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Volume 46,Issue 12,2019 Table of Contents
2019, 46(12):1-7.
Abstract:
In traditional sliding mode observer (SMO) speed sensorless control method, a steadystate error would exist in position estimation when the speed of the motor fluctuated greatly. In order to eliminate the estimation error, a back electromotive force (backEMF) corrector was proposed based on the dqaxis current model of permanent magnet synchronous motor (PMSM). In this way, the position estimation error was kept at zero even under large speed fluctuation. Moreover, the proposed method was easy to implement and brought about small increment in calculation cost. Numerical simulations and experiments were carried out on a 1.5 kW PMSM. The results demonstrate that the proposed method can effectively estimate rotor position and the steadystate estimation error converges to zero.
In traditional sliding mode observer (SMO) speed sensorless control method, a steadystate error would exist in position estimation when the speed of the motor fluctuated greatly. In order to eliminate the estimation error, a back electromotive force (backEMF) corrector was proposed based on the dqaxis current model of permanent magnet synchronous motor (PMSM). In this way, the position estimation error was kept at zero even under large speed fluctuation. Moreover, the proposed method was easy to implement and brought about small increment in calculation cost. Numerical simulations and experiments were carried out on a 1.5 kW PMSM. The results demonstrate that the proposed method can effectively estimate rotor position and the steadystate estimation error converges to zero.
2019, 46(12):8-15, 46.
Abstract:
Finite control set (FCS) model predictive torque control (MPTC) system of permanent magnet synchronous motor (PMSM) was built based on stator flux xycoordinates. Simulation results testified its effectiveness and feasibility. As stator flux and torque predictive models were complicated, simplified predictive models were given. Theoretical analysis, simulation and experiment results showed that FCSMPTC system using simplified models could achieve equivalent control performances as using conventional predictive models, but simplified model could decrease calculation burden and improve real time performance. A candidate voltage vectors set was proposed with variable amplitude and angle which were used as control variables in FCSMPTC. The proposed candidate voltage vectors set could suppress torque ripple at steady state, but its dynamic response was worse than that of conventional candidate voltage vectors set. Thus, an adaptive control strategy was proposed, which adaptively used different candidate voltage vectors sets at different states. Simulation results showed that the control strategy could achieve good control performance at both steady and dynamic states.
Finite control set (FCS) model predictive torque control (MPTC) system of permanent magnet synchronous motor (PMSM) was built based on stator flux xycoordinates. Simulation results testified its effectiveness and feasibility. As stator flux and torque predictive models were complicated, simplified predictive models were given. Theoretical analysis, simulation and experiment results showed that FCSMPTC system using simplified models could achieve equivalent control performances as using conventional predictive models, but simplified model could decrease calculation burden and improve real time performance. A candidate voltage vectors set was proposed with variable amplitude and angle which were used as control variables in FCSMPTC. The proposed candidate voltage vectors set could suppress torque ripple at steady state, but its dynamic response was worse than that of conventional candidate voltage vectors set. Thus, an adaptive control strategy was proposed, which adaptively used different candidate voltage vectors sets at different states. Simulation results showed that the control strategy could achieve good control performance at both steady and dynamic states.
3 New Reaching Law Control of Permanent Magnet Synchronous MotorSliding Mode Speed Regulation System
2019, 46(12):16-21.
Abstract:
The sliding mode control (SMC) system based on the traditional exponential reaching law was widely used in the permanent magnet synchronous motor (PMSM) speed control system. However, this algorithm had obvious buffeting when the SMC system was approaching, and its control precision could not cope with the complicated situation. In order to suppress the system buffeting and improve the dynamic and steadystate performance of the PMSM speed control system, a new reaching law was proposed based on the traditional exponential reaching law by introducing the weighted integral gain. The introduction of the weighted integral gain made the system sliding mode function and its integral result close to zero in the sliding mode, which effectively suppressed system buffeting. According to the proposed new reaching law, the speed controller was designed and applied to the PMSM vector control system. The new reaching law control strategy was compared with the traditional exponential reaching law control strategy in software simulation and hardware experiments respectively to verify the feasibility and effectiveness of the proposed control strategy.
The sliding mode control (SMC) system based on the traditional exponential reaching law was widely used in the permanent magnet synchronous motor (PMSM) speed control system. However, this algorithm had obvious buffeting when the SMC system was approaching, and its control precision could not cope with the complicated situation. In order to suppress the system buffeting and improve the dynamic and steadystate performance of the PMSM speed control system, a new reaching law was proposed based on the traditional exponential reaching law by introducing the weighted integral gain. The introduction of the weighted integral gain made the system sliding mode function and its integral result close to zero in the sliding mode, which effectively suppressed system buffeting. According to the proposed new reaching law, the speed controller was designed and applied to the PMSM vector control system. The new reaching law control strategy was compared with the traditional exponential reaching law control strategy in software simulation and hardware experiments respectively to verify the feasibility and effectiveness of the proposed control strategy.
2019, 46(12):22-26, 54.
Abstract:
A position controller design was proposed to achieve fast and accurate setpoint motion in linear servo motors typically used in highperformance mechatronics systems. The controller adopted a combination of linear control and smooth nonlinear control. A reducedorder linear state observer was adopted to estimate the unmeasured motor speed. An integral action was also inserted to remove the steadystate error induced by unknown disturbance. The controller design was fully parameterized and could implement dynamic gain control, which facilitated the online tuning of parameters for performance optimization. The control scheme was applied to a permanent magnet linear motor servo system, and experimental verification using a TMS320F28335 DSC was conducted. The results show that the servo system is capable of tracking various target positions accurately with a desirable transient performance.
A position controller design was proposed to achieve fast and accurate setpoint motion in linear servo motors typically used in highperformance mechatronics systems. The controller adopted a combination of linear control and smooth nonlinear control. A reducedorder linear state observer was adopted to estimate the unmeasured motor speed. An integral action was also inserted to remove the steadystate error induced by unknown disturbance. The controller design was fully parameterized and could implement dynamic gain control, which facilitated the online tuning of parameters for performance optimization. The control scheme was applied to a permanent magnet linear motor servo system, and experimental verification using a TMS320F28335 DSC was conducted. The results show that the servo system is capable of tracking various target positions accurately with a desirable transient performance.
2019, 46(12):27-32, 60.
Abstract:
To improve the antiload disturbance ability of permanent magnet synchronous motor (PMSM) for aircraft electric evaporation cooling system under different operation conditions, the load torque feedforward compensation control strategy was studied. A control method based on reducedorder load torque observer was presented. Engineering design method was introduced for the reducedorder load torque observer. The observed load torque was used for compensation of the motor current loop controller to realize quick response to load disturbance and improve disturbance resisting ability. Simulation and experiment results verified the correctness and effectiveness of the reducedorder load torque observer′s design method and the feedforward compensation strategy of PMSM.
To improve the antiload disturbance ability of permanent magnet synchronous motor (PMSM) for aircraft electric evaporation cooling system under different operation conditions, the load torque feedforward compensation control strategy was studied. A control method based on reducedorder load torque observer was presented. Engineering design method was introduced for the reducedorder load torque observer. The observed load torque was used for compensation of the motor current loop controller to realize quick response to load disturbance and improve disturbance resisting ability. Simulation and experiment results verified the correctness and effectiveness of the reducedorder load torque observer′s design method and the feedforward compensation strategy of PMSM.
2019, 46(12):33-39.
Abstract:
An effective iterative sliding mode control (SMC) method based on iterative learning control and SMC strategy for such nonlinear uncertain systems as manipulator was proposed. The control method introduced the SMC law into the iterative learning control, and proved the control law by using Lyapunov theory to ensure the stability of the system. A relatively simplified njoint manipulator model was obtained via the dynamics model which was established based on Lagrangian mechanics method. It was verified by a twojoint manipulator simulation on MATLAB that the proposed control strategy could effectively improve the tracking speed and tracking accuracy and alleviate the chattering phenomenon of the traditional SMC to a certain extent, and its robustness was better than the traditional iterative learning control. Finally, the effectiveness of the control strategy designed was verified by physical experiments.
An effective iterative sliding mode control (SMC) method based on iterative learning control and SMC strategy for such nonlinear uncertain systems as manipulator was proposed. The control method introduced the SMC law into the iterative learning control, and proved the control law by using Lyapunov theory to ensure the stability of the system. A relatively simplified njoint manipulator model was obtained via the dynamics model which was established based on Lagrangian mechanics method. It was verified by a twojoint manipulator simulation on MATLAB that the proposed control strategy could effectively improve the tracking speed and tracking accuracy and alleviate the chattering phenomenon of the traditional SMC to a certain extent, and its robustness was better than the traditional iterative learning control. Finally, the effectiveness of the control strategy designed was verified by physical experiments.
2019, 46(12):40-46.
Abstract:
Position sensorless control was the preferred choice for air conditioning compressor control systems. Aiming at the problems of poor zero speed observation accuracy and high starting difficulty of the position sensorless control system of permanent magnet synchronous motor (PMSM) based on sliding mode observer (SMO), an improved PMSM position sensorless control strategy was proposed, which could switch from the zero speed and low speed starting to SMO control under medium and high speed. At the low speed and zero speed stage, I/F control was used to keep the motor work in the angle openloop and current closedloop condition. When the angle error was too large to reach the system switching requirement, the phase difference of the real angle was reduced by reducing the openloop current. The angle of the SMO was compensated when the motor speed was increased, so that the observation angle was as close as possible to the real angle. In this way, the switching between the two algorithms became more stable, and the antiinterference ability was stronger. Through the MATLAB/Simulink simulation and the actual 3.5 kW vehiclemounted air conditioner motor debugging, the feasibility and effectiveness of the method were verified.
Position sensorless control was the preferred choice for air conditioning compressor control systems. Aiming at the problems of poor zero speed observation accuracy and high starting difficulty of the position sensorless control system of permanent magnet synchronous motor (PMSM) based on sliding mode observer (SMO), an improved PMSM position sensorless control strategy was proposed, which could switch from the zero speed and low speed starting to SMO control under medium and high speed. At the low speed and zero speed stage, I/F control was used to keep the motor work in the angle openloop and current closedloop condition. When the angle error was too large to reach the system switching requirement, the phase difference of the real angle was reduced by reducing the openloop current. The angle of the SMO was compensated when the motor speed was increased, so that the observation angle was as close as possible to the real angle. In this way, the switching between the two algorithms became more stable, and the antiinterference ability was stronger. Through the MATLAB/Simulink simulation and the actual 3.5 kW vehiclemounted air conditioner motor debugging, the feasibility and effectiveness of the method were verified.
2019, 46(12):47-54.
Abstract:
A mathematical model with continuoustime parameter state space equations was established for magnetically suspended and electrically excited threephase linear synchronous motor (MSEETPLSM). The continuoustime model was discretized into the model with discretetime parameter state space equations using the forward difference method, and then rewritten in the standard form of recursive least squares algorithm through ztransformation. The resistance and selfinductance parameters of MSEETPLSM were identified by recursive least square algorithm under the static state of the primary rotor. Simulation software was used to simulate the off line identification algorithm of MSEETPLSM parameters, and the time domain identification curves of primary and secondary resistances and inductances of MSEETPLSM were obtained. The simulation curves converged fast and the identification results showed high accuracy. The effectiveness of the off line identification algorithm of MSEETPLSM parameters is proved.
A mathematical model with continuoustime parameter state space equations was established for magnetically suspended and electrically excited threephase linear synchronous motor (MSEETPLSM). The continuoustime model was discretized into the model with discretetime parameter state space equations using the forward difference method, and then rewritten in the standard form of recursive least squares algorithm through ztransformation. The resistance and selfinductance parameters of MSEETPLSM were identified by recursive least square algorithm under the static state of the primary rotor. Simulation software was used to simulate the off line identification algorithm of MSEETPLSM parameters, and the time domain identification curves of primary and secondary resistances and inductances of MSEETPLSM were obtained. The simulation curves converged fast and the identification results showed high accuracy. The effectiveness of the off line identification algorithm of MSEETPLSM parameters is proved.
2019, 46(12):55-60.
Abstract:
According to the complex structure characteristics of the permanent magnet assisted synchronous reluctance motor (PMASRM), the process of parameterization and geometric model establishment was introduced based on the ANSYS Maxwell 2D software platform, and the structural parameters were optimized. Furthermore, the specific procedures of using maximum torque per ampere (MTPA) control strategy in constant torque region and field weakening control in constant power region to get motor voltage, current, internal power factor angle and torque were illustrated in detail. It provides a more practical analysis method for the design of the same kind of motor.
According to the complex structure characteristics of the permanent magnet assisted synchronous reluctance motor (PMASRM), the process of parameterization and geometric model establishment was introduced based on the ANSYS Maxwell 2D software platform, and the structural parameters were optimized. Furthermore, the specific procedures of using maximum torque per ampere (MTPA) control strategy in constant torque region and field weakening control in constant power region to get motor voltage, current, internal power factor angle and torque were illustrated in detail. It provides a more practical analysis method for the design of the same kind of motor.
2019, 46(12):61-69.
Abstract:
In order to accurately describe the system noise of permanent magnet synchronous motor (PMSM) under different operating conditions, the variable matrix was used to estimate the system noise based on the innovation sequence and state residual. An adaptive extended Kalman filter (AEKF) algorithm based on the variable matrix was adopted to estimate the speed. At the same time, the research on the stability of AEKF was conducted. The simulation proves that compared with the traditional extended Kalman filter algorithm, the AEKF is better in convergence speed and convergence precision and has better robustness.
In order to accurately describe the system noise of permanent magnet synchronous motor (PMSM) under different operating conditions, the variable matrix was used to estimate the system noise based on the innovation sequence and state residual. An adaptive extended Kalman filter (AEKF) algorithm based on the variable matrix was adopted to estimate the speed. At the same time, the research on the stability of AEKF was conducted. The simulation proves that compared with the traditional extended Kalman filter algorithm, the AEKF is better in convergence speed and convergence precision and has better robustness.
2019, 46(12):70-74.
Abstract:
Quadrotor aircraft was a typical underactuated, nonlinear, and strongly coupled system. Its attitude control accuracy and antidisturbance problem were always research hotspots. In order to realize the attitude control of small and lowcost quadrotor aircraft, the force of the quadrotor aircraft was analyzed in detail. The nonlinear dynamic model of the quadrotor was established by using the NewtonEulerian equation. Aiming at the fact that the quadrotor aircraft often encountered uncertain external disturbances such as gusts and airflow during the actual flight, a PID controller based on small disturbances was designed. The simulation test and result analysis of the MATLAB/Simulink simulation models of pitch, roll and yaw channels show that the designed control algorithm can meet the attitude control requirements of quadrotor aircraft and has better antidisturbance performance.
Quadrotor aircraft was a typical underactuated, nonlinear, and strongly coupled system. Its attitude control accuracy and antidisturbance problem were always research hotspots. In order to realize the attitude control of small and lowcost quadrotor aircraft, the force of the quadrotor aircraft was analyzed in detail. The nonlinear dynamic model of the quadrotor was established by using the NewtonEulerian equation. Aiming at the fact that the quadrotor aircraft often encountered uncertain external disturbances such as gusts and airflow during the actual flight, a PID controller based on small disturbances was designed. The simulation test and result analysis of the MATLAB/Simulink simulation models of pitch, roll and yaw channels show that the designed control algorithm can meet the attitude control requirements of quadrotor aircraft and has better antidisturbance performance.
2019, 46(12):75-80.
Abstract:
Asynchronous traction motor was developed for dualvoltage electric locomotive on narrow gauge track. The gauge of the narrow gauge locomotive was smaller than the standard gauge, which resulted in the abnormally small installation space of the traction motor. The requirements for installation space, motor structure and electromagnetic load were more difficult compared to those of other traction motors. The application characteristics and special requirements of dualvoltage narrow gauge electric locomotive were analyzed. The design requirements and key technical difficulties of traction motor were put forward. The manufacturing process and the testing process of the dualvoltage traction motor were described. The test results show that the traction motor successfully meets all design requirements.
Asynchronous traction motor was developed for dualvoltage electric locomotive on narrow gauge track. The gauge of the narrow gauge locomotive was smaller than the standard gauge, which resulted in the abnormally small installation space of the traction motor. The requirements for installation space, motor structure and electromagnetic load were more difficult compared to those of other traction motors. The application characteristics and special requirements of dualvoltage narrow gauge electric locomotive were analyzed. The design requirements and key technical difficulties of traction motor were put forward. The manufacturing process and the testing process of the dualvoltage traction motor were described. The test results show that the traction motor successfully meets all design requirements.
2019, 46(12):81-87, 98.
Abstract:
In supercapacitor energy storage system (SCESS), the DC bus voltage could be stabilized rapidly by controlling the bidirectional DC/DC converter. In order to suppress some bifurcation and chaos phenomena in the control process, a chaos control method for the SCESS application was proposed. The control principle of this method was analyzed. The discrete iteration model of bidirectional DC/DC converter was established by nonlinear dynamics theory. A chaos control signal which could automatically adjust the compensation slope was designed. The asynchronous switching function and synchronous switching mapping were solved numerically under the action of the chaos control signal, so that the bifurcation diagrams of the system could be drawn. Simulation and experiment showed that the bifurcation and chaos phenomena of SCESS could be effectively suppressed by the method. The stable working range and dynamic response speed of the system were improved.
In supercapacitor energy storage system (SCESS), the DC bus voltage could be stabilized rapidly by controlling the bidirectional DC/DC converter. In order to suppress some bifurcation and chaos phenomena in the control process, a chaos control method for the SCESS application was proposed. The control principle of this method was analyzed. The discrete iteration model of bidirectional DC/DC converter was established by nonlinear dynamics theory. A chaos control signal which could automatically adjust the compensation slope was designed. The asynchronous switching function and synchronous switching mapping were solved numerically under the action of the chaos control signal, so that the bifurcation diagrams of the system could be drawn. Simulation and experiment showed that the bifurcation and chaos phenomena of SCESS could be effectively suppressed by the method. The stable working range and dynamic response speed of the system were improved.
2019, 46(12):88-91.
Abstract:
The integrity of insulation structure was of great importance for the longterm reliable operation of windgenerator. Based on the analysis of the structural features of largesize directdrive permanentmagnet windgenerator, a new operation process of sealing the iron core slot during stator winding inserting course was put forward to improve the filling effect of insulating resin. The iron core slot of the product made by this process was full filled by insulating resin. Test data such as insulation resistance, dielectric loss factor and breakdown voltage were improved obviously compared with those of the original structure. The results indicate that integrity and reliability of insulating structure are assured effectively with the sealing process.
The integrity of insulation structure was of great importance for the longterm reliable operation of windgenerator. Based on the analysis of the structural features of largesize directdrive permanentmagnet windgenerator, a new operation process of sealing the iron core slot during stator winding inserting course was put forward to improve the filling effect of insulating resin. The iron core slot of the product made by this process was full filled by insulating resin. Test data such as insulation resistance, dielectric loss factor and breakdown voltage were improved obviously compared with those of the original structure. The results indicate that integrity and reliability of insulating structure are assured effectively with the sealing process.
2019, 46(12):92-98.
Abstract:
A fault diagnosis method for motor based on industrial internet and multisensor data was presented. The instantaneous values of voltage, current, vibration and temperature of the motor could be obtained online in real time through a number of sensors, such as voltage, current, vibration and temperature sensor. The instantaneous values could be transformed into various characteristic parameters to characterize the state of the motor. According to the fluctuation of each characteristic parameter in each fault mode, the fault features and their membership functions in each fault mode could be obtained. The relationship between fault features and fault modes could be classified into sufficient and necessary conditions. The membership function of the fault features under the two conditions corresponding to each fault mode were fused. The membership function of each fault mode was obtained to serve the decisionmaking of the remote operation and maintenance system. This method could be deployed not only in the edge equipment of remote operation and maintenance industrial internet, but also in the service program of cloud platform to realize fast and reliable motor fault diagnosis.
A fault diagnosis method for motor based on industrial internet and multisensor data was presented. The instantaneous values of voltage, current, vibration and temperature of the motor could be obtained online in real time through a number of sensors, such as voltage, current, vibration and temperature sensor. The instantaneous values could be transformed into various characteristic parameters to characterize the state of the motor. According to the fluctuation of each characteristic parameter in each fault mode, the fault features and their membership functions in each fault mode could be obtained. The relationship between fault features and fault modes could be classified into sufficient and necessary conditions. The membership function of the fault features under the two conditions corresponding to each fault mode were fused. The membership function of each fault mode was obtained to serve the decisionmaking of the remote operation and maintenance system. This method could be deployed not only in the edge equipment of remote operation and maintenance industrial internet, but also in the service program of cloud platform to realize fast and reliable motor fault diagnosis.
2019, 46(12):99-104.
Abstract:
In the lowspeed sensorless redundant control of dual threephase permanent magnet synchronous motor (PMSM) electric power steering (EPS) system, there was an inherent problem that the signaltonoise ratio of the positiondependent signal was small due to the salient effect of the motor for the conventional strategy based on highfrequency pulsating voltage injection method. To solve this problem, the highfrequency current response was extracted from the αβstationary reference frame, and the αβhighfrequency current modulation was directly applied, so that the position angle estimation was only related to the directaxis inductance value. This method was applied to a surfacemounted dual threephase PMSM with a small saturation polarity. The effectiveness and correctness of the proposed method were verified by simulation and experiment.
In the lowspeed sensorless redundant control of dual threephase permanent magnet synchronous motor (PMSM) electric power steering (EPS) system, there was an inherent problem that the signaltonoise ratio of the positiondependent signal was small due to the salient effect of the motor for the conventional strategy based on highfrequency pulsating voltage injection method. To solve this problem, the highfrequency current response was extracted from the αβstationary reference frame, and the αβhighfrequency current modulation was directly applied, so that the position angle estimation was only related to the directaxis inductance value. This method was applied to a surfacemounted dual threephase PMSM with a small saturation polarity. The effectiveness and correctness of the proposed method were verified by simulation and experiment.
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Electric Machines & Control Application ® 2025
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Electric Machines & Control Application ® 2025
Supported by:Beijing E-Tiller Technology Development Co., Ltd.
