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.
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.
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.
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.
Modeling and State Feedback Controller Design of Tubular Linear Permanent Mag...IAES-IJPEDS
In this paper a state feedback controller for tubular linear permanent magnet
synchronous motor (TLPMSM) containing two gas springs, is presented.
The proposed TLPMSM controller is used to control reciprocating motions
of TLPMSM. The analytical plant model of TLPMSM is a multi-input
multi-output (MIMO) system which is decoupled to some sub single-input
single-output (SISO) systems, then, the sub SISO systems are converted to
sub-state space models. Indeed, the TLPMSM state space model is decoupled
to some sub-state spaces, and then, the gains of state feedback are calculated
by linear quadratic regulation (LQR) method for each sub-state space
separately. The controller decreases the distortions of the waveforms.
The simulation results indicate the validity of the controller.
This document proposes a fuzzy sliding mode controller for speed control of induction motors. It begins with an abstract that summarizes the proposed control scheme using fuzzy logic techniques to dynamically control the sliding mode control equivalent action. It then provides background on induction motor modeling, field oriented control, and sliding mode control. The document describes developing a fuzzy sliding mode controller where fuzzy logic controllers replace the inequalities that determine the sliding mode control parameters. Simulation results show the proposed fuzzy sliding mode controller provides good performance, disturbance rejection, and robustness to parameter variations compared to classical sliding mode control.
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.
Simulation and Analysis of Modified DTC of PMSMIJECEIAES
This research paper describes the simulation and analysis of the modified DTC for Surface mounted Permanent Magnet Synchronous Motor (SPMSM) using PI controller. Among all of the various drive systems,PMSM is widely used for accurate speed and torque control, with greater efficiency, superior torque to inertia and high power density.The Conventional DTC secheme widely used for this purpose but it is failed to achieve desirable performance of the system for which the modified DTC secheme is propsed.The modified DTC algorithm controls the voltage vectors, directly from a simple look up table depending on outcome of the torque and indirectly flux controllers.The overall drive system can be implemented in SIMULINK/MATLAB environment.The modified DTC is validated with loading conditions.The simulated results are focused on the speed, settling time at loaded conditions, torque and flux linkages ripple and THD in the phase current for modified DTC applied to SPMSM.
International Journal of Engineering Research and Applications (IJERA) is an open access online peer reviewed international journal that publishes research and review articles in the fields of Computer Science, Neural Networks, Electrical Engineering, Software Engineering, Information Technology, Mechanical Engineering, Chemical Engineering, Plastic Engineering, Food Technology, Textile Engineering, Nano Technology & science, Power Electronics, Electronics & Communication Engineering, Computational mathematics, Image processing, Civil Engineering, Structural Engineering, Environmental Engineering, VLSI Testing & Low Power VLSI Design etc.
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.
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.
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.
Modeling and State Feedback Controller Design of Tubular Linear Permanent Mag...IAES-IJPEDS
In this paper a state feedback controller for tubular linear permanent magnet
synchronous motor (TLPMSM) containing two gas springs, is presented.
The proposed TLPMSM controller is used to control reciprocating motions
of TLPMSM. The analytical plant model of TLPMSM is a multi-input
multi-output (MIMO) system which is decoupled to some sub single-input
single-output (SISO) systems, then, the sub SISO systems are converted to
sub-state space models. Indeed, the TLPMSM state space model is decoupled
to some sub-state spaces, and then, the gains of state feedback are calculated
by linear quadratic regulation (LQR) method for each sub-state space
separately. The controller decreases the distortions of the waveforms.
The simulation results indicate the validity of the controller.
This document proposes a fuzzy sliding mode controller for speed control of induction motors. It begins with an abstract that summarizes the proposed control scheme using fuzzy logic techniques to dynamically control the sliding mode control equivalent action. It then provides background on induction motor modeling, field oriented control, and sliding mode control. The document describes developing a fuzzy sliding mode controller where fuzzy logic controllers replace the inequalities that determine the sliding mode control parameters. Simulation results show the proposed fuzzy sliding mode controller provides good performance, disturbance rejection, and robustness to parameter variations compared to classical sliding mode control.
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.
Simulation and Analysis of Modified DTC of PMSMIJECEIAES
This research paper describes the simulation and analysis of the modified DTC for Surface mounted Permanent Magnet Synchronous Motor (SPMSM) using PI controller. Among all of the various drive systems,PMSM is widely used for accurate speed and torque control, with greater efficiency, superior torque to inertia and high power density.The Conventional DTC secheme widely used for this purpose but it is failed to achieve desirable performance of the system for which the modified DTC secheme is propsed.The modified DTC algorithm controls the voltage vectors, directly from a simple look up table depending on outcome of the torque and indirectly flux controllers.The overall drive system can be implemented in SIMULINK/MATLAB environment.The modified DTC is validated with loading conditions.The simulated results are focused on the speed, settling time at loaded conditions, torque and flux linkages ripple and THD in the phase current for modified DTC applied to SPMSM.
International Journal of Engineering Research and Applications (IJERA) is an open access online peer reviewed international journal that publishes research and review articles in the fields of Computer Science, Neural Networks, Electrical Engineering, Software Engineering, Information Technology, Mechanical Engineering, Chemical Engineering, Plastic Engineering, Food Technology, Textile Engineering, Nano Technology & science, Power Electronics, Electronics & Communication Engineering, Computational mathematics, Image processing, Civil Engineering, Structural Engineering, Environmental Engineering, VLSI Testing & Low Power VLSI Design etc.
Performance Characteristics of Induction Motor with FielIJPEDS-IAES
With development of power electronics and control Theories, the AC motor
control becomes easier. So the AC motors are used instead of the DC motor
in the drive applications. With this development, a several methods of control
are invented. The field oriented control and direct torque control are from the
best methods to control the drive systems. This paper is compared between
the field oriented control and direct torque control to show the advantages
and disadvantages of these methods of controls. This study discussed the
effects of these methods of control on the total harmonic distortion of the
current and torque ripples. This occurs through study the performance
characteristics of the AC motor. The motor used in this study is an induction
motor. This study is simulated through the MATLAB program.
5 adaptive control for power system stability improvementnazir1988
This document discusses adaptive control for power system stability improvement using model reference adaptive control (MRAC) based on the command generator tracker theory. It begins by introducing the need for power system stabilizers to improve generator dynamics and stability under different loading conditions. It then provides the mathematical models for synchronous generators both with and without voltage control. Analysis shows generator dynamics and stability vary significantly with loading. The document then describes applying direct adaptive control using MRAC-CGT to provide optimal damping for generators across all operating ranges by adapting the stabilizer parameters.
This document summarizes a research paper that proposes a new control technique for a Doubly Fed Induction Generator (DFG) used in variable speed wind turbines. The technique uses a nonlinear sliding mode control approach with an exponential reaching law (ERL) to control the active and reactive powers generated by the wind turbine. Simulation results show that this sliding mode control with ERL is more robust and improves power quality and stability compared to traditional sliding mode control approaches. It reduces chattering phenomenon while also accelerating the system response for better tracking of the desired control objectives.
Efficiency, reliability, high power quality and continuous operation are important aspects in electric vehicle attraction system. Therefore, quick fault detection, isolation and enhanced fault-tolerant control for open-switches faults in inverter driving systems become more and more required in this filed. However, fault detection and localization algorithms have been known to have many performance limitations due to speed variations such as wrong decision making of fault occurrence. Those weaknesses are investigated and solved in this paper using currents magnitudes fault indices, current direct component fault indices and a decision system. A simulation model and experimental setup are utilized to validate the proposed concept. Many simulation and experimental results are carried out to show the effectiveness of the proposed fault detection approach.
Induction motor harmonic reduction using space vector modulation algorithmjournalBEEI
The vector control was proposed as an alternative to the scalar control for AC machines control. Vector control provide high operation performance in steady state and transient operation. However, the variable switching frequency of vector control causes high flux and torque ripples which lead to an acoustical noise and degrade the performance of the control scheme. The insertion of the space vector modulation was a very useful solution to reduce the high ripples level inspite of its complexity. Numerical simulation results obtained in MATLAB/Simulink show the good dynamic performance of the proposed vector control technique and the effectiveness of the proposed sensorless strategy in the presence of the sudden load torque basing on the integral backstepping approach capabilities on instant perturbation rejection.
Keywords
International Journal of Engineering Research and Applications (IJERA) is an open access online peer reviewed international journal that publishes research and review articles in the fields of Computer Science, Neural Networks, Electrical Engineering, Software Engineering, Information Technology, Mechanical Engineering, Chemical Engineering, Plastic Engineering, Food Technology, Textile Engineering, Nano Technology & science, Power Electronics, Electronics & Communication Engineering, Computational mathematics, Image processing, Civil Engineering, Structural Engineering, Environmental Engineering, VLSI Testing & Low Power VLSI Design etc.
High Performance Speed Control of Single-Phase Induction Motors Using Switchi...IJPEDS-IAES
The aim of this research is to provide a high performance vector control of
single-phase Induction Motor (IM) drives. It is shown that in the rotating
reference frame, the single-phase IM equations can be separated into forward
and backward equations with the balanced structure. Based on this, a method
for vector control of the single-phase IM, using two modified Rotor Field-
Oriented Control (RFOC) algorithms is presented. In order to accommodate
forward and backward rotor fluxes in the presented controller, an Extended
Kalman Filter (EKF) with two different forward and backward currents that
are switched interchangeably (switching forward and backward EKF), is
proposed. Simulation results illustrate the effectiveness of the proposed
algorithm.
A Novel Optimal PI Parameter Tuning Strategy to Improve Constant Switching Pe...IJPEDS-IAES
This paper presents a novel method of optimal Propotional-Intergral (PI)
controller’s parameter tuning strategy in-order to improve the constant
switching performance of 3-phase direct torque control (DTC) shceme. The
DTC sheme is acknowledged to provide fast decoupled control over the
torque output and stator flux via a simple control structure. However, DTC
sheme has two major downsides, which are the inconsistent inverter
switching frequency and high torque output ripple. The main reason that
contributes to these tribulations is the usage of hysteresis comparators in
order to control the output torque. The realization of PI based controller
method as replacement of hyterisis controller in DTC system able to provide
significant solutions to over come the fall back while retaining the simple
control structure of conventional DTC. The combination usage of higher
sampling controller DS1004 and also 3-level cascaded H-bridge multilevel
inverters (CHMI) in this system can further minimize the output torque ripple
by providing higher resolution with lower digital error and greater number of
vectors. This paper presents detail explanation and calculation of optimal PI
parameter tuning strategy consecutively to enhance the performance of 3-
level DTC system. In order to verify the feasibility of the proposed method
experimentation, the proposed method is compared with convention DTC
system via simulation and experiment results.
This paper aims to provide a high performance sensorless control based on an Extended Kalman Filter (EKF) applied to fault-tolerant PMSM drive system with stator-resistance estimation. It proposes a fast method of fault switches detection in the power converters. The considered drive is composed of three phases PMSM and a four leg three phase’s inverter when the fourth is the redundant leg. After a short-switch fault occurrence, the redundant leg replaces the faulty leg. The simulation results verify that the proposed control method and the fault tolerant inverter ensure the high reliability and continuously operation of the sensorless vector control PMSM system under inverter fault.
Comparison of Estimated Torques Using Low Pass Filter and Extended Kalman Fil...IAES-IJPEDS
Torque calculation process is one of the major concerns for controlling induction motors in industry, which requires very accurate state estimation of unmeasurable variables of nonlinear models. This can be solved if the variables used for torque calculation is accurately estimated. This paper presents a torque calculation based on a voltage model represented with a low-pass filter (LPF), and an extended Kalman filter (EKF). The experimental results showed that the estimated torque at low speed based on EKF is more accurate in the expense of more complicated and larger computational time.
This document presents a comparison of two sliding mode observers for sensorless speed and position estimation of a permanent magnet synchronous motor (PMSM). The first observer uses a sigmoidal function, while the proposed observer uses a tan hyperbolic function. Simulation results show that the observer with the tan hyperbolic function produces smoother estimation of rotor speed and back electromotive force, with lower peak values compared to the sigmoidal observer. This reduces chattering and improves the accuracy of rotor position and speed estimation, demonstrating the effectiveness of the tan hyperbolic function for sliding mode observer applications.
FLC-Based DTC Scheme for a New Approach of Two-Leg VSI Fed Induction MotorIJERA Editor
A new Direct Torque Control (DTC) strategy for Induction Motor (IM) drive fed by a two leg three phase
inverter (i.e., Four switches are used in VSI) was proposed in this paper. The proposed methodology is based on
the emulation of operation of the conventional Six-switch three phase inverter. The combination of four
unbalanced voltage vectors is generated by the two-leg three phase inverter, approaching to the synthesis of the
six balanced voltage vectors of the conventional DTC. This approach has been implemented in the design of the
vector selection table of the proposed DTC strategy. Further, Fuzzy Logic Controller (FLC) is proposed in the
speed controller for the improvement of torque ripples. Convention DTC with Six Switch three phase VSI, twoleg
three phase VSI with PI and Fuzzy Controller are implemented using MATLAB/SIMULINK. Simulation
results have shown that the proposed DTC strategy, two-leg inverter fed IM drive revealed an improved
performance.
Control of Four Switch Three Phase Inverter Fed Induction Motor Drives Based ...IJPEDS-IAES
This paper presents sensorless position and speed control for a four-switch three-phase inverter (FSTPI) fed induction motor drive. Accurate knowledge of stator resistance is of utmost importance for correct operation of a number of speed sensorless induction motor control schemes in the low speed region. Since stator resistance inevitably varies with operating conditions, stable and accurate operation at near-zero speed requires an appropriate identification algorithm for the stator resistance. The paper proposes such an identification algorithm, which is developed for the rotor flux based model reference adaptive system (MRAS) type of the speed estimator in conjunction with a rotor flux oriented control scheme. In this speed estimation method only one (out of the two available) degree of freedom is utilized for speed estimation. It is utilize the second available degree of freedom as a mean for adapting the stator resistance. The parallel stator resistance and rotor speed identification algorithm is developed in a systematic manner, using Popov’s hyper stability theory. It increases the complexity of the overall control system insignificantly and enables correct speed estimation and stable drive operation at near-zero speeds. The proposed speed and position estimator with parallel stator resistance identification for FSTPI fed induction motor at very low speed under high load operation is verified by simulation and experimental results. The results show the robustness of the proposed method with FSTPI.
International Journal of Engineering Research and Applications (IJERA) is an open access online peer reviewed international journal that publishes research and review articles in the fields of Computer Science, Neural Networks, Electrical Engineering, Software Engineering, Information Technology, Mechanical Engineering, Chemical Engineering, Plastic Engineering, Food Technology, Textile Engineering, Nano Technology & science, Power Electronics, Electronics & Communication Engineering, Computational mathematics, Image processing, Civil Engineering, Structural Engineering, Environmental Engineering, VLSI Testing & Low Power VLSI Design etc.
Comparative Study of the Success of PI and PI-Fuzzy Controller for Induction ...inventionjournals
Asynchronous motors have a wide range of applications in the industry.Therefore, speed control of asynchronous motors is of great importance.Speed control of asynchronous motors based on vector control techniques to achieve high performance.The vector control technique, motor flux and moment variables can be controlled independently of each other.Because of the nonlinear and complex model of asynchronous motors, the speed control applications of these motors are not provided with great efficiency by classical control methods.Fuzzy logic controllers (FLC), which were successful in many areas, present great performance in speed control of an asynchronous motor.In this study, a simulation study regarding speed control of a threephase squirrel cage asynchronous motor was carried out with a PI-Fuzzy type FLC and a conventional PI type controller.The data obtained by simulation are evaluated and the performances of the control methods are compared.
Comparing of switching frequency on vector controlled asynchronous motorijscai
Nowadays, asynchronous motors have wide range use in many industrial applications. Field oriented
control (FOC) and direct torque control (DTC) are commonly used methods in high performance vector
control for asynchronous motors. Therefore, it is very important to identify clearly advantages and
disadvantages of both systems in the selection of appropriate control methods for many industrial
applications. This paper aims to present a new and different perspective regarding the comparison of the
switching behaviours on the FOC and the DTC drivers. For this purpose, the experimental studies have
been carried out to compare the inverter switching frequencies and torque responses of the asynchronous
motor in the FOC and the DTC systems under different working conditions. The dSPACE 1103 controller
board was programmed with Matlab/Simulink software. As expected, the experimental studies showed that
the FOC controlled motors has a lessened torque ripple. On the other hand, the FOC controlled motor
switching frequency has about 65-75% more than the DTC controlled under both loaded and unloaded
working conditions
Direct Torque Control of Four Switch Three Phase Inverter Fed Induction Motor...IAES-IJPEDS
This paper presents sensorless speed control of induction motor (IM) using four switch three phase inverter (FSTPI) with direct torque and flux control (DTFC). The proposed sensorless DTFC system consists of an adaptive observer of rotor flux to accurately estimate stator resistance and speed simultaneously, without affecting drive performances. The switching technique for DTFC of IM using FSTPI in low power application is based on the principle of similarity between FSTPI and SSTPI (six switch three phase inverter), where the αβ plan is divided into 6 sectors and the formation of the voltage space vector is done in the same way as for SSTPI by using effective (mean) vectors. This approach allows using the well-known established switching table of SSTPI for FSTPI. The simulation results indicates that the sensorless speed control of FSTPI fed IM with DTFC and adaptive observer provides accurate estimate, good trajectory tracking with different dynamics performance. The experimental results verify the effectiveness of the proposed method at different operating points.
This paper presents a high efficiency initial rotor position estimation method for Permanent Magnet Synchronous Motors (PMSM). The approach uses the viable inductance model to analyze the optimal motor injection sine wave frequency as the motor’s test signal. Unlike other high-frequency injection methods, this approach does not require trial and error experiments. The injection frequency is identified by programmable simulations using Matlab. Experimental evaluation of 3-phase PMSM showed that this injection frequency optimization method works successfully. The proposed method can find the optimal injection frequency without experimentation, and outperforms other test signals in terms of accuracy, vibration quantity and noise. This microprocessor-developed 3-phase PMSM control driver can be applied to electrical appliances, machine tools and automation.
Speed Sensorless Vector Control of Unbalanced Three-Phase Induction Motor wit...IAES-IJPEDS
This paper presents a technique for speed sensorless Rotor Flux Oriented Control (RFOC) of 3-phase Induction Motor (IM) under open-phase fault (unbalanced or faulty IM). The presented RFOC strategy is based on rotational transformation. An adaptive sliding mode control system with an adaptive switching gain is proposed instead of the speed PI controller. Using an adaptive sliding mode control causes the proposed speed sensorless RFOC drive system to become insensitive to uncertainties such as load disturbances and parameter variations. Moreover, with adaptation of the sliding switching gain, calculation of the system uncertainties upper bound is not needed. Finally, simulation results have been presented to confirm the good performance of the proposed method.
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.
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.
Performance Characteristics of Induction Motor with FielIJPEDS-IAES
With development of power electronics and control Theories, the AC motor
control becomes easier. So the AC motors are used instead of the DC motor
in the drive applications. With this development, a several methods of control
are invented. The field oriented control and direct torque control are from the
best methods to control the drive systems. This paper is compared between
the field oriented control and direct torque control to show the advantages
and disadvantages of these methods of controls. This study discussed the
effects of these methods of control on the total harmonic distortion of the
current and torque ripples. This occurs through study the performance
characteristics of the AC motor. The motor used in this study is an induction
motor. This study is simulated through the MATLAB program.
5 adaptive control for power system stability improvementnazir1988
This document discusses adaptive control for power system stability improvement using model reference adaptive control (MRAC) based on the command generator tracker theory. It begins by introducing the need for power system stabilizers to improve generator dynamics and stability under different loading conditions. It then provides the mathematical models for synchronous generators both with and without voltage control. Analysis shows generator dynamics and stability vary significantly with loading. The document then describes applying direct adaptive control using MRAC-CGT to provide optimal damping for generators across all operating ranges by adapting the stabilizer parameters.
This document summarizes a research paper that proposes a new control technique for a Doubly Fed Induction Generator (DFG) used in variable speed wind turbines. The technique uses a nonlinear sliding mode control approach with an exponential reaching law (ERL) to control the active and reactive powers generated by the wind turbine. Simulation results show that this sliding mode control with ERL is more robust and improves power quality and stability compared to traditional sliding mode control approaches. It reduces chattering phenomenon while also accelerating the system response for better tracking of the desired control objectives.
Efficiency, reliability, high power quality and continuous operation are important aspects in electric vehicle attraction system. Therefore, quick fault detection, isolation and enhanced fault-tolerant control for open-switches faults in inverter driving systems become more and more required in this filed. However, fault detection and localization algorithms have been known to have many performance limitations due to speed variations such as wrong decision making of fault occurrence. Those weaknesses are investigated and solved in this paper using currents magnitudes fault indices, current direct component fault indices and a decision system. A simulation model and experimental setup are utilized to validate the proposed concept. Many simulation and experimental results are carried out to show the effectiveness of the proposed fault detection approach.
Induction motor harmonic reduction using space vector modulation algorithmjournalBEEI
The vector control was proposed as an alternative to the scalar control for AC machines control. Vector control provide high operation performance in steady state and transient operation. However, the variable switching frequency of vector control causes high flux and torque ripples which lead to an acoustical noise and degrade the performance of the control scheme. The insertion of the space vector modulation was a very useful solution to reduce the high ripples level inspite of its complexity. Numerical simulation results obtained in MATLAB/Simulink show the good dynamic performance of the proposed vector control technique and the effectiveness of the proposed sensorless strategy in the presence of the sudden load torque basing on the integral backstepping approach capabilities on instant perturbation rejection.
Keywords
International Journal of Engineering Research and Applications (IJERA) is an open access online peer reviewed international journal that publishes research and review articles in the fields of Computer Science, Neural Networks, Electrical Engineering, Software Engineering, Information Technology, Mechanical Engineering, Chemical Engineering, Plastic Engineering, Food Technology, Textile Engineering, Nano Technology & science, Power Electronics, Electronics & Communication Engineering, Computational mathematics, Image processing, Civil Engineering, Structural Engineering, Environmental Engineering, VLSI Testing & Low Power VLSI Design etc.
High Performance Speed Control of Single-Phase Induction Motors Using Switchi...IJPEDS-IAES
The aim of this research is to provide a high performance vector control of
single-phase Induction Motor (IM) drives. It is shown that in the rotating
reference frame, the single-phase IM equations can be separated into forward
and backward equations with the balanced structure. Based on this, a method
for vector control of the single-phase IM, using two modified Rotor Field-
Oriented Control (RFOC) algorithms is presented. In order to accommodate
forward and backward rotor fluxes in the presented controller, an Extended
Kalman Filter (EKF) with two different forward and backward currents that
are switched interchangeably (switching forward and backward EKF), is
proposed. Simulation results illustrate the effectiveness of the proposed
algorithm.
A Novel Optimal PI Parameter Tuning Strategy to Improve Constant Switching Pe...IJPEDS-IAES
This paper presents a novel method of optimal Propotional-Intergral (PI)
controller’s parameter tuning strategy in-order to improve the constant
switching performance of 3-phase direct torque control (DTC) shceme. The
DTC sheme is acknowledged to provide fast decoupled control over the
torque output and stator flux via a simple control structure. However, DTC
sheme has two major downsides, which are the inconsistent inverter
switching frequency and high torque output ripple. The main reason that
contributes to these tribulations is the usage of hysteresis comparators in
order to control the output torque. The realization of PI based controller
method as replacement of hyterisis controller in DTC system able to provide
significant solutions to over come the fall back while retaining the simple
control structure of conventional DTC. The combination usage of higher
sampling controller DS1004 and also 3-level cascaded H-bridge multilevel
inverters (CHMI) in this system can further minimize the output torque ripple
by providing higher resolution with lower digital error and greater number of
vectors. This paper presents detail explanation and calculation of optimal PI
parameter tuning strategy consecutively to enhance the performance of 3-
level DTC system. In order to verify the feasibility of the proposed method
experimentation, the proposed method is compared with convention DTC
system via simulation and experiment results.
This paper aims to provide a high performance sensorless control based on an Extended Kalman Filter (EKF) applied to fault-tolerant PMSM drive system with stator-resistance estimation. It proposes a fast method of fault switches detection in the power converters. The considered drive is composed of three phases PMSM and a four leg three phase’s inverter when the fourth is the redundant leg. After a short-switch fault occurrence, the redundant leg replaces the faulty leg. The simulation results verify that the proposed control method and the fault tolerant inverter ensure the high reliability and continuously operation of the sensorless vector control PMSM system under inverter fault.
Comparison of Estimated Torques Using Low Pass Filter and Extended Kalman Fil...IAES-IJPEDS
Torque calculation process is one of the major concerns for controlling induction motors in industry, which requires very accurate state estimation of unmeasurable variables of nonlinear models. This can be solved if the variables used for torque calculation is accurately estimated. This paper presents a torque calculation based on a voltage model represented with a low-pass filter (LPF), and an extended Kalman filter (EKF). The experimental results showed that the estimated torque at low speed based on EKF is more accurate in the expense of more complicated and larger computational time.
This document presents a comparison of two sliding mode observers for sensorless speed and position estimation of a permanent magnet synchronous motor (PMSM). The first observer uses a sigmoidal function, while the proposed observer uses a tan hyperbolic function. Simulation results show that the observer with the tan hyperbolic function produces smoother estimation of rotor speed and back electromotive force, with lower peak values compared to the sigmoidal observer. This reduces chattering and improves the accuracy of rotor position and speed estimation, demonstrating the effectiveness of the tan hyperbolic function for sliding mode observer applications.
FLC-Based DTC Scheme for a New Approach of Two-Leg VSI Fed Induction MotorIJERA Editor
A new Direct Torque Control (DTC) strategy for Induction Motor (IM) drive fed by a two leg three phase
inverter (i.e., Four switches are used in VSI) was proposed in this paper. The proposed methodology is based on
the emulation of operation of the conventional Six-switch three phase inverter. The combination of four
unbalanced voltage vectors is generated by the two-leg three phase inverter, approaching to the synthesis of the
six balanced voltage vectors of the conventional DTC. This approach has been implemented in the design of the
vector selection table of the proposed DTC strategy. Further, Fuzzy Logic Controller (FLC) is proposed in the
speed controller for the improvement of torque ripples. Convention DTC with Six Switch three phase VSI, twoleg
three phase VSI with PI and Fuzzy Controller are implemented using MATLAB/SIMULINK. Simulation
results have shown that the proposed DTC strategy, two-leg inverter fed IM drive revealed an improved
performance.
Control of Four Switch Three Phase Inverter Fed Induction Motor Drives Based ...IJPEDS-IAES
This paper presents sensorless position and speed control for a four-switch three-phase inverter (FSTPI) fed induction motor drive. Accurate knowledge of stator resistance is of utmost importance for correct operation of a number of speed sensorless induction motor control schemes in the low speed region. Since stator resistance inevitably varies with operating conditions, stable and accurate operation at near-zero speed requires an appropriate identification algorithm for the stator resistance. The paper proposes such an identification algorithm, which is developed for the rotor flux based model reference adaptive system (MRAS) type of the speed estimator in conjunction with a rotor flux oriented control scheme. In this speed estimation method only one (out of the two available) degree of freedom is utilized for speed estimation. It is utilize the second available degree of freedom as a mean for adapting the stator resistance. The parallel stator resistance and rotor speed identification algorithm is developed in a systematic manner, using Popov’s hyper stability theory. It increases the complexity of the overall control system insignificantly and enables correct speed estimation and stable drive operation at near-zero speeds. The proposed speed and position estimator with parallel stator resistance identification for FSTPI fed induction motor at very low speed under high load operation is verified by simulation and experimental results. The results show the robustness of the proposed method with FSTPI.
International Journal of Engineering Research and Applications (IJERA) is an open access online peer reviewed international journal that publishes research and review articles in the fields of Computer Science, Neural Networks, Electrical Engineering, Software Engineering, Information Technology, Mechanical Engineering, Chemical Engineering, Plastic Engineering, Food Technology, Textile Engineering, Nano Technology & science, Power Electronics, Electronics & Communication Engineering, Computational mathematics, Image processing, Civil Engineering, Structural Engineering, Environmental Engineering, VLSI Testing & Low Power VLSI Design etc.
Comparative Study of the Success of PI and PI-Fuzzy Controller for Induction ...inventionjournals
Asynchronous motors have a wide range of applications in the industry.Therefore, speed control of asynchronous motors is of great importance.Speed control of asynchronous motors based on vector control techniques to achieve high performance.The vector control technique, motor flux and moment variables can be controlled independently of each other.Because of the nonlinear and complex model of asynchronous motors, the speed control applications of these motors are not provided with great efficiency by classical control methods.Fuzzy logic controllers (FLC), which were successful in many areas, present great performance in speed control of an asynchronous motor.In this study, a simulation study regarding speed control of a threephase squirrel cage asynchronous motor was carried out with a PI-Fuzzy type FLC and a conventional PI type controller.The data obtained by simulation are evaluated and the performances of the control methods are compared.
Comparing of switching frequency on vector controlled asynchronous motorijscai
Nowadays, asynchronous motors have wide range use in many industrial applications. Field oriented
control (FOC) and direct torque control (DTC) are commonly used methods in high performance vector
control for asynchronous motors. Therefore, it is very important to identify clearly advantages and
disadvantages of both systems in the selection of appropriate control methods for many industrial
applications. This paper aims to present a new and different perspective regarding the comparison of the
switching behaviours on the FOC and the DTC drivers. For this purpose, the experimental studies have
been carried out to compare the inverter switching frequencies and torque responses of the asynchronous
motor in the FOC and the DTC systems under different working conditions. The dSPACE 1103 controller
board was programmed with Matlab/Simulink software. As expected, the experimental studies showed that
the FOC controlled motors has a lessened torque ripple. On the other hand, the FOC controlled motor
switching frequency has about 65-75% more than the DTC controlled under both loaded and unloaded
working conditions
Direct Torque Control of Four Switch Three Phase Inverter Fed Induction Motor...IAES-IJPEDS
This paper presents sensorless speed control of induction motor (IM) using four switch three phase inverter (FSTPI) with direct torque and flux control (DTFC). The proposed sensorless DTFC system consists of an adaptive observer of rotor flux to accurately estimate stator resistance and speed simultaneously, without affecting drive performances. The switching technique for DTFC of IM using FSTPI in low power application is based on the principle of similarity between FSTPI and SSTPI (six switch three phase inverter), where the αβ plan is divided into 6 sectors and the formation of the voltage space vector is done in the same way as for SSTPI by using effective (mean) vectors. This approach allows using the well-known established switching table of SSTPI for FSTPI. The simulation results indicates that the sensorless speed control of FSTPI fed IM with DTFC and adaptive observer provides accurate estimate, good trajectory tracking with different dynamics performance. The experimental results verify the effectiveness of the proposed method at different operating points.
This paper presents a high efficiency initial rotor position estimation method for Permanent Magnet Synchronous Motors (PMSM). The approach uses the viable inductance model to analyze the optimal motor injection sine wave frequency as the motor’s test signal. Unlike other high-frequency injection methods, this approach does not require trial and error experiments. The injection frequency is identified by programmable simulations using Matlab. Experimental evaluation of 3-phase PMSM showed that this injection frequency optimization method works successfully. The proposed method can find the optimal injection frequency without experimentation, and outperforms other test signals in terms of accuracy, vibration quantity and noise. This microprocessor-developed 3-phase PMSM control driver can be applied to electrical appliances, machine tools and automation.
Speed Sensorless Vector Control of Unbalanced Three-Phase Induction Motor wit...IAES-IJPEDS
This paper presents a technique for speed sensorless Rotor Flux Oriented Control (RFOC) of 3-phase Induction Motor (IM) under open-phase fault (unbalanced or faulty IM). The presented RFOC strategy is based on rotational transformation. An adaptive sliding mode control system with an adaptive switching gain is proposed instead of the speed PI controller. Using an adaptive sliding mode control causes the proposed speed sensorless RFOC drive system to become insensitive to uncertainties such as load disturbances and parameter variations. Moreover, with adaptation of the sliding switching gain, calculation of the system uncertainties upper bound is not needed. Finally, simulation results have been presented to confirm the good performance of the proposed method.
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.
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.
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 paper is intended to study and compare the operation of two methods for estimating the position/ speed of the permanent magnet synchronous motor (PMSM) under sliding mode control. The first method is a model reference adaptive system (MRAS). The second method based on sliding mode observer (SMO). The stability condition of Sliding Mode Observer was verified using the Lyapunov method to make sure that the observer is stable in converging to the sliding mode plane. In this paper the performances of the proposed two algorithms are analyzed using SIMULINK/MATLAB. The simulations results are presented to verify the proposed sensorless control algorithms and can resolve the problem of load disturbance effects by simulations which verify that the two closed-loop control system is robust with respect to torque disturbance rejection.
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.
This paper presents a novel structure combining the port-controlled Hamiltonian (PCH) and Backstepping (BS) nonlinear control for the vector control of the six-phase induction motor (SPIM). In this new scheme, to improve the outer loop’s robustness, the BS technique using the integral tracking errors action is proposed in the speed and flux controllers design. The advantage of this proposed control law is not to increase the complexity of differential equation resolution due to being not increased system states numbers. To enhance more the performance of SPIM drives (SPIMD), port-controlled Hamiltonian (PCH) scheme is used in the inner current loop controllers. In this proposed PCH current controller, the stabilization of controller is achieved via system passivity. In that, the interconnection and damping matrix functions of PCH system are shaped so that the physical (Hamiltonian) system structure is preserved at the closed loop level and the closed loop energy function is equal to the difference between the physical energy of the system and the energy supplied by the controller. The proposed control design is based on combination PCH and BS techniques improve significantly performance and robustness. The proposed speed control scheme is validated by Matlab-Simulink software.
We focus a modern methodology in this paper for adding the fuzzy logic control as well as sliding model control. This combination can enhance the MLS position control robustness and enhanced performance of it.In the start, for an application in an area to control the loops placement and position for the synchronous motor what has permanent magnetic linearity we tend to control the fuzzy sliding mode control. To resolve the chattering issues a designed controller is investigated and, in this way, steady state motion in sliding with higher accuracy is obtained. In this case, method of online tuning with the help of fuzzy logic is used in order to adjust the thickness of boundary layer and switching gains.For the suggested scheme technique, the outcomes of simulation suggest that with the classical SMC the accurate state and good dynamic performance is compared due to force chattering resistance, response by quick dynamic force and external disturbance elements and robustness against them.
In this paper, we focus on the modeling and control of a wind power system based on a Permanent Magnet Synchronous Generator (PMSG). We proposed a technique of control strategies to have the maximum power from wind turbine (WT). This study deals with the problem of Maximum Power Point Tracking (MPPT) based on Takagi Sugeno fuzzy model. The stability analysis is achieved. The gains of the designed controller are calculated by solving Linear Matrix Inequality (LMI). Finally, simulation results are provided to demonstrate the validity and the effectiveness of the proposed method.
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.
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.
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.
The Journal of MC Square Scientific Research is published by MC Square Publication on the monthly basis. It aims to publish original research papers devoted to wide areas in various disciplines of science and engineering and their applications in industry. This journal is basically devoted to interdisciplinary research in Science, Engineering and Technology, which can improve the technology being used in industry. The real-life problems involve multi-disciplinary knowledge, and thus strong inter-disciplinary approach is the need of the research.
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.
Nonlinear control of WECS based on PMSG for optimal power extraction IJECEIAES
This document presents a study that proposes an integral backstepping control strategy to optimize power extraction from a wind energy conversion system based on a permanent magnet synchronous generator. The control regulates the generator's rotational speed to track the optimal speed for maximum power point tracking. Simulation results show that the integral backstepping control achieves better performance than a conventional PI vector control in regulating speed during stochastic and step changes in wind speed, allowing for more effective maximum power point tracking.
High frequency signal injection method for sensorless permanent magnet synchr...TELKOMNIKA JOURNAL
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.
International Journal of Engineering Research and Applications (IJERA) is an open access online peer reviewed international journal that publishes research and review articles in the fields of Computer Science, Neural Networks, Electrical Engineering, Software Engineering, Information Technology, Mechanical Engineering, Chemical Engineering, Plastic Engineering, Food Technology, Textile Engineering, Nano Technology & science, Power Electronics, Electronics & Communication Engineering, Computational mathematics, Image processing, Civil Engineering, Structural Engineering, Environmental Engineering, VLSI Testing & Low Power VLSI Design etc.
Optimization of Modified Sliding Mode Controller for an Electro-hydraulic Act...IJECEIAES
This paper presents the design of the modified sliding mode controller (MSMC) for the purpose of tracking the nonlinear system with mismatched disturbance. Provided that the performance of the designed controller depends on the value of control parameters, gravitational search algorithm (GSA), and particle swarm optimization (PSO) techniques are used to optimize these parameters in order to achieve a predefined system’s performance. In respect of system’s performance, it is evaluated based on the tracking error present between reference inputs transferred to the system and the system output. This is followed by verification of the efficiency of the designed controller in simulation environment under various values, with and without the inclusion of external disturbance. It can be seen from the simulation results that the MSMC with PSO exhibits a better performance in comparison to the performance of the similar controller with GSA in terms of output response and tracking error.
Experimental Evaluation of Torque Performance of Voltage and Current Models u...IJPEDS-IAES
In this paper, two kinds of observers are proposed to investigate torque estimation. The first one is based on a voltage model represented with a low- pass filter (LPF); which is normally used as a replacement for a pure integrator to avoid integration drift problem due to dc offset or measurement error. The second estimator used is an extended Kalman filter (EKF) as a current model, which puts into account all noise problems. Both estimation algorithms are investigated during the steady and transient states, tested under light load, and then compared with the measured mechanical torque. In all conditions, it will be shown that the torque estimation error for EKF has remained within narrower error band and yielded minimum torque ripples when compared to LPF estimation. This motivates the use of EKF observer in high performance control drives of induction machines for achieving improved torque response.
The aim of this research is the speed tracking of the permanent magnet synchronous motor (PMSM) using an intelligent Neural-Network based adapative backstepping control. First, the model of PMSM in the Park synchronous frame is derived. Then, the PMSM speed regulation is investigated using the classical method utilizing the field oriented control theory. Thereafter, a robust nonlinear controller employing an adaptive backstepping strategy is investigated in order to achieve a good performance tracking objective under motor parameters changing and external load torque application. In the final step, a neural network estimator is integrated with the adaptive controller to estimate the motor parameters values and the load disturbance value for enhancing the effectiveness of the adaptive backstepping controller. The robsutness of the presented control algorithm is demonstrated using simulation tests. The obtained results clearly demonstrate that the presented NN-adaptive control algorithm can provide good trackingperformances for the speed trackingin the presence of motor parameter variation and load application.
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.
Similar to New Sensorless Sliding Mode Control of a Five-phase Permanent Magnet Synchronous Motor Drive Based on Sliding Mode Observer (20)
The document presents a new method for fault classification and direction discrimination in transmission lines using 1D convolutional neural networks (1D-CNNs). A 132kV transmission line model is simulated to generate training and testing data for the 1D-CNN algorithm. The proposed 1D-CNN approach directly uses the voltage and current signals from one end as input, merging feature extraction and classification into a single learning process. Testing shows the 1D-CNN method accurately classifies and discriminates fault direction with higher accuracy than conventional neural network and fuzzy neural network methods under different fault conditions.
Among the most widespread renewable energy sources is solar energy; Solar panels offer a green, clean, and environmentally friendly source of energy. In the presence of several advantages of the use of photovoltaic systems, the random operation of the photovoltaic generator presents a great challenge, in the presence of a critical load. Among the most used solutions to overcome this problem is the combination of solar panels with generators or with the public grid or both. In this paper, an energy management strategy is proposed with a safety aspect by using artificial neural networks (ANNs), in order to ensure a continuous supply of electricity to consumers with a maximum solicitation of renewable energy.
In this paper, the artificial neural network (ANN) has been utilized for rotating machinery faults detection and classification. First, experiments were performed to measure the lateral vibration signals of laboratory test rigs for rotor-disk-blade when the blades are defective. A rotor-disk-blade system with 6 regular blades and 5 blades with various defects was constructed. Second, the ANN was applied to classify the different x- and y-axis lateral vibrations due to different blade faults. The results based on training and testing with different data samples of the fault types indicate that the ANN is robust and can effectively identify and distinguish different blade faults caused by lateral vibrations in a rotor. As compared to the literature, the present paper presents a novel work of identifying and classifying various rotating blade faults commonly encountered in rotating machines using ANN. Experimental data of lateral vibrations of the rotor-disk-blade system in both x- and y-directions are used for the training and testing of the network.
This paper focuses on the artificial bee colony (ABC) algorithm, which is a nonlinear optimization problem. is proposed to find the optimal power flow (OPF). To solve this problem, we will apply the ABC algorithm to a power system incorporating wind power. The proposed approach is applied on a standard IEEE-30 system with wind farms located on different buses and with different penetration levels to show the impact of wind farms on the system in order to obtain the optimal settings of control variables of the OPF problem. Based on technical results obtained, the ABC algorithm is shown to achieve a lower cost and losses than the other methods applied, while incorporating wind power into the system, high performance would be gained.
The significance of the solar energy is to intensify the effectiveness of the Solar Panel with the use of a primordial solar tracking system. Here we propounded a solar positioning system with the use of the global positioning system (GPS) , artificial neural network (ANN) and image processing (IP) . The azimuth angle of the sun is evaluated using GPS which provide latitude, date, longitude and time. The image processing used to find sun image through which centroid of sun is calculated and finally by comparing the centroid of sun with GPS quadrate to achieve optimum tracking point. Weather conditions and situation observed through AI decision making with the help of IP algorithms. The presented advance adaptation is analyzed and established via experimental effects which might be made available on the memory of the cloud carrier for systematization. The proposed system improve power gain by 59.21% and 10.32% compare to stable system (SS) and two-axis solar following system (TASF) respectively. The reduced tracking error of IoT based Two-axis solar following system (IoT-TASF) reduces their azimuth angle error by 0.20 degree.
Kosovo has limited renewable energy resources and its power generation sector is based on fossil fuels. Such a situation emphasizes the importance of active research and efficient use of renewable energy potential. According to the analysis of meteorological data for Kosovo, it can be concluded that among the most attractive potential wind power sites are the locations known as Kitka (42° 29' 41" N and 21° 36' 45" E) and Koznica (42° 39′ 32″ N, 21° 22′30″E). The two terrains in which the analysis was carried out are mountain areas, with altitudes of 1142 m (Kitka) and 1230 m (Koznica). the same measuring height, about 84 m above the ground, is obtained for these average wind speeds: Kitka 6,667 m/s and Koznica 6,16 m/s. Since the difference in wind speed is quite large versus a difference in altitude that is not being very large, analyses are made regarding the terrain characteristics including the terrain relief features. In this paper it will be studied how much the roughness of the terrain influences the output energy. Also, that the assumption to be taken the same as to how much they will affect the annual energy produced.
The document summarizes a research paper that proposes using a battery energy storage system (BESS) with droop control to reduce frequency fluctuations in a multi-machine power system connected to a large-scale photovoltaic (PV) plant. The paper develops a droop control strategy for the BESS that incorporates a frequency error signal and dead-band. Simulation results using PSCAD/EMTDC software show that the proposed droop control-based BESS can efficiently curtail frequency oscillations caused by fluctuations in PV power injection due to changing solar irradiance.
This study investigates experimentally the performance of two-dimensional solar tracking systems with reflector using commercial silicon based photovoltaic module, with open and closed loop control systems. Different reflector materials were also investigated. The experiments were performed at the Hashemite University campus in Zarqa at a latitude of 32⁰, in February and March. Photovoltaic output power and performance were analyzed. It was found that the modified photovoltaic module with mirror reflector generated the highest value of power, while the temperature reached a maximum value of 53 ̊ C. The modified module suggested in this study produced 5% more PV power than the two-dimensional solar tracking systems without reflector and produced 12.5% more PV power than the fixed PV module with 26⁰ tilt angle.
This paper focuses on the modeling and control of a wind energy conversion chain using a permanent magnet synchronous machine. This system behaves a turbine, a generator, DC/DC and DC/AC power converters. These are connected on both sides to the DC bus, where the inverter is followed by a filter which is connected to the grid. In this paper, we have been used two types of controllers. For the stator side converter, we consider the Takagi-Sugeno approach where the parameters of controller have been computed by the theory of linear matrix inequalities. The stability synthesis has been checked using the Lyapunov theory. According to the grid side converter, the proportional integral controller is exploited to keep a constant voltage on the DC bus and control both types of powers. The simulation results demonstrate the robustness of the approach used.
The development of modeling wind speed plays a very important in helping to obtain the actual wind speed data for the benefit of the power plant planning in the future. The wind speed in this paper is obtained from a PCE-FWS 20 type measuring instrument with a duration of 30 minutes which is accumulated into monthly data for one year (2019). Despite the many wind speed modeling that has been done by researchers. Modeling wind speeds proposed in this study were obtained from the modified Rayleigh distribution. In this study, the Rayleigh scale factor (Cr) and modified Rayleigh scale factor (Cm) were calculated. The observed wind speed is compared with the predicted wind characteristics. The data fit test used correlation coefficient (R2), root means square error (RMSE), and mean absolute percentage error (MAPE). The results of the proposed modified Rayleigh model provide very good results for users.
This paper deals with an advanced design for a pump powered by solar energyto supply agricultural lands with water and also the maximum power point is used to extract the maximum value of the energy available inside the solar panels and comparing between techniques MPPT such as Incremental conductance, perturb & observe, fractional short current circuit, and fractional open voltage circuit to find the best technique among these. The solar system is designed with main parts: photovoltaic (PV) panel, direct current/direct current (DC/DC) converter, inverter, filter, and in addition, the battery is used to save energy in the event that there is an increased demand for energy and not to provide solar radiation, as well as saving energy in the case of generation more than demand. This work was done using the matrix laboratory (MATLAB) simulink program.
The objective of this paper is to provide an overview of the current state of renewable energy resources in Bangladesh, as well as to examine various forms of renewable energies in order to gain a comprehensive understanding of how to address Bangladesh's power crisis issues in a sustainable manner. Electricity is currently the most useful kind of energy in Bangladesh. It has a substantial influence on a country's socioeconomic standing and living standards. Maintaining a stable source of energy at a cost that is affordable to everyone has been a constant battle for decades. Bangladesh is blessed with a wealth of natural resources. Bangladesh has a huge opportunity to accelerate its economic development while increasing energy access, livelihoods, and health for millions of people in a sustainable way due to the renewable energy system.
When the irradiance distribution over the photovoltaic panels is uniform, the pursuit of the maximum power point is not reached, which has allowed several researchers to use traditional MPPT techniques to solve this problem Among these techniques a PSO algorithm is used to have the maximum global power point (GMPPT) under partial shading. On the other hand, this one is not reliable vis-à-vis the pursuit of the MPPT. Therefore, in this paper we have treated another technique based on a new modified PSO algorithm so that the power can reach its maximum point. The PSO algorithm is based on the heuristic method which guarantees not only the obtaining of MPPT but also the simplicity of control and less expensive of the system. The results are obtained using MATLAB show that the proposed modified PSO algorithm performs better than conventional PSO and is robust to different partial shading models.
A stable operation of wind turbines connected to the grid is an essential requirement to ensure the reliability and stability of the power system. To achieve such operational objective, installing static synchronous compensator static synchronous compensator (STATCOM) as a main compensation device guarantees the voltage stability enhancement of the wind farm connected to distribution network at different operating scenarios. STATCOM either supplies or absorbs reactive power in order to ensure the voltage profile within the standard-margins and to avoid turbine tripping, accordingly. This paper present new study that investigates the most suitable-location to install STATCOM in a distribution system connected wind farm to maintain the voltage-levels within the stability margins. For a large-scale squirrel cage induction generator squirrel-cage induction generator (SCIG-based) wind turbine system, the impact of STATCOM installation was tested in different places and voltage-levels in the distribution system. The proposed method effectiveness in enhancing the voltage profile and balancing the reactive power is validated, the results were repeated for different scenarios of expected contingencies. The voltage profile, power flow, and reactive power balance of the distribution system are observed using MATLAB/Simulink software.
The electrical and environmental parameters of polymer solar cells (PSC) provide important information on their performance. In the present article we study the influence of temperature on the voltage-current (I-V) characteristic at different temperatures from 10 °C to 90 °C, and important parameters like bandgap energy Eg, and the energy conversion efficiency η. The one-diode electrical model, normally used for semiconductor cells, has been tested and validated for the polemeral junction. The PSC used in our study are formed by the poly(3-hexylthiophene) (P3HT) and [6,6]-phenyl C61-butyric acid methyl ester (PCBM). Our technique is based on the combination of two steps; the first use the Least Mean Squares (LMS) method while the second use the Newton-Raphson algorithm. The found results are compared to other recently published works, they show that the developed approach is very accurate. This precision is proved by the minimal values of statistical errors (RMSE) and the good agreement between both the experimental data and the I-V simulated curves. The obtained results show a clear and a monotonic dependence of the cell efficiency on the studied parameters.
The inverter is the principal part of the photovoltaic (PV) systems that assures the direct current/alternating current (DC/AC) conversion (PV array is connected directly to an inverter that converts the DC energy produced by the PV array into AC energy that is directly connected to the electric utility). In this paper, we present a simple method for detecting faults that occurred during the operation of the inverter. These types of faults or faults affect the efficiency and cost-effectiveness of the photovoltaic system, especially the inverter, which is the main component responsible for the conversion. Hence, we have shown first the faults obtained in the case of the short circuit. Second, the open circuit failure is studied. The results demonstrate the efficacy of the proposed method. Good monitoring and detection of faults in the inverter can increase the system's reliability and decrease the undesirable faults that appeared in the PV system. The system behavior is tested under variable parameters and conditions using MATLAB/Simulink.
The document describes a proposed modified bridge-type nonsuperconducting fault current limiter (NSFCL) for distribution networks. The NSFCL consists of a bridge rectifier, two DC reactors (one small in series and one large in parallel), and an IGBT semiconductor switch controlled by a command circuit. During normal operation, the IGBT is on and the parallel reactor is bypassed, making the NSFCL invisible. During a fault, the IGBT turns off, inserting the parallel reactor to limit fault current. Simulation results showed the design effectively limits fault current while minimally affecting normal operation.
This paper provides a new approach to reducing high-order harmonics in 400 Hz inverter using a three-level neutral-point clamped (NPC) converter. A voltage control loop using the harmonic compensation combined with NPC clamping diode control technology. The capacitor voltage imbalance also causes harmonics in the output voltage. For 400 Hz inverter, maintain a balanced voltage between the two input (direct current) (DC) capacitors is difficult because the pulse width modulation (PWM) modulation frequency ratio is low compared to the frequency of the output voltage. A method of determining the current flowing into the capacitor to control the voltage on the two balanced capacitors to ensure fast response reversal is also given in this paper. The combination of a high-harmonic resonator controller and a neutral-point voltage controller working together on the 400 Hz NPC inverter structure is given in this paper.
Direct current (DC) electronic load is a useful equipment for testing the electrical system. It can emulate various load at a high rating. The electronic load requires a power converter to operate and a linear regulator is a common option. Nonetheless, it is hard to control due to the temperature variation. This paper proposed a DC electronic load using the boost converter. The proposed electronic load operates in the continuous current mode and control using the integral controller. The electronic load using the boost converter is compared with the electronic load using the linear regulator. The results show that the boost converter able to operate as an electronic load with an error lower than 0.5% and response time lower than 13 ms.
This paper presents a new simplified cascade multiphase DC-DC buck power converter suitable for low voltage and large current applications. Cascade connection enables very low voltage ratio without using very small duty cycles nor transformers. Large current with very low ripple content is achieved by using the multiphase technique. The proposed converter needs smaller number of components compared to conventional cascade multiphase DC-DC buck power converters. This paper also presents useful analysis of the proposed DC-DC buck power converter with a method to optimize the phase and cascade number. Simulation and experimental results are included to verify the basic performance of the proposed DC-DC buck power converter.
More from International Journal of Power Electronics and Drive Systems (20)
Embedded machine learning-based road conditions and driving behavior monitoringIJECEIAES
Car accident rates have increased in recent years, resulting in losses in human lives, properties, and other financial costs. An embedded machine learning-based system is developed to address this critical issue. The system can monitor road conditions, detect driving patterns, and identify aggressive driving behaviors. The system is based on neural networks trained on a comprehensive dataset of driving events, driving styles, and road conditions. The system effectively detects potential risks and helps mitigate the frequency and impact of accidents. The primary goal is to ensure the safety of drivers and vehicles. Collecting data involved gathering information on three key road events: normal street and normal drive, speed bumps, circular yellow speed bumps, and three aggressive driving actions: sudden start, sudden stop, and sudden entry. The gathered data is processed and analyzed using a machine learning system designed for limited power and memory devices. The developed system resulted in 91.9% accuracy, 93.6% precision, and 92% recall. The achieved inference time on an Arduino Nano 33 BLE Sense with a 32-bit CPU running at 64 MHz is 34 ms and requires 2.6 kB peak RAM and 139.9 kB program flash memory, making it suitable for resource-constrained embedded systems.
AI for Legal Research with applications, toolsmahaffeycheryld
AI applications in legal research include rapid document analysis, case law review, and statute interpretation. AI-powered tools can sift through vast legal databases to find relevant precedents and citations, enhancing research accuracy and speed. They assist in legal writing by drafting and proofreading documents. Predictive analytics help foresee case outcomes based on historical data, aiding in strategic decision-making. AI also automates routine tasks like contract review and due diligence, freeing up lawyers to focus on complex legal issues. These applications make legal research more efficient, cost-effective, and accessible.
Software Engineering and Project Management - Software Testing + Agile Method...Prakhyath Rai
Software Testing: A Strategic Approach to Software Testing, Strategic Issues, Test Strategies for Conventional Software, Test Strategies for Object -Oriented Software, Validation Testing, System Testing, The Art of Debugging.
Agile Methodology: Before Agile – Waterfall, Agile Development.
Digital Twins Computer Networking Paper Presentation.pptxaryanpankaj78
A Digital Twin in computer networking is a virtual representation of a physical network, used to simulate, analyze, and optimize network performance and reliability. It leverages real-time data to enhance network management, predict issues, and improve decision-making processes.
Redefining brain tumor segmentation: a cutting-edge convolutional neural netw...IJECEIAES
Medical image analysis has witnessed significant advancements with deep learning techniques. In the domain of brain tumor segmentation, the ability to
precisely delineate tumor boundaries from magnetic resonance imaging (MRI)
scans holds profound implications for diagnosis. This study presents an ensemble convolutional neural network (CNN) with transfer learning, integrating
the state-of-the-art Deeplabv3+ architecture with the ResNet18 backbone. The
model is rigorously trained and evaluated, exhibiting remarkable performance
metrics, including an impressive global accuracy of 99.286%, a high-class accuracy of 82.191%, a mean intersection over union (IoU) of 79.900%, a weighted
IoU of 98.620%, and a Boundary F1 (BF) score of 83.303%. Notably, a detailed comparative analysis with existing methods showcases the superiority of
our proposed model. These findings underscore the model’s competence in precise brain tumor localization, underscoring its potential to revolutionize medical
image analysis and enhance healthcare outcomes. This research paves the way
for future exploration and optimization of advanced CNN models in medical
imaging, emphasizing addressing false positives and resource efficiency.
Generative AI Use cases applications solutions and implementation.pdfmahaffeycheryld
Generative AI solutions encompass a range of capabilities from content creation to complex problem-solving across industries. Implementing generative AI involves identifying specific business needs, developing tailored AI models using techniques like GANs and VAEs, and integrating these models into existing workflows. Data quality and continuous model refinement are crucial for effective implementation. Businesses must also consider ethical implications and ensure transparency in AI decision-making. Generative AI's implementation aims to enhance efficiency, creativity, and innovation by leveraging autonomous generation and sophisticated learning algorithms to meet diverse business challenges.
https://www.leewayhertz.com/generative-ai-use-cases-and-applications/
Optimizing Gradle Builds - Gradle DPE Tour Berlin 2024Sinan KOZAK
Sinan from the Delivery Hero mobile infrastructure engineering team shares a deep dive into performance acceleration with Gradle build cache optimizations. Sinan shares their journey into solving complex build-cache problems that affect Gradle builds. By understanding the challenges and solutions found in our journey, we aim to demonstrate the possibilities for faster builds. The case study reveals how overlapping outputs and cache misconfigurations led to significant increases in build times, especially as the project scaled up with numerous modules using Paparazzi tests. The journey from diagnosing to defeating cache issues offers invaluable lessons on maintaining cache integrity without sacrificing functionality.
Gas agency management system project report.pdfKamal Acharya
The project entitled "Gas Agency" is done to make the manual process easier by making it a computerized system for billing and maintaining stock. The Gas Agencies get the order request through phone calls or by personal from their customers and deliver the gas cylinders to their address based on their demand and previous delivery date. This process is made computerized and the customer's name, address and stock details are stored in a database. Based on this the billing for a customer is made simple and easier, since a customer order for gas can be accepted only after completing a certain period from the previous delivery. This can be calculated and billed easily through this. There are two types of delivery like domestic purpose use delivery and commercial purpose use delivery. The bill rate and capacity differs for both. This can be easily maintained and charged accordingly.
Comparative analysis between traditional aquaponics and reconstructed aquapon...bijceesjournal
The aquaponic system of planting is a method that does not require soil usage. It is a method that only needs water, fish, lava rocks (a substitute for soil), and plants. Aquaponic systems are sustainable and environmentally friendly. Its use not only helps to plant in small spaces but also helps reduce artificial chemical use and minimizes excess water use, as aquaponics consumes 90% less water than soil-based gardening. The study applied a descriptive and experimental design to assess and compare conventional and reconstructed aquaponic methods for reproducing tomatoes. The researchers created an observation checklist to determine the significant factors of the study. The study aims to determine the significant difference between traditional aquaponics and reconstructed aquaponics systems propagating tomatoes in terms of height, weight, girth, and number of fruits. The reconstructed aquaponics system’s higher growth yield results in a much more nourished crop than the traditional aquaponics system. It is superior in its number of fruits, height, weight, and girth measurement. Moreover, the reconstructed aquaponics system is proven to eliminate all the hindrances present in the traditional aquaponics system, which are overcrowding of fish, algae growth, pest problems, contaminated water, and dead fish.
2. IJPEDS ISSN: 2088-8694
New Sensorless Sliding Mode Control of a Five-phase Permanent Magnet .... (Anissa Hosseyni)
185
motor control. The proposed SMC proves its robustness to disturbances and parameters variation and the
stability of the closed loop system is proved in the context of Lyapunov theory. The sliding mode control is
applied to PMSM with good performance [9]-[10].
The synthesis of the sliding mode control requires the rotor speed and rotor position information.
Thus, the installation of position and speed sensors is required. However, these transducers are expensive and
sensitive to harsh environment conditions such as temperature and vibration. To discard this limitation, many
research activities have focused on sensorless control techniques to estimate the speed and rotor position of
the PMSM. The sensorless control strategy of PMSM drives are mainly classified into categories: the first
type deals with high frequency injection and the second category is based on observer. Recently, the
techniques based observer have gained an increasing interest such as SMO [11]-[16], Kalman filtering [17]
and model reference system [2].
Compared to these approaches, the sliding mode observer has several features such as robustness to
disturbance, order reduction control and simple algorithm implementation [18]. However, the main
disadvantage of SMO is the chattering. To cope with limitation, many methods have been investigated [11]-
[13]. In [11], a saturation function is used to replace the sign function but the insertion of additional position
compensation and low pass filter causes phase delay which make the control of high performance
applications unsatisfactory. To avoid the introduction of additional position compensation and low pass filter,
some methods have been proposed [12]-[13]. In [12], an iterative SMO for sensorless vector control for a
three-phase PMSM is proposed. The proposed SMO improves the performance in estimating the angle and
the rotor speed by iteratively applying the observer in the sensorless PMSM Control. In [13], a novel SMO
using the sigmoid function with variable boundary layer as switching function instead of the sign function to
achieve high speed sensorless control for PMSM. The SMO proposed in [12]-[13] don’t use the additional
position compensation and low pass filter and the rotor position is estimated according to back EMF which
may influence the accuracy of rotor position estimation.
In this paper, a new sliding mode observer is proposed to achieve the a new sliding mode control
for the estimation of rotor position and rotor speed for a five phase PMSM under the assumption that only the
stator voltages and stator currents are available for measurement. The controller of five phase PMSMS is
proposed based sliding mode control strategy. The main contribution of this paper is the introduction of an
appropriate combination of sliding mode control and sliding mode observer and its application to multiphase
motor drive, indeed:
a. A new sliding mode control for a five phase PMSM is designed.
b. A new sliding mode observer of five phase PMSM is proposed.
c. The combination of these two methods.
This paper is organized as follows: the first section is devoted to introduction. Section 2 describes
the PMSM system model, section 3 and section 4 deals with the development of sliding mode controller and
sliding mode observer for five phase PMSM respectively. Section 5 is devoted to simulations results and
finally, some conclusions are presented in the last section.
2. MODEL OF A FIVE-PHASE PMSM
The stator voltage of the five-phase PMSM in a natural stator frame is are given by [19]:
s s s s
d
V R I E
dt
(1)
Where
1 2 3 4 5
T
s
V v v v v v
is the stator voltage vector
1 2 3 4 5
T
s
I i i i i i
is the stator current vector
s 1 2 3 4 5
T
s s s s s
=
is the stator flux vector
1 2 3 4 5
T
E = e e e e e is the back electromotive force (EMF) vector
s
R is the stator resistance.
3. ISSN: 2088-8694
IJPEDS Vol. 8, No. 1, March 2017 : 184 – 203
186
The control of five phase PMSM in a natural frame is not evident due to the magnetic coupling
between phases. To simplify the control of five phase PMSM, the machine model can be transformed into a
system of decoupled equations in a new frame. By applying the Concordia transformation and Park
transformation, the equivalent model of the symmetrical five phase PMSM under assumptions about
balancing operating conditions and linear magnetic circuits is presented in a rotating reference frame
p p s s
d q -d q as [20]:
1
dp s
dp e qp dp
dp
p p
dp dp
p
f e
qp qp
s
qp e dp qp qp qp
p p p p
ds s
ds e qs ds
s s
qs s
qs e ds qs
s s
f
qp L
dI R 1
= - I +ω I + v
dI 1
dt L L
= f + v
dt L
5
Φ ω
dI dI
R 1 1
2
= - I - ω I + v = f + v
dt L L L dt L
dI R 1
= - I +3ω I + v
dt L L
dI R 1
= - I - 3ω I + v
dt L L
5
PΦ
d f
2 I T
dt J J J
ds
ds ds
s
qs
qs qs
s
dI 1
= f + v
dt L
dI 1
= f + v
dt L
d
f
dt
(2)
Where
1
1 2
3
3
4 5 6
dp dp e qp
qp qp e dp e
ds ds e qs
qs qs e ds
qp L
f = a I +ω I
f = a I -ω I a ω
f = a I +3ω I
f = a I -3ω I
f a I a T a
(3)
With:
1 2 3 4 5 6
1
; ; ; ; ;
f f
s s
p p s
5 5
Φ PΦ
R R f
2 2
a - a a - a a a
L L L J J J
Where ( dp
I
, qp
I
, ds
I , qs
I
) and ( dp
v
, qp
v
, ds
v , qs
v
) are the stator currents and stator voltages in the
p p s s
d q -d q frame. f
is the flux linkage of permanent magnet and e
and are the electrical and
mechanical speed respectively.
In this new frame, the five phase PMSM can be expressed in two 2D planes
p p
d q and
s s
d q and
one axis corresponding to the zero consequence component. This zero component is omitted as a result of
star connection of the stator winding used in this work. p
L is the stator inductance of the main fictitious
machine, s
L is the stator inductance of the secondary fictitious machine.
3. SLIDING MODE CONTROL
The sliding mode control is well adopted to nonlinear systems. The basic idea of sling mode control
consist to choose a sliding surface and to force the system to converge to this surface. To achieve this, a
4. IJPEDS ISSN: 2088-8694
New Sensorless Sliding Mode Control of a Five-phase Permanent Magnet .... (Anissa Hosseyni)
187
discontinuous control is used to maintain the dynamic of the state on the defined sliding surface despite
uncertainties and disturbances. The design of sliding mode control occurs in three steps:
a. Selection of sliding surface.
b. Development of control law.
c. Determination of convergence conditions.
3.1. Sliding surface design
The sliding surface with integral action can be chosen as [6]:
0
( ) ( ) ( )
t
i
s t e t q e dt
(4)
Where e(t) and 𝑞𝑖 (i=1,2,3,4,5) are the variable error and positive constant respectively. In this paper, one
designs the currents and speed sliding mode controllers using the mathematical nonlinear five phase PMSM
model described in (2). Using (4), five sliding surfaces with integral actions are considered as follows:
1 0
( )
t
s e q e dt
(5)
2 0
3 0
2 0
5 0
( )
( )
( )
( )
t
dp dp dp
t
qp qp qp
t
ds ds ds
t
qs qs qs
s e q e dt
s e q e dt
s e q e dt
s e q e dt
(6)
Where 𝑒Ω the speed error, and 𝑒𝑑𝑝, 𝑒𝑞𝑝, 𝑒𝑑𝑠,𝑒𝑞𝑠 the 𝑑𝑝, 𝑞𝑝, 𝑑𝑠, 𝑞𝑠 stator current errors components
respectively, are given by:
*
*
*
*
*
dp dp dp
qp qp qp
ds ds ds
qs qs qs
e
e I I
e I I
e I I
e I I
(7)
Where ‘*’’indicates the corresponding variables are reference values.
3.2. Control law
In the next section, a new sliding mode control of a five phase PMSM is proposed based on the SMC
built in [6] for three-phase induction motor. The synthesis of the sliding mode controller occurs in two steps:
a. Step 1: Speed controller
b. Step2: current controllers
3.2.1. Speed controller
The speed controller is designed to achieve the convergence of the speed error toward zero by
constraining the convergence of the system to the sliding surface (𝑆Ω = 0)
1
0 0
s s e q e
(8)
Using (2), (3) and (8), one obtains:
5. ISSN: 2088-8694
IJPEDS Vol. 8, No. 1, March 2017 : 184 – 203
188
*
1
*
1
*
4 5 6 1
qp L
s q e
f q e
a I a T a q e
(9)
From (8) and (9), the equivalent 𝐼𝑞𝑝 stator current component can be deducted as follows:
* *
5 6 1 4
/
qpeq L
I a T a q e a
(10)
In order to achieve suitable control performance despite uncertainties on the dynamic system, a
discontinuous function called ‘reaching controller’ is required to be added to control part to cope with
uncertainties across the sliding surface [7]. The reaching control is given by:
*
1 sgn( )
qpn
I k s
(11)
Where 𝑘1 is a positive constant. Finally, the command p
q current component is given by:
* *
5 6 1 4 1
/ sgn( )
qp L
I a T a q e a k s
(12)
In this paper, five phase PMSM with sinusoidal back electromotive fore (EMF) is considered. That
means that the electromagnetic torque is produced only by 𝐼𝑞𝑝 stator current component. So that p
d , s
d and
s
q axis current components are controlled to be null [21].
*
*
*
0
0
0
dpeq
dseq
qseq
I
I
I
(13)
3.2.2. Currents controllers
The current controllers are designed such a way to bring the system to follow the trajectory defined
by the sliding surfaces
0; 0; 0; 0
dp qp ds qs
s s s s
0 0
0 0
0 0
0 0
dp dp
qp qp
ds ds
qs qs
s s
s s
s s
s s
(14)
Using (2), (3) and (6), one obtains:
6. IJPEDS ISSN: 2088-8694
New Sensorless Sliding Mode Control of a Five-phase Permanent Magnet .... (Anissa Hosseyni)
189
* *
2
* *
3
* *
2
* *
3
dp dp dp dp dp dp
p
qp qp qp qq qp qp
p
ds ds ds ds ds ds
p
qs qs qs qs qs qs
p
1
s f + v I q I I
L
1
s f + v I q I I
L
1
s f + v I q I I
L
1
s f + v I q I I
L
(15)
From (14) and (15), the equivalent stator voltages reference can be given by:
*
2
*
3 4
*
4
*
5
dpeq p dp dp dp
qpeq p qp qp qp
dseq s ds ds ds
qseq s qs qs qs
v L I - f q e
v L I - f q e - a e
v L I - f q e
v L I - f q e
(16)
In order to cope with uncertainties, reaching controllers should be added to control part:
*
2
*
3
*
4
*
5
sgn( )
sgn( )
sgn( )
sgn( )
dpn dp
qpn qp
dsn ds
dsn qs
v k s
v k s
v k s
v k s
(17)
Where i
k (i=2,3,4,5) are positive constants. Finally, the total reference voltages can be formulated from (16)
and (17) as follow:
* * *
* * *
* * *
* * *
dp dpeq dpn
qp qpeq qpn
ds dseq dsn
qs qseq qsn
v v v
v v v
v v v
v v v
(18)
Hence, the stator voltages reference can be expressed as:
* *
2 2
* *
3 4 3
* *
4 4
* *
5 5
sgn( )
sgn( )
sgn( )
sgn( )
dp p dp dp dp dp
qp p qp qp qp qp qp
ds s ds ds ds ds
qs s qs qs qs qs
v L I - f q e k s
v L I - f q e - a e k s
v L I - f q e k s
v L I - f q e k s
(19)
3.3. Stability analysis
The objective in this section is the study of the stability of sliding mode control in closed loop. The
aim is to achieve the convergence of the speed Ω and the stator current components 𝐼𝑑𝑝, 𝐼𝑞𝑝, 𝐼𝑑𝑠 and 𝐼𝑞𝑠 in
7. ISSN: 2088-8694
IJPEDS Vol. 8, No. 1, March 2017 : 184 – 203
190
p p s s
d q -d q frame to their reference values. The dynamic of the speed error is given by:
* *
e = f
(20)
The derivative of current components with respect to time can be given by:
* *
* *
4
* *
* *
dp dp dp dp dp dp
p
qp qp qp qp qp qp qp
p
ds ds ds ds ds ds
s
qs qs qs qs qs qs
s
1
e I I = f + v I
L
1
e I I = f + v - a e I
L
1
e I I = f + v I
L
1
e I I = f + v I
L
(21)
Using (12), the command p
q current can be written as:
* *
5 6 1 4
sgn( ) /
qp L
I a T a q e k s a
(22)
Where 4 1
k a k
Using (20) and (3), the derivative of speed error can be rewritten as:
*
4 5 6
qp L
e a I a T a
(23)
Using (12) and (23), one obtains:
4 1 sgn( )
qp
e a e q e k s
(24)
From (19), the stator voltages can be rewritten as follows:
*
2
*
3 4
*
4
*
5
sgn( )
sgn( )
sgn( )
sgn( )
dp p dp dp dp dp dp
qp p qp qp qp qp qp qp
ds s ds ds ds ds ds
qs s qs qs qs qs qs
v L I - f q e k s
v L I - f q e - a e k s
v L I - f q e k s
v L I - f q e k s
(25)
With 3
2 4
, ,
dp qp ds
p p p
k
k k
k k k
L L L
and 5
qs
p
k
k
L
Using (21) and (25), the derivative of current components with respect to time can be rewritten as:
2
3 4
4
5
sgn( )
sgn( )
sgn( )
sgn( )
dp dp dp dp
qp qp qp qp qp
ds ds ds ds
qs qs qs qs
e q e k s
e q e - a e k s
e q e k s
e q e k s
(26)
8. IJPEDS ISSN: 2088-8694
New Sensorless Sliding Mode Control of a Five-phase Permanent Magnet .... (Anissa Hosseyni)
191
The study of this stability is carried out using the Lyapunov function. Let’s consider the Lyapunov
function to prove the stability of the proposed sliding mode controller.
2 2 2 2 2
1
2
c dp qp ds qs
V e e e e e
(27)
The stability condition is assured under two conditions: -The Lyapunov function should be positive
definite which is proved.- its derivative is be negative ( 0
c
V ). The derivative of c
V with respect to time is
given by:
4 1 2
4 3 4
5
sgn( ) sgn( )
sgn( ) sgn( )
sgn( )
c qp dp dp dp dp
qp qp qp qp ds ds ds ds
qs qs qs qs
V e a e q e k s e q e k s
e -a e q e k s e q e k s
e q e k s
(28)
Then, the derivative of c
V can be expressed as:
2 2 2 2 2
1 2 3 4 5 sgn( ) sgn( )
sgn( ) sgn( ) sgn( )
c dp qp ds qs dp dp
qp qp ds ds qs qs
V q e q e q e q e q e k s k s
k s k s k s
(29)
To ensure the stability of c
V , 1 2 3 4 5
, , , ,
q q q q q should be chosen such a way:
1
2
3
4
5
sgn( )
sgn( )
sgn( )
sgn( )
sgn( )
dp dp
qp qp
ds ds
qs qs
q k s
q k s
q k s
q k s
q k s
(30)
So that, (30) can be written as follows:
2 2 2 2 2
1 2 3 4 5
c dp qp ds qs
V q e q e q e q e q e
(31)
It is to be noted that the sign function causes chattering so that it is replaced by sat function as
defined in [18]. In the next section, a sliding mode observer will be developed for the estimation of rotor speed
and rotor position for a five phase permanent magnet synchronous motor.
4. SLIDING MODE OBSERVER
The synthesis of sliding mode control requires the knowledge of speed and position and thus
mechanical sensors such as resolvers or encoders must be installed. However, the presence of these
transducers increases the cost of the system and decreases its reliability. In this section, we will propose an
algorithm based on sliding mode observer for the estimation of rotor speed and rotor position under the
assumptions of only the stator voltages and currents are measured. The principle of SMO applied to five phase
PMSM is based on the stator current errors generated from their measured and estimated values that should
converge to zero via selected sliding surface.
4.1. Design of the sliding mode observer
Based on (2), a sliding mode observer of five phase PMSM is designed from the sliding mode
observer built in [15] for three-phase PMSM as follows:
9. ISSN: 2088-8694
IJPEDS Vol. 8, No. 1, March 2017 : 184 – 203
192
ˆ 0 0 0 0
0
ˆ ˆ
1
ˆ 0 0 0 0
ˆ
ˆ ˆ
ˆ ˆ 1
ˆ 0 0
0 0
0
ˆ
ˆ
0 1
ˆ 0 0
0 0
s
e
p p
dp dp
s
e f e
qp qp
p p
p
s ds
ds
e
s
s
qs
qs
s
e
s
s
R 1
- ω 0
L L
I I
R 5
-ω - 0
Φ ω
I I
L L
2
L
R I
I 0
- 3ω
L
L I
I
R
0
3ω -
L
L
dp
qp
ds
qs
o
v
v
v
v
K S sign S
(32)
Where
ˆ ˆ ˆ ˆ
T
dp qp ds qs
I I I I : the estimated current and ˆe
ω the estimated rotor speed. and o
K are the
matrices gains of the observer and sign(x) is the sign function. ‘.’ is used to design the derivative with respect
to time. The matrices of gains and o
K are given by:
1
2
3
4
0 0
0 0
0 0
0 0
o
o
o
o
o
k 0
0 k
K
k 0
0 k
and
1
2
3
4
0 0
0 0
0 0
0 0
0
0
0
0
S is the sliding surface given by:
1
2
3
4
ˆ
ˆ
ˆ
ˆ
dp dp
qp qp
ds ds
qs qs
I I
s
I I
s
S
s I I
s I I
4.2. Stability analysis
The stability of the sliding mode observer is achieved by its convergence toward the sliding surface.
To prove the stability of the proposed sliding mode observer, let us choose the Lyapunov function as [15]:
2
1
1 1
2 2
T e
V S S
(33)
Where e
is the speed estimation error given by:
ˆ
e e e
and 1 0
According to theorem of Lyapunov stability. The sliding mode condition is achieved to ensure the condition
bellow:
0
V (34)
Where V is the derivative with respect to time of V . Assuming that the rotor speed is constant in a small
sampling interval, the derivative of (33) is given by:
10. IJPEDS ISSN: 2088-8694
New Sensorless Sliding Mode Control of a Five-phase Permanent Magnet .... (Anissa Hosseyni)
193
1
ˆ
T e
e
V S S
(35)
Where
0 0 0 0
0
ˆ
1
0 0 0 0
ˆ
ˆ 1
0 0
0 0
0
ˆ
0
0 0
s
e
p p
dp dp
dp
s
e f e
qp qp qp
p p
p
ds
s
ds ds
e
qs
s
qs qs
s
e
s
R 1
- ω 0
L L
I I I
R 5
-ω - 0
Φ ω
I I I
L L
2
S
L
I
R
I I - 3ω
I
L
I I
R
-3ω -
L
1
0 0
ˆ 0 0
0
ˆ
ˆ 0 0 ˆ
ˆ
ˆ
ˆ
0 0
0
ˆ
0
ˆ
0 0
dp
qp
ds
qs
s
s
s
e
p p
dp
s
e f e
qp
p
p
s ds
e
s
qs
s
e
s
v
v
v
0
v
L
0
L
R 1
- ω 0
L L
I
R 5
-ω - Φ ω
I
L 2
L
R I
- 3ω
L I
R
-3ω -
L
0 0
1
0 0
1
0 0
1
0 0
dp
qp
p
ds
qs
s
s
o
v
0
v
L
v
0
v
L
0
L
K S sign S
Hence:
ˆ
5
ˆ
2
ˆ
3
ˆ
3
qp
f
dp
T T
p
o e
qs
ds
I
Φ
I
L
S S A K S S sign S
I
I
(36)
Where
0 0
0 0
0 0
0 0
s
e
p
s
e
p
s
e
s
s
e
s
R
- ω
L
R
-ω -
L
A
R
- 3ω
L
R
-3ω -
L
Setting (36) in (35), one obtains:
11. ISSN: 2088-8694
IJPEDS Vol. 8, No. 1, March 2017 : 184 – 203
194
1
5
ˆ ˆ ˆ ˆ
3 3
2
f
T T
e
o e qp dp dp qp qp qs ds ds qs
p
Φ
V S A K S I I I I I I I I I S sign S
L
(37)
To guarantee the stability of V , V should be negative, so that from (37):
0
T
o
S A K S
(38)
0
T
S sign S
(39)
1
5
ˆ ˆ ˆ ˆ
3 3 0
2
f e
qp dp dp qp qp qs ds ds qs
p
Φ
I I I I I I I I I
L
(40)
From (39), the gains 1
, 2
, 3
and 4
in the matrix should be positive. (38) stipulates that the eigenvalues
of
o
A K
must be in the left half plane. So, the gains 1 2 3 4
, , ,
o o o o
k k k k in the matrix K are selected
using the pole placement method outlined in the next section. From (40), the rotor speed adaptation law
mechanism can be obtained as follows:
1
5
ˆ ˆ ˆ ˆ
ˆ 3 3
2
f
e qp dp dp qp qs ds ds qs qp
p
Φ
I I I I I I I I I dt
L
(41)
Typically, a PI mechanism is used in the speed adaptation law and the estimated speed can be given by:
5
ˆ ˆ ˆ ˆ
ˆ 3 3
2
5
ˆ ˆ ˆ ˆ
3 3
2
f
e p qp dp dp qp qs ds ds qs qp
p
f
i qp dp dp qp qs ds ds qs qp
p
Φ
K I I I I I I I I I
L
Φ
K I I I I I I I I I dt
L
(42)
Where p
K and i
K are the gains of the PI mechanism. The estimated rotor position can be deducted as:
ˆ ˆ
e edt
(43)
4.3. Gain selection
The gain selection designed by the classical approach allows to select the observer poles proportional
to motor poles. This approach enables the observer to be dynamically faster than the motor but is susceptible
to noise. To avoid this problem, the observer poles are designed with imaginary parts identical to poles of
motor but in the left in the complex plane [15]. From (2), the motor poles, which are the eigenvalues of A, are
given by
12. IJPEDS ISSN: 2088-8694
New Sensorless Sliding Mode Control of a Five-phase Permanent Magnet .... (Anissa Hosseyni)
195
0 0
0 0
0 0
0 0
s
e
p
s
e
p
s
e
s
s
e
s
R
- ω
L
R
-ω -
L
A
R
- 3ω
L
R
-3ω -
L
So that the motor poles are given by:
1 2
3 4 3
s
m m e
p
s
m m e
s
R
i
L
R
i
L
(44)
Where 1,2
m
and 3,4
m
are the poles of the main fictive machine and secondary fictive machine respectively.
Moreover, the observer poles are governed by the eigenvalues of
o
A K
.Taking into account that the
poles of the observer are shifted in the left by o
K for the main fictive machine and secondary fictive machine
respectively. The gains in the matrix K can be given by: The observer poles governed by the eigenvalues of
o
A K
and the eigenvalues are given by:
1 2 1
3 4 2 3
s
mo mo gain e
p
s
mo mo gain e
s
R
k i
L
R
k i
L
(45)
Where 1 1 2
gain o o
k k k
and 2 3 4
gain o o
k k k
In order to reduce the chattering, the “sign(s)” term, used
previously, is replaced by a term with softer variation related to saturation function “sat(s)” defined by:
1
( )
1
if s
s
sat s if s
if s
(46)
where, is a small positive constant representing the thickness of the boundary layer. The proposed sliding
mode control based on sliding mode observer is shown in Figure 1 where 𝐼𝑑𝑝, 𝐼𝑞𝑝, 𝐼𝑑𝑠 and 𝐼𝑞𝑠are the currents
in the rotating frame, ˆ
ˆ ,
e e
are the rotor speed and rotor angle respectively. ‘* ’ is used to indicate that the
variables are reference values. The estimated speed obtained from the SMO and the reference speed are
processed in the speed sliding mode controller to determine the reference𝐼𝑞𝑝current. The commanded
𝐼𝑑𝑝, 𝐼𝑑𝑠 and 𝐼𝑞𝑠 currents components are fixed to zero. Then, the reference and actual currents components in
13. ISSN: 2088-8694
IJPEDS Vol. 8, No. 1, March 2017 : 184 – 203
196
(𝑑𝑝 𝑞𝑝− 𝑑𝑠 𝑞𝑠) rotating frame are processed in the current sliding mode controllers to obtain as outputs the
equivalent commanded voltages.
Figure 1. The block diagram of sensorless siding mode control of five-phase PMSM based on sliding mode
observer
5. SIMULATIONS RESULTS
To confirm the validity of the proposed sensorless sliding mode control of five phase PMSM based
on sliding mode observer. The overall block diagram shown in Figure 1 has been modeled using
Matlab/Simulink Computer program. The motor parameters are shown in Table 1 [20]. The sliding mode
control and sliding mode observer parameters are summarized in Table 2 and Table 3 respectively.
To highlight the performance of the proposed feedback sensorless control developed in the previous
sections, the sliding mode control of five phase PMSM has been tested in three several situation. The first
scenario was devoted to speed inversion and torque change. The second situation analyses the performance of
feedback sensorless control when the motor is running at low speed. The last situation illustrates the response
of the motor under step speed (sudden speed).
5.1. Scenario 1: Speed inversion and load torque change
In this situation, the response of the motor is illustrated under two different profiles. In the first case,
the performance of five phase PMSM to change in reference speed is considered. Indeed, the reference speed
is a pulse which is increased from standstill to rated value 1500 rpm and then it is increased to reach -1500
rpm at t=1s. The corresponding results are shown in Figure 2. The second case shows the drive performance
following the application of a variable load torque under a fixed speed set at 1500 rpm. The load is a variable
step which is equal to 10 N.mat t=0.5s and 6 N.m at t=1.5s. The waveforms of the response of the system to
torque disturbance are illustrated in Figure 3.
From Figure 2 and Figure 3, it is to be noted that the proposed sliding mode controller exhibits good
dynamics tracking for speed and 𝑑𝑝, 𝑞𝑝, 𝑑𝑠,𝑞𝑠 stator currents components. Indeed, the speed and currents
converge perfectly to their reference values in both steady state and dynamic transient which show good
quality response. The SMO shows good speed control in the estimation of the rotor position and speed and the
loading does not have significant effect on the tracking performance. Hence, the maximum speed estimation
error in transient is approximately 0.04% as illustrated in Figure 2(b) and 0.05% as illustrated in Figure 3(b)
for inversion speed and load torque change respectively. The speed estimation errors converge toward zero in
steady state.
230V/400V
50Hz
Sliding Mode Observer
Sliding Mode Controller
Park
Transformation
14. IJPEDS ISSN: 2088-8694
New Sensorless Sliding Mode Control of a Five-phase Permanent Magnet .... (Anissa Hosseyni)
197
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
-2000
0
2000
Time(s)
Reference,
real
and
estimated
rotor
speed
(rpm)
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
-0.04
-0.02
0
0.02
0.04
Time(s)
Rotor
speed
estimation
error
(%)
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
0
5
10
Time(s)
Real
and
estimated
rotor
position
(rad)
reference
real
estimated
real
estimated
(a)
(b)
(c)
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
0
5
10
15
Time(s)
Electromagnetic
and
load
torque
(N.m)
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
0
2
4
Time(s)
Reference,
real
and
estimated
Idp
current
(A)
0
10
20
30
eference,
real
and
ated
Iqp
current
(A)
reference
real
estimated
reference
real
estimated
real
load
estimated
(e)
(d)
(f)
5.2. Scenario 2: low Speed
Figure 4 shows the performance of senseorless feedback control under low speed. The reference
speed is a step fixed at 60 rpm. Figure 4 show that the SMC force the speed and currents to converge to their
reference values perfectly and with excellent dynamics. Figure 4(a) shows the reference, actual and estimated
speed and Figure 4(c) illustrates the actual and estimated rotor position. It can be seen that the maximum speed
error is 0.5% at transient and converges toward zero in steady state as shown in Figure 4(b). In conclusion, the
SMO shows good performance at low speed.
5.3. Scenario 3: Sudden Speed
Figure (5) displays the response of the proposed sensorless sliding mode control based on SMO under
a step change in order to verify the robustness of the proposed sensorless control. The reference speed is a step
which reach 1500 rpm at t=0s and reverse to reach -1500 rpm at t=1s. Figure 5(a) presents the reference, real
and estimated speed and Figure 5(c) shows the estimated and actual rotor position. The corresponding
simulations results prove that the rotor speed track its reference value with good dynamics. Indeed, the rotor
speed estimation is approximately zero at steady state and the maximum estimation error is approximately
0.02% for rotor speed a as shown in Figure 5(b). It can be inferred that the SMO works well under sudden
speed.
15. ISSN: 2088-8694
IJPEDS Vol. 8, No. 1, March 2017 : 184 – 203
198
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
0
0.2
0.4
Time(s)
Reference,
real
and
estimated
Ids
current
(A)
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
0
0.2
0.4
Time(s)
Referennce,
real
and
estimated
Iqs
current
(A)
reference
real
estimated
reference
real
estimated
(g)
(h)
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
0
2
4
Time(s)
Reference,
real
a
estimated
Idp
curre
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
0
10
20
30
Time(s)
Reference,
real
and
estimated
Iqp
current
(A)
reference
real
estimated
reference
real
estimated
(f)
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
0
1000
2000
Time(s)
Reference,
real
and
estimated
rotor
sepped
(rpm)
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
-0.05
0
0.05
0.1
Time(s)
Rotor
speed
estimation
error
(%)
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
0
5
10
Time(s)
Real
and
estimated
rotor
position
(rad)
reference
real
estimated
real
estimated
(b)
(c)
(a)
Figure 2. Sensitivity of the five phase PMSM performances at speed reverse: (a) reference, real and estimated
rotor speed, (b) rotor speed estimation error, (c) real and estimated rotor position, (d) real and estimated
electromagnetic torque, (e) real and estimated Idp current, (f) real and estimated Iqp current, (g) real and
estimated Ids current , (h) real and estimated Iqs current
16. IJPEDS ISSN: 2088-8694
New Sensorless Sliding Mode Control of a Five-phase Permanent Magnet .... (Anissa Hosseyni)
199
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
0
10
20
30
Time(s)
Electromagnetic
and
load
torque
(N.m)
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
0
0.2
0.4
Time(s)
Reference,
real
and
estimated
Idp
current
(A)
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
-20
0
20
Time(s)
Reference,
real
and
estimated
Iqp
current
(A)
real
load
estimated
reference
real
estimated
reference
real
estimated
(d)
(e)
(f)
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
0
0.2
0.4
Time(s)
Reference,
real
and
estimated
Ids
current
(A)
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
0
0.2
0.4
Time(s)
Referennce,
real
and
estimated
Iqs
current
(A)
reference
real
estimated
reference
real
estimated
(g)
(h)
Figure 3. Sensitivity of the five phase PMSM performances at load disturbance: (a) reference, real and
estimated rotor speed, (b) rotor speed estimation error, (c) real and estimated rotor position, (d) real and
estimated electromagnetic torque, (e) real and estimated Idp current, (f) real and estimated Iqp current, (g) real
and estimated Ids current , (h) real and estimated Iqs current
17. ISSN: 2088-8694
IJPEDS Vol. 8, No. 1, March 2017 : 184 – 203
200
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
0
20
40
60
Time(s)
Reference,
real
and
estimated
rotor
speed
(rpm)
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7
0
0.2
0.4
0.6
Time(s)
Rotor
speed
estimation
error
(%)
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
0
5
10
Time(s)
Real
and
estimated
rotor
position
(rad)
reference
real
estimated
real
estimated
(a)
(b)
(c)
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
0
5
10
Time(s)
Electromagnetic
and
load
torque
(N.m)
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
0
0.05
0.1
Time(s)
Reference,
real
and
estimated
Idp
curent
(A)
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
0
10
20
Time(s)
Reference,
real
and
estimated
Iqp
current
(A)
real
load
estimated
reference
real
estimated
reference
estimated
real
(d)
(f)
(e)
18. IJPEDS ISSN: 2088-8694
New Sensorless Sliding Mode Control of a Five-phase Permanent Magnet .... (Anissa Hosseyni)
201
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
0
0.2
0.4
Time(s)
Reference,
real
and
estimated
Ids
current
(A)
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
0
0.2
0.4
Time(s)
Referennce,
real
and
estimated
Iqs
current
(A)
reference
real
estimated
reference
real
estimated
(g)
(h)
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
-2000
0
2000
Time(s)
Reference,
real
and
estimated
rotor
speed
(rpm)
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
-0.02
0
0.02
0.04
Time(s)
Rotor
speed
estimation
error
(%)
reference
real
estimated
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
0
5
10
Time(s)
Real
and
estimated
rotor
position
(rad)
real
estimated
(a)
(b)
(c)
Figure 4. Sensitivity of the five phase PMSM performances at low speed:(a) reference, real and estimated
rotor speed, (b) rotor speed estimation error, (c) real and estimated rotor position, (d) real and estimated
electromagnetic torque, (e) real and estimated Idp current, (f) real and estimated Iqp current, (g) real and
estimated Ids current , (h) real and estimated Iqs current
19. ISSN: 2088-8694
IJPEDS Vol. 8, No. 1, March 2017 : 184 – 203
202
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
-30
-20
-10
0
10
Time(s)
Electromagnetic
and
load
torque
(N.m)
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
0
0.5
1
Time(s)
Reference,
real
and
estimated
Idp
current
(A)
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
-40
-20
0
20
Time(s)
Reference,
real
and
estimated
Iqp
current
(A)
real
load
estimated
reference
real
estimated
reference
real
estimated
(d)
(e)
(f)
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
0
0.2
0.4
Time(s)
Reference,
real
and
estimated
Ids
current
(A)
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
0
0.2
0.4
Time(s)
Referennce,
real
and
estimated
Iqs
current
(A)
reference
real
estimated
reference
real
estimated
(g)
(h)
Figure 5. Sensitivity of the five phase PMSM performances at sudden speed: :(a) reference, real and
estimated rotor speed, (b) rotor speed estimation error, (c) real and estimated rotor position, (d) real and
estimated electromagnetic torque, (e) real and estimated Idp current, (f) real and estimated Iqp current, (g) real
and estimated Ids current , (h) real and estimated Iqs current
5. CONCLUSIONS
This paper presented controlling aspect of five phase permanent magnet synchronous motor
(PMSM) based on sensorless sliding mode control (SMC) with sliding mode observer (SMO) as speed
estimator. A complete model of the AC drive system is numerically developed using simulation software and
test for its transient and dynamic behaviors. It is verified from the investigation the proposed control
technique offers good response to various perturbation conditions. Moreover, the proposed sliding mode
observer improves the accuracy of speed estimation at very low speed variations without adaption of speed
sensors. Developed sliding control algorithm satisfies the Lyapunov criterion under stability requirement for
20. IJPEDS ISSN: 2088-8694
New Sensorless Sliding Mode Control of a Five-phase Permanent Magnet .... (Anissa Hosseyni)
203
transient and dynamic behaviors. Proposed control scheme is applicable to AC drives that need to be adapted
for sensitivity speed control in AC traction, Electric Vehicles and multi motor drives propulsion systems.
Table 1. Parameters of five-phase PMSM
𝐿𝑝 Ls P Nominal speed
3.2 mH 0.93 mH 2 1500 rpm
Table 2. Parameters of sliding mode controller
𝑘1 𝑘2 𝑘3 𝑘4 𝑘5 𝑞1 𝑞2 𝑞3 𝑞4 𝑞5
0.1 250 200 40 30 50 600 680 60 60
Table 3. SMC Parameters of sliding mode observer
1
o
k 2
o
k 3
o
k 4
o
k 1
2
3
4
150 150 100 100 0.1 0.1 0.3 0.3
REFERENCES
[1] H. A. Rub, et al., “High performance control of AC drives with Matlab/ Simulink models,” Wiley, UK, 2012.
[2] L. Guo and L. Parsa, “Model reference adaptive control of five-phase IPM motors based on neural network,” IEEE
Transactions on Industrial Electronics, vol/issue: 59(3), pp. 1500–8, 2012.
[3] L. Parsa and H. A. Toliyat, “Sensorless direct torque control of five-phase interior permanent-magnet motor
drives,” IEEE Transactions on Industrial Applications, vol/issue: 43(4), pp. 952–9, 2007.
[4] C. S. Ting, et al., “Adaptive backstepping control for permanent magnet linear synchronous motor servo drive,”
IET Electric Power Applications, vol/issue: 9(3), pp. 265–279, 2014.
[5] S. Rebouh, et al., “Nonlinear control by input-output linearization scheme for EV permanent magnet synchronous
motor,” IEEE Vehicle Power and Propulsion Conference, pp. 185 -190, 2007.
[6] H. Mekki, et al., “Sliding mode based fault detection, reconstruction and fault tolerant control scheme for motor
systems,” ISA Transanctions, vol. 57, pp. 341-351, 2015.
[7] L. B. Li, et al., “Speed tracking and synchronization of multiple motors using coupling control and adaptive sliding
mode control,” ISA Transactions, vol. 58, pp. 635-649, 2015.
[8] L. Li, et al., “Mean deviation coupling synchronous control for multiple motors via second-order
adaptive sliding mode control,” ISA Transactions, vol. 62, pp. 222-235, 2016.
[9] A. Wang, et al., “A New exponential reaching law of sliding mode control to improve performance of permanent
magnet synchronous motor,” IEEE Transactions on Industrial Electronics, vol/issue: 49(5), pp. 2409–2412, 2013.
[10] T. Bernardes, et al., “Discrete time sliding mode observer for sensorless vector control of permanent magnet
synchronous machine,” IEEE Transactions on Industrial Electronics, vol/issue: 61(4), pp. 1679–1691, 2014.
[11] S. Chi, et al., “Sliding Mode Sensorless Control of Direct-Drive PM Synchronous Motors for Washing Machine
Applications,” IEEE Transactions on Industrial Applications, vol/issue: 45(2), pp. 582–590, 2009.
[12] H. Lee and J. Lee, “Design of Iterative Sliding Mode Observer for Sensorless PMSM Control,” IEEE Transactions
on Control Systems Technology, vol/issue: 21(14), pp. 1394- 1399, 2013.
[13] H. Kim, et al., “A High-Speed Sliding-Mode Observer for the Sensorless Speed Control of a PMSM,” IEEE
Transactions on Industrial Electronics, vol/issue: 58(19), pp. 4069- 4077, 2011.
[14] C. L. Baratieri and H. Pinheiro, “New variable gain super-twisting sliding mode observer
for sensorless vector control of nonsinusoidal back-EMFPMSM,” Control Engineering Practice, vol. 52, pp. 59-69,
2016.
[15] J. J. Ren, et al., “Sensorless control of ship propulsion interior permanent magnet synchronous motor based on a
new sliding mode observer,” ISA Transactions, vol. 54, pp. 15-26, 2015.
[16] C. W. Chun and C. M. Yang, “Implementation of a sliding-mode-based position sensorless drive for high-speed
micro permanent-magnet synchronous motors,” ISA Transactions, vol/issue: 53(12), pp. 444-453, 2014.
[17] S. Bolognani, et al., “Extended Kalman filter tuning in sensorless PMSM drives,” IEEE Transactions on Industry
Applications, vol/issue: 39(18), pp. 1741- 1747, 2003.
[18] R. Trabelsi, et al., “Backstepping control for an induction motor using an adaptive sliding rotor-flux observer,”
Electric Power Systems Research, vol. 93, pp. 1-15, 2012.
[19] F. Mekri, et al., “An efficient control of a series connected two-synchronous motor 5-phase with non sinusoidal
EMF supplied by a single 5-leg VSI: Experimental and theoretical investigations,” Electric Power Systems
Research, vol. 92, pp. 11-19, 2012.
[20] N. K. Nguyen, et al., “Fault-tolerant Operation of an open-End Winding Five-Phase PMSM Drive with Short-
Circuit Inverter,” IEEE Transactions On Power Electronics, vol/issue: 63(1), pp. 595-605, 2016.
[21] O. Fall, et al., “Variable speed control of a 5-phase permanent magnet synchronous generator including voltage and
current limits in healthy and open-circuited modes 2016,” http://dx.doi.org/10.1016/j.epsr.2016.05.024.