Nonlinear optimal control of interior permanent magnet synchronous motors for electric vehicles

At present time, research in the field of Electric Vehicles (EV) is significantly intensifying around the world due to the ambitious goals of many countries, including the UK, to prohibit the sale of new gasoline and diesel vehicles, as well as hybrid vehicles, in the near future around 2030-35. The primary goal of this Ph.D. research is to improve the propulsion system of electric vehicles' powertrains through improvements in the control of Interior Permanent Magnet Synchronous Motors (IPMSM), which are commonly used in EV applications. The proposed approaches are supported by simulations in Matlab, Matlab-Simulink and laboratory-based experiments. The research initially proposes an analytical solution in implicit view for a combined Maximum Torque per Ampere (MTPA) and Maximum Efficiency (ME) control, allowing to determine the optimal d-axis current, based on the concept of minimisation of the fictitious electric power loss. With the exception of two parameters, the equation is identical to that of the ME control. Therefore, upgrading the ME control to the combined MTPA/ME control is relatively easy and doesn't require any change in hardware beyond a few minors of controller code in the software. The presented research demonstrates an easy-to-apply combined MTPA/ME control leading to the ‘Transients Optimal and Energy-Efficient IPMSM Drive’ providing smooth transitions to the MTPA control during transients and to the ME control during steady states. A concept of ‘Nonlinear Optimal Control of IPMSM Drives’ is also introduced in this Ph.D. research. The velocity control loop develops nonlinearities when energy consumption optimisation methods like MTPA, ME, or combined MTPA/ME are added. In addition, the control system's parameters can be inaccurate and fluctuate depending on the operating point or possible uncertainties in real-time operation. In the proposed method, the control structure is the same as in the Field Oriented II Control (FOC), with the close velocity and two current loops, but the Proportional-Integral (PI) controllers are replaced by Nonlinear Optimal (NO) Controllers. The linear part of the controller is designed as a Linear Quadratic Regulator (LQR) with integral action for each loop separately. This is, in fact, a PI controller with optimal gain parameters for a specific operating point. The nonlinear part takes the required fluctuations of the control system’s optimal gain parameters in real-time operation as new control actions to improve a robust control structure. The design procedure for the nonlinear part is similar to that of the LQR, but the criterion of A. Krasovsky's generalised work is used, and the analytical derivations lead to an explicit control solution for the nonlinear optimal part. The nonlinear part emulates the adjustments for updating the linear part’s optimal LQR gains based on operating conditions, instead of employing extensive look-up tables or complicated estimation algorithms. The proposed control is robust in the allowed range of the system’s parameters. In conclusion, upgrading existing industrial IPMSM drives into a robust and optimal energy-efficient version that can be used for electric vehicle applications is the main advantage of the novel control concept described in this Ph.D. research. For this upgrade, only a small portion of the software that is related to the PI controllers needs to be changed; no new hardware is needed. Therefore, it is cost-effective and simple to transform existing industrial IPMSM drives into a better version with the proposed method. This feature also leads to the design of more adequate IPMSM drives to meet the demands of Electric Vehicle (EV) operating cycles

Energy efficient and transients optimal IPMSM drive for electric vehicles

An energy efficient and transients optimal control for Interior Permanent Magnet Synchronous Motors is introduced based on the concept of the combined Maximum Torque per Ampere (MTPA) and total electric Loss Minimisation (LM) control approaches. The nonlinear optimal implicit equation of the combined MTPA/LM method is derived in a new compact form, the same as for the conventional LM approach. Then it is very simply applied to activate the MTPA control during transients for fast dynamics and the LM control during steady states for maximum efficiency. Compared to the existing similar approaches, it allows smooth transition between the methods with smaller number of equations simplifying required control coding and reducing the control algorithm execution time. Analytical results are supported by simulations and experimental results

Nonlinear optimal control for interior permanent magnet synchronous motor drives

A concept of nonlinear optimal control is introduced for IPMSM drives. The control configuration remains the same as for the conventional control with three PI controllers for the d and q axes currents and velocity, but these controllers are replaced by corresponding nonlinear optimal controllers. The proposed controllers include linear (with Linear Quadratic Regulator - LQR) parts and nonlinear optimal parts emulating the automatic adjustment of the LQR gains based on operating conditions. The nonlinear parts are designed based on Krasovskiy's optimality criterion leading to an explicit solution of the control design problem. The proposed controller possesses some robustness properties which is explored in simulations. Compared to the conventional system, it allows to reduce velocity overshoot and torque oscillations without extending the transient times. The control concept is validated using a test rig

Could high levels of cell-free DNA in maternal blood be associated with maternal health and perinatal outcomes?

The aim of this study was to evaluate the maternal and foetal factors affect higher cell-free DNA (cfDNA) levels and to investigate a possible relationship between high cfDNA levels and adverse perinatal outcomes. From a total of 4594 women who underwent non-invasive prenatal testing from January 2016 to March 2018 in our hospital, 112 women had high levels of cfDNA, which was not appropriate for testing. Maternal characteristics and perinatal outcomes were compared between patients with high levels of cfDNA and normal levels of cfDNA. Patients with high levels of cfDNA had greater risks than patients with normal cfDNA levels of pregnancy complications but no statistically significant difference was found. Patients with high cfDNA levels had higher foetal death rates with a statistically significant difference (9.8% versus 1.8%, p = .024). An increase in foetal death could be expected in patients with increased cfDNA levels; therefore, these patients should be carefully followed up during pregnancy.IMPACT STATEMENT What's already known about this topic? Most studies about cfDNA levels are focussed on the foetal fraction. There are new arguments about maternal health and cfDNA. It is known that autoimmune diseases as systemic lupus erythematosus (SLE) and maternal obesity increase cell turnover. There are also clinical studies suggesting a relationship between low molecular weight heparin therapy and the amount of cfDNA. What do the results of this study add? This is the first study evaluating the maternal and foetal biological factors affecting cfDNA concentrations and investigating the possible relationship between high cfDNA levels and adverse perinatal outcomes in patients with high levels of cfDNA compared to patients with normal levels of cfDNA. In the present study, it was found that an increase in foetal death could be expected in patients with higher cfDNA levels

Targeted fetal cell-free DNA screening for aneuploidies in 4,594 pregnancies: Single center study

Background Next-generation sequencing (NGS) and discovery of fetal cell-free DNA (cfDNA) in the maternal circulation render possible prenatal screening for trisomy 21 (Down syndrome), trisomy 18, trisomy 13, and sex chromosome aneuploidies. The approach is called "fetal cfDNA screening" and in contrast to noninvasive conventional serum screening, it provides the identification of 98%-99% of fetuses with Down syndrome. Methods Retrospective analysis of targeted noninvasive prenatal testing (NIPT) (Clarigo Test) pregnancies with moderate risk, which we have reported between 2016 and 2018 years is presented. Two separate laboratory workflows and NGS platforms are used for the same targeted NIPT analysis. Results In total, 4,594 pregnant women were investigated. Initial 3,594 cases are studied by MiSeq platform, the last 1,000 cases by NextSeq. Failure rate for MiSeq platform is 10.9% and for NextSeq is 8.7%. Automatically reported cases constitute 75% of the MiSeq group and 87% of the NextSeq group. Conclusions Targeted NIPT results suggest that MiSeq platform could be used for NIPT which would be an essential option particularly for laboratories with low sample flow. And, the NextSeq platform has easier wet lab process and also increased success rate in automatic reporting which is suitable for centers with high number of NIPT cases