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Volume 52,Issue 2,2025 Table of Contents
2025, 52(2):115-135.
DOI: 10.12177/emca.2024.159
Abstract:
Axial flux switched reluctance (AFSR) motors combine the characteristics of switched reluctance motors and axial flux motors. It has several advantages, including a simple structure, low manufacturing and maintenance costs, short axial length, adjustable air gap, and strong adaptability to harsh environments, such as high temperatures. These advantages make AFSR motors suitable for high-reliability and fault-tolerant applications in industries like aerospace, new energy vehicles, and intelligent manufacturing. In recent years, AFSR motors have attracted growing attention. This paper reviews the latest research in the field of AFSR motors, introducing their basic principles and four key topological structures: single-stator-single-rotor, single-stator-double-rotor, double-stator-single-rotor, and multi-stator-multi-rotor. This paper also discusses advancements in AFSR motor design, focusing on electromagnetic design calculation methods, algorithm acceleration, core materials, manufacturing processes, and optimization of electromagnetic properties. Based on the unique features of AFSR motor topological structures, this paper summarizes current research on loss analysis and suppression, temperature rise and heat dissipation, torque ripple analysis and suppression, and motor fault and structural strength analysis. Furthermore, this paper introduces control systems for AFSR motors and highlights innovations in control strategies developed by researchers worldwide. Finally, it presents applications of AFSR motors in electric vehicles, wind power generation, and industrial equipment, and provides an outlook on future research directions and development trends. The review work in this paper provides valuable references for both theoretical research and practical engineering applications of AFSR motors.
Axial flux switched reluctance (AFSR) motors combine the characteristics of switched reluctance motors and axial flux motors. It has several advantages, including a simple structure, low manufacturing and maintenance costs, short axial length, adjustable air gap, and strong adaptability to harsh environments, such as high temperatures. These advantages make AFSR motors suitable for high-reliability and fault-tolerant applications in industries like aerospace, new energy vehicles, and intelligent manufacturing. In recent years, AFSR motors have attracted growing attention. This paper reviews the latest research in the field of AFSR motors, introducing their basic principles and four key topological structures: single-stator-single-rotor, single-stator-double-rotor, double-stator-single-rotor, and multi-stator-multi-rotor. This paper also discusses advancements in AFSR motor design, focusing on electromagnetic design calculation methods, algorithm acceleration, core materials, manufacturing processes, and optimization of electromagnetic properties. Based on the unique features of AFSR motor topological structures, this paper summarizes current research on loss analysis and suppression, temperature rise and heat dissipation, torque ripple analysis and suppression, and motor fault and structural strength analysis. Furthermore, this paper introduces control systems for AFSR motors and highlights innovations in control strategies developed by researchers worldwide. Finally, it presents applications of AFSR motors in electric vehicles, wind power generation, and industrial equipment, and provides an outlook on future research directions and development trends. The review work in this paper provides valuable references for both theoretical research and practical engineering applications of AFSR motors.
2025, 52(2):136-147.
DOI: 10.12177/emca.2024.169
Abstract:
[Objective] In view of the operational requirements of the shielded motor for aviation pumps under special working conditions, as well as the issues of high loss, low efficiency, and complex structure in traditional shielded motors, this paper proposes a shielded motor for aviation pumps based on internal and external dual water circulation. [Methods] Through in-depth analysis of the structural characteristics and design index requirements of the shielded motor for aviation pumps, the water friction loss and shielded sleeve losses that affected the motor performance were analyzed and calculated in detail, and the performance differences of different shielded sleeve materials were compared. Starting from the key parameters such as air gap length and shielded sleeve thickness, a parametric scanning was performed to comprehensively analyze the effect mechanisms of these parameters on motor performance, which provided the basis for the selection of main electromagnetic parameters of the motor. In addition, regarding the variable load starting characteristics of the motor, the actual load carried by the motor was used as a reference to fit the starting characteristic curve for variable load starting analysis. Considering the fluid dynamics factors, the finite volume method and finite element method were applied to analyze the stress distribution characteristics of the motor and shielded sleeve under different temperatures through the fluid-solid coupling. [Results] The multi-physical field coupling simulation and experimental results showed that the reasonable selection of the length-to-diameter ratio and air gap length of the motor could effectively reduce water friction losses. The poly-ether-ether-ketone was selected as the shielded sleeve material, and its internal stress could fully meet the strength requirements. Meanwhile, under the load condition, the error between the output torque of the prototype and the simulation results was 1.7%, and the maximum error in no-load rotational speed was 0.66%, proving that the motor could effectively meet the requirements of special operating conditions. [Conclusion] The experiment verifies the rationality and feasibility of the design, providing theoretical basis and practical reference for the optimization and design of shielded motors for aviation pumps.
[Objective] In view of the operational requirements of the shielded motor for aviation pumps under special working conditions, as well as the issues of high loss, low efficiency, and complex structure in traditional shielded motors, this paper proposes a shielded motor for aviation pumps based on internal and external dual water circulation. [Methods] Through in-depth analysis of the structural characteristics and design index requirements of the shielded motor for aviation pumps, the water friction loss and shielded sleeve losses that affected the motor performance were analyzed and calculated in detail, and the performance differences of different shielded sleeve materials were compared. Starting from the key parameters such as air gap length and shielded sleeve thickness, a parametric scanning was performed to comprehensively analyze the effect mechanisms of these parameters on motor performance, which provided the basis for the selection of main electromagnetic parameters of the motor. In addition, regarding the variable load starting characteristics of the motor, the actual load carried by the motor was used as a reference to fit the starting characteristic curve for variable load starting analysis. Considering the fluid dynamics factors, the finite volume method and finite element method were applied to analyze the stress distribution characteristics of the motor and shielded sleeve under different temperatures through the fluid-solid coupling. [Results] The multi-physical field coupling simulation and experimental results showed that the reasonable selection of the length-to-diameter ratio and air gap length of the motor could effectively reduce water friction losses. The poly-ether-ether-ketone was selected as the shielded sleeve material, and its internal stress could fully meet the strength requirements. Meanwhile, under the load condition, the error between the output torque of the prototype and the simulation results was 1.7%, and the maximum error in no-load rotational speed was 0.66%, proving that the motor could effectively meet the requirements of special operating conditions. [Conclusion] The experiment verifies the rationality and feasibility of the design, providing theoretical basis and practical reference for the optimization and design of shielded motors for aviation pumps.
2025, 52(2):148-158.
DOI: 10.12177/emca.2024.163
Abstract:
[Objective] This paper aims to improve the speed control performance of permanent magnet synchronous motors and ensure that the speed error converges to the preset boundary within a specified time, while avoiding issues such as controller singularities caused by disturbances and estimation peaks in the observer during motor starting. In this paper, a preset performance sliding mode control method based on a time-varying disturbance observer (PPSMC+TDO) is proposed by combining preset performance control with sliding mode control. [Methods] First, a preset performance function capable of setting convergence time was proposed, and an error transformation was performed to convert the inequality-constrained error system into an equality-constrained system. Second, a time-varying disturbance observer was designed to estimate system disturbances. Then, a preset performance sliding mode controller was developed for the transformed error system. [Results] Under the constraint of the preset performance function, PPSMC+TDO ensured that the speed error converged to the minmum preset boundary εT within the preset 0.3 s. When external disturbances were applied, PPSMC+TDO demonstrated the smallest speed fluctuations. Although the instantaneous speed error exceeded the preset boundary, the controller remained stable, without singularities or other unstable behaviors. Furthermore, at the initial moment, the disturbance estimation curves showed no estimation peaks. [Conclusion] Experimental results show that under the influence of the preset performance function, the speed error converges to the preset boundary within the designated time, ensuring good dynamic performance of the speed controller. When disturbances occur, the method addresses the issue of controller singularities caused by system errors exceeding the preset performance function boundary and provides excellent anti-disturbance capability against both constant external load disturbances and periodic disturbances. Additionally, the proposed time-varying disturbance observer effectively eliminates estimation peaks at the initial moment.
[Objective] This paper aims to improve the speed control performance of permanent magnet synchronous motors and ensure that the speed error converges to the preset boundary within a specified time, while avoiding issues such as controller singularities caused by disturbances and estimation peaks in the observer during motor starting. In this paper, a preset performance sliding mode control method based on a time-varying disturbance observer (PPSMC+TDO) is proposed by combining preset performance control with sliding mode control. [Methods] First, a preset performance function capable of setting convergence time was proposed, and an error transformation was performed to convert the inequality-constrained error system into an equality-constrained system. Second, a time-varying disturbance observer was designed to estimate system disturbances. Then, a preset performance sliding mode controller was developed for the transformed error system. [Results] Under the constraint of the preset performance function, PPSMC+TDO ensured that the speed error converged to the minmum preset boundary εT within the preset 0.3 s. When external disturbances were applied, PPSMC+TDO demonstrated the smallest speed fluctuations. Although the instantaneous speed error exceeded the preset boundary, the controller remained stable, without singularities or other unstable behaviors. Furthermore, at the initial moment, the disturbance estimation curves showed no estimation peaks. [Conclusion] Experimental results show that under the influence of the preset performance function, the speed error converges to the preset boundary within the designated time, ensuring good dynamic performance of the speed controller. When disturbances occur, the method addresses the issue of controller singularities caused by system errors exceeding the preset performance function boundary and provides excellent anti-disturbance capability against both constant external load disturbances and periodic disturbances. Additionally, the proposed time-varying disturbance observer effectively eliminates estimation peaks at the initial moment.
2025, 52(2):159-170.
DOI: 10.12177/emca.2024.158
Abstract:
[Objective] In the context of ongoing energy transition, photovoltaic power generation has attracted significant attention due to its clean and environmentally friendly nature, and its penetration rate in the energy sector continues to rise. However, the randomness and volatility of its output pose challenges to the stable operation of the power system. To address issues such as slow dynamic response and poor stability caused by grid-connected photovoltaic power generation units, a photovoltaic hybrid energy storage system is proposed. [Methods] With a focus on photovoltaic power generation, a hybrid energy storage system was introduced on the DC side of photovoltaic inverter. Considering the working characteristics of battery and supercapacitor, they were connected to the DC bus through a DC/DC converter using an active connection method. A separate frequency division control strategy was developed for the energy storage unit. Maximum power point tracking (MPPT) control was applied to the Boost converter of the photovoltaic power generation unit, and a strategy based on virtual synchronous generator (VSG) control was proposed to achieve grid connection of photovoltaic inverter. This paper established the VSG mathematical model in the two-phase synchronous rotating coordinate system, analyzed the impact of moment of inertia J and damping D on the system, pointed out the improvement methods, derived the adaptive parameter expression, and designed key parameters in the system. Finally, a grid-connected simulation model of photovoltaic hybrid energy storage was established in Matlab/Simulink. The active power output of the system was analyzed under the improved adaptive VSG control strategy proposed in this paper and the traditional VSG control strategy, with constant external conditions. Additionally, the stability of the entire system was analyzed under the given values of changing light intensity, load jump, and active power command jump. [Results] By observing the corresponding waveforms of each module, it is shown that the developed system can adjust the charging and discharging power of the battery in real time based on the relationship between photovoltaic output and load demand, ensure the power balance, and maintain the voltage stability of the bus. The proposed improved adaptive VSG control strategy not only considers the change in moment of inertia, but also takes into account the change in damping coefficient, which allows it to simultaneously suppress the frequency deviation rate and variation. Compared to the traditional VSG control strategy, it can further improve the frequency response and active power output response characteristics. The photovoltaic hybrid energy storage frequency division control can rapidly mitigate the power fluctuations in the system and make full use of the working characteristics of the energy storage system to maintain stable operation, which is conducive to extending the service life of the battery. [Conclusion] The simulation results strongly validate the feasibility and advantages of the proposed improved adaptive VSG control strategy in optimizing the operational efficiency of the photovoltaic hybrid energy storage system and supporting the reliable grid connection of distributed photovoltaic systems. Moreover, it provides new insights and technical support for the stable management and control of new energy power systems.
[Objective] In the context of ongoing energy transition, photovoltaic power generation has attracted significant attention due to its clean and environmentally friendly nature, and its penetration rate in the energy sector continues to rise. However, the randomness and volatility of its output pose challenges to the stable operation of the power system. To address issues such as slow dynamic response and poor stability caused by grid-connected photovoltaic power generation units, a photovoltaic hybrid energy storage system is proposed. [Methods] With a focus on photovoltaic power generation, a hybrid energy storage system was introduced on the DC side of photovoltaic inverter. Considering the working characteristics of battery and supercapacitor, they were connected to the DC bus through a DC/DC converter using an active connection method. A separate frequency division control strategy was developed for the energy storage unit. Maximum power point tracking (MPPT) control was applied to the Boost converter of the photovoltaic power generation unit, and a strategy based on virtual synchronous generator (VSG) control was proposed to achieve grid connection of photovoltaic inverter. This paper established the VSG mathematical model in the two-phase synchronous rotating coordinate system, analyzed the impact of moment of inertia J and damping D on the system, pointed out the improvement methods, derived the adaptive parameter expression, and designed key parameters in the system. Finally, a grid-connected simulation model of photovoltaic hybrid energy storage was established in Matlab/Simulink. The active power output of the system was analyzed under the improved adaptive VSG control strategy proposed in this paper and the traditional VSG control strategy, with constant external conditions. Additionally, the stability of the entire system was analyzed under the given values of changing light intensity, load jump, and active power command jump. [Results] By observing the corresponding waveforms of each module, it is shown that the developed system can adjust the charging and discharging power of the battery in real time based on the relationship between photovoltaic output and load demand, ensure the power balance, and maintain the voltage stability of the bus. The proposed improved adaptive VSG control strategy not only considers the change in moment of inertia, but also takes into account the change in damping coefficient, which allows it to simultaneously suppress the frequency deviation rate and variation. Compared to the traditional VSG control strategy, it can further improve the frequency response and active power output response characteristics. The photovoltaic hybrid energy storage frequency division control can rapidly mitigate the power fluctuations in the system and make full use of the working characteristics of the energy storage system to maintain stable operation, which is conducive to extending the service life of the battery. [Conclusion] The simulation results strongly validate the feasibility and advantages of the proposed improved adaptive VSG control strategy in optimizing the operational efficiency of the photovoltaic hybrid energy storage system and supporting the reliable grid connection of distributed photovoltaic systems. Moreover, it provides new insights and technical support for the stable management and control of new energy power systems.
2025, 52(2):171-180.
DOI: 10.12177/emca.2024.161
Abstract:
[Objective] To address the issues of limited number of control sets and the presence of the system-wide disturbances in motors under finite set model predictive current control, a duty cycle control set model predictive control (ADCS-MPC) strategy based on an anti-disturbance prediction model is proposed. [Methods] Firstly, a mathematical model of the surface-mounted permanent magnet synchronous motor (SPMSM) under time-varying parameters and unmodeled disturbances was established. By designing a current extended state observer to observe unmodeled and time-varying parameter disturbances, the current harmonics caused by inaccurate prediction models were avoided and the robustness of the controller was improved. Secondly, based on finite set model predictive control, a discrete duty cycle control set optimization scheme was designed using the basic voltage vector. By expanding the 6 effective basic voltage vectors into 60 effective virtual voltage vectors, the prediction deviation in each control cycle was reduced. The optimal and suboptimal voltage vectors were used to determine the sector where the target vector was located. A sector judgment mechanism and voltage vector positioning strategy were designed to save control cycles, and the optimal vector with low prediction deviation was iteratively produced to reduce the computational complexity of the method. [Results] Finally, a driving system experimental platform for SPMSM based on TI’s 32-bit floating point DSP TMSF28379D microprocessor was designed and built, the algorithm proposed in this paper was experimentally verified using this platform. And it was verified that the proposed ADCS-MPC strategy is capable of eliminating prediction errors and enabling disturbance-free current control, particularly in suppressing time-varying parameter disturbances and reducing current harmonic. [Conclusion] The proposed ADCS-MPC strategy mitigates the adverse effects of unmodeled and time-varying parameter disturbances on the system, improves the control accuracy within a single control cycle with minimal computational cost, significantly reduces prediction error, and enables the system to achieve fast response and high control accuracy.
[Objective] To address the issues of limited number of control sets and the presence of the system-wide disturbances in motors under finite set model predictive current control, a duty cycle control set model predictive control (ADCS-MPC) strategy based on an anti-disturbance prediction model is proposed. [Methods] Firstly, a mathematical model of the surface-mounted permanent magnet synchronous motor (SPMSM) under time-varying parameters and unmodeled disturbances was established. By designing a current extended state observer to observe unmodeled and time-varying parameter disturbances, the current harmonics caused by inaccurate prediction models were avoided and the robustness of the controller was improved. Secondly, based on finite set model predictive control, a discrete duty cycle control set optimization scheme was designed using the basic voltage vector. By expanding the 6 effective basic voltage vectors into 60 effective virtual voltage vectors, the prediction deviation in each control cycle was reduced. The optimal and suboptimal voltage vectors were used to determine the sector where the target vector was located. A sector judgment mechanism and voltage vector positioning strategy were designed to save control cycles, and the optimal vector with low prediction deviation was iteratively produced to reduce the computational complexity of the method. [Results] Finally, a driving system experimental platform for SPMSM based on TI’s 32-bit floating point DSP TMSF28379D microprocessor was designed and built, the algorithm proposed in this paper was experimentally verified using this platform. And it was verified that the proposed ADCS-MPC strategy is capable of eliminating prediction errors and enabling disturbance-free current control, particularly in suppressing time-varying parameter disturbances and reducing current harmonic. [Conclusion] The proposed ADCS-MPC strategy mitigates the adverse effects of unmodeled and time-varying parameter disturbances on the system, improves the control accuracy within a single control cycle with minimal computational cost, significantly reduces prediction error, and enables the system to achieve fast response and high control accuracy.
2025, 52(2):181-191.
DOI: 10.12177/emca.2024.167
Abstract:
[Objective] To address the issue that traditional sensorless algorithms can only observe electrical angles and thus cannot be applied to servo positioning, this paper proposes an 8-pole, 9-slot interior permanent magnet synchronous motor with an asymmetric rotor. The asymmetric inductance characteristics of the rotor are utilized to observe its mechanical angle. [Methods] By introducing magnetic barriers and magnetic bridges with different parameters under different pole pairs of the rotor, the magnetic resistance of the main and leakage magnetic circuits between the stator and rotor was altered, leading to periodic variations in the inductance waveforms that were directly related to the rotor's mechanical angle. Based on the analysis of the magnetic circuit, a correction coefficient that considered the asymmetry of the rotor was introduced to modify the inductance calculation method using the winding function method. [Results] The results indicated that increasing the width of the magnetic barrier reduced the inductance, while increasing the height of the magnetic bridge increased the inductance. Compared to finite element simulation results, the average percentage error was approximately 1.59%. [Conclusion] The calculation and simulation results validate the feasibility of the proposed asymmetric rotor topology for identifying the mechanical angle in sensorless algorithm.
[Objective] To address the issue that traditional sensorless algorithms can only observe electrical angles and thus cannot be applied to servo positioning, this paper proposes an 8-pole, 9-slot interior permanent magnet synchronous motor with an asymmetric rotor. The asymmetric inductance characteristics of the rotor are utilized to observe its mechanical angle. [Methods] By introducing magnetic barriers and magnetic bridges with different parameters under different pole pairs of the rotor, the magnetic resistance of the main and leakage magnetic circuits between the stator and rotor was altered, leading to periodic variations in the inductance waveforms that were directly related to the rotor's mechanical angle. Based on the analysis of the magnetic circuit, a correction coefficient that considered the asymmetry of the rotor was introduced to modify the inductance calculation method using the winding function method. [Results] The results indicated that increasing the width of the magnetic barrier reduced the inductance, while increasing the height of the magnetic bridge increased the inductance. Compared to finite element simulation results, the average percentage error was approximately 1.59%. [Conclusion] The calculation and simulation results validate the feasibility of the proposed asymmetric rotor topology for identifying the mechanical angle in sensorless algorithm.
2025, 52(2):192-200.
DOI: 10.12177/emca.2024.157
Abstract:
[Objective] To address the issue that the control performance of model predictive current control for permanent magnet synchronous motor (PMSM) deteriorates under the working condition of motor parameter mismatch, this paper proposes a model-free control strategy for PMSM that does not require the use of motor parameters in the design process. [Method] Based on the ultra-local model of PMSM, a nonlinear extended state observer (NESO) was designed, and its stability was analyzed using Lyapunov theory. A model-free predictive current control system based on the NESO was constructed. Meanwhile, the influence of the current feedback gain in the ultra-local model on the model-free control performance was analyzed, and online identification of the current feedback gain was performed based on the sampled current iteration. The algorithm was simulated and studied using Matlab/Simulink. Firstly, under the working condition where the given current feedback gain coefficient of the system was the nominal value, the model-free control system based on the NESO proposed in this paper was verified. Then, under the working condition where the given current feedback gain parameter of the system was mismatched, a comparative simulation was conducted with the traditional methods. Finally, the online identification method of the current feedback gain parameter based on the sampled current iteration was verified. [Result] Simulation results show that when the current feedback gain parameters are mismatched in the ultra-local model, the output of the NESO is more stable than that of the traditional linear extended state observer. The current loop tracking effect of the PMSM control system based on the NESO is better, and the harmonic content in the phase current is also reduced. The online parameter identification method based on sampling current iteration can accurately identify the actual current feedback gain parameters, rapidly converge and maintain stability when the mismatch current feedback gain parameters are continuously applied in simulation. [Conclusion] Compared with the traditional control methods, the control strategy of PMSM based on the NESO reduces the sensitivity of the system’s design parameters and offers higher control performance under the working condition of motor parameter mismatch.
[Objective] To address the issue that the control performance of model predictive current control for permanent magnet synchronous motor (PMSM) deteriorates under the working condition of motor parameter mismatch, this paper proposes a model-free control strategy for PMSM that does not require the use of motor parameters in the design process. [Method] Based on the ultra-local model of PMSM, a nonlinear extended state observer (NESO) was designed, and its stability was analyzed using Lyapunov theory. A model-free predictive current control system based on the NESO was constructed. Meanwhile, the influence of the current feedback gain in the ultra-local model on the model-free control performance was analyzed, and online identification of the current feedback gain was performed based on the sampled current iteration. The algorithm was simulated and studied using Matlab/Simulink. Firstly, under the working condition where the given current feedback gain coefficient of the system was the nominal value, the model-free control system based on the NESO proposed in this paper was verified. Then, under the working condition where the given current feedback gain parameter of the system was mismatched, a comparative simulation was conducted with the traditional methods. Finally, the online identification method of the current feedback gain parameter based on the sampled current iteration was verified. [Result] Simulation results show that when the current feedback gain parameters are mismatched in the ultra-local model, the output of the NESO is more stable than that of the traditional linear extended state observer. The current loop tracking effect of the PMSM control system based on the NESO is better, and the harmonic content in the phase current is also reduced. The online parameter identification method based on sampling current iteration can accurately identify the actual current feedback gain parameters, rapidly converge and maintain stability when the mismatch current feedback gain parameters are continuously applied in simulation. [Conclusion] Compared with the traditional control methods, the control strategy of PMSM based on the NESO reduces the sensitivity of the system’s design parameters and offers higher control performance under the working condition of motor parameter mismatch.
2025, 52(2):201-209.
DOI: 10.12177/emca.2024.162
Abstract:
[Objective] To address the contradiction between reaching speed and chattering suppression in the traditional sliding mode controller for surface-mounted permanent magnet synchronous motors (SPMSM), this study proposes a sliding mode control method based on improved variable-speed double-power reaching law. [Methods] First, based on an improved variable-speed double-power reaching law, sliding mode variables and system variables were introduced in addition to the traditional double-power reaching law, making the reaching law exhibit variable-speed characteristics. The hyperbolic tangent function was employed in place of the sign function to suppress chattering, and the stability of the proposed speed controller was proven using the Lyapunov theorem. Next, to address the impact of load disturbances on system performance, a non-singular fast terminal sliding mode observer was designed. This observer integrated a non-singular fast terminal sliding mode surface with a high-order sliding mode control law, which could not only suppress system chattering but also provide real-time disturbance compensation. This improved the accuracy of disturbance estimation in the speed control system and reduced system chattering. Finally, simulations based on Matlab/Simulink were conducted, and a motor experimental platform was established to compare the proposed method with traditional sliding mode control and other variable-speed sliding mode control methods. [Results] Simulation and experimental results show that the SPMSM sliding mode speed control method based on the improved variable-speed double-power reaching law can suppress system overshoot, enhance system response speed, and provide real-time compensation in the presence of disturbances. [Conclusion] The results demonstrate that the proposed control method enhances the dynamic performance and robustness of the system.
[Objective] To address the contradiction between reaching speed and chattering suppression in the traditional sliding mode controller for surface-mounted permanent magnet synchronous motors (SPMSM), this study proposes a sliding mode control method based on improved variable-speed double-power reaching law. [Methods] First, based on an improved variable-speed double-power reaching law, sliding mode variables and system variables were introduced in addition to the traditional double-power reaching law, making the reaching law exhibit variable-speed characteristics. The hyperbolic tangent function was employed in place of the sign function to suppress chattering, and the stability of the proposed speed controller was proven using the Lyapunov theorem. Next, to address the impact of load disturbances on system performance, a non-singular fast terminal sliding mode observer was designed. This observer integrated a non-singular fast terminal sliding mode surface with a high-order sliding mode control law, which could not only suppress system chattering but also provide real-time disturbance compensation. This improved the accuracy of disturbance estimation in the speed control system and reduced system chattering. Finally, simulations based on Matlab/Simulink were conducted, and a motor experimental platform was established to compare the proposed method with traditional sliding mode control and other variable-speed sliding mode control methods. [Results] Simulation and experimental results show that the SPMSM sliding mode speed control method based on the improved variable-speed double-power reaching law can suppress system overshoot, enhance system response speed, and provide real-time compensation in the presence of disturbances. [Conclusion] The results demonstrate that the proposed control method enhances the dynamic performance and robustness of the system.
2025, 52(2):210-220.
DOI: 10.12177/emca.2024.165
Abstract:
［Objective］ To improve the disturbance rejection capability of the deadbeat predictive current control (DPCC) system for permanent magnet synchronous motors (PMSM), a secondorder enhanced extended state observer (SEESO) is proposed to overcome the performance limitations of traditional linear extended state observers (LESO) under rapid timevarying disturbances and highfrequency harmonics. ［Methods］ First, the 6k harmonic model caused by inverter nonlinearity and the magnetic flux of the permanent magnet was derived, and the mathematical model for DPCC was established. Then, the impact of parameter disturbances on the dynamic and steadystate control performance of DPCC was analyzed in terms of speed, stability, and accuracy. Next, the SEESO model was constructed, and its stability and the differences in disturbance and disturbance error observations compared with the traditional extended state observer were theoretically verified. Furthermore, the final value theorem was used to demonstrate that the SEESO could achieve zero steadystate error observation of timevarying disturbances, in contrast to LESO. ［Results］ Finally, the feasibility and advantages of the proposed control strategy were verified through Matlab/Simulink simulation software. Specifically, SEESO effectively reduced tracking errors and quickly stabilized under dynamic load disturbances. Additionally, the sixth harmonic in steadystate conditions was significantly reduced, improving the system’s resistance to harmonics. SEESO also demonstrated higher estimation accuracy and faster response speed under steadystate parameter disturbances, thus improving the system’s robustness to parameter variations. ［Conclusion］ The results show that SEESO can effectively enhance the disturbance rejection capability of DPCC, providing an effective solution for improving the disturbance rejection capability of motor drive systems.
［Objective］ To improve the disturbance rejection capability of the deadbeat predictive current control (DPCC) system for permanent magnet synchronous motors (PMSM), a secondorder enhanced extended state observer (SEESO) is proposed to overcome the performance limitations of traditional linear extended state observers (LESO) under rapid timevarying disturbances and highfrequency harmonics. ［Methods］ First, the 6k harmonic model caused by inverter nonlinearity and the magnetic flux of the permanent magnet was derived, and the mathematical model for DPCC was established. Then, the impact of parameter disturbances on the dynamic and steadystate control performance of DPCC was analyzed in terms of speed, stability, and accuracy. Next, the SEESO model was constructed, and its stability and the differences in disturbance and disturbance error observations compared with the traditional extended state observer were theoretically verified. Furthermore, the final value theorem was used to demonstrate that the SEESO could achieve zero steadystate error observation of timevarying disturbances, in contrast to LESO. ［Results］ Finally, the feasibility and advantages of the proposed control strategy were verified through Matlab/Simulink simulation software. Specifically, SEESO effectively reduced tracking errors and quickly stabilized under dynamic load disturbances. Additionally, the sixth harmonic in steadystate conditions was significantly reduced, improving the system’s resistance to harmonics. SEESO also demonstrated higher estimation accuracy and faster response speed under steadystate parameter disturbances, thus improving the system’s robustness to parameter variations. ［Conclusion］ The results show that SEESO can effectively enhance the disturbance rejection capability of DPCC, providing an effective solution for improving the disturbance rejection capability of motor drive systems.
2025, 52(2):221-230.
DOI: 10.12177/emca.2024.166
Abstract:
[Objective] To further improve the performance of automotive permanent magnet synchronous motors (PMSM) and address the inefficiency of traditional optimization methods for motors, a multi-objective optimization design method for automotive permanent magnet synchronous motors is proposed based on improved generalized regression neural network (GRNN) and improved salp swarm optimization algorithm. [Methods] Firstly, a parameterized motor model was constructed, and the motor was scanned through the finite element model to obtain sample data of the motor's structural parameters and corresponding performance. Then the model was built using GRNN. With the objectives of minimizing the peak-to-peak value of cogging torque, maximizing the rated average torque, and minimizing torque ripple, the structural parameters of the motor were optimized using the salp swarm algorithm. [Results] The optimized motor’s average torque increased by 2%, the torque ripple decreased by 16%, and the cogging torque decreased by 60.58%. This demonstrates the efficiency and accuracy of the method. [Conclusion] The proposed method can fully utilize computing power resources for parallel computing. Compared to traditional optimization methods, it can achieve multi-objective optimization design of motors more quickly and effectively.
[Objective] To further improve the performance of automotive permanent magnet synchronous motors (PMSM) and address the inefficiency of traditional optimization methods for motors, a multi-objective optimization design method for automotive permanent magnet synchronous motors is proposed based on improved generalized regression neural network (GRNN) and improved salp swarm optimization algorithm. [Methods] Firstly, a parameterized motor model was constructed, and the motor was scanned through the finite element model to obtain sample data of the motor's structural parameters and corresponding performance. Then the model was built using GRNN. With the objectives of minimizing the peak-to-peak value of cogging torque, maximizing the rated average torque, and minimizing torque ripple, the structural parameters of the motor were optimized using the salp swarm algorithm. [Results] The optimized motor’s average torque increased by 2%, the torque ripple decreased by 16%, and the cogging torque decreased by 60.58%. This demonstrates the efficiency and accuracy of the method. [Conclusion] The proposed method can fully utilize computing power resources for parallel computing. Compared to traditional optimization methods, it can achieve multi-objective optimization design of motors more quickly and effectively.
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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.
