EPE Association: EPE 2019 - DS1g: Adjustable Speed Drives

EPE 2019 - DS1g: Adjustable Speed Drives
You are here: EPE Documents > 01 - EPE & EPE ECCE Conference Proceedings > EPE 2019 ECCE Europe - Conference > EPE 2019 - Topic 04: Electrical Machines and Drive Systems > EPE 2019 - DS1g: Adjustable Speed Drives

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   A Real-Time Compliant State-Space Model of Induction Machines Including Winding Distribution Harmonics and Winding Interconnections
By Julien CORDIER [View]
[Download]

Abstract: The present paper proposes a simple state-space model of induction machines considering space harmonics and winding interconnections. Assuming a linear magnetic behaviour and a constant air-gap length, analytical approximations of the flux linkages are derived using the mathematical properties of Fourier series. This enables the real-time computation of the model. Possible applications include torque harmonic reduction and sensorless control of low-power drives featuring off-the-shelf induction machines for which little information about the internal geometry and magnetic properties is available.

   A Simplified Discrete-Time Implementation of FCS-MPC Applied to an IM Drive
By Ilker SAHIN [View]
[Download]

Abstract: Model predictive control (MPC) has drawn significant attention from the power electronics researchcommunity in the last decade. Regarding the application of MPC in motor control, several studieshave been conducted that include design and implementation of various predictive torque controltechniques. In this study, MPC of an induction motor is implemented via TMDXIDDK379D, a motordrive development platform produced by Texas Instruments (TI). The main motivation is to show theengineers and researchers a way of simple, fast and low cost experimentation on MPC. By using an offthe shelf motor drive development platform and modifying the existing macros and libraries for motorcontrol, the implementation time and difficulty can be reduced considerably. Extensive experimentaldata on the drive performance is also provided.

   Angle Modulated Switching Strategy for Fractional Horsepower BLDC Motors for Improved Electromagnetic Compatibility
By Felix KRALL [View]
[Download]

Abstract: Passing the electromagnetic compatibility (EMC) test presents a significant challenge for many new devices. Thus, numerous techniques have been developed to reduce the electromagnetic emissions (EME). Software based approaches are quite popular, because they do not need any additional hardware, potentially reducing the number of components. The proposed angle modulated switching strategy (AMSS) allows reducing the size of the EMC filter while decreasing the radiated emissions in a wide frequency range. As a result, costs are decreased and reliability is increased.

   Application of State Feedback Controller with Feedforward for velocity ripples reduction of PMSM drive at low speed operation
By Lukasz NIEWIARA [View]
[Download]

Abstract: This paper proposes a relatively simple and effective method for velocity ripples reduction of a Permanent Magnet Synchronous Motor (PMSM) using a State Feedback Controller (SFC) with feedforward path coupled with the estimated load torque. A linearized state-space mathematical model of the plant was introduced using a classical decoupling method. To ensure good dynamical properties of the system an a posteriori Model Predictive Approach Constraints (MPAC) method for drive current limitation was introduced. The designed compensation path is based on a disturbance observer based on extended Kalman filter algorithm. The estimated disturbance signal contains an periodic component caused by the presence of cogging effect phenomenon, pulsating torque and current measurement errors. A detailed harmonic analysis was performed for the measured and estimated variables i.e. angular velocity, estimated disturbance, q-axis voltage and current components. Experimental results show efficient reduction of velocity ripple at low speed operation.

   Comparative study of different fault-tolerant control strategies for a five-phase concentrated-full-pitch winding induction motor
By Shan HE [View]
[Download]

Abstract: Multiphase machines have been used widely in electric ship propulsion, air-craft drives, locomotivetraction, and high-power industrial applications. The fault-tolerant capability is one of the mostinteresting topics in multiphase stand-alone motor drives since no additional hardware is required toprovide the additional degree of freedom if they are properly configured. The fault-tolerant controlstrategies, suitable for open-phase fault operation of five-phase concentrated-full-pitch windinginduction motor drives, are studied in this paper. In order to compare the performance of the abovestrategies, a more general mathematical model considering third harmonic component based onsymmetric component theory is established. Then expressions of the average torque, torque ripple,total copper loss and efficiency are derived. Finally, comparative results can be used as guidelines forthe engineering application.

   Cross-Decoupling Complex Filter Based Position Error Fluctuation Elimination for Model-Based Position Sensorless IPMSM Drives
By Guoqiang ZHANG [View]
[Download]

Abstract: To eliminate the 6th fluctuations in the estimated position caused by inverter nonlinearity and flux spatial harmonics for position sensorless interior permanent magnet synchronous machine (IPMSM) drives, a cross-decoupling complex filter based sliding-mode observer is proposed. Experiments on a 2.2-kW IPMSM sensorless drive have been carried out to verify the proposed scheme.

   DC Voltage and Torque Ripple Mitigation in Modular PMSG Drives for Off-Shore Multi-MW WECSs with Linear SPWM modulation
By Khaled ELSHAWARBY [View]
[Download]

Abstract: A multi-modular axial flux machine is used for wind energy conversion systems (WECSs) where eachmodule is connected to its own two-level converter. All converters are connected in series at the DCside to allow HVDC transmission. In the paper, an in-depth reasoning for the control of each individualvoltage. A phase shift between PWM carrier signals of the neighbouring converters is implemented. Amathematical analysis is carried out. A criterion for the best choice of the phase shift to minimize dcvoltage and torque harmonics is proposed.

   Decoupled Vector Control Based on Disturbance Observer Applied to the Synchronous Reluctance Motor
By Filipe SCALCON [View]
[Download]

Abstract: This paper proposes a vector control system applied to the current control of a synchronous reluctance motor (SynRM) through a PI controller combined with a disturbance observer (PIDOB). In addition, a conventional PI approach is also presented for comparison purposes. A mathematical model in the synchronous rotating frame of the SynRM is presented. The SynRM presents a non-linear model, as well as parametric variations and coupling between the direct and quadrature axes. Coupled terms are modeled as disturbances. The observed disturbance, obtained through the DOB (Disturbance Observer), is added to the control law as feed-forward action. The experimental results presented confirm the effectiveness of the control strategy, where the PIDOB controller is able to mitigate the coupling between the axes, not transmitting perturbations from one axis to the other.

   Effects of a Variable dc-Port Voltage on the Half-Bridge-Based Modular Multilevel Converter Applied to Drive Systems
By Mauricio ESPINOZA [View]
[Download]

Abstract: The Modular Multilevel Converter (MMC) is a topology suitable for high-power medium-voltage variable-speed drives. However, the behaviour of this converter is highly affected by the power fluctuations of its modules. This paper analyses the influence of the dc-port voltage on these power fluctuations. It is demonstrated that the manipulation of this voltage offers several advantages for the operation of the drive. For example, it is possible to reduce: the voltage fluctuations in the capacitors, the capacitance of each cell or the application of mitigating variables during low machine speeds. Additionally, a reduction in the required common-mode voltage during low-speed operation is also feasible. The effectiveness of the proposed control schemes is demonstrated through simulation studies.

   FPGA-Based Design and Implementation of a Real Time Simulator of Switched Reluctance Motor Drives
By Luigi Danilo TORNELLO [View]
[Download]

Abstract: The purpose of this work is to present an effective technical solution devoted to simulations of switched reluctance motor drives, which is designed and implemented on a Hardware In the Loop real time simulator that takes into account the nonlinear characteristics of the motor phase inductances and parameter variations. The proposed solution features low computational efforts and ensures high accuracy in the provided outcomes. The implemented model is verified by comparing the results achieved by the proposed solution with that obtained by a standard model-based design environment, assessing the simulation fidelity of the hardware in the loop simulation.

   Investigation of Ship's Power System with Powerful Electrical Propulsion Drive
By Nikolay DJAGAROV [View]
[Download]

Abstract: The power of ship's electric systems grows constantly caused by the growing number of electricconsumers. Especially powerful are the ship's power stations on ships with electric propulsion. Theseare the passenger ships, container vessels, gas and marine vessels. The power of propulsion electricmotors of this ships reaches several tens of megawatts. The control of propulsion electric motors is doneusing electronic converters. In this article, it is proposed mathematical model of ship's power systemcontaining 4 diesel generators and azimuttic propulsion electrical system. With the model areinvestigated the normal and emergency operating modes of propulsion electric system. Conclusions aredrawn for the control and protection of ship's power system.

   Investigation of the DC-link Capacitor Current Ripple in Battery-fed PWM Inverter Systems
By Panagiotis MANTZANAS [View]
[Download]

Abstract: In battery-fed pulse-width modulated inverters, the DC-link capacitor represents a limiting factor interms of power density. A proper design of a capacitor requires an accurate prediction of its currentripple. Therefore, this paper proposes a fast simulation model for predicting the DC-link capacitorcurrent ripple in battery-fed pulse-width modulated inverters, which takes the influence of thebattery/cable resistance and the battery/cable inductance into account. Based on this simulation model, an extensive parameter study is performed investigating the influence of different parameters on the DC-link capacitor current ripple. This study is presented in a normalized form. Thus, the presented results can be easily applied to any battery-fed pulse-width modulated inverter application.

   Minimization of Torque Ripple in DI-WRIM Drive Through Carrier Interleaving of Stator and Rotor VSIs
By Nikhil BAJJURI [View]
[Download]

Abstract: In Double Inverter fedWound Rotor Induction Machine (DI-WRIM) drive, the stator and rotor terminals of the machine are connected to two different Voltage Source Inverters (VSIs). Thus, the ripple into the system is introduced from both the terminals. The expression for torque ripple is derived in terms of the stator and rotor flux ripples introduced from either side. The alternate expressions, obtained in the similar lines of the conventional induction machine, are also presented to validate the expression for torque ripple. Further, to reduce the torque ripple, the effect of carrier interleaving of both the VSIs on the torque ripple, with conventional space vector and advanced bus clamped PWM techniques, is explored in this paper. The reduction in torque ripple with carrier interleaving is validated by analytical, simulation, and experimental results obtained from a 3 kW DI-WRIM drive.

   Practical Implementation of a 100kVA Sensorless Field Oriented Induction Motor Drive fed by a NPC Converter through AC Filter
By Paolo FAZIO [View]
[Download]

Abstract: A sensorless IM (Induction Motor) drive with a NPC (Neutral Point Clamped) inverter coupled withan high performance output AC filter has been developed. Several experimental results on 90kWmotor are presented and show the very satisfactory performance attained by the drive system.

   Predictive control of a multi-drive solar pumping system
By Javier RIEDEMANN [View]
[Download]

Abstract: In this paper, a multiple drives solar-pumping system is presented. The system is based on a single-stage photovoltaic (PV) topology where an array of solar panels is connected to multiple inverters supplying equal centrifugal pumps. The inverters are operated to extract the maximum power from the PV system and a predictive control strategy for the machines currents is proposed. The performance of the system is verified via simulations.

   Sensorless Starting of Wound Rotor Synchronous Machines
By Maurice FADEL [View]
[Download]

Abstract: The sensorless operation of wound rotor synchronous machines (WRSM) must meet several requirements. The most important to be mentioned is how to insure starting at full load and then operating at low speed in the presence of magnetic saturation. This work presents a solution for high power machines by combining a method of rotor location by high frequency injection and then starting it with a Phase Locked Loop (PLL) type solution. It should be noted that the location of the rotor leaves an indeterminacy of _ on the electrical position that needs to be resolved. Initial experimental tests for rotor location confirm simulations and show how the scheduling of the two methods can solve the problem.

   The use of Model Predictive Control (MPC) in motor drives for switching loss and motor noise reduction
By Radu LAZAR [View]
[Download]

Abstract: The paper compares in simulation and practice the losses of a motor drive when running FOC with classical PI current control with PWM modulator at fixed switching frequency against MPC. The acoustical sound of the motor is analyzed in both situations and compared. The results are commented upon and conclusions are drawn.

   Very high speed passivity-based control for a Permanent Magnet Synchronous Motor.
By Flávia DOMINGUES DE SOUSA [View]
[Download]

Abstract: This paper deals with vector control strategies of very high speed permanent magnet synchronousmotors. It proposes a non-linear method, the interconnection and damping assignment - passivitybased control (IDA-PBC), which development uses the system energy equation to describe itsbehavior. This equation will be used in order to find a new function called the desired function. Theidea is to impose on the system variables a well-defined trajectory until a point of equilibriumcorresponding to the minimal energy. Then, a damping injection is realized in order to obtain theasymptotic stability. Simulations are used to set the controller gains and to test the sensitivity of theproposed method to parametric variations, especially regarding to the magnetic flux. This last studyhas showed us the limitation of the IDA-PBC to reject modelling errors. To improve passivity basedcontrol method, we propose a new control strategy using an hybrid model, designed to compensatethe parametric errors.

EPE 2019 - DS1g: Adjustable Speed Drives
You are here: EPE Documents > 01 - EPE & EPE ECCE Conference Proceedings > EPE 2019 ECCE Europe - Conference > EPE 2019 - Topic 04: Electrical Machines and Drive Systems > EPE 2019 - DS1g: Adjustable Speed Drives
	[return to parent folder]

	A Real-Time Compliant State-Space Model of Induction Machines Including Winding Distribution Harmonics and Winding Interconnections By Julien CORDIER	[View] [Download]
Abstract: The present paper proposes a simple state-space model of induction machines considering space harmonics and winding interconnections. Assuming a linear magnetic behaviour and a constant air-gap length, analytical approximations of the flux linkages are derived using the mathematical properties of Fourier series. This enables the real-time computation of the model. Possible applications include torque harmonic reduction and sensorless control of low-power drives featuring off-the-shelf induction machines for which little information about the internal geometry and magnetic properties is available.

	A Simplified Discrete-Time Implementation of FCS-MPC Applied to an IM Drive By Ilker SAHIN	[View] [Download]
Abstract: Model predictive control (MPC) has drawn significant attention from the power electronics researchcommunity in the last decade. Regarding the application of MPC in motor control, several studieshave been conducted that include design and implementation of various predictive torque controltechniques. In this study, MPC of an induction motor is implemented via TMDXIDDK379D, a motordrive development platform produced by Texas Instruments (TI). The main motivation is to show theengineers and researchers a way of simple, fast and low cost experimentation on MPC. By using an offthe shelf motor drive development platform and modifying the existing macros and libraries for motorcontrol, the implementation time and difficulty can be reduced considerably. Extensive experimentaldata on the drive performance is also provided.

	Angle Modulated Switching Strategy for Fractional Horsepower BLDC Motors for Improved Electromagnetic Compatibility By Felix KRALL	[View] [Download]
Abstract: Passing the electromagnetic compatibility (EMC) test presents a significant challenge for many new devices. Thus, numerous techniques have been developed to reduce the electromagnetic emissions (EME). Software based approaches are quite popular, because they do not need any additional hardware, potentially reducing the number of components. The proposed angle modulated switching strategy (AMSS) allows reducing the size of the EMC filter while decreasing the radiated emissions in a wide frequency range. As a result, costs are decreased and reliability is increased.

	Application of State Feedback Controller with Feedforward for velocity ripples reduction of PMSM drive at low speed operation By Lukasz NIEWIARA	[View] [Download]
Abstract: This paper proposes a relatively simple and effective method for velocity ripples reduction of a Permanent Magnet Synchronous Motor (PMSM) using a State Feedback Controller (SFC) with feedforward path coupled with the estimated load torque. A linearized state-space mathematical model of the plant was introduced using a classical decoupling method. To ensure good dynamical properties of the system an a posteriori Model Predictive Approach Constraints (MPAC) method for drive current limitation was introduced. The designed compensation path is based on a disturbance observer based on extended Kalman filter algorithm. The estimated disturbance signal contains an periodic component caused by the presence of cogging effect phenomenon, pulsating torque and current measurement errors. A detailed harmonic analysis was performed for the measured and estimated variables i.e. angular velocity, estimated disturbance, q-axis voltage and current components. Experimental results show efficient reduction of velocity ripple at low speed operation.

	Comparative study of different fault-tolerant control strategies for a five-phase concentrated-full-pitch winding induction motor By Shan HE	[View] [Download]
Abstract: Multiphase machines have been used widely in electric ship propulsion, air-craft drives, locomotivetraction, and high-power industrial applications. The fault-tolerant capability is one of the mostinteresting topics in multiphase stand-alone motor drives since no additional hardware is required toprovide the additional degree of freedom if they are properly configured. The fault-tolerant controlstrategies, suitable for open-phase fault operation of five-phase concentrated-full-pitch windinginduction motor drives, are studied in this paper. In order to compare the performance of the abovestrategies, a more general mathematical model considering third harmonic component based onsymmetric component theory is established. Then expressions of the average torque, torque ripple,total copper loss and efficiency are derived. Finally, comparative results can be used as guidelines forthe engineering application.

	Cross-Decoupling Complex Filter Based Position Error Fluctuation Elimination for Model-Based Position Sensorless IPMSM Drives By Guoqiang ZHANG	[View] [Download]
Abstract: To eliminate the 6th fluctuations in the estimated position caused by inverter nonlinearity and flux spatial harmonics for position sensorless interior permanent magnet synchronous machine (IPMSM) drives, a cross-decoupling complex filter based sliding-mode observer is proposed. Experiments on a 2.2-kW IPMSM sensorless drive have been carried out to verify the proposed scheme.

	DC Voltage and Torque Ripple Mitigation in Modular PMSG Drives for Off-Shore Multi-MW WECSs with Linear SPWM modulation By Khaled ELSHAWARBY	[View] [Download]
Abstract: A multi-modular axial flux machine is used for wind energy conversion systems (WECSs) where eachmodule is connected to its own two-level converter. All converters are connected in series at the DCside to allow HVDC transmission. In the paper, an in-depth reasoning for the control of each individualvoltage. A phase shift between PWM carrier signals of the neighbouring converters is implemented. Amathematical analysis is carried out. A criterion for the best choice of the phase shift to minimize dcvoltage and torque harmonics is proposed.

	Decoupled Vector Control Based on Disturbance Observer Applied to the Synchronous Reluctance Motor By Filipe SCALCON	[View] [Download]
Abstract: This paper proposes a vector control system applied to the current control of a synchronous reluctance motor (SynRM) through a PI controller combined with a disturbance observer (PIDOB). In addition, a conventional PI approach is also presented for comparison purposes. A mathematical model in the synchronous rotating frame of the SynRM is presented. The SynRM presents a non-linear model, as well as parametric variations and coupling between the direct and quadrature axes. Coupled terms are modeled as disturbances. The observed disturbance, obtained through the DOB (Disturbance Observer), is added to the control law as feed-forward action. The experimental results presented confirm the effectiveness of the control strategy, where the PIDOB controller is able to mitigate the coupling between the axes, not transmitting perturbations from one axis to the other.

	Effects of a Variable dc-Port Voltage on the Half-Bridge-Based Modular Multilevel Converter Applied to Drive Systems By Mauricio ESPINOZA	[View] [Download]
Abstract: The Modular Multilevel Converter (MMC) is a topology suitable for high-power medium-voltage variable-speed drives. However, the behaviour of this converter is highly affected by the power fluctuations of its modules. This paper analyses the influence of the dc-port voltage on these power fluctuations. It is demonstrated that the manipulation of this voltage offers several advantages for the operation of the drive. For example, it is possible to reduce: the voltage fluctuations in the capacitors, the capacitance of each cell or the application of mitigating variables during low machine speeds. Additionally, a reduction in the required common-mode voltage during low-speed operation is also feasible. The effectiveness of the proposed control schemes is demonstrated through simulation studies.

	FPGA-Based Design and Implementation of a Real Time Simulator of Switched Reluctance Motor Drives By Luigi Danilo TORNELLO	[View] [Download]
Abstract: The purpose of this work is to present an effective technical solution devoted to simulations of switched reluctance motor drives, which is designed and implemented on a Hardware In the Loop real time simulator that takes into account the nonlinear characteristics of the motor phase inductances and parameter variations. The proposed solution features low computational efforts and ensures high accuracy in the provided outcomes. The implemented model is verified by comparing the results achieved by the proposed solution with that obtained by a standard model-based design environment, assessing the simulation fidelity of the hardware in the loop simulation.

	Investigation of Ship's Power System with Powerful Electrical Propulsion Drive By Nikolay DJAGAROV	[View] [Download]
Abstract: The power of ship's electric systems grows constantly caused by the growing number of electricconsumers. Especially powerful are the ship's power stations on ships with electric propulsion. Theseare the passenger ships, container vessels, gas and marine vessels. The power of propulsion electricmotors of this ships reaches several tens of megawatts. The control of propulsion electric motors is doneusing electronic converters. In this article, it is proposed mathematical model of ship's power systemcontaining 4 diesel generators and azimuttic propulsion electrical system. With the model areinvestigated the normal and emergency operating modes of propulsion electric system. Conclusions aredrawn for the control and protection of ship's power system.

	Investigation of the DC-link Capacitor Current Ripple in Battery-fed PWM Inverter Systems By Panagiotis MANTZANAS	[View] [Download]
Abstract: In battery-fed pulse-width modulated inverters, the DC-link capacitor represents a limiting factor interms of power density. A proper design of a capacitor requires an accurate prediction of its currentripple. Therefore, this paper proposes a fast simulation model for predicting the DC-link capacitorcurrent ripple in battery-fed pulse-width modulated inverters, which takes the influence of thebattery/cable resistance and the battery/cable inductance into account. Based on this simulation model, an extensive parameter study is performed investigating the influence of different parameters on the DC-link capacitor current ripple. This study is presented in a normalized form. Thus, the presented results can be easily applied to any battery-fed pulse-width modulated inverter application.

	Minimization of Torque Ripple in DI-WRIM Drive Through Carrier Interleaving of Stator and Rotor VSIs By Nikhil BAJJURI	[View] [Download]
Abstract: In Double Inverter fedWound Rotor Induction Machine (DI-WRIM) drive, the stator and rotor terminals of the machine are connected to two different Voltage Source Inverters (VSIs). Thus, the ripple into the system is introduced from both the terminals. The expression for torque ripple is derived in terms of the stator and rotor flux ripples introduced from either side. The alternate expressions, obtained in the similar lines of the conventional induction machine, are also presented to validate the expression for torque ripple. Further, to reduce the torque ripple, the effect of carrier interleaving of both the VSIs on the torque ripple, with conventional space vector and advanced bus clamped PWM techniques, is explored in this paper. The reduction in torque ripple with carrier interleaving is validated by analytical, simulation, and experimental results obtained from a 3 kW DI-WRIM drive.

	Practical Implementation of a 100kVA Sensorless Field Oriented Induction Motor Drive fed by a NPC Converter through AC Filter By Paolo FAZIO	[View] [Download]
Abstract: A sensorless IM (Induction Motor) drive with a NPC (Neutral Point Clamped) inverter coupled withan high performance output AC filter has been developed. Several experimental results on 90kWmotor are presented and show the very satisfactory performance attained by the drive system.

	Predictive control of a multi-drive solar pumping system By Javier RIEDEMANN	[View] [Download]
Abstract: In this paper, a multiple drives solar-pumping system is presented. The system is based on a single-stage photovoltaic (PV) topology where an array of solar panels is connected to multiple inverters supplying equal centrifugal pumps. The inverters are operated to extract the maximum power from the PV system and a predictive control strategy for the machines currents is proposed. The performance of the system is verified via simulations.

	Sensorless Starting of Wound Rotor Synchronous Machines By Maurice FADEL	[View] [Download]
Abstract: The sensorless operation of wound rotor synchronous machines (WRSM) must meet several requirements. The most important to be mentioned is how to insure starting at full load and then operating at low speed in the presence of magnetic saturation. This work presents a solution for high power machines by combining a method of rotor location by high frequency injection and then starting it with a Phase Locked Loop (PLL) type solution. It should be noted that the location of the rotor leaves an indeterminacy of _ on the electrical position that needs to be resolved. Initial experimental tests for rotor location confirm simulations and show how the scheduling of the two methods can solve the problem.

	The use of Model Predictive Control (MPC) in motor drives for switching loss and motor noise reduction By Radu LAZAR	[View] [Download]
Abstract: The paper compares in simulation and practice the losses of a motor drive when running FOC with classical PI current control with PWM modulator at fixed switching frequency against MPC. The acoustical sound of the motor is analyzed in both situations and compared. The results are commented upon and conclusions are drawn.

	Very high speed passivity-based control for a Permanent Magnet Synchronous Motor. By Flávia DOMINGUES DE SOUSA	[View] [Download]
Abstract: This paper deals with vector control strategies of very high speed permanent magnet synchronousmotors. It proposes a non-linear method, the interconnection and damping assignment - passivitybased control (IDA-PBC), which development uses the system energy equation to describe itsbehavior. This equation will be used in order to find a new function called the desired function. Theidea is to impose on the system variables a well-defined trajectory until a point of equilibriumcorresponding to the minimal energy. Then, a damping injection is realized in order to obtain theasymptotic stability. Simulations are used to set the controller gains and to test the sensitivity of theproposed method to parametric variations, especially regarding to the magnetic flux. This last studyhas showed us the limitation of the IDA-PBC to reject modelling errors. To improve passivity basedcontrol method, we propose a new control strategy using an hybrid model, designed to compensatethe parametric errors.