Inertia identification based on adaptive interconnected Observer. of Permanent Magnet Synchronous Motor

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1 Intnational Jounal of Rsach in Engining and Scinc (IJRES) ISSN (Onlin): , ISSN (Pint): Volum 3 Issu 9 ǁ Sptmb. 25 ǁ PP.35-4 Intia idntification basd on adaptiv intconnctd Obsv of Pmannt Magnt Synchonous Moto Yudan Huang, Guohui Zng School of Elctonic and Elctical Engining Shanghai Univsity of Engining Scinc, Shanghai, China School of Elctonic and Elctical Engining Shanghai Univsity of Engining Scinc, Shanghai, China Abstact: In od to achiv th intia idntification of pmannt magnt synchonous moto, this pap psnts an adaptiv int connctd obsv basd on modl fnc adaptiv and Rhombg obsv to obsv th intia of pmannt magnt synchonous moto and build th simulation modl in MATLAB. By th simulation analysis, th obsv can idntify th momnt of intia of pmannt magnt synchonous moto accuatly, at th sam tim has good obustnss. Ky wods: Intia,MRAS,Rhombg obsv,pmsm,matlab I. INTRODUCTION With th dvlopmnt of modn industy, th AC svo systm is mo and mo widly usd in industial poduction. Pmannt magnt synchonous moto has good pfomanc and is widly usd in AC svo systm. High pfomanc AC svo systm not only quis a quick spons to th instuction, but also can hav good stability whn th svo systm has a load. In th actual div systm, oto intia is an impotant mchanical paamts, whn th load changs, intia will b changd, which will bing gat influnc to div systm s opating paamts. In od to mak th div systm hav good obustnss and guaant th high pcision contol, it is ncssay to adjust th paamts of th contoll of th div systm, which must b caid out to idntify th intia of th moto. In this pap, Basd on modl fnc adaptiv mthod and Rhombg obsv,an adaptiv intconnctd obsv is stablishd to idntify th otation intia. II. PERMANENTMAGNETSYNCHRONOUSMOTORMATHEMATICALMODEL In this pap, th pmannt magnt synchonous moto is SPMSM, that is:l d = L q, and us with maximum toqu cunt atio contol statgy, that is:i d =,so th mathmatical modl of pmannt magnt synchonous moto can b tund into: u d = L q i q u q = L q di q dt + R si q + T = 3 2 pφ fi q () T = J d dt + B + T L Wh u d and u q a th d- and q-axis voltag, spctivly; i d and i q a th d- and q-axis stato cunt,spctivly; is th oto mchanical spd;l d and L q a th d- and q-axis inductanc;r s is th winding stato sistanc;φ f is th pmannt-magnt flux linkag; is th count lctomotiv foc;t is th lctomagntic toqu;b is th viscous fiction cofficint;t L is th load toqu;and p is th numbof pol 35 Pag

2 Intnational Jounal of Rsach in Engining and Scinc (IJRES) ISSN (Onlin): , ISSN (Pint): Volum 3 Issu 9 ǁ Sptmb. 25 ǁ PP.35-4 pais. III. ADAPTIVEINTERCONNECTEDOBSERVER Th stablishmnt of th adaptiv intconnctd obsv,which is basd on modl fnc adaptiv and Rhombg obsv and combination of th two togth. In this pap, though th mthod of modl fnc adaptiv to stimat th momnt of intia, and using Rhombg obsv fo oto spd stimation, thn both stimatd valus a substitutd into th two modls, though th itativ pocss in od to gt th pcis valu. 3. Modl fnc adaptiv Th modl fnc adaptiv mthod is a matu mthod in th fild of paamt idntification.it is basd on th stability thoy of Lyapunov and th ulta-stability thoy of Popov, thus, it can guaant th convgnc of paamt idntification. Th main ida of th modl fnc adaptiv is using th quation which contain th unknown paamt as an adjustabl modl and without unknown paamts as th fnc modl,and th two modls output hav th sam physical significanc. Th two modls wok simultanously, and adjust th paamts of th adjustabl modl accoding to th output-o and appopiat adaptiv at, so as to achiv th tagt's output tacking fnc modl,and to achiv th pupos of that th output of contol objct can tack th fnc modl. And th functional block figu is as follows fig.. Fig. Modl fnc adaptiv idntification pincipl In th AC svo systm, th systm dynamic quation as fo: T = T L + B d dt + J d2 dt 2 ( Th disctization of quation ( as follows: ) = k + T J [T k T L k B )] (3) Wh T is th systm sampling piod. In quick spons AC svo systm, th systm sampling fquncy is high, in a singl cycl, th load toqu can b considd as a constant. Manwhil, AC svo systm viscous fiction cofficint is small, so it can b ignod. Aft th abov analysis, th quation (3) can b simplifid as: ) = 2 k + b[t k T k 2 ] (4) 36 Pag

3 Intnational Jounal of Rsach in Engining and Scinc (IJRES) ISSN (Onlin): , ISSN (Pint): Volum 3 Issu 9 ǁ Sptmb. 25 ǁ PP.35-4 W b is th idntification paamt. Th quation (4) as th fnc modl, and thn th adjustabl modl as follows: 2 ) b) T) T (5) Wh is th stimats valu of spd signal; b is th stimats valu of idntification paamt. Accoding to th paalll modl fnc adaptiv algoithm, w can f to th intia idntification algoithm dsign modl as follows: Δ T T ) T 2 ) b )Δ T Δ ) Δ ) ) b) b) λ T 2 λδtk ) (6) 3.2 Rhombg obsv Th thoy of stat obsv is poposd by Rhombg, and its ssnc is a stat stimato. It uss th input and output of th contolld objct to stimat th stat of th systm, thus solving th poblm that th systm can not b dictly masud. Though th moto dynamic quation ( can gt: T = T L + B d dt + J d2 dt 2 (7) Ignoing th viscous cofficint and th moto without load, h is dsignd by th Rhombg obsv thoy, and a closd-loop obsv as follows: T J y ( ) K K i p (8) 3.3 Intconnctd obsv dsign Fom th abov, th intia of th moto is obtaind by th modl fnc adaptiv mthod, th oto position and th spd of th moto can b obtaind by th Rhombg obsv. In th pocss of intia idntification, oto position and spd idntification, thy dpnd on ach oth. Idntification of th intia nd th oto position and spd of th oto; Roto position tacking and oto spd idntification, nd to idntify th intia. Thus, th Intconnctd obsv can b gt by quation (6) and (8): 37 Pag

4 Intnational Jounal of Rsach in Engining and Scinc (IJRES) ISSN (Onlin): , ISSN (Pint): Volum 3 Issu 9 ǁ Sptmb. 25 ǁ PP Pag y K K T J k λδt -) ) Δ T λ ) b b) ) Δ ) )Δ T b ) 2 T ) T Δ T p i 2 (9) Th simulation block diagam in MATLAB is shown as follows: Fig.2 simulation block diagam IV. MATLAB SIMULATION ANALYSIS Th basic paamts of pmannt magnt synchonous moto a as follows: 2.875Ω Rs ;φ f =.75wb; 8.5mh L L q d ; 2 p ; m.kg J 2. Th simulation wavfoms in MATLAB a shown blow: Obsvation of thposition and spd of th oto:

5 Intnational Jounal of Rsach in Engining and Scinc (IJRES) ISSN (Onlin): , ISSN (Pint): Volum 3 Issu 9 ǁ Sptmb. 25 ǁ PP.35-4 Fig.3 Roto position tacking Fig.4 Roto spd idntification Fig.3 is th oto position tacking wavfom and Fig.4 is th Roto spd idntification. In th figu of oto position tacking, th hoizontal axis psnts tim, th vtical axis psnts cuvatu, sn fom th wavfom, th obsv can accuatly tack th position of th oto; in th figu of oto spd idntification, th hoizontal axis psnts tim, th vtical axis psnts angula vlocity, similaly, th is a wavfom diagam shows that th obsv can accuat idntification of th otational spd. Momnt of intia idntification: Th intia idntification by th intconnctd obsv: Fig.5 Constant spd Fig.6 Spd sinusoidal Fig.7 A stp chang in th load toqu Figus 5, 6, 7 a th intia idntification in diffnt opating conditions of svo systm, spctivly. Fig. 5 idntification of momnts of intia at constant spd; Fig. 6 idntification of momnts of intia whn a sinusoidal chang occus at a spd; Fig. 7 idntification of momnts of intia whn th load toqu is changd. In Figu 5, th otating spd is constant, th Intnt obsv in a vy shot piod of tim to achiv th accuat idntification of intia; In Figu 6, du to th sinusoidal changs in th spd, th ovshoot of th 39 Pag

6 Intnational Jounal of Rsach in Engining and Scinc (IJRES) ISSN (Onlin): , ISSN (Pint): Volum 3 Issu 9 ǁ Sptmb. 25 ǁ PP.35-4 ovshoot is gnatd duing th pocss of idntification, but th idntification sults still convg to th coct valu aft a piod of tim; In Figu 7, th load toqu in.5 sconds tim stp changs occu. Th idntification sults a similaly affctd, but in a vy shot piod of tim, apid convgnc to th accuat valus. V. 5CONCLUSINO This pap studis th modl fnc adaptiv and Rhombg obsv.combining Rhombg obsv and th modl fnc adaptiv tostablish th adaptiv intconnctd obsv, and vntually aliz th onlin idntification of th intia of th oto. In th pocss of idntification, th idntification of momnt of intia is caid out by changing th diffnt svo systm opating conditions, By th simulation analysis, th adaptiv intconnctd obsv can still idntify th momnt of intia accuatly whn th svo systm opating conditions is diffnt. VI. ACKNOWLEDGEMENTS My dpst gatitud gos fist and fomost to Pofsso ZENG Guohui, my supviso, fo his constant ncouagmnt and guidanc. H has walkd m though all th stags of th witing of this thsis. Without his consistnt and illuminating instuction, this thsis could not hav achd its psnt fom. Also I would lik to xpss my hatflt gatitud to my pojct tam mmbs, and thy gav m hlp and tim in listning to m and hlping m wok out my poblms duing th difficult cous of th thsis. At th sam tim,this wok is suppotd by th Innovation foundation of SUES und Gant N.E REFERENCES [] Huang Pan fng,wang Dong k,mngzhongji,liu Zhng xiong,post-captu attitud contol fo a tthd spac obot tagt combination systm,robotica(24) 22. [2] M. Mngoni, L. Zai, A. Tani, G. Ea, and D. Casadi, A compaisonof fou obust contol schms fo fild-wakning opation of induction motos, IEEE Tans. Pow Elcton., vol. 27, no., pp , Jan.22. [3] S. Ziainjad, Y. Sangsfidi, H. P. Nabi, and A. Shoulai, Dict toqucontol of two-phas induction and synchonous motos, IEEE Tans.Pow Elcton., vol. 28, no. 8, pp , Aug. 23. [4] P. Sgant, F. D Bli, and J. Mlkbk, Roto gomty dsign ofintio PMSMS with and without flux bais fo mo accuat snsolsscontol, IEEE Tans. Ind. Elcton., vol. 59, no. 6, pp ,Jun. 22. [5] Acctta, M. Ciincion, M. Pucci, and G. Vital, Snsolss contolof PMSM factional hospow divs by signal injction and nualadaptiv-band filting, IEEE Tans. Ind. Elcton., vol. 59, no. 3,pp , Ma. 22. [6] S. K. Sahoo, S. Dasgupta, S. K. Panda, and J. X. Xu, A lyapunovfunction-basd obust dict toqu contoll fo a switchd luctancmoto div systm, IEEE Tans. Pow Elcton., vol. 27, no. 2, pp , Fb. 22. [7] K. Liu, Z. Q. Zhu, Q. Zhang, and J. Zhang, Influnc of nonidal voltagmasumnt on paamt stimation in pmannt-magnt synchonousmachins, IEEE Tans. Ind. Elcton., vol. 59, no. 6, pp ,Jun. 22. [8] J. L, J. Hong, K. Nam, R. Otga, L. Paly, and A. Astolfi, Snsolsscontol of sufac-mount pmannt-magnt synchonous motos basdon a nonlina obsv, IEEE Tans. Pow Elcton., vol. 25, no. 2,pp , Fb. 2. [9] J. Sopann, V. Ruuskann, J. Ng, and J. Pyhonn, Dynamic toquanalysis of a wind tubin div tain including a dict-divn pmannt magntgnato, IEEE Tans. Ind. Elcton., vol. 58, no. 9, pp , Sp Pag