EPE Association: EPE-PEMC 2008 - Topic: Motion Control

EPE-PEMC 2008 - Topic: Motion Control
You are here: EPE Documents > 04 - EPE-PEMC Conference Proceedings > EPE-PEMC 2008 - Conference > EPE-PEMC 2008 - Topic: Motion Control

   [return to parent folder]

   3-Axes Satellite Attitude Control Based on Biased Angular Momentum
By Azam Ghaedi [View]
[Download]

Abstract: Satellites are used for telecommunications, telephotography and scientific experiments. In almost all of these cases, the exact orientation of satellite antennas toward the earth station is crucial. In this paper the attitude control system of the satellite will be designed in such a way that one specific point of the satellite will be always accurately oriented towards the earth station. In this way, to have the required quantity of the angular momentum, the use of momentum wheel actuator and magnetic torque generators are proposed. Three distinct modes are defined for a full positioning of the satellite to the desired direction; detumbling mode, spin-up of momentum wheel mode and the normal mode. In the first, the target is to decrease the angles φ and ψ and their time rate φ and ψ This will be done by designing a PD controller in roll and yaw directions. The control torque is applied to the satellite body to achieve the desired control. In the second mode, the momentum wheel speed will be increased so high that the changes in φ, θ and ψ and their time rate φ, θ and ψ are minimized and this gives the requested stability in the pitch direction. In the normal mode, the satellite should be oriented towards earth and hold its direction, during which ψ, θ and ψ should be zero.

   A Very Simple Fuzzy Control System for Inverter Fed Synhronous Motor
By Paweł Fabijański [View]
[Download]

Abstract: This paper deals with fuzzy logic control of inverter fed synchronous motor. In this paper mathematical model of the motor drive system and stability condition of fuzzy logic control algorithm are represented. The essential fuzzy logic control configuration system consists of an internal current regulation loop and an external speed regulation loop. PID controller generally controls the speed and current loop in these systems. To control a inverter fed synchronous machine a host computer and a special microprocessor system with dSPACE 1104 central unit as a micro-controller is used. Most important results of our investigation is to find a simply mathematical model of our motor drive system. Then stability conditions are determined for current and speed controller. The simulated results were compared during the laboratory test on 600 W synchronous motor.

   Adaptive PF Speed Control of SRM Drives
By Laszlo Szamel [View]
[Download]

Abstract: This paper proposes two model reference adaptive PF speed control methods for SRM drives. Following from the structure of model reference parameter adaptive PF control it makes it easier to reach overshootless as well as fast speed changing compensation caused by jump in load. The approaching block diagram of the model reference signal adaptive control can be seen as an extended version of the PF controller, so one of the adaptation factors (which is the free parameter of the adaptive control) is given. Both model reference adaptive controls drawn up can be easily implemented because the adaptation algorithms do not need acceleration measuring.

   Closed Loop Control of AC Drive with LC Filter
By Jaroslaw Guzinski [View]
[Download]

Abstract: In electric drives with frequency converter a LC filter is used to smooth the voltages and currents supplying the AC motors. Unfortunately the LC filter introduces the phase shift and voltage drop on input and output of the filter. It makes difficult to implement precise control of the electric motors especially in the case of speed sensorless control methods. It is necessary to change the used control system and the state variables calculate block in case of the drive with the filter. In this paper a method for an asynchronous motor speed sensorless control in the system with inverter and LC output filter is presented. In the proposed system a nonlinear control method of the asynchronous motor and the speed and flux observer structure were modified. The system does not need any additional sensors except these which were previously used in the system without LC filter. The proposed electric drive was realized in simulation and experiment for 1.5 kW asynchronous motor.

   Closed-Loop Control of Virtual FPGA-Coded Permanent Magnet Synchronous Motor Drives Using a Rapidly Prototyped Controller
By Christian Dufour [View]
[Download]

Abstract: Presented in this paper are the results of closed-loop control experiments using a virtual permanent magnet synchronous motor (PMSM) drive implemented on a field-programmable gate array (FPGA) card connected to an external controller. The FPGA-based PMSM motor drive is implemented on an eDRIVEsim simulator, based on the RT-LAB platform. The eDRIVEsim simulator implements 2 types of motor drive models, Park (d-q) and Finite Element Analysis (FEA), on an FPGA card of the simulator.The FPGA-based motor model is designed with Xilinx System Generator (XSG) blockset with no HDL hand coding. Both motor models compute motor currents using a phase-domain algorithm solver that can take into account the instantaneous variation of inductance and non-sinusoidal induced voltage. The FEA-type model uses inductance and Back-EMF profiles computed with JMAG-RT. The d-q model uses sinusoidal induced Back-EMF voltage and phase inductance values computed from Ld and Lq using the well-known Park transformation. A 3-phase IGBT inverter implemented in the FPGA chip drives the PMSM machine. The PWM controller is designed using Rapid Control Prototyping (RCP) methodology based on Simulink. It is implemented on an separate RT-LAB system using standard Opal-RT FPGA-based I/O cards for Analog Input capture and PWM generation. The paper presents results from the closed-loop control of the PMSM drive in both current control and speed control modes and discusses the advantages of using such a virtual test bench for motor drives.

   Comparison of Dynamic Performances of Speed Control System Containing Time - Minimal Speed Controller with Control System Containing PI Speed Controller
By Andrzej Andrzejewski [View]
[Download]

Abstract: In this paper the dynamic performances of two speed control systems of DC motor are compared. There are compared dynamic features of the classical speed control system containing PI speed controller and the speed control system with time - minimal speed controller. Comparison is done on the basis of simulation investigation results.

   Controlling System of Electrodynamic Drive
By Josef Černohorský [View]
[Download]

Abstract: The winding and unwinding process is very common in textile industry. Nowadays solutions of winding drive with centralized drive and mechanical cams do not fulfil requirement on production of modern textile machine. Therefore we develop low-power model of linear electrodynamic drive. This article is aimed at controlling system based on ADSP 21992 and at mathematical modelling. For power electronics design we make mathematical model of electrodynamic motor. We also made a mathematical model of traverse bar for emulating of load during mathematical simulation of electrodynamic drive. The results of mathematical simulation and real drive parameters are discussed in conclusion.

   Distributed Control System of DC Servomotors for Six Legged Walking Robot
By D. Belter [View]
[Download]

Abstract: The multi-layered drives control for walking robot is discussed. It is a six-legged robot with 18 DOF. There is one DC-Servomotor for each joint. Synchronization of drives is a matter as walking is performed in unpredictable environment, and under high measurement uncertainty. It is done through distributed control of the robot. Each leg has it's separate controller. Leg controllers are connected to robot master controller. The master controller is responsible for communication between legs and host computer. The article also addresses sensing system issues for walking robot and control loops closed through these sensors.

   Expert System for Electric Drive Design
By Juhan Laugis [View]
[Download]

Abstract: The problem of electric drive design concerns the multi-criteria non-linear problems having a number of solutions. In daily practice the search of optimum solution bases a great deal on the designer intuition and experience. Therefore, multiple obtained results have a low degree of equipment use, unwarranted complexity, or excessive cost. Proposed approach is devoted to implementation of the novel expert system into the design stages concerned the work with databases of the drive components. Examples of effective algorithms are given to choose an optimum ratio of electrical and mechanical components. The soft tool is developed to generate and edit structured query language sentences, to extract information from databases, as well as to suit multitude sets for particular applications.

   Improvement of Moving Characteristics of Cableless Micro-Actuator and Consideration of Reversible Motion
By Hiroyuki Yaguchi, Toshihiro Zamma and Koichi Funayama [View]
[Download]

Abstract: We previously proposed a novel cableless micro-actuator that provides propulsion using the mechanical resonance energy of a system excited by an electromagnetic force. However, it was possible for that the actuator to move only one direction and comparative low speed locomotion. This paper proposes a cableless micro-actuator that exhibits a high speed locomotion and considers reversible motion of the cableless actuator due to control of a magnetic field by using coils outside the pipe. This actuator contains a mechanical inverter that directly transforms DC from button batteries into AC. The mechanical DC-AC inverter incorporates a one-degree-of-freedom-model and a curved beam with a concentrated mass that switches under the electromagnetic force. The actuator is moved by inertia force of the one-degree-of-freedom-model due to mechanical resonance energy. Experimental results show that the actuator can move upwards at a speed of 16.5 mm/s by using 10 button batteries when pulling 10 g load mass. The results hold great promise for the creation of highly mobile actuators capable of moving in thin pipes with diameters of under 8 mm.

   Modelling and Simulation of a Signal Injection Self-Sensored Drive
By Alen Poljugan [View]
[Download]

Abstract: This paper presents a new induction motor model specifically developed for simulating self-sensored variable speed drives which employ signal injection based sensorless control techniques. The model is to be used to investigate improved filtering algorithms and closed loop speed controllers. The model employs a simple state space equivalent circuit based model of the induction machine, which is enhanced to include rotor slotting and main flux saturation effects. The improvement is obtained by including a variation of machine inductances variation with the rotor position and the flux position. The new model is verified against experimental results.

   Optimisation of Real-Time Complex Path Generation in Constrained Intelligent Motion Applications Based on IPM Motor Drives
By Silverio Bolognani [View]
[Download]

Abstract: Improvements in the constrained real-time path generation for high performance motion control systems are presented in this paper. With respect to the existing solutions, all the cases generating from a set of constraints imposed on the kinematic characteristics of the movements are analysed and solved analytically. The proposed path generator has been employed inside a digital drive system based on interior PM synchronous motor and a last generation digital signal controller. Optimised torque-speed motor control is implemented and exploited to raise the accuracy and dynamical performance of the position controller. Simulation and experimental results are presented and discussed.

   Optimization of Starting Process of the Frequency Controlled Induction Motor
By I. Ya. Braslavsky, A. V. Kostylev and D. P. Stepanyuk [View]
[Download]

Abstract: The article deals with optimal control problem of induction motor during starting process. The method of genetic algorithm is offered as method for solution of the problem. Application of this method in order to form starting process of the induction squirrel-cage motor is examined.

   Permanent Magnet Synchronous Servo-Drive with State Position Controller
By Lech M. Grzesiak [View]
[Download]

Abstract: 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.

   PMSM Sliding Mode Observer for Speed and Position Estimation Using Modified Back EMF
By C. Ilioudis Vasilios [View]
[Download]

Abstract: This paper introduces a novel sensorless method for speed and position estimation of permanent magnet synchronous motor (PMSM). The mathematical model of PMSM is expressed in an arbitrary rotating reference frame and no knowledge of initial rotor position is needed. The developed algorithm is based on sliding mode observer (SMO) theory and consists of two discrete steps: flux/current and speed/position estimation. Also, Lyapunov functions are suitably chosen for determining the adaptive laws for the stator resistance and the speed estimators. First stator flux/current and resistance error converges to zero and afterwards speed and position estimation is carried out using a modified back electromotive force (EMF) observer. Simulation results show the effectiveness of the proposed estimation method.

   Robust PI Cascade Control for a Multi-Mass System Optimized by Evolutionary Algorithms
By M. Joost [View]
[Download]

Abstract: Controlling a multi-mass system is a common problem in industrial automation, and cascaded PI controllers are a popular control structure for these systems. However, the parameters of a multi-mass system are often uncertain or can change. A robust H∞-control is a powerful tool in order to control systems with varying parameters. Unfortunately, the complex structure and the mathematical theory prevent known H∞ -controllers from usage in many industrial applications. In this work two modern Evolutionary Algorithms, Differential Evolution (DE) and Particle Swarm Optimization (PSO), are used to optimize a standard PI cascade control structure with respect to the H∞-norm, thus resulting in a robust control of simple structure.

   Sensorless Control of AC Machines Using High-Frequency Excitation
By Heiko Zatocil [View]
[Download]

Abstract: In the present paper a new method for sensorless control is presented, which can handle the presence of multiple non-separatable saliencies. Because of the inimitability of the measured impedance curves, the method is based on the minimum error between the measured curves during operation and precommissioned reference curves. The method can handle alternating and rotating test signals. The capacity of the proposed method is tested on two different standard induction machines, which are not especially designed for sensorless control. Operation at standstill, and even at zero-frequency, is possible.

   Sensorless IPMSM Based Drive for Reciprocating Compressor
By Anton Dianov, Kim Young-Kwan, Lee Sang-Joon, Lee Sang-Taek and Yoon Tae-Ho [View]
[Download]

Abstract: This paper presents a new algorithm for the position sensorless vector control of the Interior Permanent Magnets Synchronous Motors (IPMSM), which is based on the well-known approach for the Permanent Magnets Synchronous Motors (PMSM), when rotor position and speed information is obtained by using current error between actual and estimated currents. Estimated current is calculated using motor model, which is written in the synchronous reference frame dq. The current difference is decomposed into two components. One of them is used for the motor back-emf and speed estimation and another one is used as a correction term. Rotor position is calculated as an integral of the estimated speed. Utilization of two current error components allows to build reliable system with low estimation error, where one current error component is used for estimation in static modes and another one is used for estimation in dynamic mode. This paper shows that sensorless algorithm for the PMSM can be spread also on the IPMSM and it works perfectly even under the difficult load conditions such as reciprocating compressor. Robustness of the proposed algorithm and its sensitivity to the motor parameters variations are also described. This paper also pays attention to the drive starting procedure in the sensorless mode.

   Speed Sensorless Nonlinear Control of Induction Motor in the Field Weakening Region
By Miroslaw Wlas [View]
[Download]

Abstract: In the paper it is presented speed sensorless nonlinear control system using multiscalar model based MMB operating in the lower field weakening speed region. Nonlinear control methods can improve the performance of induction motor drives in transients. The maximum available output torque, which guarantees satisfactory motor dynamics in field weakening region, is calculated using the steady state dependencies of induction motor model. Full dynamic reaction to commanded changes or to disturbances that occur during operation at the voltage limit is enabled by reducing the excitation level in a fastest possible way. Experimental results are presented to demonstrate reliability of proposed controller. In the experimental implementation a 22 kW induction motor is used. The whole control scheme (including multiscalar control, speed computation and space vector PWM) are implemented on a DSP and FPGA.

EPE-PEMC 2008 - Topic: Motion Control
You are here: EPE Documents > 04 - EPE-PEMC Conference Proceedings > EPE-PEMC 2008 - Conference > EPE-PEMC 2008 - Topic: Motion Control
	[return to parent folder]

	3-Axes Satellite Attitude Control Based on Biased Angular Momentum By Azam Ghaedi	[View] [Download]
Abstract: Satellites are used for telecommunications, telephotography and scientific experiments. In almost all of these cases, the exact orientation of satellite antennas toward the earth station is crucial. In this paper the attitude control system of the satellite will be designed in such a way that one specific point of the satellite will be always accurately oriented towards the earth station. In this way, to have the required quantity of the angular momentum, the use of momentum wheel actuator and magnetic torque generators are proposed. Three distinct modes are defined for a full positioning of the satellite to the desired direction; detumbling mode, spin-up of momentum wheel mode and the normal mode. In the first, the target is to decrease the angles φ and ψ and their time rate φ and ψ This will be done by designing a PD controller in roll and yaw directions. The control torque is applied to the satellite body to achieve the desired control. In the second mode, the momentum wheel speed will be increased so high that the changes in φ, θ and ψ and their time rate φ, θ and ψ are minimized and this gives the requested stability in the pitch direction. In the normal mode, the satellite should be oriented towards earth and hold its direction, during which ψ, θ and ψ should be zero.

	A Very Simple Fuzzy Control System for Inverter Fed Synhronous Motor By Paweł Fabijański	[View] [Download]
Abstract: This paper deals with fuzzy logic control of inverter fed synchronous motor. In this paper mathematical model of the motor drive system and stability condition of fuzzy logic control algorithm are represented. The essential fuzzy logic control configuration system consists of an internal current regulation loop and an external speed regulation loop. PID controller generally controls the speed and current loop in these systems. To control a inverter fed synchronous machine a host computer and a special microprocessor system with dSPACE 1104 central unit as a micro-controller is used. Most important results of our investigation is to find a simply mathematical model of our motor drive system. Then stability conditions are determined for current and speed controller. The simulated results were compared during the laboratory test on 600 W synchronous motor.

	Adaptive PF Speed Control of SRM Drives By Laszlo Szamel	[View] [Download]
Abstract: This paper proposes two model reference adaptive PF speed control methods for SRM drives. Following from the structure of model reference parameter adaptive PF control it makes it easier to reach overshootless as well as fast speed changing compensation caused by jump in load. The approaching block diagram of the model reference signal adaptive control can be seen as an extended version of the PF controller, so one of the adaptation factors (which is the free parameter of the adaptive control) is given. Both model reference adaptive controls drawn up can be easily implemented because the adaptation algorithms do not need acceleration measuring.

	Closed Loop Control of AC Drive with LC Filter By Jaroslaw Guzinski	[View] [Download]
Abstract: In electric drives with frequency converter a LC filter is used to smooth the voltages and currents supplying the AC motors. Unfortunately the LC filter introduces the phase shift and voltage drop on input and output of the filter. It makes difficult to implement precise control of the electric motors especially in the case of speed sensorless control methods. It is necessary to change the used control system and the state variables calculate block in case of the drive with the filter. In this paper a method for an asynchronous motor speed sensorless control in the system with inverter and LC output filter is presented. In the proposed system a nonlinear control method of the asynchronous motor and the speed and flux observer structure were modified. The system does not need any additional sensors except these which were previously used in the system without LC filter. The proposed electric drive was realized in simulation and experiment for 1.5 kW asynchronous motor.

	Closed-Loop Control of Virtual FPGA-Coded Permanent Magnet Synchronous Motor Drives Using a Rapidly Prototyped Controller By Christian Dufour	[View] [Download]
Abstract: Presented in this paper are the results of closed-loop control experiments using a virtual permanent magnet synchronous motor (PMSM) drive implemented on a field-programmable gate array (FPGA) card connected to an external controller. The FPGA-based PMSM motor drive is implemented on an eDRIVEsim simulator, based on the RT-LAB platform. The eDRIVEsim simulator implements 2 types of motor drive models, Park (d-q) and Finite Element Analysis (FEA), on an FPGA card of the simulator.The FPGA-based motor model is designed with Xilinx System Generator (XSG) blockset with no HDL hand coding. Both motor models compute motor currents using a phase-domain algorithm solver that can take into account the instantaneous variation of inductance and non-sinusoidal induced voltage. The FEA-type model uses inductance and Back-EMF profiles computed with JMAG-RT. The d-q model uses sinusoidal induced Back-EMF voltage and phase inductance values computed from Ld and Lq using the well-known Park transformation. A 3-phase IGBT inverter implemented in the FPGA chip drives the PMSM machine. The PWM controller is designed using Rapid Control Prototyping (RCP) methodology based on Simulink. It is implemented on an separate RT-LAB system using standard Opal-RT FPGA-based I/O cards for Analog Input capture and PWM generation. The paper presents results from the closed-loop control of the PMSM drive in both current control and speed control modes and discusses the advantages of using such a virtual test bench for motor drives.

	Comparison of Dynamic Performances of Speed Control System Containing Time - Minimal Speed Controller with Control System Containing PI Speed Controller By Andrzej Andrzejewski	[View] [Download]
Abstract: In this paper the dynamic performances of two speed control systems of DC motor are compared. There are compared dynamic features of the classical speed control system containing PI speed controller and the speed control system with time - minimal speed controller. Comparison is done on the basis of simulation investigation results.

	Controlling System of Electrodynamic Drive By Josef Černohorský	[View] [Download]
Abstract: The winding and unwinding process is very common in textile industry. Nowadays solutions of winding drive with centralized drive and mechanical cams do not fulfil requirement on production of modern textile machine. Therefore we develop low-power model of linear electrodynamic drive. This article is aimed at controlling system based on ADSP 21992 and at mathematical modelling. For power electronics design we make mathematical model of electrodynamic motor. We also made a mathematical model of traverse bar for emulating of load during mathematical simulation of electrodynamic drive. The results of mathematical simulation and real drive parameters are discussed in conclusion.

	Distributed Control System of DC Servomotors for Six Legged Walking Robot By D. Belter	[View] [Download]
Abstract: The multi-layered drives control for walking robot is discussed. It is a six-legged robot with 18 DOF. There is one DC-Servomotor for each joint. Synchronization of drives is a matter as walking is performed in unpredictable environment, and under high measurement uncertainty. It is done through distributed control of the robot. Each leg has it's separate controller. Leg controllers are connected to robot master controller. The master controller is responsible for communication between legs and host computer. The article also addresses sensing system issues for walking robot and control loops closed through these sensors.

	Expert System for Electric Drive Design By Juhan Laugis	[View] [Download]
Abstract: The problem of electric drive design concerns the multi-criteria non-linear problems having a number of solutions. In daily practice the search of optimum solution bases a great deal on the designer intuition and experience. Therefore, multiple obtained results have a low degree of equipment use, unwarranted complexity, or excessive cost. Proposed approach is devoted to implementation of the novel expert system into the design stages concerned the work with databases of the drive components. Examples of effective algorithms are given to choose an optimum ratio of electrical and mechanical components. The soft tool is developed to generate and edit structured query language sentences, to extract information from databases, as well as to suit multitude sets for particular applications.

	Improvement of Moving Characteristics of Cableless Micro-Actuator and Consideration of Reversible Motion By Hiroyuki Yaguchi, Toshihiro Zamma and Koichi Funayama	[View] [Download]
Abstract: We previously proposed a novel cableless micro-actuator that provides propulsion using the mechanical resonance energy of a system excited by an electromagnetic force. However, it was possible for that the actuator to move only one direction and comparative low speed locomotion. This paper proposes a cableless micro-actuator that exhibits a high speed locomotion and considers reversible motion of the cableless actuator due to control of a magnetic field by using coils outside the pipe. This actuator contains a mechanical inverter that directly transforms DC from button batteries into AC. The mechanical DC-AC inverter incorporates a one-degree-of-freedom-model and a curved beam with a concentrated mass that switches under the electromagnetic force. The actuator is moved by inertia force of the one-degree-of-freedom-model due to mechanical resonance energy. Experimental results show that the actuator can move upwards at a speed of 16.5 mm/s by using 10 button batteries when pulling 10 g load mass. The results hold great promise for the creation of highly mobile actuators capable of moving in thin pipes with diameters of under 8 mm.

	Modelling and Simulation of a Signal Injection Self-Sensored Drive By Alen Poljugan	[View] [Download]
Abstract: This paper presents a new induction motor model specifically developed for simulating self-sensored variable speed drives which employ signal injection based sensorless control techniques. The model is to be used to investigate improved filtering algorithms and closed loop speed controllers. The model employs a simple state space equivalent circuit based model of the induction machine, which is enhanced to include rotor slotting and main flux saturation effects. The improvement is obtained by including a variation of machine inductances variation with the rotor position and the flux position. The new model is verified against experimental results.

	Optimisation of Real-Time Complex Path Generation in Constrained Intelligent Motion Applications Based on IPM Motor Drives By Silverio Bolognani	[View] [Download]
Abstract: Improvements in the constrained real-time path generation for high performance motion control systems are presented in this paper. With respect to the existing solutions, all the cases generating from a set of constraints imposed on the kinematic characteristics of the movements are analysed and solved analytically. The proposed path generator has been employed inside a digital drive system based on interior PM synchronous motor and a last generation digital signal controller. Optimised torque-speed motor control is implemented and exploited to raise the accuracy and dynamical performance of the position controller. Simulation and experimental results are presented and discussed.

	Optimization of Starting Process of the Frequency Controlled Induction Motor By I. Ya. Braslavsky, A. V. Kostylev and D. P. Stepanyuk	[View] [Download]
Abstract: The article deals with optimal control problem of induction motor during starting process. The method of genetic algorithm is offered as method for solution of the problem. Application of this method in order to form starting process of the induction squirrel-cage motor is examined.

	Permanent Magnet Synchronous Servo-Drive with State Position Controller By Lech M. Grzesiak	[View] [Download]
Abstract: 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.

	PMSM Sliding Mode Observer for Speed and Position Estimation Using Modified Back EMF By C. Ilioudis Vasilios	[View] [Download]
Abstract: This paper introduces a novel sensorless method for speed and position estimation of permanent magnet synchronous motor (PMSM). The mathematical model of PMSM is expressed in an arbitrary rotating reference frame and no knowledge of initial rotor position is needed. The developed algorithm is based on sliding mode observer (SMO) theory and consists of two discrete steps: flux/current and speed/position estimation. Also, Lyapunov functions are suitably chosen for determining the adaptive laws for the stator resistance and the speed estimators. First stator flux/current and resistance error converges to zero and afterwards speed and position estimation is carried out using a modified back electromotive force (EMF) observer. Simulation results show the effectiveness of the proposed estimation method.

	Robust PI Cascade Control for a Multi-Mass System Optimized by Evolutionary Algorithms By M. Joost	[View] [Download]
Abstract: Controlling a multi-mass system is a common problem in industrial automation, and cascaded PI controllers are a popular control structure for these systems. However, the parameters of a multi-mass system are often uncertain or can change. A robust H∞-control is a powerful tool in order to control systems with varying parameters. Unfortunately, the complex structure and the mathematical theory prevent known H∞ -controllers from usage in many industrial applications. In this work two modern Evolutionary Algorithms, Differential Evolution (DE) and Particle Swarm Optimization (PSO), are used to optimize a standard PI cascade control structure with respect to the H∞-norm, thus resulting in a robust control of simple structure.

	Sensorless Control of AC Machines Using High-Frequency Excitation By Heiko Zatocil	[View] [Download]
Abstract: In the present paper a new method for sensorless control is presented, which can handle the presence of multiple non-separatable saliencies. Because of the inimitability of the measured impedance curves, the method is based on the minimum error between the measured curves during operation and precommissioned reference curves. The method can handle alternating and rotating test signals. The capacity of the proposed method is tested on two different standard induction machines, which are not especially designed for sensorless control. Operation at standstill, and even at zero-frequency, is possible.

	Sensorless IPMSM Based Drive for Reciprocating Compressor By Anton Dianov, Kim Young-Kwan, Lee Sang-Joon, Lee Sang-Taek and Yoon Tae-Ho	[View] [Download]
Abstract: This paper presents a new algorithm for the position sensorless vector control of the Interior Permanent Magnets Synchronous Motors (IPMSM), which is based on the well-known approach for the Permanent Magnets Synchronous Motors (PMSM), when rotor position and speed information is obtained by using current error between actual and estimated currents. Estimated current is calculated using motor model, which is written in the synchronous reference frame dq. The current difference is decomposed into two components. One of them is used for the motor back-emf and speed estimation and another one is used as a correction term. Rotor position is calculated as an integral of the estimated speed. Utilization of two current error components allows to build reliable system with low estimation error, where one current error component is used for estimation in static modes and another one is used for estimation in dynamic mode. This paper shows that sensorless algorithm for the PMSM can be spread also on the IPMSM and it works perfectly even under the difficult load conditions such as reciprocating compressor. Robustness of the proposed algorithm and its sensitivity to the motor parameters variations are also described. This paper also pays attention to the drive starting procedure in the sensorless mode.

	Speed Sensorless Nonlinear Control of Induction Motor in the Field Weakening Region By Miroslaw Wlas	[View] [Download]
Abstract: In the paper it is presented speed sensorless nonlinear control system using multiscalar model based MMB operating in the lower field weakening speed region. Nonlinear control methods can improve the performance of induction motor drives in transients. The maximum available output torque, which guarantees satisfactory motor dynamics in field weakening region, is calculated using the steady state dependencies of induction motor model. Full dynamic reaction to commanded changes or to disturbances that occur during operation at the voltage limit is enabled by reducing the excitation level in a fastest possible way. Experimental results are presented to demonstrate reliability of proposed controller. In the experimental implementation a 22 kW induction motor is used. The whole control scheme (including multiscalar control, speed computation and space vector PWM) are implemented on a DSP and FPGA.