Advanced Modeling of Anisotropic Synchronous Machine Drives for Sensorless Control

Synchronous machines are extensively used for home appliances and industrial applications thanks to their fast dynamic response, good overload capability and high energy density. A precise knowledge of the rotor position is required to control efficiently this kind of motors. In most of the applications resolvers or absolute encoders are installed on the rotor shaft. The employment of position sensors leads to significant drawbacks such as the increased size and cost of the system and a lower reliability of the drive, caused by additional hardware and cabling. In sensorless drives motor position is estimated and employed in the machine control. Thus, no position sensor is required by the drive and all the drawbacks entailed by the sensor are eliminated. Moreover, the position estimation could be useful for redundancy in case of system failures. Therefore, position estimation techniques are object of great interest in the electric drives field. Position estimation techniques can be divided into two main categories: methods that are suitable for medium or high speed and techniques suitable for low speed or standstill operations. In the former group the motor position is estimated through a reconstruction of the permanent magnet flux or back electromotive force (back-EMF). In case of synchronous reluctance machines it is possible to reconstruct the extended active flux or back-EMF. Stator voltages and currents measurements are needed for these reconstruction methods. Since these signals amplitude is proportional to the rotor speed, position estimation can be successfully performed only for medium and high speed machine operations. In the low speed range, sensorless schemes exploit the rotor magnetic anisotropy. Thus, position can be estimated only for anisotropic motors, i.e. synchronous reluctance motors (SynRM), permanent magnet assisted synchronous reluctance motors (PMA-SynRM) and interior permanent magnet synchronous motors (IPMSM). The rotor anisotropy is recognized thanks to an high frequency voltage injection in the stator windings. Several injection techniques have been proposed, differing from the signal typology. In particular, high frequency sinusoidal or square-wave carriers are often applied. The position information is usually extracted from the current response through a heterodyning demodulation that entails the use of low pass filters in the position estimator, limiting its dynamic. The aim of the research was proposing a new algorithm to estimate the rotor position from the HF current response, getting rid of the demodulation and its weaknesses. Thus, the ellipse fitting technique has been proposed. Robustness against signal processing delay effects and a reduced number of required filters are the main advantages of this novel approach. The inverse problem related to the ellipse fitting is solved implementing a recursive least squares algorithm. The proposed ellipse fitting technique is not affected by signal processing delay effects, and it requires the tuning of only one parameter, called forgetting factor, making the studied method suitable for industrial application thanks to its minimal setup effort. Besides the ellipse fitting technique for rotor position estimation, two other topics have been studied: - Computation of self-sensing capabilities of synchronous machines. - Online incremental inductances identification for SynRM.Synchronous machines are extensively used for home appliances and industrial applications thanks to their fast dynamic response, good overload capability and high energy density. A precise knowledge of the rotor position is required to control efficiently this kind of motors. In most of the applications resolvers or absolute encoders are installed on the rotor shaft. The employment of position sensors leads to significant drawbacks such as the increased size and cost of the system and a lower reliability of the drive, caused by additional hardware and cabling. In sensorless drives motor position is estimated and employed in the machine control. Thus, no position sensor is required by the drive and all the drawbacks entailed by the sensor are eliminated. Moreover, the position estimation could be useful for redundancy in case of system failures. Therefore, position estimation techniques are object of great interest in the electric drives field. Position estimation techniques can be divided into two main categories: methods that are suitable for medium or high speed and techniques suitable for low speed or standstill operations. In the former group the motor position is estimated through a reconstruction of the permanent magnet flux or back electromotive force (back-EMF). In case of synchronous reluctance machines it is possible to reconstruct the extended active flux or back-EMF. Stator voltages and currents measurements are needed for these reconstruction methods. Since these signals amplitude is proportional to the rotor speed, position estimation can be successfully performed only for medium and high speed machine operations. In the low speed range, sensorless schemes exploit the rotor magnetic anisotropy. Thus, position can be estimated only for anisotropic motors, i.e. synchronous reluctance motors (SynRM), permanent magnet assisted synchronous reluctance motors (PMA-SynRM) and interior permanent magnet synchronous motors (IPMSM). The rotor anisotropy is recognized thanks to an high frequency voltage injection in the stator windings. Several injection techniques have been proposed, differing from the signal typology. In particular, high frequency sinusoidal or square-wave carriers are often applied. The position information is usually extracted from the current response through a heterodyning demodulation that entails the use of low pass filters in the position estimator, limiting its dynamic. The aim of the research was proposing a new algorithm to estimate the rotor position from the HF current response, getting rid of the demodulation and its weaknesses. Thus, the ellipse fitting technique has been proposed. Robustness against signal processing delay effects and a reduced number of required filters are the main advantages of this novel approach. The inverse problem related to the ellipse fitting is solved implementing a recursive least squares algorithm. The proposed ellipse fitting technique is not affected by signal processing delay effects, and it requires the tuning of only one parameter, called forgetting factor, making the studied method suitable for industrial application thanks to its minimal setup effort. Besides the ellipse fitting technique for rotor position estimation, two other topics have been studied: - Computation of self-sensing capabilities of synchronous machines. - Online incremental inductances identification for SynRM

Ontology and Metaontology: A Contemporary Guide

'Ontology and Metaontology: A Contemporary Guide' is a clear and accessible survey of ontology, focussing on the most recent trends in the discipline. Divided into parts, the first half characterizes metaontology: the discourse on the methodology of ontological inquiry, covering the main concepts, tools, and methods of the discipline, exploring the notions of being and existence, ontological commitment, paraphrase strategies, fictionalist strategies, and other metaontological questions. The second half considers a series of case studies, introducing and familiarizing the reader with concrete examples of the latest research in the field. The basic sub-fields of ontology are covered here via an accessible and captivating exposition: events, properties, universals, abstract objects, possible worlds, material beings, mereology, fictional objects. The guide's modular structure allows for a flexible approach to the subject, making it suitable for both undergraduates and postgraduates looking to better understand and apply the exciting developments and debates taking place in ontology today

Measurement of the Self-Sensing Capability of Synchronous Machines for High Frequency Signal Injection Sensorless Drives

Signal injection sensor-less control for synchronous machines is known to be afflicted by an estimation error dependent on the load current. The estimation error is related to the cross- saturarion and the saliency of the adopted synchronous machine. A motor can be more or less suitable for signal injection sensorless control compared to other motors with different designs or sizes. A sensorless drive can even be afflicted by the control divergence when the machine is highly saturated, resulting in a useless drive. Moreover, even when the control converges, the actual current control trajectory is different from the given reference. In this paper, a measurement procedure of the convergence region, i.e. the operating points where the motor can be successfully controlled without a position sensor is presented and validated. In particular, two different synchronous motors are considered, a permanent magnet assisted synchronous reluctance motor (PMA-SynRM) and a synchronous reluctance motor (SynRM

Improved Sensorless Control of Multiphase Synchronous Reluctance Machine Under Position Sensor Fault

This article presents an investigation on the self- sensing capability of a dual three-phase synchronous reluctance motor. Self-sensing capability refers to the ability of the motor to properly operate in a sensorless drive. The multiphase machine is decomposed into two different three-phase systems according to the multistator approach. Several supply scenarios are studied where the two three-phase windings are controlled at different operating points along a reference trajectory. The analysis is carried out both with finite element analysis simulations and experimental tests. In the first part of this article, the rotor is locked to derive the observer trajectories and find the regions in which the motor can operate without position sensor. A comparison between simulated and experimental results is given. Finally, a sensorless control strategy that allows exploiting the motor self-sensing capability under position sensor fault is developed and validated through experimental tests

3d technologies for the digital documentation of an ancient wooden structure

In this paper we would like to present an operational procedure for surveys of complex structures, such as the wooden dome of SS. Giovanni e Paolo in Venice. The aim of this work was to analyse the shape and the geometry of this very articulated constructive technique: because of its complexity, a laser scanning survey, with the support of more traditional methods, such as direct and topographic survey, seemed to be the best way to analyse this structure: from the data elaboration it was possible to create a 3D model of each element as in reality, without any simplification. In line with the growing demand of digital documentation in the field of Cultural Heritage, the 3D technology applied to this research allowed an immediate reading of the whole architectural system. This paper analyses the difficulties encountered during the survey and illustrates the solutions chosen to overcome them

Modulating the Faradic Operation of All-Printed Organic Electrochemical Transistors by Facile in Situ Modification of the Gate Electrode

Organic electrochemical transistors (OECTs) operated in the faradic regime were shown as outperforming transducers of bioelectric signals in vitro and in vivo. Fabrication by additive manufacturing techniques fosters OECTs as ideal candidates for point-of-care applications, as well as imposes limitations on the choice of materials and their processing conditions. Here, we address the question of how the response of fully printed OECTs depends on gate electrode material. Toward this end, we investigate the redox processes underlying the operation of OECTs under faradic regime, to show OECTs with carbon gate (C-gate) that exhibit no current modulation gate voltages <1.2 V. This is a hallmark that no interference with the faradic operation of the device enabled by redox processes occurs when operating C-gate OECTs in the low-voltage range as label-free biosensors for the detection of electroactive (bio)molecules. To tune the faradic response of the device, we electrodeposited Au on the carbon gate (Au-C-gate), obtaining a device that operates at lower gate voltage values than C-gate OECT. The presence of gold on the gate allowed further modification of the electrical performances by functionalization of the Au-C-gate with different self-assembled monolayers by fast potential-pulse-assisted method. Moreover, we show that the presence in the electrolyte solution of an external redox probe can be used to drive the faradic response of both C- and Au-C-gate OECTs, impacting on the gate potential window that yields effective drain current modulation. The results presented here suggest possible new strategies for controlling the faradic operation regime of OECTs sensors by chemical modification of the gate surface

How Biorecognition Affects the Electronic Properties of Reduced Graphene Oxide in Electrolyte‐Gated Transistor Immunosensors

Ambipolar electrolyte-gated transistors (EGTs) based on reduced graphene oxide (rGO) have been demonstrated as ultra-sensitive and highly specific immunosensors. However, the physics and chemistry ruling the device operation are still not fully unraveled. In this work, the aim is to elucidate the nature of the observed sensitivity of the device. Toward this aim, a physical–chemical model that, coupled with the experimental characterization of the rGO-EGT, allows one to quantitatively correlate the biorecognition events at the gate electrode and the electronic properties of rGO-EGT is proposed. The equilibrium of biorecognition occurring at the gate electrode is shown to determine the apparent charge neutrality point (CNP) of the rGO channel. The multiparametric analysis of the experimental transfer characteristics of rGO-EGT reveals that the recognition events modulate the CNP voltage, the excess carrier density Δn, and the quantum capacitance of rGO. This analysis also explains why hole and electron carrier mobilities, interfacial capacitance, the curvature of the transfer curve, and the transconductances are insensitive to the target concentration. The understanding of the mechanisms underlying the transistor transduction of the biorecognition events is key for the interpretation of the response of the rGO-EGT immunosensors and to guide the design of novel and more sensitive devices

Anti-drug antibody detection with label-free electrolyte-gated organic field-effect transistors

The efficacy of immunotherapy can be undermined by the development of an immune response against a drug/antibody mediated by anti-drug antibodies (ADAs) in treated patients. We present the first label-free EGOFET immunosensor that integrates a biological drug, Nivolumab (Opdivo©), as a specific recognition moiety to quantitatively and selectively detect ADAs against the drug. The limit of detection is 100 fM. This demonstration is a prelude to the detection of ADAs in a clinical setting in the treatment of different pathologies, and it also enables rapid screening of biological drugs for immunogenicity

Multidisciplinary studies on a sick-leader syndrome-associated mass stranding of sperm whales (Physeter macrocephalus) along the Adriatic coast of Italy

Mass strandings of sperm whales (Physeter macrocephalus) are rare in the Mediterranean Sea. Nevertheless, in 2014 a pod of 7 specimens stranded alive along the Italian coast of the Central Adriatic Sea: 3 individuals died on the beach after a few hours due to internal damages induced by prolonged recumbency; the remaining 4 whales were refloated after great efforts. All the dead animals were genetically related females; one was pregnant. All the animals were infected by dolphin morbillivirus (DMV) and the pregnant whale was also affected by a severe nephropathy due to a large kidney stone. Other analyses ruled out other possible relevant factors related to weather conditions or human activities. The results of multidisciplinary post-mortem analyses revealed that the 7 sperm whales entered the Adriatic Sea encountering adverse weather conditions and then kept heading northward following the pregnant but sick leader of the pod, thereby reaching the stranding site. DMV infection most likely played a crucial role in impairing the health condition and orientation abilities of the whales. They did not steer back towards deeper waters, but eventually stranded along the Central Adriatic Sea coastline, a real trap for sperm whales