A robust air‐gap flux estimation for speed sensorless vector control of double‐star induction machine

The paper presents a new direct field‐oriented control (DFOC) for double‐star induction machine (DSIM) drives using the stator currents. First, we propose a new algorithm to estimate air‐gap flux for speed sensorless air‐gap flux orientation control. Compared to the previous DFOC schemes the new one is independent from any motor parameter variation, specially on the stator resistance. Then, the DFOC is associated with a low pass filter (LPF) to solve the dc drift problems caused by the pure integration of air‐gap flux. In the present paper, the rotor resistance is estimated by an algorithm using Lyapunov theory. Good results have been obtained in the benchmark simulations. Copyright © 2004 John Wiley & Sons, Ltd.     

Optimal current control methods of a non‐salient pole hybrid field‐synchronous motor for energy‐efficient and wide speed‐range operation

This paper proposes new practical optimal current control methods for a newly emerging class of non‐salient pole synchronous motors with hybrid rotor fields by both permanent magnet and winding. In practical situations with limited voltage, the extensively used permanent magnet synchronous motor hardly achieves an ideal performance that allows simultaneously both low‐speed high‐torque and wide speed‐range operations, due to its constant magnet field. Hybrid field synchronous motors (HFSM) have recently emerged to achieve ideal performance as practical motors with controllable hybrid rotor field. For HFSM, the same torque can be produced by a variety of currents due to nonlinearity between torque and currents. Consequently, appropriate determination of a set of stator and rotor current commands plays a key role in achieving possible energy‐efficient and wide speed‐range operation. Proposed methods determine the current commands corresponding to a given torque command such that total winding copper loss due to stator and rotor currents can be minimized if the exact solution exists; the best approximate torque can be produced if no exact solution exists. The determined current commands are optimal in the sense of energy efficiency or degree of approximation in wide speed‐range operation under voltage limit. New real‐time recursive algorithms searching the optimal current solution are also given. The proposed methods are analytical but practical, and their usefulness is verified through experiments. © 2006 Wiley Periodicals, Inc. Electr Eng Jpn, 156(1): 70–83, 2006; Published online in Wiley InterScience ( www.interscience. wiley.com ). DOI 10.1002/eej.20156     

无刷双馈电机谐波铜耗与铁耗的分析与计算

针对无刷双馈电机谐波含量高、谐波损耗大的问题,提出考虑谐波磁场、谐波电流、集肤效应和旋转磁化影响的BDFM损耗计算模型.基于二维场路耦合时步有限元模型和谐波分析方法,分别建立两种转子铜耗计算模型和三种定转子铁耗计算模型,分析不同计算模型对转子铜耗和定转子铁耗的影响,得到定转子谐波铜耗和铁耗的变化规律.结果表明,转子铜耗模型2以及定转子铁耗模型3更精确;随着控制绕组电压的增加,定转子铜耗先减小后增加,定转子铁耗持续增加;随着负载转矩的增加,定转子铜耗和铁耗均随之增加.通过与一台相似异步电机铜耗和铁耗的电磁设计数据和实验数据的比较,验证了模型与计算结果的正确性.     

A FULLY DIGITAL SENSORLESS DIRECT TORQUE CONTROL SYSTEM FOR SYNCHRONOUS MACHINE

ABSTRACT

A new sensorless controller based on direct torque control, for a synchronous machine is proposed. Using direct torque control, stator resistance is the only parameter of the machine which should be known. The use of reactive torque control simplifies the field current control loop. Initial stator induced currents are used to estimate the initial stator flux. The outputs of the control system are switching commands of stator inverter and rotor chopper.     

A Flux‐Modulating Synchronous Machine with Permanent Magnet Excitation

This paper presents a novel type of flux‐modulating synchronous machine (FMSM) in which permanent magnets (PMs) are embedded in the stator back‐iron. The rotor has neither windings nor PMs. A prototype machine with an outer‐rotor configuration was designed and manufactured to validate the operating principle of the FMSM. The characteristics in the motor mode of the prototype machine were also investigated with a vector control system. The results of the investigations show that, as in surface‐mounted PM motors, the torque of the FMSM is predominantly generated by the PM flux and can be controlled using the armature current.     

A simplified approach to continuous on-line tuning offield-oriented induction machine drives

A simplified approach to the continuous online tuning of rotor flux feedforward field-oriented induction machine drives is presented. The procedure offers the advantage of not requiring a special test signal or special test conditions. The approach takes advantage of the stator voltage equations which allow robust parameter-insensitive estimation of the electromagnetic torque while operating at nominal speeds for which the stator IR voltage drop is negligible (≈5 Hz and above). This torque computation is independent of the rotor flux field-oriented control. In essence, the approach uses a stator flux controller to detect improper tuning of the feedforward rotor flux controller. The theoretical and practical implementations of such a continuous self-tuning system are presented. Experimental results are based on a rotor flux feedforward field-oriented induction machine servo drive     

使用基频电流注入的感应电机无速传感器驱动

该文结合基频电流注入新策略与磁链估计方法对感应电动机提出了一种无速度传感器控制策略.在电机低速区域,通过在d轴注入基频定子电流以及使用信号处理方法实现转子磁链位置估计.在高速区域,基于定子电压和电流信息通过转子磁链估计方法推算出转子磁链位置.基于转子磁场定向控制的系统实验结果验证了该方案的正确性.     

Nonlinear adaptive state-feedback speed control of a voltage-fed induction motor with varying parameters

An adaptive nonlinear-state-feedback speed control scheme of a voltage-fed induction motor has been developed in which the control of torque and flux is decoupled. The inputs to the control algorithm are the reference speed, the reference flux, the measured stator currents, the measured rotor speed, the estimated rotor flux, and estimates of the rotor resistance, stator resistance, and load torque, which may vary during operation. The controller outputs are the reference stator voltages in rotor-flux rotating reference frame. An accurate knowledge of the rotor flux and machine parameters is the key factor in obtaining a high-performance and high-efficiency induction-motor drive. The rotor flux is estimated using the induction-motor rotor-circuit model. Although the estimated rotor flux is insensitive to the stator-resistance variation, it does depend on the rotor resistance. A stable model reference adaptive system (MRAS) rotor-resistance estimator insensitive to stator-resistance variation has been designed. Stable stator-resistance and load-torque MRAS estimators have also been developed. These estimators have been developed to constitute a multi-input-multi-output (MIMO) decoupled-cascade structure control system. This simplifies the design problem of the estimators for a stable operation from a MIMO design problem to a single-input-single-output (SISO) design problem. The continuous adaptive update of the machine parameters and load torque ensures accurate flux estimation and high-performance operation. Simulation and experimental results are presented to verify the stability of the induction-motor drive in various operating modes.     

Non‐linear adaptive control of induction motors

Given measurements of rotor position, rotor velocity, and stator currents, we design an adaptive control scheme that is free of singularities, does not require rotor flux measurements, and provides for simultaneous asymptotic rotor position/rotor flux tracking despite the uncertainty associated with the mechanical subsystem parameters and the rotor resistance parameter. For the case when the rotor resistance parameter is known exactly, we modify the structure of the controller to achieve global asymptotic rotor position/rotor flux tracking while accommodating for parameter uncertainty associated with the mechanical subsystem parameters and the stator electrical subsystem parameters. Experimental results are presented to illustrate the performance of the control structure. Copyright © 1999 John Wiley & Sons, Ltd.     

Robust direct torque and flux control of adjustable speed sensorless induction machine drive based on space vector modulation using a PI predictive controller

A Direct torque and flux control design for a sensorless induction motor, following a Lyapunov-based stator flux observer is presented. In this control scheme, the torque error signal and the amplitude of the stator flux reference vector are delivered to a PI predictive controller. The predictive controller also uses information on the amplitude and position of the actual stator flux vector and measured stator currents to determine the voltage command vector for space vector modulation inverter. In addition, a conventional PI speed controller is used to generate the torque reference signal. Using the fifth order model of the three-phase induction machines in a stationary two axes reference frame, a nonlinear stator flux observer is developed in order to estimate the rotor speed, rotor and stator resistances simultaneously. The stability of this observer is proved by Lyapunov theory. It is shown that if the persistancy of excitation condition is satisfied, the estimated quantities converge to their real values. The effectiveness of the proposed control scheme is verified by computer simulation and experimental results.     

Online tuning method of stator and rotor resistances in both motoring and regenerating operations for vector‐controlled induction machines

The vector control of induction motors is widely used. This method needs accurate motor parameter but the stator and rotor resistance vary due to motor temperature variation. If the value of resistance in the controller can be set up accurately at first, there must be a difference between the reference and real value of torque because of drift of the resistance. It is necessary to adapt the resistance value. The indirect field‐oriented control of an induction motor requires the value of rotor resistance only, but the direct field‐oriented control method with rotor flux observer requires the value of not only rotor resistance but also stator resistance in the controller. Consequently, it is necessary to adapt both stator resistance and rotor resistance. A parameter adaptation scheme has previously been proposed for the direct field‐oriented control method with rotor flux observer, but this method cannot be used when the motor is in regenerating operation. In this paper, a new stator and rotor resistance adaptation scheme is proposed, which can be applied when the motor is in regenerating operation. The usefulness of the proposed adaptation scheme is confirmed by simulation. © 2001 Scripta Technica, Electr Eng Jpn, 135(1): 56–64, 2001     

Design and performance of field regulated reluctance machine

A unique topological configuration for rotating electromagnetic machines that can produce significantly higher force density than an induction machine is investigated. The stator is constructed using full pitch concentrated windings embedded in conventional slots. Rotor saliency is produced using poles constructed of axially oriented laminations. Operation is such that all of the conductors are actively taking part in torque production all of the time. The means for exciting the stator windings allows for independent control of torque and regulation of the rotor flux. A force density comparison is made based on operation with equal surface current density, conduction losses, and peak air-gap flux density. Construction and testing of a prototype 500 RPM, 28 kW laboratory machine, power converter, and controller are described     

基于转子电流的双馈感应电机无速度传感器控制

提出一种基于转子电流的模型参考自适应系统(MRAS)的双馈感应电机(DFIM)无速度传感器控制方法.首先建立了基于定子磁链定向的DFIM矢量控制模型,实现了电机转速/转矩控制和有功/无功功率解耦控制,然后采用基于MRAS的转速辨识方法,将测量得到的转子电流作为参考模型,通过定子电压和电流估测得到的转子电流作为自适应模型,用PI闭环控制构造转子位置和转速信息.为验证理论分析的正确性,以50 kW的DFIM为例设计了一套控制系统.通过电动机运行工况下的空载变速实验和发电机运行工况下的功率控制实验,估测转子位置和转速在不同转速和功率工况下都能准确跟踪实际值.仿真和实验结果表明系统能实现对DFIM无速度传感器控制,证明了所提出的方案的可行性.     

Design and implementation of a closed-loop observer and adaptivecontroller for induction motor drives

This paper discusses the implementation and experimental results of a closed-loop rotor flux observer and model reference adaptive system (MRAS) of a direct field-oriented control (FOC) of an induction motor drive. The motor was supplied from a high-frequency (20 kHz) AC resonant link via a MOS-controlled-thyristor (MCT)-based bidirectional converter. Hardware and software implementations of the various motor control functions are presented. The closed-loop observer combines the current and voltage models via a speed-dependent gain (SDG). The current model was formulated to operate in the rotor reference frame and requires only an encoder angle and not the actual rotor speed for implementation. The closed-loop observer permits the use of a pure analog integrator to calculate an adequate stator flux. The use of an AC resonant link further complicated an all-digital calculation of the stator flux. The observer and adaptive controller were tested on a 400-Hz 2-hp induction motor for low and high speeds. The closed-loop observer showed sensitivity at low speeds to the rotor circuit time constant which attributed to the current model rotor flux estimation. At high speed, the closed-loop observer followed the voltage model rotor flux estimation attributes. The MRAS was able to improve the complete speed response by correcting the current model rotor flux observer for errors in estimation of its parameters     

Design and performance analysis of a 700‐kW wound‐rotor BDFIG for ship shaft generator application

In this paper, a 700‐kW brushless doubly fed induction generator (BDFIG) is designed for stand‐alone ship shaft generator application. Based on the principle of tooth harmonics and sinusoidal winding structure, a multi‐pitch unequal‐turn‐coil wound rotor is adopted to reduce harmonic contents and couple the two stator windings effectively. The performance analyses of a prototype BDFIG with two/four pole pairs are presented. The magnetic fields, air‐gap flux densities, and current densities with full load at different shaft speeds of the prototype machine are investigated. Simulation analysis and experimental tests verify that the output capability and the efficiency of the prototype machine could meet the design requirements of a 700‐kW generator and that the wound rotor structure is suitable for high‐power brushless doubly fed machines. © 2015 Institute of Electrical Engineers of Japan. Published by John Wiley & Sons, Inc.     

Robust control of doubly fed induction generator for stand-alone applications

The doubly fed induction generator (DFIG) is generally used in the production of the electric energy and more specifically in wind turbines. Currently, a problem of electrical machine control and especially for wind turbines is the change of internal parameters of the machine, which greatly deteriorates the control. In addition, for stand-alone applications, the load and wind speed change frequently. In this paper, a robust control strategy based on the H_∞ control theory is developed for the independent control of the stator voltage amplitude and frequency of a stand-alone DFIG. The DFIG is fed through the rotor windings by a voltage inverter controlled by Space Vector Modulation (SVM). A capacitive and inductive filter is introduced to reduce harmonics on stator voltages and rotor currents. The robust control strategy rejects all the disturbances that may affect the system and that result from the variations of machine parameters, of the rotor speed and of the load. Experimental tests are carried out to verify the effectiveness of the robust control through a comparison with the classical PI regulator in the framework of the Field Oriented Control (FOC) strategy of the DFIG.     

ROTOR FLUX COMPUTATION IN SATURATED FIELD-ORIENTED INDUCTION MACHINES

ABSTRACT

The paper discusses effects of main flux saturation in field–oriented induction machines and proposes improved schemes for rotor flux space vector calculation. Field–oriented control with rotor flux computation out of the measured quantities is elaborated. Two rotor flux computer structures are analyzed. The first one is based on stator voltages and currents as measured variables, while the second scheme carries out calculations on the basis of sensed stator currents and rotor speed (position). The sensitivity of the constant parameter rotor flux computers to saturation degree variation is investigated in detail. Modified structures of the computing schemes are then proposed, which account for change in saturation level in the machine. The modified rotor flux calculators are derived from flux state–space model of a saturated induction machine. Accurate computation of rotor flux space vector is enabled in this way, irrespective of the actual saturation level in the machine. Verification of the developed modified rotor flux computers, which account for main flux saturation, is provided by the aid of digital simulation.     

Adaptive sliding mode observer for induction motor using two-time-scale approach

This paper presents an original method for the design of a robust adaptive sliding mode current and flux observer for induction motor drive using two-time-scale approach. This approach, based on the singular perturbation theory, decomposes the original system of the observer error dynamics into separate slow and fast subsystems of lower dimensions and permits a simple design and sequential determination of the observer gains. For the proposed observer, the rotor speed signal is assumed to be available. The stator currents and rotor flux are observed on the stationary reference frame using sliding mode concept, and the adaptive rotor time-constant is derived from Lyapunov stability theory using measured and estimated currents and estimated rotor flux. The control algorithm is based on the indirect field-oriented sliding mode control to keep the machine field oriented. The control-observer scheme seeks to provide asymptotic tracking of speed and rotor flux in spite of the presence of an uncertain load torque and unknown value of the rotor resistance. The effectiveness of this control algorithm has been successfully verified through computer simulations.     

Speed sensorless vector control of induction motor using extendedKalman filter

A vector control of an induction motor by an estimated speed using an extended Kalman filter is proposed. With this method, the states are composed of stator current and rotor flux. The rotor speed is regarded as a parameter, and the composite states consist of the original states and the rotor speed. The extended Kalman filter is employed to identify the speed of an induction motor and rotor flux based on the measured quantities such as stator currents and DC link voltage. The estimated speed is used for vector control and overall speed control. Since the current control is performed at a synchronous rotating reference frame, the estimated speed information is also used for the reference frame transformation of the current controller. Computer simulations and experiments of the speed control have been carried out to test the usefulness of the speed estimation algorithm. The experimental results show that the performance of the speed estimation is very good     

A control strategy for stand-alone wound rotor induction machine

A control strategy to regulate the frequency and voltage of a stand-alone wound rotor induction machine is presented. This strategy allows the machine to work as a generator in stand-alone systems (without grid connection) with variable rotor speed. A stator flux-oriented control is proposed using the rotor voltages as actuation variables. Two cascade control loops are used to regulate the stator flux and the rotor currents. A closed loop observer is designed to estimate the machine flux which is necessary to implement these control loops. The proposed control strategy is validated through simulations with satisfactory results.