Oriented Control Algorithm Research Articles

Retracted: Simulation of Field Oriented Control Algorithm of Permanent Magnet Synchronous Motor Based on SVPWM

Retracted: Simulation of Field Oriented Control Algorithm of Permanent Magnet Synchronous Motor Based on SVPWM

Simulation of Field Oriented Control Algorithm of Permanent Magnet Synchronous Motor Based on SVPWM

Aiming at the problems of large flux pulsation and unstable operation of permanent magnet synchronous motors affected by motor parameters and magnetic field harmonics, this paper proposes a permanent magnet synchronous motor vector control strategy based on SVPMW directional control algorithm to improve motor control performance. This control strategy realizes the effective control of the motor under harmonic interference by establishing a motor model oriented along the air gap magnetic field and the SVPMW regulator algorithm. At the same time, an online query algorithm for current reference values based on mathematical models is established to achieve fast dynamic response of the motor. A simulation model of directional control is established in MATLAB/Simulink. The simulation results show that the modeling method can effectively reduce the interference of harmonics on the flux linkage. It proves that under the interference of harmonics, the directional control of this algorithm has a better control effect, which is practical. The design and debugging of the motor control system provide the basis and ideas.

Design of Permanent Magnet Synchronous Motor Power-assisted System Based on Field Oriented Control Algorithm

Aiming at the integrated surgical robot, a set of power-assisted control system is designed to overcome the transmission resistance between master and slave hands, so that the operator feels light and comfortable during operation. The system includes permanent magnet synchronous motor, driver, controller, torque sensor, upper computer. The field oriented control algorithm is discussed and is used to control the permanent magnet synchronous motor. STM32 is used as the main control chip, DRV8301 is used as the driving chip, and the upper computer software, which has human-computer interaction interface and real-time torque signal display interface, is written by C#. A non-contact torque sensor and corresponding signal processing module is designed. The experimental results show that with the operator’s start-stop and reversing action, the q-axis current of the motor changes rapidly, and the amplitude of steady-state changes is small. This means that the designed system has the advantages of stable assist torque and fast response.

A novel MTPA and flux weakening method of stator flux oriented control of PMSM

Abstract Permanent magnet synchronous motor (PMSM) has the advantages of high efficiency, high power density and high reliability. It has been widely used in electric vehicles, rail transit, industrial transmission and other fields. Compared with the traditional PMSM control strategy, the Indirect stator-quantities control (ISC) of low torque ripple induction motor has high dynamic response performance in the whole speed range, with high stability and strong security. However, due to the inherent characteristics of PMSM, there are still some difficulties in applying ISC strategy, such as solving the load angle corresponding to the current torque, realizing the maximum torque per ampere (MTPA) control and flux weakening control method in the stator field oriented control algorithm of PMSM. In this paper, theoretical analysis and discussion are carried out for the above difficulties, and an indirect stator vector control (ISC) method for PMSM is proposed. Finally, combined with the electric drive application platform of electric vehicle, the simulation and experimental results verify that the proposed ISC control strategy of PMSM also has good dynamic and steady-state performance in the whole speed range.

Synthesizing an algorithm to control the angular motion of spacecraft equipped with an aeromagnetic deorbiting system

It is known that the synthesis of the relevant control law is performed and appropriate control devices are selected for specific tasks of controlling relative spacecraft motion. Flywheels, control moment gyroscopes, electromagnetic devices with permanent magnets and micro-jet engines are used as actuators in controlling the orientation and stabilizing the spacecraft. For example, flywheel motors together with electromagnets are most often used to ensure precise spacecraft stabilization in remote Earth monitoring (REM) problems. At the same time, there is a series of problems pertaining to the control over the relative motion of spacecraft where there is no need for precise spacecraft stabilization and ensuring minimal errors in orientation. These problems may include spacecraft orientation for charging solar batteries or orientation control for research and meteorological spacecraft.The study's purpose is to synthesize a law for spacecraft orientation control algorithm when using executive devices with permanent magnets (EDPM). EDPMs are the devices controlling spacecraft orientation. They consist of rotary permanent magnets, stepper motors, and capsule-screens with shutter flaps. Opening and closure of the capsule-screen flaps and rotation of permanent magnets in a certain way ensure the generation of a discrete control magnetic moment. It should be noted that EDPMs do not provide accurate spacecraft stabilization and hence they are not suitable for the REM purpose. However, EDPMs consume less on-board energy than other spacecraft orientation control systems and are useful in problems requiring less accurate stabilization.A control law was synthesized for controlling spacecraft equipped with EDPM using a nonlinear controller and a pulse-width modulator. Areas of effective EDPM application for various space-related problems including orientation and stabilization of aerodynamic elements perpendicular to the dynamic flow of the incoming atmosphere were determined. Advantages of using EDPMs in comparison with electromagnetic executive devices in the problems pertaining aerodynamic element stabilization in aerodynamic systems of deorbiting worked-out spacecraft from low Earth orbits were shown.

Slack and Excessive Loading Avoidance in n-Tendon Continuum Robots

In this work, two tendon tension loading distributions (fixed and moving) are designed to prevent undesired slack and excessive loading in tendons of continuum manipulators. For any given beam configuration, the algorithms utilize the proposed loading distributions to find a new beam configuration as well as base displacement to control the orientation or position of the $n$ -tendon continuum robot. The algorithms account for the bending and axial compliance of the manipulator as well as tendon compliance. Numerical results are provided to demonstrate the orientation and position control algorithms under fixed or moving loading distributions. A 6-tendon continuum robot system is employed to experimentally evaluate the effectiveness and accuracy of the proposed control algorithms. Multiple experiments are carried out and results are reported. The results verify the performance of the proposed control algorithms in avoiding slack and excessive loading in tendons and controlling the orientation and position of continuum structures.

Design of a Three-Phase Bidirectional PWM Rectifier with Simple Control Algorithm

Abstract The paper covers the main aspects of designing a low voltage three-phase PWM rectifier for bidirectional AC/DC power flow with unity power factor. A model in Matlab/Simulink environment has been built for a 10kW active rectifier with an LCL filter connected to grid side of the rectifier. The primary goal of the model is to achieve low grid current harmonic content for frequency ranges described in worldwide applicable standards and above. LCL filter parameter design procedure is described in the paper and implemented in the rectifier model to achieve a better power quality with limitations in passive element size. A simple “p-q” theory-based voltage oriented control algorithm is used in the model and described in the present paper. Model performance is characterised by dynamic response, stability and grid parameters during simulation. The simulation results demonstrate that the modelled rectifier system is stable and the grid current harmonic content is low both in the low-and high-frequency ranges.

Intuitive Adaptive Orientation Control for Enhanced Human–Robot Interaction

Robotic devices can be leveraged to raise the abilities of humans to perform demanding and complex tasks with less effort. Although the first priority of such human–robot interaction (HRI) is safety, robotic devices must also be intuitive and efficient in order to be adopted by a broad range of users. One challenge in the control of such assistive robots is the management of the end-effector orientation, that is not always intuitive for the human operator, especially for neophytes. This paper presents a novel orientation control algorithm designed for robotic arms in the context of HRI. This paper aims at making the control of the robot's orientation easier and more intuitive for the user, both in the fields of rehabilitation (in particular individuals living with upper limb disabilities) and industrial robotics. The performance and intuitiveness of the proposed orientation control algorithm is assessed and improved through two experiments with a JACO assistive robot with 25 able-bodied subjects, an online survey with 117 respondents via the Amazon Mechanical Turk and through two experiments with a UR5 industrial robot with 12 able-bodied subjects.

Optimal Control of Kinetic Moment During the Spatial Rotation of a Rigid Body (Spacecraft)

The problems of optimal control of kinetic moment of a rigid body (for example, a spacecraft) during the reorientation maneuver from an arbitrary initial to a given final angular position, taking into account the requirements for the energy of rotation, are investigated. An analytical solution for the problem of optimal control of solid body reorientation is obtained. Formalized equations are presented and calculation expressions for the construction of an optimal control program are given. The task of controlling the turn is solved taking into account the restrictions on control moments. An analytical relationship is found between the turning time and the maximum rotational energy. The moment of the start of deceleration is determined by the actual parameters of movement (the mismatch quaternion and the kinetic moment), based on the principles of terminal control (using information about the angular position and measuring the angular velocity). Control algorithms created make it possible to make turns in a given time with a minimum rotational energy. For a dynamically symmetric solid body, the control problem is solved to the end — dependencies are obtained, as explicit functions of time, for control variables and relations for calculating the key parameters of the kinetic moment control law. A numerical example and the results of mathematical modeling of the motion of a spacecraft with optimal control, which demonstrate the practical feasibility of the developed orientation control algorithms, are presented.

Active and reactive power regulation in doubly fed asynchronous generator

The paper deals with active and reactive power regulation in doubly fed induction generator (DFIG) installed in the wind energy conversion system (WECS). The mathematical model of the studied machine has been proposed and suited for implementation of the field oriented control algorithm (FOC). The control strategy for decoupling the active and reactive power regulation has been proposed and implemented in Matlab/Simulink environment. Selected results of simulations have been presented and discussed.

Control design variable speed drive three-phase induction motor based cascaded H-Bridge seven level

The design variable speed drive induction motor is based on the power supply system of cascaded H-bridge seven level inverter. The variable speed regulation of the induction motor is performed by controlling the variable magnitude and output voltage frequency of the CHB circuit. The output voltage of the CHB circuit is generated by synthesizing the reference voltage signal derived from the field oriented control algorithm model of the induction motor. Testing and circuit operation mode using switching phase-switch technique on variable speed drive system of induction motor is done to know system performance in transient and steady-state by using computer software. The response of the simulation shows the conformity of the proposed concept. From this research is expected to improve the quality and capacity of output power in modular way so that it can be applied to the electric drive in general.

Design and Optimization of a High Power Density and Efficiency Boost PFC

Nowadays electrical appliances have been becoming more and more popular every day in our life, and the systems that have more power density and that use energy efficiently and that improve the quality of the energy are required more. Especially with the decisions and regulation changes of the United States and the European Union in recent years, it has become compulsory to replace low efficiency electric motor drive systems with high efficiency permanent magnet electric motors and drivers, and as a result permanent magnet motors that have high efficient field orientation control algorithms technologies have begun to be chosen. Low cost uncontrolled rectifiers that have high power factor have become a necessity with the need for DC bus. In such systems with inherently nonlinear characteristics, the need for Power Factor Correction (PFC) circuit has been increasing, and Boost PFC (BPFC) which increase the input voltage are widely preferred for low/medium power applications. Therefore, distortion harmonics and high frequency noises are reduced according to standards such as CSRIP Class B – TS EN 61000-3-2 and also output voltage remains constant, becoming more than peak amount of the input grid voltage. In that study, it is designed that BPFC that has 1,150W output power level by increasing system's power density and efficiency. The system cost is reduced by decreasing the requirement of EMI filters and heatsink size, since using SiC (Silicon Carbide) diode and optimizing the system contribute increasing efficiency and power density. The most efficient Boost PFC design is realized at the lowest cost by performing detailed design, loss and cost analysis for each component used. The Boost PFC with full system efficiency of 95.5% at full load is obtained by model validation done by comparing the simulation results with the experimental results obtained by hardware implementation.

Intuitive adaptive orientation control of assistive robots for people living with upper limb disabilities.

Robotic assistive devices enhance the autonomy of individuals living with physical disabilities in their day-to-day life. Although the first priority for such devices is safety, they must also be intuitive and efficient from an engineering point of view in order to be adopted by a broad range of users. This is especially true for assistive robotic arms, as they are used for the complex control tasks of daily living. One challenge in the control of such assistive robots is the management of the end-effector orientation which is not always intuitive for the human operator, especially for neophytes. This paper presents a novel orientation control algorithm designed for robotic arms in the context of human-robot interaction. This work aims at making the control of the robot's orientation easier and more intuitive for the user, in particular, individuals living with upper limb disabilities. The performance and intuitiveness of the proposed orientation control algorithm is assessed through two experiments with 25 able-bodied subjects and shown to significantly improve on both aspects.

MRAS rotor resistance estimators for EV vector controlled induction motor traction drive: Analysis and experimental results

The Field Oriented Control algorithm needs accurate estimation of motor state variables in order to ensure full torque performances and good efficiency. On electric vehicle traction drives, Induction motor Field Oriented Control is widely adopted. Good control results are strongly related to parameter values used by observers or estimators, which vary according to machine working conditions and temperature. The most important parameter is the rotor resistance. The paper shows and compares two different MRAS rotor resistance estimators, based on reactive power and motor torque, studied by means of a sensitivity analysis for different load and speed operating conditions. A nonlinear correction algorithm has been proposed in order to assure a good rotor resistance estimation convergence also under dynamic conditions. Sensitivity analysis, simulation and experimental results are reported for the proposed methods. The estimation algorithm has been also experimentally tested on a prototypal electric vehicle to demonstrate its validity under dynamic condition during a real driving cycle.

Unaprijeđeno upravljanje momentom visokobrzinskog pogona s asinkronim motorom bez mjerenja brzine

This paper presents improved torque control scheme for a high speed sensorless induction motor drive. The proposed high speed torque control scheme substitutes the flux oriented control by the voltage angle control in the flux weakening regime. This scheme uses maximum of available inverter voltage, alleviates well known problems of current control schemes in conditions with insufficient voltage margin and avoids the influence of estimated speed error to the achieved flux level. The algorithm uses similar slip control as flux oriented control algorithm, but is applied without an outer flux trajectory reference which is typical for the flux weakening, providing a fast and well damped torque response even if error in estimated speed is present. Experiments confirm the effectiveness of proposed torque control algorithm, smooth transition from the flux oriented control in the base speed region to the voltage angle control in the flux weakening, superior dynamic performance of the voltage angle torque control, and its robustness to an estimated rotor speed error.

Study on Anti-Disturbance for MW Grade back-to-back Converter System Based on Small-signal Modelling

Dynamic performance of the front-end PWM rectifier is the basic guarantee of stable and reliable operating of a high power back-to-back converter system. Traditional double-loop PI regulator controlling may lead to DC-link voltage fluctuation and even more seriously overvoltage or under-voltage threatening the safe operation of the power switching device. In this paper, a small-signal model of high power virtual-oriented-flux is established to analyze the DC-link voltage fluctuation limitation of systems with conventional load current feed-forward control. A virtual line flux oriented control algorithm is also proposed based on the model mentioned above. Finally, a MATLAB simulation and practical test were carried out to certify the effectiveness and correction of the algorithm.

Assembly oriented control algorithm of collaborative disassembly and assembly operation in collaborative virtual maintenance process

Maintenance data and information processing is an essential and important problem in collaborative virtual maintenance of complex equipments. Significant research has been done in this paper to provide an efficient approach to performing the data and information processing of collaborative virtual disassembly and assembly operations. Assembly oriented mathematical model of collaborative virtual maintenance operation process is presented with the behavior representation and information description of each component in an assembly based on single object oriented modeling of collaborative maintenance operation as well as assembly oriented modeling of disassembly and assembly operations. Assembly oriented control algorithms of disassembly and assembly operations in collaborative virtual maintenance process are also designed to perform the required data and information processing. With the object information template based on Extensible Markup Language, proposed mathematical models and control algorithms are utilized in a technical experiment system with high reliability and efficiency. Experimental implementation has been done to find appropriate and efficient mathematical models and control algorithms can support effectively the data and information processing of collaborative virtual disassembly and assembly operations of complex products. Methodologies developed in this paper extend the previous work on mathematical modeling and information processing complexity, and improve the reliability and efficiency of required data and information processing in collaborative virtual maintenance process.

Improved Torque Control of High Speed Shaft-Sensorless Induction Motor Drive

This paper presents improved torque control scheme for a high speed sensorless induction motor drive. The proposed high speed torque control scheme substitutes the flux oriented control by the voltage angle control in the flux weakening regime. This scheme uses maximum of available inverter voltage, alleviates well known problems of current control schemes in conditions with insufficient voltage margin and avoids the influence of estimated speed error to the achieved flux level. The algorithm uses similar slip control as flux oriented control algorithm, but is applied without an outer flux trajectory reference which is typical for the flux weakening, providing a fast and well damped torque response even if error in estimated speed is present.Experiments confirm the effectiveness of proposed torque control algorithm, smooth transition from the flux oriented control in the base speed region to the voltage angle control in the flux weakening, superior dynamic performance of the voltage angle torque control, and its robustness to an estimated rotor speed error.

Design of Permanent Magnet Synchronous Motor Rotor Position Detection System Based on TLE5012

Currently, the application of permanent magnet synchronous motor is in a wide range of electric vehicle. Field oriented control algorithm is the main way to control permanent magnet synchronous motor, the magnetic field oriented control must be precise to get the rotational position of the motor. Therefore, the performance of the motor position sensor directly affects the accuracy of the magnetic field oriented control. There are three main kinds of sensors: photoelectric position sensor, magnetic position sensor and magnetic sensor. Due to its superior performance, the application of magnetic position sensors is increasingly widespread. This paper designed permanent magnet synchronous motor position detection circuit for the position of permanent magnet synchronous motor based on TLE5012 used to detect the position and 32-bit micro-controllers Infineon TC1767 used as the main chip.

A Quasi-Z-Source Direct Matrix Converter Feeding a Vector Controlled Induction Motor Drive

This paper proposes a novel four-quadrant vector controlled induction motor (IM) adjustable speed drive (ASD) system based on a recently proposed matrix converter topology called quasi-Z-source direct matrix converter (QZSDMC). The QZSDMC is formed by cascading the quasi-Z-source impedance network and the conventional direct matrix converter (DMC). The QZSDMC can provide buck-boost operation with voltage transfer ratio controlled by controlling the shoot-through duty ratio and bidirectional operation capability. The control strategy, which is based on the indirect field oriented control algorithm, is able to control the motor speed from zero to the rated value under full load condition during motoring and regenerating operation modes. The operating principle of the proposed system is presented in detail. The simulation and the real-time implementation results, using dSPACE 1103 ControlDesk, validate the high performance of the proposed four-quadrants IM-ASD based on QZSDMC system. The proposed four-quadrant vector controlled IM-ASD system based on the QZSDMC topology overcomes the voltage gain limitation of the traditional DMC and achieves buck and boost condition in four-quadrant modes with reduced number of switches, therefore achieving low cost, high efficiency, and reliability, compared with back-to-back converter.