Abstract
High-performance motor drives that operate in harsh conditions require an accurate and robust angular position measurement to correctly estimate the speed and reduce the torque ripple produced by angular estimation error. For that reason, a resolver is used in motor drives as a position sensor due to its robustness. A resolver-to-digital converter (RDC) is an observer used to get the angular position from the resolver signals. Most RDCs are based on angle tracking observers (ATOs). On the other hand, generalized predictive control (GPC) has become a powerful tool in developing controllers and observers for industrial applications. However, no GPC-based RDC with zero steady-state error during constant speed operation has been proposed. This paper proposes an RDC based on the second-order difference GPC (SOD-GPC). In SOD-GPC, the second-order difference operator is applied to design a GPC model with two embedded integrators. Thus, the SOD-GPC is used to design a type-II ATO whose steady-state angle estimation error tends to zero during constant speed operation. Simulation and experimental results prove that the proposed RDC system has better performance than other literature approaches.
Highlights
High-performance motor drives require a robust and accurate motor shaft angular position measurement to operate efficiently in harsh conditions [1,2,3]
This paper proposes an angle tracking observers (ATOs) based on the second-order difference generalized predictive control (SOD-GPC) described in [49], to develop a system with the advantages of the GPC and zero steady-state angle estimation error during constant speed operation
Different from the simulations, HIL tests allow evaluating the actual effects of implementation problems in the execution of an algorithm in a digital processor
Summary
High-performance motor drives require a robust and accurate motor shaft angular position measurement to operate efficiently in harsh conditions [1,2,3]. The ATO was modeled as a tracking system where the reference was the actual angular position, and the system output was the estimated angle. The ATO proposed in [45] had a steady-state angle estimation error during constant speed operation To explain this error, let us define R(s), G(s), and C(s) to be, respectively, the transfer function of the reference, the plant transfer function, and the controller. This paper proposes an ATO based on the second-order difference generalized predictive control (SOD-GPC) described in [49], to develop a system with the advantages of the GPC and zero steady-state angle estimation error during constant speed operation. As in [45], the ATO is modeled as a tracking system whose reference is the actual angular position and whose output is the estimated angle.
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