Torque Sensorless IM Control for EV's

Transcription

1 oque Senole IM Contol fo EV' Kael Jezenik, Mian Roič Abtact Inuction moto (IM) pee enole contol, allowing opeation at low an zeo pee, optimizing toque epone an efficiency, i peente in the pape. he magnitue an oientation angle of the oto flux of the inuction moto ae etemine by the output of the cloe-loop oto flux obeve bae on the calculation of the extene electomotive foce (EMF) of machine. he popoe tato flux/toque cheme i obut to paamete vaiation an extenal itubance. he pouce toque i a continuou output vaiable of contol. Hawae-in-the-loop (HIL) poceue, a upplement of the conventional imulation, i a moen appoach to the teting of the opeation of algoithm without the nee fo the pototype. Pat of actual ytem ae eplace by the mathematical moel, which ae numeically calculate on-line an connecte to the actual component of the ytem by the ue of oftwae an hawae inteface. Popoe enole IM contol fo EV' i execute with the ue of the SPACE ytem containing DS113 PPC contolle boa, an the Danfo VL54 Invete. he ytem i pogamme with the ue of MALAB/Simulink. Meauement an computation of algoithm ae execute in µ. he efeence tacking pefomance i emontate by expeiment. he pefomance of the popoe metho i invetigate an veifie expeimentally on SPACE ytem. Keywo: inuction moto, toque, contol ytem, electic ive, hawae in the loop imulation 1 Intouction he numbe of application of vaiable pee an toque ive fo the popelling of the mechanical ytem ha been inceaing apily in lat ecae. Becaue of the gowing complexity of the application a eman fo the impove evelopment an teting equipment ha occue. Alo in many cae the impact of the mechanical loa attache to the ive nee to be tete befoe the actual mechanim i available o fo ome eaon it i not aviable to pefom tet on it. Conequently the ue of api pototyping appoache i gaining the impotance in the eign poce. A api pototyping technique, calle Dynamic emulation of mechanical loa, wa evelope in oe to tet the pefomance of ive in the mechanim. It i an inexpenive ueful ai fo the eign of the vaiable pee an toque contol algoithm. Dynamic emulation of mechanical loa [], [3], [4], [5], oe not equie aitional hawae (when compae to tatic emulation of mechanical loa [6], [7]), howeve uing the impove oftwae algoithm it i ucceful alo in the cae of api pee an toque change. It enable the teting of changing inetia an highly nonlinea ynamic. he toque applie by the Loa Machine i calculate uing the feeback contol algoithm. In thi pape by combining the vaiable tuctue ytem an Lyapunov eign [1] a novel liing moe algoithm of contolle/obeve fo inuction moto i evelope. hi contol metho i bae on etimation of an extene electomotive foce (EMF) an i ue to ue of liing moe pinciple obut againt vaiation of loa toque, machine paamete an extenal itubance. Fo both, contolle an obeve, thee ae ue nonlinea contol pinciple, namely etimate EMF an machine teminal voltage built a nonlinea feefowa contol, liing moe pinciple bae on tate vaiable eo ae ue a

2 feeback to guaantee tability of contol ytem. he popoe metho i invetigate an veifie in hawae in the loop imulation expeimentally. Dynamic Moel of Inuction Moto.1 Machine Dynamic Contol of inuction moto (IM) i till a challenging poblem ue to it nonlinea ynamic, limite poibility to meaue o etimate neceay tate vaiable an peence of the witching convete with it own nonlineaity a a powe moulato in contol loop. he ynamic of IM conit of mechanical motion (4), ynamic of tato electomagnetic ytem (1) an the ynamic of the oto electomagnetic ytem (): i 1 Lm Ψ = u Ri, (1) t σ L L t Ψ Lm R 1 1 = R i + p,, t L I + ω J = = L Ψ I 1 J 1, () Lm e = p Ψ i, (3) 3 L ω 1 = ( e L), (4) t J whee ω i mechanical oto angle pee, the two imenional complex pace vecto a b Ψ = Ψ, Ψ, Ψ, = Ψ a Ψ b, u, = ua u b, i, = ia i b ae tato an oto flux, tato voltage an cuent, epectively, e i moto toque, L i loa toque, J i inetia of the oto an p i the numbe of pole pai. One of the mot impotant iue in implementing iect toque contol (DC) o fiel oiente contol (FOC) tategie fo IM i to obtain eal-time intantaneou flux level an poition with ufficient accuacy fo the entie pee ange, fom almot tantill to high pee level. he ifficulty in flux etimation lie with the non-linea inuction machine moel, which i chaacteie by pee epenent an time vaying paamete. In oe to illutate thi non-linea behaviou of IM contol let u expe the eivation of evelope electical toque of IM fom (3). hi yiel fo toque vaiation: e R R p Lm + + e = ( Ψ u pωψ Ψ), (5) t σl σl 3 σl L whee inicate co pouct an inicate ot pouct. It can be ecognie fom (5), that toque vaiation i the um of two tem. he fit tem epen on the tato (R ) an oto (R ) eitance an euce the abolute value of the toque ( e ). he econ tem epeent the effect of the applie contol voltage vecto ( u ) on the toque an i epenent on the opeating conition of IM. It can be note that ome PWM voltage vecto may caue poitive toque vaiation at low ynamic EMF value an negative toque vaiation at high value of back inuce voltage. he cucial point in contol of IM i to make the electomagnetic toque an the flux of IM inepenently contollable. Similaly to toque vaiation, the oto flux vaiation can be ecibe fom (1) an () a L 1 i Ψ = Ψ u Ri Ψ σl Ψ. (6) t L m Ψ t

3 he vaiation of the oto flux i etemine with the ot pouct between oto flux an applie input voltage vecto an epen motly on tato paamete vaiation R, σ L. Both toque an flux vaiation ae highly nonlinea in applie contol voltage u egaing IM oto flux of machine Ψ. he conventional contol metho of IM i bae in cae of FOC on implification of oto q flux component = = [,] Ψ,Ψ Ψ. he DC metho eplace the IM coupling with hyteei contol. In eal IM contol oto flux in q-axi will not be zeo an FOC metho i ue vaiation of motly paamete, inappopiate in enole ive application. he DC metho i in pinciple pee enole, but ue to ue of voltage tato moel of IM an appoximation of tato eitance R ~ in the flux moel, cuent an toque vaiation by low pee ae lightly highe then in cae of nominal pee [8],[9].. Contol Poceue he eign of liing moe ytem conit geneally of two poceue: eign of the witching uface an eign of the liing moe contolle [1]. he witching uface i eigne to obtain a eign pefomance fo the ytem output vaiable. In VSS contol, the goal i to keep the ytem motion on the manifol S, which i efine S = { y: σ ( y, t) = G y} = ; σ= y y, (7) whee y, y ae tate vaiable of eie an etimate value an σ i contol eo. he "chatteing fee" liing moe contol [11] houl be choen uch that the caniate Lyapunov function atifie the Lyapunov tability citeia. hi can be aue fo V = σ σ/ an V = σ σ (8) if the following inequality can be mae tue V = σ Dσ <, (9) whee D i poitive efinite matix. heefoe (8), (9) atify the Lyapunov conition. Fom (8) an (9) eaching conition ( σ = Dσ) can be got. With the electe Lyapunov function the tability of the whole contol ytem in the cae of the initial conition an paamete mimatch i guaantee. he contol function will atify eaching conition in the following fom 1 u() t = u() t ( GB) ( Dσ+ σ ); t = t +,. (1) In the icetize fom, which will be ue in contol algoithm, the continuou fit eivative of the contol eo can be eplace by it fit back tep appoximation. he contol input then i evaluate a 1 u( k + 1) = C( θ ) u( k) + ( GB) (( I + D) C( θ) σ( k) C ( θ) σ ( k 1) ). (11) Sytem i aymptotically table an theoetically will each the liing manifol S in infinite time, but ε= ( ) -vicinity of the manifol i eache in finite time. he otation matice C( θ), C( θ) ae ue in algoithm fo compenation of computational elay. 3 Popoe VSC oque an Flux Contol Scheme he main pupoe of thi eeach wok i to apply the nonlinea continuou liing moe contol combine with Lyapunov eign appoach to the toque an flux contol of IM to achieve that: the geneate toque become a linea output with epect of contol tate, egulating the oto flux amplitue can inceae the powe efficiency an make it poible to opeate in the flux-weakening egion,

4 employing the nonlinea continuou liing moe contol on the toque an flux poee the obutne to the matche an mimatche uncetaintie. heefoe, the following poblem tatement can be popoe: eign a flux / pee obeve to etimate the flux an pee imultaneouly bae on the meauement of the tato cuent an voltage an then eign a coeponing contolle to guaantee that the eal toque tack the eie one. Specially, bae on the tate equation fo toque (5) an oto flux vaiation (6), a coeponing liing moe toque contolle to guaantee the aymptotic tability of both the liing moe electomotive foce (EMF) flux obeve an the toque tacking contolle, i to be eigne. he aitional goal of contol of IM i to make the flux tack the efeence flux input. In thi eeach, the "phyical" coupling between obeve an contolle i ealize with the common ignal of EMF in nonlinea contol. Fom the above icuion an bae on the tate equation (5) an (6), liing moe uface fo toque an flux can be efine ˆ, ( ˆ σ ) ( ˆ = e e σψ = γ Ψ Ψ + Ψ Ψ ), (1) t whee e, Ψ ae efeence toque an oto flux, γ i a poitive contant paamete which etemine the convegence pee of the flux eo Ψ Ψ ˆ in the liing moe. he eign tak i euce to enfocing liing moe in the manifol σ =, σ =, ψ σ σ in -q plane with contol in tato fixe plane. Equation of the contolle motion pojection on the ubpace σ =, ψ σ σ can be a p L 1 σ, = f + Ψ u σ ψ = fψ + C Ψ u, (13) 3 σl Lm Ψ whee f, f ψ ae continuou tate function. Ieal contol input u eq coul be compute fom σ = an σ ψ = [1]. Howeve, u eq cannot be evaluate by (13), ince it contain unknown eal oto flux an will be eigne in oto flux obeve togethe with EMF. In popoe contol cheme the ieal equivalent contol voltage u eq i eplace with etimate EMF fom obeve ( e ˆ ). On thi way thee i etablihe connection with obeve an contolle a fee fowa contol of IM. he contol input voltage vecto (11) i evaluate a σ L u( k + 1) = C( θ ) ˆ ( ) e k + K (( I + D) C( θ) σ( k) C ( θ) σ( k 1) ), (14) whee σ =, ψ σ σ ae contol toque / flux eo an K = K, K ψ i toque / flux feeback gain. In popoe nonlinea VSC cheme liing moe can occu on manifol σ = an σ ψ =. he etimate toque an the magnitue of the oto flux convege to the efeence value: σ = mean ˆ e = e an σ ψ = mean Ψ ˆ = Ψ, both ten to zeo exponentially. oque / flux eo ( σ, σ ψ ) ae then tanfome fom -q to tato fixe a-b cooinate, whee tato voltage input vecto i compute in (14). σ co ˆ in ˆ a θ θ σ = b in ˆ co ˆ. (15) σ θ θ σ ψ

5 he popoe contol cheme i peente in Figue 1. Figue 1: Popoe contol cheme. Figue : Cloe-loop oto flux obeve. 4 Sliing Moe Flux an Spee Obeve Deign of an IM enole ive i till a challenge. he baic poblem i pee an flux etimation epecially at the low pee ange an une light loa conition. In thi ection the liing moe appoach to oto flux an pee etimation of an IM will be peente (Figue ). he oto flux of IM i in pinciple ecibe in tato efeence fame with voltage moel Ψ L i = u ir σ L (16) t L m t o cuent moel (). he IM tato cuent i 1 Lm i = Ψ Ψ. (17) σ L L Replacing tato cuent in () with (17) the eivative of oto flux will be ecibe with tate vaiable tato an oto flux a Ψ Lm R = Ψ +e, (18) t L σ L whee the electomotive foce EMF tem i expee with R e = I + pωj L Ψ. (19) σ he mot ignificant limitation of the oto flux obeve bae on voltage moel of IM in (16) i that it oe not wok at zeo pee. At zeo pee an low pee the amplitue of the electomotive foce e i too mall to accuately an eliably etemine the oto flux angle neceay fo both fiel oientation an pee etimation. At low pee the flux etimation given by voltage moel eteioate owing to the effect of an inaccuate value of the tato eitance R, which caue a eviation of the oto flux pace vecto lightly. he cuent moel of IM in (18) i neee infomation about pee, o in pee enole contol of IM oto flux an mechanical pee have to be etimate. In thi pape a novel metho have been popoe fo IM enole contol bae on etimation of electomotive foce ˆ e in which moto mechanical pee infomation i inclue (18), (19).

6 In obeve eign uitable fo the enole ive the obeve contol input houl be known function of moto pee o that, afte etablihing liing moe in toque tacking loop, the pee can be etemine a unique olution. hi lea to the following election of the feefowa/feeback tuctue of tato cuent obeve with combination of voltage (16) an cuent (18) moel: ˆ i 1 ˆ Lm ˆ R Lm ˆ = u Ri e + Ψ. () t σl L σl L ˆ ε = i i i etemine a: Etimation eo ( i ) ˆ εi ( i i ) 1 L m ( ˆ Lm Lm ) ( ˆ = = e e R + R ε i + R Ψ Ψ). (1) t t σ L L L L Sliing moe algoithm coul be ue to calculate contol, which ha meaning of EMF ˆ ( ) ˆ σl ( 1) L e k = e k + Ke m (( I + Di) εi( k) ε i( k 1) ). () L he poce of zeoing the cuent eo utilizing toque egulate PWM i the eence of liing moe obeve. Roto flux obeve coul be electe having the tuctue of oto moel (18) with aitional convegence tem ξ ψ an unknown tato flux Ψ will be eplace with eie one ˆ Ψ ˆ ˆ Lm R e = = e + Ψ + ξψ. (3) t L σ L Now flux etimation eo ( ε ˆ ψ = Ψ Ψ ) can be calculate a ε ( ˆ ψ Ψ Ψ) ˆ L m R ( ˆ = = e e + Ψ Ψ) ξ ψ. (4) t t L σl o enue convegence, ξ ψ coul be electe in the following fom ε ˆ i Ψ ξ ˆ ψ = KψI Ψ. (5) ˆ εi Ψ he metho of electing ε ˆ i Ψ an ε ˆ i Ψ i nothing but the conventional appoach to contol eign bae on equation in the fame otating with oto flux [13]. Deign paamete K ψ coul be electe fom (5) o that etimate oto flux ten to it eal value. he iea i to tack the tato cuent component by putting the coeponing cuent eo ( ˆ i i ) into the liing moe, an heeby, to impoe the aymptotic convegence of the flux obevation eo ε ψ epite paametic vaiation ' R R 1 Lm i i t ε + + = σl ε ε σl L t ψ. (6) he tato flux efeence Ψ i calculate fom the oto flux efeence Ψ an the toque efeence a L σ L e Ψ L 3 m plmψ Ψ Ψ = +. (7) Etimate ynchonou pee an the mechanical oto pee will be expee with co pouct ˆ 1 ˆ 1 1 ˆ, ˆ ˆ ˆ ω = Ψ ˆ t Ψ ω = e p Ψ. (8) ˆ Ψ Ψ

7 5 Flux Contol fo Efficiency Impovement Fo electic ive application, wie ange pee contol of moto ive i neceay. When the moto pee i lowe than the bae pee, the moto ive i equie to povie a contant output toque, alo calle contant toque opeation. On the othe han, when the pee i highe than the bae pee, the loa toque eceae with the pee. hu, intea of poviing a contant output toque, contant powe opeation i pefee becaue it can ignificantly euce the cot an ize of the moto ive. he popoe IM ive i a eiable caniate fo uch application becaue the fiel of the IM can be eaily weakene by eucing the oto flux component cuent a the oto pee inceae [14]. he maximum output toque evelope by the machine i epenent on the allowable cuent ating an the maximum voltage that the invete can apply to the machine [15]. heefoe, to ue the invete capacity fully, it i eiable to ue the contol cheme conieing the voltage an cuent limit conition, which can yiel the maximum toque pe ampee ove the entie pee ange. he cuent limit bounay i a cicle whoe aiu epen on only the cuent ating. he IM will opeate at the highet poible oto flux maintaine by the DC link voltage U DC in the entie pee ange. Opeation at the highet flux aue a maximum moto toque at the lowet lip fequency. A the moto loe ae popotional to the lip fequency we may expect the popoe contol metho to yiel a highly efficient electomechanical enegy conveion of the ive. he efficiency of IM ive i impove by ajuting the oto flux level automatically in accoance with the toque comman a hown with (9)-(31). hi will be epecially tue at light loa becaue of ue low flux level. he maximum allowe oto flux will epen on actual tato fequency an c-link voltage U ψ DC max = kv, kv < 1, (9) 3ω an toque epenent optimal oto flux m + L R L R ψ opt = e. (3) 3p R he effective comman will be ue a opt max ψ ψ. (31) 6 Stato Reitance Etimation Dynamic pefomance of the IM contolle tongly epen on moto paamete accuacy. A paamete mimatch pouce an eo in fiel oientation an uneiable coupling between the flux an toque contol. Although it i poible to etemine the moto paamete in avance, ignificant change occu uing the opeation. Among thee paamete epecially the exact knowlege of the tato eitance i an impotant iue. he poblem i peent in the cae of the ue of pee eno, but it i impotance inceae when in enole application. Hee, a new appoach to pee etimation with obut popety to tato eitance vaiation i popoe. Fit, we efine a new quantity q a a co pouct q= i ( u Ri ) = i u. (3) q epeent the intantaneou eactive powe maintaining the magnetizing cuent. Fom (3) it i evient that thi quantity i inepenent fom tato eitance ue popety of co pouct. he etimate electomotive foce EMF fom liing moe flux obeve i eitance R ˆ epenent q = i e ˆ. (33)

8 Uing (3) a the efeence moel an (33) the ajutable moel, epectively, an MRAS ytem can be ue, whee popotional an integal opeation ae utilize a the aaptation mechanim ˆ t R[ k + 1] = Kp( q qˆ) + Ki ( q qˆ) τ. (34) he etimate tato eitance value R ˆ fom (34) i then ue a an input ignal to the liing moe flux an pee obeve. 7 HIL Simulation of EV he IM ue fo tet i type N9L4, 38 V thee-phae, Y connection, 5 Hz, 1.5 kw, ix-pole, 9 RPM. Paamete in the pe phae teay-tate equivalent cicuit ae: tato eitance R =5.115 Ω, oto eitance R =5.8 Ω, tato an oto inuctance L =L =.167 H, an mutual inuctance L m =.196 H, moto. Lumpe inetia of the DM_LM mechanim i.45 kgm, an the vicou fiction coefficient i.6 Nm. he etup of the applie HIL metho (Dynamic Emulation of Mechanical Loa) i peente in Figue 3 an the expeimental hawae-in-the-loop ytem i hown in Figue 4. G i a ynamic of the teting mechanim, coniting of ive une tet (Dive Machine) an contolle ynamomete (Loa Machine), Dive Machine Loa Machine (DM-LM) mechanim, an G em i the ynamic of the emulate loa. ω i the oto pee of the DM-LM mechanim, ω em the pee of the emulate mechanim, e the applie electical toque of the Dive Machine, an L i the applie loa toque of the expeimental mechanim (Loa Machine). Nonlinea ynamic an toque etimation eo ae peente a input F. J m i the inetia an B m the vicou fiction coefficient of the DM-LM mechanim. Etimate value ae enote by ^, wheea eie value ae enote by. Feeback contolle G t i ue fo the compenation of unmoele ynamic, paamete vaiation, an numeical eo (Figue 3). ^ e G em () ω em ^ G -1 () + + L Contolle Loa Machine L e Contolle - Dive Machine e G t () F J 1 m - B m - ω DM-LM mechanim Figue 3: Dynamic emulation of mechanical loa Setup. Contolle-IM (SPACE) PC - efeence an paamete etting, ata acquiition, oftwae evelopment L out Invete-IM cuent meauement Contolle/ Invete-BLDC DC link -IM ω Dive Machine (IM) Loa Machine (BLDC) e L DM-LM mechnim DC link -BLDCM Figue 4: Expeimental ytem. Inuction moto (Dive Machine) contol i execute with the ue of the SPACE ytem containing DS113 PPC contolle boa, an the Danfo VL54 Invete. he ytem i pogamme with the ue of MALAB/Simulink. Meauement an computation of algoithm ae execute in µ. Buhle

9 AC evomoto of type 14UMD4CACAA pouce by UNIMOOR iven by 7.5kW Digital AC Dive UNI4 (Uniive, Contol echnique) wa ue a the Loa Machine. Shaft of the ive an loa machine ae mechanically connecte with the clutch, which in ieal conition woul eult in both having a common haft. he ynamic of the implifie moel of an electical vehicle wa choen. It moel exhibit a complex nonlinea ynamic, peente in (35): ω e Rb R( CaR ωem + Bωem + mginα) em =, (35) t Je + R ( Jw + m ) whee J e i engine inetia an J M i the lumpe inetia of wheel an axle. R i the gea atio, the aiu of the wheel, m the ma of the vehicle, g the gavity acceleation contant, B the vicou fiction coefficient, an C a the ai eitance coefficient. ω em i the otational pee of the populion ytem an α the teet inclination angle, wheea e i the applie populion ytem toque an b the toque geneate fom the bake. PI contolle wa ue a feeback contolle G t (). Expeimental eult ae hown fo the potion of the ECE-15 tet cycle (Economic Commiion fo Euope, [16]). Fit movement phae (ECE-15 (1)) i peente in Figue 5 - Figue 8, an the econ movement phae (ECE-15 ()) in Figue 9 - Figue 1. Within the movement phae the EV fit acceleate, then fo ome potion of time ive with the contant pee, an finally it eceleate until it i toppe completely. Duing the movement, the tanmiion gea ae ometime witche, witching i coniee to occu momentaily. he ynamic of clutch i not moele. Fo the fit phae of movement it i aume, that the gea atio emain unchange (tanmiion i kept in the lowet gea). Etimate an eie value of applie toque ae peente in Figue 5. he oto haft otation pee ω i peente in Figue 6, togethe with the emulate mechanim (EV) moel pee ω em. Figue 7 featue the calculate loa toque L of EV, applie by the Loa Machine, wheea the pee of vehicle i peente in Figue oque (Nm) 1 Spee (a/) t() Figue 5: ECE-15 (1) - applie toque etimate (otte line, e ) an eie value (oli line, e ) t() Figue 6: ECE-15 (1) - emulate (otte line, ω em ) an actual (oli line, ω ) oto pee. Fo the econ phae of movement the gea atio i changing (the tanmiion gea i witche to the highe one when the vehicle pee uing the acceleation eache 15km/h, an back to the lowe one, when the vehicle pee pae 15 km/h uing the eceleation phae). Etimate an eie value of

10 applie toque ae peente in Figue 9. he oto haft otation pee ω i peente in Figue 1, togethe with the emulate mechanim (EV) moel pee ω em. Figue 11 featue the calculate loa toque L of EV, applie by the Loa Machine, wheea the pee of vehicle i peente in Figue 1. Loa toque (Nm) Spee (km/h) t() Figue 7: ECE-15 (1) Applie loa toque ( L ) t() Figue 8: ECE-15 (1) Deie (otte line) an actual (oli line) pee of EV in km/h. 1 8 oque (Nm) Spee (a/) t() Figue 9: ECE-15 () - applie toque etimate (otte line, e ) an eie value (oli line, e ) t() Figue 1: ECE-15 () - emulate (otte line, ω em ) an actual (oli line, ω ) oto pee. 8 Concluion In thi pape we have peente an avance icete time chatteing fee cheme of IM ue an tete in EV' application. he itinctive featue of the cheme i it obutne to iffeent initial conition value an paamete mimatch. A unifom ynamic IM moel ha been eive to facilitate the toque/flux contol tak. he avantage of the popoe IM vecto contol cheme pevail ove thoe of conventional contol cheme ince no pecie knowlege of moel i neceay. Anothe avantage of the popoe contol i it imple micopoceo implementation.

11 Dynamic emulation of mechanical loa wa peente a a api pototyping eign an teting technique. he emulation i limite to the cetain banwith, epecially in the cae when the paamete of the teting mechanim (DM-LM mechanim) ae not well known. In the peente cae the banwith of the EV i within the banwith of the ynamic emulation poceue. Loa toque (Nm) t() Figue 11: ECE-15 () Applie loa toque ( L ). Spee (km/h) t() Figue 1: ECE-15 () Deie (otte line) an actual (oli line) pee of EV in km/h. he electic ive ytem ae in an avance technological level ue to the contuction of appopiate moto an the fat evelopment of the powe electonic a well a the micoelectonic technology. Batteie have not yet evelope to the equie level a they have a elatively mall powe enity an they ae heavy. So the EV a city ca can not be oubte an thei wie pea ue in the futue i expecte. EV' povie a clean, enegy efficient uban tanpotation altenative. High peciion of the toque contol i alo ueful in the hybi vehicle. Refeence [1] V.I. Utkin, Sliing moe in contol an optimization, Spinge Velag, Belin, 199. [] Z.H. Akpolat, G.M. Ahe, J.C. Clae, "Dynamic Emulation of Mechanical Loa Uing a Vecto Contolle Inuction Moto-Geneato Set", IEEE an. on Inutial Electonic, vol. 46, no., 1999, pp [3] Z.H.Akpolat, G.M. Ahe, J.C.Clae, "A Pactical Appoach to the Deign of Robut Spee Contolle fo Machine Dive", IEEE an. on Inutial Electonic, vol. 47, no.,, pp [4] M. Roič, K. Jezenik, M. lep, "A Feefowa Appoach to the Dynamic Emulation of Mechanical Loa", Poceeing of the 35th Annual IEEE Powe Electonic Specialit Confeence (PESC'4), pp , 4. [5] M. Roič, K. Jezenik, M. lep, "Feefowa an Feeback Appoach fo the Dynamic Emulation of Mechanical Loa". Poceeing of Sympoium on Powe Electonic, Electical Dive, Automation & Motion : SPEEDAM 4, Capi (Italy). pp , 4. [6] R.W. Newton, R.E. Betz, H.B. Penfol, "Emulating Dynamic Loa Chaacteitic Uing a Dynamic Dynamomete", in Poceeing of the IEEE Powe Electonic an Dive Sytem (PEDS), Singapoe, 1995, vol. 1, pp

12 [7] P. Sanholt, E. Ritchie, J.K. Peeen, R.E. Betz, "A Dynamomete Pefoming Dynamical Emulation of Loa with Non-linea Fiction", in Poceeing of the IEEE Intenational Sympoium on Inutial Electonic (ISIE'96), Waaw, Polan, 1996, Pat, pp [8] G.S. Buja, an M.P. Kazmiekowki, Diect oque oque Contol of PWM Invete-Fe AC Moto-A Suvey. In: IEEE anaction on Inutial Electonic, vol. 51, no. 4, 4, pp., [9] W. Leonha, Contol of Electic Dive, Spinge Velag, Belin, Gemany, 3 eition, 1. [1] V.I. Utkin, Sliing Moe Contol Deign Pinciple an Application to Electic Dive, IEEE anaction on Inutial Electonic, vol. 4, 1993, pp [11] A. Šabanović, K. Jezenik, N. Šabanović, an K. Waa, Chatteing Fee Sliing Moe, in: Poc. Wokhop on the Robut Contol via Lyapunov echnique. Benevento, Italy, pp , [1] V.I. Utkin, Sliing Moe Contol in Dicete ime an Diffeence Sytem. Vaiable Stuctue an Lyapunov Contol (A.S. Zinobe, E.). Spinge Velag, Lonon, [13] D.W. Novotny, an.a. Lipo, Vecto Contol an Dynamic of AC Dive, Oxfo Univeity Pe, Lonon. [14] S.H. Kim, S.K. Sul, "Maximum oque Contol of an Inuction Machine in the Fiel Weakening Region", IEEE an. In. App., vol.31, no.4, 1995, pp [15] P. Va, Vecto Contol of AC Machine, Claenon pe, Oxfo, 199. [16] Autho Pof.. Kael Jezenik, Univeity of Maibo, Faculty of Electical Engineeing an Compute Science, Smetanova 17, SI- Maibo, Slovenia el.: , fax: , kael.jezenik@uni-mb.i He eceive B.S. (1968), M.S. (1974) an D.Eng. (1976) egee in electical engineeing fom the Univeity of Ljubljana. In 1976 he joine the Univeity of Maibo an in 1985 he became a Full Pofeo an Hea of the Intitute of Robotic. Hi eeach an teaching inteet inclue automatic contol, obotic, powe electonic an electical ive. Cuent poject in thee aea ae high peciion tacking contol in machine tool an DD obot an obut toque contol in EV'. D. Mian Roič, Univeity of Maibo, Faculty of Electical Engineeing an Compute Science, Smetanova 17, SI- Maibo, Slovenia el.: , fax: , mian.oic@uni-mb.i He eceive B.S. (1994), M.S. (1996) an Ph.D. () egee in electical engineeing fom the Univeity of Maibo. In 1994 he joine the Univeity of Maibo an in 4 he became an Aitant Pofeo. Cuently he wok a Reeache. Hi eeach an teaching inteet inclue automatic contol, obotic, powe electonic an electical ive. Cuent poject in thee aea ae in the fiel of contol of electical ive (with an without pee eno) an mechatonic application (ynamic emulation of mechanical loa).