Electric Motor Control Research Articles

Backstepping Control of a Motorized Ankle Orthosis Targeting the Soleus Muscle During Walking*

The gait patterns of stroke survivors become slow and metabolically inefficient as a result of muscle weakness and low weight-bearing capacity. Exoskeletons and assistive robots can improve gait kinematics and energetics. However, the use of these powered devices may cause a reliance on the device itself that results in limited lasting improvement of the paretic leg function. Specifically, there exists a need to strengthen and train the response of weak ankle muscles, such as the soleus muscle, in stroke survivors. Impaired activation of the soleus muscle induces unnatural gait kinematics and reduced propulsion. The mechanical modulation of the soleus muscle can improve its loading response and enhance gait performance after a stroke. This paper develops a closed-loop feedback controller to manipulate the ankle joint dynamics to mechanically control the soleus muscle response using a motorized ankle orthosis. The control method is inspired by backstepping control techniques and developed to connect the ankle joint angular velocity and the soleus muscle response during the stance phase of walking. The tracking objective is quantified using an integral-like muscle error between the desired soleus response and the actual muscle response, which is measurable using surface electromyography (EMG). The closed-loop electric motor controller is designed to apply ankle perturbations exploiting the backstepping error and an adaptive control term to cope with uncertain parameters that satisfy the linear-in-the-parameters property. A switching signal is developed using heel and toe ground reaction forces to strategically perturb the ankle and target the soleus muscle loading response in real-time during the mid-late stance phase of walking. A Lyapunov-based stability analysis is used to guarantee a globally uniformly ultimately bounded (GUUB) tracking result.

Assessment method of the integrated thermal management system for electric vehicles with related experimental validation

Concerns about the driving ranges of electric vehicles (EV) have led to higher requirements for vehicle thermal management systems. Efficient thermal management systems should be closely integrated with the vehicle to ensure passenger comfort and maintain adequate component operating ranges. The thermal management functions should thus accurately meet the demands of the EV and its components. Based on the driving conditions for EVs and the component thermal management requirements, this study applies different working modes for the cabin, power battery, electric motor, and electric motor controller systems under various conditions, which combines these modes into 27 feasible system working modes. Subsequently, an integrated thermal management system is designed with multi-modes adjusted by each system component to adapt environmental variations by changing the system's working mode. Also, the energy exchange between components under different modes was investigated to ensure the rationality of the designed system. The best working mode is to ensure the safety and comfort for EVs with fewer components and lower cost. It was proved to meet a wide range of adaptations to environmental changes that can be used as a method to evaluate the integrated thermal management system. The method is then applied to the target thermal management system and proves that the target system offers considerable advantages over two other benchmark thermal management systems that have been used in the mass production of electric vehicles. Finally, the cooling, heating, and defrosting performances are verified experimentally, and the vehicle mileage is calculated. The thermal management system working modes are summarized systematically. The designed thermal management system is a waste heat recovery steam compression heat pump system that can meet the functional and experimental test requirements. This study verifies that the heat management system evaluation method can evaluate the system’s applicability effectively and that the waste heat utilization vapor compression heat pump system can effectively improve electric vehicle driving mileage, which manifests the potential for mass production for electric vehicle applications.

Supply and demand balance control of electrical submersible linear motor for offshore oil exploitation

AbstractA supply and demand balance control method for an electrical submersible linear motor utilised in offshore oil exploitation is proposed in this study. The permanent magnet linear motor is replaced by an electrical submersible linear motor based on switched reluctance linear motor. The sensorless control method further enhances the stability of the oil exploitation system. Meanwhile, a supply and demand balance control method is proposed to maintain the fullness of the submersible plunger pump within an ideal range. An established speed function allows the speed of the electrical submersible linear motor to dynamically alter in response to the change in oil deliverability and increasing the system's production. Additionally, maintaining the fullness of the submersible plunger pump within the ideal range helps simplify the model and increase computation accuracy. Finally, the supply and demand balance control method is validated and compared with the intermittent oil exploitation control method by simulations and experiments. Results from the simulations and experiments indicate that the proposed method can increase the production of the offshore oil exploitation system in addition to causing the motor to follow changes in oil deliverability and adjust the speed.

Research on PID control of electric traction DC motor speed based on MATLAB

With the development of science and technology, digital control systems are more widely used, which is more conducive to the development of intelligent power locomotives. In the speed control process of electric traction DC motor, considering the stability, rapidity, accuracy and other requirements of speed control, digital position type PID control strategy is adopted.This study first models the power traction DC motor and analyzes the performance of the system. In order to improve the performance index of the system, a digital PID control strategy is adopted.MATLAB simulation results show that the controller has good speed and stability for the speed control of electric traction DC motor.

3 Phase Synchronous Motor Speed Control System Using PID Control

Synchronous motor is an alternating current (AC) motor that operates with the prime mover as the initial rotation of the rotor until the rotational speed is equal to the rotational speed of the imaginary poles on the stator. In its application a 3-phase synchronous motor needs to be set in advance so that the resulting speed is stable. In this big task of Electric Motor Control, a speed experiment was carried out on a 3-phase synchronous motor using Mathlab simulation with Siemens motor specifications, namely 50 Hz, 400 V with 16kVA power and 1500 RPM rotational speed using PID control to control the speed of a 3-phase synchronous motor so that it is more stable. From the calculations that have been carried out and the PID tuning that has been carried out, the results show that the PID control can control the motor so as to produce a more stable and efficient speed in the industry

Energy-Saving Load Control of Induction Electric Motors for Drives of Working Machines to Reduce Thermal Wear

The influence of reduced voltage on the service life of an induction motor is considered in this article. An algorithm for calculating the rate of thermal wear of induction motor insulation under reduced supply voltage depending on the load and the mechanical characteristics of the working machine has been developed. It determines the change in the rate of thermal wear under alternating external effects on the motor (supply voltage and load) and allows forecasting its service life under these conditions. The dependency graphs of the rate of insulation thermal wear on the motor load for various levels of supply voltage and various mechanical characteristics of working machines are provided in the work. It was determined that the rate of thermal wear of the induction motor insulation increases significantly when the voltage is reduced compared to its nominal value with nominal load on the motor. The authors propose to consider this fact for resource-saving control of the motor. The paper presents the results of experimental verification of the obtained rule for “Asynchronous Interelectro” (AI) series electric motors that confirm its accuracy. Based on the obtained correlation, the rule of voltage regulation in energy-saving operation mode has been derived. The proposed rule takes into account the thermal impact on the electric motor running in energy-saving mode and enables saving its resource, which, in turn, results in extending its service life. The research does not consider additional effects on the electric motor except the thermal one.

Electric Motor Control for Online Tuning Based on Positive Flow System for Electric Construction Machinery

With the increasingly serious environmental pollution and stricter emission standards, energy saving and emission reduction in construction machinery (CM) are imminent. Electrification of CM is an inevitable trend. Due to the complicated working conditions and the violent load fluctuations, the existing motor controller cannot adapt well to the operating characteristics of the electric CM. In this paper, the work requirements of the positive flow system are analyzed. Considering the robustness and resistance to load disturbance of the control system, a vector control strategy through online tuning of speed PI parameters based on fuzzy control is proposed. The characteristics of the control system are analyzed with the co-simulation of AMESim and MATLAB/Simulink. A test rig was set up to verify the feasibility of the control strategy. The results show that when the load is variable, the fluctuation of rotation speed is approximately 1.5% with fuzzy PI, and 2.5% with traditional PI. Furtherly, the vector control algorithm based on fuzzy PI is tested on a positive flow system. The test results show that when the load fluctuates drastically, the electric motor speed fluctuation is within 3.5%, and the steady-state error is only approximately 0.3%.

Development and study of a microprocessor automatic control system for a mono-switch tie type with a linear inductive electric motor and a discrete speed controller

Introduction. The article is devoted to the development of the microprocessor automatic control system for a gearless controlled electric drive of a mono-switch tie based on a linear inductor electric motor. This solution provides control the position of the switch point, to carry out the transfer process with a smooth drive of shanks to the frame rail, to protect electric motor elements from overloads. Goal. development and study of the behavior of microprocessor automatic control system for mono-switch tie type with linear inductive electric motor and discrete PID speed controller which coefficients are adjusted according to Chin-Hrons-Reswick method to meet modern traffic safety requirements and improve operational reliability factors. Methodology. On the basis of electric drive theory, a kinematic line of a mono-switch tie type with nonlinear friction characteristic is presented. Using differential equation theory and Laplace transformation, a mathematic description of a linear inductor electric motor has been made. Using the z-transform method, a difference equation for describing a discrete PID speed controller is obtained, the coefficients of which are derived using the Chin-Hrons-Reswick method. A simulation mathematical model of the electric drive mono-switch tie type as the microprocessor automatic control system with linear inductive electric motor and discrete PID speed controller and nonlinear friction characteristic was built in MATLAB. Results. Simulation modelling of a mathematical model of the microprocessor automatic control system of the electric drive mono-switch tie type with the linear inductive electric motor and discrete PID speed controller and nonlinear friction characteristic have been developed and performed. Studies of dynamics of switch point movement have shown that, a drive time of less than 0.7 s at a constant speed motor armature of 0.2 and 0.3 m/s provides to meet modern requirements for railway switch points. The application of discrete PID speed controller has shown improved dynamics of switch point. Originality. First for the electric drive of the mono-switch tie type with linear inductive electric motor a mathematical model of the discrete PID speed controller and nonlinear friction characteristic as an object of speed control of switch point movement, has been developed. Practical value. Mathematical model of a railway track switch of the mono-switch tie type with linear inductive electric motor and discrete PID speed controller has been developed to carry out the control of the position of the switch point, process with a smooth drive them to the frame rail, to protect electric motor elements from overloads.

ელექტრული ღუმლის ელექტროდების გადაადგილების მართვის სისტემის ოპტიმიზაცია

It’s known that the efficient operation of electrical appliances used in production significantly improves the quality and quantity of products. Competent control of technological processes is especially important for such a heavy industry as metallurgical production, where one of the most important issues is the optimal control system for electric motors of moving electrodes, which in turn ensures the required dynamics of arc power control and high productivity. The existing arc power control systems do not fully meet the basic requirements, such as insufficient sensitivity of the regulating parameter, speed and reliability of the electrode movement motor control system. The study of electric motor control systems is an important scientific and technical task in this regard. The optimization of the electric motor control system for moving the electrodes of an electric arc furnace based on the use of logic in control is discussed.

The effectiveness of the kit portable PLC on electrical motors course among vocational school students in Aceh, Indonesia

This research aims to test the effect of the kit Programmable Logic Controller (PLC) on the achievement of vocational school students' competencies in electrical motor control courses for form 3 students in Aceh, Indonesia. Constructivist theory and Bloom's Taxonomy are referenced in this study in relation to learning. While the ADDIE model is used in relation to product development. This study used a quasi -experimental design with pre- and post -tests. The population (N = 333) in this study was level 3 vocational students in Aceh, Indonesia. The number of samples was 98 people, consisting of the experimental group (n = 50) and the control group (n = 48) selected by cluster random technique. The instruments used in this study included pre- and post -test interview protocols. The values of the KR20 reliability coefficient of the question items on the knowledge aspect were 0.97 and 0.81 on the skills aspect. The results of the descriptive analysis found that the experimental group (mean = 64.08; SD = 4.548) showed better competency achievement than the control group (mean = 63.06; SD = 5.487). The result of hypothesis test using Mann Whitney test is [Asymp. Sig. (2-tailed) = .000, p <0.05] which means that the teaching aids developed have successfully had a positive effect in improving the achievement of student competencies. The implications of this study have produced a teaching aid that can be used as a template by teachers to build teaching aids that are more affordable, easy and safe to use so that they can be motivated to innovate in learning and become a new career opportunity. Given that the Covid-19 epidemic has affected face-to-face learning, the proposal for further research is the need to integrate logic control programming (PLC) learning aids into a technology-based learning trend. Researchers, on the other hand, suggest a broader scope of study whether teachers and students in a wider area and other fields of knowledge related to the utilization of PLC programming.

Software strategy for internal combustion engine and electric motor control on a hybrid electric vehicle equipped with belt starter generator and automated manual transmission

In order to fulfil the latest EU emission standards, the average amount of CO2 emissions for each vehicle sold has to be reduced to avoid fines for manufacturers. One of the simplest and cheapest ways of hybridization is the belt starter generator (BSG), which makes it suitable for an entry-level range of vehicles. This paper presents a software strategy developed for internal combustion engine (ICE) and belt starter generator (BSG) control on a vehicle equipped with automated manual transmission and also the drivability, comfort and emission performances improvements expected by using this strategy.

Investigation on electric vehicle motor challenges, solutions and control strategies

This research paper tells about the different types of defects faced by the motors used in electric vehicle such as cost of the motor and it also discusses about the solutions to reduce the problems. In recent years the sharp rise in greenhouse gas emissions have forced the population to move towards electric vehicle. This target can only be achieved by removing the drawbacks such as cost and mileage of electric vehicle. Electric motors play a huge role in electric vehicle and motors that are used in EVs are quite costly and efficiency of the motor affects the mileage of electric vehicle. In this context, this paper tells about the defects or challenges of the motors in the vehicle. Mainly three motors are used in electric vehicle such as induction motor, switched reluctance motor and permanent magnet synchronous motor. This research paper discusses different solutions, and control strategies of EV motors in order to achieve the low cost and better responses as motor plays a huge part in electric vehicle and also the future scope of these motor is forecasted. Above investigation of control strategies is carried out by MATLAB/Simulink Software.

Educational concept of integrated project-oriented learning for the formation of "problem solving" competence in electrical engineering disciplines

The main goal of the European Union Strategy "Europe 2020" in the field of education is the creation of a highly educated and well-prepared human resource capable of responding adequately to the dynamically changing environment. Simultaneously with the acquisition of intellectual knowledge, modern education faces the task of building new competencies in people, with which to meet the needs of the 21st century [1]. In the context of this understanding, this paper presents an educational concept bringing together these requirements and explores the possibilities of building problem-solving skills in the learning process through projects in electrical engineering disciplines. The paper includes a concrete example of a project assignment for a learning project on the topic: Control of Electric Motors and presents the results of the proof-of-concept of this concept.

КЕРУВАННЯ ПРОЦЕСОМ МАНЕВРУВАННЯ ЧОТИРИКОЛІСНОГО СПЕЦІАЛЬНОГО ШАСІ З КОМБІНОВАНОЮ ЕНЕРГЕТИЧНОЮ УСТАНОВКОЮ

Cars with electric and hybrid drive of driving wheels have become widespread in the world in recent years. For a wide class of wheeled vehicles with a combined electromechanical drive, it became possible to make the front axle swivel, which makes it possible to increase their maneuverability. The use of separate control of electric motors of the front swivel drive axle makes it possible to control the turning of machines by creating a difference in tangential reactions on the front wheels. This article analyzes the controllability of a four-wheeled special chassis with a combined power plant when creating a difference in torque on the front wheels. The obtained analytical dependences make it possible to evaluate the controllability of vehicles with a front steering axle. It is determined that the indicators of controllability and turning (angular acceleration and angular velocity) with the front rotary drive axle and the creation of a torque difference on its wheels are higher than in the case of equality of certain moments. The influence of the law of changing the difference of torques on the kinematic parameters of the car turning is investigated. It is determined that for each of the three laws of changing the difference in torques, the relative angular velocity of the car turning increases with time. The proposed steering is a system with two degrees of freedom, since two independent control actions are created at its input - turning the steering wheel and creating a difference in torque on the front wheels. Therefore, the solution of the task was carried out using a complex motion model. It should be said that the rigid wheels of the car were considered. When studying the movement of a car with wheels that are elastic in the lateral direction, it is necessary to use a model of a multicomponent complex movement, consisting of one portable and two relative movements. The second relative movement is the movement due to the deformation of the tires during their lateral withdrawal.

СИНТЕЗ ПРОПОРЦИОНАЛЬНО-ИНТЕГРАЛЬНО- ДИФФЕРЕНЦИАЛЬНОЙ СИСТЕМЫ УПРАВЛЕНИЯ ПРОДОЛЬНОЙ ПОДАЧИ ТОКАРНОГО СТАНКА С ЧИСЛОВЫМ ПРОГРАММНЫМ УПРАВЛЕНИЕМ

Relevance As part of the study, the MATLAB software package has developed a longitudinalintegral- differential control system for driving the longitudinal supply of a CNC lathe. Experimental studies have shown the effectiveness of the control system, which is expressed in the economical use of the synchronous motor life. Resource efficiency is achieved due to the ability to optimize and adjust the speed of rotation of the electric motor at any stage in the implementation of the part processing process. Aim of research The main aims of the research develop a parametric PID system for controlling the electric drive of a CNC lathe. Study the developed management system for stability according to several criteria. Research methods To achieve computer-automated modeling, control system development methods were used. In particular, the MATLAB SIMULINK software package was used. Results Parametric proportional-integral-trimming control system for longitudinal supply of CNC lathe has been developed. It is worth noting that the control is based on the empirical dependence of the roughness of the treated surface of the part on the radius at the tip of the cutter and feed. The self-control process begins in the PID function block. It is based on the mateamtic dependencies of the applied coefficients (P – longitudinal; I – integral; D – differential). It is found that dynamic control of fuzzy values of electric motor parameters is provided due to transfer function of ball-screw pair. The functions of the converter, the torque motor, are performed by the gearbox. It is worth noting that the control system is customizable, the user has the ability to independently set the time after which the PID unit responds and performs the control function. In this study, the response time is 20 s, taking into account the operation of the transport delay unit. Stability studies of the developed electric motor control system were performed as part of confirmation of the obtained simulation results. The stability index was analyzed on the basis of three main criteria: Hurwitz; Mikhailov; Vyshnegradsky. The results of calculations according to the Hurwitz criterion showed that the electric drive control system is stable (stable), since positive values were obtained as a result of the calculations. In the Mikhailov study, the corresponding gradograph was obtained, which shows that the control system is stable, since the curve starting with the real positive semi-axis (gradograph) bends counterclockwise around the origin and passes through three quadrants in turn. The results of calculations according to the Vyshnegradsky criterion showed that the control system corresponds to inequality, а1а2 ≥ а2а3, therefore, it can be concluded that the control system is stable. Keywords: parametric proportional-integral-differential control system, resistance studies, Hurwitz criterion

Study of the two-rotor electric motor of a drive of vehicle drive wheels

In recent years, electric and hybrid vehicles have taken more and more attention due to their apparent advantages in saving fuel resources and reducing harmful emissions into the environment. Even though electric vehicles can solve the ecological problem, their operation is faced with a number of inconveniences associated with a limited driving distance from a single charge due to limited storage of energy from an independent power source and a lack of the required service and repair infrastructure. In hybrid and electric vehicles one of the main parameters is the curb weight, which affects energy consumption, vehicle speed, stability, controllability and maneuverability. In this regard, leading car manufacturers use parts with a low specific weight (non-metallic, aluminum alloys, etc.) in the design and also exclude some units from the design. Due to these technical solutions, the vehicle's operating is improved. One of the groups of parameters to be defined when designing a new electric vehicle is the parameters relating to the electric motor. The purpose of the article is determination of the mechanical characteristics of a two-rotor electric motor during magnetic flux control and assessment of the possibility of organizing the drive of the drive wheels of the vehicle. The electric motor has two mechanically independent outputs. For the study, an electrical equivalent diagram has been developed for the given two-rotor electric motor. A simulation model of the equivalent diagram has been built. Simulating the interaction processes of the rotors with the stator made it possible to obtain data for building the mechanical characteristics for each output of the electric motor. Analysis and processing of the mechanical characteristics data of the electric motors showed the conformity and the range of changes in the torque on each of the rotors when changing their slip and revolution, which are required when building algorithms for the operation of electric motor control systems as part of drives for various purposes. Analysis of the simulation results made it possible to assess the possibility of using the considered two-rotor electric motor for the drive of drive wheels in an electric and hybrid wheeled vehicle.

Design and Control of Electrical Motor Drives

This Special Issue contains the successful invited submissions [...]

Performance of Frequency Regulation on Power in the Development of Variable Speed Drive Training Kit as a Learning Media for Motor Control Practices

This study develops a variable speed drive training kit for electric motor control practice media in vocational education. This is research and development with the ADDIE model. The stages of the ADDIE model carried out are Analyze, Design, Development, Implementation, and Evaluation. A Variable Speed Drive (VSD) system consists of two panels, 1) a Variable Speed Drive panel and 2) a control and metering panel. The VSD Training kit module unit using Altivar 71 is a learning medium about electric motor control systems. The VSD Training kit can work well based on trials. The test results of the training kit variable speed drive function test show that at a frequency of 20 Hz, the magnitude of the current in the R, S, and T phases get the lowest value.

Combined control of fans of gas cooling units electric drives

The problem of the temperature control at the outlet of gas cooling units of compressor stations of main gas pipelines is discussed. To solve the problemt, a discrete or frequency control of electric motors of fans of gas air cooling devices is used. The problems of electromagnetic compatibility that arise in typical power supply systems of gas cooling installations when connecting electric motors of fans through frequency converters are noted. A combined fan motor control system is considered, in which the electric motors are divided into two groups. The electric motors of the first group are connected to the network directly, the second through frequency converters. By reducing the number of electric motors connected to the network through frequency converters, the negative impact of frequency-controlled drives on the quality of electricity is reduced and the costs of modernization projects are reduced in comparison with the option of the variant using a frequency converter for each electric motor. The energy characteristics of the combined control system are analyzed. The relations that establish the relationship between the temperature difference at the cooling unit and the power of the fan motors for various control methods are obtained. The optimal control algorithm according to the criterion of maximum power saving is proposed, which provides for the interconnected control of the number of discrete-controlled motors and the speed of frequency-controlled drives. The variants of the implementation of the optimal control algorithm are discussed. Analytical expressions for power saving on the fan motor shaft in a combined system compared with a discrete one and a method for estimating energy savings are considered. The obtained results are recommended to be used to assess the technical and economic efficiency of projects for the modernization of electrical complexes of gas cooling units.

Sensorless current prediction in single phase inverter circuits with machine learning algorithms

Inverter circuits are widely used in power electronics applications such as electric motor control, induction heating or different Alternating Current (AC) loads. The control signal applied to the switching elements can affect the quality of the sinusoidal signal that occurs at the output of the inverter circuit by the means of voltage and current values. The inverter circuit topologies are generally designed as closed loop. However, these cause complexity of the circuit topology, increase the production costs and give difficulties in designing the control signals. In the present work, simulations of a single-phase inverter circuit with the Sinusoidal Pulse Width Modulation (SPWM) control signal are performed. Thus, the effect of the SPWM signals on the output of the inverter has been observed by changing the Modulation rate (M), the carrier signal frequency (f_c) and the reference signal frequency (f_r). Through the data obtained, the output current of a phase inverter without a sensor is estimated by Machine Learning Algorithms (MLA) such as Multi-Layer Perceptron (MLP), Support Vector Machine (SVM) and K-Nearest Neighbors (KNN).