scholarly journals Three Vectors Model Predictive Torque Control Without Weighting Factor Based on Electromagnetic Torque Feedback Compensation

Energies ◽  
2019 ◽  
Vol 12 (7) ◽  
pp. 1393 ◽  
Author(s):  
Haixia Li ◽  
Jican Lin ◽  
Ziguang Lu
Keyword(s):  
Pi Controller ◽  
Torque Control ◽  
Model Parameters ◽  
Control Input ◽  
Electromagnetic Torque ◽  
Load Torque ◽  
Outer Loop ◽  
Feed Forward ◽  
Voltage Vector ◽  
Feedback Compensation

Finite control set-model predictive torque control (FCS-MPTC) depends on the system parameters and the weight coefficients setting. At the same time, since the actual load disturbance is unavoidable, the model parameters are not matched, and there is a torque tracking error. In traditional FCS-MPTC, the outer loop—that is, the speed loop—adopts a classic Proportional Integral (PI) controller, abbreviated as PI-MPTC. The pole placement of the PI controller is usually designed by a plunge-and-test, and it is difficult to achieve optimal dynamic performance and optimal suppression of concentrated disturbances at the same time. Aiming at squirrel cage induction motors, this paper first proposes an outer-loop F-ETFC-MPTC control strategy based on a feed-forward factor for electromagnetic torque feedback compensation (F-ETFC). The electromagnetic torque was imported to the input of the current regulator, which is used as the control input signal of feedback compensation of the speed loop; therefore, the capacity of an anti-load-torque-disturbance of the speed loop was improved. The given speed is quantified by a feed-forward factor into the input of the current regulator, which is used as the feed-forward adjustment control input of the speed controller to improve the dynamic response of the speed loop. The range of the feed-forward factor and feed-back compensation coefficient can be obtained according to the structural analysis of the system, which simplifies the process of parameter design adjustment. At the same time, the multi-objective optimization based on the sorting method replaces the single cost function in traditional control, so that the selection of the voltage vector works without the weight coefficient and can solve complicated calculation problems in traditional control. Finally, according to the relationship between the voltage vector and the switch state, the virtual six groups of three vector voltages can be adjusted in both the direction and amplitude, thereby effectively improving the control performance and reducing the flow rate and torque ripple. The experiment is based on the dSPACE platform, and experimental results verify the feasibility of the proposed F-ETFC-MPTC. Compared with traditional PI-MPTC, the feed-forward factor can effectively improve the stability time of the system by more than 10 percent, electromagnetic torque feedback compensation can improve the anti-load torque disturbance ability of the system by more than 60 percent, and the three-vector voltage method can effectively reduce the disturbance.

Direct Torque Control for a Bearingless Induction Motor Based on Model prediction

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Ding Wang ◽  
Zebin Yang ◽  
Xiaodong Sun ◽  
Weiming Sun ◽  
Haitao Mei
Keyword(s):  
Phase Angle ◽  
Direct Torque Control ◽  
Torque Ripple ◽  
Torque Control ◽  
Electromagnetic Torque ◽  
Flux Linkage ◽  
Content Type ◽  
Voltage Vector ◽  
Space Voltage Vector ◽  
Stator Flux

Purpose The purpose of this paper is to address the large stator flux linkage ripple and electromagnetic torque ripple caused by the hysteresis comparator in traditional direct torque control for a bearingless induction motor (BIM). Design/methodology/approach Model predictive direct torque control (MPDTC) strategy is adopted. On the basis of the mathematical model of BIM, the stator current and stator flux observational values are obtained, and the electromagnetic torque and stator flux at the next moment are predicted. Then, based on the relationship between the stator flux and the electromagnetic torque, the predicted stator flux can be transformed into an equivalent flux linkage vector, which eliminates the weighting coefficients problem among multiple variables in traditional objective functions. The objective function and torque PI controller will output the optimal stator flux linkage and the increments of the torque phase angle. Through the phase angle increments, the space voltage vector can be obtained by the reference flux linkage controller instead of the stator flux linkage and the torque hysteresis controller. Findings The proposed MPDTC method can effectively improve the stator flux linkage and the torque ripple. It can implement the stable suspension of the rotor and improve the dynamic performance and steady-state accuracy of the BIM system. Originality/value A MPDTC strategy is proposed to reduce the ripple of stator flux and electromagnetic torque. The phase angle increment angle of stator flux linkage and electromagnetic torque is optimized by model prediction, and the optimal space voltage vector is obtained by designing the reference flux controller.

scholarly journals A Torque Impulse Balance Control for Multi-Tooth Fault Tolerant Switched-Flux Machines under Open-Circuit Fault

Energies ◽  
2018 ◽  
Vol 11 (7) ◽  
pp. 1919 ◽  
Author(s):  
Yu Wang ◽  
Wenjuan Hao
Keyword(s):  
Fault Tolerant ◽  
Balance Control ◽  
Dynamic Performance ◽  
Open Circuit ◽  
Torque Control ◽  
Dynamic State ◽  
Electromagnetic Torque ◽  
Rotor Speed ◽  
Voltage Vector ◽  
Impulse Balance

The multi-tooth fault tolerant switched-flux machines (MTFTSFM) providing both excellent fault tolerant capability and relatively high torque density are good choices for high reliability applications. A rapid control of the electromagnetic torque under open-circuit fault can always be achieved by the direct torque control with voltage vector reconstruction (RDTC); however, with respect to the rotor speed, its dynamic performance is still impacted by the proportion-integration (PI) parameters. Therefore, a torque impulse balance control (TIBC) is investigated in this paper for the MTFTSFM under open-circuit fault to obtain excellent dynamic performance of the rotor speed. During the dynamic state, the electromagnetic torque and the speed can converge at the same time after only one adjustment of the speed by using the optimized voltage vector sequence based on torque impulse balance, thus, achieving the best possible dynamic process for the speed. The TIBC method is carried out on an MTFTSPM machine system, and the correctness and effectiveness are verified.

scholarly journals Optimum Design of Fractional Order PIᵅ Speed Controller for Predictive Direct Torque Control of a Sensorless Five-Phase Permanent Magnet Synchronous Machine (PMSM)

2020 ◽  
Vol 53 (4) ◽  
pp. 437-449
Author(s):  
Noureddine Bounasla ◽  
Said Barkat
Keyword(s):  
Permanent Magnet ◽  
Fractional Order ◽  
Direct Torque Control ◽  
Pi Controller ◽  
Synchronous Machine ◽  
Torque Control ◽  
Permanent Magnet Synchronous Machine ◽  
Voltage Vector ◽  
Fractional Order Pi Controller ◽  
Stator Flux

In both direct torque control (DTC) and predictive direct torque control (PDTC) strategies, just single voltage vector is applied. The question arose, is this applied vector the optimumin terms of minimizing torque and stator flux ripples? In DTC, it may not be the optimum one. However, in case of PDTC, there is a possibility to evaluate the performance of different voltage vectors, where a cost function is proposed to determine the appropriate voltage vector that brings the lowest torque and stator flux ripple within one cycle. On the other hand, PI controller provides a good performance but if the parameters change, the system may lose its performance. With the aim of enhancing the robustness of the PDTC scheme, a fractional order PI controller is proposed that can be considered as a generalization of the classical PI controller, and to set its parameters, a Grey Wolf Optimization algorithm is employed. Furthermore, omitting the sensor increases reliability and decrease the size and cost of the drive system. For these reasons, an extended Kalman filter observer is adopted, where the rotor speed and rotor position as well as the load torque are estimated. In this work, a fractional order PI controller tuned by GWO for PDTC of a five-phase permanent magnet synchronous machine (PMSM) based on EKF observer is presented. Analysis of simulation results exhibit clearly the efficiency and robustness of the suggested control compared to conventional DTC based on classical PI controller.

Dynamic Emulation Using a Resistive Control Input

2002 ◽  
Author(s):  
Rong Zhang ◽  
Andrew G. Alleyne
Keyword(s):  
Poor Performance ◽  
Model Parameters ◽  
Control Input ◽  
Feed Forward ◽  
Large Bandwidth ◽  
Fundamental Limitations ◽  
Controlled Systems ◽  
The One ◽  
And Control ◽  
Analysis Of Performance

Dynamic load emulation using a resistive control input is a key topic of Hardware-In-The-Loop implementation. Three control configurations are available to design a load emulator. When the bandwidth of the reference system is low enough compared to the bandwidth of the actuator, a one degree-of-freedom (DOF) feedback emulator can be successful. When the reference loop has a very large bandwidth compared to the actuator, the one-DOF feedback design yields poor performance with a possible loss of stability. In this case, if accurate plant model parameters or, alternatively, online adaptation is available, a one-DOF feed forward design can secure stability and improve the performance; otherwise, a two-DOF emulator is the choice to utilize both feedback and feed forward signals and to obtain robust stability and robust performance. To emulate the load dynamics, the usage of a resistance as the control input imposes some fundamental limitations to the closed-loop performance. This paper presents the following: (i) Generalization of load emulation problems and control configurations, (ii) Analysis of performance limitations for resistively controlled systems, and (iii) Design examples including simulation and experimental results.

Roboterbasierte spanende Bearbeitung*/Robot-Based Milling Operation. Machine Learning Algorithm for a model-based feed-forward torque control

2019 ◽  
Vol 109 (05) ◽  
pp. 352-357
Author(s):  
C. Brecher ◽  
L. Gründel ◽  
L. Lienenlüke ◽  
S. Storms
Keyword(s):  
Machine Learning ◽  
Position Control ◽  
Learning Algorithm ◽  
Milling Process ◽  
Industrial Robots ◽  
Torque Control ◽  
Feed Forward ◽  
Control Loops ◽  
Model Based ◽  
Machine Learning Approach

Die Lageregelung von konventionellen Industrierobotern ist nicht auf den dynamischen Fräsprozess ausgelegt. Eine Möglichkeit, das Verhalten der Regelkreise zu optimieren, ist eine modellbasierte Momentenvorsteuerung, welche in dieser Arbeit aufgrund vieler Vorteile durch einen Machine-Learning-Ansatz erweitert wird. Hierzu wird die Umsetzung in Matlab und die simulative Evaluation erläutert, die im Anschluss das Potenzial dieses Konzeptes bestätigt.   The position control of conventional industrial robots is not designed for the dynamic milling process. One possibility to optimize the behavior of the control loops is a model-based feed-forward torque control which is supported by a machine learning approach due to many advantages. The implementation in Matlab and the simulative evaluation are explained, which subsequently confirms the potential of this concept.

Study on Driver and Vehicle System With Lane-Tracking Control System Using Steering Torque Input

2001 ◽  
Author(s):  
Masao Nagai ◽  
Hidehisa Yoshida ◽  
Kiyotaka Shitamitsu ◽  
Hiroshi Mouri
Keyword(s):  
Tracking Control ◽  
High Speed ◽  
Driving Simulator ◽  
Tracking System ◽  
Torque Control ◽  
Steering Wheel ◽  
Control Input ◽  
Steering Angle ◽  
Lane Tracking ◽  
Steering Torque

Abstract Although the vast majority of lane-tracking control methods rely on the steering wheel angle as the control input, a few studies have treated methods using the steering torque as the input. When operating vehicles especially at high speed, drivers typically do not grip the steering wheel tightly to prevent the angle of the steering wheel from veering off course. This study proposes a new steering assist system for a driver not with the steering angle but the steering torque as the input and clarifies the characteristics and relative advantages of the two approaches. Then using a newly developed driving simulator, characteristics of human drivers and the lane-tracking system based on the steering torque control are investigated.

Inverse Dynamic Analysis and Linearisation of a High Speed Parallel Mechanism

2005 ◽  
Author(s):  
M. Necip Sahinkaya ◽  
Yanzhi Li
Keyword(s):  
Dynamic Analysis ◽  
Parallel Mechanism ◽  
High Speed ◽  
Inverse Dynamics ◽  
Motion Path ◽  
Model Parameters ◽  
Control Input ◽  
Inverse Dynamic ◽  
Inverse Dynamic Analysis ◽  
Dynamics Models

Inverse dynamic analysis of a three degree of freedom parallel mechanism driven by three electrical motors is carried out to study the effect of motion speed on the system dynamics and control input requirements. Availability of inverse dynamics models offer many advantages, but controllers based on real-time inverse dynamic simulations are not practical for many applications due to computational limitations. An off-line linearisation of system and error dynamics based on the inverse dynamic analysis is developed. It is shown that accurate linear models can be obtained even at high motion speeds eliminating the need to use computationally intensive inverse dynamics models. A point-to-point motion path for the mechanism platform is formulated by using a third order exponential function. It is shown that the linearised model parameters vary significantly at high motion speeds, hence it is necessary to use adaptive controllers for high performance.

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