• Title/Summary/Keyword: Load Torque Observer

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Sensorless Control of Permanent Magnet Synchronous Motors with Compensation for Parameter Uncertainty

  • Yang, Jiaqiang;Mao, Yongle;Chen, Yangsheng
    • Journal of Electrical Engineering and Technology
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    • v.12 no.3
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    • pp.1166-1176
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    • 2017
  • Estimation errors of the rotor speed and position in sensorless control systems of Permanent Magnet Synchronous Motors (PMSM) will lead to low efficiency and dynamic-performance degradation. In this paper, a parallel-type extended nonlinear observer incorporating the nominal parameters is constructed in the stator-fixed reference frame, with rotor position, speed, and the load torque simultaneously estimated. The stability of the extended nonlinear observer is analyzed using the indirect Lyapunov's method, and observer gains are selected according to the transfer functions of the speed and position estimators. Taking into account the parameter inaccuracies issue, explicit estimation error equations are derived based on the error dynamics of the closed-loop sensorless control system. An equivalent flux error is defined to represent the back Electromotive Force (EMF) error caused by the inaccurate motor parameters, and a compensation strategy is designed to suppress the estimation errors. The effectiveness of the proposed method has been validated through simulation and experimental results.

A sliding mode control of an electro-mechanical fin actuation system using extended reducer-observer(ERO) (확장형 감소차수 관측기를 이용한 전기식 조종날개 구동장치의 슬라이딩 모드 제어)

  • Gu, Jeong-Hoi
    • Journal of the Korea Institute of Military Science and Technology
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    • v.8 no.3 s.22
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    • pp.92-100
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    • 2005
  • The objective of this paper is to design a sliding mode controller of an electro-mechanical fin actuation system using extended reducer-observer(ERO) which is used in order to estimate the velocity. The employed observer enables proper estimation of the plant state variables, even in the case of the constant or slow varying load torque disturbances. The effectiveness of this control scheme is verified by comparison with a PID control through a series of simulation studies. The simulation results show that the sliding mode control designed with the ERO gives good control performances.

Adaptive Backstepping Control of Induction Motors with Uncertainties Using a Sliding Mode Adaptive flux Observer (슬라이딩모드 적응 자속관측기를 이용한 불확실성을 갖는 유도전동기의 적응 백스테핑제어)

  • 이은욱;양해원
    • The Transactions of the Korean Institute of Electrical Engineers D
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    • v.53 no.3
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    • pp.154-160
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    • 2004
  • In this paper, a combined field orientation and adaptive backstepping approach using a sliding mode adaptive flux observer, is proposed for the control of induction motor In order to achieve the speed regulation with the consideration of improving power efficiency, rotor angular speed and flux amplitude tracking objectives are formulated. Rotor flux and inverse time constant are estimated by the sliding mode adaptive flux observer based on a fixed stator frame model and mechanical lumped uncertainty such as inertia moment, load torque disturbance, friction compensated by the adaptive backstepping based on a field-oriented model. Simulation results are provided to verify the effectiveness of the proposed approach.

High Speed and Robust Control System with Deadbeat Disturbance Observer for 3D Eye Imaging Equipment (망막의 3차원 영상화를 위한 데드비트 외란 관측기를 가진 고속, 고강성 제어 시스템)

  • 고종선;이태훈;김영일
    • The Transactions of the Korean Institute of Power Electronics
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    • v.8 no.5
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    • pp.418-426
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    • 2003
  • To show a retina shape and thickness on the computer monitor, a laser has been used in Scanning Laser Ophthalmoscope(SLO) equipment using the traveling difference. This method requires exact synchronous control of laser traveling in optic system to show a clear 3-dimensional image of retina To obtain this image, this exact synchronism is very important for making the perfect plane scanning. In this study, a high speed and synchronous control of the galvanometer to make 3-dimensional retina image is presented. For the more, deadbeat load torque observer is added to the PI controller for compensation of the position error arisen in the high speed control. As a result, the proposed control system has a robust and precise response against the load torque variation appeared in high speed control. A stability and usefulness are verified by the computer simulation and the experiment.

A study on MRAS(Model Reference Adaptive System) Method Instantaneous Speed Observer for Very Low Speed Drive of Induction Motors (유도전동기의 극 저속도 운전을 위한 MRAS방식 순시속도 관측기에 관한 연구)

  • Hwang, Lark-Hoon;Na, Seung-Kwon;Chung, Nam-Kil;Kim, Young-Bog
    • Journal of Advanced Navigation Technology
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    • v.16 no.6
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    • pp.1123-1133
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    • 2012
  • This study configuration Vector Control System which is stable and has outstanding Dynamic Characteristics in Very Low Speed Region and Low Speed Region, and proposes Instantaneous Speed Observer and Very Low Speed Control method and vector control system of the speed estimation a using Reduced-Dimensional State Observer. The Observer proposed in this system, by appling Reduced-Dimensional State Observer to Load-Torque estimation and using for speed estimation, implements system composition simply and is capable of accurate Instantaneous Speed estimation in Very Low Speed Region. Also, this study reduces influence by System Noise and suggests an induction motor speed control system which is effective in Load Disturbance, modeling error, estimation noise and so on without changing pole of an Observer.

A Position Sensorless Motion Control System of Reluctance Synchronous Motor with Direct Torque Control (직접토크제어에 의한 위치센서 없는 리럭턴스 동기전동기의 위치제어 시스템)

  • Kim, Min-Huei;Lee, Bok-Yong;Kim, Kyung-Sik
    • Proceedings of the KIEE Conference
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    • 2002.06a
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    • pp.135-141
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    • 2002
  • This paper presents an implementation of high-dynamic performance of position sensorless motion control system of Reluctance Synchronous Motor(RSM) drives for an industrial servo system with direct torque control(DTC), The problems of DTC for high-dynamic performance and maximum efficiency RSM drive due to a saturated stator linkage flux and nonlinear inductance curve with various load currents, The accurate estimation of the stator flux and torque are obtained using stator flux observer of which a saturated inductance Ld and Lq can be compensated by adapting from measurable the modulus and angle of the stator current space vector. To obtain fast torque response and maximum torque/current with varying load current, the reference command flux is ensured by imposing Ids=Iqs. This control strategy is proposed to fast response and optimal efficiency for RSM drive. In order to prove rightness of the suggested control algorithm, the actual experiment carried out at ${\pm}$20 and ${\pm}$1500 rpm. The developed digitally high-performance control system are shown some good response characteristic of control results and high performance features using 1.0kW RSM of which has 2.57 Ld/Lq salient ratio.

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A Nonlinear Sliding Mode Controller for IPMSM Drives with an Adaptive Gain Tuning Rule

  • Jung, Jin-Woo;Dang, Dong Quang;Vu, Nga Thi-Thuy;Justo, Jackson John;Do, Ton Duc;Choi, Han Ho;Kim, Tae Heoung
    • Journal of Power Electronics
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    • v.15 no.3
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    • pp.753-762
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    • 2015
  • This paper presents a nonlinear sliding mode control (SMC) scheme with a variable damping ratio for interior permanent magnet synchronous motors (IPMSMs). First, a nonlinear sliding surface whose parameters change continuously with time is designed. Actually, the proposed SMC has the ability to reduce the settling time without an overshoot by giving a low damping ratio at the initial time and a high damping ratio as the output reaches the desired setpoint. At the same time, it enables a fast convergence in finite time and eliminates the singularity problem with the upper bound of an uncertain term, which cannot be measured in practice, by using a simple adaptation law. To improve the efficiency of a system in the constant torque region, the control system incorporates the maximum torque per ampere (MTPA) algorithm. The stability of the nonlinear sliding surface is guaranteed by Lyapunov stability theory. Moreover, a simple sliding mode observer is used to estimate the load torque and system uncertainties. The effectiveness of the proposed nonlinear SMC scheme is verified using comparative experimental results of the linear SMC scheme when the speed reference and load torque change under system uncertainties. From these experimental results, the proposed nonlinear SMC method reveals a faster transient response, smaller steady-state speed error, and less sensitivity to system uncertainties than the linear SMC method.

Adaptive Backstepping Controller Design for a Permanent Magnet Synchronous Motor using Speed Observer (속도관측기를 활용한 영구자석동기전동기의 적응 백스테핑 제어기 설계)

  • 현근호;양해원
    • Journal of Institute of Control, Robotics and Systems
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    • v.9 no.5
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    • pp.347-353
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    • 2003
  • A nonlinear speed controller for a surface mounted permanent magnet synchronous motor (PMSM) based on a newly developed adaptive backstepping approach is presented To compensate parameter uncertainties and load torque disturbance, a nonlinear adaptive backstepping control law and adaptive law are derived systematically through virtual control input and suitable Lyapunov function. Also, speed observer without using costly speed sensor is presented. Simulation results show that the proposed controller can observe the speed and track the reference speed signal generated by a reference model.

Precision Position Control of Induction Motors Using Disturbance Observer (외란관측기를 이용한 유도전동기의 정밀 위치 제어)

  • Kim, Hyun-Sik;Kang, Kyoung-Woo;Ko, Jong-Sun
    • The Transactions of the Korean Institute of Power Electronics
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    • v.11 no.1
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    • pp.38-45
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    • 2006
  • This paper presents load torque observer that is used to deadbeat control method in the induction motor(IM) precision position control system. The proposed algorithm shows robustness on induction servo motor system. All of the gain has been obtained on discrete domain analysis. The simulation has been obtained by the simulink. The results show that proposed system has good effectiveness for the disturbance of the induction servo motor system using DS1102 board.

Robust Speed Control of AC Permanent Magnet Synchronous Motor using RBF Neural Network (RBF 신경회로망을 이용한 교류 동기 모터의 강인 속도 제어)

  • 김은태;이성열
    • Journal of the Institute of Electronics Engineers of Korea SC
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    • v.40 no.4
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    • pp.243-250
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    • 2003
  • In this paper, the speed controller of permanent-magnet synchronous motor (PMSM) using the RBF neural (NN) disturbance observer is proposed. The suggested controller is designed using the input-output feedback linearization technique for the nominal model of PMSM and incorporates the RBF NN disturbance observer to compensate for the system uncertainties. Because the RBF NN disturbance observer which estimates the variation of a system parameter and a load torque is employed, the proposed algorithm is robust against the uncertainties of the system. Finally, the computer simulation is carried out to verify the effectiveness of the proposed method.