Tomasz Tarczewski

Constrained State Feedback Speed Control of PMSM Based on Model Predictive Approach

This paper presents constrained state feedback speed control of a permanent-magnet synchronous motor (PMSM). Based on classical control theory, nonlinear state-space model of PMSM is developed. A simple linearization procedure is employed to design a linear state feedback controller (SFC). Digital redesign of a SFC is carried out to achieve discrete form suitable for implementation in a DSP. Model predictive approach is used to a posteriori constraint introduction into control system. It overcomes limitations of motion control system with nonconstrained SFC resulting in low dynamic properties. The novel concept utilizes machine voltage equation model to calculate the boundary values of control signals which provide permissible values of the future state variables. Secondary control objectives such as zero d-axis current are included. Simulation and experimental results are presented to validate the proposed constrained state feedback control algorithm in comparison to nonconstrained state feedback control and cascade control structure, respectively.

PMSM servo‐drive control system with a state feedback and a load torque feedforward compensation

Purpose – The purpose of this paper is to discuss the design and verification of a non‐classical structure of servo‐drive controller with the state feedback and a load torque feedforward compensation.Design/methodology/approach – First a well known nonlinear mathematical model of a PMSM is transformed into a linear form by introducing new variables. The state space new model presented in rotated orthogonal reference frame is decoupled by means of equation in d and q axis. To achieve correct dynamic performance of the servo‐drive system the state feedback with an internal input model and load torque feedforward compensation is proposed. The observed load torque has been used as an input signal for the feedforward compensator. The design of the control system and simulation analysis were performed in Matlab/Simulink. The proposed control algorithm was implemented in a DSP controller (TMS320F2812). The experiments were carried out by using a 0.6 kW PMSM drive system.Findings – It is shown that the proposed c...

PMSM fed by 3-level NPC sinusoidal inverter with discrete state feedback controller

In this paper new discrete non-stationary linear-quadratic speed regulator for PMSM fed by 3-level NPC sinusoidal inverter is presented. Controlled sinus wave inverter with an output LC filter was used in order to reduce electromagnetic torque ripple of the motor. The novelty of the proposed control system consists in one state feedback controller using in order to control the angular velocity of the motor as well as to provide true sine wave of the motor voltages. It was found that some gains of the designed discrete controller are non-stationary and depends on the angular velocity of the motor. Use of non-stationary controller causes, that linearization and decoupling process of the motor with LC filter is not needed. Simulation test results of the designed control system are compared with results obtained for PMSM fed by classical 2-level inverter. Proposed control system can be used in industrial applications where torque ripple minimization is needed instead high dynamic performance.

Permanent magnet synchronous motor discrete linear quadratic speed controller

This paper describes a discrete linear quadratic speed regulator (LQR) for permanent magnet synchronous motor design. Linearization and decoupling processes of a motor model were discussed. An internal input model was introduced to control algorithm in order to eliminate the steady state speed error caused by step reference speed as well as load torque variations. Simulation tests of the drive system with the PMSM, were carried out in the Matlab-Simulink environment. The designed discrete control algorithm was implemented in a digital signal processor (TMS320F2812) and tested in a setup system. Simulation and experiment test results confirm properly operation of the designed drive system.

State feedback control of the PMSM servo-drive with sinusoidal voltage source inverter

This paper describes a new linear-quadratic non-stationary position regulator (LQR) for the permanent magnet synchronous motor servo-drive with sinusoidal voltage source inverter. The LC filter is used in order to reduce an electromagnetic torque ripple and to improve the servo-drive performance. Modelling process of a motor and LC filter was discussed. An internal input model was introduced to proposed control algorithm in order to eliminate the steady state position error caused by ramp reference position as well as load torque variations. Zero direct current control strategy was used in the described algorithm. Linear-quadratic optimization method was applied to determine non-stationary controller coefficients. Properties of the proposed control system have been verified in the simulation studies.

Torque ripple minimization for PMSM using voltage matching circuit and neural network based adaptive state feedback control

In this paper a new neural network based adaptive state feedback controller used to torque ripple minimization for PMSM is presented. A simple adaptation algorithm is proposed to determine an appropriate value of inverter DC voltage and, in consequence, non-linear coefficients of the controller. The novelty of the proposed approach lays in precisely control the level of inverter DC voltage required for proper operation of the motor as well as in neural network based approximation of state feedback controller coefficients. An additional voltage matching circuit with buck converter and state feedback controller is depicted. Simulation studies illustrate significant torque ripple reduction for the proposed approach in comparison to motor fed by 2-level and 3-level inverters.

Permanent magnet synchronous servo-drive with state position controller

This paper presents a design approach of a position controller for permanent magnet synchronous motor (PMSM) servo-drive. Firstly the well know nonlinear mathematical model of PMSM is evaluated to a linear form by introducing new variables. The state space new model presented in rotates ortogonal reference frame is decupled in means of equation in d and q axis. An internal input model have been used to achive zero steady state error for step input and as well as disturbance rejection. The proposed control method is implemented and tested in a 0,6 kW PMSM drive (TMS320F2812-DSP). The experimental test results are consistent with our computer simulation test results and validate the high performance of proposed control method.

Constrained state feedback control of DC-DC power converter based on model predictive approach

This paper presents novel constrained state feedback controller designed for SiC MOSFET DC-DC power converter. First, discrete state feedback controller (SFC) with feedforward path and load-current observer is proposed. Next, model predictive approach (MPAC) is used to a posteriori constraint introduction into control system. The proposed control scheme is tested through experiments at switching-frequency of 32 kHz, regarding reference and load variations. It is shown that, thanks to the introduction of model predictive approach constraint into control system, a much better dynamic behavior was obtained, in comparison to non-constrained state feedback control.

9 kW SiC MOSFET based DC/DC converter

In this paper a 9 kW DC/DC converter based on SiC MOSFET devices is presented. Precise control of the output voltage is realized with the help of a state feedback controller with an additional integral action. Simulation and experimental test results as well as an efficiency of DC/DC converter are presented. The behavior of the converter was investigated during no-load and variable load operation. Device efficiency was also investigated and it was found that the efficiency exceed 98% in a wide operating range.

PMSM Servo-Drive Fed by SiC MOSFETs Based VSI

Abstract The article presents modern PMSM servo-drive with SiC MOSFETs power devices and microprocessor with ARM Cortex core. The high switching frequency is obtained due to the application of high efficient power switching components and powerful microprocessor. It allows to achieve good dynamical properties of current control loop, proper disturbance compensation and silent operation of servo-drive. Experimental tests results obtained for two different control schemes (i.e., cascade control structure and state feedback position control) are presented.