Nonlinear state-observer techniques for sensorless control of automotive PMSM's, including load-torque estimation and saliency

The paper investigates various non-linear observer-based rotor position estimation schemes for sensorless control of permanent magnet synchronous motors (PMSMs). Attributes of particular importance to the application of brushless motors in the automotive sector, are considered e.g. implementation cost, accuracy of predictions during load transients, the impact of motor saliency and algorithm complexity. Emphasis is given to techniques based on model linearisation during each sampling period (EKF); feedback-linearisation followed by Luenberger observer design based on the resulting �linear� motor characteristics; and direct design of non-linear observers. Although the benefits of sensorless commutation of PMSMs have been well expounded in the literature, an integrated approach to their design for application to salient machines subject to load torque transients remains outstanding. Furthermore, this paper shows that the inherent characteristics of some non-linear observer structures are particularly attractive since they provide a phase-locked-loop (PLL)-type of configuration that can encourage stable rotor position estimation, thereby enhancing the overall sensorless scheme. Moreover, experimental results show how operation through, and from, zero speed, is readily obtainable. Experimental results are also employed to demonstrate the attributes of each methodology, and provide dynamic and computational performance comparisons

GA-based tuning of nonlinear observers for sensorless control of IPMSMs

The paper considers two observer-based rotor position estimation schemes for sensorless control of interior permanent magnet synchronous machines (IPMSMs). Emphasis is given to techniques based on feedback linearisation followed by Luenberger observer design, and direct design of nonlinear observers. Genetic algorithms (GAs) based on the principles of evolution, natural selection and genetic mutation are employed to address difficulties in selecting correction gains for the observers, since no analytical tuning mechanisms yet exist, with results included to demonstrate the enhanced performance attributes offered by observers tuned in this way

Nonlinear observers for predicting state-of-charge and state-of-health of lead-acid batteries for hybrid-electric vehicles

Abstract—This paper describes the application of state-estimation techniques for the real-time prediction of the state-of-charge (SoC) and state-of-health (SoH) of lead-acid cells. Specifically, approaches based on the well-known Kalman Filter (KF) and Extended Kalman Filter (EKF), are presented, using a generic cell model, to provide correction for offset, drift, and long-term state divergence—an unfortunate feature of more traditional coulomb-counting techniques. The underlying dynamic behavior of each cell is modeled using two capacitors (bulk and surface) and three resistors (terminal, surface, and end), from which the SoC is determined from the voltage present on the bulk capacitor. Although the structure of the model has been previously reported for describing the characteristics of lithium-ion cells, here it is shown to also provide an alternative to commonly employed models of lead-acid cells when used in conjunction with a KF to estimate SoC and an EKF to predict state-of-health (SoH). Measurements using real-time road data are used to compare the performance of conventional integration-based methods for estimating SoC with those predicted from the presented state estimation schemes. Results show that the proposed methodologies are superior to more traditional techniques, with accuracy in determining the SoC within 2% being demonstrated. Moreover, by accounting for the nonlinearities present within the dynamic cell model, the application of an EKF is shown to provide verifiable indications of SoH of the cell pack

Observer techniques for estimating the state-of-charge and state-of-health of VRLABs for hybrid electric vehicles

The paper describes the application of observer-based state-estimation techniques for the real-time prediction of state-of-charge (SoC) and state-of-health (SoH) of lead-acid cells. Specifically, an approach based on the well-known Kalman filter, is employed, to estimate SoC, and the subsequent use of the EKF to accommodate model non-linearities to predict battery SoH. The underlying dynamic behaviour of each cell is based on a generic Randles' equivalent circuit comprising of two-capacitors (bulk and surface) and three resistors, (terminal, transfer and self-discharging). The presented techniques are shown to correct for offset, drift and long-term state divergence-an unfortunate feature of employing stand-alone models and more traditional coulomb-counting techniques. Measurements using real-time road data are used to compare the performance of conventional integration-based methods for estimating SoC, with those predicted from the presented state estimation schemes. Results show that the proposed methodologies are superior with SoC being estimated to be within 1% of measured. Moreover, by accounting for the nonlinearities present within the dynamic cell model, the application of an EKF is shown to provide verifiable indications of SoH of the cell pack

State-of-charge and state-of-health prediction of lead-acid batteries for hybrid electric vehicles using non-linear observers

The paper describes the application of state-estimation techniques for the real-time prediction of state-of-charge (SoC) and state-of-health (SoH) of lead-acid cells. Approaches based on the extended Kalman filter (EKF) are presented to provide correction for offset, drift and state divergence - an unfortunate feature of more traditional coulomb-counting techniques. Experimental results are employed to demonstrate the relative attributes of the proposed methodolog

Sensorless control of deep-sea ROVs PMSMs excited by matrix converters

The paper reports the development of model-based sensorless control methodologies for driving PMSMs using matrix converters. In particular, experimental results show that observer-based state-estimation techniques normally employed for sensorless control of PMSMs using voltage source inverters (VSIs), can be readily exported to matrix converter counterparts with minimal additional computational overhead. Furthermore, zero speed start-up and speed reversal are experimentally demonstrated. Finally, the observer is designed to be fault tolerant such that upon detection of a broken terminal (phase fault), the PMSM remains operational and could be utilized to provide a limp-home capabilit

Matrix converters for sensorless control of PMSMs and other auxiliaries on deep-sea ROVs

The use of matrix converter technologies for the control of actuators and other auxiliaries onboard work-class, deep-sea, remotely operated vehicles (ROVs) is reported. Key requirements for such systems are the ability to sustain operation at high ambient pressures, up to 300 bar, commensurate with operation of ROVs at depths of 3000 m, and to minimise the number of external connections and cabling mass to improve reliability and reduce drag. Emphasis is given to 32 matrix converters for 3f–1f AC voltage/frequency for conversion control of system auxiliaries, with experimental results showing circuit functionality during pressure cycling consistent with typical operational duties, and the use of 33 matrix converters for control of actuators driven by brushless permanent magnet synchronous machines (PMSMs). A principal feature of the paper is the development of model-based sensorless control methodologies for driving PMSMs using matrix converters. In particular, it is shown that observer-based state estimation techniques normally employed for sensorless control of PMSMs using voltage source inverters, can be readily exported to matrix converter counterparts with minimal additional computational overhead. Experimental results from a 0.7 kW PMSM driven by a matrix converter, suitable for a subsea actuator pump, are included to demonstrate the ability of the sensorless techniques to provide reliable estimates of machine rotor position under transient load conditions, and the subsequent exploitation for matrix converter/motor combinations is discussed

Relationship between method of anastomosis and anastomotic failure after right hemicolectomy and ileo-caecal resection: an international snapshot audit

Aim The anastomosis technique used following right-sided colonic resection is widely variable and may affect patient outcome. This study aimed to assess the association between leak and anastomosis technique (stapled vs handsewn). Method This was a prospective, multicentre, international audit including patients undergoing elective or emergency right hemicolectomy or ileo-caecal resection operations over a 2-month period in early 2015. The primary outcome measure was the presence of anastomotic leak within 30 days of surgery, determined using a prespecified definition. Mixed effects logistic regression models were used to assess the association between leak and anastomosis method, adjusting for patient, disease and operative cofactors, with centre included as a random-effect variable. Results This study included 3208 patients, of whom 78.4% (n = 2515) underwent surgery for malignancy and 11.7% (n = 375) underwent surgery for Crohn's disease. An anastomosis was performed in 94.8% (n = 3041) of patients, which was handsewn in 38.9% (n = 1183) and stapled in 61.1% (n = 1858). Patients undergoing hand-sewn anastomosis were more likely to be emergency admissions (20.5% handsewn vs 12.9% stapled) and to undergo open surgery (54.7% handsewn vs 36.6% stapled). The overall anastomotic leak rate was 8.1% (245/3041), which was similar following handsewn (7.4%) and stapled (8.5%) techniques (P = 0.3). After adjustment for cofactors, the odds of a leak were higher for stapled anastomosis (adjusted OR = 1.43; 95% CI: 1.04-1.95; P = 0.03). Conclusion Despite being used in lower-risk patients, stapled anastomosis was associated with an increased anastomotic leak rate in this observational study. Further research is needed to define patient groups in whom a stapled anastomosis is safe.This is the peer-reviewed version of the article: Pinkney, T.; Battersby, N.; Bhangu, A.; Chaudhri, S.; El-Hussuna, A.; Frasson, M.; Nepogodiev, D.; Singh, B.; Kovačević, B.; Autora), (i Jos Puno. Relationship between Method of Anastomosis and Anastomotic Failure after Right Hemicolectomy and Ileo-Caecal Resection: An International Snapshot Audit. Colorectal Disease 2017, 19 (8), O296–O311. [https://doi.org/10.1111/codi.13646