Dynamic control of electronic differential in the field weakening region

A simple and dynamic electronic differential control method for an outer rotor motor driven electric vehicle based on fuzzy gain scheduling of PI gains method is proposed for constant torque and power region operation using brushless direct current (BLDC) machine. The proposed method is quite insensitive to torque fluctuations and transient speed oscillations due to surface mounted permanent magnet (SMPM) BLDC machines constraints in the field weakening region. To improve the dynamics and stability of the electronic differential system and eliminate the skidding of the wheels and reduce the heating of electric machine in the wide speed range operation, a robust control method is developed. Moreover, PI controller gains are updated continuously by fuzzy gain scheduling approach which has phase advance angle, steering angle and measured speed as controller input parameters in order to eliminate the errors caused from the variable road conditions and torque oscillations in the field weakening region. The proposed method is implemented with 2 × 1.5 kW BLDC motor drive controlled by a TMS320F28335 digital signal processor (DSP). The experimental results show that the proposed method exhibits greater stability under various load, road and vehicle speed conditions.     

Torque capability and control of a saturated induction motor over awide range of flux weakening

The first part of this paper covers an investigation of the maximum torque which an induction motor with saturated air gap inductance can generate over its permitted speed range, when voltage as well as current are limited. From the investigation, three regions of operating speed are identified, based on limiting quantities which determine the maximum obtainable torque. In each of these regions a different control strategy must be applied. When maximum torque is not required, efficiency can be optimized but this strategy should not be applied at low torque levels when good dynamic performance is required. The second part illustrates how a modified rotor flux oriented control strategy is applied to achieve full utilization of the torque capability over the whole speed range. Several measures for improving dynamic and transient behavior of the drive in the flux weakening region are suggested. Performance of the new control strategy is verified by experiments     

Extending the constant power speed range of the brushless DC motor through dual-mode inverter control

An inverter topology and control scheme has been developed and tested to demonstrate that it can drive low-inductance, surface mounted permanent magnet motors over the wide constant power speed range (CPSR) required in electric vehicle applications. This new controller, called the dual-mode inverter controller (DMIC) , can drive both the Permanent Magnet Synchronous Machine with sinusoidal back emf, and the brushless dc machine (BDCM) with trapezoidal emf as a motor or generator. Here we concentrate on the application of the DMIC to the operation of the BDCM in the motoring mode. Simulation results, supported by closed form analytical expressions, show that the CPSR of the DMIC driven BDCM is infinite when all of the motor and inverter loss mechanisms are neglected. The expressions further show that the ratio of high-to-low motor inductances accommodated by the DMIC is 11 making the DMIC compatible with both low- and high-inductance BDCMs. Classical hysteresis-band motor current control used below base speed is integrated with DMICs phase advance above base speed. The power performance of the DMIC is then simulated across the entire speed range. Laboratory testing of a low-inductance, 7.5-hp BDCM driven by the DMIC demonstrated a CPSR above 6:1. Current peak and rms values remained controlled below rated values at all speeds. A computer simulation accurately reproduced the results of lab testing showing that the limiting CPSR of the test motor is 8:1.     

Voltage, frequency, and phase-difference angle control of PWMinverters-fed two-phase induction motors

A phase-difference angle (PDA) controlled pulsewidth-modulated (PWM) inverter is proposed for a two-phase induction motor adjustable speed drive. Output waveforms are fixed over the whole operating range of the motor. The motor torque is controlled not by the modulation of the phase voltage, but by the PDA. Based on the selected harmonic elimination (SHE) PWM technique, the commutation angles of the output voltage are calculated. Several characteristics of the two-phase induction motor driven by the PDA inverter are analyzed. A hybrid PWM inverter is also proposed to compensate for the degradation of the efficiency at small PDA. Not only the PDA but also the voltage amplitude and frequency are used as the parameters for controlling the torque of the motor in the hybrid inverter. The speed characteristics of the two-phase induction motor driven by the hybrid PWM inverter are more flexible than when the motor is driven by the conventional PWM inverter, which requires adjustable communication angles     

Speed sensorless stator flux-oriented control of induction motor in the field weakening region using Luenberger observer

In a conventional speed sensorless stator flux-oriented (SFO) induction motor drive, when the estimated speed is transformed into the sampled-data model using the first-forward difference approximation, the sampled-data model has a modeling error which, in turn, produces an error in the rotor speed estimation. The error included in the estimated speed is removed by the use of a low pass filter (LPF). As the result, the delay of the estimated speed occurs in transients by the use of the LPF. This paper investigates the problem of a conventional speed sensorless SFO system due to the delay of the estimated speed in the field weakening region. In addition, this paper proposes a method to estimate exactly speed by using Luenberger observer. The proposed method is verified by the simulation and experiment with a 5-hp induction motor drive.     

异步电机直接转矩弱磁控制研究

针对异步电机直接转矩控制系统的弱磁控制,提出了一种新的弱磁控制策略。该策略最基本的思想就是使磁链给定值跟随着转矩误差的变化。该算法不需要复杂的电机参数而且能够实现各个速度段的平滑过度。在整个运转过程中限制定子磁链不超过设定值,在不同的速度区段给定不同的定子磁链,易于实现。最后,文章通过仿真验证了该控制策略可实现异步电机直接转矩控制系统的弱磁升速和减速过程。     

Gain scheduling control of DC motor drive with field weakening

A new adaptive control system for a DC motor drive with field weakening is proposed. The adaptation mechanism is based on the gain scheduling. A deep knowledge of the phenomena in the drive was necessary to define the scheduled variables that capture the essential nonlinearities of the process considered. However, in practice, to realize the proposed adaptive control system, the only a priori knowledge required is the experimentally determined magnetization curve. Simulation and experimental results indicating high performances of the control system proposed, are presented     

Development of a hybrid flywheel/battery drive system for electric vehicle applications

Today's electric vehicles are severely limited in multistop and go driving range and accelerating capability by the lead acid battery's inability to handle high power peaks while maintaining maximum energy storage capability. A hybrid flywheel/battery system can be used to isolate the battery from the accelerating power peaks, and should recover a substantial part of the braking energy. This paper describes the development of a small, high speed, lightweight flywheel/ ac synchronous motor alternator sealed energy storage package coupled into the battery and dc drive motor system through a simple rectifier/inverter power circuit. This system stores just enough energy in the rotor of the machine for one start-stop cycle. Provision is made to add a flywheel to store energy for several cycles, or enough energy for climbing or descending long grades. The fields of the two machines are electronically controlled to achieve optimum performance and effective energy utilization.     

Computer-aided design and analysis of direct-driven wheel motordrive

This paper presents the computer-aided design (CAD) and performance analysis of a novel direct-driven wheel brushless DC motor drive for electric vehicles (EVs). The proposed motor is a permanent magnet square-wave motor, whose rotor with rare earth magnets forms the exterior of the motor, which can be fitted with a wheel tire to realize the direct drive for each wheel of an EV. The interior stator with its windings is rigidly mounted onto the suspension and frame structure of the vehicle. In order to achieve the direct drive without any mechanical transmission for EVs, the wheel motor has been designed as a low-speed high-torque motor. The design and optimization of the motor geometry was achieved with the aid of finite-element electromagnetic field analysis. Simulation studies on the transient performance of the motor drive were also carried out. This involved the creation of the motor transient model and formulation of a motor control strategy to ensure the wheel motor drive runs efficiently in the entire permitted speed and load range. The application of CAD techniques in the design of this very unconventional drive is described in this paper     

基于直流电机控制与驱动模块的研究与应用

直流电机控制与驱动模块是基于单片机技术和PWM驱动所实现的直流调速控制技术,运用AVR编程技术、串口通信技术、电子制版技术,通过小型电子模块的表现方式,将小型直流电机的驱动与控制功能集成在一块小型的电路板上,为各种小功率的直流电机和直流减速电机提供控制与驱动。     

Kalman filter and LQ based speed controller for torsional vibrationsuppression in a 2-mass motor drive system

In this paper, a high-performance speed control for torsional vibration suppression in a 2-mass motor drive system, like a rolling mill which has a long shaft and large loadside mass or a robot arm which has flexible coupling, was studied. The speed control method which has better control response than a typical one in command following, torsional vibration suppression, disturbance rejection, and robustness to parameter variation, was proposed. The performance of command following, torsional vibration suppression, and robustness to parameter variation was satisfied by using a Kalman filter and LQ based speed control with an integrator. Also, disturbance rejection performance was improved through load torque compensation. Through various experiments of a real 22 kW field oriented controlled AC motor drive system having 2-mass mechanical system, the characteristics of the proposed speed controller and typical PI speed controller were compared and analyzed     

Microprocessor-based DC motor drive with spillover field weakening

A microprocessor-based speed control scheme for a separately excited DC motor fed from a DC source, which incorporates both armature-voltage control and spillover field weakening to provide smooth and precise control from standstill to speeds well above the base value, is described. Armature-current limitation during transient operation is achieved using an interventionist system external to the microprocessor controller, thereby simplifying considerably the overall system design. Experimental results obtained from a prototype 5 kW drive are presented to illustrate the excellent dynamic behavior of the scheme     

Analysis and performance of a novel two-phase drive for fan andwater-pumping applications

The authors describe a novel form of drive, comprising a two-phase induction motor fed by a two-phase inverter, for use in heating, ventilating, demisting, engine-cooling, and water-pumping applications in public service vehicles and passenger cars. A theoretical analysis of the arrangement is presented and a comparison is made between a number of predicted and experimental characteristics for two practical designs. One of these is a fan drive for engine-compartment ventilation and the other a motor-pump drive for a water-cooling system. In both cases, an acceptable range of speed control is achieved (i.e. ±10% of the normal full-load speed of 3300 r/min.), and an accurate prediction of the performance is provided     

Active damping of drive train oscillations for an electrically driven vehicle

A problem encountered with electrically driven vehicles are resonances in the drive train caused by elasticity and gear play. Disadvantageous effects caused by this are noticeable vibrations and high mechanical stresses due to torque oscillations. The oscillations can be damped using a control structure consisting of a nonlinear observer to estimate the torque in the gear and a controller, which computes a damping torque signal that is added to the driver's demand. The control algorithm was implemented in the existing motor control unit without any additional hardware cost. The controller was successfully tested in a test vehicle. The resonances can essentially be eliminated. The controller copes satisfactorily with the backlash problem.     

Novel permanent magnet motor drives for electric vehicles

Novel permanent magnet (PM) motor drives have been successfully developed to fulfil the special requirements for electric vehicles such as high power density, high efficiency, high starting torque, and high cruising speed. These PM motors are all brushless and consist of various types, namely rectangular-fed, sinusoidal-fed, surface-magnet, buried-magnet, and hybrid. The advent of novel motor configurations lies on the unique electromagnetic topology, including the concept of multipole magnetic circuit and full slot-pitch coil span arrangements, leading to a reduction in both magnetic yoke and copper, decoupling of each phase flux path, and hence an increase in both power density and efficiency. Moreover, with the use of fractional number of slots per pole per phase, the cogging torque can be eliminated. On the other hand, by employing the claw-type rotor structure and fixing an additional field winding as the inner stator, these PM hybrid motors can further provide excellent controllability and improve efficiency map. In the PM motors, by purposely making use of the transformer EMF to prevent the current regulator from saturation, a novel control approach is developed to allow for attaining high-speed constant-power operation which is particularly essential for electric vehicles during cruising. Their design philosophy, control strategy, theoretical analysis, computer simulation, experimental tests and application to electric vehicles are described     

Studies on the effect of filtering, digitization, and computationalgorithm on the ABC-DQ current transformation in PWM inverter drivesystem

In the automotive industry, PWM inverter controlled drive systems find extensive applications in electric vehicles and other motion control systems. A PWM inverter controlled three-phase brushless synchronous motor drive requires a microprocessor based controller to implement the control algorithms. The practical implementation of the control algorithms sometimes calls for the use of lookup tables involving discretized quantities. All these processes and the devices introduce nonidealities and errors in the drive system. Of particular importance in such a system is the ABC-DQ current transformations when vector control is implemented. In automotive applications, the emphasis is to design and realize accurate motion control systems in the most economic manner possible. Hence the effects of filtering, digitization, quantization, and digital computation algorithms and the accompanying inaccuracies introduced by them during the ABC-DQ current transformation in PWM drive system have to be dealt with in a careful manner for an optimum and economic choice of system design to be possible. Some of these aspects are discussed in this paper. The studies lead to a better understanding of the importance of various parameters of power electronics systems and in turn contribute towards the proper selection of parameters and therefore help the design process     

Stabilizing control method for suppressing oscillations ofinduction motors driven by PWM inverters

A novel control method that suppresses oscillations generated when an induction motor is driven by PWM (pulse width modulated) inverters is described. The suppression is done by keeping the power direction constant throughout the period of oscillation of the negative current component of the inverter input current. This period is determined only by the frequency of the PWM signals. Because it is not affected by motor parameters, such as the number of poles or motor capacity, the gains of the regulator in the control system do not have to be adjusted, even if this method is applied to various kinds of induction motor drive systems. Experiments have proven that oscillations can be suppressed regardless of the motor type or speed. This stabilizing control is suitable for general-purpose inverters that drive various types of motors     

Adaptive Sliding-Mode Neuro-Fuzzy Control of the Two-Mass Induction Motor Drive Without Mechanical Sensors

In this paper, the concept of a model reference adaptive control of a sensorless induction motor (IM) drive with elastic joint is proposed. An adaptive speed controller uses fuzzy neural network equipped with an additional option for online tuning of its chosen parameters. A sliding-mode neuro-fuzzy controller is used as the speed controller, whose connective weights are trained online according to the error between the estimated motor speed and the speed given by the reference model. The speed of the vector-controlled IM is estimated using the $hbox{MRAS}^{rm CC}$ rotor speed and a flux estimator. Such a control structure is proposed to damp torsional vibrations in a two-mass system in an effective way. It is shown that torsional oscillations can be successfully suppressed in the proposed control structure, using only one basic feedback from the motor speed given by the proposed speed estimator. Simulation results are verified by experimental tests over a wide range of motor speed and drive parameter changes.      

A space vector modulated CSI-based AC drive for multimotorapplications

A space vector controlled channel state information (CSI) drive for multimotor applications is investigated. The multimotor operation of the drive is achieved by integrating the proposed active damping control, inverter-side DC link voltage feedforward control and pulse width modulation (PWM) index control into the conventional V/f control. The main function of the active damping control is to suppress possible LC resonances caused by the inverter filter capacitor and motor inductances. This function is essential in achieving stable operation of the drive, especially in the multimotor drive where multiple LC resonant modes exist. An additional advantage provided by the active damping control is that it makes the control system less sensitive to motor parameters. The inverter-side DC link voltage feedforward control and the adjustable PWM modulation index control are developed to improve the dynamic performance of the drive system. In addition, the proposed space vector PWM pattern features a low switching frequency (500 Hz), which makes the proposed drive system suitable for high power applications. The system stability is investigated by means of eigenvalue analysis. The theoretic analysis is verified by experiments on a digital signal processing (DSP) controlled CSI multimotor drive     

Speed sensorless stator flux-oriented control of induction machine in the field weakening region

In a conventional speed sensorless stator flux-oriented (SFO) induction machine drive system, when the estimated speed is transformed into the sampled-data model using the first-forward difference approximation, a modeling error occurs in the sampled data model. As the result, an error in the rotor speed estimation is produced. The error included in sampled data model of the estimated speed is removed by the use of a digital low pass filter (LPF). However, the delay of the estimated speed occurs in transients due to the use of the LPF. Consequently, current control loss occurs at the transition to field weakening region by the delay of the estimated speed. This paper investigates the problem of a conventional speed sensorless SFO system produced by the delay of the estimated speed in the field weakening region. In addition, this paper proposes a new method to estimate exactly rotor speed by using a Kalman filter. The proposed method is verified by simulation and experiment.