Kukkola, Jarno & Hinkkanen, Marko State observer for grid-voltage sensorless control of a grid-connected converter equipped with an LCL filter
|
|
- Sheila Cooper
- 6 years ago
- Views:
Transcription
1 Powered by TCPDF ( Thi i an electronic reprint of the original article. Thi reprint may differ from the original in pagination and typographic detail. Author(): Title: Kukkola, Jarno & Hinkkanen, Marko State oberver for grid-voltage enorle control of a grid-connected converter equipped with an LCL filter Year: 24 Verion: Pot print Pleae cite the original verion: Kukkola, Jarno & Hinkkanen, Marko. 24. State oberver for grid-voltage enorle control of a grid-connected converter equipped with an LCL filter. 6th European Conference on Power Electronic and Application (EPE'4-ECCE Europe). ISBN (electronic). DOI:.9/epe Right: 24 Intitute of Electrical & Electronic Engineer (IEEE). Peronal ue of thi material i permitted. Permiion from IEEE mut be obtained for all other ue, in any current or future media, including reprinting/republihing thi material for advertiing or promotional purpoe, creating new collective work, for reale or reditribution to erver or lit, or reue of any copyrighted component of thi work in other work. All material upplied via Aaltodoc i protected by copyright and other intellectual property right, and duplication or ale of all or part of any of the repoitory collection i not permitted, except that material may be duplicated by you for your reearch ue or educational purpoe in electronic or print form. You mut obtain permiion for any other ue. Electronic or print copie may not be offered, whether for ale or otherwie to anyone who i not an authoried uer.
2 State Oberver for Grid-Voltage Senorle Control of a Grid-Connected Converter Equipped With an LCL Filter Jarno Kukkola and Marko Hinkkanen Aalto Univerity School of Electrical Engineering Department of Electrical Engineering and Automation P.O. Box 3, FI-76 Aalto Epoo, Finland jarno.kukkola@aalto.fi, marko.hinkkanen@aalto.fi Acknowledgment The author would like to thank ABB Oy, Walter Ahltröm Foundation, and Finnih Foundation for Technology Promotion for the financial upport. Keyword Adaptive oberver, grid-connected converter, grid-voltage enorle, enorle control, mall-ignal linearization Abtract Thi paper propoe a imple grid-voltage enorle alternative to the conventional PLL ynchronization for a grid-connected converter equipped with an LCL filter. The grid-voltage magnitude and angle are etimated baed only on the converter current and DC-voltage meaurement. Reduced number of enor decreae cot and amount of enor wiring. The analytically derived deign i validated experimentally.. Introduction Three-phae grid converter equipped with an AC-ide LCL filter are increaingly ued to connect variou renewable and ditributed energy ource a well a motor drive to the electric grid. Interet for uing LCL filter ha increaed, becaue they afford better grid-current quality, lower cot, and maller phyical ize in comparion with the L filter. The control cheme of thee converter i uually implemented in the grid-voltage or grid-flux ynchronou reference frame (dq), in the natural reference frame (abc), or in the tationary reference frame (αβ). Regardle of the reference frame, ynchronization with the grid i needed for intantaneou active and reactive power control. Conventionally, ynchronization i achieved uing ome variant of the phae-locked loop (PLL) to detect the angle of the meaured grid voltage. If the grid voltage i not meaured, the ynchronization can be baed on: ) control error (i c,ref i c ) of current control []; 2) DC-link power balance [2]; 3) intantaneou power theory [3]; 4) duality between the grid-connected converter and the PWM inverter-fed electric motor [4, 5]; 5) direct etimation [6, 7]; or 6) adaptive model-baed etimation [8]. The above-mentioned method have been developed for a grid-connected converter uing the conventional L filter, but in the cae of the reonant LCL filter, only a few [9 3] grid-voltage enorle ynchronization method exit. For the grid-voltage enorle ynchronization in the cae of the LCL filter, the Kalman filter ha been ued to directly detect the grid voltage together with LCL filter tate [9]. Intead of direct etimation, in [], the grid voltage ha been adapted uing the grid-current etimation error of the Kalman filter. However, the proce noie parameter for the Kalman filter, which determine the dynamic of the oberver, have to be determined by trial and error [9]. In [], power-theory-baed grid-voltage etimation
3 ha been propoed for the converter with an LCL filter, but intead of the grid voltage, the capacitor voltage of the LCL filter ha been etimated. In the cae of the grid converter equipped with an LC filter, a neural-network grid-voltage etimator ha been preented in [4], and a teepet-decent adaptation algorithm ha been ued for the grid-voltage etimation. Moreover, the erie reitance and inductance have been identified in parallel with the grid-voltage etimator in [4]. The parallel etimator provide the elf-tuning feature, but high expertie of modern control theory i needed when deigning and analyzing the neural-network etimator. Similar algorithm have been ued without neural network [2], whereupon the additional value of neural network with thee relatively imple model can be challenged. Furthermore, in the cae of LCL filter, the teepet-decent algorithm ha been ued with the adaptive oberver [2, 3] to directly etimate the grid voltage from the converter current etimation error of the Kalman filter [2], or to give an etimate of the aggregated uncertaintie, which include information about the grid voltage [3]. In thi paper, an etimation method for the grid-voltage magnitude and angle i propoed. The propoed method i baed on the full-order oberver [5], which i augmented with adaptation loop for the grid voltage magnitude and angle. Only the AC-ide converter current and the DC-ide voltage are meaured. In the adaptation loop, grid-voltage etimation i baed on regulating the error between the meaured and etimated converter current to zero uing proportional-integral (PI) controller. Grid-voltage and tate etimation reduce the number of enor, which provide cot advantage and decreae the amount of enor wiring. Analytical deign rule, enabling automatic tuning of the etimation method, are alo propoed. Firt, the ytem model and the oberver are defined. Then, adaptation loop are formulated and their dynamic are analyzed by mean of mall-ignal linearization. The expreion for the oberver and adaptation gain are given a function of ytem parameter and deired dynamic. Finally, imulation and experimental reult are preented. 2. Model The equivalent circuit model of the LCL filter model, between converter and grid, i preented in Fig.. The grid voltage in the tationary reference frame i u g = e jϑg u g, () where ϑ g = ω g dt i the angle, ω g i the angular frequency, and u g i the amplitude of the grid voltage. When the converter-ide current i c, the capacitor voltage u f, and the grid-ide current i g of the LCL filter are elected a tate variable, the LCL filter dynamic in a reference frame rotating at the angular frequency of ˆω g are d dt i c u f i g }{{} x = jˆω g L fc C f jˆω g C f jˆω g L fg } {{ } A i c u f i g L fc + u c + }{{} B c L fg } {{ } B g u g, i c = [ ] x, }{{} C c where u c and u g are the converter and grid voltage, repectively, and L fc, C f, and L fg are the LCL filter parameter. The loe of the filter are neglected, which repreent the wort-cae ituation for the (2) i L c fc L i fg g u c C f u f u g Fig. : The grid-connected LCL filter. The upercript refer to the tationary reference frame, which i ued for the ake of implicity.
4 u d u d,ref DC-voltage control q ref p ref Current reference calculation i c,ref Current control u c,ref e j( ˆϑ g+ϑ d ) SVPWM û g ˆx Adaptive oberver ˆϑg i c e j ˆϑ g i c Gate ignal Etimated grid-voltage reference frame Stationary reference frame p g, q g LCL Fig. 2: Block diagram of the control ytem. reonance of the LCL filter. Switching-cycle-averaged complex-valued pace vector are ued (e.g., the converter current i c = i cd + ji cq ). Complex, matrix, and vector quantitie are marked with boldface ymbol. 3. Adaptive Oberver The block diagram of the control ytem i hown in Fig. 2. The power balance i regulated with a DC-voltage controller together with an inner tate-pace current controller [5]. The full-order oberver etimate the tate variable x = [i c u f i g ] T for the tate-pace controller. The oberver gain vector L = [l l 2 l 3 ] T can be expreed by deired dynamic behavior and ytem parameter, a in [5], contrary to the Kalman filter whereby the knowledge of the noie covariance i needed [9, 2]. The ynchronou reference frame of the control ytem i tied to the etimated grid voltage, i.e., û g = û g + j, and it i rotating at etimated grid-voltage angular frequency of ˆω g. The magnitude and angle of the grid voltage are etimated uing an adaptation loop, explained later. In the elected reference frame, the full-order oberver i ˆx = ˆx + ˆB c u c + ˆB g û g + L(i c îc), î c = C cˆx, (3) where the etimated quantitie are marked with ˆ, and Â, ˆBc and ˆB g conit of nominal (etimated) ytem parameter ˆL fc, Ĉf, and ˆL fg. If accurate circuit parameter are aumed, i.e., ˆB c = B c, ˆB g = B g, and  = A, the dynamic of the etimation error e = x ˆx are obtained from (2) and (3) a ė = (A LC c )e + B g (e j(ϑg ˆϑ g) u g û g ), (4) where ˆϑ g i etimated angle of the grid voltage. A can be een from the equation, the etimation error dynamic are nonlinear and are affected by the angle difference ϑ g ˆϑ g between the reference frame of the grid voltage and the oberver and the difference u g û g between the grid-voltage magnitude and it etimate. In the following, the error dynamic are linearized in order to examine thee relationhip more cloely. 3.. Linearization The nonlinear dynamic of (4) can be linearized uing mall-ignal approach. The operation point quantitie are marked by ubcript and mall-ignal deviation by, e.g. ˆω g = ˆω g + ˆω g. Accurate circuit parameter etimate and grid-voltage etimation are aumed. Hence, e =, ω g = ˆω g, ϑ g = ˆϑ g,
5 and û g = u g hold in the operation point. Then, the linearized etimation error dynamic are dẽ dt = (A L C c )ẽ + B g [ e j( ϑ g ˆϑ g) }{{} (u g + ũ g ) û g û g ] +j( ϑ g ˆϑg) (5) = (A L C c )ẽ + B g [ũ g û g + j( ϑ g ˆϑg )u g ]. Further, if the grid voltage, the angular peed, and the angle error are denoted by ũ = ũ g û g, ω = ω g ˆω g, and ϑ = ϑ g ˆϑg, repectively, the etimation error dynamic are [ẽ ] [ ] [ẽ ] [ ] [ ] d A L = C c jb g u g Bg + ũ + ω dt ϑ ϑ }{{}}{{}}{{} A L B u B ω The converter current i the only meaured tate variable. Therefore, let u examine the effect of the etimation error of the grid voltage and angular peed on the etimation error of the converter current ĩ = ĩc î c. From (6), the tranfer function from the grid-voltage error to the current error i ĩ() ũ() = C c (I A L ) B u = P () where C c = [C c ], and ( P () = C f L fc L fg [ 3 + (3jω g + l ) 2 + 3ωg 2 + L fc + L fg + 2jω g l l ) 2 C f L fc L fg L fc jωg 3 ωgl 2 jω ] g l 2 + jω g (L fc + L fg ) + L fc l + L fg l 3. L fc Similarly, the tranfer function from the angular-peed error to the current error i ju g ĩ() ω() = C c (I A L ) B ω = P () and the tranfer function from the angle error to the current error i obtained from (9) uing the relationhip ϑ g = ω g dt, leading to ϑ = ω/. It i to be noted that the oberver gain (l, l 2, and l 3 ) trongly affect the characteritic polynomial of the tranfer function. Further, thi i een in the orientation of the current error ĩ in the complex plane Selection of the Full-Order Oberver Gain The direct pole placement i a traightforward method for the election of the full-order oberver gain. Thi can be done auming firt the perfect grid-voltage orientation and known or meaured grid voltage. Then, the characteritic polynomial of the etimator error dynamic (4) i et to correpond the thirdorder dynamic a follow det(i A + LC c ) = ( + α o )( 2 + 2ζ o2 ω o2 + ω 2 o2), () where α o determine the firt-order pole and ζ o2 and ω o2 the econd-order pole pair of the etimator dynamic. Thi give the gain l = α o + 2ζ o2 ω o2 3jω g l 2 = L fc ( 2α o ζ o2 ω o2 + ω 2 o2 + 3ω 2 g L fc + L fg L fc L fg C f 2jω g l ) l 3 = α o ω 2 o2c f L fc + jω g ( ω 2 gc f L fc L fc L fg ) ( + ωgc 2 f L fc L ) fc l + jω g C f l 2. L fg (6) (7) (8) (9) (a) (b) (c) The oberver gain are function of the ytem parameter, the grid angular frequency at the operating point and the deired pole of the etimation error dynamic. The pole can be een a tuning parameter and their election can be baed on the open-loop ytem, a decribed in [5].
6 3.3. Adaptation Law Since the grid voltage i not meaured, the oberver in (3) i upplemented with the adaptation of the magnitude and angle of the grid voltage. Here, quai-teady-tate analyi i ued to deign the adaptation loop. The etimation error dynamic of the full-order oberver in (6) are conidered to be much fater than the adaptation mechanim of the grid voltage and it angle. The different time cale enable conidering the current etimation error ĩ = ĩc î c being in teady tate from the viewpoint of the adaptation. If the gain () are inerted in (7), the tranfer function reduce to G iu () = ĩ() ũ() = C f L fc L fg ( + α o )( 2 + 2ζ o2 ω o2 + ω 2 o2 ) (2) Similarly, if the gain () are inerted in (9), the tranfer function become ju g G iω () = ĩ() ω() = C f L fc L fg ( + α o )( 2 + 2ζ o2 ω o2 + ωo2 2 ) (3) Auming thee tranfer function to be in teady tate (i.e., = ) lead to u g ĩ = C f L fc L fg α o ωo2 2 ũ j ϑ. C f L fc L fg α o ωo2 2 (4) Thi equation how that the d component ĩ d of the etimation error i affected by the grid-voltage etimation error ũ and the q component ĩ q i affected by the angle error ( ϑ = ω/). Thee obervation point out that the etimation of the grid voltage and it angular peed can be baed on regulating the error between the converter current and etimated current to be zero. Hence, the adaptation law for the grid voltage and it angular peed can be contructed a follow û g = k pu ĩ d + k iu ĩ d dt, ˆω g = k pω ĩ q + k iω ĩ q dt (5) where k pu, k iu, k pω, and k iω are the gain of the adaptation-loop controller. It i worth noting that the election of the oberver gain ha ignificant effect on the formulation of the adaptation law. If zero oberver gain are inerted in (7) and (9), the current component for the adaptation loop hould be elected oppoite. Thi can be eaily hown with a imilar quai-teady-tate analyi, which give u g ĩ = ω g (L fc + L fg ωg 2 C fl fc L fg ) ϑ + j ω g (L fc + L fg ωg 2 C fl fc L fg )ũ (6) in the cae of zero oberver gain. The d component ĩ d of the converter current error i affected by the angle error ϑ and the q component ĩ q by the voltage error, which i oppoite to (4) Adaptation-Loop Gain Fig. 3(a) and 3(b) how the linearized adaptation loop of the grid voltage and it angular peed. The gain of the adaptation-loop controller can be elected to give the approximate bandwidth of α u for the etimation dynamic of the amplitude of the grid voltage and the natural frequency of ω ω for the etimation dynamic of the angular frequency of the grid voltage. Conidering the etimation error of the converter current in teady tate a in (4) and electing k pu = and k iu = α u C f L fc L fg α o ω 2 o2, (7) in (5), the cloed-loop tranfer function of the linearized grid-voltage adaptation loop i G u () = û g () ũ g () = α u + α u (8)
7 with the bandwidth of α u. Similarly, uing the teady-tate approximation (4), the gain for the adaptation law of the angular peed in (5) can be elected a k pω = 2ζ ω ω ω C f L fc L fg α o ω 2 o2/u g and k iω = ω 2 ω C f L fc L fg α o ω 2 o2/u g. (9) Then, the cloed-loop tranfer function of the approximated and linearized adaptation loop of the angular peed i G ω () = ˆω g () ω g () = 2ζ ωω ω + ωω ζ ω ω ω + ωω 2 with the natural frequency of ω ω and damping of ζ ω. (2) 3.5. Small-Signal Stability The quai-teady-tate approximation can be ued to give imple tuning for adaptation loop. However, if the bandwidth of the adaptation loop are increaed cloe to the bandwidth of the full-order oberver, the quai-teady-tate aumption i not valid anymore and the tability of the loop can be lot. In the following, the mall-ignal tability of the adaptation loop i analyzed. With the elected tuning, the cloed-loop tranfer function of the adaptation loop of the grid voltage magnitude i ( ) Re{G iu ()} k pu + k iu k G u () = ( ) iu = + Re{G iu ()} k pu + k iu / Re{G iu ()} + k iu (2) α u α o ωo2 2 = 4 + (α o + 2ζ o2 ω o2 ) 3 + (2α o ζ o2 ω o2 + ωo2 2 )2 + α o ωo2 2 + α u α o ωo2 2. Since the degree of characteritic polynomial i four, analytical calculation of the pole become difficult. However, the tability can be teted uing the Routh-Hurwitz tability criterion [6]. Thi give neceary and ufficient condition for the tability of the ytem. A an example, the polynomial P () = a a a a + a, ha the root with negative real part and i thu table (Hurwitz polynomial), if the following condition are fulfilled: a i > for all i =... 4, a 2 a 3 > a a 4, and a a 2 a 3 > a a 2 3 +a2 a 4. According to polynomial of the example, the tability criterion for the magnitude adaptation i: all the tuning parameter α o, ω o2, ζ o2, and α u (i.e., deired pole of the oberver and the adaptation loop) mut be poitive and it i neceary that α u < (a 2 a 3 a )/a 2 3, (22) ũ g ω g ũ ω G iu () G iω () ĩ ĩ Re{ } (a) Im{ } k pu + k iu k pω + k iω ûg ˆωg ˆϑ g Damping ratio ζω Stable area Natural frequency ω ω /(2π) (Hz) (b) (c) Fig. 3: (a) Block diagram of the linearized adaptation loop of grid voltage etimation; (b) Block diagram of the linearized adaptation loop of the grid angle etimation. The tranfer function G iu () and G iω () are obtained from (6).; (c) Region of the table operation of the angle adaptation loop when the tuning of the full-order oberver i: α o = 2π rad/, ω o2 = 2π 42 rad/, and ζ o2 =.5. With the elected tuning, the table area i limited by the boundary condition of (25).
8 where a 3 = α o + 2ζ o2 ω o2, a 2 = 2α o ζ o2 ω o2 + ωo2 2 and a = α o ωo2 2. The equation determine the upper limit for the tuning parameter α u, which i the approximate bandwidth for the etimation of the grid-voltage magnitude. A an example, if α o = 2π rad/, ω o2 = 2π 42 rad/ and ζ o2 =.5 are elected, the condition α u < 2π 75 rad/ mut hold. When the elected tuning i ued, the cloed-loop tranfer function of the angle adaptation loop i ( ) Im{G iω ()} k pω + k iω G ω () = ( ) + Im{G iω ()} k pω + k iω (23) = 2ζ ω ω ω α o ω 2 o2 + ω2 ω α o ω 2 o2 2 ( + α o )( 2 + 2ζ o2 ω o2 + ω 2 o2 ) + 2ζ ωω ω α o ω 2 o2 + ω2 ω α o ω 2 o2 The Routh-Hurwitz tability criterion for thi ytem i: all the tuning parameter α o, ω o2, ζ o2, ω ω, and ζ ω mut be poitive and it i neceary that ω 2 ω 2e ζ ω ω ω + f e > (24) and ω 3 ω + 4e ζ ω ω 2 ω ω ω ( f 2 α o ω 2 o2 e + 4ζ2 ω e 2 + f e ) + 2ζ ω f >, (25) where e = α o + 2ζ o2 ω o2 and f = 2ζ o2 ω o2 (ω 2 o2 + α2 o + 2α oζ o2 ω o2 ). The boundary condition of the equation (25) i illutrated in Fig. 3(c). It i to be noted that the derived tability condition determine the local tability of the nonlinear etimation error dynamic in ideal condition. In the true ytem, error due to the dicretization and parameter uncertaintie naturally hrink the table operation area. However, the preented condition can be een a an uppermot limit for the deign and they can be ued to perceive the limitation of the tuning. 4. Control Sytem The block diagram of the control ytem compriing cacaded DC-voltage and current control loop i hown in Fig. 2. State-pace current control [5] i implemented in the etimated grid-voltage reference frame. The current controller and the oberver are dicretized uing Tutin method. The PI regulator of the adaptation loop and DC-voltage control are dicretized uing the forward Euler method. The component of the current reference i c,ref = i cd,ref + ji cq,ref are calculated in the teady tate. From (2), the grid current i i g = (i c jˆω g C f u g )/( ˆω 2 gc f L fg ). The complex power at the point of common coupling i g = 3/2 u g i g = p g + jq g. Auming i c = i c,ref, the current reference become i cd,ref = 2 3 ˆω gc 2 f L fg p ref, i cq,ref = 2 ˆω gc 2 f L fg q ref + ˆω g C f û g, (26) û g 3 û g where the peak-value caling of the pace vector i ued, and p ref and q ref are the reference for the active and reactive power, repectively. The active power reference i the output of DC-voltage control, which i implemented indirectly by mean of DC-capacitor energy control [7,8]. A pure PI-controller i ued for the capacitor energy control, a in [7], but the tuning i baed on the parameter of the ytem, a in [8]. The pace-vector pule-width modulation (SVPWM) i ued and a imple current feedforward dead-time compenation i added [9]. The effect of the delay on the ynchronou-to-tationary reference frame tranformation i compenated for by modifying the tranformation e j ˆϑ g e j( ˆϑ g+ϑ d ), where ϑ d = (3/2) ˆω g T a decribed in [2]. It i worth noticing that the tuning of the control ytem can be automated, if the equivalent circuit parameter of the ytem are known or etimated. All the oberver gain (), (7), and (9) are function
9 Table I: Sytem parameter. Parameter Value Parameter Value u g 2/3 4 V ( p.u.) ωg 2π 5 rad/ i N 2 8 A ( p.u.) Cf µf (.4 p.u.) L fc 2.94 mh (.72 p.u.) L fg.96 mh (.48 p.u.) f w 6 khz T /(2f w ) of the equivalent circuit parameter and deired dynamic performance pecification. Either nominal or etimated value could be ued for the operation-point grid voltage in the gain expreion (nominal value are ued in thi paper). A the input value for the tuning, the dynamic performance pecification mut be determined: ) deired bandwidth and the reonance damping of the LCL filter for the tate-pace controller, 2) convergence dynamic of the etimation error for the full-order oberver, 3) approximate bandwidth for the controller in the adaptation loop. The robutne of the control ytem depend on the elected performance pecification. The more robut ytem i deired, the lower dynamic performance hould be pecified. In thi paper, the following performance pecification are ued. The current controller i tuned to give an approximate bandwidth of 2π 5 rad/ a in [5]. The dominant dynamic of the oberver i et twice a fat a the current control, i.e, α o = 2π rad/ and the econd-order pole of the oberver ω o2 i et to correpond to the reonance frequency ω p = 2π 47 rad/ of the LCL filter in the ynchronou reference frame, i.e., ω o2 = ω p ω g. The damping of thi pole pair i et to ζ o2 =.5. The tuning of the adaptation loop i et, with a good damping, approximately one decade below the theoretical limit obtained from (22), (24) and (25). Thu, the tuning parameter for the adaptation loop are: α u = 2π rad/, ω ω = 2π 5 rad/ and ζ ω =.9. The DC-voltage regulator bandwidth [8] i et approximately one decade below the current controller bandwidth. The ytem parameter are given in Table I. 5. Experimental Reult The propoed grid-voltage enorle cheme wa experimentally teted uing a 2.5-kVA, 4-V, gridconnected converter equipped with an LCL filter. The control of the converter wa implemented on dspace DS6, DS22, and DS522 board. The witching frequency of the converter wa f w = 6 khz, and ynchronou ampling, twice per carrier, wa ued. The DC-link voltage wa regulated to 65 V and the converter under tet wa loaded with another back-to-back connected converter (2.5 kva, 4 V) with an LCL filter. An iolation tranformer wa ued in the grid connection of the loading converter. Fig. 4(a) illutrate the operation of the converter when an impule diturbance of 6 wa applied into the etimated grid-voltage angle ˆϑ g inide the control ytem. The converter wa upplying a power of Angle (deg) ˆϑ g ϑ g Angle error (deg) Meaured ϑ g ˆϑ g Small-ignal imulation Time () Time () (a) (b) Fig. 4: Experimental reult when a tep diturbance in the angle etimate of the grid voltage i applied: (a) etimated and meaured angle, ˆϑ g and ϑ g, repectively; (b) imulated and meaured angle error.
10 Grid voltage (V) û g u g Voltage error (V) Meaured u g û g Small-ignal imulation Time () (a) Time () (b) Fig. 5: Experimental reult when a tep diturbance in the amplitude etimate of the grid voltage i applied: (a) etimated and meaured amplitude of the grid voltage; (b) imulated and meaured amplitude error. Power, current (p.u.) p g i ga.8 i gb i gc Time () (a) Power (p.u.) q g,ref q g p g Time () (b) Fig. 6: Experimental reult: (a) Operation with both power direction. Phae current and the power p g are meaured from the grid-ide of the LCL filter; (b) Waveform of the active power p g and reactive power q g injected to the grid at the grid-ide of the LCL filter, when a tep of 5 kvar (.4 p.u.) i applied into the reactive power reference q g,ref. A 2-m period i hown. 5 kw (.4 p.u.) to the grid. Fig. 4(b) compare the meaured and imulated waveform of the etimated grid-voltage angle error during the diturbance. In the imulation, an angular peed impule correponding a diturbance of 6 in the angle etimate wa applied in ω g in the mall-ignal model hown in Fig. 3(b). A can be een from the Fig. 4(b), the agreement with the mall-ignal imulation and the meaurement i good. Meaured dynamic behavior of the etimation of the grid voltage amplitude i hown in Fig. 5(a), when a diturbance of 3 V wa applied in the amplitude etimate. The converter wa upplying the power of 5 kw. Experimental reult are compared with the mall-ignal imulation in Fig. 5(b). In the imulation, tep of 3 V wa applied in the ignal ũ g in the mall-ignal model hown in Fig. 3(a). The reult of Fig. 5(b) indicate good agreement with the mall-ignal imulation and the meaurement. Fig. 6(a) demontrate the ability to operate with both power direction. The loading condition of the converter under tet wa changed from kw to kw by changing the direction of the active power of the load connected to the DC bu. Further, dynamic performance of the current control i illutrated in Fig. 6(b), when a tep of 5 kvar wa applied into the reference of the reactive power q g. At the ame time, the converter wa upplying the active power of p g 5 kw. A Fig. 6(b) how, the reonance of the LCL filter i effectively damped and the reactive power rapidly follow it reference according to the deigned dynamic of the current control. 6. Concluion Thi paper preent an adaptive full-order oberver for the grid-voltage enorle control of a gridconnected converter equipped with an LCL filter. Converter-ide current of the LCL filter and DC voltage are only meaured variable, and the full-order oberver i ued for tate etimation. Further, the magnitude and angle of the grid voltage are etimated uing the converter current etimation error a an
11 input for adaptation loop. Preented analytical deign of the adaptation loop give imple expreion for the oberver and adaptation gain, which enable automatic tuning. Experimental reult indicate fat tracking of the magnitude and angle of the grid voltage. The propoed etimation cheme i a enorle alternative to conventional PLL and it could be applied, e.g., in the grid-connected converter of a motor drive. Reduced number of enor provide cot advantage and decreae amount of enor wiring. Reference [] I. Agirman and V. Blako, A novel control method of a VSC without AC line voltage enor, IEEE Tran. Ind. Appl., vol. 39, no. 2, pp , Mar./Apr. 23. [2] T. Ohnihi and K. Fujii, Line voltage enorle three phae PWM converter by tracking control of operating frequency, in Proceeding of the Power Converion Conference - Nagaoka 997, vol., Nagaoka, Japan, 997, pp [3] T. Noguchi, H. Tomiki, S. Kondo, and I. Takahahi, Direct power control of PWM converter without powerource voltage enor, IEEE Tran. Ind. Appl., vol. 34, no. 3, pp , May/Jun [4] M. Malinowki, M. P. Kazmierkowki, S. Hanen, F. Blaabjerg, and G. D. Marque, Virtual-flux-baed direct power control of three-phae PWM rectifier, IEEE Tran. Ind. Appl., vol. 37, no. 4, pp. 9 27, Jul./Aug. 2. [5] J. A. Suul, A. Luna, P. Rodriguez, and T. Undeland, Voltage-enor-le ynchronization to unbalanced grid by frequency-adaptive virtual flux etimation, IEEE Tran. Ind. Electron., vol. 59, no. 7, pp , Jul. 22. [6] H.-S. Song, I.-W. Joo, and K. Nam, Source voltage enorle etimation cheme for PWM rectifier under unbalanced condition, IEEE Tran. Ind. Electron., vol. 5, no. 6, pp , Dec. 23. [7] A. E. Leon, J. A. Solona, and M. I. Valla, Control trategy for hardware implification of voltage ource converter-baed power application, IET Power Electronic, vol. 4, no., pp. 39 5, Jan. 2. [8] D.-C. Lee and D.-S. Lim, AC voltage and current enorle control of three-phae PWM rectifier, IEEE Tran. Power Electron., vol. 7, no. 6, pp , Nov. 22. [9] B. Bolen, K. De Brabandere, J. Van den Keybu, J. Drieen, and R. Belman, Model-baed generation of low ditortion current in grid-coupled PWM-inverter uing an LCL output filter, IEEE Tran. Power Electron., vol. 2, no. 4, pp. 32 4, Jul. 26. [] S. Mariéthoz and M. Morari, Explicit model-predictive control of a PWM inverter with an LCL filter, IEEE Tran. Ind. Electron., vol. 56, no. 2, pp , Feb. 29. [] M. Malinowki and S. Bernet, A imple voltage enorle active damping cheme for three-phae PWM converter with an LCL filter, IEEE Tran. Ind. Electron., vol. 55, no. 4, pp , Apr. 28. [2] K. H. Ahmed, A. M. Maoud, S. J. Finney, and B. W. William, Senorle current control of three-phae inverter-baed ditributed generation, IEEE Tran. Power Del., vol. 24, no. 2, pp , Apr. 29. [3] Y. A.-R. I. Mohamed, M. A-Rahman, and R. Seethapathy, Robut line-voltage enorle control and ynchronization of LCL-filtered ditributed generation inverter for high power quality grid connection, IEEE Tran. Power Electron., vol. 27, no., pp , Jan. 22. [4] Y. A.-R. I. Mohamed and E. F. El-Saadany, Adaptive dicrete-time grid-voltage enorle interfacing cheme for grid-connected DG-inverter baed on neural-network identification and deadbeat current regulation, IEEE Tran. Power Electron., vol. 23, no., pp , Jan. 28. [5] J. Kukkola and M. Hinkkanen, Oberver-baed tate-pace current control for a three-phae grid-connected converter equipped with an LCL filter, IEEE Tran. Ind. Appl., vol. 5, no. 4, Jul./Aug. 24. [6] G. F. Franklin, J. D. Powell, and A. Emami-Naeini, Feedback Control of Dynamic Sytem. New Jerey: Prentice-Hall, 22. [7] N. Hur, J. Jung, and K. Nam, A fat dynamic DC-link power-balancing cheme for a PWM converter-inverter ytem, IEEE Tran. Ind. Electron., vol. 48, no. 4, pp , Aug. 2. [8] R. Otterten, On control of back-to-back converter and enorle induction machine drive, Ph.D. diertation, Dept. Elect. Power Eng., Chalmer Univ. of Technol., Göteborg, Sweden, 23. [9] J. K. Pederen, F. Blaabjerg, J. W. Jenen, and P. Thogeren, An ideal PWM-VSI inverter with feedforward and feedback compenation, in Fifth European Conference on Power Electronic and Application (EPE 993), vol. 5, Brighton, U.K, Sep. 993, pp [2] B.-H. Bae and S.-K. Sul, A compenation method for time delay of full-digital ynchronou frame current regulator of PWM AC drive, IEEE Tran. Ind. Appl., vol. 39, no. 3, pp. 82 8, May/Jun. 23.
ISSN: [Basnet* et al., 6(3): March, 2017] Impact Factor: 4.116
IJESR INERNAIONAL JOURNAL OF ENGINEERING SCIENCES & RESEARCH ECHNOLOGY DIREC ORQUE CONROLLED INDUCION MOOR DRIVE FOR ORQUE RIPPLE REDUCION Bigyan Banet Department of Electrical Engineering, ribhuvan Univerity,
More informationDigital Control System
Digital Control Sytem - A D D A Micro ADC DAC Proceor Correction Element Proce Clock Meaurement A: Analog D: Digital Continuou Controller and Digital Control Rt - c Plant yt Continuou Controller Digital
More informationGain and Phase Margins Based Delay Dependent Stability Analysis of Two- Area LFC System with Communication Delays
Gain and Phae Margin Baed Delay Dependent Stability Analyi of Two- Area LFC Sytem with Communication Delay Şahin Sönmez and Saffet Ayaun Department of Electrical Engineering, Niğde Ömer Halidemir Univerity,
More informationCHAPTER 4 DESIGN OF STATE FEEDBACK CONTROLLERS AND STATE OBSERVERS USING REDUCED ORDER MODEL
98 CHAPTER DESIGN OF STATE FEEDBACK CONTROLLERS AND STATE OBSERVERS USING REDUCED ORDER MODEL INTRODUCTION The deign of ytem uing tate pace model for the deign i called a modern control deign and it i
More informationSensorless speed control including zero speed of non salient PM synchronous drives
BULLETIN OF THE POLISH ACADEMY OF SCIENCES TECHNICAL SCIENCES Vol. 54, No. 3, 2006 Senorle peed control including zero peed of non alient PM ynchronou drive H. RASMUSSEN Aalborg Univerity, Fredrik Bajer
More informationinto a discrete time function. Recall that the table of Laplace/z-transforms is constructed by (i) selecting to get
Lecture 25 Introduction to Some Matlab c2d Code in Relation to Sampled Sytem here are many way to convert a continuou time function, { h( t) ; t [0, )} into a dicrete time function { h ( k) ; k {0,,, }}
More informationR. W. Erickson. Department of Electrical, Computer, and Energy Engineering University of Colorado, Boulder
R. W. Erickon Department of Electrical, Computer, and Energy Engineering Univerity of Colorado, Boulder ZOH: Sampled Data Sytem Example v T Sampler v* H Zero-order hold H v o e = 1 T 1 v *( ) = v( jkω
More informationComparison of Hardware Tests with SIMULINK Models of UW Microgrid
Comparion of Hardware Tet with SIMULINK Model of UW Microgrid Introduction Thi report include a detailed dicuion of the microource available on the Univerity- of- Wiconin microgrid. Thi include detail
More informationSERIES COMPENSATION: VOLTAGE COMPENSATION USING DVR (Lectures 41-48)
Chapter 5 SERIES COMPENSATION: VOLTAGE COMPENSATION USING DVR (Lecture 41-48) 5.1 Introduction Power ytem hould enure good quality of electric power upply, which mean voltage and current waveform hould
More informationQuestion 1 Equivalent Circuits
MAE 40 inear ircuit Fall 2007 Final Intruction ) Thi exam i open book You may ue whatever written material you chooe, including your cla note and textbook You may ue a hand calculator with no communication
More informationR. W. Erickson. Department of Electrical, Computer, and Energy Engineering University of Colorado, Boulder
R. W. Erickon Department of Electrical, Computer, and Energy Engineering Univerity of Colorado, Boulder Cloed-loop buck converter example: Section 9.5.4 In ECEN 5797, we ued the CCM mall ignal model to
More informationAdvanced D-Partitioning Analysis and its Comparison with the Kharitonov s Theorem Assessment
Journal of Multidiciplinary Engineering Science and Technology (JMEST) ISSN: 59- Vol. Iue, January - 5 Advanced D-Partitioning Analyi and it Comparion with the haritonov Theorem Aement amen M. Yanev Profeor,
More informationA Novel Direct Torque Control Scheme for Induction Machines With Space Vector Modulation
24 35th Annual IEEE Power Electronic Specialit Conference Aachen, Germany, 24 A Novel Direct Torque Control Scheme for Induction Machine With Space Vector Modulation Joé Rodríguez, Jorge Pontt, Céar Silva,
More informationControl Systems Engineering ( Chapter 7. Steady-State Errors ) Prof. Kwang-Chun Ho Tel: Fax:
Control Sytem Engineering ( Chapter 7. Steady-State Error Prof. Kwang-Chun Ho kwangho@hanung.ac.kr Tel: 0-760-453 Fax:0-760-4435 Introduction In thi leon, you will learn the following : How to find the
More informationFUNDAMENTALS OF POWER SYSTEMS
1 FUNDAMENTALS OF POWER SYSTEMS 1 Chapter FUNDAMENTALS OF POWER SYSTEMS INTRODUCTION The three baic element of electrical engineering are reitor, inductor and capacitor. The reitor conume ohmic or diipative
More informationMassachusetts Institute of Technology Dynamics and Control II
I E Maachuett Intitute of Technology Department of Mechanical Engineering 2.004 Dynamic and Control II Laboratory Seion 5: Elimination of Steady-State Error Uing Integral Control Action 1 Laboratory Objective:
More informationRepresentation of a Group of Three-phase Induction Motors Using Per Unit Aggregation Model A.Kunakorn and T.Banyatnopparat
epreentation of a Group of Three-phae Induction Motor Uing Per Unit Aggregation Model A.Kunakorn and T.Banyatnopparat Abtract--Thi paper preent a per unit gregation model for repreenting a group of three-phae
More informationWolfgang Hofle. CERN CAS Darmstadt, October W. Hofle feedback systems
Wolfgang Hofle Wolfgang.Hofle@cern.ch CERN CAS Darmtadt, October 9 Feedback i a mechanim that influence a ytem by looping back an output to the input a concept which i found in abundance in nature and
More informationKukkola, Jarno; Hinkkanen, Marko State observer for grid-voltage sensorless control of a converter under unbalanced conditions
Powered by TCPDF (www.tcpdf.org) This is an electronic reprint of the original article. This reprint may differ from the original in pagination and typographic detail. Kukkola, Jarno; Hinkkanen, Marko
More informationSIMON FRASER UNIVERSITY School of Engineering Science ENSC 320 Electric Circuits II. Solutions to Assignment 3 February 2005.
SIMON FRASER UNIVERSITY School of Engineering Science ENSC 320 Electric Circuit II Solution to Aignment 3 February 2005. Initial Condition Source 0 V battery witch flip at t 0 find i 3 (t) Component value:
More informationCHAPTER 8 OBSERVER BASED REDUCED ORDER CONTROLLER DESIGN FOR LARGE SCALE LINEAR DISCRETE-TIME CONTROL SYSTEMS
CHAPTER 8 OBSERVER BASED REDUCED ORDER CONTROLLER DESIGN FOR LARGE SCALE LINEAR DISCRETE-TIME CONTROL SYSTEMS 8.1 INTRODUCTION 8.2 REDUCED ORDER MODEL DESIGN FOR LINEAR DISCRETE-TIME CONTROL SYSTEMS 8.3
More informationFinding the location of switched capacitor banks in distribution systems based on wavelet transform
UPEC00 3t Aug - 3rd Sept 00 Finding the location of witched capacitor bank in ditribution ytem baed on wavelet tranform Bahram nohad Shahid Chamran Univerity in Ahvaz bahramnohad@yahoo.com Mehrdad keramatzadeh
More informationDigital Control System
Digital Control Sytem Summary # he -tranform play an important role in digital control and dicrete ignal proceing. he -tranform i defined a F () f(k) k () A. Example Conider the following equence: f(k)
More informationLecture 10 Filtering: Applied Concepts
Lecture Filtering: Applied Concept In the previou two lecture, you have learned about finite-impule-repone (FIR) and infinite-impule-repone (IIR) filter. In thee lecture, we introduced the concept of filtering
More informationLecture 8 - SISO Loop Design
Lecture 8 - SISO Loop Deign Deign approache, given pec Loophaping: in-band and out-of-band pec Fundamental deign limitation for the loop Gorinevky Control Engineering 8-1 Modern Control Theory Appy reult
More informationWhat lies between Δx E, which represents the steam valve, and ΔP M, which is the mechanical power into the synchronous machine?
A 2.0 Introduction In the lat et of note, we developed a model of the peed governing mechanim, which i given below: xˆ K ( Pˆ ˆ) E () In thee note, we want to extend thi model o that it relate the actual
More informationLecture 12 - Non-isolated DC-DC Buck Converter
ecture 12 - Non-iolated DC-DC Buck Converter Step-Down or Buck converter deliver DC power from a higher voltage DC level ( d ) to a lower load voltage o. d o ene ref + o v c Controller Figure 12.1 The
More informationHomework #7 Solution. Solutions: ΔP L Δω. Fig. 1
Homework #7 Solution Aignment:. through.6 Bergen & Vittal. M Solution: Modified Equation.6 becaue gen. peed not fed back * M (.0rad / MW ec)(00mw) rad /ec peed ( ) (60) 9.55r. p. m. 3600 ( 9.55) 3590.45r.
More informationState Space: Observer Design Lecture 11
State Space: Oberver Deign Lecture Advanced Control Sytem Dr Eyad Radwan Dr Eyad Radwan/ACS/ State Space-L Controller deign relie upon acce to the tate variable for feedback through adjutable gain. Thi
More informationChapter 9: Controller design. Controller design. Controller design
Chapter 9. Controller Deign 9.. Introduction 9.2. Eect o negative eedback on the network traner unction 9.2.. Feedback reduce the traner unction rom diturbance to the output 9.2.2. Feedback caue the traner
More informationPerformance Improvement of Direct Torque Controlled Interior Permanent Magnet Synchronous Motor Drive by Considering Magnetic Saturation
Performance Improvement of Direct Torque Controlled Interior Permanent Magnet Synchronou Motor Drive by Conidering Magnetic Saturation Behrooz Majidi * Jafar Milimonfared * Kaveh Malekian * *Amirkabir
More informationLecture 8. PID control. Industrial process control ( today) PID control. Insights about PID actions
Lecture 8. PID control. The role of P, I, and D action 2. PID tuning Indutrial proce control (92... today) Feedback control i ued to improve the proce performance: tatic performance: for contant reference,
More informationThe Influence of the Load Condition upon the Radial Distribution of Electromagnetic Vibration and Noise in a Three-Phase Squirrel-Cage Induction Motor
The Influence of the Load Condition upon the Radial Ditribution of Electromagnetic Vibration and Noie in a Three-Phae Squirrel-Cage Induction Motor Yuta Sato 1, Iao Hirotuka 1, Kazuo Tuboi 1, Maanori Nakamura
More informationModule 4: Time Response of discrete time systems Lecture Note 1
Digital Control Module 4 Lecture Module 4: ime Repone of dicrete time ytem Lecture Note ime Repone of dicrete time ytem Abolute tability i a baic requirement of all control ytem. Apart from that, good
More informationSolutions. Digital Control Systems ( ) 120 minutes examination time + 15 minutes reading time at the beginning of the exam
BSc - Sample Examination Digital Control Sytem (5-588-) Prof. L. Guzzella Solution Exam Duration: Number of Quetion: Rating: Permitted aid: minute examination time + 5 minute reading time at the beginning
More informationS_LOOP: SINGLE-LOOP FEEDBACK CONTROL SYSTEM ANALYSIS
S_LOOP: SINGLE-LOOP FEEDBACK CONTROL SYSTEM ANALYSIS by Michelle Gretzinger, Daniel Zyngier and Thoma Marlin INTRODUCTION One of the challenge to the engineer learning proce control i relating theoretical
More informationAutomatic Control Systems. Part III: Root Locus Technique
www.pdhcenter.com PDH Coure E40 www.pdhonline.org Automatic Control Sytem Part III: Root Locu Technique By Shih-Min Hu, Ph.D., P.E. Page of 30 www.pdhcenter.com PDH Coure E40 www.pdhonline.org VI. Root
More informationBasic parts of an AC motor : rotor, stator, The stator and the rotor are electrical
INDUCTION MOTO 1 CONSTUCTION Baic part of an AC motor : rotor, tator, encloure The tator and the rotor are electrical circuit that perform a electromagnet. CONSTUCTION (tator) The tator - tationary part
More informationImprovement of Transient Stability of Power System by Thyristor Controlled Phase Shifter Transformer
American Journal of Applied Science 7 (11): 1495-1499, 010 ISSN 1546-939 010 Science Publication Improvement of Tranient Stability of Power Sytem by Thyritor Controlled Phae Shifter Tranformer Prechanon
More informationDesign of Digital Filters
Deign of Digital Filter Paley-Wiener Theorem [ ] ( ) If h n i a caual energy ignal, then ln H e dω< B where B i a finite upper bound. One implication of the Paley-Wiener theorem i that a tranfer function
More informationSensorless Speed Control including zero speed of Non Salient PM Synchronous Drives Rasmussen, Henrik
Aalborg Univeritet Senorle Speed Control including zero peed of Non Salient PM Synchronou Drive Ramuen, Henrik Publication date: 2 Document Verion Publiher' PDF, alo known a Verion of record Link to publication
More informationDYNAMIC MODELS FOR CONTROLLER DESIGN
DYNAMIC MODELS FOR CONTROLLER DESIGN M.T. Tham (996,999) Dept. of Chemical and Proce Engineering Newcatle upon Tyne, NE 7RU, UK.. INTRODUCTION The problem of deigning a good control ytem i baically that
More informationDirect Torque Control of Saturated Induction Machine with and without speed sensor
Journal of Advanced Reearch in Science and Technology ISSN: 2352-9989 Direct Torque Control of Saturated Induction Machine with and without peed enor Tahar Djellouli,2, Samir Moulahoum, Med Seghir Boucherit
More informationOpen Access Study of Direct Torque Control Scheme for Induction Motor Based on Torque Angle Closed-Loop Control. Xuande Ji *, Daqing He and Yunwang Ge
Send Order for Reprint to reprint@benthamcience.ae 6 The Open Electrical & Electronic Engineering Journal, 25, 9, 669 Open Acce Study of Direct Torque Control Scheme for Induction Motor Baed on Torque
More informationDesign By Emulation (Indirect Method)
Deign By Emulation (Indirect Method he baic trategy here i, that Given a continuou tranfer function, it i required to find the bet dicrete equivalent uch that the ignal produced by paing an input ignal
More informationBASIC INDUCTION MOTOR CONCEPTS
INDUCTION MOTOS An induction motor ha the ame phyical tator a a ynchronou machine, with a different rotor contruction. There are two different type of induction motor rotor which can be placed inide the
More informationA Simple Approach to Synthesizing Naïve Quantized Control for Reference Tracking
A Simple Approach to Syntheizing Naïve Quantized Control for Reference Tracking SHIANG-HUA YU Department of Electrical Engineering National Sun Yat-Sen Univerity 70 Lien-Hai Road, Kaohiung 804 TAIAN Abtract:
More informationTHE PARAMETERIZATION OF ALL TWO-DEGREES-OF-FREEDOM SEMISTRONGLY STABILIZING CONTROLLERS. Tatsuya Hoshikawa, Kou Yamada and Yuko Tatsumi
International Journal of Innovative Computing, Information Control ICIC International c 206 ISSN 349-498 Volume 2, Number 2, April 206 pp. 357 370 THE PARAMETERIZATION OF ALL TWO-DEGREES-OF-FREEDOM SEMISTRONGLY
More informationEstimation of Temperature Rise in Stator Winding and Rotor Magnet of PMSM Based on EKF
2010 3rd International Conference on Computer and Electrical Engineering (ICCEE 2010) IPCSIT vol. 53 (2012) (2012) IACSIT Pre, Singapore DOI: 10.7763/IPCSIT.2012.V53.No.2.37 Etimation of Temperature Rie
More informationSMALL-SIGNAL STABILITY ASSESSMENT OF THE EUROPEAN POWER SYSTEM BASED ON ADVANCED NEURAL NETWORK METHOD
SMALL-SIGNAL STABILITY ASSESSMENT OF THE EUROPEAN POWER SYSTEM BASED ON ADVANCED NEURAL NETWORK METHOD S.P. Teeuwen, I. Erlich U. Bachmann Univerity of Duiburg, Germany Department of Electrical Power Sytem
More informationAssessment of Performance for Single Loop Control Systems
Aement of Performance for Single Loop Control Sytem Hiao-Ping Huang and Jyh-Cheng Jeng Department of Chemical Engineering National Taiwan Univerity Taipei 1617, Taiwan Abtract Aement of performance in
More informationNONLINEAR CONTROLLER DESIGN FOR A SHELL AND TUBE HEAT EXCHANGER AN EXPERIMENTATION APPROACH
International Journal of Electrical, Electronic and Data Communication, ISSN: 232-284 Volume-3, Iue-8, Aug.-25 NONLINEAR CONTROLLER DESIGN FOR A SHELL AND TUBE HEAT EXCHANGER AN EXPERIMENTATION APPROACH
More informationRECURSIVE LEAST SQUARES HARMONIC IDENTIFICATION IN ACTIVE POWER FILTERS. A. El Zawawi, K. H. Youssef, and O. A. Sebakhy
RECURSIVE LEAST SQUARES HARMONIC IDENTIFICATION IN ACTIVE POWER FILTERS A. El Zawawi, K. H. Youef, and O. A. Sebakhy Department of Electrical Engineering, Alexandria Univerity, Alexandria 21544, Egypt.P.O.
More informationCONTROL OF INTEGRATING PROCESS WITH DEAD TIME USING AUTO-TUNING APPROACH
Brazilian Journal of Chemical Engineering ISSN 004-6632 Printed in Brazil www.abeq.org.br/bjche Vol. 26, No. 0, pp. 89-98, January - March, 2009 CONROL OF INEGRAING PROCESS WIH DEAD IME USING AUO-UNING
More informationAn estimation approach for autotuning of event-based PI control systems
Acta de la XXXIX Jornada de Automática, Badajoz, 5-7 de Septiembre de 08 An etimation approach for autotuning of event-baed PI control ytem Joé Sánchez Moreno, María Guinaldo Loada, Sebatián Dormido Departamento
More informationµ-analysis OF INDIRECT SELF CONTROL OF AN INDUCTION MACHINE Henrik Mosskull
-ANALYSIS OF INDIRECT SELF CONTROL OF AN INDUCTION MACHINE Henrik Mokull Bombardier Tranportation, SE-7 7 Väterå, Sweden S, Automatic Control, KTH, SE- Stockholm, Sweden Abtract: Robut tability and performance
More informationEE Control Systems LECTURE 14
Updated: Tueday, March 3, 999 EE 434 - Control Sytem LECTURE 4 Copyright FL Lewi 999 All right reerved ROOT LOCUS DESIGN TECHNIQUE Suppoe the cloed-loop tranfer function depend on a deign parameter k We
More informationRoot Locus Contents. Root locus, sketching algorithm. Root locus, examples. Root locus, proofs. Root locus, control examples
Root Locu Content Root locu, ketching algorithm Root locu, example Root locu, proof Root locu, control example Root locu, influence of zero and pole Root locu, lead lag controller deign 9 Spring ME45 -
More informationDetermination of the local contrast of interference fringe patterns using continuous wavelet transform
Determination of the local contrat of interference fringe pattern uing continuou wavelet tranform Jong Kwang Hyok, Kim Chol Su Intitute of Optic, Department of Phyic, Kim Il Sung Univerity, Pyongyang,
More informationExperimental Direct Torque Control Induction Motor Drive with Modified Flux Estimation and Speed control Algorithm.
Experimental Direct Torque Control Induction Motor Drive with Modified Flux Etimation and Speed control Algorithm. Bhoopendra ingh, Shailendra Jain 2, Sanjeet Dwivedi 3 (RGTU, Bhopal), 2 (MANIT Bhopal),
More informationVARIABLE speed drive systems are essential in
1 Senorle Field Orientation Control of Induction Motor Uing Reduced Order Oberver R. Mehram, S. Bahadure, S. Matani, G. Datkhile, T. Kumar, S. Wagh Electrical Engineering Department Veermata Jijabai Technological
More informationEE/ME/AE324: Dynamical Systems. Chapter 8: Transfer Function Analysis
EE/ME/AE34: Dynamical Sytem Chapter 8: Tranfer Function Analyi The Sytem Tranfer Function Conider the ytem decribed by the nth-order I/O eqn.: ( n) ( n 1) ( m) y + a y + + a y = b u + + bu n 1 0 m 0 Taking
More informationSection Induction motor drives
Section 5.1 - nduction motor drive Electric Drive Sytem 5.1.1. ntroduction he AC induction motor i by far the mot widely ued motor in the indutry. raditionally, it ha been ued in contant and lowly variable-peed
More informationLecture Notes II. As the reactor is well-mixed, the outlet stream concentration and temperature are identical with those in the tank.
Lecture Note II Example 6 Continuou Stirred-Tank Reactor (CSTR) Chemical reactor together with ma tranfer procee contitute an important part of chemical technologie. From a control point of view, reactor
More informationChapter 2 Sampling and Quantization. In order to investigate sampling and quantization, the difference between analog
Chapter Sampling and Quantization.1 Analog and Digital Signal In order to invetigate ampling and quantization, the difference between analog and digital ignal mut be undertood. Analog ignal conit of continuou
More informationOn Stability of Electronic Circuits
roceeding of the th WSAS International Conference on CIUITS On Stability of lectronic Circuit HASSAN FATHABADI lectrical ngineering Department Azad Univerity (South Tehran Branch) Tehran, IAN h4477@hotmailcom
More informationFractional-Order PI Speed Control of a Two-Mass Drive System with Elastic Coupling
Fractional-Order PI Speed Control of a Two-Ma Drive Sytem with Elatic Coupling Mohammad Amin Rahimian, Mohammad Saleh Tavazoei, and Farzad Tahami Electrical Engineering Department, Sharif Univerity of
More informationABSTRACT- In this paper, a Shunt active power filter (SAPF) is developed without considering any harmonic detection
Special Iue of International Journal of Advance in Applied Science and Engineering (IJAEAS) ISSN (P): 2348-1811; ISSN (E): 2348-182X Vol. 4, Iue 1,2, March 2017, 34-39 IIST SHUNT ACTIVE POWER FILTER PERFORMANCE
More informationNo-load And Blocked Rotor Test On An Induction Machine
No-load And Blocked Rotor Tet On An Induction Machine Aim To etimate magnetization and leakage impedance parameter of induction machine uing no-load and blocked rotor tet Theory An induction machine in
More informationCopyright 1967, by the author(s). All rights reserved.
Copyright 1967, by the author(). All right reerved. Permiion to make digital or hard copie of all or part of thi work for peronal or claroom ue i granted without fee provided that copie are not made or
More information5.5 Application of Frequency Response: Signal Filters
44 Dynamic Sytem Second order lowpa filter having tranfer function H()=H ()H () u H () H () y Firt order lowpa filter Figure 5.5: Contruction of a econd order low-pa filter by combining two firt order
More informationThe Hassenpflug Matrix Tensor Notation
The Haenpflug Matrix Tenor Notation D.N.J. El Dept of Mech Mechatron Eng Univ of Stellenboch, South Africa e-mail: dnjel@un.ac.za 2009/09/01 Abtract Thi i a ample document to illutrate the typeetting of
More informationECE 325 Electric Energy System Components 6- Three-Phase Induction Motors. Instructor: Kai Sun Fall 2015
ECE 35 Electric Energy Sytem Component 6- Three-Phae Induction Motor Intructor: Kai Sun Fall 015 1 Content (Material are from Chapter 13-15) Component and baic principle Selection and application Equivalent
More informationImproving Power System Transient Stability with Static Synchronous Series Compensator
American Journal of Applied Science 8 (1): 77-81, 2011 ISSN 1546-9239 2010 Science Pulication Improving Power Sytem Tranient Staility with Static Synchronou Serie Compenator Prechanon Kumkratug Diviion
More informationA PLC BASED MIMO PID CONTROLLER FOR MULTIVARIABLE INDUSTRIAL PROCESSES
ABCM Sympoium Serie in Mechatronic - Vol. 3 - pp.87-96 Copyright c 8 by ABCM A PLC BASE MIMO PI CONOLLE FO MULIVAIABLE INUSIAL POCESSES Joé Maria Galvez, jmgalvez@ufmg.br epartment of Mechanical Engineering
More informationECE 3510 Root Locus Design Examples. PI To eliminate steady-state error (for constant inputs) & perfect rejection of constant disturbances
ECE 350 Root Locu Deign Example Recall the imple crude ervo from lab G( ) 0 6.64 53.78 σ = = 3 23.473 PI To eliminate teady-tate error (for contant input) & perfect reection of contant diturbance Note:
More informationDigital Implementation of Full-Order Flux Observers for Induction Motors
Digital Implementation of Full-Order Flux Oberver for Induction Motor Marko Hinkkanen and Jorma Luomi HELSINKI UNIVERSITY OF TECHNOLOGY Power Electronic Laboratory P.O. Box 3, FIN-5 HUT, Finland marko.hinkkanen@hut.fi,
More informationUSING NONLINEAR CONTROL ALGORITHMS TO IMPROVE THE QUALITY OF SHAKING TABLE TESTS
October 12-17, 28, Beijing, China USING NONLINEAR CONTR ALGORITHMS TO IMPROVE THE QUALITY OF SHAKING TABLE TESTS T.Y. Yang 1 and A. Schellenberg 2 1 Pot Doctoral Scholar, Dept. of Civil and Env. Eng.,
More informationSampling and the Discrete Fourier Transform
Sampling and the Dicrete Fourier Tranform Sampling Method Sampling i mot commonly done with two device, the ample-and-hold (S/H) and the analog-to-digital-converter (ADC) The S/H acquire a CT ignal at
More informationPOWER SYSTEM SMALL SIGNAL STABILITY ANALYSIS BASED ON TEST SIGNAL
POWE YEM MALL INAL ABILIY ANALYI BAE ON E INAL Zheng Xu, Wei hao, Changchun Zhou Zheang Univerity, Hangzhou, 37 PChina Email: hvdc@ceezueducn Abtract - In thi paper, a method baed on ome tet ignal (et
More informationSensorless PM Brushless Drives
IEEE UK Chapter Seminar 15 December 3 Senorle PM Bruhle Drive Prof. D. Howe and Prof. Z. Q. Zhu The Univerity of Sheffield Electrical Machine & Drive Reearch Group Outline Review of enorle technique Zero-croing
More informationLow Pass Filtering Based Artificial Neural Network Stator Flux Estimator for AC Induction Motors
Senor & Tranducer, Vol. 161, Iue 12, December 2013, pp. 219-224 Senor & Tranducer 2013 by IFSA http://www.enorportal.com Low Pa Filtering Baed Artificial Neural Network Stator Flux Etimator for AC Induction
More informationOptimal MRAS Speed Estimation for Induction Generator in Wind Turbine Application
Optimal MRAS Speed Etimation for Induction Generator in Wind Turbine Application Bori Dumnic #1, Dragan Matic #2, Vladimir Katic #3, Veran Vaic #4, Marko Delimar *5 # Univerity of Novi Sad, Faculty of
More informationAnalysis and Design of a Third Order Phase-Lock Loop
Analyi Deign of a Third Order Phae-Lock Loop DANIEL Y. ABRAMOVITCH Ford Aeropace Corporation 3939 Fabian Way, MS: X- Palo Alto, CA 94303 Abtract Typical implementation of a phae-lock loop (PLL) are econd
More informationLecture 5 Introduction to control
Lecture 5 Introduction to control Tranfer function reviited (Laplace tranform notation: ~jω) () i the Laplace tranform of v(t). Some rule: ) Proportionality: ()/ in () 0log log() v (t) *v in (t) () * in
More informationA Simplified Methodology for the Synthesis of Adaptive Flight Control Systems
A Simplified Methodology for the Synthei of Adaptive Flight Control Sytem J.ROUSHANIAN, F.NADJAFI Department of Mechanical Engineering KNT Univerity of Technology 3Mirdamad St. Tehran IRAN Abtract- A implified
More informationSimulation and Analysis of Linear Permanent Magnet Vernier Motors for Direct Drive Systems
Available online at www.ijpe-online.com vol. 3, no. 8, December 07, pp. 304-3 DOI: 0.3940/ijpe.7.08.p.3043 Simulation and Analyi of Linear Permanent Magnet Vernier Motor for Direct Drive Sytem Mingjie
More informationEE 4443/5329. LAB 3: Control of Industrial Systems. Simulation and Hardware Control (PID Design) The Inverted Pendulum. (ECP Systems-Model: 505)
EE 4443/5329 LAB 3: Control of Indutrial Sytem Simulation and Hardware Control (PID Deign) The Inverted Pendulum (ECP Sytem-Model: 505) Compiled by: Nitin Swamy Email: nwamy@lakehore.uta.edu Email: okuljaca@lakehore.uta.edu
More informationSocial Studies 201 Notes for November 14, 2003
1 Social Studie 201 Note for November 14, 2003 Etimation of a mean, mall ample ize Section 8.4, p. 501. When a reearcher ha only a mall ample ize available, the central limit theorem doe not apply to the
More informationThis is an electronic reprint of the original article. This reprint may differ from the original in pagination and typographic detail.
Powered by TCPDF (www.tcpdf.org) This is an electronic reprint of the original article. This reprint may differ from the original in pagination and typographic detail. Author(s): Title: Kukkola, Jarno
More informationFRTN10 Exercise 3. Specifications and Disturbance Models
FRTN0 Exercie 3. Specification and Diturbance Model 3. A feedback ytem i hown in Figure 3., in which a firt-order proce if controlled by an I controller. d v r u 2 z C() P() y n Figure 3. Sytem in Problem
More informationLOAD FREQUENCY CONTROL OF MULTI AREA INTERCONNECTED SYSTEM WITH TCPS AND DIVERSE SOURCES OF POWER GENERATION
G.J. E.D.T.,Vol.(6:93 (NovemberDecember, 03 ISSN: 39 793 LOAD FREQUENCY CONTROL OF MULTI AREA INTERCONNECTED SYSTEM WITH TCPS AND DIVERSE SOURCES OF POWER GENERATION C.Srinivaa Rao Dept. of EEE, G.Pullaiah
More information1 Routh Array: 15 points
EE C28 / ME34 Problem Set 3 Solution Fall 2 Routh Array: 5 point Conider the ytem below, with D() k(+), w(t), G() +2, and H y() 2 ++2 2(+). Find the cloed loop tranfer function Y () R(), and range of k
More informationDynamic Simulation of a Three-Phase Induction Motor Using Matlab Simulink
Dynamic Simulation of a ThreePhae Induction Motor Uing Matlab Simulink Adel Aktaibi & Daw Ghanim, graduate tudent member, IEEE, M. A. Rahman, life fellow, IEEE, Faculty of Engineering and Applied Science,
More informationEE Control Systems LECTURE 6
Copyright FL Lewi 999 All right reerved EE - Control Sytem LECTURE 6 Updated: Sunday, February, 999 BLOCK DIAGRAM AND MASON'S FORMULA A linear time-invariant (LTI) ytem can be repreented in many way, including:
More informationSliding Mode Control of a Dual-Fuel System Internal Combustion Engine
Proceeding of the ASME 9 Dynamic Sytem and Control Conference DSCC9 October -4, 9, Hollywood, California, USA DSCC9-59 Control of a Dual-Fuel Sytem Internal Combution Engine Stephen Pace Department of
More informationChapter 10. Closed-Loop Control Systems
hapter 0 loed-loop ontrol Sytem ontrol Diagram of a Typical ontrol Loop Actuator Sytem F F 2 T T 2 ontroller T Senor Sytem T TT omponent and Signal of a Typical ontrol Loop F F 2 T Air 3-5 pig 4-20 ma
More informationControl of Delayed Integrating Processes Using Two Feedback Controllers R MS Approach
Proceeding of the 7th WSEAS International Conference on SYSTEM SCIENCE and SIMULATION in ENGINEERING (ICOSSSE '8) Control of Delayed Integrating Procee Uing Two Feedback Controller R MS Approach LIBOR
More informationLOW ORDER MIMO CONTROLLER DESIGN FOR AN ENGINE DISTURBANCE REJECTION PROBLEM. P.Dickinson, A.T.Shenton
LOW ORDER MIMO CONTROLLER DESIGN FOR AN ENGINE DISTURBANCE REJECTION PROBLEM P.Dickinon, A.T.Shenton Department of Engineering, The Univerity of Liverpool, Liverpool L69 3GH, UK Abtract: Thi paper compare
More informationKukkola, Jarno; Hinkkanen, Marko Grid-voltage sensorless control of a converter under unbalanced conditions: On the design of a state observer
Powered by TCPDF (www.tcpdf.org) This is an electronic reprint of the original article. This reprint may differ from the original in pagination and typographic detail. Kukkola, Jarno; Hinkkanen, Marko
More information