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The complexity of AC motor control lies in the multivariable and nonlinear nature of AC machine dynamics. Recent advancements in control theory now make it possible to deal with long-standing problems in AC motors control. This text expertly draws on these developments to apply a wide range of model-based control designmethods to a variety of AC motors. Contributions from over thirty top researchers explain how modern control design methods can be used to achieve tight speed regulation, optimal energetic efficiency, and operation reliability and safety, by considering online state variable…mehr
The complexity of AC motor control lies in the multivariable and nonlinear nature of AC machine dynamics. Recent advancements in control theory now make it possible to deal with long-standing problems in AC motors control. This text expertly draws on these developments to apply a wide range of model-based control designmethods to a variety of AC motors. Contributions from over thirty top researchers explain how modern control design methods can be used to achieve tight speed regulation, optimal energetic efficiency, and operation reliability and safety, by considering online state variable estimation in the absence of mechanical sensors, power factor correction, machine flux optimization, fault detection and isolation, and fault tolerant control. Describing the complete control approach, both controller and observer designs are demonstrated using advanced nonlinear methods, stability and performance are analysed using powerful techniques, including implementation considerations using digital computing means. Other key features: * Covers the main types of AC motors including triphase, multiphase, and doubly fed induction motors, wound rotor, permanent magnet, and interior PM synchronous motors * Illustrates the usefulness of the advanced control methods via industrial applications including electric vehicles, high speed trains, steel mills, and more * Includes special focus on sensorless nonlinear observers, adaptive and robust nonlinear controllers, output-feedback controllers, fault detection and isolation algorithms, and fault tolerant controllers This comprehensive volume provides researchers and designers and R&D engineers with a single-source reference on AC motor system drives in the automotive and transportation industry. It will also appeal to advanced students in automatic control, electrical, power systems, mechanical engineering and robotics, as well as mechatronic, process, and applied control system engineers.
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Autorenporträt
Fouad Giri, Université de Caen Basse-Normandie, France Dr. Giri is currently Distinguished Professor at the University of Caen Basse-Normandie, France. Professor Giri is an Associate Editor of the IFAC Journal Control Engineering Practice and IEEE Transactions on Control Systems Technology. He is Vice-Chair of the IFAC Technical Committee TC1.2 (Adaptive and Learning Systems) and General Chair of 11th IFAC Workshops on Adaptation and Learning in Control and Signal Processing (ALCOSP 2013), Caen, France; and the 4th IFAC Workshop on Periodic System Control (PSYCO 3013.
Inhaltsangabe
List of Contributors xvii Preface xxi 1 Introduction to AC Motor Control 1 Marc Bodson and Fouad Giri 1.1 AC Motor Features 1 1.2 Control Issues 3 1.3 Book Overview 8 Part One Control Models for AC Motors 2 Control Models for Induction Motors 17 Abderrahim El Fadili, Fouad Giri, and Abdelmounime El Magri 2.1 Introduction 17 2.2 Induction Motors-A Concise Description 18 2.3 Triphase Induction Motor Modeling 20 2.4 Identification of Induction Motor Parameters 32 2.5 Conclusions 39 References 39 3 Control Models for Synchronous Machines 41 Abdelmounime El Magri, Fouad Giri, and Abderrahim El Fadili 3.1 Introduction 41 3.2 Synchronous Machine Structures 42 3.3 Preliminaries 43 3.4 Dynamic Modeling of Wound-Rotor Synchronous Motors 45 3.5 Permanent-Magnet Synchronous Machine Modeling 50 3.6 Conclusions 55 References 56 Part Two Observer Design Techniques for AC Motors 4 State Observers for Estimation Problems in Induction Motors 59 Gildas Besançon and Alexandru iclea 4.1 Introduction 59 4.2 Motor Representation and Estimation Issues 60 4.3 Some Observer Approaches 63 4.4 Some Illustration Results 66 4.5 Conclusions 75 References 76 5 State Observers for Active Disturbance Rejection in Induction Motor Control 78 Hebertt Sira Ramírez, Felipe González Montañez, John Cortés Romero, and Alberto Luviano-Juárez 5.1 Introduction 78 5.2 A Two-Stage ADR Controller Design for the Induction Motor 80 5.3 Field-Oriented ADR Armature Voltage Control 90 5.a Appendix 99 5.a.1 Generalities on Ultra-Models and Observer-Based Active Disturbance Rejection Control 99 5.a.2 Assumptions 99 5.a.3 Observing the uncertain System through the Ultra-Model 101 5.a.4 The Observer-Based Active Disturbance Rejection Controller 102 References 103 6 Observers Design for Systems with Sampled Measurements, Application to AC Motors 105 Vincent Van Assche Philippe Dorléans Jean-François Massieu and Tarek Ahmed-Ali 6.1 Introduction 105 6.2 Nomenclature 106 6.3 Observer Design 107 6.4 Application to the AC Motor 114 6.5 Conclusions 121 References 121 7 Experimental Evaluation of Observer Design Technique for Synchronous Motor 123 Malek Ghanes and Xuefang Lin Shi 7.1 Introduction 123 7.2 SPMSM Modeling and its Observability 125 7.3 Robust MRAS Observer 125 7.4 Experimental Results 129 7.5 Conclusions 133 References 134 Part Three Control Design Techniques for Induction Motors 8 High-Gain Observers in Robust Feedback Control of Induction Motors 139 Hassan K. Khalil and Elias G. Strangas 8.1 Chapter Overview 139 8.2 Field Orientation 140 8.3 High-Gain Observers 144 8.4 Speed and Acceleration Estimation using High-Gain Observers 146 8.5 Flux Control 149 8.6 Speed Control with Mechanical Sensor 151 8.7 Speed Control without Mechanical Sensor 153 8.8 Simulation and Experimental Results 156 8.9 Conclusions 157 References 157 9 Adaptive Output Feedback Control of Induction Motors 158 Riccardo Marino, Patrizio Tomei, and Cristiano Maria Verrelli 9.1 Introduction 158 9.2 Problem Statement 159 9.3 Nonlinear Estimation and Tracking Control for Sensorless Induction Motors 161 9.4 Nonlinear Estimation and Tracking Control for the Output Feedback Case 175 9.5 Simulation Results 176 9.6 Conclusions 186 References 186 10 Nonlinear Control for Speed Regulation of Induction Motor with Optimal Energetic Efficiency 188 Abderrahim El Fadili, Abdelmounime El Magri, Hamid Ouadi, and Fouad Giri 10.1 Introduction 188 10.2 Induction Motor Modeling with Saturation Effect Inclusion 190 10.3 Controller Design 194 10.4 Simulation 202 10.5 Conclusions 205 References 205 11 Experimental Evaluation of Nonlinear Control Design Techniques for Sensorless Induction Motor 207 Jesús De León, Alain Glumineau, Dramane Traore, and Robert Boisliveau 11.1 Introduction 207 11.2 Problem Formulation 208 11.3 Robust Integral Backstepping 209 11.4 High-Order Sliding-Mode Control 212 11.5 Adaptive Interconnected Observers Design 215 11.6 Experimental Results 218 11.7 Robust Nonlinear Controllers Comparison 228 11.8 Conclusions 231 References 231 12 Multiphase Induction Motor Control 233 Roberto Zanasi and Giovanni Azzone 12.1 Introduction 233 12.2 Power-Oriented Graphs 234 12.3 Multiphase Induction Motor Complex Dynamic Modeling 236 12.4 Multiphase Indirect Field-Oriented Control with Harmonic Injection 243 12.5 Conclusions 251 References 251 13 Backstepping Controller for DFIM with Bidirectional AC/DC/AC Converter 253 Abderrahim El Fadili, Vincent Van Assche, Abdelmounime El Magri, and Fouad Giri 13.1 Introduction 253 13.2 Modeling "AC/DC/AC Converter-Doubly-Fed Induction Motor" Association 255 13.3 Controller Design 260 13.4 Simulation Results 269 13.5 Conclusions 273 References 273 14 Fault Detection in Induction Motors 275 Alessandro Pilloni, Alessandro Pisano, Martin Riera-Guasp, Ruben Puche-Panadero, and Manuel Pineda-Sanchez 14.1 Introduction 275 14.2 Description and Classification of IMs Faults 276 14.3 Model-Based FDI in IMs 280 14.4 Classical MCSA Based on the Fast Fourier Transform 287 14.5 Hilbert Transform 289 14.6 Discrete Wavelet Transform Approach 292 14.7 Continuous Wavelet Transform Approach 298 14.8 Wigner-Ville Distribution Approach 300 14.9 Instantaneous Frequency Approach 304 References 307 Part Four Control Design Techniques for Synchronous Motors 15 Sensorless Speed Control of PMSM 313 Dhruv Shah, Gerardo Espinosa-Pérez, Romeo Ortega, and Michaël Hilairet 15.1 Introduction 313 15.2 PMSM Models and Problem Formulation 314 15.3 Controller Structure and Main Result 316 15.4 Unavailability of a Linearization-Based Design 318 15.5 Full Information Control 319 15.6 Position Observer of Ortega et al. (2011) 322 15.7 An I&I Speed and Load Torque Observer 324 15.8 Proof of the Main Result 328 15.9 Simulation and Experimental Results 332 15.10 Future Research 337 15.a Appendix 339 References 340 16 Adaptive Output-Feedback Control of Permanent-Magnet Synchronous Motors 341 Patrizio Tomei and Cristiano Maria Verrelli 16.1 Introduction 341 16.2 Dynamic Model and Problem Statement 343 16.3 Nonlinear Adaptive Control 344 16.4 Preliminary Result (Tomei and Verrelli 2008) 347 16.5 Main Result (Tomei and Verrelli 2011) 353 16.6 Simulation Results (Bifaretti et al. 2012) 357 16.7 Experimental Setup and Results (Bifaretti et al. 2012) 364 16.8 Conclusions 367 References 368 17 Robust Fault Detection for a Permanent-Magnet Synchronous Motor Using a Nonlinear Observer 370 Maria Letizia Corradini, Gianluca Ippoliti, and Giuseppe Orlando 17.1 Introduction 370 17.2 Preliminaries 371 17.3 Control Design 372 17.4 The Faulty Case 375 17.5 Simulation Tests 376 References 380 18 On Digitization of Variable Structure Control for Permanent Magnet Synchronous Motors 381 Yong Feng, Xinghuo Yu, and Fengling Han 18.1 Introduction 381 18.2 Control System of PMSM 382 18.3 Dynamic Model of PMSM 383 18.4 PI Control of PMSM Servo System 384 18.5 High-Order Terminal Sliding-Mode Control of PMSM Servo System 385 18.6 Sliding-Mode-Based Mechanical Resonance Suppressing Method 388 18.7 Digitization of TSM Controllers of PMSM Servo System 393 18.8 Conclusions 396 References 396 19 Control of Interior Permanent Magnet Synchronous Machines 398 Faz Rahman and Rukmi Dutta 19.1 Introduction 398 19.2 IPM Synchronous Machine Model 401 19.3 Optimum Control Trajectories 408 19.4 Sensorless Direct Torque Control of IPM Synchronous Machines 412 19.5 Sensorless DTC with Closed-Loop Flux Estimation 420 19.6 Sensorless Operation at Very Low Speed with High-Frequency Injection 423 19.7 Conclusions 426 References 427 20 Nonlinear State-Feedback Control of Three-Phase Wound Rotor Synchronous Motors 429 Abdelmounime El Magri, Vincent Van Assche, Abderrahim El Fadili, Fatima-Zahra Chaoui, and Fouad Giri 20.1 Introduction 429 20.2 System Modeling 431 20.3 Nonlinear Adaptive Controller Design 435 20.4 Simulation 446 20.5 Conclusion 450 References 450 Part Five Industrial Applications of AC Motors Control 21 AC Motor Control Applications in Vehicle Traction 455 Faz Rahman and Rukmi Dutta 21.1 Introduction 455 21.2 Machines and Associated Control for Traction Applications 464 21.3 Power Converters for AC Electric Traction Drives 475 21.4 Control Issues for Traction Drives 478 21.5 Conclusions 485 References 486 22 Induction Motor Control Application in High-Speed Train Electric Drive 487 Jaros aw Guzi ski, Zbigniew Krzeminski, Arkadiusz Lewicki, Haitham Abu-Rub, and Marc Diguet 22.1 Introduction 487 22.2 Description of the High-Speed Train Traction System 488 22.3 Estimation Methods 494 22.4 Simulation Investigations 497 22.5 Experimental Test Bench 497 22.6 Experimental Investigations 501 22.7 Diagnosis System Principles 503 22.8 Summary and Perspectives 505 References 506 23 AC Motor Control Applications in High-Power Industrial Drives 509 Ajit K. Chattopadhyay 23.1 Introduction 509 23.2 High-Power Semiconductor Devices 510 23.3 High-Power Converters for AC Drives and Control Methods 515 23.4 Control of Induction Motor Drives 517 23.5 Control of Synchronous Motor Drives 534 23.6 Application Examples of Control of High-Power AC Drives 539 23.7 New Developments and Future Trends 548 23.8 Conclusions 548 References 549 Index 553
List of Contributors xvii Preface xxi 1 Introduction to AC Motor Control 1 Marc Bodson and Fouad Giri 1.1 AC Motor Features 1 1.2 Control Issues 3 1.3 Book Overview 8 Part One Control Models for AC Motors 2 Control Models for Induction Motors 17 Abderrahim El Fadili, Fouad Giri, and Abdelmounime El Magri 2.1 Introduction 17 2.2 Induction Motors-A Concise Description 18 2.3 Triphase Induction Motor Modeling 20 2.4 Identification of Induction Motor Parameters 32 2.5 Conclusions 39 References 39 3 Control Models for Synchronous Machines 41 Abdelmounime El Magri, Fouad Giri, and Abderrahim El Fadili 3.1 Introduction 41 3.2 Synchronous Machine Structures 42 3.3 Preliminaries 43 3.4 Dynamic Modeling of Wound-Rotor Synchronous Motors 45 3.5 Permanent-Magnet Synchronous Machine Modeling 50 3.6 Conclusions 55 References 56 Part Two Observer Design Techniques for AC Motors 4 State Observers for Estimation Problems in Induction Motors 59 Gildas Besançon and Alexandru iclea 4.1 Introduction 59 4.2 Motor Representation and Estimation Issues 60 4.3 Some Observer Approaches 63 4.4 Some Illustration Results 66 4.5 Conclusions 75 References 76 5 State Observers for Active Disturbance Rejection in Induction Motor Control 78 Hebertt Sira Ramírez, Felipe González Montañez, John Cortés Romero, and Alberto Luviano-Juárez 5.1 Introduction 78 5.2 A Two-Stage ADR Controller Design for the Induction Motor 80 5.3 Field-Oriented ADR Armature Voltage Control 90 5.a Appendix 99 5.a.1 Generalities on Ultra-Models and Observer-Based Active Disturbance Rejection Control 99 5.a.2 Assumptions 99 5.a.3 Observing the uncertain System through the Ultra-Model 101 5.a.4 The Observer-Based Active Disturbance Rejection Controller 102 References 103 6 Observers Design for Systems with Sampled Measurements, Application to AC Motors 105 Vincent Van Assche Philippe Dorléans Jean-François Massieu and Tarek Ahmed-Ali 6.1 Introduction 105 6.2 Nomenclature 106 6.3 Observer Design 107 6.4 Application to the AC Motor 114 6.5 Conclusions 121 References 121 7 Experimental Evaluation of Observer Design Technique for Synchronous Motor 123 Malek Ghanes and Xuefang Lin Shi 7.1 Introduction 123 7.2 SPMSM Modeling and its Observability 125 7.3 Robust MRAS Observer 125 7.4 Experimental Results 129 7.5 Conclusions 133 References 134 Part Three Control Design Techniques for Induction Motors 8 High-Gain Observers in Robust Feedback Control of Induction Motors 139 Hassan K. Khalil and Elias G. Strangas 8.1 Chapter Overview 139 8.2 Field Orientation 140 8.3 High-Gain Observers 144 8.4 Speed and Acceleration Estimation using High-Gain Observers 146 8.5 Flux Control 149 8.6 Speed Control with Mechanical Sensor 151 8.7 Speed Control without Mechanical Sensor 153 8.8 Simulation and Experimental Results 156 8.9 Conclusions 157 References 157 9 Adaptive Output Feedback Control of Induction Motors 158 Riccardo Marino, Patrizio Tomei, and Cristiano Maria Verrelli 9.1 Introduction 158 9.2 Problem Statement 159 9.3 Nonlinear Estimation and Tracking Control for Sensorless Induction Motors 161 9.4 Nonlinear Estimation and Tracking Control for the Output Feedback Case 175 9.5 Simulation Results 176 9.6 Conclusions 186 References 186 10 Nonlinear Control for Speed Regulation of Induction Motor with Optimal Energetic Efficiency 188 Abderrahim El Fadili, Abdelmounime El Magri, Hamid Ouadi, and Fouad Giri 10.1 Introduction 188 10.2 Induction Motor Modeling with Saturation Effect Inclusion 190 10.3 Controller Design 194 10.4 Simulation 202 10.5 Conclusions 205 References 205 11 Experimental Evaluation of Nonlinear Control Design Techniques for Sensorless Induction Motor 207 Jesús De León, Alain Glumineau, Dramane Traore, and Robert Boisliveau 11.1 Introduction 207 11.2 Problem Formulation 208 11.3 Robust Integral Backstepping 209 11.4 High-Order Sliding-Mode Control 212 11.5 Adaptive Interconnected Observers Design 215 11.6 Experimental Results 218 11.7 Robust Nonlinear Controllers Comparison 228 11.8 Conclusions 231 References 231 12 Multiphase Induction Motor Control 233 Roberto Zanasi and Giovanni Azzone 12.1 Introduction 233 12.2 Power-Oriented Graphs 234 12.3 Multiphase Induction Motor Complex Dynamic Modeling 236 12.4 Multiphase Indirect Field-Oriented Control with Harmonic Injection 243 12.5 Conclusions 251 References 251 13 Backstepping Controller for DFIM with Bidirectional AC/DC/AC Converter 253 Abderrahim El Fadili, Vincent Van Assche, Abdelmounime El Magri, and Fouad Giri 13.1 Introduction 253 13.2 Modeling "AC/DC/AC Converter-Doubly-Fed Induction Motor" Association 255 13.3 Controller Design 260 13.4 Simulation Results 269 13.5 Conclusions 273 References 273 14 Fault Detection in Induction Motors 275 Alessandro Pilloni, Alessandro Pisano, Martin Riera-Guasp, Ruben Puche-Panadero, and Manuel Pineda-Sanchez 14.1 Introduction 275 14.2 Description and Classification of IMs Faults 276 14.3 Model-Based FDI in IMs 280 14.4 Classical MCSA Based on the Fast Fourier Transform 287 14.5 Hilbert Transform 289 14.6 Discrete Wavelet Transform Approach 292 14.7 Continuous Wavelet Transform Approach 298 14.8 Wigner-Ville Distribution Approach 300 14.9 Instantaneous Frequency Approach 304 References 307 Part Four Control Design Techniques for Synchronous Motors 15 Sensorless Speed Control of PMSM 313 Dhruv Shah, Gerardo Espinosa-Pérez, Romeo Ortega, and Michaël Hilairet 15.1 Introduction 313 15.2 PMSM Models and Problem Formulation 314 15.3 Controller Structure and Main Result 316 15.4 Unavailability of a Linearization-Based Design 318 15.5 Full Information Control 319 15.6 Position Observer of Ortega et al. (2011) 322 15.7 An I&I Speed and Load Torque Observer 324 15.8 Proof of the Main Result 328 15.9 Simulation and Experimental Results 332 15.10 Future Research 337 15.a Appendix 339 References 340 16 Adaptive Output-Feedback Control of Permanent-Magnet Synchronous Motors 341 Patrizio Tomei and Cristiano Maria Verrelli 16.1 Introduction 341 16.2 Dynamic Model and Problem Statement 343 16.3 Nonlinear Adaptive Control 344 16.4 Preliminary Result (Tomei and Verrelli 2008) 347 16.5 Main Result (Tomei and Verrelli 2011) 353 16.6 Simulation Results (Bifaretti et al. 2012) 357 16.7 Experimental Setup and Results (Bifaretti et al. 2012) 364 16.8 Conclusions 367 References 368 17 Robust Fault Detection for a Permanent-Magnet Synchronous Motor Using a Nonlinear Observer 370 Maria Letizia Corradini, Gianluca Ippoliti, and Giuseppe Orlando 17.1 Introduction 370 17.2 Preliminaries 371 17.3 Control Design 372 17.4 The Faulty Case 375 17.5 Simulation Tests 376 References 380 18 On Digitization of Variable Structure Control for Permanent Magnet Synchronous Motors 381 Yong Feng, Xinghuo Yu, and Fengling Han 18.1 Introduction 381 18.2 Control System of PMSM 382 18.3 Dynamic Model of PMSM 383 18.4 PI Control of PMSM Servo System 384 18.5 High-Order Terminal Sliding-Mode Control of PMSM Servo System 385 18.6 Sliding-Mode-Based Mechanical Resonance Suppressing Method 388 18.7 Digitization of TSM Controllers of PMSM Servo System 393 18.8 Conclusions 396 References 396 19 Control of Interior Permanent Magnet Synchronous Machines 398 Faz Rahman and Rukmi Dutta 19.1 Introduction 398 19.2 IPM Synchronous Machine Model 401 19.3 Optimum Control Trajectories 408 19.4 Sensorless Direct Torque Control of IPM Synchronous Machines 412 19.5 Sensorless DTC with Closed-Loop Flux Estimation 420 19.6 Sensorless Operation at Very Low Speed with High-Frequency Injection 423 19.7 Conclusions 426 References 427 20 Nonlinear State-Feedback Control of Three-Phase Wound Rotor Synchronous Motors 429 Abdelmounime El Magri, Vincent Van Assche, Abderrahim El Fadili, Fatima-Zahra Chaoui, and Fouad Giri 20.1 Introduction 429 20.2 System Modeling 431 20.3 Nonlinear Adaptive Controller Design 435 20.4 Simulation 446 20.5 Conclusion 450 References 450 Part Five Industrial Applications of AC Motors Control 21 AC Motor Control Applications in Vehicle Traction 455 Faz Rahman and Rukmi Dutta 21.1 Introduction 455 21.2 Machines and Associated Control for Traction Applications 464 21.3 Power Converters for AC Electric Traction Drives 475 21.4 Control Issues for Traction Drives 478 21.5 Conclusions 485 References 486 22 Induction Motor Control Application in High-Speed Train Electric Drive 487 Jaros aw Guzi ski, Zbigniew Krzeminski, Arkadiusz Lewicki, Haitham Abu-Rub, and Marc Diguet 22.1 Introduction 487 22.2 Description of the High-Speed Train Traction System 488 22.3 Estimation Methods 494 22.4 Simulation Investigations 497 22.5 Experimental Test Bench 497 22.6 Experimental Investigations 501 22.7 Diagnosis System Principles 503 22.8 Summary and Perspectives 505 References 506 23 AC Motor Control Applications in High-Power Industrial Drives 509 Ajit K. Chattopadhyay 23.1 Introduction 509 23.2 High-Power Semiconductor Devices 510 23.3 High-Power Converters for AC Drives and Control Methods 515 23.4 Control of Induction Motor Drives 517 23.5 Control of Synchronous Motor Drives 534 23.6 Application Examples of Control of High-Power AC Drives 539 23.7 New Developments and Future Trends 548 23.8 Conclusions 548 References 549 Index 553
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