𝒓𝒂𝒅
and 𝒓 = 𝑹𝟏ൗ𝑹𝟐 = 𝟎, 𝟑𝟔:

Static Electric System
Let us consider the following static electric system:
Static input-output relations:
where 𝒚𝟏 = 𝑰𝟏 , 𝒚𝟐 = 𝑰𝟐 , 𝒖𝟏 = 𝑽𝟏 and 𝒖𝟐 = 𝑽𝟐
Note that the system does not satisfiy the condition 𝒃 = 𝒄 !

⟺
∗
The maximum forward efficiency 𝑬 and the maximum reverse efficiency 𝑬 ෩ ∗ do not coincide
System
parameters:
𝑹=𝟒 𝛀
𝑨
𝑲=𝟐
𝑽

Thank you for your attention

Modeling and Control of Electromechanical Systems

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University of Modena and Reggio Emilia

Modeling and Control of

Prof. Roberto Zanasi email: roberto.zanasi@unimore.it

The covered topics are organized in two lessons:

December 10th, 2019:

December 17th, 2019:

December 10th, 2019 2

December 10th, 2019 3

December 10th, 2019 4

Power Sections Power Sections

𝑷𝟏 > 𝟎 𝑷𝟐 > 𝟎 𝑷𝟏 > 𝟎 𝑷𝟐 > 𝟎

Power Sections Power Sections

December 10th, 2019 5

The linear system 𝑯(𝒔) can be given two possible

• State-space representation: • Input/output representation through the

In steady-state condition, the static transfer matrix is given by:

December 10th, 2019 6

Static transfer matrix:

Static Input/Output relations of the

December 10th, 2019 7

• All physical systems are strictly dissipative!

Substituting (𝟏) in (𝟐), power flow 𝑷𝒊𝒏 can be rewritten as follows:

December 10th, 2019 8

(𝟏) • All physical systems are strictly dissipative!

Minors of the matrix

December 10th, 2019 9

is necessary and sufficient for the system to be strictly dissipative.

1) Hp: 𝒔𝒊𝒈𝒏 𝒃 = 𝒔𝒊𝒈𝒏 𝒄 .

(𝒃−𝒄)𝟐 (−𝒌𝒄−𝒄)𝟐 𝒌𝟐 𝒄𝟐 +𝒄𝟐 𝒌𝒄𝟐

The two coindident solutions are 𝒌𝟏,𝟐 = 𝟏.

(𝒂 > 𝟎) ∧ (𝒅 > 𝟎) ∧ (𝒂𝒅 + 𝒃𝒄 > 𝟎) 1

By starting from the steady-state input/output representation of the system:

December 10th, 2019 13

and the corresponding maximum efficiency value 𝑬∗ is given by:

By replacing 𝒖𝟐 = 𝜸 𝒚𝟐 in (𝟓), one obtains:

which can be rewritten as: (𝟕)

December 10th, 2019 15

is shown in the following figure: is shown in the following figure:

𝐸<0 𝐸>1 𝐸<0 0<𝐸<1

From (𝟖), the two solutions can be expanded as follows: and

December 10th, 2019 17

• 𝐸ത ∗ : expression of the local minimum of efficiency

There are three situations occurring:

and the corresponding maximum efficiency value 𝑬∗ is given by:

The expression of efficiency 𝑬(𝜶) as a function of 𝜶 is:

December 10th, 2019 22

is shown in the following figure: is shown in the following figure:

Efficiency constant Efficiency constant

and are given by: and .

The local maximum 𝑬∗ = 𝑬(𝜶∗ )

December 10th, 2019 24

𝐸ത ∗ • 𝐸ത ∗ : expression of the local minimum of efficiency

Note: the two slopes 𝜶 and 𝜸 are related as:

Therefore, the folowing implications hold:

December 10th, 2019 25

• 𝐸ത ∗ : expression of the local minimum of efficiency

𝐸<0 𝐸>1 𝐸<0 0<𝐸<1 𝐸>1 0<𝐸<1

December 10th, 2019 28

1 2 which agrees with the following set of inequalities:

Accounted for by the definition of

December 10th, 2019 29

December 10th, 2019 31

• 𝑬𝒃 (𝜸) vs 𝜸, with 𝒖𝟐 = 𝜸 𝒚𝟐 • 𝑬𝒃 (𝜶) vs 𝜶, with 𝒖𝟏 = 𝜶 𝒚𝟏