Self-adaptive high-frequency injection based sensorless control for interior permanent magnet synchronous motor drives \u2020

Abstract: An auto-tuning and self-adaptation procedure for High Frequency Injection (HFI) based position and speed estimation algorithms in Interior Permanent Magnet Synchronous Motor (IPMSM) drives is proposed in this paper. Analytical developments show that, using conventional approaches, the dynamics of the high-frequency tracking loop varies with differential inductances, which in turn depend on the machine operating point. On-line estimation and adaptation of the small signal gain of the loop is proposed here, allowing accurate auto-tuning of the sensorless control scheme which does not rely on a priori knowledge of the machine parameters. On-line adaptation of Phase-Locked Loop (PLL) gains and of the injected voltage magnitude is also possible, leading to important advantages from the performance, loss and acoustic point of view. The theoretical basis of the method has been introduced first and the main concept demonstrated by means of simulations. Implementation has been carried out using the hardware of a commercial industrial drive and two Interior Permanent Magnet Synchronous Motors, namely a prototype and an off-the-shelf machine. Experimental tests demonstrate the feasibility and effectiveness of the proposal

Self-Adaptive High-Frequency Injection Based Sensorless Control for Interior Permanent Magnet Synchronous Motor Drives

open5openKumar, Piyush; Bottesi, Omar; Calligaro, Sandro; Alberti, Luigi; Petrella, RobertoKumar, Piyush; Bottesi, Omar; Calligaro, Sandro; Alberti, Luigi; Petrella, Robert

A Nonlinear Extended State Observer for Rotor Position and Speed Estimation for Sensorless IPMSM Drives

© 1986-2012 IEEE. Sensorless machine drives in vehicle traction frequently experience rapidly-changing load disturbance and demand fast speed dynamics. Without gain-scheduling or compensation, conventional quadrature phase-locked-loop (Q-PLL) is unable to accurately estimate the rotor position and speed for these systems. In this paper, a third-order nonlinear extended state observer (TNESO) is proposed for position and speed estimation for sensorless interior permanent magnet synchronous motor drives. TNESO has the power of nonlinear feedback and takes the advantages of fast convergence and disturbance rejection. An optimized parameter configuration method is deployed to extend the disturbance observation bandwidth of the TNESO. Both steady state and transient performance of TNESO are verified through the experimental tests. In comparison with the performance of conventional Q-PLL scheme, the proposed observer is proved to be capable of delivering higher precision of position and speed estimation against rapidly varying disturbance in wide operating range

Design and Control of Compliant Actuation Topologies for Energy-Efficient Articulated Robots

Considerable advances have been made in the field of robotic actuation in recent years. At the heart of this has been increased use of compliance. Arguably the most common approach is that of Series-Elastic Actuation (SEA), and SEAs have evolved to become the core component of many articulated robots. Another approach is integration of compliance in parallel to the main actuation, referred to as Parallel- Elastic Actuation (PEA). A wide variety of such systems has been proposed. While both approaches have demonstrated significant potential benefits, a number of key challenges remain with regards to the design and control of such actuators. This thesis addresses some of the challenges that exist in design and control of compliant actuation systems. First, it investigates the design, dynamics, and control of SEAs as the core components of next-generation robots. We consider the influence of selected physical stiffness on torque controllability and backdrivability, and propose an optimality criterion for impedance rendering. Furthermore, we consider disturbance observers for robust torque control. Simulation studies and experimental data validate the analyses. Secondly, this work investigates augmentation of articulated robots with adjustable parallel compliance and multi-articulated actuation for increased energy efficiency. Particularly, design optimisation of parallel compliance topologies with adjustable pretension is proposed, including multi-articulated arrangements. Novel control strategies are developed for such systems. To validate the proposed concepts, novel hardware is designed, simulation studies are performed, and experimental data of two platforms are provided, that show the benefits over state-of-the-art SEA-only based actuatio

Operation of Grid-Connected Inverter under Unbalanced Grid Conditions Using Indirect Voltage Sensoring

Abstract The grid connected voltage source inverter is now the most widely used interface for connecting renewable power generation to the grid. Control of this device is a key aspect to ensure the performance, reliability and life span of the renewable power generation system. Conventionally, the current control of the grid connected inverter is based on the measured grid side voltage. The power and the power factor at the receiving end, which is usually defined as the point of common coupling, can be controlled accurately. This controller topology has been widely used and many control methods have been developed aiming at objectives such as increasing system stability, decreasing harmonic injection, and improving transient response of the system. However, in case of the voltage measurement is not available, i.e. a faulty voltage sensor, the conventional current control topology will be disabled for lack of information of the grid voltage. This would decrease the reliability and efficiency of the system thus should be improved. voltage-sensor-less In this research, a current control system for the grid connected inverter system not relying on the information provided by the a.c. side voltage sensors will be developed with compliance to the recommendations issued to the performances of the distribution generations such as the harmonic limitations and the fault-ride-through capabilities. Three problem will be addressed and solved. Firstly, the a.c. side voltage should be acquired without the use of a.c. side voltage sensors. This is achieved by adopting an a.c. side voltage estimation algorithm. Secondly, the grid connected inverter should be able to start-up without synchronising to the grid while keep the current injected in a safe range. This is achieved by the newly designed start-up process. Thirdly, the grid connected inverter should be able to ride-through grid faults and providing support to the grid. The transient response of the grid connected inverter is the key measure to define the performance. In this study, a faster symmetrical component decomposition method is proposed to improve the transient response of the current control, without relying on grid voltage sensors. The proposed system is verified by both simulation and experimental tests, with analyses and insight aiming at general applications of the proposed method and algorithms

Pembangunan prototaip sistem gelung tertutup pacuan motor segerak magnet kekal

Motor segerak magnet kekal (PMSM) digunakan secara meluas untuk aplikasi kuasa rendah dan sederhana serta dalam pacuan berprestasi tinggi. Motor ini digemari berbanding motor berus and sedikit demi sedikit menggantikan motor induksi dalam pelbagai bidang aplikasi kerana kelebihannya. Ramai penyelidik mencadangkan kaedah-kaedah kawalan baru bagi sistem pacuan PMSM. Namun begitu, sistem PMSM tidak linear dan mengandungi parameter-parameter yang berubah mengikut masa. Atas faktor ini, penyelidik tidak boleh hanya bergantung kepada keputusan simulasi untuk membuktikan kelebihan kawalan yang dicadangkan. Untuk mengesahkan keputusan yang diperolehi melalui simulasi, pengesahan eksperimen diperlukan, di mana prototaip sistem gelung tertutup pacuan PMSM perlu dibangunkan. Artikel ini menerangkan pembangunan sistem pacuan PMSM dengan maklum balas arus, halaju dan kedudukan gelung tertutup menggunakan papan kawalan dSpace DS1104 bagi sebuah PMSM 1.93kW tiga fasa dakap dalaman yang digunakan untuk pengesahan eksperimen bagi kawalan halaju kawalan mod gelongsor tertib pecahan yang dicadangkan. Dengan menggunakan prototaip ini, prestasi sebarang kaedah kawalan yang dicadangkan boleh disahkan dalam aplikasi sebenar. Prosedur perolehan yang bersesuaian bagi isyarat maklum balas seperti yang diterangkan dalam artikel ini adalah penting untuk memastikan ketepatan prestasi sistem gelung tertutup yang dibangunkan