GA-tuning of nonlinear observers for sensorless control of automotive power steering IPMSMs

The paper considers two observer-based rotor position estimation schemes for sensorless control of interior permanent magnet synchronous motors (IPMSMs) for use in future automotive power steering systems. Specifically, emphasis is given to techniques based on feedback-linearisation followed by classical Luenberger observer design, and direct design of non-linear observers. Genetic algorithms (GAs), using the principles of evolution, natural selection and genetic mutation, are introduced to address difficulties in selecting correction gains for the observers, since no analytical tuning mechanisms yet exist. Experimental measurements from an automotive power steering test-facility are included, to demonstrate the enhanced performance attributes offered by tuning the proposed observer schemes, online, in this manner

SAW torque transducers for disturbance rejection and tracking control of multi-inertia servo-drive systems

The paper proposes a resonance ratio control (RRC) technique for the coordinated motion control of multi-inertia mechanical systems, based on the measurement of shaft torque via a SAW-based torque sensor. Furthermore, a new controller structure, RRC plus disturbance feedback is proposed, which enables the controller to be designed to independently satisfy tracking and regulation performance. A tuning method for the RRC structure is given based on the ITAE index, normalized as a function of the mechanical parameters enabling a direct performance comparison between a basic proportional and integral (PI) controller. The use of a reduced-order state observer is presented to provide a dynamic estimate of the load-side disturbance torque for a multi-inertia mechanical system, with an appraisal of the composite closed-loop dynamics. It is shown that the integrated formulation of the tuning criteria enables lower bandwidth observers to be implemented with a corresponding reduction in noise and computational load. The control structures are experimentally validated via a purpose designed test facility and demonstrate significant improvement in dynamic tracking performance, whilst additionally rejecting periodic load side disturbances, a feature previously unrealisable except by other, high-gain control schemes that impose small stability margins

Predictive control for energy management in all/more electric vehicles with multiple energy storage units

The paper describes the application of Model Predictive Control (MPC) methodologies for application to electric and hybrid-electric vehicle drive-train formats incorporating multiple energy/power sources. Particular emphasis is given to the co-ordinated management of energy flow from the multiple sources to address issues of extended vehicle range and battery life-time for all-electric drive-trains, and emissions reduction and drive-train torsional oscillations, for hybrid-electric counterparts, whilst accommodating operational constraints and, ultimately, generic non-standard driving cycles

Observer based tuning techniques and integrated SAW torque transducers for two-inertia servo-drive systems

A controller design and tuning methodology is proposed that facilitates the rejection of periodic load-side disturbances applied to a torsional mechanical system, whilst simultaneously compensating for the disturbance observer's inherent phase delay, thereby facilitating the used of lower bandwidth, practically realisable, disturbance observers. The merits of implementing both a full- and reduced order observer, is investigated, with the latter being implemented with a new low-cost, high-bandwidth torque sensing device based on surface acoustic wave technolog

High-performance control of dual-inertia servo-drive systems using low-cost integrated SAW torque transducers

Abstract—This paper provides a systematic comparative study of compensation schemes for the coordinated motion control of two-inertia mechanical systems. Specifically, classical proportional–integral (PI), proportional–integral–derivative (PID), and resonance ratio control (RRC) are considered, with an enhanced structure based on RRC, termed RRC+, being proposed. Motor-side and load-side dynamics for each control structure are identified, with the “integral of time multiplied by absolute error” performance index being employed as a benchmark metric. PID and RRC control schemes are shown to be identical from a closed-loop perspective, albeit employing different feedback sensing mechanisms. A qualitative study of the practical effects of employing each methodology shows that RRC-type structures provide preferred solutions if low-cost high-performance torque transducers can be employed, for instance, those based on surface acoustic wave tecnologies. Moreover, the extra degree of freedom afforded by both PID and RRC, as compared with the basic PI, is shown to be sufficient to simultaneously induce optimal closed-loop performance and independent selection of virtual inertia ratio. Furthermore, the proposed RRC+ scheme is subsequently shown to additionally facilitate independent assignment of closed-loop bandwidth. Summary attributes of the investigation are validated by both simulation studies and by realization of the methodologies for control of a custom-designed two-inertia system

A H2 PEM fuel cell and high energy dense battery hybrid energy source for an urban electric vehicle

Electric vehicles are set to play a prominent role in addressing the energy and environmental impact of an increasing road transport population by offering a more energy efficient and less polluting drive-train alternative to conventional internal combustion engine (ICE) vehicles. Given the energy (and hence range) and performance limitations of electro-chemical battery storage systems, hybrid systems combining energy and power dense storage technologies have been proposed for vehicle applications. The paper discusses the application of a hydrogen fuel cell as a range extender for an urban electric vehicle for which the primary energy source is provided by a high energy dense battery. A review of fuel cell systems and automotive drive-train application issues are discussed, together with an overview of the battery technology. The prototype fuel cell and battery component simulation models are presented and their performance as a combined energy/power source assessed for typical urban and sub-urban driving scenario

Zebra battery technologies for all electric smart car

This paper describes the operational behaviour and advantages of the high temperature, sodium nickel chloride (Zebra) battery, for use in all electric urban (city) vehicles. It is shown that an equivalent parallel electrical circuit can be employed to accurately simulate the electrochemical behaviour inherent in the most recent generation of Zebra cells. The experimental procedure is outlined and summary attributes of the investigation validated by both simulation studies, and experimentally, via measurements from a prototype battery module intended for use in an all electric smart ca

Integrated multilevel converter and battery management

A cascaded H-bridge multilevel converter is proposed as a BLDC drive incorporating real-time battery management. Intelligent H-bridges are used to monitor battery cells whilst simultaneously increasing their performance by reducing the variation between cells and controlling their discharge profiles

GA tuning of pitch controller for small scale MAVs

The paper presents the application of intelligent tuning methods for the control of a prototype MAV in order to address problems associated with bandwidth limited actuators and gust alleviation. Specifically, as a proof of concept, the investigation is focused on the pitch control of a MAV. The work is supported by experimental results from wind tunnel testing that shows the merits of the use of Genetic Algorithm (GA) tuning techniques compared to classical, empirical tuning methodologies. To provide a measure of relative merit, the controller responses are evaluated using the ITAE performance index. In this way, the proposed method is shown to induce far superior dynamic performance compared to traditional approaches

Improved performance of motor-drive systems by SAW shaft torque feedback

The paper describes the application of a non-contact, high bandwidth, low cost, SAW-based torque measuring system for improving the dynamic performance of industrial process motor-drive systems. Background to the SAW technology and its motor integration is discussed and a resonance ratio control (RRC) technique for the coordinated motion control of multi-inertia mechanical systems, based on the measurement of shaft torque via a SAW-based torque sensor is proposed. Furthermore, a new controller structure, RRC plus disturbance feedback is proposed, which enables the controller to be designed to independently satisfy tracking and regulation performance. A tuning method for the RRC structure is given based on the ITAE index, normalized as a function of the mechanical parameters enabling a direct performance comparison between a basic proportional and integral (PI) controller. The use of a reduced-order state observer is presented to provide a dynamic estimate of the load-side disturbance torque for a multi-inertia mechanical system, with an appraisal of the composite closed-loop dynamics. The control structures are experimentally validated and demonstrate significant improvement in dynamic tracking performance, whilst additionally rejecting periodic load side disturbances, a feature previously unrealisable except by other, high-gain control schemes that impose small stability margins