Abstract
This article presents an analysis of the two speed observer structures which are based on the backstepping and sliding super twisting approach. The observer stabilizing functions result from the Lyapunov theorem. To obtain the observer tuning gains the observer structure is linearized near the equilibrium point. The rotor angular speed is obtained from nonadaptive dependence. In the sensorless control system structure the classical PI controllers and transformation to the multiscalar variables are applied. The theoretical derivations are verified in experimental waveforms. Comparison of both speed observer structures is presented for nominal speed, load torque injections while regenerating mode, very low speed range and the uncertainties of nominal parameters of induction machine.
Highlights
T HE INDUCTION machine (IM) is a popular motor used in all industrial applications, especially for electric drive systems, to drive pumps, in transportation and in electromobility, in floating vessel [35]
The main contribution of the article is to present the speed observer structure which is robust on the machine uncertainties of parameters, working stable at very low or zero rotor speed range, in regenerating mode and is “quite” simple to use in industrial applications
Despite the fact that the analysis shows the convergence of the observer structure to zero, in practical applications in cases of many different disturbances, estimation errors take values close to zero
Summary
T HE INDUCTION machine (IM) is a popular motor used in all industrial applications, especially for electric drive systems, to drive pumps, in transportation (train and trams) and in electromobility (electric or hybrid vehicles), in floating vessel [35]. The structure proposed in [13] works stable near to zero rotor speed but for the case of regenerating operation the properties of the speed observer are not sufficient. The proposed extension of the observer structure by the vector “S” gives possibilities of using the STA algorithm, which is much more resistant to observer structure disturbances (for example uncertainties of IM parameters, problems with the generating of very low stator voltage by a voltage source inverter at low speed range or unobservable working points of IM—the chattering effects due to sliding-mode can prevent it). The main contribution of the article is to present the speed observer structure which is robust on the machine uncertainties of parameters, working stable at very low or zero rotor speed range, in regenerating mode and is “quite” simple to use in industrial applications
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