High-performance sensorless vector control of induction motor drives using a Luenberger Observer

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1 Globl Jounl Of Bodvty Scnc nd Mngnt, : -, SSN Hgh-fonc nol vcto contol of nducton oto dv ung unbg Obv DJChf, YMloud, h Dtnt of Elctcl Engnng, Unvty of Scnc nd chnology of On USO, lg Dtnt of Elctcl Engnng, Unvty D Mouly h Sd, lg BSC Contnung ch h concnttd on th lnton of th obl of ntvty to t vton of nducton oto dv h nt l thod fo ultnou tton of oto d nd tto tnc n nol ndct vcto contolld nducton oto dv h thod bd on lunbg obv nd th tblty of th obv ovd by th lyunov tho, by ung ud nd ttd tto cunt nd ttd oto flux Fnlly th fblty of th ch vfd by ulton Howv, t low d of otton w gt uccful tnc dntfcton y wod: nducton Moto Dv, unbg Obv O, Snol ndct Vcto Contol, Stto tnc Etto, ow Sd ntoducton nducton oto hv bn wdly ld n nduty bcu of th dvntg of l contucton, uggdn, lblty, low cot, nd nu ntnnc, ouz,, Mon nd M-S, Nt Contol of nducton oto colx bcu t thtcl odl nonln, ultvbl, nd nt tong coulng btwn th nut, outut, nd ntnl vbl, uch toqu, d, o flux h u of vcto contolld nducton oto dv llow obtnng vl dvntg cod to th DC oto n t of obutn, z, lc of buh, nd ducng cot nd ntnnc Y gb Zogn, Y oub, M Bou, t chv ffctv dcoulng btwn toqu nd flux, But, th nowldg of th oto d ncy, th ncty qu donl d no whch dd to th cot nd th colxty of th dv yt Ov th t fw y, ongong ch h concnttd on th lnton of th d no t th chn hft wthout otng th dync fonc of th dv contol yt, Mzn S, oufout, Bnll H7 h dvntg of d nol nducton oto dv ducd hdw colxty nd low cot, duc z of th dv chn, lnton of th no cbl, btt no unty, ncd lblty nd l ntnnc quntn od to chv good fonc of nol vcto contol, dffnt d tton ch hv bn ood, nd vty of d tto xt nowdy Yl Zhou, Yongdon nd Zdong Zhng 9 Such dct clculton thod, odl fnc v yt MS, Extndd ln Flt EF, Extndd unbg obv EO, ct Out of vou och, unbg obv bd d nol tton h bn cntly ud, du to t good fonc nd c of lntton h unbg obv O blong to th gou of clod loo obv t ntc ty of obv bcu t bd on ntc odl of th yt, Ju Gcho, Mln Zln hfo, t o cn dgd th d contol fonc Howv, th tto tnc vton h gt nflunc on th d tton t th low d gon Hn, Wn uhu, Chn Guln 6 o olv th bov obl, onln ton of th tto tnc cn ov th fonc of nol FOC dv t low d So, ultnou tton of oto d nd tto tnc ntd bd on lunbg obv SM Gdou, D Gou nd JW Fnchh P contoll fo ultnou tto, whch lo condd n otnt t fo cfyng th tton oc, nd to b dgnd to gv quc tnnt on nd good tcng fonc Mohd S Zy n th ct, th ngul tubton thoy ud to gt quntl nd l dgn of th obv, nd th obv tblty nud though th yunov thoy M Joul, Jy, Youb nd M Bou n th ultnou tton of oto d nd tto tnc ntd bd on lunbg obv t fonc ttd by ulton, o t ognzd follow Scton how th dync odl of nducton oto; ncl of fld-ontd contoll gvn n Scton h ood oluton ntd n Scton Coondng utho: DJCHEF, Dtnt of Elctcl Engnng, Unvty of Scnc nd chnology of On USO, lg E-l: do_cnc@yhoof

2 Glob J Bodv Sc Mng, : -, n Scton 5, ult of ulton tt otd Fnlly, Scton 6 dw concluon Dync Modl of nducton Moto: By fng to ottng fnc f, dnotd by th uct d,q, th dync odl of th h nducton oto cn b xd follow ntnnc Y gb Zogn, Y oub, M Bou : d d d q d d q d q d d d d d q d q q d q d f l J J q q V V d q Wh ; ; ; g P d - q q d ω nd ω th lctcl ynchonou tto nd oto d; σ th lng coffcnt, nd th oto t contnt Pncl Of Fld-Ontd Contoll: h tow ctgo of vcto contol ttgy W nttd n th tudy to th o-clld FOC how n Eq tht th xon of th lctogntc toqu n th dync g nt coulng btwn tto cunt nd oto flux, M Moud, Sbt, M Bn Hd nd H 8 h n obctv of th vcto contol of nducton oto, n DC chn, to ndndntly contol th toqu nd th flux; th don by ung d-q ottng fnc f ynchonouly wth th oto flux c vcto h d-x thn lgnd wth th oto flux c vcto Blch, 97 Und th conon w gt: d = nd q = h toqu quton bco nlogou to th DC chn nd cn b dcbd follow: q t ght to dut th flux whl ctng on th tto cunt coonnt d nd to dut th toqu whl ctng on th q coonnt Ung th Eq w gt: d

3 Glob J Bodv Sc Mng, : -, q gl W lc q by t xon to obtn functon of th fnc l d gl h tto voltg cond : gl 5 v v d q v v d d q q q d S S Sd Sq dd dq d 6 h voltg v d nd v q hould ct on th cunt d nd q tly nd conquntly th flux nd th toqu h two-h tto cunt contolld by two P contoll tng nut th fnc vlu * d, * q nd th ud vlu hu, th coon thought to lz th dcoulng by ddng th conton t ~ d nd ~ q, V Vc nd S Vuovc h bloc dcoulng dcbd by th followngg quton: ~ 7 d q S Sq ~ S Sd t ncy to n th ltud nd th oton of oto flux n th c of n ndct fld ontd contol, th odul obtnd by bloc of fld wnng gvn by th followng non ln lton: f n n n 8 n f n h l fquncy cn b clcultd fo th vlu of th tto cunt qu nd th oto flux ontd fnc f follow: g Sq d q d 9 h oto flux oton gvn by: Sq S S oto Sd gulton:

4 Glob J Bodv Sc Mng, : -, h u of clcl P contoll n th clod loo tnf functon zo, whch cn nflunc th tnnt of th d hfo, t o convnnt to u th o-clld P contoll whch h o dvntg tny ovhoot n t t tcng on, good gulton chcttc cod to th ootonl lu ntgl P contoll nd zo tdy-tt o * J B t t t t Wh : gl Fg : Bloc dg of P d contoll h gn of P contoll, nd, nd ung dgn thod to obtn tctoy of d wth th dd t nd n h gn t vlu of th P d contoll ly obtnd : n J B P J n ccodng to th bov nly, th ndct fld ontd contol FOC Yolong,, Chng, J, Huln, of nducton oto wth cunt- gultd wth PWM nvt contol yt cn onbly b ntd by th bloc dg hown n th Fg h two P cunt contoll fg ct to oduc th dcould voltg v d nd v q * * h fnc voltg v d nd v q nd by 6 nu dcould two-x contol of th nducton oto dv unbg Obv: h unbg obv O blong to th gou of clod loo obv t ntc ty of obv bcu t bd on ntc odl of th yt, Ju Gcho, Mln Zln h obv cn contuct th tt of yt obvbl fo th unt of nut nd outut t ud whn ll o t of th tt vcto cn not b ud t llow th tton of unnown t o vbl of yt h quton of th unbg obv cn b xd : ~ ~ BU Y Y ~ ~ ~ Y C n th wo, nol ndct oto-flux-ontd Contol FOC of nducton oto dv tudd h ttgy to tt th oto d, tto tnc nd th flux coonnt bd on unbg ttobv O ncludng n v chn bd on th lyonov thoy, dlyd n Fg

5 5 Glob J Bodv Sc Mng, : -, Fg : tuctu of unbg Obv Modl of nducton oto n th coodnt, : h odl of th nducton oto cn b dcbd by followng tt quton n th ttony fnc, : C Y U B Wth: ] [ ; v v U ] [ ; Y ] [ h tt quton cn b wttn follow: v v Wh : ; ; ; ; 5 ; 6 Dtnton of th gn tx: h nton of th tx ung th convntonl ocdu of ol lcnt W ocd by ong th ol of th obv nd thfo t dync Dtnng th coffcnt of by cong th chcttc quton of th obv wth th on w wh to o n dvlong th dffnt tc, C nd w obtn th followng quton: O nd colx gn h dync of th obv dfnd by th followng quton:

6 6 Glob J Bodv Sc Mng, : -, Who oot ootonl to th ol of th MS; th ootonlty contnt t lt qul to unty > h dntfcton of xon nd gv: 5 Fo th coffcnt of th gn tx of th obv lcd: 6 nd n ccodnc wth th ntyty of th tx w t th gn follow: 7 O: 8 h ol of th obv chon to cclt convgnc to th dync of th on loo yt n n gnl, th ol 5-6 t ft, but thy ut n low cod to unt no, o tht w choo th contnt uully ll Stt ntton of th unbg obv: th tt gnlly not vlbl, th gol of n obv to lc n od by tt fdbc nd tt th tt by vbl whch w dnot : Wh : ] [ 9 So th tt c of th obv bco follow:

7 7 Glob J Bodv Sc Mng, : -, BU Wth ] [ v unbg obv fo d tton: Suo now tht d n unnown contnt t t bout fndng n ton lw tht llow u to tt t h obv cn b wttn: BU Wth 5 5 h chn of ton d wll b ducd by yunov thoy h tton o of th tto cunt nd oto flux, whch ly th dffnc btwn th obv nd th ngn odl, gvn by: C Wth O: ] [ Now cond th followng yunov functon: V t dvtv wth ct to t : d d d dv d C C dv uffcnt conon fo unfo ytotc tblty tht quton ngtv, whch ount to cncl th lt two t n th quton nc th oth t of th cond b of lwy ngtv, n whch c w cn dduc th ton lw to tt th oto d by qutng th cond nd thd t of Eq t ttd th d by P contoll dcbd by th ltonh:

8 8 Glob J Bodv Sc Mng, : -, 5 Wth nd otv contnt v unbg obv fo d nd tto tnc tton: Vcto contol ntv to th oto t vton Eclly, tto nd oto tnc vy wdly wth th oto ttu f th oto d nd tto tnc condd vbl t, ung no oth t vton, o th tt c of th obv bco follow: BU 6 Wth ] [ h tton o of th tto cunt nd oto flux gvn by: C ] [ 7 Wth : 6 6 yunov functon cnd dfnd follow: V V 8 nd ; h v ch fo tto tnc tton found by: 9 Wth : ; nd otv contnt h ol of v chn to nz th followng o Fnlly, th vlu of d nd tto tnc cn b ttd by l P contoll h tuctu of th ood v obv fo d nd tto tnc tton hown n Fg h v ch w dvd by ung th yunov tblty tho

9 Glob J Bodv Sc Mng, : -, 9 Fg : Bloc dg of ultnou tton of oto d nd tto tnc h bloc dg of oto flux ontd nducton oto dv, togth wth both oto d nd tto tnc dntfcton, hown n Fg t nly cont of qul-cg nducton oto, tngulo nuodl voltg contolld ul wh odultd PWM nvt, l ngul d tto, qud wth lunbg obv h nducton oto th-h, Y-connctd, fou ol, 5 w /8V, nd 5Hz h toqu coonnt voltg cond v q gntd fo th d o btwn th cond nd th tto oto d though th toqu contoll Fg : Bloc dg of nol FOC wth tto tnc tunng of nducton oto dv yt

10 Glob J Bodv Sc Mng, : -, oqu N Stto cunt Ettd Coonnt of oto Flux Wb Ettd Coonnt of Stto cunt oto d d/s Eo S S Fg 5: Pfonc of d contol ung n O ood wth d v nd und lod chng

11 Glob J Bodv Sc Mng, : -, oto d d/s Eo d oto d d/s Eo d oto d d/s Eo d oto d d/s Eo d S S Fg 6: Sultd d on fo t vyng of th fnc d

12 Glob J Bodv Sc Mng, : -, oto d d/s Zoo of oto d d/s Eo d S S S Fg 7: Sulton ult of th d tton wth tto tnc ncd hly by % fo n oto d d/s Eo d Stto tnc t t,n _t n oto d d/s Eo d Stto tnc t t,n _t n oto d d/s Eo d Stto tnc t t,n _t n oto d d/s Eo d Stto tnc t t S S S Fg 8: Sulton ult of th d nd tto tnc tton,n _t n

13 Glob J Bodv Sc Mng, : -, ult nd Dcuon h bov ntd ocdu h bn ultd ung Mtlb-Suln Softw Fgu how th ulton bloc dg of FOC nducton oto dv yt wth ultnou tton of th tto tnc nd oto d, h t of th nducton oto ud gvn n ndx Fgu 5 how th on of th ood vbl d nol yt fo t fnc nc d/c fo d/c, nd v d to - d/c, und lod chng Dtubnc ntoducd by lyng nd ovng lod toqu qul to N t 8, thn lyng th lod toqu t 5 cond but t 5 cond th tnc vlu ncd hly by % fo t nonl vlu h ult how clly vy tfctoy fonc n tcng, nd vy low t of cton n tnnt tt h ctul oto d fctly follow th fnc tctoy, nd th obv on llutt n xcllnt con of th ttd d nd flux n Fg 6, th fgu how th ulton ult of ctul nd ttd d fo t chngng of fnc fo d/c to - d/c, nd th nth on how th d o n th coondng oc t hown tht th ttd d tc th ctul nd th fnc d ccutly n od to nvtgt th fonc of th dv fo t vton n tto tnc, of ulton w conductd t d/c nd wth contnt lod toqu of N, fgu 8 how th fonc of th tton of oto d nd tto tnc t d d/c th tnc vlu ncd hly by % fo t nonl vlu t t 5 cond n whch th dnot th tto tnc n Fg 7 ulton ult of th d tton wthout tto tnc conto gvn, w cn fo Fg 7, on th conon tht th ctul tto tnc chngd by %; th d tton nccut whn th tto tnc conto nctv h d tton o Fg 8 Show th ulton ult of ultnou tton of oto d nd tto tnc hown n th fgu, th d dntfcton wod fctly wll xct fo lttl ocllton n th bgnnng of th oc h on fo th tht th ntl o n th ttd tto tnc, wth t go on, th ton chn qucly cont th ntl o nd thfo, cont th ntl d tton o hown n Fg 8, th blu ln dnot th ctul vlu of tto tnc whl th d on fo ttd on, th ltt tc th fo ccutly, whch ov th vly of th ood ch Concluon: h h ntd ultnou tton of oto d nd tto tnc bd on lunbg obv obut v flux obv dgnd fo d nol FOC-contolld nducton oto dv h ood contol ch yt w dgnd nd nlyzd und vou otng conon, nd t ffctvn n tcng lcton w vfd t hgh nd low d So, th nflunc of th tto tnc vton on th d tton cn b wnd to th nu h ffctvn of th thod vfd by ulton ndx: bl : nducton Moto Pt 5 Hz, 5 w,, 8 V, 7 oto tnc Stto tnc oto nductnc 7 H Stto nductnc 7 H Mont of nt J g Fcton coffcnt F=g / fnc ouz,, Mon nd M-S, Nt, Hgh Pfonc of Fuzzy Slf-unng Sclng Fcto of P Fuzzy ogc Contoll Bd on Dct Vcto Contol fo nducton Moto Dv wthout Flux Munt, EEE ntntonl Confnc on ndutl chnology

14 Glob J Bodv Sc Mng, : -, gb Zogn, Y, Y oub, M Bou, Sultnou Etton of Sd nd oto tnc n Snol SFOC nducton Moto Dv Bd on MS Sch, ntntonl Confnc on Elctcl Mchn - CEM, o Mzn, S, oufout, H Bnll, 7 MS bd d contol of nol nducton oto dv CGS-CSE Jounl, 7: -5 Yl Zhou, Yongdon nd Zdong Zhng, 9 ch of Sd nol Vcto Contol of n nducton Moto Bd on Modl fnc v Syt EEE Ju Gcho, Mln Zln, M Bd Sd Svodv Wth unbg Obv, Jounl of Elctcl Engnng, 6: 9-56 Hn,, Wn uhu, Chn Guln, 6 Gnl v Sch fo tnc nd Sd Etton n nducton Moto Dv, EEE COMPE Woho, nl Polytchnc nttut, oy, NY, US, 6-9 Gdou, SM, D Gou nd JW Fnch, Nw Fuzzy ogc Bd ton Mchn fo MS Snol Vcto Contol nducton Moto Dv Mohd, S, Zy, Stblty nly of Sultnou Etton of Sd nd Stto tnc fo Snol nducton Moto Dv, Pocdng of th th ntntonl Mddl Et Pow Syt Confnc MEPCON, Co Unvty, Egyt, D 8 Mbou Joul, l Jy, Yn oub nd Mohd Bou, unbg Stt Obv fo Sultnou Etton of Sd nd oto tnc n nol ndct Stto Flux Ontton Contol of nducton Moto Dv, JCS ntntonl Jounl of Cout Scnc u, 86: Moud, M, Sbt, M Bn Hd nd H, 8 MS nd unbg Obv Bd Snol ndct Vcto Contol of nducton Moto, n Jounl of nfoton chnology, 75: -9 Vc, V nd S Vuovc, obut MS-bd lgoth fo tto tnc nd oto d dntfcton, EEE Pow Engnng vw, Yolong,, J Chng, Huln, v Bctng Contol nd Fcton Conton fo C Svo wth nt nd od Uncnt, EEE n On nd Elct, 55: 5-55