Prisilno upravljanje dinamikom pogona elastičnog zgloba s jednim senzorom pozicije rotora

Position control system of moderate precision based on ‘forced dynamics control’ for the drive with significant vibration modes is described. To exploit the only position sensor on the motor side, all necessary control variables are estimated in observers based on motor position and stator current measurements. The designed controller is of a cascade structure, comprising an inner speed control loop, which respects vector control principles and an outer position control loop, which is designed to control load angle with prescribed dynamics in the presence of flexible modes. Simulations of the overall control system indicate that the proposed control system exhibits the desired robustness and therefore warrants further development and experimental investigation.U radu je opisano upravljanje sustavom pozicioniranja srednje preciznosti s izraženim vibracijskim modovima korištenjem metodologije prisilnog upravljanja dinamikom. Kako bi se iskoristio senzor pozicije na strani motora, sve potrebne varijable stanja estimiraju se na temelju mjerenja pozicije motora i statorskih struja. Projektirani regulator je kaskadne strukture, s unutarnjom petljom po brzini vrtnje koja se temelji na principima vektorskog upravljanja, i vanjskom petljom po poziciji za upravljanje kutom tereta s definiranom dinamikom u prisustvu slabo prigušenih modova. Simulacijski rezultati cjelokupnog sustava upravljanja potvr.uju da predloženi sustav upravljanja posjeduje željenu robusnost i time opravdava budući razvoj i eksperimentalna istraživanja

Comparative Study and Overview of Field-Oriented Control Techniques for Six-Phase PMSMs

This paper targets the main current trend in automotive motor control applications, i.e., six-phase permanent−magnet synchronous machines. Multiphase machines have been studied for more than one decade, but they are currently becoming more and more important for automotive technology. Increased safety and improved reliability are the two main reasons why six-phase machines conquer safety-critical motor control applications. The paper provides a detailed description, analysis, and comparison of two field-oriented control strategies for six-phase machines. The article consists of four main parts: (1) a general introduction of the application field of six-phase machines; (2) a description of two different field-oriented control techniques; (3) a presentation of the experimental results, e.g., frequency and step response analysis, as well as a comparison between a mathematical model and a real system; (4) a detailed comparison of strategies including pros and cons, with a strong focus on the main advantages

Energy Near-Optimal Control Strategies for Industrial and Traction Drives with a.c. Motors

The main contribution of this paper is a new rest-to-rest position control system for use with electric drives employing a.c. motors that is near-optimal with respect to combined electrical and frictional energy waste minimization. The friction has constant, linear, and quadratic components with respect to the rotor speed. The closeness to optimality is assessed by simulation, comparing the energy loss of the new control system with that predicted by computed optimal controls. The application of the near-optimal control system is rendered straightforward by using a symmetrical trapezoidal speed-time profile. This is provided by an energy saving reference position generator whose output is faithfully followed by means of a feedback control law based on forced dynamics control yielding prescribed closed loop dynamics, together with a matched zero dynamic lag precompensator. For load torque consisting of constant, linear, and quadratic components also maneuver time is optimized if it can be chosen arbitrary. Two case studies, one applied to position control of rotational drive and second one applied to train movement, confirm the possibilities of achieving energy savings