Seole A.C. Dve wth Vecto Cotolle Sychoo Moto Ořej Fše VŠB-echcal Uvety of Otava, Faclty of Electcal Egeeg a Ifomatc, Deatmet of Powe Electoc a Electcal Dve, 17.ltoa 15, 78 33 Otava-Poba, Czech eblc oej.fe@vb.cz Abtact. I the ae a metho fo ee a oto etmato fo the emaet maget ychoo moto (PMSM) wee ecbe. By g motoe tato voltage a cet a Kalma obeve, t oble to mlemet hgh yamc efomace PMSM ve wthot oto a ee eo. A Extee Kalma Flte (EKF) a ecve otmm tate etmato whch ca be e fo the jot tate a aamete etmato of a olea yamc ytem eal tme. he mathematcal moel of the vecto cotolle ve ytem Matlab Smlk wa e fo mlato. he mlato elt ae the e eetato. 1 Itocto At eet ajtable ee A.C. ve wth ychoo moto whch tlze the emaet maget tea of the fel wg, tat to lay tll moe motat ole. Sychoo moto the owe age of he kw have bee eveloe g the ew magetc mateal o the ba of como Samam-Cobalt (SmCo 5 ) a Neoym-Boo-Fem (NBFe). he emaet maget ychoo moto ae fe by feqecy covete wth a temeate D.C. cct. he owe t of feqecy covete blt wth moe owe tato IGB fo low a mle owe age. o gve a emaet maget ychoo moto the ame yamc efomace a a D.C. moto two cotol cle may be ale: the vecto cotol metho o the ect toqe a eactve owe cotol metho. 2 Mathematcal moel of the ve ytem Voltage eqato oto efeece fame: q q ψ ψ q ψ q ψ (1)
Sytem eqato fo Extee Kalma Flte (EKF): By g eq. (2,4,5) we ca wte: q q co co (2) F q q ψ co co (3) (4) q q q q k k k co co co ( ) m c f c e c k Ψ 2 3 1 1 (5) (6) B Ax x & q q 1 co co q co co (7) y Cx
Whee x [ y [ [ ; ; ; ] the tate vecto, q ; ; ; ] the ott vecto, ] the t vecto, A the tate matx, B the t matx a C the tafomato matx.. Fg. 1. Moel of the PMSM Next te cetzato of the mache moel (A > A(k); B > B(k); C > C(k)) etemato of the oe a tate covaace matce Q,, P. mlemetato of the cetze EKF algothm Fg. 2. Sytem of the EKF
3 Extee Kalma Flte he goal of the Kalma flte (Fg.2) to obta meaable tate (ee a oto oto) by g meae tate a alo tattc of the oe a meaemet (covaace matce Q,,P of the ytem oe vecto, meaemet oe vecto a ytem tate vecto (x) eectvely). I geeal, by mea of the oe t, t oble to take accot of comtatoal accace, moellg eo, a eo the meaemet. he flte etmato (xet) obtae fom the ecte vale of the tate (x) a th coecte ecvely by g a coecto tem, whch the oct of the Kalma ga (K) a the evato of the etmate meaemet ott vecto a the actal ott vecto (y - yet). he Kalma ga choe to elt the bet oble etmate tate [3]. 4 Smlato elt he A.C. ve ha bee mlate ogam MAAB-Smlk. he mlato wee oe fo the ve ytem wth the PMSM wth the followg aamete: P 89W, 52.3 a/, 3, P 89W, I Ψ m F.378Wb 2,14 kgm, Nm, U 16 A,.14 Ω, 17 Nm, max 29.3 a/, 78/45 V, Nm, q 2 kgm, 1.29 mh efeece a actal agla ee eoe, actal a etmato oto of the oto, toqe comoet of the tato cet vecto I q eoe of A.C. ve ae how Fg. 3, 4, 5, 6. Ackowlegemet I the ae ae the elt of the oject CEZ:17/98:272414, whch wa ote by he Mty of Ecato of Czech eblc. h eeach wa eve by Pof. Ig. Pavel Baštette, CSc.
ee [ a / ] Fg. 3. efeece ee tme [ ] ee [ a / ] tme [ ] Fg. 4. Actal ee ( ) a etmato ee( )
oto [ a ] tme [ Fg. 5. Actal( ) a etmato ( ) oto of the oto I q [ A ] tme [ Fg. 6. Actal I q ( ) a etmato I q ( ) efeece 1. Baštette, P.: A.C. Cotol Dve Moe Cotol Metho. VŠB-echcal Uvety of Otava, 1999. ISBN 8-778-668-X. 2. Neboák, I.: Moellg a Smlato of Electcal Cotol Dve. VŠB-echcal Uvety of Otava, 22. ISBN 8-248-83-7. 3. Va, P.: Seole Vecto a Dect oqe Cotol. Oxfo Uvety Pe, 1999. ISBN 19 856465 1.