A Sensorless PMDC Motor Speed Controller with a Logical Overcurrent Protection

A method to control the speed or the torque of a permanent-magnet direct current motor is presented. The rotor speed and the external torque estimation are simultaneously provided by appropriate observers. The sensorless control scheme is based on current measurement and switching states of power devices. The observer’s performances are dependent on the accurate machine parameters knowledge. Sliding mode control approach was adopted for drive control, providing the suitable switching states to the chopper power devices. Despite the predictable chattering, a convenient first order switching function was considered enough to define the sliding surface and to correspond with the desired control specifications and drive performance. The experimental implementation was supported on a single dsPIC and the controller includes a logic overcurrent protection.

Desenvolvimento de um Controlador com DSP para um Motor CA de 30 kW para o CEPIUM

Dissertação de mestrado integrado em Engenharia Eletrónica Industrial e Computadores

Controlador com FPGA para um motor-in-wheel CA de fluxo axial

Dissertação de mestrado integrado em Engenharia Eletrónica Industrial e de Computadores

Automation concept for an electrically excited synchronous motor: Setup and requirements specification

This bachelor’s thesis is a part of the research project realized in the summer 2011 in Lappeenranta University of Technology. The goal of the project was to create an automation concept for controlling an electrically excited synchronous motor. This thesis concentrates on the setup and requirements specification part of the concept. The setup consists of ABB AC500 as the PLC master device, DCS800 as an exciter and ACS800 as a frequency converter. The ACS800 frequency converter uses permanent magnet synchronous machine software to control the stator’s magnetic field, the DC drive handles the excitation and the AC500 PLC master controls the communication and functionality of the system. The requirements specification briefly explains the general over-view of the concept, the use and functionality of the PLC program and the requirements needed for the whole concept and the PLC program to work as intended.

Design of a Traction Motor With Tooth-Coil Windings and Embedded Magnets

Traction motor design significantly differs from industrial machine design. The starting point is the load cycle instead of the steady-state rated operation point. The speed of the motor varies from zero to very high speeds. At low speeds, heavy overloading is used for starting, and the field-weakening region also plays an important role. Finding a suitable fieldweakening point is one of the important design targets. At the lowest speeds, a high torque output is desired, and all current reserves of the supplying converter unit are used to achieve the torque. In this paper, a 110-kW 2.5-p.u. starting torque and a maximum 2.5-p.u. speed permanent-magnet traction motor will be studied. The field-weakening point is altered by varying the number of winding turns of machine. One design is selected for prototyping. Theoretical results are verified by measurements.

Design and Analysis of Zero Cogging Brushless DC Motor for Spacecraft Applications

This paper presents the optimal design of a sur- face mounted permanent magnet Brushless DC mo- tor (PMBLDC) meant for spacecraft applications. The spacecraft applications requires the choice of a torques motor with high torque density, minimum cogging torque, better positional stability and high torque to inertia ratio. Performance of two types of machine con¯gurations viz Slotted PMBLDC and Slotless PMBLDC with halbach array are compared with the help of analytical and FE methods. It is found that unlike a Slotted PMBLDC motor, the Slotless type with halbach array develops zero cogging torque without reduction in the developed torque. Moreover, the machine being coreless provides high torque to inertia ratio and zero magnetic stiction

A Novel Slotless PMBLDC Motor for Precise Positioning Applications

This paper presents the design and analysis of a novel machine family of Siotiess Permanent Magnet Brushless DC motors (PMBLDC) for precise positioning applications of spacecrafts. Initial design, selection of major parameters and air gap magnetic flux density are estimated using the analytical model of the machine. The proportion of the halbach array in the machine was optimized using FE to obtain near trapezoidal flux pattern. The novel machine topology is found to deliver high torque density, high efficiency, zero cogging torque, better positional stability, high torque to inertia ratio and zero magnetic stiction suiting space requirements. The machine provides uniform air gap flux density along the radius thus avoiding circulating currents in stator conductors and hence reducing torque ripple

Predictive Optimal Matrix Converter Control for a Dynamic Voltage Restorer with Flywheel Energy Storage

This paper presents a predictive optimal matrix converter controller for a flywheel energy storage system used as Dynamic Voltage Restorer (DVR). The flywheel energy storage device is based on a steel seamless tube mounted as a vertical axis flywheel to store kinetic energy. The motor/generator is a Permanent Magnet Synchronous Machine driven by the AC-AC Matrix Converter. The matrix control method uses a discrete-time model of the converter system to predict the expected values of the input and output currents for all the 27 possible vectors generated by the matrix converter. An optimal controller minimizes control errors using a weighted cost functional. The flywheel and control process was tested as a DVR to mitigate voltage sags and swells. Simulation results show that the DVR is able to compensate the critical load voltage without delays, voltage undershoots or overshoots, overcoming the input/output coupling of matrix converters.

Effects of unilateral motor cortex lesion on ipsilesional hand's reach and grasp performance in monkeys: relationship with recovery in the contralesional hand.

Manual dexterity, a prerogative of primates, is under the control of the corticospinal (CS) tract. Because 90-95% of CS axons decussate, it is assumed that this control is exerted essentially on the contralateral hand. Consistently, unilateral lesion of the hand representation in the motor cortex is followed by a complete loss of dexterity of the contralesional hand. During the months following lesion, spontaneous recovery of manual dexterity takes place to a highly variable extent across subjects, although largely incomplete. In the present study, we tested the hypothesis that after a significant postlesion period, manual performance in the ipsilesional hand is correlated with the extent of functional recovery in the contralesional hand. To this aim, ten adult macaque monkeys were subjected to permanent unilateral motor cortex lesion. Monkeys' manual performance was assessed for each hand during several months postlesion, using our standard behavioral test (modified Brinkman board task) that provides a quantitative measure of reach and grasp ability. The ipsilesional hand's performance was found to be significantly enhanced over the long term (100-300 days postlesion) in six of ten monkeys, with the six exhibiting the best, though incomplete, recovery of the contralesional hand. There was a statistically significant correlation (r = 0.932; P < 0.001) between performance in the ipsilesional hand after significant postlesion period and the extent of recovery of the contralesional hand. This observation is interpreted in terms of different possible mechanisms of recovery, dependent on the recruitment of motor areas in the lesioned and/or intact hemispheres.

Designing Digital Filters for Servo Systems

The aim of this work was to select an appropriate digital filter for a servo application and to filter the noise from the measurement devices. Low pass filter attenuates the high frequency noise beyond the specified cut-off frequency. Digital lowpass filters in both IIR and FIR responses were designed and experimentally compared to understand their characteristics from the corresponding step responses of the system. Kaiser Windowing and Equiripple methods were selected for FIR response, whereas Butterworth, Chebyshev, InverseChebyshev and Elliptic methods were designed for IIR case. Limitations in digital filter design for a servo system were analysed. Especially the dynamic influences of each designed filter on the control stabilityof the electrical servo drive were observed. The criterion for the selection ofparameters in designing digital filters for servo systems was studied. Control system dynamics was given significant importance and the use of FIR and IIR responses in different situations were compared to justify the selection of suitableresponse in each case. The software used in the filter design was MatLab/Simulink® and dSPACE's DSP application. A speed controlled Permanent Magnet Linear synchronous Motor was used in the experimental work.

Analysis of torque and speed ripple producing non-idealities of frequency converters in electric drives

Electric motors driven by adjustable-frequency converters may produce periodic excitation forces that can cause torque and speed ripple. Interaction with the driven mechanical system may cause undesirable vibrations that affect the system performance and lifetime. Direct drives in sensitive applications, such as elevators or paper machines, emphasize the importance of smooth torque production. This thesis analyses the non-idealities of frequencyconverters that produce speed and torque ripple in electric drives. The origin of low order harmonics in speed and torque is examined. It is shown how different current measurement error types affect the torque. As the application environment, direct torque control (DTC) method is applied to permanent magnet synchronous machines (PMSM). A simulation model to analyse the effect of the frequency converter non-idealities on the performance of the electric drives is created. Themodel enables to identify potential problems causing torque vibrations and possibly damaging oscillations in electrically driven machine systems. The model is capable of coupling with separate simulation software of complex mechanical loads. Furthermore, the simulation model of the frequency converter's control algorithm can be applied to control a real frequency converter. A commercial frequencyconverter with standard software, a permanent magnet axial flux synchronous motor and a DC motor as the load are used to detect the effect of current measurement errors on load torque. A method to reduce the speed and torque ripple by compensating the current measurement errors is introduced. The method is based on analysing the amplitude of a selected harmonic component of speed as a function oftime and selecting a suitable compensation alternative for the current error. The speed can be either measured or estimated, so the compensation method is applicable also for speed sensorless drives. The proposed compensation method is tested with a laboratory drive, which consists of commercial frequency converter hardware with self-made software and a prototype PMSM. The speed and torque rippleof the test drive are reduced by applying the compensation method. In addition to the direct torque controlled PMSM drives, the compensation method can also beapplied to other motor types and control methods.

Kestomagneettitahtikonekäytön soveltaminen paperiteollisuuden linjakäytöissä

Tässä työssä tutkitaan kestomagneettitahtimoottorin soveltuvuutta paperiteollisuuden linjakäyttöihin. Aluksi perehdytään taajuusohjatun kestomagneettitahtimoottorin häviöiden syntymiseen ja niiden jakautumiseen. Työssä esitellään kestomagneettitahtimoottorin koon valintaan vaikuttavia tekijöitä ja vertaillaan oikosulkumoottorin ja kestomagneettitahtimoottorin mitoituksen eroja. Lisäksi tarkasteltiin linjakäytön vaihtosuuntaajan ja syöttöryhmän mitoitusta, kun kestomagneettitahtimoottoria käytetään paperiteollisuuden linjakäytössä. Kestomagneettitahtimoottorin virran riippuvuutta kuormituksesta laskettiin ja mitattiin yhden kestomagneettitahtimoottorin virta eri kuormituksilla. Näin voitiin suorittaa vertailu laskennan ja todellisuuden välillä. Mittaus osoitti laskentatavan tarkkuuden. Selvityksessä löydettiin riittävän tarkka laskentatapa, jonka avulla voidaan määrittää linjakäytön invertterin koko.

Reluktanssiverkkomalli kestomagneettitahtikoneen staattisen ilmavälivuontiheyden mallinnukseen

Kaikissa pyörivissä sähkömoottoreissa vääntömomentin tuoton kannalta olennainen magneettivuo kulkee staattorin ja roottorin välillä ilmavälin kautta. Ilmaväli mallinnetaan koneensuunnittelun yhteydessä tämän vuoksi tarkasti. Elementtimenetelmällä voidaan analysoida moottoreita varsin tarkasti, mutta menetelmän käyttö vie paljon aikaa ja sovittaminen muihin laskentaympäristöihin on usein hankalaa. Tämän vuoksi voidaan käyttää riittävän tarkkuuden omaavia analyyttisiä laskentamenetelmiä, joiden sovittaminen muihin ohjelmaympäristöihin on helpompaa kuin elementtimenetelmää käytettäessä. Diplomityössä kehitetään reluktanssiverkkomalli kestomagneettien aikaansaaman ilmavälivuontiheyden mallintamiseen kestomagneettitahtikoneille, joissa on pinta-asennetut kestomagneetit. Kehitetyn reluktanssiverkkomallin toimivuutta vertaillaan muihin ilmavälivuontiheyden laskentamenetelmiin.

Sähkökäyttöisen konejärjestelmän vuorovaikutteinen simulointi

Työn tavoitteena oli toteuttaa simulointimalli, jolla pystytään tutkimaan kestomagnetoidun tahtikoneen aiheuttaman vääntömomenttivärähtelyn vaikutuksia sähkömoottoriin liitetyssä mekaniikassa. Tarkoitus oli lisäksi selvittää kuinka kyseinen simulointimalli voidaan toteuttaa nykyaikaisia simulointiohjelmia käyttäen. Saatujen simulointitulosten oikeellisuus varmistettiin tätä työtä varten rakennetulla verifiointilaitteistolla. Tutkittava rakenne koostui akselista, johon kiinnitettiin epäkeskotanko. Epäkeskotankoon kiinnitettiin massa, jonka sijaintia voitiin muunnella. Massan asemaa muuttamalla saatiin rakenteelle erilaisia ominaistaajuuksia. Epäkeskotanko mallinnettiin joustavana elementtimenetelmää apuna käyttäen. Mekaniikka mallinnettiin dynamiikan simulointiin tarkoitetussa ADAMS –ohjelmistossa, johon joustavana mallinnettu epäkeskotanko tuotiin ANSYS –elementtimenetelmäohjelmasta. Mekaniikan malli siirrettiin SIMULINK –ohjelmistoon, jossa mallinnettiin myös sähkökäyttö. SIMULINK –ohjelmassa mallinnettiin sähkökäyttö, joka kuvaa kestomagnetoitua tahtikonetta. Kestomagnetoidun tahtikoneen yhtälöt perustuvat lineaarisiin differentiaaliyhtälöihin, joihin hammasvääntömomentin vaikutus on lisätty häiriösignaalina. Sähkökäytön malli tuottaa vääntömomenttia, joka syötetään ADAMS –ohjelmistolla mallinnettuun mekaniikkaan. Mekaniikan mallista otetaan roottorin kulmakiihtyvyyden arvo takaisinkytkentänä sähkömoottorin malliin. Näin saadaan aikaiseksi yhdistetty simulointi, joka koostuu sähkötoimilaitekäytöstä ja mekaniikasta. Tulosten perusteella voidaan todeta, että sähkökäyttöjen ja mekaniikan yhdistetty simulointi on mahdollista toteuttaa valituilla menetelmillä. Simuloimalla saadut tulokset vastaavat hyvin mitattuja tuloksia.

On the Analysis and Control of a Linear Synchronous Servomotor with a Flexible Load

Industry's growing need for higher productivity is placing new demands on mechanisms connected with electrical motors, because these can easily lead to vibration problems due to fast dynamics. Furthermore, the nonlinear effects caused by a motor frequently reduce servo stability, which diminishes the controller's ability to predict and maintain speed. Hence, the flexibility of a mechanism and its control has become an important area of research. The basic approach in control system engineering is to assume that the mechanism connected to a motor is rigid, so that vibrations in the tool mechanism, reel, gripper or any apparatus connected to the motor are not taken into account. This might reduce the ability of the machine system to carry out its assignment and shorten the lifetime of the equipment. Nonetheless, it is usually more important to know how the mechanism, or in other words the load on the motor, behaves. A nonlinear load control method for a permanent magnet linear synchronous motor is developed and implemented in the thesis. The purpose of the controller is to track a flexible load to the desired velocity reference as fast as possible and without awkward oscillations. The control method is based on an adaptive backstepping algorithm with its stability ensured by the Lyapunov stability theorem. As a reference controller for the backstepping method, a hybrid neural controller is introduced in which the linear motor itself is controlled by a conventional PI velocity controller and the vibration of the associated flexible mechanism is suppressed from an outer control loop using a compensation signal from a multilayer perceptron network. To avoid the local minimum problem entailed in neural networks, the initial weights are searched for offline by means of a differential evolution algorithm. The states of a mechanical system for controllers are estimated using the Kalman filter. The theoretical results obtained from the control design are validated with the lumped mass model for a mechanism. Generalization of the mechanism allows the methods derived here to be widely implemented in machine automation. The control algorithms are first designed in a specially introduced nonlinear simulation model and then implemented in the physical linear motor using a DSP (Digital Signal Processor) application. The measurements prove that both controllers are capable of suppressing vibration, but that the backstepping method is superior to others due to its accuracy of response and stability properties.