Shaft Sensor-less FOC Control of an Induction Motor Using Neural Estimators

Transcription

1 Act Poltechnc Hngc Vol 9, No, Shft Senso-less FOC Contol of n Indcton Moto Usng Nel Estmtos Pete Gosý, Josl Tmo, Josl Žloá Deptment of Electcl Engneeng nd Mechtoncs, Techncl Unest of ošce, Letná 9, ošce, Slo Repblc petegos@tes, josltmo@tes, joslzlo@tes Abstct: The ppe dels th shft senso-less feld oented contol stcte fo n ndcton moto bsed on nel neto estmtos The fst pt pesents the theoetcl noledge The second pt pesents the smlton nd eslts of desgnng nel estmtos fo obseng the mgnetc fl nd the moto ngl speed fo ndcton moto feld oented contol n MATLAB-Smln Contolles fo smlton of shft senso-less feld oented contol he been desgned b stte spce method An cheed smlton eslt of the nel ngl speed estmto hs been efed b sstem of AC conete ndcton moto b Rel-Tme sstem eods: ndcton moto; nel neto; senso-less contol; ecto contol Intodcton Motos pl mpotnt oles n ndstl podcton nd n mn othe pplctons In the el ds, DC motos hd the dntge of pecse speed contol hen tlzed fo the ppose of ccte dng Hoee, DC motos he the dsdntge of bsh eoson, mntennce eqements, enonmentl effects, comple stctes nd poe lmts On the othe hnd, ndcton motos e obst, smll n sze, lo n cost, nd lmost mntennce-fee Hsse [9] nd Blsche [] deeloped feld oented contol theo to smplf the stcte of IM speed contol sed to de the DC moto In ecent es, the feld oented contol theo hs become moe fesble de to pogess n the deelopment of electoncs technqes nd hgh-speed mcopocessos Nonlne contol poblems cn often be soled f fll stte nfomton s lble; n the IM cse, the oto sttes e mmesble nd often t s too costl to monto the ngl speed of the oto In most pplctons, speed sensos e necess n the speed contol loop On the othe hnd, thee e pplctons hee loe pefomnce s eqed, cost edcton nd hgh elblt e necess, o hostle enonment does not

2 P Gosý et l Shft Senso-less FOC Contol of Indcton Moto Usng Nel Estmtos llo fo sng speed sensos In these felds, speed senso-less IM contol cn be sefll ppled Mn dffeent soltons fo the estmton of sttes bles o model pmetes he been poposed ecentl, fo emple, estmtos tlzng moto constcton popetes, estmtos bsed on the de dnmc model o estmtos bsed on tfcl ntellgence [7, 8,, 5, 6] Senso-less contolles he been poposed hch depend on dpte contol nd obsee theo, on optml obsee desgn b pplng lmn flte theo [, ], on sldng mode contol [, ], nd on sng tfcl ntellgence methods [,, 5, 6, ] At pesent, eqements on the dnmc pecson e not too stct nd tl o soft sensos e ltentel sccessfll tlzed Estmtos bsed on tfcl ntellgence e dded nto the follong gops: sstems bsed on the fzz logc, sstems bsed on nel netos, sstems bsed on hbd sstems, sstems bsed on eolton lgothms (genetc lgothms) Smlton Desgn of Nel Estmto fo Feld Oented Contol of Indcton Moto The nel modellng cn pefom estmton of the ndcton moto ngl speed o of othe non-mesble bles on the nel netos bse Nods, thee e feld oented contolled des bsed on dffeent soltons nd pefomnces hch e commonl sed n ndst Wth feld-oented technqes, the decoplng of fl nd toqe contol commnds of the IM s gnteed, nd the ndcton moto cn be contolled lnel, le septel ected DC moto The DC moto le pefomnce cn be obtned b peseng fed nd othogonl oentton beteen the feld nd mte felds n the ndcton moto b oentton of the stto cent th espect to the oto fl n ode to ttn ndependentl contolled fl nd toqe Usng the feld oented contol pncple, the stto cent component d s lgned n the decton of the oto fl ecto nd the stto cent component q s lgned n the decton pependcl to t The oto fl oentton n the sqel-cge oto IM cnnot be dectl mesed, bt t cn be obtned fom temnl bles Afte sng tnsfomton of coodntes d, q to the ottng sstem -, the electc toqe s popotonl to the component nd the elton beteen the oto fl nd component s gen b the fst ode lne tnsfe fncton th T L /R tme constnt

3 Act Poltechnc Hngc Vol 9, No, Fom ths fct nd fo the consdeed fl contol, the stto cent nd oltge components ee chosen s npt sgnls fo the econstcton of the ndcton moto speed The deeloped estmtos ee tned ccodng to selected tnng pttens fom the dect feld oented contol of the ndcton moto Bloc dgm of the contol scheme s pesented n Fge Fge Bsc feld oented contol scheme Indcton Moto FOC Smlton Desgn Feld oented contol smlton desgn hd been mde fo ndcton moto th the follong pmetes: P n,75 W; U n V/8V; I n,8 A/, A; n n 8 pm; p; s,8; J5, - gm In the desgn of stte contol b method of the poles detemne fo to npt bles nd one otpt bsed on the follong eqtons: d d σ ω m ( σ ) T σt m T T dt R dt () d σ ω ( σ ) T ω σt m m m T T dt R d m T m T J p dt m dω dt ω ω p m L h m σ m z () () () (5)

4 P Gosý et l Shft Senso-less FOC Contol of Indcton Moto Usng Nel Estmtos Defne the stte bles: m ; ; ω ; ; m z z; / T ; / T Then, tten cn be the stte eqton fo ndcton moto: c z e B z e b b f f (6) The constnts nd fnctons sed n the stte eqton (6): T ; T σ ; σ h L J p ; σ σ ; L h L σ σ ; L L L h σ ; L b T σ ; J p e f f Nonlne fncton f (), f () n the contol scheme shon n Fg compenstng fo ntodcton of contol, so s to smplf the stte eqton: f f b Cent Sb-Cct (R, R ) dt ;

5 Act Poltechnc Hngc Vol 9, No, 5 The chctestc polnoml of sstem P : det det A I P Fo cent contolle select the dmpng d85, eglton tme t 5s nd detemne the desed chctestc polnoml S P : 75 6 s s P S B compng the chctestc polnoml nd the desed chctestc polnoml e obtn contolle constnts, nd, hee nd Speo Cct of Mgnetzng Cent (R m ) d d ; The chctestc polnoml of sstem P : det d d d A I P Select the dmpng d85, eglton tme t s nd detemne the desed chctestc polnoml S P : s s s s P S B compng of the chctestc polnoml nd the desed chctestc polnoml e obtn contolle constnts,,, d Speo Cct of Speed (R ω ) d

6 P Gosý et l Shft Senso-less FOC Contol of Indcton Moto Usng Nel Estmtos ; d The chctestc polnoml of sstem P ( ) : P det I A d d Select the dmpng d85, eglton tme t s nd detemne the desed chctestc polnoml P ( S ): P S s s 79s 6 s 9797 B compng of the chctestc polnoml nd the desed chctestc polnoml obtned e contolle constnts,,, d Constnts clclted fo ll ccts of contolle e sed b the feld oented contol scheme shon n Fge Fge Smlton feld oented contol scheme Mgnetsng Cent Nel Estmto If fo ecto contol the -th component of the stto cent ecto s consdeed s bss of cent-cetng component, then the mgnetsng cent m estmto ll pocess cent-cetng component of the stto cent As mentoned boe, the mgnetsng cent m nel estmto bses ts estmton of the cent-cetng component of stto cent Dependence beteen cents m nd s lne, nd hence the estmto cn be mde p of feed-fod nel neto thot n hdden le Fo the cttng fncton, the peln lne fncton cn be sed The npt dt ecto conssts of les of the stto cent n step () nd step (-), espectel, nd lso the pecedng le of mgnetsng cent m n step (-) A bsc dgm of sch nel estmto s shon n Fge 6

7 Act Poltechnc Hngc Vol 9, No, Fge Bsc dgm of mgnetsng cent m nel estmto Hee, O stnds fo otpt les ecto, I s the npt dt ecto, nd pesents eghts of nddl connectons of neons O f I bs (7) Sbstttng the npt mt to eqton (7), e ll obtn the eqton fo the mgnetsng cent nel estmto n the follong fom: ( ) m peln bs m (8) hee cent m () s the otpt ble nd the npt bles e (), (- ) nd m (-) Speed Nel Estmto If fo the bss of toqe-cetng component e estblsh the -th component of the ecto, then the speed estmto ll estmte ths toqe cetng component fom the stto oltge nd cent As s led mentoned boe, the ngl speed ω nel estmto bses ts estmton on the toqe component of stto oltge nd cent The elton beteen the npt nd otpt qnttes s not epesented b smple lne dependenc, nd ths s the eson h fo the estmton cscde nel neto th one hdden le conssted of eght neons ll be sed As n cttng fncton fo the hdden le sed, thee s the tnsg nonlne fncton nd fo the otpt le sed s peln lne fncton The npt dt ecto s epesented b les of stto oltge nd stto cent n steps () nd (-), s ell s b le of mgnetsng cent m n steps () nd (-) Bsc dgm of sch nel estmto s shon n Fge 7

8 P Gosý et l Shft Senso-less FOC Contol of Indcton Moto Usng Nel Estmtos 8 Fge Bsc dgm of ω moto ngl speed nel estmto In the fge, O s the otpt les ecto, I pesents ecto of npt bles nd, j, e eghts of nddl connectons of neons bs I A f O bs I f A j (9) Post sbstttng the npt mt to eqton (9) the nel speed estmto cn be descbed b the follong eqton: bs bs tnsg peln m m j m m ω () hee the otpt qntt s ω() ngl speed le nd hee the npt e les (), (-), (), (-), m () nd m (-) Smlton Reslts In the follong, e sho the smlton eslts of senso-less ecto contol of n ndcton moto hen pplng nel estmtos of the speed nd mgnetsng cent, espectel The pncpl dgm of the ecto contol th connected nel estmtos of the mgnetsng cent nd speed s shon n Fge 5

9 Act Poltechnc Hngc Vol 9, No, Fge 5 Bsc dgm of ecto contol th nel estmtos Smlton, desgn nd tnng of nel estmtos ee pefomed fo the ndcton moto th pmetes: P n,75 W; U n V/8V; I n,8 A/, A; n n 8 pm; p; s,8; J5, - gm Fge 6 Compson of the estmted ess ctl mgnetsng cent Fges 6 nd 7 sho compson of el nd obseed les of the mgnetzng cent nd the ngl speed A dshed lne shos thee s the eqed ngl speed le dng sttng, eesng nd lodng tnsents In tme of s the moto s loded b the ted lod toqe 9

10 P Gosý et l Shft Senso-less FOC Contol of Indcton Moto Usng Nel Estmtos Fge 7 Compson of the estmted ess ctl speed of the IM The efoms shon n Fges 6 nd 7 e ld fo the cse of no feedbc to contol fom the nel obsees bt led dectl fom the moto mthemtcl model Fge 8 Tnsents of desed ess el ngl speed nd the moto lod toqe Shon n Fge 8 s smlted esponse of the ndcton moto ngl speed (n sold lne) t condtons dentcl th the peos one, shon n Fge 7 In ths cse, nd the sme s n n follong ones, the feedbc to contol s ntodced fom nel obsees of the mgnetsng cent nd ngl speed

11 Act Poltechnc Hngc Vol 9, No, Epementl Vefcton Fo efcton of smlton eslts, n epementl Rel-Tme sstem bsed on RT-LAB sstem s sed The pncpl scheme of the hole sstem s sho n Fge 9 The epementl sstem conssts of the SIMOVERT MASTERDRIVES Vecto Contol nd n ndcton moto th the sme pmetes s those of the moto sed fo smlton Used s the lod thee s dnmo th essto nd the bse of ths epementl sstem conssts of Rel-tme sstem th NI PCI-65E Fge 9 Pncpl scheme of Rel-Tme sstem Nel Estmton fo Epementl Vefcton Regdng dffeent s of ecto contol n SIMOVERT MASTERDRIVES, Vecto Contol (sstem n ot coodntes d-q), sed fo desgn of speed nel estmto, s the npt stto oltge n step () (), n the step (-) - (-) nd le of cent components d,q n step () d (), q () nd n step (-) - d (-), q (-) Fo off-lne tnng sng the Leenbeg-Mqdt lgothm 6 smples n ggegte ee sed The otpt ecto fo tnng s epesented b le of the oto speed ȏ() n step () Fo the speed nel estmto e sed cscde nel neto th one hdden le hng s npt neons nd s hdden neons Fo the hdden le cttng fncton sed s the tnsg nonlne fncton nd fo the otpt le e sed peln lne fncton Usng them e obtned n eqton fo nel estmto of speed n the follong fom: oˆ ( ) ( ) ( ) d ( ) ( ) q ( ) ( ) ( ) ( ) d bs bs ( ) q peln j tnsg d d q q ()

12 P Gosý et l Shft Senso-less FOC Contol of Indcton Moto Usng Nel Estmtos Epementl Reslts Pesented n the follong e the smlton eslts of senso-less ecto contol of n ndcton moto hen sng nel estmtos of speed The pncpl dgm of ecto contol effected th the se of nel estmto of speed s shon n Fge Fge Pncpl scheme of Rel-Tme sstem th nel estmto ) speed b) oltge c) cent d, q Fge Tme coses of desed ess ctl oto speed thot lod nd elent oltge nd cent

13 Act Poltechnc Hngc Vol 9, No, In Fges nd e shon coses of desed (dsh lne) nd ctl oto speeds of ndcton moto n the ecto contol sng the scheme ccodng to Fge At tme second, the eqed le of oto speed chnged fom % to 5% of nomnl speed, t tme seconds, fom 5% to 5%; t tme seconds, fom 5% to % of nomnl oto speed nd t tme seconds, the ndcton moto eesed Fo efcton e sed n epementl el tme sstem The eslts obtned, llstted b especte efoms, ldte the possblt of tlsng tfcl nel netos n senso-less ecto contol of the ndcton moto The de fetes bette dptblt nd obstness n compson th de thot estmto ) speed b) oltge c) cent d, q Fge Tme coses of desed ess ctl oto speed th lod nd elent oltge nd cent Conclsons The ppe s concened th desgnng ndcton moto nel estmtos Bsed on esl mesble qnttes, sch s components of stto cent nd oltge, e desgned estmtos of the moto speed nd mgnetsng cent, tlzng feedfod nd cscde nel netos Both these netos ee tned off-lne

14 P Gosý et l Shft Senso-less FOC Contol of Indcton Moto Usng Nel Estmtos sng the Leenbeg-Mqdt lgothm, hch s modfcton of the tdtonl bc-popgton tnng lgothm The eslts ed t, llstted b especte efoms, ldte the possblt of tlsng tfcl nel netos n the senso-less ecto contollng of n ndcton moto, hle lso tng dntge of the dntgeos popetes, sch s dptblt nd obstness At the end of ths ppe pesented e esech eslts Fo ppled efcton sed s epementl Rel-Tme sstem Acnoledgement The thos sh to thn fo the sppot to the R&D opetonl pogm Cente of ecellence of poe electoncs sstems nd mtels fo the components II No OPVV-9//-SORO, ITMS 66 fnded b Eopen egonl deelopment fnd (ERDF) Refeences [] Vs P, Atfcl-Intellgence-bsed Electcl Mchnes nd Des, Ofod Unest Pess, Ofod, 999 [] Vtte J, Dodds S J, Mš P, Lehocý P, An Obsee Desgn fo Foced Dnmcs Contol of AC Des, Tnscom 7, Žln, Sloenso, pp 7-, 7 [] Vtte J, Bs P, Štljte M, Pách M, Chtteng Fee Sldng Mode Contol L fo Poston Contol of the De Emplong Indcton Moto, Poe Engneeng Confeence 8, AUPEC '8, Astlsn Unestes, pp -6, -7 Dec, 8 [] ch M, Bndštette P, dch M, Senso-less Indcton Moto De th Nel Neto IEEE, Ann Poe Elec Speclsts Confm pp -5, [5] Jonoč J, Žlmn M, Applcton of the Vtl Sensos Bsed on the Atfcl Nel Netos, EDPE, Intentonl confeence, Slo,, pp 86-9 [6] Benslem Y, Abbod W, Sbt L, Abdelm M N, A Senso-less Nel Neto Speed Contol of Indcton Moto De, Int Jonl of Sgnl Sstem Contol nd Engneeng Applcton (): pp 5-58, 8 [7] Jdlosá A, bo N, Snosý J, Pedcte Contol Desgn Bsed on Nel Model of Non-lne Sstem, Act Poltechnc Hngc, Vol 5, No, pp 9-8, 8 [8] Jmn V, Redd S R, Modelng nd Speed Contol of Indcton Moto Des Usng Nel Neto, Annls of De de Jos Unest of Glt, III, Vol, No, pp -9,

15 Act Poltechnc Hngc Vol 9, No, [9] Hsse, Z Dnm Dehzhlgeegelte Antebe mt stomchtegespesten Asnchon-schlsslüfe Mschnen, Techn Hochsch: Dmstdt, Dssetton, 969, pp 7-78 [] Blsche F, The Pncple of Feld Oentton s Appled to the Ne Tnseto Closed Loop Contol Sstem fo Rottng-Feld Mchnes, Semens Re 9 (5): 97, pp 7- [] Mezne S, Tofot R, Benll H, Nonlne Contol of Indcton Mchnes Usng n Etended lmn Flte, Act Poltechnc Hngc, Vol 5, No, pp -58, 8 [] Žloá J, Tmo J, Beo J, Speed Senso-less Contol of n Indcton Moto De Usng Etended lmn Flte, In: Act Technc ČSAV 5, No, Pge, 5, pp [] Tmo J, Žloá J, Bl D, Atfcl Nel Netos Applcton n Electcl Des, (n Slo), Clpso so, ošce,, p 9, ISBN [] Tmo J, Žloá J, Gosý P, Shft Senso-less Vecto Contol of n Indcton Moto, In: Act Technc CSAV, Vol 5, No (7), pp 8-9, ISSN -7 [5] Tmo J, Žloá J, Gosý P, Modelng nd Contol of Electcl Des Usng Nel Netos, (n Slo), C-Pess, ošce, 9, p, ISBN [6] Žloá J, Tmo J, Gosý P, Nonlne Sstem Contol Usng Nel Netos, Act Poltechnc Hngc, Vol, No, pp 85-9, 6 5