AC Electric Motors Control: Advanced Design Techniques and Applications

574 Pages·2013·10.39 MB·English

AC ELECTRIC MOTORS
CONTROL
AC ELECTRIC MOTORS
CONTROL
ADVANCED DESIGN TECHNIQUES
AND APPLICATIONS
Editor
FouadGiri
UniversityofCaenBasse-Normandie,France
A John Wiley & Sons, Ltd., Publication
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LibraryofCongressCataloging-in-PublicationData
ACelectricmotorscontrol:advanceddesigntechniquesandapplications/[compiledby]FouadGiri.
pagescm
Includesbibliographicalreferencesandindex.
ISBN978-1-118-33152-1(hardback)
1.Electricmotors,Alternatingcurrent–Automaticcontrol. I.Giri,Fouad,editorofcompilation.
TK2781.A332013
621.46–dc23
2012050753
AcataloguerecordforthisbookisavailablefromtheBritishLibrary
ISBN:978-1-118-33152-1
Typesetin10/12ptTimesbyAptaraInc.,NewDelhi,India
Contents
ListofContributors xvii
Preface xxi
1 IntroductiontoACMotorControl 1
MarcBodsonandFouadGiri
1.1 ACMotorFeatures 1
1.2 ControlIssues 3
1.2.1 State-FeedbackSpeedControl 3
1.2.2 AdaptiveOutput-FeedbackSpeedControl 3
1.2.3 FaultDetectionandIsolation,Fault-TolerantControl 4
1.2.4 SpeedControlwithOptimizedFlux 6
1.2.5 PowerFactorCorrection 7
1.3 BookOverview 8
1.3.1 ControlModelsforACMotors 9
1.3.2 ObserverDesignTechniquesforACMotors 9
1.3.3 ControlDesignTechniquesforInductionMotors 10
1.3.4 ControlDesignTechniquesforSynchronousMotors 11
1.3.5 IndustrialApplicationsofACMotorsControl 12
References 13
Part One ControlModelsforACMotors
2 ControlModelsforInductionMotors 17
AbderrahimElFadili,FouadGiri,andAbdelmounimeElMagri
2.1 Introduction 17
2.2 InductionMotors—AConciseDescription 18
2.3 TriphaseInductionMotorModeling 20
2.3.1 ModelingAssumptions 20
2.3.2 TriphaseInductionMotorModeling 20
2.3.3 ParkTransformations 22
2.3.4 Two-PhaseModelsofInductionMotors 26
2.3.5 Doubly-FedInductionMotorModel 31
vi Contents
2.4 IdentificationofInductionMotorParameters 32
2.4.1 IdentificationofMechanicalParameters 32
2.4.2 IdentificationofElectricalParameters 35
2.5 Conclusions 39
References 39
3 ControlModelsforSynchronousMachines 41
AbdelmounimeElMagri,FouadGiri,andAbderrahimElFadili
3.1 Introduction 41
3.2 SynchronousMachineStructures 42
3.3 Preliminaries 43
3.3.1 ModelingAssumptions 43
3.3.2 Three-PhasetoBi-PhaseTransformations 44
3.3.3 Concordia-ParkTransformation(αβ todq) 45
3.4 DynamicModelingofWound-RotorSynchronousMotors 45
3.4.1 Orienteddq-FrameModelofSalientPoleWRSM 48
3.5 Permanent-MagnetSynchronousMachineModeling 50
3.5.1 PMSMModelinginabc-Coordinates 50
3.5.2 PMSMModelintheRotatingdq-Frame 51
3.5.3 PMSMModelintheFixedBi-Phaseαβ-Frame 54
3.6 Conclusions 55
References 56
Part Two ObserverDesignTechniquesforACMotors
4 StateObserversforEstimationProblemsinInductionMotors 59
GildasBesanc¸onandAlexandruT¸iclea
4.1 Introduction 59
4.2 MotorRepresentationandEstimationIssues 60
4.2.1 ProblemStatement 60
4.2.2 ShortLiteratureReview 61
4.3 SomeObserverApproaches 63
4.3.1 EstimationunderknownandconstantspeedandParameters 63
4.3.2 EstimationunderknownSpeedandParameters 64
4.3.3 EstimationunderunknownSpeedandknownParameters 64
4.3.4 EstimationinthepresenceofunknownSpeedand/orParameters 66
4.4 SomeIllustrationResults 66
4.4.1 StateandParameterEstimationunderknownSpeed 68
4.4.2 StateandSpeedEstimationunderknownParameters 69
4.4.3 State,Parameter,andSpeedEstimation 71
4.4.4 EstimationclosetoUnobservability 74
4.5 Conclusions 75
References 76
Contents vii
5 StateObserversforActiveDisturbanceRejectionin
InductionMotorControl 78
HeberttSiraRam´ırez,FelipeGonza´lezMontan˜ez,JohnCorte´sRomero,and
AlbertoLuviano-Jua´rez
5.1 Introduction 78
5.2 ATwo-StageADRControllerDesignfortheInductionMotor 80
5.2.1 TheFluxSimulator 80
5.2.2 FormulationoftheProblemandBackgroundResults 81
5.2.3 Assumptions 81
5.2.4 ProblemFormulation 81
5.2.5 ControlStrategy 82
5.2.6 ExperimentalResults 86
5.3 Field-OrientedADRArmatureVoltageControl 90
5.3.1 ControlDecouplingPropertyoftheInductionMotorSystem 91
5.3.2 ProblemFormulation 92
5.3.3 ControlStrategy 92
5.3.4 ExperimentalResults 95
5.A Appendix 99
5.A.1 GeneralitiesonUltra-ModelsandObserver-BasedActive
DisturbanceRejectionControl 99
5.A.2 Assumptions 99
5.A.3 ObservingtheuncertainSystemthroughtheUltra-Model 101
5.A.4 TheObserver-BasedActiveDisturbanceRejectionController 102
References 103
6 ObserversDesignforSystemswithSampledMeasurements,Application
toACMotors 105
VincentVanAsschePhilippeDorle´ansJean-Franc¸oisMassieu
andTarekAhmed-Ali
6.1 Introduction 105
6.2 Nomenclature 106
6.3 ObserverDesign 107
6.3.1 NonlinearSystemModel 107
6.3.2 ObserverDesignwithaTime-DelayApproach 108
6.3.3 ObserverDesignwithanOutputPredictor 113
6.4 ApplicationtotheACMotor 114
6.4.1 ModeloftheACMotor 114
6.4.2 ObserverforACMachinewithSampledandHeldMeasurements 117
6.4.3 ObserverfortheACMachinewithPredictor 118
6.4.4 Simulation 119
6.5 Conclusions 121
References 121
viii Contents
7 ExperimentalEvaluationofObserverDesignTechnique
forSynchronousMotor 123
MalekGhanesandXuefangLinShi
7.1 Introduction 123
7.1.1 ProblemStatement 123
7.1.2 StateoftheArtandObjectives 124
7.2 SPMSMModelinganditsObservability 125
7.2.1 SPMSMModel 125
7.2.2 QuickReviewontheObservabilityofSPMSM 125
7.3 RobustMRASObserver 125
7.3.1 ReferenceModel 125
7.3.2 AdjustableModel 127
7.3.3 AdaptationMechanism 128
7.3.4 RotorPositionObserver 129
7.4 ExperimentalResults 129
7.4.1 NominalConditions 130
7.4.2 ParameterVariationEffect 132
7.4.3 LoadTorqueEffect 133
7.5 Conclusions 133
References 134
Part Three ControlDesignTechniquesforInductionMotors
8 High-GainObserversinRobustFeedbackControlofInductionMotors 139
HassanK.KhalilandEliasG.Strangas
8.1 ChapterOverview 139
8.2 FieldOrientation 140
8.3 High-GainObservers 144
8.4 SpeedandAccelerationEstimationusingHigh-GainObservers 146
8.4.1 SpeedEstimationusingaMechanicalSensor 146
8.4.2 SpeedandAccelerationEstimationusingaMechanicalSensor 147
8.4.3 SpeedEstimationwithoutaMechanicalSensor 147
8.5 FluxControl 149
8.6 SpeedControlwithMechanicalSensor 151
8.7 SpeedControlwithoutMechanicalSensor 153
8.8 SimulationandExperimentalResults 156
8.9 Conclusions 157
References 157
9 AdaptiveOutputFeedbackControlofInductionMotors 158
RiccardoMarino,PatrizioTomei,andCristianoMariaVerrelli
9.1 Introduction 158
9.2 ProblemStatement 159
Contents ix
9.3 NonlinearEstimationandTrackingControlforSensorlessInductionMotors 161
9.3.1 EstimationandTrackingControlAlgorithm 162
9.3.2 StabilityAnalysis 164
9.4 NonlinearEstimationandTrackingControlfortheOutputFeedbackCase 175
9.4.1 EstimationandTrackingControlAlgorithm 175
9.4.2 StabilityProof 175
9.5 SimulationResults 176
9.5.1 SensorlessCase 177
9.5.2 OutputFeedbackCase 180
9.6 Conclusions 186
References 186
10 NonlinearControlforSpeedRegulationofInductionMotorwith
OptimalEnergeticEfficiency 188
AbderrahimElFadili,AbdelmounimeElMagri,HamidOuadi,andFouadGiri
10.1 Introduction 188
10.2 InductionMotorModelingwithSaturationEffectInclusion 190
10.3 ControllerDesign 194
10.3.1 ControlObjective 194
10.3.2 RotorFluxReferenceOptimization 194
10.3.3 SpeedandFluxControlDesignandAnalysis 197
10.4 Simulation 202
10.5 Conclusions 205
References 205
11 ExperimentalEvaluationofNonlinearControlDesignTechniquesfor
SensorlessInductionMotor 207
Jesu´sDeLeo´n,AlainGlumineau,DramaneTraore,andRobertBoisliveau
11.1 Introduction 207
11.2 ProblemFormulation 208
11.2.1 ControlandObservationProblem 209
11.3 RobustIntegralBackstepping 209
11.3.1 ControllerDesignusinganIntegralBacksteppingMethod 209
11.4 High-OrderSliding-ModeControl 212
11.4.1 SwitchingVector 214
11.4.2 DiscontinuousInput 215
11.5 AdaptiveInterconnectedObserversDesign 215
11.6 ExperimentalResults 218
11.6.1 IntegralBacksteppingControlandAdaptiveObserver 221
11.6.2 High-OrderSliding-ModeControlandAdaptiveObserver 224
11.7 RobustNonlinearControllersComparison 228
11.7.1 High-OrderSliding-ModeControl 229
11.7.2 IntegralBacksteppingControl 230
11.7.3 ExperimentalResults:Comparison 230
x Contents
11.8 Conclusions 231
References 231
12 MultiphaseInductionMotorControl 233
RobertoZanasiandGiovanniAzzone
12.1 Introduction 233
12.2 Power-OrientedGraphs 234
12.2.1 Notations 235
12.3 MultiphaseInductionMotorComplexDynamicModeling 236
12.3.1 HypothesisfortheInductionMotorModeling 236
12.3.2 ComplexDynamicModelingoftheInductionMotor 237
12.4 MultiphaseIndirectField-OrientedControlwithHarmonicInjection 243
12.4.1 Five-PhaseIndirectRotorField-OrientedControl 245
12.4.2 Five-PhaseIRFOCSimulationResults 247
12.5 Conclusions 251
References 251
13 BacksteppingControllerforDFIMwithBidirectionalAC/DC/AC
Converter 253
AbderrahimElFadili,VincentVanAssche,AbdelmounimeElMagri,andFouadGiri
13.1 Introduction 253
13.2 Modeling“AC/DC/ACConverter—Doubly-FedInductionMotor”
Association 255
13.2.1 Doubly-FedInductionMotorModel 255
13.2.2 ModelingoftheSystem“DC/ACInverter–DFIM” 257
13.2.3 AC/DCRectifierModeling 257
13.3 ControllerDesign 260
13.3.1 ControlObjectives 260
13.3.2 MotorSpeedandStatorFluxNormRegulation 260
13.3.3 PowerFactorCorrectionandDCVoltageController 266
13.4 SimulationResults 269
13.5 Conclusions 273
References 273
14 FaultDetectioninInductionMotors 275
AlessandroPilloni,AlessandroPisano,MartinRiera-Guasp,RubenPuche-Panadero,
andManuelPineda-Sanchez
14.1 Introduction 275
14.2 DescriptionandClassificationofIMsFaults 276
14.2.1 ElectricalFaults 276
14.2.2 MechanicalFaults 277
14.3 Model-BasedFDIinIMs 280
14.3.1 Introduction 280
14.3.2 ModelingofIMswithFaults 281
14.3.3 FaultDetectionObserverDesignforIMs 282
Contents xi
14.3.4 ResidualGenerationandEvaluation 282
14.3.5 ExperimentalResults 284
14.4 ClassicalMCSABasedontheFastFourierTransform 287
14.5 HilbertTransform 289
14.5.1 BasesoftheApplicationoftheHilbertTransformofaPhase
CurrenttotheDiagnosisofElectricalMachines 289
14.5.2 ExperimentalResults 291
14.6 DiscreteWaveletTransformApproach 292
14.6.1 BasisfortheApplicationoftheDWTtoDiagnostic
ofElectricalMachines 292
14.6.2 ApplicationoftheDWTtotheAnalysisoftheStart-upCurrent
ofaHealthyMotor 295
14.6.3 ApplicationoftheDWTtotheAnalysisoftheStart-upCurrentofa
MotorwithaBrokenBarintheRotor 297
14.6.4 DiagnosisofaMachinewithMixedEccentricitythroughthe
Start-upCurrent 297
14.7 ContinuousWaveletTransformApproach 298
14.7.1 ApplicationoftheCWTtoDiagnosticofElectricalMachines 298
14.7.2 ApplicationoftheComplexCWTtoDiagnostic
ofElectricalMachines 300
14.7.3 ExperimentalResults 300
14.8 Wigner-VilleDistributionApproach 300
14.8.1 BasisfortheApplicationoftheWVDtoDiagnostic
ofElectricalMachines 300
14.8.2 ApplicationoftheWVDtoMonocomponentSignals 302
14.8.3 ApplicationoftheWVDtoMulticomponentSignals 303
14.9 InstantaneousFrequencyApproach 304
14.9.1 BasisfortheApplicationoftheIFApproachtoDiagnosticof
ElectricalMachines 304
14.9.2 CalculatingtheIFofaMonocomponentSignal 305
14.9.3 PracticalApplicationoftheIFApproach 306
References 307
Part Four ControlDesignTechniquesforSynchronousMotors
15 SensorlessSpeedControlofPMSM 313
DhruvShah,GerardoEspinosa–Pe´rez,RomeoOrtega,andMichae¨lHilairet
15.1 Introduction 313
15.2 PMSMModelsandProblemFormulation 314
15.2.1 ProblemFormulation 316
15.3 ControllerStructureandMainResult 316
15.4 UnavailabilityofaLinearization-BasedDesign 318
15.5 FullInformationControl 319
15.5.1 Port-HamiltonianModel 319