Position control of PMSM in sliding mode

In the paper control of linear permanent magnet synchronous motor (PMSM) based on the principles of sliding mode control (SMC) with respect of vector control principles is carried out. The presented simulations comprise position quantization due to assumed experimental verification on the bench which consists of linear PMSM and incremental position sensor. Simulation results compare two methods for obtaining of position derivatives needed for SMC algorithm. The first method exploits a filtering observer and second one uses numerical derivations and first order filters

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

Application of space vector modulation in direct torque control of PMSM

The paper deals with an improvement of direct torque control method for permanent magnet synchronous motor drives. Electrical torque distortion of the machine under original direct torque control is relatively high and if proper measures are taken it can be substantially decreased. The proposed solution here is to combine direct torque control with the space vector modulation technique. Such approach can eliminate torque distortion while preserving the simplicity of the original method

Vektorski upravljani elektromotorni pogoni s reluktantnim sinkronim motorima uz definiranu dinamiku zatvorenog kruga brzine vrtnje

A new speed control system for electric drives employing reluctance synchronous motors is presented. Design control system combines two control methods. Conventional vector control method is here completed with forced dynamics closed-loop control. Since the closed-loop system response is a first order lag whose pole location can be chosen by the user, the drive may be included as an actuator in a larger scale control scheme to which linear control system design methods can be applied. To improve robustness of the design control structure, the outer control loop based on model reference adaptive control is added. Simulation results presented show good correspondence with theoretical predictions and MRAC outer control loop improves overall drive performances.Prikazana je nova koncepcija sustava upravljanja brzinom vrtnje elektromotornog pogona s reluktantnim sinkronim motorima, temeljena na dvijema metodama upravljanja. Konvencionalna vektorska metoda nadograđena je elementom sustava koji predstavlja dinamiku zatvorenog kruga po brzini vrtnje. Budući da je dinamika zatvorenog sustava prikazana proporcionalnim članom prvog reda, čiji pol odabire korisnik, predložena koncepcija može biti šire primjenjiva. Da bi se poboljšala robusnost sustava, dodana je vanjska petlja upravljanja zasnovana na adaptivnom upravljanju s referentnim modelom. Simulacijski rezultati prikazani u radu potvrđuju valjanost predložene koncepcije

Recent research results in the field of electric drives and mechatronics

The paper presents an overview of research results achieved in the field of Electrical Drives and Mechatronics for the period of three years. The achieved outputs are formed into three individual parts. In the field of Electric Drives the most significant outputs have been achieved in the development of a new control algorithms for a.c. drives under general name 'Forced Dynamics Control' , in improvement of shaft sensorless control methods and in implementation of developed algorithms via digital signal processors. In the field of Electric Traction the most important results have been gained in optimization of power of traction vehicles andat development of diagnostic systems for evaluation of technical conditions of traction devices. In the field of Electric Machines the most important outputs have been achieved in the research of modern electronically commutated electrical machines, their performances in steady and transient states, new design method for their configuration and new methods for automatic parameters identification. In the end the list of the most important publications for all three parts is enclosed

Preliminary experimental results for indirect vectorcontrol of induction motor drives with forced dynamics

The contribution presents an extension of indirect vector control of electric drives employing induction motors to 'Forced Dynamic Control'. This method of control offers an accurate realisation of dynamic response profiles, which can be selected by the user. The developed system can be integrated into a drive with a shaft position encoder or a shaft sensoriess drive, in which only the stator currents are measured. The applied stator voltages are determined by a computed inverter switching algorithm. Simulation results and preliminary experimental results for indirect vector control of an idle running induction motor indicate good agreement with the theoretical predictions

Exploitation of Energy Optimal and Near-Optimal Control for Traction Drives with AC Motors

The main contribution of this paper is the verification of a new train control system applied to the drive with a.c. motors that is energy near optimal with respect to electrical and mechanical energy minimization. All simulations are related to the one traction motor yielding its best exploitation. Load torque treated as a state variable consists of constant, linear, and quadratic components as a function of rotor speed. The required performance of the energy-saving control is rendered straightforward using precomputed energy optimal state variables or a prediction of losses for a symmetrical trapezoidal speed profile as the second alternative. An energy-saving reference position generator provides the state variables, which are faithfully followed by a feedback control based on field orientation, which is completed with a matched zero dynamic lag pre-compensator yielding prescribed closed-loop dynamics. Simulation results mutually compared confirm the capability of an overall drive control system to follow generated state variables for two different service conditions and the possibility of energy savings

Exploitation of Energy Optimal and Near-Optimal Control for Traction Drives with AC Motors

The main contribution of this paper is the verification of a new train control system applied to the drive with a.c. motors that is energy near optimal with respect to electrical and mechanical energy minimization. All simulations are related to the one traction motor yielding its best exploitation. Load torque treated as a state variable consists of constant, linear, and quadratic components as a function of rotor speed. The required performance of the energy-saving control is rendered straightforward using precomputed energy optimal state variables or a prediction of losses for a symmetrical trapezoidal speed profile as the second alternative. An energy-saving reference position generator provides the state variables, which are faithfully followed by a feedback control based on field orientation, which is completed with a matched zero dynamic lag pre-compensator yielding prescribed closed-loop dynamics. Simulation results mutually compared confirm the capability of an overall drive control system to follow generated state variables for two different service conditions and the possibility of energy savings

Euler-Lagrange optimization of electric drives with DTM method

Euler-Lagrange optimization method is exploited here to develop energy saving position control strategy valid for a.c. drives. The optimization principle respects copper losses minimization only. Boundary value problem for Euler-Lagrange equations is solved by Differential transformation method (DTM)