The objective of this project is to design a high frequency signal injection method for sensorless control of permanent magnet synchronous motor (PMSM) drives. Generally, the PMSM drives control requires the appearance of speed and positon sensor to measure the motor speed hence to feedback the information for variable speed drives operation. The usage of the sensor will increase the size, cost, extra hardwire and feedback devices. Therefore, there is motivation to eliminate this type of sensor by injecting high frequency signal and utilizing the electrical parameter from the motor so that the speed and positon of rotor can be estimated. The proposed position and speed sensorless control method using high frequency signal injection together with all the power electronic circuit are modelled using Simulink. PMSM sensorless driveis simulated and the results are analyzed in terms of speed, torque and stator current response without load disturbance but under the specification of varying speed, forward to reverse operation, reverse to forward operation and step change in reference speed. The results show that the signal injection method performs well during start-up and low speed operation.
This document summarizes a study on sensorless control of a brushless DC (BLDC) motor using direct back electromotive force (EMF) detection with a dsPIC30F3010 digital signal processor (DSP). A mathematical model of the motor drive system was simulated in MATLAB Simulink. Hardware and software for a prototype BLDC drive were developed. Experimental results from the prototype validated the simulation results and showed the validity of sensorless control over a wide speed range using the DSP's analog-to-digital converter to sense the back EMF voltage. Key features of the designed hardware included using the analog-to-digital converter for sensorless commutation control based on back EMF zero crossings,
The paper proposes Direct Torque Control (DTC) of a five-phase induction motor drive with reduced torque ripple. The method presented here is the DTC Backstepping based on the classic DTC working with a constant switching frequency of the inverter. Another remarkable aspect is the complexity of the method proposed, both in the control unit of the inverter and in the number of correctors necessary for the control of the torque. The selection table and hysteresis have been eliminated. This method significantly improves the torque and flux oscillations and improves the dynamics of the drive by making it less sensitive to load torque disturbances. The proposed method is developed and designed using Matlab/SIMULINK to show the eectiveness and performances of the DTC-Backstepping.
2.a neuro fuzzy based svpwm technique for pmsm (2)EditorJST
In the present scenario, static frequency converter based variable speed synchronous motors has
become very familiar and advantage to other drive system, especially low speed and high power applications.
Unlike the induction motor, the synchronous motor can be operated at variable power factor (leading, lagging
or unity) as desired. So, there is an increasing use of synchronous motors as adjustable speed drives. The PWM
technique is very useful to VSI drive for achieving efficient and smooth operation and free from torque
pulsations and cogging, lower volume and weight and provides a higher frequency range compared to CSI
drives. Even for voltage source inverter, the commutation circuit is not needed, if the self-extinguishing
switching devices are used. This paper proposes a concept of Neuro-fuzzy based control strategy which is used
for controlling the PMSM. The total work mainly concentrates on optimum control of PMSM with maximum
voltage utilization with less switching losses.
Speed Tracking of Field Oriented Control Permanent Magnet Synchronous Motor U...IJPEDS-IAES
The field oriented control theory and space vector pulse width modulation technique make a permanent magnet synchronous motor can achieve the performance as well as a DC motor. However, due to the nonlinearity of the permanent magnet synchronous motor drive characteristics, it is difficult to control by using conventional proportional-integral-derivative controller. By this reason in this paper an online neural network controller for the permanent magnet synchronous motor is proposed. The controller is designed to tracks variations of speed references and also during load disturbance. The effectiveness of the proposed method is verified by develop simulation model in MATLAB-simulink program. The simulation results show that the proposed controller can reduce the overshoot, settling time and rise time. It can be concluded that the performance of the controller is improved.
Speed Control of PMSM by Sliding Mode Control and PI ControlIJMTST Journal
In order to optimize the speed-control performance of the permanent-magnet synchronous motor (PMSM)
system with different disturbances and uncertainties, a nonlinear speed-control algorithm for the PMSM servo
systems using sliding-mode control and disturbance compensation techniques is developed in this paper.
First, a sliding-mode control and PI control method based on one novel which allows chattering reduction on
control input while maintaining high tracking performance of the controller. Then, an PI control extended
sliding-mode disturbance observer is proposed to estimate lumped uncertainties directly, to compensate
strong disturbances and achieve high servo precisions. Simulation results PI control better than the SMC
control both show the validity of the proposed control approach.
DSP-Based Sensorless Speed Control of a Permanent Magnet Synchronous Motor us...IJPEDS-IAES
This document summarizes an experiment on sensorless speed control of a permanent magnet synchronous motor (PMSM) using a sliding mode current observer (SMCO). A SMCO was implemented to estimate the rotor position based on estimated back electromotive forces. The rotor speed was then calculated by differentiating the estimated rotor position. The control system was developed on a Texas Instruments TMS320LF2812 digital signal processor and tested on a Pittman 3441 series PMSM. Experimental results validated the real-time implementation and showed the effectiveness of the sensorless speed control approach using an SMCO.
FPGA-Based Implementation Nonlinear Backstepping Control of a PMSM DriveIJPEDS-IAES
In this paper, we present a new contribution of FPGAs (Field-Programmable Gate Array) for control of electrical machines. The adaptative Backstepping control approach for a permanent magnet synchronous motor drive is discussed and analyzed. We present a Matlab&Simulink simulation and experimental results from a benchmark based on FPGA. The Backstepping technique provides a systematic method to address this type of problem. It combines the notion of Lyapunov function and a controller procedure recursively. First, the adaptative and no adaptative Backstepping control approach is utilized to obtain the robustness for mismatched parameter uncertainties. The overall stability of the system is shown using Lyapunov technique. The simulation results clearly show that the proposed scheme can track the speed reference. Secondly, some experimental results are demonstrated to validate the proposed controllers. The experimental results carried from a prototyping platform are given to illustrate the efficiency and the benefits of the proposed approach and the various stages of implementation of this structure in FPGA.
Computer Simulation of PMSM Motor with Five Phase Inverter Control using Sign...IJECEIAES
The signal processing techniques and computer simulation play an important role in the fault diagnosis and tolerance of all types of machines in the first step of design. Permanent magnet synchronous motor (PMSM) and five phase inverter with sine wave pulse width modulation (SPWM) strategy is developed. The PMSM speed is controlled by vector control. In this work, a fault tolerant control (FTC) system in the PMSM using wavelet switching is introduced. The feature extraction property of wavelet analysis used the error as obtained by the wavelet de-noised signal as input to the mechanism unit to decide the healthy system. The diagnosis algorithm, which depends on both wavelet and vector control to generate PWM as current based manage any parameter variation. An open-end phase PMSM has a larger range of speed regulation than normal PMSM. Simulation results confirm the validity and effectiveness of the switching strategy.
This document summarizes a study on sensorless control of a brushless DC (BLDC) motor using direct back electromotive force (EMF) detection with a dsPIC30F3010 digital signal processor (DSP). A mathematical model of the motor drive system was simulated in MATLAB Simulink. Hardware and software for a prototype BLDC drive were developed. Experimental results from the prototype validated the simulation results and showed the validity of sensorless control over a wide speed range using the DSP's analog-to-digital converter to sense the back EMF voltage. Key features of the designed hardware included using the analog-to-digital converter for sensorless commutation control based on back EMF zero crossings,
The paper proposes Direct Torque Control (DTC) of a five-phase induction motor drive with reduced torque ripple. The method presented here is the DTC Backstepping based on the classic DTC working with a constant switching frequency of the inverter. Another remarkable aspect is the complexity of the method proposed, both in the control unit of the inverter and in the number of correctors necessary for the control of the torque. The selection table and hysteresis have been eliminated. This method significantly improves the torque and flux oscillations and improves the dynamics of the drive by making it less sensitive to load torque disturbances. The proposed method is developed and designed using Matlab/SIMULINK to show the eectiveness and performances of the DTC-Backstepping.
2.a neuro fuzzy based svpwm technique for pmsm (2)EditorJST
In the present scenario, static frequency converter based variable speed synchronous motors has
become very familiar and advantage to other drive system, especially low speed and high power applications.
Unlike the induction motor, the synchronous motor can be operated at variable power factor (leading, lagging
or unity) as desired. So, there is an increasing use of synchronous motors as adjustable speed drives. The PWM
technique is very useful to VSI drive for achieving efficient and smooth operation and free from torque
pulsations and cogging, lower volume and weight and provides a higher frequency range compared to CSI
drives. Even for voltage source inverter, the commutation circuit is not needed, if the self-extinguishing
switching devices are used. This paper proposes a concept of Neuro-fuzzy based control strategy which is used
for controlling the PMSM. The total work mainly concentrates on optimum control of PMSM with maximum
voltage utilization with less switching losses.
Speed Tracking of Field Oriented Control Permanent Magnet Synchronous Motor U...IJPEDS-IAES
The field oriented control theory and space vector pulse width modulation technique make a permanent magnet synchronous motor can achieve the performance as well as a DC motor. However, due to the nonlinearity of the permanent magnet synchronous motor drive characteristics, it is difficult to control by using conventional proportional-integral-derivative controller. By this reason in this paper an online neural network controller for the permanent magnet synchronous motor is proposed. The controller is designed to tracks variations of speed references and also during load disturbance. The effectiveness of the proposed method is verified by develop simulation model in MATLAB-simulink program. The simulation results show that the proposed controller can reduce the overshoot, settling time and rise time. It can be concluded that the performance of the controller is improved.
Speed Control of PMSM by Sliding Mode Control and PI ControlIJMTST Journal
In order to optimize the speed-control performance of the permanent-magnet synchronous motor (PMSM)
system with different disturbances and uncertainties, a nonlinear speed-control algorithm for the PMSM servo
systems using sliding-mode control and disturbance compensation techniques is developed in this paper.
First, a sliding-mode control and PI control method based on one novel which allows chattering reduction on
control input while maintaining high tracking performance of the controller. Then, an PI control extended
sliding-mode disturbance observer is proposed to estimate lumped uncertainties directly, to compensate
strong disturbances and achieve high servo precisions. Simulation results PI control better than the SMC
control both show the validity of the proposed control approach.
DSP-Based Sensorless Speed Control of a Permanent Magnet Synchronous Motor us...IJPEDS-IAES
This document summarizes an experiment on sensorless speed control of a permanent magnet synchronous motor (PMSM) using a sliding mode current observer (SMCO). A SMCO was implemented to estimate the rotor position based on estimated back electromotive forces. The rotor speed was then calculated by differentiating the estimated rotor position. The control system was developed on a Texas Instruments TMS320LF2812 digital signal processor and tested on a Pittman 3441 series PMSM. Experimental results validated the real-time implementation and showed the effectiveness of the sensorless speed control approach using an SMCO.
FPGA-Based Implementation Nonlinear Backstepping Control of a PMSM DriveIJPEDS-IAES
In this paper, we present a new contribution of FPGAs (Field-Programmable Gate Array) for control of electrical machines. The adaptative Backstepping control approach for a permanent magnet synchronous motor drive is discussed and analyzed. We present a Matlab&Simulink simulation and experimental results from a benchmark based on FPGA. The Backstepping technique provides a systematic method to address this type of problem. It combines the notion of Lyapunov function and a controller procedure recursively. First, the adaptative and no adaptative Backstepping control approach is utilized to obtain the robustness for mismatched parameter uncertainties. The overall stability of the system is shown using Lyapunov technique. The simulation results clearly show that the proposed scheme can track the speed reference. Secondly, some experimental results are demonstrated to validate the proposed controllers. The experimental results carried from a prototyping platform are given to illustrate the efficiency and the benefits of the proposed approach and the various stages of implementation of this structure in FPGA.
Computer Simulation of PMSM Motor with Five Phase Inverter Control using Sign...IJECEIAES
The signal processing techniques and computer simulation play an important role in the fault diagnosis and tolerance of all types of machines in the first step of design. Permanent magnet synchronous motor (PMSM) and five phase inverter with sine wave pulse width modulation (SPWM) strategy is developed. The PMSM speed is controlled by vector control. In this work, a fault tolerant control (FTC) system in the PMSM using wavelet switching is introduced. The feature extraction property of wavelet analysis used the error as obtained by the wavelet de-noised signal as input to the mechanism unit to decide the healthy system. The diagnosis algorithm, which depends on both wavelet and vector control to generate PWM as current based manage any parameter variation. An open-end phase PMSM has a larger range of speed regulation than normal PMSM. Simulation results confirm the validity and effectiveness of the switching strategy.
T ORQUE R IPPLES M INIMIZATION ON DTC C ONTROLLED I NDUCTION M OTOR WITH A DA...csandit
The conventional direct torque control (DTC) method for induction motors suffers from high torque ripples. This document proposes an adaptive bandwidth approach for the hysteresis controllers in DTC to reduce torque ripples. With the adaptive bandwidth approach, the hysteresis bandwidth is determined by the error values from the previous step for stator flux and torque, rather than using a fixed bandwidth. Simulation results show the proposed adaptive bandwidth DTC (AB-DTC) method can reduce torque ripples by around 60% compared to conventional DTC under both unloaded and loaded motor conditions.
Performance Improvement with Model Predictive Torque Control of IM Drives usi...IRJET Journal
This document summarizes a research paper that proposes improvements to Model Predictive Torque Control (MPTC) for induction motor drives. The key points are:
1) Conventional MPTC has torque and flux ripples that require a high sampling frequency. A new method divides the control period between an active voltage vector and null vector to reduce ripples at a lower frequency.
2) Previous duty cycle methods calculated vector selection and duration separately, reducing low-speed performance. The new method optimizes them simultaneously.
3) Simulation and experimental results show the proposed MPTC achieves better steady-state performance than conventional MPTC, even at half the sampling frequency, especially at low speeds.
This document discusses methods of controlling DC motors and servo motors. It describes four methods of controlling DC motor speed: flux control, armature control, voltage control, and pulse width modulation. Voltage control and PWM are identified as most effective. Servo motors are also discussed, explaining their components, working principle using PWM to compare feedback and control motor position. PWM is identified as an effective method to accurately control both DC motor and servo motor speed.
ADAPTIVE BANDWIDTH APPROACH ON DTC CONTROLLED INDUCTION MOTORijics
Induction motors are most commonly used motor type in industrial applications because of its well-known
advantages like robust structure, cheaper prices etc. Today, field oriented control (FOC) and direct torque
control (DTC) methods, also called vector control, are most famous control methods in high-performance
applications. The main structural and behavioural differences between the both methods can be
summarized as: the FOC has parameter dependence while the DTC has high torque ripples. In this study, a
new adaptive bandwidth approach was presented to reduce torque ripples in DTC controlled induction
motor drives. With the proposed method, instead of fixed bandwidth, adaptive bandwidth approach was
investigated in hysteresis controllers on the DTC method. Both the conventional DTC(C-DTC) method and
adaptive bandwidth DTC (AB-DTC) for induction motor were simulated in MATLAB/SIMULINK and the
results were presented and discussed to verify the proposed control. The comparisons shown that, torque
ripples were reduced remarkably with the proposed AB-DTC method.
Wireless Speed Control of an Induction Motor Using Pwm Technique with GsmIOSR Journals
This document describes a wireless speed control system for an induction motor using pulse width modulation (PWM) technique with global system for mobile communications (GSM). The system uses a microcontroller to control IGBT inverters and implement volt-hertz (V/F) control of a 1HP 3-phase induction motor. It can remotely control motor speed by sending SMS messages to the controller via GSM. Experimental results show that the V/F control method maintains a constant voltage-to-frequency ratio to provide stable speed control of the induction motor from 5% to 100% of its base speed range. The system provides a low-cost solution for remote wireless control of industrial motors and appliances.
IRJET - Vector Control of Permenant Magnet Synchronous MotorIRJET Journal
This document discusses vector control techniques for permanent magnet synchronous motors (PMSM). It describes field oriented control, direct torque control, voltage vector control, and passivity based control. It then discusses the components of a PMSM drive system, including the motor, inverter, and PID speed controller. It presents the mathematical model and torque equation for vector control of PMSM. Finally, it discusses simulating the PMSM drive system in MATLAB/Simulink using reverse Park transformations, hysteresis current control, and testing in the constant torque region of operation.
This document summarizes a research paper on sensorless direct torque control of interior permanent magnet synchronous motors for embedded systems using an MRAS observer. It begins with an introduction to embedded systems and IPMSMs. It then provides the mathematical model of an IPMSM and describes the principles of direct torque control, including flux and torque hysteresis controllers and the inverter switching table. It presents an MRAS observer as a sensorless closed-loop algorithm for estimating rotor speed and position. In the simulation results, the proposed sensorless DTC control method using an MRAS observer is effective for embedded system applications.
Study on Current Sensorless Vector Control Method for Electric Vehicle Drive ...Nooria Sukmaningtyas
With the aggravation of environment pollution and the reduction of petroleum resources, the
development of electric vehicle (EV) draws more and more people’s attention. In the EV research field, that
seeking for a high efficient and reliable motor control method that suits the operating conditions and
characteristics of the vehicle drive motor has become one of the key techniques that need to be broken
through urgently. Owing to the problems that the efficient work area is narrow and it leads to over-current
phenomenon when traditional motor vector control method is applied to vehicle drive motor, this paper
presents a current sensorless vector control technique for electric vehicle drive motor. According to motor
speed and command torque which is gained from the speed loop control, this method directly controls the
magnitude and phase angle of voltage vector to realize the orientation control of the magnetic field and
then achieve the purpose of controlling the motor torque and speed. The feasibility and effectiveness of
this method are verified by simulation results and bench test. Moreover, this method can not only improve
the efficient work area, but also increase the reliability of motor control system. At the same time, it
overcomes the dependence on the current sensor, circumvents the over-current defect caused by
traditional motor vector control approach and reduces its cost. So it is a suitable and efficient control
method for electric vehicle drive motor.
Backstepping Control for a Five-Phase Permanent Magnet Synchronous Motor DriveIJPEDS-IAES
This paper deals with the synthesis of a speed control strategy for a fivephase
permanent magnet synchronous motor (PMSM) drive based on
backstepping controller. The proposed control strategy considers the
nonlinearities of the system in the control law. The stability of the
backstepping control strategy is proved by the Lyapunov theory. Simulated
results are provided to verify the feasibility of the backstepping control
strategy.
In high power traction system applications two or more machines are fed by one converter. This topology results in a light, more compact and less costly system. These systems are called multi-machines single-converter systems. The problems posed by different electrical and mechanical couplings in these systems (MMS) affect various stages of the systems and require control strategy to reduce adverse effects. Control of multi-machines single-converter systems is the subject of this paper. The studied MMS is an electric vehicle with four in-wheel PMS motors. A three-leg inverter supplies two permanent magnet synchronous machines which are connected to the front right and rear right wheels, and another inverter supplies the left side. Several methods have been proposed for the control of multi-machines single-inverter systems, the master-slave control structure seems best adapted for our traction system. In this paper, a new control structure based on DTC method is used for the control of bi-machine traction system of an EV. This new control has been implanted in simulation to analyze its robustness in the presence of the various load cases involved in our electric vehicle traction chain. Simulation results indicated that this structure control allowed the stability of the traction system.
IRJET- Speed Control and Minimization of Torque Ripples in BLDC Motor usi...IRJET Journal
This document discusses speed control and minimization of torque ripples in BLDC motors using PI, SMC, and SMC-PWM control techniques. It begins by observing the responses of a BLDC motor using PI and SMC controllers. SMC is adopted to overcome the sensitivity of PI controllers to parameter variations and disturbances. A new control technique based on PWM control of BLDC motors is also presented. Simulation results are used to compare the performance of PI, SMC, and SMC-PWM control methods. SMC-PWM control is found to improve motor performance while reducing torque ripples and switching frequency fluctuations.
Advanced deep flux weakening operation control strategies for IPMSM IJECEIAES
This paper proposes an advanced flux-weakening control method to enlarge the speed range of interior permanent magnet synchronous motor (IPMSM). In the deep flux weakening (FW) region, the flux linkage decreases as the motor speed increases, increasing instability. Classic control methods will be unstable when operating in this area when changing load torque or reference speed is required. The paper proposes a hybrid control method to eliminate instability caused by voltage limit violation and improve the reference velocity-tracking efficiency when combining two classic control methods. Besides, the effective zone of IPMSM in the FW is analyzed and applied to enhance stability and efficiency following reference velocity. Simulation results demonstrate the strength and effectiveness of the proposed method.
This paper proposes an enhanced pulse width modulation (EPWM) technique for speed control of induction motors using direct torque control (DTC). Simulation results show that the proposed EPWM-DTC method reduces harmonic distortion in the line current compared to conventional DTC and space vector PWM (SVPWM)-based DTC methods, especially at high speeds near the motor's rated operation. The proposed method utilizes split clamping PWM sequences to generate gate signals for the inverter, dividing the active state duration into two equal halves within each sampling period. This results in less ripple in the torque and flux compared to other techniques when operating at high modulation indices.
Nowadays, A lot of industry requires Multi Motor System (MMS) applications such as propulsion and traction power, HEV, conveyer and air-conditioner. The Conventional arrangement for MMS usually done by cascading the motors drives which each drives has individual inverter. Part of MMS, Dual-Motor drives fed by a single inverter is being paid attention by the researchers. Dual-motor drives using a single three-leg inverter has its limitation in the case of different operating conditions and independent speed control requirement. Therefore, dual-Motor drives using a single Five-leg Inverter (FLI) was proposed for independent control for both motors. In PMSM drives, the information of the feedback speed and rotor angular position is compulsory for variable speed drives. Conventional solution is by using speed sensor which will increase size, cost, extra hardwire and feedback devices, especially for the case of dual-PMSM drives. The best solution to overcome this problem is by eliminating the usage of speed and position sensors for Dual-motor drives. This paper presents a new sensorless strategy using speed and position estimator for Independent Dual- Permanent Magnet Synchronous Machine (PMSM) drives which utilize Five-Leg Inverter (FLI). The proposed strategy is simulated using MATLAB/Simulink to evaluate the overall motor drive performance. Meanwhile the experimental set-up is connected to dSPACE 1103 Board. The experimental results demonstrate that the proposed estimator is successfully managed to control the Dual-PMSM drives for variation of speed and for different direction applications.
This document provides a literature review of sensorless control of brushless DC motors and applications of H-infinity control theory. It summarizes recent developments in rotor position sensing using sensorless techniques like inductance/flux measurements, back electromotive force detection, and estimation/observer-based models. It also surveys applications of H-infinity control theory for robust control of motors and other systems considering uncertainties. The review finds that H-infinity control has been widely used for speed control of DC motors, permanent magnet synchronous motors, and brushless DC motors to achieve robustness against modeling inaccuracies and disturbances.
Fuzzy logic was used to improve induction motor control by developing alternative control methods to field oriented control. A fuzzy flux controller was developed using two fuzzy logic blocks, one to describe the nonlinear relationship between slip frequency and current, and another fuzzy PI controller for the outer control loop. Simulation results showed the fuzzy flux controller had almost as good performance as field oriented control, but required less development time. The fuzzy flux controller was further improved by replacing the linear PI controller with a nonlinear fuzzy PI controller, achieving even better dynamic performance while maintaining robustness.
Speed and Torque Control Challenge of PMSMIJMTST Journal
This paper presents modeling and implementation Challenge of speed toqrue rotor field oriented control of
permanent magnet synchronous machine (PMSM)drive. An experimental setup consisting of IGBT inverters
and a -TMS320LF240 DSP based digital controller is developed in the laboratory in IIT Kharagpur to
implement the control algorithms. A voltage model based flux observer is used for estimating the speed and
position of PMSM. In order to get good starting characteristics a rotor initial position algorithm is also
implemented in the control algorithm. For control purpose PMSM is consider like dc motor. The torque and
speed in the dc motor can be controlled independently by controlling armature current and field current
respectively ensures that dc motor has good dynamic performance.
Design a nonlinear controller for second order nonlinear uncertain dynamical systems (e.g., Internal Combustion Engine) is one of the most important challenging works. This paper focuses on the design of a robust backstepping adaptive feedback linearization controller (FLC) for internal combustion (IC) engine in presence of uncertainties. In order to provide high performance nonlinear methodology, feedback linearization controller is selected. Pure feedback linearization controller can be used to control of partly unknown nonlinear dynamic parameters of IC engine. In order to solve the uncertain nonlinear dynamic parameters, implement easily and avoid mathematical model base controller, Mamdani’s performance/error-based fuzzy logic methodology with two inputs and one output and 49 rules is applied to pure feedback linearization controller. The results demonstrate that the error-based fuzzy feedback linearization controller is a model-free controllers which works well in certain and partly uncertain system. Pure feedback linearization controller and error-based feedback linearization like controller with have difficulty in handling unstructured model uncertainties. To solve this problem applied backstepping-based tuning method to error-based fuzzy feedback linearization controller for adjusting the feedback linearization controller gain (K_p,K_v ). This controller has acceptable performance in presence of uncertainty (e.g., overshoot=1%, rise time=0.48 second, steady state error = 1.3e-9 and RMS error=1.8e-11).
Compound Control of Electromagnetic Linear Actuator Based on Fuzzy SwitchingTELKOMNIKA JOURNAL
Due to the motion control system of electromagnetic linear actuator (EMLA) is a nonlinear system
with poor controllability; single control strategy has been difficult to meet the requirements of its control. A
compound control strategy based on inverse system control (ISC) and proportional-integral (PI) is
designed in this paper. Switching between two algorithms, which is based on the fuzzy rules, prevents the
control algorithm to jitter and jump. System model is built under Matlab/Simulink to do simulation analysis.
The designed controller is integrated into the system simulation model and the system software of digital
signal processor (DSP) controller. Simulation and test results show that the compound control strategy
using fuzzy switching rules achieves the smooth transition of two control algorithms, and the goal of any
position location, and continuous adjustment in 0~4mm lift. Positioning accuracy is up to ± 0.02mm, while
the response time is less than 10ms.
Unit Power Factor Servo Drive Control SystemIJRES Journal
This document presents a system for controlling a servo drive using a single-phase PWM rectifier to achieve unity power factor. The system uses a double closed-loop control strategy with voltage and current control loops for the rectifier. A virtual three-phase technique is used to make the grid current sinusoidal and in phase with the grid voltage. The permanent magnet synchronous motor uses maximum torque per ampere control. Simulation results in MATLAB show the system achieves unity power factor on the grid side and stable operation of the servo drive.
This document provides a review of different position estimation methods for permanent magnet synchronous motors (PMSMs). It discusses indirect methods based on back electromotive force (EMF) detection, model-based methods using flux linkage or inductance estimation, and saliency-based methods using high frequency signal injection. Model-based observer approaches like extended Kalman filters are highlighted as effective for medium- and high-speed operation due to good disturbance rejection and robustness. The review evaluates the performance and limitations of different position estimation techniques for sensorless control of PMSMs.
This document summarizes a research paper that proposes a simple and low-cost speed and position estimator for sensorless permanent magnet synchronous motor (PMSM) drives using an adaptive controller. The estimator uses a simplified mathematical model based on the direct and quadrature reference currents without requiring a voltage probe. Experimental results using a dSPACE hardware implementation demonstrate that the proposed estimator is able to accurately control the PMSM's speed in both forward and reverse directions, as well as during acceleration, deceleration, and when subjected to load disturbances.
T ORQUE R IPPLES M INIMIZATION ON DTC C ONTROLLED I NDUCTION M OTOR WITH A DA...csandit
The conventional direct torque control (DTC) method for induction motors suffers from high torque ripples. This document proposes an adaptive bandwidth approach for the hysteresis controllers in DTC to reduce torque ripples. With the adaptive bandwidth approach, the hysteresis bandwidth is determined by the error values from the previous step for stator flux and torque, rather than using a fixed bandwidth. Simulation results show the proposed adaptive bandwidth DTC (AB-DTC) method can reduce torque ripples by around 60% compared to conventional DTC under both unloaded and loaded motor conditions.
Performance Improvement with Model Predictive Torque Control of IM Drives usi...IRJET Journal
This document summarizes a research paper that proposes improvements to Model Predictive Torque Control (MPTC) for induction motor drives. The key points are:
1) Conventional MPTC has torque and flux ripples that require a high sampling frequency. A new method divides the control period between an active voltage vector and null vector to reduce ripples at a lower frequency.
2) Previous duty cycle methods calculated vector selection and duration separately, reducing low-speed performance. The new method optimizes them simultaneously.
3) Simulation and experimental results show the proposed MPTC achieves better steady-state performance than conventional MPTC, even at half the sampling frequency, especially at low speeds.
This document discusses methods of controlling DC motors and servo motors. It describes four methods of controlling DC motor speed: flux control, armature control, voltage control, and pulse width modulation. Voltage control and PWM are identified as most effective. Servo motors are also discussed, explaining their components, working principle using PWM to compare feedback and control motor position. PWM is identified as an effective method to accurately control both DC motor and servo motor speed.
ADAPTIVE BANDWIDTH APPROACH ON DTC CONTROLLED INDUCTION MOTORijics
Induction motors are most commonly used motor type in industrial applications because of its well-known
advantages like robust structure, cheaper prices etc. Today, field oriented control (FOC) and direct torque
control (DTC) methods, also called vector control, are most famous control methods in high-performance
applications. The main structural and behavioural differences between the both methods can be
summarized as: the FOC has parameter dependence while the DTC has high torque ripples. In this study, a
new adaptive bandwidth approach was presented to reduce torque ripples in DTC controlled induction
motor drives. With the proposed method, instead of fixed bandwidth, adaptive bandwidth approach was
investigated in hysteresis controllers on the DTC method. Both the conventional DTC(C-DTC) method and
adaptive bandwidth DTC (AB-DTC) for induction motor were simulated in MATLAB/SIMULINK and the
results were presented and discussed to verify the proposed control. The comparisons shown that, torque
ripples were reduced remarkably with the proposed AB-DTC method.
Wireless Speed Control of an Induction Motor Using Pwm Technique with GsmIOSR Journals
This document describes a wireless speed control system for an induction motor using pulse width modulation (PWM) technique with global system for mobile communications (GSM). The system uses a microcontroller to control IGBT inverters and implement volt-hertz (V/F) control of a 1HP 3-phase induction motor. It can remotely control motor speed by sending SMS messages to the controller via GSM. Experimental results show that the V/F control method maintains a constant voltage-to-frequency ratio to provide stable speed control of the induction motor from 5% to 100% of its base speed range. The system provides a low-cost solution for remote wireless control of industrial motors and appliances.
IRJET - Vector Control of Permenant Magnet Synchronous MotorIRJET Journal
This document discusses vector control techniques for permanent magnet synchronous motors (PMSM). It describes field oriented control, direct torque control, voltage vector control, and passivity based control. It then discusses the components of a PMSM drive system, including the motor, inverter, and PID speed controller. It presents the mathematical model and torque equation for vector control of PMSM. Finally, it discusses simulating the PMSM drive system in MATLAB/Simulink using reverse Park transformations, hysteresis current control, and testing in the constant torque region of operation.
This document summarizes a research paper on sensorless direct torque control of interior permanent magnet synchronous motors for embedded systems using an MRAS observer. It begins with an introduction to embedded systems and IPMSMs. It then provides the mathematical model of an IPMSM and describes the principles of direct torque control, including flux and torque hysteresis controllers and the inverter switching table. It presents an MRAS observer as a sensorless closed-loop algorithm for estimating rotor speed and position. In the simulation results, the proposed sensorless DTC control method using an MRAS observer is effective for embedded system applications.
Study on Current Sensorless Vector Control Method for Electric Vehicle Drive ...Nooria Sukmaningtyas
With the aggravation of environment pollution and the reduction of petroleum resources, the
development of electric vehicle (EV) draws more and more people’s attention. In the EV research field, that
seeking for a high efficient and reliable motor control method that suits the operating conditions and
characteristics of the vehicle drive motor has become one of the key techniques that need to be broken
through urgently. Owing to the problems that the efficient work area is narrow and it leads to over-current
phenomenon when traditional motor vector control method is applied to vehicle drive motor, this paper
presents a current sensorless vector control technique for electric vehicle drive motor. According to motor
speed and command torque which is gained from the speed loop control, this method directly controls the
magnitude and phase angle of voltage vector to realize the orientation control of the magnetic field and
then achieve the purpose of controlling the motor torque and speed. The feasibility and effectiveness of
this method are verified by simulation results and bench test. Moreover, this method can not only improve
the efficient work area, but also increase the reliability of motor control system. At the same time, it
overcomes the dependence on the current sensor, circumvents the over-current defect caused by
traditional motor vector control approach and reduces its cost. So it is a suitable and efficient control
method for electric vehicle drive motor.
Backstepping Control for a Five-Phase Permanent Magnet Synchronous Motor DriveIJPEDS-IAES
This paper deals with the synthesis of a speed control strategy for a fivephase
permanent magnet synchronous motor (PMSM) drive based on
backstepping controller. The proposed control strategy considers the
nonlinearities of the system in the control law. The stability of the
backstepping control strategy is proved by the Lyapunov theory. Simulated
results are provided to verify the feasibility of the backstepping control
strategy.
In high power traction system applications two or more machines are fed by one converter. This topology results in a light, more compact and less costly system. These systems are called multi-machines single-converter systems. The problems posed by different electrical and mechanical couplings in these systems (MMS) affect various stages of the systems and require control strategy to reduce adverse effects. Control of multi-machines single-converter systems is the subject of this paper. The studied MMS is an electric vehicle with four in-wheel PMS motors. A three-leg inverter supplies two permanent magnet synchronous machines which are connected to the front right and rear right wheels, and another inverter supplies the left side. Several methods have been proposed for the control of multi-machines single-inverter systems, the master-slave control structure seems best adapted for our traction system. In this paper, a new control structure based on DTC method is used for the control of bi-machine traction system of an EV. This new control has been implanted in simulation to analyze its robustness in the presence of the various load cases involved in our electric vehicle traction chain. Simulation results indicated that this structure control allowed the stability of the traction system.
IRJET- Speed Control and Minimization of Torque Ripples in BLDC Motor usi...IRJET Journal
This document discusses speed control and minimization of torque ripples in BLDC motors using PI, SMC, and SMC-PWM control techniques. It begins by observing the responses of a BLDC motor using PI and SMC controllers. SMC is adopted to overcome the sensitivity of PI controllers to parameter variations and disturbances. A new control technique based on PWM control of BLDC motors is also presented. Simulation results are used to compare the performance of PI, SMC, and SMC-PWM control methods. SMC-PWM control is found to improve motor performance while reducing torque ripples and switching frequency fluctuations.
Advanced deep flux weakening operation control strategies for IPMSM IJECEIAES
This paper proposes an advanced flux-weakening control method to enlarge the speed range of interior permanent magnet synchronous motor (IPMSM). In the deep flux weakening (FW) region, the flux linkage decreases as the motor speed increases, increasing instability. Classic control methods will be unstable when operating in this area when changing load torque or reference speed is required. The paper proposes a hybrid control method to eliminate instability caused by voltage limit violation and improve the reference velocity-tracking efficiency when combining two classic control methods. Besides, the effective zone of IPMSM in the FW is analyzed and applied to enhance stability and efficiency following reference velocity. Simulation results demonstrate the strength and effectiveness of the proposed method.
This paper proposes an enhanced pulse width modulation (EPWM) technique for speed control of induction motors using direct torque control (DTC). Simulation results show that the proposed EPWM-DTC method reduces harmonic distortion in the line current compared to conventional DTC and space vector PWM (SVPWM)-based DTC methods, especially at high speeds near the motor's rated operation. The proposed method utilizes split clamping PWM sequences to generate gate signals for the inverter, dividing the active state duration into two equal halves within each sampling period. This results in less ripple in the torque and flux compared to other techniques when operating at high modulation indices.
Nowadays, A lot of industry requires Multi Motor System (MMS) applications such as propulsion and traction power, HEV, conveyer and air-conditioner. The Conventional arrangement for MMS usually done by cascading the motors drives which each drives has individual inverter. Part of MMS, Dual-Motor drives fed by a single inverter is being paid attention by the researchers. Dual-motor drives using a single three-leg inverter has its limitation in the case of different operating conditions and independent speed control requirement. Therefore, dual-Motor drives using a single Five-leg Inverter (FLI) was proposed for independent control for both motors. In PMSM drives, the information of the feedback speed and rotor angular position is compulsory for variable speed drives. Conventional solution is by using speed sensor which will increase size, cost, extra hardwire and feedback devices, especially for the case of dual-PMSM drives. The best solution to overcome this problem is by eliminating the usage of speed and position sensors for Dual-motor drives. This paper presents a new sensorless strategy using speed and position estimator for Independent Dual- Permanent Magnet Synchronous Machine (PMSM) drives which utilize Five-Leg Inverter (FLI). The proposed strategy is simulated using MATLAB/Simulink to evaluate the overall motor drive performance. Meanwhile the experimental set-up is connected to dSPACE 1103 Board. The experimental results demonstrate that the proposed estimator is successfully managed to control the Dual-PMSM drives for variation of speed and for different direction applications.
This document provides a literature review of sensorless control of brushless DC motors and applications of H-infinity control theory. It summarizes recent developments in rotor position sensing using sensorless techniques like inductance/flux measurements, back electromotive force detection, and estimation/observer-based models. It also surveys applications of H-infinity control theory for robust control of motors and other systems considering uncertainties. The review finds that H-infinity control has been widely used for speed control of DC motors, permanent magnet synchronous motors, and brushless DC motors to achieve robustness against modeling inaccuracies and disturbances.
Fuzzy logic was used to improve induction motor control by developing alternative control methods to field oriented control. A fuzzy flux controller was developed using two fuzzy logic blocks, one to describe the nonlinear relationship between slip frequency and current, and another fuzzy PI controller for the outer control loop. Simulation results showed the fuzzy flux controller had almost as good performance as field oriented control, but required less development time. The fuzzy flux controller was further improved by replacing the linear PI controller with a nonlinear fuzzy PI controller, achieving even better dynamic performance while maintaining robustness.
Speed and Torque Control Challenge of PMSMIJMTST Journal
This paper presents modeling and implementation Challenge of speed toqrue rotor field oriented control of
permanent magnet synchronous machine (PMSM)drive. An experimental setup consisting of IGBT inverters
and a -TMS320LF240 DSP based digital controller is developed in the laboratory in IIT Kharagpur to
implement the control algorithms. A voltage model based flux observer is used for estimating the speed and
position of PMSM. In order to get good starting characteristics a rotor initial position algorithm is also
implemented in the control algorithm. For control purpose PMSM is consider like dc motor. The torque and
speed in the dc motor can be controlled independently by controlling armature current and field current
respectively ensures that dc motor has good dynamic performance.
Design a nonlinear controller for second order nonlinear uncertain dynamical systems (e.g., Internal Combustion Engine) is one of the most important challenging works. This paper focuses on the design of a robust backstepping adaptive feedback linearization controller (FLC) for internal combustion (IC) engine in presence of uncertainties. In order to provide high performance nonlinear methodology, feedback linearization controller is selected. Pure feedback linearization controller can be used to control of partly unknown nonlinear dynamic parameters of IC engine. In order to solve the uncertain nonlinear dynamic parameters, implement easily and avoid mathematical model base controller, Mamdani’s performance/error-based fuzzy logic methodology with two inputs and one output and 49 rules is applied to pure feedback linearization controller. The results demonstrate that the error-based fuzzy feedback linearization controller is a model-free controllers which works well in certain and partly uncertain system. Pure feedback linearization controller and error-based feedback linearization like controller with have difficulty in handling unstructured model uncertainties. To solve this problem applied backstepping-based tuning method to error-based fuzzy feedback linearization controller for adjusting the feedback linearization controller gain (K_p,K_v ). This controller has acceptable performance in presence of uncertainty (e.g., overshoot=1%, rise time=0.48 second, steady state error = 1.3e-9 and RMS error=1.8e-11).
Compound Control of Electromagnetic Linear Actuator Based on Fuzzy SwitchingTELKOMNIKA JOURNAL
Due to the motion control system of electromagnetic linear actuator (EMLA) is a nonlinear system
with poor controllability; single control strategy has been difficult to meet the requirements of its control. A
compound control strategy based on inverse system control (ISC) and proportional-integral (PI) is
designed in this paper. Switching between two algorithms, which is based on the fuzzy rules, prevents the
control algorithm to jitter and jump. System model is built under Matlab/Simulink to do simulation analysis.
The designed controller is integrated into the system simulation model and the system software of digital
signal processor (DSP) controller. Simulation and test results show that the compound control strategy
using fuzzy switching rules achieves the smooth transition of two control algorithms, and the goal of any
position location, and continuous adjustment in 0~4mm lift. Positioning accuracy is up to ± 0.02mm, while
the response time is less than 10ms.
Unit Power Factor Servo Drive Control SystemIJRES Journal
This document presents a system for controlling a servo drive using a single-phase PWM rectifier to achieve unity power factor. The system uses a double closed-loop control strategy with voltage and current control loops for the rectifier. A virtual three-phase technique is used to make the grid current sinusoidal and in phase with the grid voltage. The permanent magnet synchronous motor uses maximum torque per ampere control. Simulation results in MATLAB show the system achieves unity power factor on the grid side and stable operation of the servo drive.
This document provides a review of different position estimation methods for permanent magnet synchronous motors (PMSMs). It discusses indirect methods based on back electromotive force (EMF) detection, model-based methods using flux linkage or inductance estimation, and saliency-based methods using high frequency signal injection. Model-based observer approaches like extended Kalman filters are highlighted as effective for medium- and high-speed operation due to good disturbance rejection and robustness. The review evaluates the performance and limitations of different position estimation techniques for sensorless control of PMSMs.
This document summarizes a research paper that proposes a simple and low-cost speed and position estimator for sensorless permanent magnet synchronous motor (PMSM) drives using an adaptive controller. The estimator uses a simplified mathematical model based on the direct and quadrature reference currents without requiring a voltage probe. Experimental results using a dSPACE hardware implementation demonstrate that the proposed estimator is able to accurately control the PMSM's speed in both forward and reverse directions, as well as during acceleration, deceleration, and when subjected to load disturbances.
The document reviews and compares several sensorless techniques used to estimate the position and speed of permanent magnet synchronous motors (PMSMs). It discusses three main categories of sensorless techniques: model-based methods, saliency-based methods and signal injection, and artificial intelligence-based estimators. For each category, it describes some common techniques, and compares their advantages and disadvantages. The document concludes that while sensorless techniques allow PMSMs to operate without sensors, their accuracy depends on factors like the motor's mathematical model, parameter accuracy, and measurement of currents and voltages.
The document presents a method for sensorless speed control of a permanent magnet synchronous motor (PMSM) using a model reference adaptive system (MRAS) with a multilayer perceptron (MLP) neural network. The MRAS uses the PMSM model as the reference model and a current model as the adjustable model. Error signals from comparing the models are fed into the MLP network. Particle swarm optimization (PSO) is used to optimize the MLP weights and biases to minimize errors. Simulation results show the proposed MLP-PSO method achieves better performance than a PI controller in terms of rise time, settling time, overshoot, and root mean square error for various speed and load conditions.
This document reviews sliding mode observers for sensorless control of permanent magnet synchronous motor drives. It begins with an introduction to permanent magnet synchronous motors and their advantages over other motor types. It then discusses speed estimation schemes for sensorless PMSM drives, including adaptive methods using observers like Luenberger observers and sliding mode observers. The document focuses on sliding mode observers, explaining conventional sliding mode observers, observers using a sigmoid function instead of a signum function to reduce chattering, and terminal sliding mode observers. Sliding mode observers are widely used for sensorless control due to their robustness to parameter variations and simplicity.
The International Journal of Engineering & Science is aimed at providing a platform for researchers, engineers, scientists, or educators to publish their original research results, to exchange new ideas, to disseminate information in innovative designs, engineering experiences and technological skills. It is also the Journal's objective to promote engineering and technology education. All papers submitted to the Journal will be blind peer-reviewed. Only original articles will be published.
This document presents research on sensorless speed control of an induction motor using predictive current and torque controllers. It begins with an abstract summarizing the research, which involves using a closed-loop observer system and predictive controllers to control an induction motor drive without requiring direct measurement of motor speed or flux. The document then provides background information on sensorless induction motor control and challenges associated with it. It describes the proposed control system, which uses a closed-loop observer to estimate motor flux and speed, along with a predictive current controller and predictive torque controller. Simulation results are presented confirming the effectiveness of the proposed sensorless control approach.
This document discusses a sensorless speed control method for brushless DC motors (BLDC) using a hysteresis comparator. BLDC motors are gaining popularity for their efficiency and longevity. Sensorless control is desirable to reduce costs compared to using position sensors. The proposed method uses a hysteresis comparator on the motor terminal voltages to generate commutation signals instead of measuring back-EMF directly. A fuzzy logic controller is also used to control motor speed. Simulation results in MATLAB show the hysteresis comparator method can provide good speed control without position sensors over a wide speed range, making the motor suitable for applications like fuel pumps and robotics.
Analysis and investigation of different advanced control strategies for high-...TELKOMNIKA JOURNAL
Induction motor (IM) drives have received a strong interest from researchers and industry particularly for high-performance AC drives through vector control method. With the advancement in power electronics and digital signal processing(DSP), high capability processors allow the implementation of advanced control techniques for motor drives such as model predictive control (MPC). In this paper, design, analysis and investigation of two different MPC techniques applied to IM drives; themodel predictive torque control (MPTC) and model predictive current control (MPCC) are presented. The two techniques are designed in Matlab/Simulink environment and compared interm of operation in different operating conditions. Moreover, a comparisonof these techniques with field-oriented control (FOC) and direct torque control (DTC) is conducted based on simulation studies with PI speed controller for all control techniques. Based on the analysis, the MPC techniques demonstrates a better result compared with the FOC and DTC in terms of speed, torque and current responses in transient and steady-state conditions.
Comparison of the speedy estimate methods of the induction motorsTELKOMNIKA JOURNAL
This paper deals with a novel method to achieve the effective performance of the extended Kalman filter (EKF) for the speedy estimate of an induction motor. The real coding genetic algorithm (GA) is used to optimize the components of the covariance matrix in the EKF, thus ensuring the stability and accuracy of the filter in the speed estimation. The advantage of the proposed method is less dependent on the parameters of the induction motor. The content includes the vector control model for induction motor, the speed estimation by modeling the reference frame-model reference adaptive system (RF-MRAS), the current based-model reference adaptive system (CB-MRAS), and the speed estimation with the EKF optimized by genetic algorithm. Simulative studies on the field-oriented controller (FOC) with different operating conditions are performed in Matlab Simulink when the rotor resistance changes in the current speed estimation methods. The simulation results demonstrate the efficiency of the proposed GA-EKF filter compared with other speed estimation methods of induction motors.
The maximum power point tracking based-control system for small-scale wind tu...IJECEIAES
This paper presents the research on small-scale wind turbine systems based on the Maximum Power Point Tracking (MPPT) algorithm. Then propose a new structure of a small-scale wind turbine system to simplify the structure of the system, making the system highly practical. This paper also presented an MPPT-Fuzzy controller design and proposed a control system using the wind speed sensor for small-scale wind turbines. Systems are simulated using Matlab/Simulink software to evaluate the feasibility of the proposed controller. As a result, the system with the MPPT-Fuzzy controller has much better quality than the traditional control system.
A Novel Rotor Resistance Estimation Technique for Vector Controlled Induction...IAES-IJPEDS
Induction motor with indirect field oriented control is well suited for high
performance applications due to its excellent dynamic behavior. However it
is sensitive to variations in rotor time constant, especially variation in rotor
resistance. In this study a scheme based on the Rotor flux Model Reference
Adaptive Controller is used for on line identification of the rotor resistance
and thus improving the steady state performance of the drive. The overriding
feature of this estimation technique is the accurate identification of rotor
resistance during transient and steady state conditions for drive operation at
full load and at zero speed condition. Moroever, the effectiveness of the TS
fuzzy controller utilizing rotor flux for online estimation of rotor resistance
for four quadrant operation of motor drive is investigated and compared with
the conventional PI and Mamdani fuzzy controller.Simulation results in
MATLAB/Simulink environment have been presented to confirm the
effectiviness of the proposed technique.
This document summarizes a research paper on sensorless speed control of a permanent magnet synchronous motor (PMSM) using direct torque control (DTC) with a model reference adaptive system (MRAS). It first describes the structure and equations of a PMSM and provides an overview of DTC. It then introduces MRAS for sensorless speed estimation. Simulation results using MATLAB show that the proposed DTC method with MRAS provides precise estimated speed, fast torque response, and good dynamic performance under sudden load changes.
This document describes modeling and simulation of a brushless DC motor using PWM control. It presents the mathematical model of a BLDC motor and discusses speed control techniques using a closed loop system with a PI controller. Simulation results in Simulink show the motor maintaining a set speed of 1650 rpm even when a load torque is applied, demonstrating effective speed regulation. Back EMF, phase voltages, phase currents, speed, and torque waveforms are presented. The paper concludes the PWM control method provides high accuracy speed control of the PMBLDC motor.
IJERA (International journal of Engineering Research and Applications) is International online, ... peer reviewed journal. For more detail or submit your article, please visit www.ijera.com
A robust diagnosis method for speed sensor fault based on stator currents in ...IJECEIAES
The document presents a novel method for diagnosing speed sensor faults in induction motor drive systems based on stator currents. The method compares measured and estimated stator currents, and also checks for differences between measured and reference rotor speeds, to detect speed sensor failures while preventing confusion from current sensor faults. Simulations using MATLAB/Simulink demonstrate the effectiveness of the proposed diagnosis algorithm in detecting speed sensor faults across different speed ranges, including low speeds where sensor signals are often noisy.
This paper proposes a sensorless sliding mode control (SMC) for a five phase permanent magnet synchronous motor (PMSM) based on a sliding mode observer (SMO). The stability of the proposed strategy is proved in the sense of the Lyapunov theory. The sliding mode controller is designed with an integral switching surface and the sliding mode observer is developed for the estimation of rotor position and rotor speed. The proposed sensorless control strategy exhibits good dynamic response to disturbances. Simulation results are provided to prove the effectiveness of the proposed strategy.
IRJET- Self-Tuning PID Controller with Genetic Algorithm Based Sliding Mo...IRJET Journal
This document presents a self-tuning PID controller with a genetic algorithm for sensorless induction motor drives. A model reference adaptive system estimator is proposed that uses a sliding mode technique for robustness. The estimator reduces chattering while maintaining sliding mode properties. Additionally, an auxiliary variable is used to improve stability in regenerating mode operation. Simulation results demonstrate the performance of the proposed estimator for speed estimation during rapid speed reversal and in regenerating mode. Parameter estimation is also achieved using adaptive mechanisms to estimate rotor resistance and mutual inductance.
This research proposes the control system structure for a small-scale wind turbine. Significantly, the maximum power point tracking algorithm (MPPT) and the pitch angle controller are deeply analyzed; this is the base for proposing the strategy of the MPPT algorithm combined with pitch-angle control in a wide speed range of wind. This article also researches the converters, then analyses the advantages of each converter to choose the suitable converter for the small-scale wind turbine. In the MPPT algorithm design, the expert experience takes advantage through the fuzzy controller. The pitch angle controller is built based on the PID controller with its parameters adjusted by Fuzzy logic. The results showed that the effectiveness of the proposed control strategy is much better than that of the traditional control strategy. Moreover, in high and low wind speeds, the proposed control system operates reliably and stably.
Similar to High frequency signal injection method for sensorless permanent magnet synchronous motor drives (20)
Amazon products reviews classification based on machine learning, deep learni...TELKOMNIKA JOURNAL
In recent times, the trend of online shopping through e-commerce stores and websites has grown to a huge extent. Whenever a product is purchased on an e-commerce platform, people leave their reviews about the product. These reviews are very helpful for the store owners and the product’s manufacturers for the betterment of their work process as well as product quality. An automated system is proposed in this work that operates on two datasets D1 and D2 obtained from Amazon. After certain preprocessing steps, N-gram and word embedding-based features are extracted using term frequency-inverse document frequency (TF-IDF), bag of words (BoW) and global vectors (GloVe), and Word2vec, respectively. Four machine learning (ML) models support vector machines (SVM), logistic regression (RF), logistic regression (LR), multinomial Naïve Bayes (MNB), two deep learning (DL) models convolutional neural network (CNN), long-short term memory (LSTM), and standalone bidirectional encoder representations (BERT) are used to classify reviews as either positive or negative. The results obtained by the standard ML, DL models and BERT are evaluated using certain performance evaluation measures. BERT turns out to be the best-performing model in the case of D1 with an accuracy of 90% on features derived by word embedding models while the CNN provides the best accuracy of 97% upon word embedding features in the case of D2. The proposed model shows better overall performance on D2 as compared to D1.
Design, simulation, and analysis of microstrip patch antenna for wireless app...TELKOMNIKA JOURNAL
In this study, a microstrip patch antenna that works at 3.6 GHz was built and tested to see how well it works. In this work, Rogers RT/Duroid 5880 has been used as the substrate material, with a dielectric permittivity of 2.2 and a thickness of 0.3451 mm; it serves as the base for the examined antenna. The computer simulation technology (CST) studio suite is utilized to show the recommended antenna design. The goal of this study was to get a more extensive transmission capacity, a lower voltage standing wave ratio (VSWR), and a lower return loss, but the main goal was to get a higher gain, directivity, and efficiency. After simulation, the return loss, gain, directivity, bandwidth, and efficiency of the supplied antenna are found to be -17.626 dB, 9.671 dBi, 9.924 dBi, 0.2 GHz, and 97.45%, respectively. Besides, the recreation uncovered that the transfer speed side-lobe level at phi was much better than those of the earlier works, at -28.8 dB, respectively. Thus, it makes a solid contender for remote innovation and more robust communication.
Design and simulation an optimal enhanced PI controller for congestion avoida...TELKOMNIKA JOURNAL
This document describes using a snake optimization algorithm to tune the gains of an enhanced proportional-integral controller for congestion avoidance in a TCP/AQM system. The controller aims to maintain a stable and desired queue size without noise or transmission problems. A linearized model of the TCP/AQM system is presented. An enhanced PI controller combining nonlinear gain and original PI gains is proposed. The snake optimization algorithm is then used to tune the parameters of the enhanced PI controller to achieve optimal system performance and response. Simulation results are discussed showing the proposed controller provides a stable and robust behavior for congestion control.
Improving the detection of intrusion in vehicular ad-hoc networks with modifi...TELKOMNIKA JOURNAL
Vehicular ad-hoc networks (VANETs) are wireless-equipped vehicles that form networks along the road. The security of this network has been a major challenge. The identity-based cryptosystem (IBC) previously used to secure the networks suffers from membership authentication security features. This paper focuses on improving the detection of intruders in VANETs with a modified identity-based cryptosystem (MIBC). The MIBC is developed using a non-singular elliptic curve with Lagrange interpolation. The public key of vehicles and roadside units on the network are derived from number plates and location identification numbers, respectively. Pseudo-identities are used to mask the real identity of users to preserve their privacy. The membership authentication mechanism ensures that only valid and authenticated members of the network are allowed to join the network. The performance of the MIBC is evaluated using intrusion detection ratio (IDR) and computation time (CT) and then validated with the existing IBC. The result obtained shows that the MIBC recorded an IDR of 99.3% against 94.3% obtained for the existing identity-based cryptosystem (EIBC) for 140 unregistered vehicles attempting to intrude on the network. The MIBC shows lower CT values of 1.17 ms against 1.70 ms for EIBC. The MIBC can be used to improve the security of VANETs.
Conceptual model of internet banking adoption with perceived risk and trust f...TELKOMNIKA JOURNAL
Understanding the primary factors of internet banking (IB) acceptance is critical for both banks and users; nevertheless, our knowledge of the role of users’ perceived risk and trust in IB adoption is limited. As a result, we develop a conceptual model by incorporating perceived risk and trust into the technology acceptance model (TAM) theory toward the IB. The proper research emphasized that the most essential component in explaining IB adoption behavior is behavioral intention to use IB adoption. TAM is helpful for figuring out how elements that affect IB adoption are connected to one another. According to previous literature on IB and the use of such technology in Iraq, one has to choose a theoretical foundation that may justify the acceptance of IB from the customer’s perspective. The conceptual model was therefore constructed using the TAM as a foundation. Furthermore, perceived risk and trust were added to the TAM dimensions as external factors. The key objective of this work was to extend the TAM to construct a conceptual model for IB adoption and to get sufficient theoretical support from the existing literature for the essential elements and their relationships in order to unearth new insights about factors responsible for IB adoption.
Efficient combined fuzzy logic and LMS algorithm for smart antennaTELKOMNIKA JOURNAL
The smart antennas are broadly used in wireless communication. The least mean square (LMS) algorithm is a procedure that is concerned in controlling the smart antenna pattern to accommodate specified requirements such as steering the beam toward the desired signal, in addition to placing the deep nulls in the direction of unwanted signals. The conventional LMS (C-LMS) has some drawbacks like slow convergence speed besides high steady state fluctuation error. To overcome these shortcomings, the present paper adopts an adaptive fuzzy control step size least mean square (FC-LMS) algorithm to adjust its step size. Computer simulation outcomes illustrate that the given model has fast convergence rate as well as low mean square error steady state.
Design and implementation of a LoRa-based system for warning of forest fireTELKOMNIKA JOURNAL
This paper presents the design and implementation of a forest fire monitoring and warning system based on long range (LoRa) technology, a novel ultra-low power consumption and long-range wireless communication technology for remote sensing applications. The proposed system includes a wireless sensor network that records environmental parameters such as temperature, humidity, wind speed, and carbon dioxide (CO2) concentration in the air, as well as taking infrared photos.The data collected at each sensor node will be transmitted to the gateway via LoRa wireless transmission. Data will be collected, processed, and uploaded to a cloud database at the gateway. An Android smartphone application that allows anyone to easily view the recorded data has been developed. When a fire is detected, the system will sound a siren and send a warning message to the responsible personnel, instructing them to take appropriate action. Experiments in Tram Chim Park, Vietnam, have been conducted to verify and evaluate the operation of the system.
Wavelet-based sensing technique in cognitive radio networkTELKOMNIKA JOURNAL
Cognitive radio is a smart radio that can change its transmitter parameter based on interaction with the environment in which it operates. The demand for frequency spectrum is growing due to a big data issue as many Internet of Things (IoT) devices are in the network. Based on previous research, most frequency spectrum was used, but some spectrums were not used, called spectrum hole. Energy detection is one of the spectrum sensing methods that has been frequently used since it is easy to use and does not require license users to have any prior signal understanding. But this technique is incapable of detecting at low signal-to-noise ratio (SNR) levels. Therefore, the wavelet-based sensing is proposed to overcome this issue and detect spectrum holes. The main objective of this work is to evaluate the performance of wavelet-based sensing and compare it with the energy detection technique. The findings show that the percentage of detection in wavelet-based sensing is 83% higher than energy detection performance. This result indicates that the wavelet-based sensing has higher precision in detection and the interference towards primary user can be decreased.
A novel compact dual-band bandstop filter with enhanced rejection bandsTELKOMNIKA JOURNAL
In this paper, we present the design of a new wide dual-band bandstop filter (DBBSF) using nonuniform transmission lines. The method used to design this filter is to replace conventional uniform transmission lines with nonuniform lines governed by a truncated Fourier series. Based on how impedances are profiled in the proposed DBBSF structure, the fractional bandwidths of the two 10 dB-down rejection bands are widened to 39.72% and 52.63%, respectively, and the physical size has been reduced compared to that of the filter with the uniform transmission lines. The results of the electromagnetic (EM) simulation support the obtained analytical response and show an improved frequency behavior.
Deep learning approach to DDoS attack with imbalanced data at the application...TELKOMNIKA JOURNAL
A distributed denial of service (DDoS) attack is where one or more computers attack or target a server computer, by flooding internet traffic to the server. As a result, the server cannot be accessed by legitimate users. A result of this attack causes enormous losses for a company because it can reduce the level of user trust, and reduce the company’s reputation to lose customers due to downtime. One of the services at the application layer that can be accessed by users is a web-based lightweight directory access protocol (LDAP) service that can provide safe and easy services to access directory applications. We used a deep learning approach to detect DDoS attacks on the CICDDoS 2019 dataset on a complex computer network at the application layer to get fast and accurate results for dealing with unbalanced data. Based on the results obtained, it is observed that DDoS attack detection using a deep learning approach on imbalanced data performs better when implemented using synthetic minority oversampling technique (SMOTE) method for binary classes. On the other hand, the proposed deep learning approach performs better for detecting DDoS attacks in multiclass when implemented using the adaptive synthetic (ADASYN) method.
The appearance of uncertainties and disturbances often effects the characteristics of either linear or nonlinear systems. Plus, the stabilization process may be deteriorated thus incurring a catastrophic effect to the system performance. As such, this manuscript addresses the concept of matching condition for the systems that are suffering from miss-match uncertainties and exogeneous disturbances. The perturbation towards the system at hand is assumed to be known and unbounded. To reach this outcome, uncertainties and their classifications are reviewed thoroughly. The structural matching condition is proposed and tabulated in the proposition 1. Two types of mathematical expressions are presented to distinguish the system with matched uncertainty and the system with miss-matched uncertainty. Lastly, two-dimensional numerical expressions are provided to practice the proposed proposition. The outcome shows that matching condition has the ability to change the system to a design-friendly model for asymptotic stabilization.
Implementation of FinFET technology based low power 4×4 Wallace tree multipli...TELKOMNIKA JOURNAL
Many systems, including digital signal processors, finite impulse response (FIR) filters, application-specific integrated circuits, and microprocessors, use multipliers. The demand for low power multipliers is gradually rising day by day in the current technological trend. In this study, we describe a 4×4 Wallace multiplier based on a carry select adder (CSA) that uses less power and has a better power delay product than existing multipliers. HSPICE tool at 16 nm technology is used to simulate the results. In comparison to the traditional CSA-based multiplier, which has a power consumption of 1.7 µW and power delay product (PDP) of 57.3 fJ, the results demonstrate that the Wallace multiplier design employing CSA with first zero finding logic (FZF) logic has the lowest power consumption of 1.4 µW and PDP of 27.5 fJ.
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Electroencephalography-based brain-computer interface using neural networksTELKOMNIKA JOURNAL
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Adaptive segmentation algorithm based on level set model in medical imagingTELKOMNIKA JOURNAL
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Automatic channel selection using shuffled frog leaping algorithm for EEG bas...TELKOMNIKA JOURNAL
Drug addiction is a complex neurobiological disorder that necessitates comprehensive treatment of both the body and mind. It is categorized as a brain disorder due to its impact on the brain. Various methods such as electroencephalography (EEG), functional magnetic resonance imaging (FMRI), and magnetoencephalography (MEG) can capture brain activities and structures. EEG signals provide valuable insights into neurological disorders, including drug addiction. Accurate classification of drug addiction from EEG signals relies on appropriate features and channel selection. Choosing the right EEG channels is essential to reduce computational costs and mitigate the risk of overfitting associated with using all available channels. To address the challenge of optimal channel selection in addiction detection from EEG signals, this work employs the shuffled frog leaping algorithm (SFLA). SFLA facilitates the selection of appropriate channels, leading to improved accuracy. Wavelet features extracted from the selected input channel signals are then analyzed using various machine learning classifiers to detect addiction. Experimental results indicate that after selecting features from the appropriate channels, classification accuracy significantly increased across all classifiers. Particularly, the multi-layer perceptron (MLP) classifier combined with SFLA demonstrated a remarkable accuracy improvement of 15.78% while reducing time complexity.
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CHINA’S GEO-ECONOMIC OUTREACH IN CENTRAL ASIAN COUNTRIES AND FUTURE PROSPECTjpsjournal1
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CHINA’S GEO-ECONOMIC OUTREACH IN CENTRAL ASIAN COUNTRIES AND FUTURE PROSPECT
High frequency signal injection method for sensorless permanent magnet synchronous motor drives
1. TELKOMNIKA Telecommunication, Computing, Electronics and Control
Vol. 18, No. 6, December 2020, pp. 3315~3323
ISSN: 1693-6930, accredited First Grade by Kemenristekdikti, Decree No: 21/E/KPT/2018
DOI: 10.12928/TELKOMNIKA.v18i6.16280 3315
Journal homepage: http://journal.uad.ac.id/index.php/TELKOMNIKA
High frequency signal injection method for sensorless
permanent magnet synchronous motor drives
Tan Jiunn Lin1
, Jurifa Mat Lazi2
, Zulkifilie Ibrahim3
, Md Hairul Nizam Talib4
, Azrita Alias5
,
Ahmad Shukri Abu Hasim6
.
1-5
Faculty of Electrical Engineering, Universiti Teknikal Malaysia Melaka, Malaysia
6
Faculty of Electrical Engineering, Universiti Pertahanan Nasional, Malaysia
Article Info ABSTRACT
Article history:
Received Apr 8, 2020
Revised Aug 18, 2020
Accepted Sep 1, 2020
The objective of this project is to design a high frequency signal injection
method for sensorless control of permanent magnet synchronous motor
(PMSM) drives. Generally, the PMSM drives control requires the appearance
of speed and positon sensor to measure the motor speed hence to feedback the
information for variable speed drives operation. The usage of the sensor will
increase the size, cost, extra hardwire and feedback devices. Therefore, there
is motivation to eliminate this type of sensor by injecting high frequency signal
and utilizing the electrical parameter from the motor so that the speed and
positon of rotor can be estimated. The proposed position and speed sensorless
control method using high frequency signal injection together with all the
power electronic circuit are modelled using Simulink. PMSM sensorless drive
is simulated and the results are analyzed in terms of speed, torque and stator
current response without load disturbance but under the specification of
varying speed, forward to reverse operation, reverse to forward operation and
step change in reference speed. The results show that the signal injection
method performs well during start-up and low speed operation.
Keywords:
High frequency signal injection
Permanent magnet synchronous
motor
Sensorless drives
Speed estimator
This is an open access article under the CC BY-SA license.
Corresponding Author:
Jurifa Mat Lazi,
Faculty of Electrical Engineering,
Universiti Teknikal Malaysia Melaka,
Hang Tuah Jaya, 76100 Durian Tunggal, Melaka, Malaysia.
Email: jurifa@utem.edu.my
1. INTRODUCTION
In permanent magnet synchronous motor (PMSM) drives, the rotor positions information is
compulsory which is measured by speed sensor. An encoder installed on the shaft of the motor will extract this
kind of data but it has disadvantages in the sense that it causes system cost, volume and weight to increase
substantially. Additionally, the overall reliability of the drive decreased, specifically on rugged condition.
For sensorless PMSM drives, the motor speed and rotor position are calculated using either fundamental
excitation method or by using signal injection method. The fundamental excitation method is estimated by
using the dynamic model of the motor in term of voltage or currents equations. The signal injection methods
are implemented by using the detection of anisotropy caused by saliency of the rotor or by magnetic saturation
[1-8]. Fundamental excitation methods consist of non-adaptive and adaptive methods. Non adaptive method is
based on measured current and voltages. Other than that, this method employs the fundamental equations for
PMSM. This is the simplest method and yet the results are easy to be computed. Also, the responses are very
fast and almost no delay. While for adaptive methods, the sensorless technique employs different observers
2. ISSN: 1693-6930
TELKOMNIKA Telecommun Comput El Control, Vol. 18, No. 6, December 2020: 3315 - 3323
3316
and adaptation mechanisms to estimate the speed and rotor position. The basic idea of this method is the error
between measured values and actual value is corrected through adaption mechanism. Through this method, all
the states in the PMSM drives system can be estimated including the states that are tough to be measured.
In contrast, this method is not performing well at low speed, requires complex algorithm and calculation.
Researches in this adaptive method for sensorless PMSM drives show that, it can be categorized into two major
groups. One group is using model reference adaptive system (MRAS) and another group is using various type
of observer as the adaptation mechanism. Example of observer-based estimator are sliding mode observer
(SMO) and extended kalman filter (EKF), while example of Saliency and signal injection method is high
frequency signal injection methods. The EKF is based on full-order stochastic observer for nonlinear dynamic
system. The benefit of EKF is its capacity to directly estimate the motor speed which is fast speed response but
the downside is that EKF needs heavy on-line 4×4 matrix computing which become a challenging issue for
a fix-pointed processor system [9-12].
The electromotive force induced by rotor magnet in the phases of stator are called as “back EMF”,
which contain data about the speed and position of the rotor axis. Its shape and value of alternating waveform
represent the information of the speed and location of rotor magnet axis respectively [13]. For medium and
high speed, Back-EMF is the most suitable method to detect the rotor location without encoder or resolver by
utilizing the Back-EMF from the motor model. The constraint of the Back-EMF method is rotor position
determination is related to the speed, the accuracy decrease at low and zero rotational speed, in other word, the
motor equation element containing the rotor position data get too small to be detected [13-16]. Sliding mode
is a non-linear model that utilize the switching law in governing the system. SMO for PMSM exploit the
mismatch between the estimated and measurement value of stator current to acquire the Back-EMF that
encompasses the rotor location and speed data. Nonetheless, the chattering phenomenon is the main drawback
of SMO. The chattering causes system oscillation, performance to sluggish and unsteadiness to the system
[17], even though SMO method is low sensitivity to actual model, it is more robust and have excellent
performance [17-20]. MRAS performance is excellent in the region of medium to high speed to control the
PMSM. The MRAS estimates the motor Back-EMF where the rotor position data can be retrieved. Traditional
design is built on Lyapunov method and estimation law is intended in making sure the estimated state converge
to the actual values. There are six parameters to be tuned and the connection between these parameters and
the estimator performance is indirect, hence the estimator parameters need to be tuned manually [21-22].
So far, various classes of sensorless method are reviewed in this literature review. It presents the pros
and cons for each method. It also discusses about the suitability of the methods. The main interest in this
research is to have sensorless control at low speed and standstill, therefore this project proposes to use signal
injection method to solve the problem of poor performance of PMSM drives to detect rotor position and speed
at low and zero speed. Figure 1 shows the overall block diagram of high frequency signal injection where the
detection of rotor position is accomplished via injection of additional signals (current/voltage) using
fundamental excitation. This applied signals with the magnetic rotor saliency of the motor, resulting thus
subsequent voltage and current to obtain rotor position data. The drawback of the current injection is
the bandwidth estimation which controlled by the current controller. Meanwhile the bandwidth estimation is
controlled by the observer bandwidth for the voltage injection method [23-25].
2. RESEARCH METHOD
2.1. Modelling of PMSM sensorless drives
Figure 1 explains high frequency voltage injection into the PMSM drives. The required component is
speed controller, vector transformation, PWM generator, high frequency voltage injection in d-q axis, current
estimator, and demodulation process and speed observer. The comparison between reference speed and
estimated speed will produce speed error which is fed to speed controller and its output will be used for vector
transformation which can transform d-q reference current to three-phase reference current. The three-phase
reference current which are then compared with actual current measured from PMSM, will produce currents
errors in the PWM generator which are then used to generate switching signal for the inverter. The rotor
position (θre) is estimated using signal injection scheme. The rotor speed can then be estimated using integrator
in speed observer [14].
2.2. External high frequency rotating voltage signal injection
The injected voltages at frequency ωi are given as:
[
𝑉𝑎𝑠𝑖
𝑉𝑏𝑠𝑖
𝑉𝑐𝑠𝑖
] = 𝑉𝑖
[
𝑠𝑖𝑛 𝜃𝑖
𝑠𝑖𝑛 (𝜃𝑖 −
2𝜋
3
)
𝑠𝑖𝑛 (𝜃𝑖 +
2𝜋
3
)]
where θi = ωit (1)
3. TELKOMNIKA Telecommun Comput El Control
High frequency signal injection method for sensorless... (Jurifa Mat Lazi)
3317
w*
abc
Vector
transformation
Sinusoidal
PWM
PMSM
+
- 3-f
inverter
Speed
controller
iq*
id* = 0
ia
ibic
w
dq
ia*
ib*
ic*
dq
f3
High Frequency Voltage
Injection
Vasi
Vbsi
Vcsi
1/s
Speed
Observer
Controller Demodulation
Estimated rotor
reference frame
transformation
i*qsi
i*dsi
wre
Vi
wi
vr
qsi
qre
qre
vr
dsi
vr
qs
vr
ds
wre
Figure 1. Sensorless PMSM drives using high frequency signal injection
Then the three phase injected voltage are transformed into d-q axes in the same reference frame and presented
as follows:
𝑉𝑞𝑠 = −
2
3
[𝑉𝑎𝑠𝑖 𝑠𝑖𝑛 𝜃 + 𝑉𝑏𝑠𝑖 𝑠𝑖𝑛 (𝜃 −
2𝜋
3
) + 𝑉𝑐𝑠𝑖 𝑠𝑖𝑛 (𝜃 −
4𝜋
3
)]
𝑉𝑑𝑠 = −
2
3
[𝑉𝑎𝑠𝑖 𝑐𝑜𝑠 𝜃 + 𝑉𝑏𝑠𝑖 𝑐𝑜𝑠 (𝜃 −
2𝜋
3
) + 𝑉𝑐𝑠𝑖 𝑐𝑜𝑠 (𝜃 −
4𝜋
3
)] (2)
Meanwhile, the injected frequency of stator current can be written as:
[
𝑖 𝑞𝑠𝑖
𝑖 𝑑𝑠𝑖
] = 𝑠𝑖𝑛 𝜃𝑖 [
𝐼1 𝑐𝑜𝑠 𝜃𝑟𝑒 − 𝐼2 𝑐𝑜𝑠( 2(𝜃𝑟 − 𝜃𝑟𝑒))
−𝐼1 𝑠𝑖𝑛 𝜃𝑟𝑒 + 𝐼2 𝑠𝑖𝑛( 2(𝜃𝑟 − 𝜃𝑟𝑒))
] (3)
where,
𝐼1 =
𝑣𝑖
𝜔𝑖
(
𝐿 𝑞 + 𝐿 𝑑
2
)
(
𝐿 𝑞 + 𝐿 𝑑
2
)
2
− (
𝐿 𝑞 − 𝐿 𝑑
2
)
2 ;
(4)
𝐼2 =
𝑣𝑖
𝜔𝑖
(
𝐿 𝑞 − 𝐿 𝑑
2
)
(
𝐿 𝑞 + 𝐿 𝑑
2
)
2
− (
𝐿 𝑞 − 𝐿 𝑑
2
)
2 ;
The d-axis current is then transformed into estimated rotor reference frame which yield as shown in (5)
𝑖 𝑑𝑠𝑖
𝑒
= 𝑖 𝑞𝑠𝑖 𝑠𝑖𝑛( 𝜃𝑟𝑒) + 𝑖 𝑑𝑠𝑖 𝑐𝑜𝑠( 𝜃𝑟𝑒) (5)
As shown in (5) can be rewritten as:
𝑖 𝑑𝑠𝑖
𝑒
= 𝑖2 𝑠𝑖𝑛 𝜃𝑖 [𝑠𝑖𝑛{2(𝜃𝑟 − 𝜃𝑟𝑒)}] (6)
As shown in (6), it has the information about rotor position error. High frequency revolving voltage
injection is formed by three-phase voltage vector using as shown in (1) with injection voltage (Vi) and high
frequency, (fi) which are then transformed into d-q axis using Park-Clarke transformation. The d-q axes voltage
will undergo transformation into estimated position reference frame and the output will be added with d-q axes
voltage in rotor-reference frame. This subsystem is shown in Figure 2 [14], for the abc to d-q axis conversion,
the cosine and sine wave generator is used.
4. ISSN: 1693-6930
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Figure 2. Voltage injection for PMSM block diagram
While Figure 3 depict Band-Pass filter that is used to separate the injected signal from the fundamental
component. The Band-Pass filtered signal is then, demodulated and multiplied with sin (θi) to obtain
the required rotor position. The output signal is further processed by a low-pass filter to eliminate the second
harmonic components, so that the position error can be reduced before fed to the controller. Figure 4 explains
that a tracking observer is necessary to extract the information of rotor position and motor speed from
the position error. The rotor position can be calculated easily by using integrator given that
the rotor estimated speed is determined correctly. The electromagnetic torque signal (7) is added at the output
of PID controller for faster dynamic performance [14]. The electric torque and “B” is the damping coefficient
is written as:
(7)
Figure 3. Demodulation
Figure 4. Rotor position and speed observer
3. RESULTS AND ANALYSIS
The parameter for PMSM which being used in simulation are as follows; sampling time is set to be
1e-6
seconds, the injected frequency, (fi) is 2 KHz and amplitude (Vi) is 10 V. While the motor specification
is tabulated in Table 1.
3.1. Operation from standstill without load
The reference speed is set at 0 rpm and 100 rpm. Figure 5 shows the speed, torque and stator current
response at 100 rpm which is at low speed. The results prove that the system is able to operate from standstill
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and then match it reference speed at low speed. The speed response has a high overshoot due to difficulty of
the observer to estimate the speed during initial condition which the current and voltage are zero.
Table 1 Motor specification
Section Specification of motor Details
Preset model 05: 8 Nm 300 Vdc
2000 RPM–10Nm
Stator phase resistance (ohm) 0.9585 Ω
Inductances[ Ld(H) Lq(H) ] [0.00525 ,0.00525]
Flux linkage established by magnets (V.s) 0.1827
Voltage Constant (V_peak L-L / krpm): 132.5525
Torque Constant (N.m / A_peak): 1.0962
Inertia, friction factor, pole pairs [ J(kg.m^2) F(N.m.s) p( )] [0.0006329, 0.0003035, 4]
(a) (b)
(c)
Figure 5. The response at 100 rpm for free acceleration; (a) speed, (b) torque, (c) Iabc
3.2. Step speed change in reference speed without load
Figure 6 show the responses of speed, electromagnetic torque and stator current response without
load. Initially, the reference speed is set at 100 rpm and then at the time = 3 second, the speed change to
50 rpm. At 3s, the speed is change from 100 rpm to 50 rpm, it can be deduced that the actual speed follows
that of reference speed with low undershoot. The electromagnetic torque decrease to -0.9942 Nm when
the speed is change but almost reach zero torque after some time. The stator current increases at 3s when
the speed is change, it then decreases and stabilized quickly, the frequency of the current is 0.833 Hz.
3.3. Forward to reverse operation without load
Figure 7 show the responses of speed, electromagnetic torque and stator current response without
load. Initially, the reference speed is set at 100 rpm and then at the time= 3 second, the speed is reverse to
negative 100 rpm. Figure 7 depict when the speed reverse at 3 s, the speed response oscillates more compared
to the speed when the motor is started with reference speed of 100 rpm, eventually the actual speed is able to
track the reference speed very well, while the developed torque which drop to the lowest value of -2.71 Nm
when the speed is reverse and then approaches zero as time goes by as there is no load applied to the motor.
The stator current response which goes up when reference speed is reverse and then decrease immediately to
around 0.02 A, the frequency of the current is 1.675 Hz.
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3.4. Reverse to forward operation without load
Figure 8 show the responses of speed, electromagnetic torque and stator current response without load.
Initially, the reference speed is set at negative 100 rpm and then at the time=3 second, the speed is reverse to
positive 100 rpm. Figure 8 describe the speed response which has a high overshoot when the speed change
from negative 100 rpm to positive 100 rpm and after a while, the actual speed almost match the reference speed
with only slight steady state error. while, the developed torque which increase to 2.71 Nm when the speed
operation change from reverse to forward and as the case before, it went down to almost zero in value. Lastly
the stator current response which have almost the same characteristic as the forward to reverse case with same
frequency of 1.675 Hz.
(a) (b)
(c)
Figure 6. The response of step speed change in reference; (a) speed, (b) torque, (c) Iabc
(a) (b)
(c)
Figure 7. The response for forward to reverse operation; (a) speed, (b) torque and (c) Iabc
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(a) (b)
(c)
Figure 8. The response for reverse to forward operation; (a) speed, (b) torque, (c) Iabc
4. CONCLUSION
On other hand, PMSM sensorless drives using high frequency signal injection is modelled using speed
and position estimator equations. And only stator current is used as feedback in the drive system not the speed
or position of the rotor. The sensorless drive system is analyzed based on several cases such as free acceleration,
step change in reference speed, forward to reverse operation and reverse to forward operation. The transient
responses from this cases were quite good and acceptable or in other word, there is close connection between
theory and simulation, most important of all, the high frequency injection can be used to detect rotor position
and speed at zero and low speed.
ACKNOWLEDGEMENTS
The author would like to acknowledge “Centre of Robotic and Industrial Automation” (CERIA),
“Centre of Research and Innovation Management” (CRIM), UniversitiTeknikal Malaysia Melaka (UTeM) and
Ministry of Higher Education Malaysia (MOHE) for supporting this project.
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BIOGRAPHIES OF AUTHORS
Tan Jiunn Lin He has received a bachelor’s degree in electrical engineering (Majoring
in Industrial Power) from Universiti Teknikal Malaysia Melaka in 2017. Now he is
working as an electrical engineer at private sector. His interest is in Power Electronic &
AC Motor drives.
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Jurifa binti Mat Lazi received her Bachelor's degree in Electrical Engineering from
Universiti Teknologi Malaysia in 2001. She then obtained her Master of Science degree in
Electrical Power Engineering from University Universiti Teknologi Malaysia, in 2003. She
received her Ph.D degree from University Universiti Teknikal Malaysia Melaka in 2016. She
has served as an academic staff at Universiti Teknikal Malaysia Melaka (UTeM) since 2001
and she is currently a senior lecturer. Her research interests include Machine Drives
especially in Sensorless and PMSM drives, Power Electronics and Power System.
Md Hairul Nizam Talib was born in Malaysia, in 1976. He received his B.S. in Electrical
Engineering from the Universiti Teknologi Malaysia (UTM), Johor, Malaysia, in 1999, M.S.
in Electrical Engineering from the University of Nottingham, Nottingham, UK, in 2005 and
PhD from the Universiti Teknikal Malaysia Melaka (UTeM), Malaysia in 2016. He is
currently a senior lecturer at UTeM. His main research interests include power electronics,
fuzzy logic control and motor drives.
Zulkifilie Ibrahim was born in 1966 in Malaysia. He received his B.Eng. degree from the
University of Technology (UTM), Malaysia in 1989 and his PhD degree from the Liverpool
John Moores University, UK in 1999. He is currently a Professor at Universiti Teknikal
Malaysia Melaka (UTeM), Malaysia. His main research interests are related to power
Eectronics, fuzzy logic control, embedded system design and electric motor drives.
Azrita Alias was born in Malaysia, in 1978. She received her B. Eng in Electrical (Control
and Instrumentation) (Hons) and M. Eng (Electrical) from the Universiti Teknologi Malaysia,
in 2000 and 2003, respectively, and her PhD from University of Malaya in 2015. She is a
senior lecturer at the Faculty of Electrical Engineering, Universiti Teknikal Malaysia Melaka
(UTeM). Her main research interests are in modeling, control systems analysis and power
electronics application engineering systems.
Ahmad Shukri Abu Hasim was born in 1979 in Malaysia. He received his Diploma,
Bachelor's and Master degree in Electrical Engineering from Universiti Teknologi Mara,
Malaysia, in 2000, 2004, and 2008, respectively. While he received his Ph.D at Universiti
Teknikal Malaysia Melaka in 2016. He is currently a senior lecturer at Universiti Pertahanan
Nasional Malaysia. His main research areas are related to power electronic, drive systems
and renewable energy.