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University of East London 1999. FORCED DYNAMICS CONTROL OF INDUCTION MOTOR WITH SELECTABLE DYNAMICS. Prof. Ján VITTEK & Dr. Juraj ALTUS University of Žilina, SK Department of Electric Traction and Energetics Prof. Stephen J. DODDS & Dr. Roy Perryman University of East London, UK

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Prof. Ján VITTEK & Dr. Juraj ALTUS University of Žilina, SK

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Prof j n vittek dr juraj altus university of ilina sk

University of East London

1999

FORCED DYNAMICS CONTROL OF INDUCTION MOTOR WITH SELECTABLE DYNAMICS

Prof. Ján VITTEK & Dr. Juraj ALTUS

University of Žilina, SK

Department of Electric Traction and Energetics

Prof. Stephen J. DODDS & Dr. Roy Perryman

University of East London, UK

School of Electrical and Manufacturing Engineering


Forced dynamics speed control of el drives with induction motors

FORCED DYNAMICS SPEED CONTROL of EL. DRIVES with Induction Motors

Research CO-ORDINATION

Prof. Stephen J. DODDS

University of East London

School of Electrical and Manufacturing Engineering

Department of Electrical & Electronic Engineering

Longbridge Road

DAGENHAM, RM8 2AS

United Kingdom

  • Application of:

  • block control principle

  • linearising function

  • pseudo-sliding mode observers for angular speed estimation

  • filtering observer including load torque estimation

  • Achievements:

  • speed control without shaft sensor

  • closed-loop dynamics for speed control chosen to suit particular drive application

  • enhanced reliability of whole electric drive


Prof j n vittek dr juraj altus university of ilina sk

BASIC PRINCIPLE

y

nonlinear plant

LINEARISING FUNCTION

u

specified

u

y

nonlinear

control

law

nonlinear

plant

closed-loop system

y

i.e.,

linear and de-coupled

closed-loop system

with prescribed dynamics

MOTION

SEPARATION


Prof j n vittek dr juraj altus university of ilina sk

MODEL OF MOTOR AND LOAD

expressed in

stator-fixed

frame

motor torque

rotor magnetic flux linkage

rotor speed

stator currents

stator voltages

stator and rotor resistances

stator, rotor and mutual inductances


Prof j n vittek dr juraj altus university of ilina sk

w

outer-loop sub-plant

w

d

I

master

control

law

d

slave

control

law

Y

d

U

outer

loop

inner-loop sub-plant

inner

loop

w

Y

r

I

observers

CONTROL LAW DESIGN

SIMPLIFICATION OF CONTROL PROBLEM BY

INNER/OUTER CONTROL LOOP STRUCTURE

r

Y

Rotor speed and rotor magnetic flux norm are demanded values


Prof j n vittek dr juraj altus university of ilina sk

motor equation

desired closed-loop equation

motor equation

desired closed-loop equation

MASTER CONTROL LAWindependently controls rotor speed and magnetic flux norm with first order dynamics and time constants, T1 and T2

linearising functions

master control law


Prof j n vittek dr juraj altus university of ilina sk

1. Constant Acceleration

2. First Order Dynamic

3. Second Order Dynamic

Acceleration Demands for Three Various Dynamics


Set of obsrvers for state estimation and filtering

eliminate

is based on

motor equations

Drift Corrections

algorithm is used for

final magnetic flux

filtering

SET OF OBSRVERS FOR STATE ESTIMATION AND FILTERING

1.Rotor Flux Estimator


Pseudo sliding mode observer and angular velocity extractor

motor equation

U

I

-v

For classical sliding

-mode observer:-

,

I* (not

used

directly)

slopeKI

For pseudo sliding

-mode observer:-

,

angular velocity extractor

Pseudo-Sliding Mode Observer andAngular Velocity Extractor


3 filtering observer

Rotor angular velocity

and load torque observer

3. Filtering Observer


Overall control systems structure

external load

demanded

a-b

demanded three-

torque

G

stator currents

demanded

L

phase voltages

rotor speed

Slave control law

I

U

d

a

1

Master

Power

Induction

hysteresis

T

U

2

-

3

w

2

/

signum

d

control

electronic

motor

trans

U

slave CL

3

law

drive

-form

I

circuit

d

b

rotor

w

r

T

speed

3

-

2

U

a

transform

I

U

a

b

I

measured

a b

trans

1

stator

$

-formation

w

$

G

I

-I

I

r

currents

2

3

b

l

v

a

q

Rotor flux

Sliding-mode

Filtering

v

Angular

b

eq

estimator

observer

observers

*

*

*

Y

Y

Y

velocity

*

*

Y

Y

*

w

b

extractor

a

r

*

w

r

Overall Control Systems Structure


Comparison of control system response and demanded response

U

U

d

dem

d

w

w

Induction

dem

r

Control

Power

U

U

Motor and

q

dem

q

Laws

Electronics

Load

I

,

I

d

q

U

,

U

d

q

Ideal closed-loop

system behaviour

1

1

+

s

×

T

w

1

theor

Comparison of Control System Response and Demanded Response

The actual system response is compared with the simulated output of the ideal speed response of prescribed dynamics .


Experimental results for induction motor drive driven by first order dynamics

Voltages Ualpha v. Ubeta

Currents Ialpha v. Ibeta

40

1

[A]

[V]

20

0.5

0

0

-20

-0.5

[A]

[V]

-40

-1

-50

0

50

-1

-0.5

0

0.5

1

Flux Links PSIalpha v. PSIbeta

Ang. Velocities & Torque v. time

0.1

200

[Vs]

[rad/s], [Nm]

0.05

100

0

0

-0.05

-100

[Vs]

time [s]

-0.1

-200

-0.1

-0.05

0

0.05

0.1

0

0.5

1

1.5

2

Experimental Results for Induction Motor DriveDriven by First Order Dynamics

Experimental Bench of East London University, Results:

Daniel Vysoudil,

AD Developments, Milton Keynes, UK


Experimental results for constant acceleration

Experimental Results for Constant Acceleration


Experimental results for first order dynamics

Experimental Results for First Order Dynamics


Experimental results for second order dynamics

Experimental Results for Second Order Dynamics


Second order dynamics and various damping factor

Second Order Dynamics and Various Damping Factor

c)

b)

a)

critically dumped

system x=1

underdumped

system x=0.5

overdumped

system x=1.5


Various prescribed dynamics including mrac

Various Prescribed Dynamicsincluding MRAC

a) constant torque

b) first order dyn.

c) second ord. dyn.


Conclusions and recommendations

Conclusions and Recommendations

  • A new approach to the control of electric drives with induction motors, based on feedback linearisation has been developed and experimentally proven.

  • Three various prescribed dynamics to speed demands were achieved.

  • Further research will focus on the application of the new approach to:

  • a) high power electric drives, including magnetic saturation and high speed applications, and

  • b) enhancement of control system for outer loop based on MRAC or SMC to improve precision of control.


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