Mobile website
Volume 46,Issue 11,2019 Table of Contents
2019, 46(11):1-6.
Abstract:
A speed control strategy of permanent magnet synchronous motor (PMSM) based on wavelet neural network PID was proposed. According to the change of system operation parameters, a threelayer feedforward artificial neural network was used to update the PID parameters. It trained the PID parameters online based on gradient descent correction error method in real time. Wavelet neural network and incremental PID were used to construct the speed loop controller. The mathematic model of PMSM was established. The speed loop controller of PMSM was designed. The S function was constructed to simulate the control algorithm, which verified the progressiveness of the control algorithm. The experimental results showed that the proposed control strategy had better dynamic performance and antiinterference ability than traditional PID speed control.
A speed control strategy of permanent magnet synchronous motor (PMSM) based on wavelet neural network PID was proposed. According to the change of system operation parameters, a threelayer feedforward artificial neural network was used to update the PID parameters. It trained the PID parameters online based on gradient descent correction error method in real time. Wavelet neural network and incremental PID were used to construct the speed loop controller. The mathematic model of PMSM was established. The speed loop controller of PMSM was designed. The S function was constructed to simulate the control algorithm, which verified the progressiveness of the control algorithm. The experimental results showed that the proposed control strategy had better dynamic performance and antiinterference ability than traditional PID speed control.
2019, 46(11):7-12.
Abstract:
Based on the actual demand for highspeed operation of multimotor system in industrial occasions, the advantages and disadvantages of traditional multimotor control system and traditional flux weakening control system were analyzed. The flux weakening characteristics of multimotor system under the highspeed operation were discussed. Model predictive control (MPC) was a new control algorithm based on the controlled object model, which had strong robustness and better control performance. Crosscoupling control was a control system which compensated each motor on the basis of parallel control. MPC was applied to multimotor control system and the ability of flux weakening control was improved. The traditional crosscoupling control strategy was also improved. A model prediction synchronous control strategy for multimotor flux weakening control was proposed based on the combination of the two strategies. Taking the simulation of dualmotor system as an example, the simulation results show that the multimotor flux weakening synchronous control strategy based on model prediction has better tracking performance and synchronous performance than the traditional control system.
Based on the actual demand for highspeed operation of multimotor system in industrial occasions, the advantages and disadvantages of traditional multimotor control system and traditional flux weakening control system were analyzed. The flux weakening characteristics of multimotor system under the highspeed operation were discussed. Model predictive control (MPC) was a new control algorithm based on the controlled object model, which had strong robustness and better control performance. Crosscoupling control was a control system which compensated each motor on the basis of parallel control. MPC was applied to multimotor control system and the ability of flux weakening control was improved. The traditional crosscoupling control strategy was also improved. A model prediction synchronous control strategy for multimotor flux weakening control was proposed based on the combination of the two strategies. Taking the simulation of dualmotor system as an example, the simulation results show that the multimotor flux weakening synchronous control strategy based on model prediction has better tracking performance and synchronous performance than the traditional control system.
2019, 46(11):13-19, 36.
Abstract:
Permanent magnet synchronous motor (PMSM) direct torque control (DTC) system using fuzzy control was proposed which used fuzzy controllers to replace the hysteresis comparators for stator flux and torque and the switching table. Simulation results show that the proposed fuzzy control system can work properly and realize fourquadrant operation. Compared with the conventional switching table, fuzzy controller could decrease torque ripple and average switching frequency. The effects of universe of torque error and use of zero voltage vector on fuzzy control system were analyzed. Based on the effects of torque angle on voltage vector, a novel fuzzy control PMSM DTC system which took torque angle as the input parameter was proposed. Simulation results show that under large torque angles, the novel fuzzy control system can decrease the ripple of stator flux and torque and improve the control performance compared with conventional fuzzy control.
Permanent magnet synchronous motor (PMSM) direct torque control (DTC) system using fuzzy control was proposed which used fuzzy controllers to replace the hysteresis comparators for stator flux and torque and the switching table. Simulation results show that the proposed fuzzy control system can work properly and realize fourquadrant operation. Compared with the conventional switching table, fuzzy controller could decrease torque ripple and average switching frequency. The effects of universe of torque error and use of zero voltage vector on fuzzy control system were analyzed. Based on the effects of torque angle on voltage vector, a novel fuzzy control PMSM DTC system which took torque angle as the input parameter was proposed. Simulation results show that under large torque angles, the novel fuzzy control system can decrease the ripple of stator flux and torque and improve the control performance compared with conventional fuzzy control.
2019, 46(11):20-24, 74.
Abstract:
A new control strategy for permanent magnet synchronous motor (PMSM) parameter disturbance and load disturbance was designed. The PMSM control was usually designed by PI control, but the control effect was not good. A new integral sliding mode control (SMC) strategy for the speed controller design was proposed. The integral SMC had strong antiinterference ability, which could not only suppress the highfrequency differential disturbance of the control system, but also reduce the system steadystate error and make the control more accurate. The sliding mode controller was optimized by designing the reaching law function in which the switching parameters of the SMC could be adjusted adaptively, and the system response speed was improved. Taking into account the influence of system parameters and load disturbance on control performance, the active disturbance rejection control was introduced into the SMC, which improved the immunity of the system. Finally, simulation experiments verified that the control performance of the control system was excellent.
A new control strategy for permanent magnet synchronous motor (PMSM) parameter disturbance and load disturbance was designed. The PMSM control was usually designed by PI control, but the control effect was not good. A new integral sliding mode control (SMC) strategy for the speed controller design was proposed. The integral SMC had strong antiinterference ability, which could not only suppress the highfrequency differential disturbance of the control system, but also reduce the system steadystate error and make the control more accurate. The sliding mode controller was optimized by designing the reaching law function in which the switching parameters of the SMC could be adjusted adaptively, and the system response speed was improved. Taking into account the influence of system parameters and load disturbance on control performance, the active disturbance rejection control was introduced into the SMC, which improved the immunity of the system. Finally, simulation experiments verified that the control performance of the control system was excellent.
2019, 46(11):25-29, 81.
Abstract:
Field oriented control (FOC) theory was the most common control method for permanent magnet synchronous motor (PMSM), which required instantaneous position of the rotor. This limited its application to brushless DC motor (BLDCM) using Hall position sensors. In order to apply the FOC theory to the control of BLDCM without increasing the cost of the motor, based on the existing Hall position sensor, an estimation method of the rotor precise position by calculating the average speed of the previous sector based on the output signal of the Hall sensor was proposed. This estimation method was simulated using MATLAB/Simulink software. The experimental system based on TMS320F28069 DSP was built. The algorithm was programmed by automatic code generation technology. Both simulation and experiment results showed that the method could be used well in the control of BLDCM, and it could replace PMSM in some low cost applications.
Field oriented control (FOC) theory was the most common control method for permanent magnet synchronous motor (PMSM), which required instantaneous position of the rotor. This limited its application to brushless DC motor (BLDCM) using Hall position sensors. In order to apply the FOC theory to the control of BLDCM without increasing the cost of the motor, based on the existing Hall position sensor, an estimation method of the rotor precise position by calculating the average speed of the previous sector based on the output signal of the Hall sensor was proposed. This estimation method was simulated using MATLAB/Simulink software. The experimental system based on TMS320F28069 DSP was built. The algorithm was programmed by automatic code generation technology. Both simulation and experiment results showed that the method could be used well in the control of BLDCM, and it could replace PMSM in some low cost applications.
6 PieceWise Linear Maximum Torque Per Ampere Approximate Control forPermanent Magnet Synchronous Motor
2019, 46(11):30-36.
Abstract:
Based on the mathematical model of the permanent magnet synchronous motor (PMSM) and the maximum torque per ampere (MTPA) control method, the mathematical properties of the MTPA curve were analyzed. The MTPA curve was the left half of the equilateral hyperbola. According to the characteristics of this hyperbola, a piecewise linear MTPA approximate control algorithm was proposed. The portability of this control algorithm was proved by changing parameters of the motor and calculating errors between true value and approximate value. A Simulink model was established for simulation analysis. The response properties of lookup table method and piecewise linear algorithm were compared. The simulation results showed that the piecewise linear MTPA approximate control algorithm had good steadystate and dynamic response, and could well realize the MTPA control method.
Based on the mathematical model of the permanent magnet synchronous motor (PMSM) and the maximum torque per ampere (MTPA) control method, the mathematical properties of the MTPA curve were analyzed. The MTPA curve was the left half of the equilateral hyperbola. According to the characteristics of this hyperbola, a piecewise linear MTPA approximate control algorithm was proposed. The portability of this control algorithm was proved by changing parameters of the motor and calculating errors between true value and approximate value. A Simulink model was established for simulation analysis. The response properties of lookup table method and piecewise linear algorithm were compared. The simulation results showed that the piecewise linear MTPA approximate control algorithm had good steadystate and dynamic response, and could well realize the MTPA control method.
2019, 46(11):37-42, 93.
Abstract:
When using notch filter to suppress mechanical resonance of servo system, it was necessary to obtain accurate mechanical resonance frequency. In order to detect the mechanical resonance frequency quickly, the adaptive notch filter (ANF) frequency estimation strategy for error signal analysis was proposed. Firstly, the mechanical resonance model of flexible connection servo system was established. Secondly, the time consuming and analysis accuracy were compared between the ANF algorithm and fast Fourier transform (FFT). The numerical and the simulation results show that the proposed method is faster than FFT, and resonance frequency can be identified online quickly. Finally, experimental platform was built and the results of ANF frequency estimation were used as the center frequency of the trap. The suppression of motor speed oscillation was successfully realized, and the effectiveness of the algorithm was verified by experiment.
When using notch filter to suppress mechanical resonance of servo system, it was necessary to obtain accurate mechanical resonance frequency. In order to detect the mechanical resonance frequency quickly, the adaptive notch filter (ANF) frequency estimation strategy for error signal analysis was proposed. Firstly, the mechanical resonance model of flexible connection servo system was established. Secondly, the time consuming and analysis accuracy were compared between the ANF algorithm and fast Fourier transform (FFT). The numerical and the simulation results show that the proposed method is faster than FFT, and resonance frequency can be identified online quickly. Finally, experimental platform was built and the results of ANF frequency estimation were used as the center frequency of the trap. The suppression of motor speed oscillation was successfully realized, and the effectiveness of the algorithm was verified by experiment.
2019, 46(11):43-49, 102.
Abstract:
In the field of AC servo motion control, serveral control difficulties were caused by the large difference of the two axis load inertia, and the demand of the rated running speed and the high positioning accuracy. To solve these problems, a simple and effective synchronous control method was proposed, and it was verified in the experiment. The method included two parts: the design of the synchronous control and the error compensation algorithm. Firstly, a masterslave control method based on virtual spindle was designed to realize synchronous instruction output with inertia matching. Considering the load characteristics, an error compensation method based on weighted coupling was proposed, which could realize fast and stable synchronous error compensation. Simulation and experimental results show that the method can meet the requirements of positioning and synchronous control accuracy of the servo motion system, meanwhile, the stability and compensation response speed of the system are improved to a certain extent, and the method works well in engineering applications.
In the field of AC servo motion control, serveral control difficulties were caused by the large difference of the two axis load inertia, and the demand of the rated running speed and the high positioning accuracy. To solve these problems, a simple and effective synchronous control method was proposed, and it was verified in the experiment. The method included two parts: the design of the synchronous control and the error compensation algorithm. Firstly, a masterslave control method based on virtual spindle was designed to realize synchronous instruction output with inertia matching. Considering the load characteristics, an error compensation method based on weighted coupling was proposed, which could realize fast and stable synchronous error compensation. Simulation and experimental results show that the method can meet the requirements of positioning and synchronous control accuracy of the servo motion system, meanwhile, the stability and compensation response speed of the system are improved to a certain extent, and the method works well in engineering applications.
9 Development of TQ250 Permanent Magnet SynchronousTraction Motor for Next Generation Metro Vehicles
2019, 46(11):50-55.
Abstract:
The developments of TQ250 permanent magnet synchronous traction motor for next generation metro vehicles were introduced. The overall technical requirements, design difficulties, key technologies, prototype test and other aspects were mainly discussed. According to the technical characteristics and main technical parameters of permanent magnet synchronous traction motor for next generation metro vehicles, the design of the permanent magnet synchronous traction motor was improved by tackling key technical problems such as equivalent quota design, electromagnetic design, lightweight design and cooling structure design. A prototype was developed and the test was carried out on it. The results show that the motor meets the requirements of the next generation metro vehicles,and verify the feasibility of the design.
The developments of TQ250 permanent magnet synchronous traction motor for next generation metro vehicles were introduced. The overall technical requirements, design difficulties, key technologies, prototype test and other aspects were mainly discussed. According to the technical characteristics and main technical parameters of permanent magnet synchronous traction motor for next generation metro vehicles, the design of the permanent magnet synchronous traction motor was improved by tackling key technical problems such as equivalent quota design, electromagnetic design, lightweight design and cooling structure design. A prototype was developed and the test was carried out on it. The results show that the motor meets the requirements of the next generation metro vehicles,and verify the feasibility of the design.
2019, 46(11):56-63.
Abstract:
Due to the simplicity of integral path of Maxwell stress method, the accuracy of the air gap flux density directly affected the accuracy of the radial force. The calculation of air gap flux density in existing research based on Maxwell stress method was too simplified. Equivalent magnetic circuit method and Maxwell stress method were combined to derive the expression of radial force of stator when one phase was excited. In the angle position control (APC) mode, the analytical expression of the stator radial electromagnetic force during operation was derived. Comparative analysis of radial forces in the time and frequency domains by this method and the finite element analysis was performed. Results obtained by this method were in good agreement with those obtained by the finite element analysis with an error less than 10% at twice the rated current.
Due to the simplicity of integral path of Maxwell stress method, the accuracy of the air gap flux density directly affected the accuracy of the radial force. The calculation of air gap flux density in existing research based on Maxwell stress method was too simplified. Equivalent magnetic circuit method and Maxwell stress method were combined to derive the expression of radial force of stator when one phase was excited. In the angle position control (APC) mode, the analytical expression of the stator radial electromagnetic force during operation was derived. Comparative analysis of radial forces in the time and frequency domains by this method and the finite element analysis was performed. Results obtained by this method were in good agreement with those obtained by the finite element analysis with an error less than 10% at twice the rated current.
2019, 46(11):64-68.
Abstract:
Excitation control system is an important part of the synchronous generator. Its main function is to provide a controllable DC current (voltage) to the stator winding of the synchronous generator to maintain the constant voltage of the terminal, which meets the needs of the synchronous generator. Through the genset control system model, the unit simulation model could be calibrated in time, and the abnormal response could be checked for early warning, so as to effectively improve the stability of the system operation. A simulation model of singlemachine infinity system with external simulator as excitation regulator was built in MATLAB. The model simulated the output of the excitation system when the PID main loop and the power system stabilizer (PSS) auxiliary loop were anomalous. The output was compared with the theoretical value. Through comparison, it is confirmed that the proposed model can determine the cause and location of the fault in time and thus help to repair the faults.
Excitation control system is an important part of the synchronous generator. Its main function is to provide a controllable DC current (voltage) to the stator winding of the synchronous generator to maintain the constant voltage of the terminal, which meets the needs of the synchronous generator. Through the genset control system model, the unit simulation model could be calibrated in time, and the abnormal response could be checked for early warning, so as to effectively improve the stability of the system operation. A simulation model of singlemachine infinity system with external simulator as excitation regulator was built in MATLAB. The model simulated the output of the excitation system when the PID main loop and the power system stabilizer (PSS) auxiliary loop were anomalous. The output was compared with the theoretical value. Through comparison, it is confirmed that the proposed model can determine the cause and location of the fault in time and thus help to repair the faults.
2019, 46(11):69-74.
Abstract:
With the development of the internet of things technology, how to combine the internet of things technology with nonintrusive power equipment operation monitoring technology have become a hot research topic. In order to explore a new mode of monitoring the running state of electrical equipment based on internet of things technology, the nonintrusive online monitoring of the stator winding temperature of induction motor was taken as the starting point. Firstly, a method of identifying the stator winding temperature of induction motor based on adaptive method and least squares method was proposed. Combined with the development of the current internet of things technology, a life cycle monitoring system for induction motor stator winding temperature based on whole process monitoring technology was designed. The stator temperature monitoring system based on induction motor life cycle monitoring was tested on a 5.5 kW induction motor. The results show that the system has strong robustness. The concept and technology presented can provide important reference and technical support for condition monitoring of other large power equipment.
With the development of the internet of things technology, how to combine the internet of things technology with nonintrusive power equipment operation monitoring technology have become a hot research topic. In order to explore a new mode of monitoring the running state of electrical equipment based on internet of things technology, the nonintrusive online monitoring of the stator winding temperature of induction motor was taken as the starting point. Firstly, a method of identifying the stator winding temperature of induction motor based on adaptive method and least squares method was proposed. Combined with the development of the current internet of things technology, a life cycle monitoring system for induction motor stator winding temperature based on whole process monitoring technology was designed. The stator temperature monitoring system based on induction motor life cycle monitoring was tested on a 5.5 kW induction motor. The results show that the system has strong robustness. The concept and technology presented can provide important reference and technical support for condition monitoring of other large power equipment.
2019, 46(11):75-81.
Abstract:
The penetration rate of distributed power in the microgrid was higher and higher, and the impact of its intermittence on the stability of the system voltage could not be ignored. Electric spring (ES) was a new type of voltage control device that could effectively suppress voltage fluctuations across critical loads (CLs). In order to reduce the influence of load changes on the voltage regulation capability of ES, an adaptive control strategy of ES considering variation of noncritical load (NCL) was proposed. The topological structure of ES and the theoretical analysis of restricting operation conditions were introduced. The voltage sag was detected by the method of changing αβcoordinate system to determine whether the ES was put into the system. After calculating the compensating voltage with reference voltage calculation module, the error relative to the actual value was input into the PI controller. The PI control parameters were dynamically adjusted by artificial fish swarm algorithm (AFSA) to alleviate the influence of NCL variation on the basis of ensuring the stability of CL voltage. The simulation results showed that the proposed control strategy could effectively alleviate the voltage instability caused by load changes under different operating conditions on the basis of ensuring CL voltage stability.
The penetration rate of distributed power in the microgrid was higher and higher, and the impact of its intermittence on the stability of the system voltage could not be ignored. Electric spring (ES) was a new type of voltage control device that could effectively suppress voltage fluctuations across critical loads (CLs). In order to reduce the influence of load changes on the voltage regulation capability of ES, an adaptive control strategy of ES considering variation of noncritical load (NCL) was proposed. The topological structure of ES and the theoretical analysis of restricting operation conditions were introduced. The voltage sag was detected by the method of changing αβcoordinate system to determine whether the ES was put into the system. After calculating the compensating voltage with reference voltage calculation module, the error relative to the actual value was input into the PI controller. The PI control parameters were dynamically adjusted by artificial fish swarm algorithm (AFSA) to alleviate the influence of NCL variation on the basis of ensuring the stability of CL voltage. The simulation results showed that the proposed control strategy could effectively alleviate the voltage instability caused by load changes under different operating conditions on the basis of ensuring CL voltage stability.
2019, 46(11):82-87.
Abstract:
With the development of new energy vehicle electronic control system and the increase of complexity and integration, the vehicle fault protection strategy has become an important part of software development. However, the test was difficult and risky, especially for motor control system. Traditional bench and real vehicle tests always could not meet the actual requirements. The motor control system fault protection strategy and its hardwareintheloop (HIL) test scheme were introduced. Combined with the dSPACE simulation system, a signallevel HIL simulation test platform was built for the vehicle motor control unit. Realtime simulation was performed for different faults of the motor. By analysis of the test results, the correctness of the motor controller fault protection strategy was verified, and the superiority of the HIL test method was proved.
With the development of new energy vehicle electronic control system and the increase of complexity and integration, the vehicle fault protection strategy has become an important part of software development. However, the test was difficult and risky, especially for motor control system. Traditional bench and real vehicle tests always could not meet the actual requirements. The motor control system fault protection strategy and its hardwareintheloop (HIL) test scheme were introduced. Combined with the dSPACE simulation system, a signallevel HIL simulation test platform was built for the vehicle motor control unit. Realtime simulation was performed for different faults of the motor. By analysis of the test results, the correctness of the motor controller fault protection strategy was verified, and the superiority of the HIL test method was proved.
2019, 46(11):88-93.
Abstract:
Taking BuckBoost circuit as an example, the average model of the converter and its linearized smallsignal model were solved. Simulink software was used to build the equivalent circuits of state average equation and linearized smallsignal model respectively. By comparing the simulation results of dynamic model with those of switching device circuit, the correctness of the dynamic model was verified. The application scope and shortcomings of discontinuous current mode (DCM) average model were discussed. The theoretical analysis results showed that the largesignal model and the smallsignal model could better simulate the dynamic characteristics of the actual switching circuit on the macroscopic time scale. The smallsignal model could only be used to solve the case of small disturbances, namely when the disturbance was too large, the error of the smallsignal model solution would be large.
Taking BuckBoost circuit as an example, the average model of the converter and its linearized smallsignal model were solved. Simulink software was used to build the equivalent circuits of state average equation and linearized smallsignal model respectively. By comparing the simulation results of dynamic model with those of switching device circuit, the correctness of the dynamic model was verified. The application scope and shortcomings of discontinuous current mode (DCM) average model were discussed. The theoretical analysis results showed that the largesignal model and the smallsignal model could better simulate the dynamic characteristics of the actual switching circuit on the macroscopic time scale. The smallsignal model could only be used to solve the case of small disturbances, namely when the disturbance was too large, the error of the smallsignal model solution would be large.
16 Unified FaultTolerant Control Strategy of Dual ThreePhase PMSM Under MultiPhase OpenCircuit Faults
2019, 46(11):94-102.
Abstract:
Multiphase motors had great fault tolerance under stator opencircuit faults. Related facilities, as well as research theories to improve the control strategies, were continuously proposed. However, there were few faulttolerant control strategies based on unified model suitable for multiphase opencircuit faults. A faulttolerant control strategy applying to opencircuit faults in three or fewer phases of the dual threephase permanent magnet synchronous motor (PMSM) system was proposed, which supported better electrical and dynamical performances of the motor. The unified mathematical model for PMSM opencircuit faults in 1~3 phases was presented, and the matrixes representing asymmetry of the motor under faults were extracted. Corresponding decoupling transformation matrixes were derived from voltage equations. Subspaces were also created for harmonics suppression regardless of the harmonic types. With the number of open phases increasing, a faulttolerant control strategy for the neutral point current of threephase open circuit was presented, which aimed at reducing the amplitude of phase currents and increasing the system redundancy. Simulation and experimental results of these faulttolerant control strategies were provided for verification of the theoretical analysis.
Multiphase motors had great fault tolerance under stator opencircuit faults. Related facilities, as well as research theories to improve the control strategies, were continuously proposed. However, there were few faulttolerant control strategies based on unified model suitable for multiphase opencircuit faults. A faulttolerant control strategy applying to opencircuit faults in three or fewer phases of the dual threephase permanent magnet synchronous motor (PMSM) system was proposed, which supported better electrical and dynamical performances of the motor. The unified mathematical model for PMSM opencircuit faults in 1~3 phases was presented, and the matrixes representing asymmetry of the motor under faults were extracted. Corresponding decoupling transformation matrixes were derived from voltage equations. Subspaces were also created for harmonics suppression regardless of the harmonic types. With the number of open phases increasing, a faulttolerant control strategy for the neutral point current of threephase open circuit was presented, which aimed at reducing the amplitude of phase currents and increasing the system redundancy. Simulation and experimental results of these faulttolerant control strategies were provided for verification of the theoretical analysis.
You are thevisitor
沪ICP备16038578号-3
Electric Machines & Control Application ® 2025
Supported by:Beijing E-Tiller Technology Development Co., Ltd.
沪ICP备16038578号-3
Electric Machines & Control Application ® 2025
Supported by:Beijing E-Tiller Technology Development Co., Ltd.
