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Icee2015 Paper Id3911
Icee2015 Paper Id3911
I.
II.
( )=
INTRODUCTION
Hence we deduce :
2015 IEEE
represents
sin
i +
i +
as v = v
+ v . , therefore ,
v
= L
+ R . i + p. . [
with v
= K . S i
(4)
IV.
=
=
with
(6)
is:
=
+
The third surface is that of the current control
described by :
( )=
In this case we give expressions
=0:
. . .
( )
.
+
(7)
i . It is
(8)
(9)
(10)
(11)
=
=
+
sin( )
sin( )
(12)
(13)
(14)
where =
is the actual value, =
is the estimated value of
.By using the mathematical model
of PMSM in the stationary ( , ) reference frame, the SMO is
bhown below :
( cos
(5)
+ L .i ]
cos
sin
( ),
V.
( )
( )
(15)
( ),
=
, = 2
, normally positive ( > 0).
( ( ), ( ), )
( )
( )
( )
(17)
=
+
(
,
) (18)
/
/
= /
+(
+
) + (19)
/
/
/
The second step (innovation) corrects the predicted state
estimate and its covariance matrix trough a feedback
correction scheme that makes use of the actual measured
quantities; this is realized by the following recursive relations:
+
(
)
(20)
/ =
/
/
=
(21)
/
/
/
Where the filter gain matrix is defined by:
= /
(
+ )
(22)
/
H is transformation matrix.
( ( ), ) =
( )
( )
( )
(23)
(24)
VII.
1
VI.
SIMULATIONS RESULTS
MSAP PARAMETERS
Stator Resistance
Inductance in d-q axis
Number of pole pairs
Magnetic Flux linkage
Moment of inertia
Friction coefficient
Rs= 1.4
Ld=0.0066 H
p=3
Wb
f =0.154
J = 0.00176 Kg.m2
f=39.10-4 Nm/rd/s
(25)
where :
200
100
wref (rad/s)
west (rad/s)
-100
-200
wreal (rad/s)
0
0.5
1
1.5
Time (s)
Zoom speed around 0.47 (s) and 0.53 (s)
101.5
101
100.5
100
99.5
99
0.47
0.48
0.49
0.5
0.51
0.52
Time (s)
Zoom speed around 1.47 (s) and 1.53 (s)
0.53
-99.5
-100
-100.5
1.47
1.48
1.49
1.5
Time (s)
1.51
1.52
1.53
RotationSpeed (rad/s)
( ( ), ( )) =
CONCLUSION
RotationSpeed (rad/s)
and
,
are motor stator currents, voltages in
rotor reference frame.
200
100
w
ref
(rad/s)
west (rad/s)
-100
wreal (rad/s)
-200
0.2
0.4
0.6
0.8
1
1.2
1.4
1.6
Time (s )
Zoom s peed around 0.47 (s) and 0.53 (s )
1.8
101.5
101
100.5
100
99.5
99
0.47
0.48
0.49
0.5
0.51
Time (s )
Zoom s peed around 1.47 (s) and 1.53 (s )
0.52
0.53
1.52
1.53
-99.7
-99.8
-99.9
-100
-100.1
1.47
1.48
1.49
1.5
Time (s )
1.51
Fig. 2 The rotational speed (Real, Estimated, Reference) of the control sliding
mode based on extended Kalman filter.
0.2
0
-0.2
1
Time (s)
1.5
1.5
0.6
Error between wreal et wref
0.4
0.2
0
-0.2
-0.4
0
0.5
1
Time (s)
Fig. 3 The observation error and the tracking error control sliding mode based
on sliding mode observer.
-12
x 10
0.5
-0.5
Error between wreal et wes t
-1
0.2
0. 4
0.6
0.8
1
Time (s )
1.2
0.2
0. 4
0.6
0.8
1
Time (s )
1.2
1. 4
1.6
1. 8
T
h
etra
c
k
in
ge
rro
r (ra
d
/s
)
0.6
0.4
0.2
-0.2
Error between wr eal
-0.4
1. 4
1.6
et wref
1. 8
Current (A)
Fig. 4 The observation error and the tracking error of the control sliding mode
based on extended Kalman filter.
i (A)
i (A)
0
-20
0
Current id (A)
Current iq (A)
Flux (Wb)
i (A)
20
0.5
1
Time (s)
1.5
5
0
-5
0
0.5
1
Time (s)
1.5
0.2
0.5
d
(Wb)
1
Time(Wb)
(s)
q
1.5
f
(Wb)
Torque (N.M)
-0.2
0
0.5
1
Time (s)
1.5
-20
-10
0
0.2
0.4
0.6
0.8
1
Time (s)
1.2
1.4
1.6
1.8
id (A)
0
-2
0.2
0.4
0.6
0.8
1
Time (s)
1.2
1.4
1.6
1.8
0.2
0.4
0.6
0.8
1
1.2
Time (s)
(Wb)
q
1.4
1.6
1.8
1
Time (s)
1.4
1.8
1.8
20
0
iq (A)
-20
0.2
(Wb)
(Wb)
0
-0.2
0.2
0.4
0.6
0.8
0.5
1
1.5
2
Load Torque (N.M)
Electromagnetic Torque (N.M)
Time (s)
ic (A)
10
0
ib (A)
iq (A)
20
-20
0
ia (A)
20
id (A)
Current iq (A)
T
h
eo
b
s
e
rva
tio
ne
rro
r (ra
d
/s
)
1.5
Current (A)
0.5
Flux (Wb)
-0.4
0
Current id (A)
0.4
Torque (N.M)
0.6
1.2
1.6
10
0
-10
0.2
0.4
0.6
0.8
1
Time (s)
1.2
1.4
1.6
Fig. 5 The Current iabc and id , idest and iq , iqest and flux in the sliding mode
control based on sliding mode observer.
REFERENCES
[1]
Fig. 6 The Current iabc and id , idest and iq , iqest and flux of the control sliding
mode based on extended Kalman filter.