WO2004036732A1 - Method in connection with sensorless induction motors - Google Patents
Method in connection with sensorless induction motors Download PDFInfo
- Publication number
- WO2004036732A1 WO2004036732A1 PCT/FI2003/000775 FI0300775W WO2004036732A1 WO 2004036732 A1 WO2004036732 A1 WO 2004036732A1 FI 0300775 W FI0300775 W FI 0300775W WO 2004036732 A1 WO2004036732 A1 WO 2004036732A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- speed
- vector
- observer
- stator
- estimation error
- Prior art date
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Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/141—Flux estimation
Definitions
- the present invention relates to use a of full-order flux observers, and particularly to stabilization of the full-order flux observers for speed- sensorless induction motors in the regenerative mode.
- Speed-sensorless induction motor drives have developed significantly during the past few years.
- Speed-adaptive full-order flux observers [1], [2] are promising flux estimators for induction motor drives.
- the speed- adaptive observer consists of a state-variable observer augmented with a speed-adaptation loop. The observer gain and the speed-adaptation law determine the observer dynamics.
- the conventional speed-adaptation law was originally derived using the Lyapunov stability theorem [1] or the Popov hyperstability theorem [2].
- the stability of the adaptation law is not guaranteed since, controversial assumptions regarding nonmeasurable states have been used in [1], and the positive-realness condition is not satisfied in [2].
- An unstable region encountered in the regenerating mode at low speeds is well known [3]-[5].
- the regenerating-mode low-speed operation is problematic also for the estimators based on the voltage model as shown in [6].
- the size of the unstable region could be reduced or, in theory, even removed by choosing the observer gain suitably [3], [5].
- the methods [3] and [5] are sensitive to very small errors in the motor pa- rameters.
- a seamless transition from the regenerating-mode low- speed operation to higher-speed operation or motoring-mode operation may be problematic.
- An object of the present invention is to provide a method so as to solve the above problem.
- the object of the invention is achieved by a method, which is characterized by what is stated in the independent claim.
- the preferred embodiments of the invention are disclosed in the dependent claims.
- the method of the invention is based on a modified speed- adaptation law where the direction of the error projection is changed in the regenerating-mode low-speed operation.
- the parallel component is also exploited in the regenerating mode.
- Figures 1 and 2 illustrate loci of the current estimation error
- Figure 3a illustrates the linearized model of the observer using the prior art speed-adaptation law
- Figure 3b illustrates the linearized model of the observer using the speed adaptation law according to the invention
- Figure 4a shows a part of the root loci of the prior art speed adaptation law
- Figure 4b shows a part of the root loci of the inventive speed adaptation law
- Figure 5 illustrates the experimental setup
- Figure 6 illustrates a rotor-flux-oriented controller
- Figures 7a-b and 8 illustrate experimental results in the regenerating mode
- Figure 9a illustrates simulation results
- Figure 9b illustrates experimental results
- the parameters of the dynamic r-equivalent circuit of an induction motor are the stator resistance R s , the rotor resistance R R , the stator transient inductance L' s , and the magnetizing inductance LM-
- the angular speed of the rotor is denoted by ⁇ m
- the angular speed of the reference frame 0 the stator current space vector is / s
- the stator voltage u s When the stator flux / s and the rotor flux are chosen as state variables, the state-space representation of the induction motor becomes
- the method according to the invention comprises determining the current vector of the induction motor and determining the stator voltage vector of the induction motor.
- the current vector is obtained, for example, by measuring the currents. In a three-phase system it is usually necessary to measure only two currents.
- the voltage vector is obtained, for example, by measuring the voltage in the apparatus feeding the motor.
- the apparatus is usually a frequency converter with a direct voltage intermediate circuit. By measuring this voltage and combining it with state information of the output switches, the output voltage vector is achieved.
- stator current and the rotor flux are used as state variables in full-order flux observers.
- stator and rotor fluxes are preferred since this allows the observer to be used with stator-flux-oriented control or direct torque control [8] as well as with rotor-flux-oriented control. Consequently, the full-order flux observer is defined by
- Parame- ters ⁇ ' and ⁇ ⁇ are positive constants.
- the parameter ⁇ ' can be considered as an impedance, which may be helpful when choosing ⁇ ' for different motor sizes.
- ⁇ p and ⁇ are the adaptation gains. Only the current estimation error perpendicular to the estimated rotor flux is used to estimate the speed. The adaptation law works well except in the regenerating mode at low speeds.
- the speed-adaptation law according to the present invention is a
- Equation (6) is simple to calculate since lm ⁇ a b* ⁇ can be interpreted as the cross product of the vectors. In the case of (6) the cross product is calculated between stator current estimation error and estimated rotor flux.
- the estimated rotor flux linkage is used.
- the method is also applicable for estimating stator flux linkage. This allows the method to be used in a wide variety of vector control methods.
- Fig. 1 depicts the loci of current estimation error for two different speed estimation errors when the angular slip frequency ⁇ r varies from the negative rated slip to the positive rated slip.
- Figure 1 shows the loci of the current estimation error when the angular slip frequency ⁇ r varies from the negative rated slip to the positive rated slip (the rated slip being 0.05 p.u.).
- the estimated rotor flux reference frame is used in figure 1.
- the locus consisting of the solid curve and the dashed curve shows the current estimation error.
- the condition i sq - ⁇ sq > 0 holds in the motoring-mode operation, but in the regenerating-mode operation at higher slips, it does not hold. Hence, the observer using the prior art adaptation law becomes unstable.
- Figure 2 shows loci of the current estimation error when the angular slip frequency ⁇ r varies from the negative rated slip to the positive rated slip.
- the dashed/solid curve shows the locus corresponding to the prior art adaptation law.
- the locus consisting of the solid curve and the dash-dotted curve corresponds to the adaptation law as used in connection with the present invention.
- the estimated rotor flux reference frame is used. Based on Fig. 2, it can be noticed that the regenerating mode can be stabilized by changing the direction of the error projection. Consequently, the adaptation law (6) according to the method of the invention in the estimated rotor flux reference frame is considered.
- the current estimation error is rotated by factor exp(-j ⁇ ) in the estimated flux reference frame. Since the prior art adaptation law works well in the motoring mode, the angle ⁇ is selected as
- the current error locus resulting from (9) consists of the solid curve and the dash-dotted curve, i.e., the dashed curve was rotated 78° around the origin in order to obtain the dash-dotted curve.
- the condition i sq - ⁇ sq > 0 is valid for all slip frequencies.
- the selection (9) stabilizes the whole regenerating region.
- the parameters ⁇ ax and ⁇ can be substantially varied without losing the stability.
- the adaptation law according to the inventive method is not restricted to the observer gain (4).
- Several observer gains were studied using the steady-state analysis and the linearized model. Even the same values of n a ⁇ and ⁇ as with the observer gain (4) can be used in some cases, e.g., when using the observer gain proposed in [8] or the zero observer gain.
- the nonlinear and complicated dynamics of the speed-adaptive observer can be studied via linearization.
- the key factor in the linearization is to use a synchronous reference frame in order to obtain a dc equilibrium point. In the following, the dynamics of both the motor and the observer are taken into account. Even though the stator dynamics are included in the model, the linearized model is independent of the stator voltage and, consequently, of the current controller.
- the closed-loop system shown in Fig. 3(a) is formed.
- the closed-loop transfer function corresponding to any operating point can be easily calculated using suitable computer software (e.g., MATLAB Control System Toolbox).
- Fig. 4(a) shows the root loci of the linearized closed-loop system corresponding to the regenerating-mode operation.
- the slip frequency is rated and negative. Only the dominant poles are shown. As assumed, the system is unstable at low stator frequencies (a real pole is located in the right half-plane).
- GA d s R ⁇ s j - ⁇ L sB A 2 2 ( ⁇ s-) + ⁇ B° z (s s ) ) (15)
- Fig. 4(b) shows the root loci of the linearized closed-loop system corresponding to the regenerating-mode operation.
- the system is stable also at low stator frequencies (marginally stable when the stator frequency is zero).
- Figures 4(a) and 4(b) show part of the root loci showing the dominant poles in the regenerating mode.
- the slip frequency is rated and negative. Due to symmetry, only the upper half-plane is shown in the Figures 4(a) and 4 (b).
- the regenerating-mode low-speed operation of the speed-adaptive observer was investigated by means of simulations and experiments.
- the MATLAB/Simulink environment was used for the simulations.
- the experimen- tal setup is shown in Fig. 5.
- the 2.2-kW four-pole induction motor (Table I) was fed by a frequency converter controlled by a dSpace DS1103 PPC/DSP board.
- the PM servo motor was used as the loading machine.
- the control system was based on the rotor flux orientation.
- the simplified overall block diagram of the system is shown in Fig. 6, where the electrical variables on the left-hand side of the coordinate transformations are in the estimated flux reference frame and the variables on the right-hand side are in the stator reference frame.
- the digital implementation of the observer proposed in [10] was used.
- the flux reference was 0.9 Wb.
- a Pl-type synchronous-frame current controller was used [12].
- the bandwidth of the current controller was 8 p.u.
- the speed estimate was filtered using a first-order low-pass filter having the bandwidth of 0.8 p.u, and the speed controller was a conventional Pl-controller having the bandwidth of 0.16 p.u.
- the flux controller was a Pl-type controller having the bandwidth of 0.016 p.u.
- the sampling was synchronized to the modulation and both the switching frequency and the sampling frequency were 5 kHz.
- the dc-link voltage was measured, and the reference voltage obtained from the current controller was used for the flux observer.
- a simple current feedforward compensation for dead times and power device voltage drops was applied [13]. It is also understood that the experimental setup is illustrated here only for an example.
- the control system using the method of the invention can be any known system and is not limited to the mentioned rotor-flux-oriented system.
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Ac Motors In General (AREA)
- Control Of Multiple Motors (AREA)
- Arrangements For Transmission Of Measured Signals (AREA)
- Control Of Turbines (AREA)
- Transmission And Conversion Of Sensor Element Output (AREA)
Abstract
Description
Claims
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE60303006T DE60303006T2 (en) | 2002-10-18 | 2003-10-17 | PROCESS IN CONNECTION WITH SENSORLESS INDUCTION MOTORS |
EP03753624A EP1464110B1 (en) | 2002-10-18 | 2003-10-17 | Method in connection with sensorless induction motors |
US10/497,460 US6940253B2 (en) | 2002-10-18 | 2003-10-17 | Method in connection with sensorless induction motors |
AU2003271790A AU2003271790A1 (en) | 2002-10-18 | 2003-10-17 | Method in connection with sensorless induction motors |
AT03753624T ATE314752T1 (en) | 2002-10-18 | 2003-10-17 | METHOD IN CONNECTION WITH SENSORLESS INDUCTION MOTORS |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FI20021865A FI114420B (en) | 2002-10-18 | 2002-10-18 | Method for Full-Order Goat Detectors for Sensorless Short Circuit Motors |
FI20021865 | 2002-10-18 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2004036732A1 true WO2004036732A1 (en) | 2004-04-29 |
Family
ID=8564785
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/FI2003/000775 WO2004036732A1 (en) | 2002-10-18 | 2003-10-17 | Method in connection with sensorless induction motors |
Country Status (8)
Country | Link |
---|---|
US (1) | US6940253B2 (en) |
EP (1) | EP1464110B1 (en) |
CN (1) | CN100345370C (en) |
AT (1) | ATE314752T1 (en) |
AU (1) | AU2003271790A1 (en) |
DE (1) | DE60303006T2 (en) |
FI (1) | FI114420B (en) |
WO (1) | WO2004036732A1 (en) |
Cited By (2)
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EP1741655A1 (en) | 2005-07-08 | 2007-01-10 | Schärer Schweiter Mettler AG | Device for winding of yarns |
CN102236074A (en) * | 2010-04-30 | 2011-11-09 | 西门子公司 | Apparatus used for identifying parameters of induction motor and method thereof |
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US8852417B2 (en) | 1999-04-13 | 2014-10-07 | Applied Materials, Inc. | Electrolytic process using anion permeable barrier |
US7106021B2 (en) * | 2004-05-04 | 2006-09-12 | International Business Machines Corporation | Method, system, and program product for feedback control of a target system utilizing imposition of a periodic modulating signal onto a command signal |
JP4581574B2 (en) * | 2004-09-08 | 2010-11-17 | 株式会社ジェイテクト | Motor control device and electric power steering device |
US7449860B2 (en) * | 2005-01-05 | 2008-11-11 | Honeywell International Inc. | Control technique for limiting the current of an induction machine drive system |
ATE445930T1 (en) * | 2006-06-15 | 2009-10-15 | Abb Oy | METHOD AND SYSTEM RELATED TO PERMANENT MAGNETIC SYNCHRONOUS MACHINES |
DE102009039672B4 (en) | 2009-09-02 | 2024-03-07 | Sew-Eurodrive Gmbh & Co Kg | Method for determining the rotor position of a field-oriented synchronous machine |
EP3154183B1 (en) * | 2010-03-08 | 2020-09-09 | Johnson Controls Technology Company | Method and system for controlling a permanent magnet synchronous motor |
US8736222B2 (en) * | 2010-10-15 | 2014-05-27 | Lsis Co., Ltd. | Flux controller for induction motor |
US8988035B2 (en) | 2012-12-19 | 2015-03-24 | Eaton Corporation | System for determining a magnetizing curve and rotor resistance of an induction machine and method of making same |
KR101583951B1 (en) * | 2014-07-02 | 2016-01-08 | 현대자동차주식회사 | Control device and method for improving inverter output of green car |
US9985563B2 (en) * | 2016-01-11 | 2018-05-29 | Mitsubishi Electric Research Laboratories, Inc. | Method and system for controlling angular speeds of motors in speed sensorless induction motors |
US10218301B1 (en) * | 2018-01-09 | 2019-02-26 | Mitsubishi Electric Research Laboratories, Inc. | System and method for speed sensorless motor drives |
CN109245649A (en) * | 2018-09-27 | 2019-01-18 | 湖南沃森电气科技有限公司 | A kind of method and its system calculating motor magnetic linkage phase and speed based on phaselocked loop |
CN112468050B (en) * | 2020-11-03 | 2023-09-01 | 中国直升机设计研究所 | Rotating speed control method capable of controlling motor phase |
CN112968641A (en) * | 2021-02-08 | 2021-06-15 | 博升荟芯(上海)汽车电子有限公司 | Method for controlling stable work of induction motor |
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EP0921632A2 (en) * | 1997-12-08 | 1999-06-09 | Kabushiki Kaisha Meidensha | Vector control apparatus and method for induction motor using magnetic flux observer of full order |
US6281659B1 (en) * | 1999-03-19 | 2001-08-28 | Fuji Electric Co., Ltd. | Induction motor drive and a parameter estimation method thereof |
US20010043048A1 (en) * | 2000-03-10 | 2001-11-22 | Fuji Electric Co., Ltd. | Speed sensorless vector control apparatus |
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JP3257566B2 (en) * | 1992-06-16 | 2002-02-18 | 株式会社安川電機 | PG-less vector control device for induction motor |
DE19545709C2 (en) * | 1995-12-07 | 2000-04-13 | Danfoss As | Method for field-oriented control of an induction motor |
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JP4411796B2 (en) * | 2001-04-27 | 2010-02-10 | 富士電機システムズ株式会社 | Control system, observer and control method for induction motor drive without speed sensor |
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2002
- 2002-10-18 FI FI20021865A patent/FI114420B/en not_active IP Right Cessation
-
2003
- 2003-10-17 WO PCT/FI2003/000775 patent/WO2004036732A1/en not_active Application Discontinuation
- 2003-10-17 AT AT03753624T patent/ATE314752T1/en not_active IP Right Cessation
- 2003-10-17 DE DE60303006T patent/DE60303006T2/en not_active Expired - Lifetime
- 2003-10-17 AU AU2003271790A patent/AU2003271790A1/en not_active Abandoned
- 2003-10-17 EP EP03753624A patent/EP1464110B1/en not_active Expired - Lifetime
- 2003-10-17 CN CNB2003801000475A patent/CN100345370C/en not_active Expired - Fee Related
- 2003-10-17 US US10/497,460 patent/US6940253B2/en not_active Expired - Lifetime
Patent Citations (3)
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EP0921632A2 (en) * | 1997-12-08 | 1999-06-09 | Kabushiki Kaisha Meidensha | Vector control apparatus and method for induction motor using magnetic flux observer of full order |
US6281659B1 (en) * | 1999-03-19 | 2001-08-28 | Fuji Electric Co., Ltd. | Induction motor drive and a parameter estimation method thereof |
US20010043048A1 (en) * | 2000-03-10 | 2001-11-22 | Fuji Electric Co., Ltd. | Speed sensorless vector control apparatus |
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Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP1741655A1 (en) | 2005-07-08 | 2007-01-10 | Schärer Schweiter Mettler AG | Device for winding of yarns |
WO2007006475A1 (en) * | 2005-07-08 | 2007-01-18 | SSM Schärer Schweiter Mettler AG | Apparatus for reeling yarns |
CN102236074A (en) * | 2010-04-30 | 2011-11-09 | 西门子公司 | Apparatus used for identifying parameters of induction motor and method thereof |
Also Published As
Publication number | Publication date |
---|---|
FI114420B (en) | 2004-10-15 |
DE60303006T2 (en) | 2006-07-20 |
ATE314752T1 (en) | 2006-01-15 |
FI20021865A (en) | 2004-04-19 |
US20050001583A1 (en) | 2005-01-06 |
DE60303006D1 (en) | 2006-02-02 |
EP1464110A1 (en) | 2004-10-06 |
FI20021865A0 (en) | 2002-10-18 |
CN100345370C (en) | 2007-10-24 |
US6940253B2 (en) | 2005-09-06 |
AU2003271790A1 (en) | 2004-05-04 |
EP1464110B1 (en) | 2005-12-28 |
CN1685605A (en) | 2005-10-19 |
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