136 research outputs found

    Advances in Rotating Electric Machines

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    It is difficult to imagine a modern society without rotating electric machines. Their use has been increasing not only in the traditional fields of application but also in more contemporary fields, including renewable energy conversion systems, electric aircraft, aerospace, electric vehicles, unmanned propulsion systems, robotics, etc. This has contributed to advances in the materials, design methodologies, modeling tools, and manufacturing processes of current electric machines, which are characterized by high compactness, low weight, high power density, high torque density, and high reliability. On the other hand, the growing use of electric machines and drives in more critical applications has pushed forward the research in the area of condition monitoring and fault tolerance, leading to the development of more reliable diagnostic techniques and more fault-tolerant machines. This book presents and disseminates the most recent advances related to the theory, design, modeling, application, control, and condition monitoring of all types of rotating electric machines

    Field weakening and sensorless control solutions for synchronous machines applied to electric vehicles.

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    184 p.La polución es uno de los mayores problemas en los países industrializados. Por ello, la electrificación del transporte por carretera está en pleno auge, favoreciendo la investigación y el desarrollo industrial. El desarrollo de sistemas de propulsión eficientes, fiables, compactos y económicos juega un papel fundamental para la introducción del vehículo eléctrico en el mercado.Las máquinas síncronas de imanes permanentes son, a día de hoy la tecnología más empleada en vehículos eléctricos e híbridos por sus características. Sin embargo, al depender del uso de tierras raras, se están investigando alternativas a este tipo de máquina, tales como las máquinas de reluctancia síncrona asistidas por imanes. Para este tipo de máquinas síncronas es necesario desarrollar estrategias de control eficientes y robustas. Las desviaciones de parámetros son comunes en estas máquinas debido a la saturación magnética y a otra serie de factores, tales como tolerancias de fabricación, dependencias en función de la temperatura de operación o envejecimiento. Las técnicas de control convencionales, especialmente las estrategias de debilitamiento de campo dependen, en general, del conocimiento previo de dichos parámetros. Si no son lo suficientemente robustos, pueden producir problemas de control en las regiones de debilitamiento de campo y debilitamiento de campo profundo. En este sentido, esta tesis presenta dos nuevas estrategias de control de debilitamiento de campo híbridas basadas en LUTs y reguladores VCT.Por otro lado, otro requisito indispensable para la industria de la automoción es la detección de faltas y la tolerancia a fallos. En este sentido, se presenta una nueva estrategia de control sensorless basada en una estructura PLL/HFI híbrida que permite al vehículo continuar operando de forma pseudo-óptima ante roturas en el sensor de posición y velocidad de la máquina eléctrica. En esta tesis, ambas propuestas se validan experimentalmente en un sistema de propulsión real para vehículo eléctrico que cuenta con una máquina de reluctancia síncrona asistidas por imanes de 51 kW

    Design Tools for Submersible Converter

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    Reducing the cogging torque effects in hybrid stepper machines by means of resonant controllers

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    Permanent magnet machines are not free from the interaction between magnets and the stator and rotor slots, which causes an undesired disturbing torque. Such cogging or detent torque is especially larger with salient pole machines, as it is the case of the Permanent Magnet Hybrid Stepper Machines (PMHSM). Depending on the application requirements, these torque perturbations can be unacceptable and the application of solutions that minimizes the cogging torque effects are mandatory. This paper originally faces the minimization of the cogging torque using resonant controllers. More specifically, the paper details the analysis and design of a speed-adaptive resonant controller, which not only is directly designed in Z domain but also considers the current (or torque) inner loop delay. Pole-zero placement and the disturbance rejection frequency response have been attained in the design of the speed and position speedadaptive controllers. Experimental results with two off-theshelf PMHSMs demonstrate the superior performance of the proposal in both speed and position closed-loop applications for tracking, as well as in disturbance (load impact) rejection tests and against inertia variations. A comparison with a conventional PI has been carried out from the design stage to experimental results and the improvement of the proposal has been numerically quantified.Postprint (published version

    Zero Speed Rotor Position Estimator based on Sliding Mode Control for Permanent Magnet Synchronous Motor

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    The permImplementation of an algorithm based on SMC that uses a unique technique for the rotor position estimation of a PMSM for low and zero speeds, by using inherit motor effect called "Saliency". The work proves that the rotor position estimation is possible with the information that is present in the system under SMC due to the saliency effect. Therefore, there is no need to inject any signal into the machine, which causes the increment in the losses of the machine, or to design dynamic observers. The algorithm is implemented in a DSP controller and the tests with the complete hardware platform validate the proposal in open loop and in sensorless operation

    Traction Drive with PMSM: Frequency Characteristics Measurement

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    This paper describes a new method formeasurement of frequency characteristics of ac tractiondrives. It helps to find dangerous resonant frequencies ofthe traction drive supplied from a dc electrification systemand it allows finding danger oscillations of the dc-link LCfilter. The presented method has verified a drive with asurface mounted PMSM controlled by DTC. The resultsprove that the drive amplifies LC filter oscillations underconstant taken power. We have proposed an improvementof the drive control in order to protect the drive against thisphenomenon. The behaviour of the improved DTC has beenanalyzed by experiments made on the laboratory model ofthe traction drive of the rated power of 10 kW

    Analysis of a frequency converter equipped with diode rectifier and small DC link capacitor

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    Modelling and Control of Stepper Motors for High Accuracy Positioning Systems Used in Radioactive Environments

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    Hybrid Stepper Motors are widely used in open-loop position applications. They are the choice of actuation for the collimators in the Large Hadron Collider, the largest particle accelerator at CERN. In this case the positioning requirements and the highly radioactive operating environment are unique. The latter forces both the use of long cables to connect the motors to the drives which act as transmission lines and also prevents the use of standard position sensors. However, reliable and precise operation of the collimators is critical for the machine, requiring the prevention of step loss in the motors and maintenance to be foreseen in case of mechanical degradation. In order to make the above possible, an approach is proposed for the application of an Extended Kalman Filter to a sensorless stepper motor drive, when the motor is separated from its drive by long cables. When the long cables and high frequency pulse width modulated control voltage signals are used together, the electrical signals difer greatly between the motor and drive-side of the cable. Since in the considered case only drive-side data is available, it is therefore necessary to estimate the motor-side signals. Modelling the entire cable and motor system in an Extended Kalman Filter is too computationally intensive for standard embedded real-time platforms. It is, in consequence, proposed to divide the problem into an Extended Kalman Filter, based only on the motor model, and separated motor-side signal estimators, the combination of which is less demanding computationally. The efectiveness of this approach is shown in simulation. Then its validity is experimentally demonstrated via implementation in a DSP based drive. A testbench to test its performance when driving an axis of a Large Hadron Collider collimator is presented along with the results achieved. It is shown that the proposed method is capable of achieving position and load torque estimates which allow step loss to be detected and mechanical degradation to be evaluated without the need for physical sensors. These estimation algorithms often require a precise model of the motor, but the standard electrical model used for hybrid stepper motors is limited when currents, which are high enough to produce saturation of the magnetic circuit, are present. New model extensions are proposed in order to have a more precise model of the motor independently of the current level, whilst maintaining a low computational cost. It is shown that a significant improvement in the model It is achieved with these extensions, and their computational performance is compared to study the cost of model improvement versus computation cost. The applicability of the proposed model extensions is demonstrated via their use in an Extended Kalman Filter running in real-time for closed-loop current control and mechanical state estimation. An additional problem arises from the use of stepper motors. The mechanics of the collimators can wear due to the abrupt motion and torque profiles that are applied by them when used in the standard way, i.e. stepping in open-loop. Closed-loop position control, more specifically Field Oriented Control, would allow smoother profiles, more respectful to the mechanics, to be applied but requires position feedback. As mentioned already, the use of sensors in radioactive environments is very limited for reliability reasons. Sensorless control is a known option but when the speed is very low or zero, as is the case most of the time for the motors used in the LHC collimator, the loss of observability prevents its use. In order to allow the use of position sensors without reducing the long term reliability of the whole system, the possibility to switch from closed to open loop is proposed and validated, allowing the use of closed-loop control when the position sensors function correctly and open-loop when there is a sensor failure. A different approach to deal with the switched drive working with long cables is also presented. Switched mode stepper motor drives tend to have poor performance or even fail completely when the motor is fed through a long cable due to the high oscillations in the drive-side current. The design of a stepper motor output fillter which solves this problem is thus proposed. A two stage filter, one devoted to dealing with the diferential mode and the other with the common mode, is designed and validated experimentally. With this ?lter the drive performance is greatly improved, achieving a positioning repeatability even better than with the drive working without a long cable, the radiated emissions are reduced and the overvoltages at the motor terminals are eliminated
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