EPE Association: EPE-PEMC 2002 - Topic 07: Sensing and Observing

EPE-PEMC 2002 - Topic 07: Sensing and Observing
You are here: EPE Documents > 04 - EPE-PEMC Conference Proceedings > EPE-PEMC 2002 - Conference > EPE-PEMC 2002 - Topic 07: Sensing and Observing

   [return to parent folder]

   Adaptive Equivalent Integrator for Flux Estimation in Wide Speed Range for Sensorless Control of AC Drives
By G. D. Andreescu [View]
[Download]

Abstract: The paper develops a flux-linkage estimator, using voltage-model in stator reference, based on an equivalent integrator in closed-loop with a speed-adaptive PI compensator to eliminate the DC-offset. Based on this accurate flux-linkage estimation, a speed and position observer using phase-locked loop (PLL) technique with sliding-mode compensator speed-adaptive is developed. This proposed solution is a general approach that can be used in vector control of universal AC drives with sinusoidal flux distribution, including sensorless vector control. As application example, a sensorless control for permanent magnet synchronous motor (PMSM) with current-vector control method is presented. Simulation results prove high-dynamic performances in wide speed range step reversal, for zero to rated load-torque step. The DC-offsets and the errors in flux initial-position are canceled.

   Application of extended Kaman filter for road condition estimation
By I. Petrovic; N. Peric; J. Matusko [View]
[Download]

Abstract: High quality estimation of tire-road friction forces has important role in many automotive control systems like anti-lock brake systems (ABS), traction control systems etc. For this purpose an extended Kalman filter augmented with integral term has been employed. A procedure for selecting appropriate integral gain has been proposed. The proposed estimator has been compared to the well-known passivity based state estimator.

   Auto-tuning of permanent magnet motor drives with observer based parameter identifiers
By T. Sobieraj; J. Kabziñski [View]
[Download]

Abstract: The concept of observer based parameter identifiers (OPI) was introduced. OPI is an adaptive system allowing estimation of unknown parameters of a nonlinear plant. The stability analysis was presented and used for planning of the identification experiment. The application of OPI to identification of permanent motors parameters is described and tested by numerical simulations and in an experimental setup with a DSP board.

   Detection of Squirrel-Cage Breaks in Induction Machines
By M. Bogut; I. Kurtovic; S. Stefanko [View]
[Download]

Abstract: The problem with squirrel-cage breaks is how to detect reliably a break of the first bar or the first end ring. The paper presents how to improve the certainty of diagnostics of the first squirrel-cage break by measuring several break-dependent quantities.

   Effect of Equation of Motion on Low-Frequency Impedance of Induction Motors – an Approach for Rotor Flux Angle Estimation
By V.-M Leppänen; J. Luomi [View]
[Download]

Abstract: Taking the equation of motion into account in a sensorless induction motor drive reveals an apparent saliency in the motor impedance that is linked to the rotor flux orientation. The saliency phenomenon can be explained based on the standard space-vector model of the motor, and it can be used for sensorless rotor flux angle estimation down to zero speed and stator frequency.

   Identifcation and Observation of Mechatronic Systems with unknown Nonlinear Dynamic Functions
By D. Schroeder; S. Hofmann; T. Treichl [View]
[Download]

Abstract: In this article a new approach to identify and observe mechatronic systems is presented. This approach deals with complex nonlinear dynamic systems and is based on the idea, that the total system can be split into a well-known dynamic subsystem and an unknown nonlinear dynamic subsystem. The identification algorithm of the unknown subsystem is derived from the Volterra theory. The original identification technique, which is restricted to systems with a single input and a single output (SISO), is extended to systems with multiple inputs and a single output (MISO). Furthermore the identification algorithm is enhanced with a normalized radial basis function network in order to approximate complex nonlinear static functions within the unknown subsystem. Finally the identification algorithm is implemented into an observer in order to cope with globally integrating systems. In this manner the identification algorithm becomes practicable for mechatronic systems, e.g. nonlinear motion systems.

   Neural Network Based Tuning of Speed Observer For Control System of Induction Motor
By M. Wlas; Z. Krzemiñski [View]
[Download]

Abstract: A speed observer for the induction motor is presented in the paper. Correction of observer properties by application of artificial neural network are proposed. Two architecture of ANN are presented and implemented in sensorless control: MLP – multi-layer percepton and Elman recurrent NN. Motor parameters are estimated and used to learn additional neural network used for approximation of parameter dependences. Results of experiments are presented.

   Neural Network Improvement of Model Reference Adaptive System in Induction Motor Drive
By J. Jelonkiewicz [View]
[Download]

Abstract: In the paper a rotor speed estimator is considered, which is based on MRAS. Firstly, the features of the estimator using back e.m.f. signal are obtained. Then neural network structure is selected to replace the reference model in the system. The features of modified MRAS estimator are evalueted in various tests including motor parameters changes. Finally, the structure is implemented in DSP system to verify results in real drive.

   Sensor-Less Speed Control Based On Fuzzy Estimator
By J. Catala; L. Romeral; A. Arias; M. R. Chekkouri [View]
[Download]

Abstract: A novel sensor-less system for induction motors is designed. This novel design is based on an adaptive fuzzy system, which is obtained by mixing open-loop estimator response with steady-state estimator. In order to find the best response a ponderating average system is used. The ponderated average depends on the working point of the plant, this point is found without any further measure over the plant. The open-loop estimator response is improved by means of using an adaptive fuzzy controlled filter that selects the optimised cut frequency. The aim of this system is to obtain a good performance with neither great computational charge nor mathematical noise in the estimated process. Besides, the final system is more robust against variations of the internal parameters of the motor. The results validate the entire work, not only in transient and steady state but also in the start-up.

   Sensorless Control of PMSM with Modified Observer Structure
By K. Zawirski; K. Urbanski [View]
[Download]

Abstract: In the paper a problem of speed and position estimation in sensorless control of PMSM drive is discussed. A presented solution bases on detecting back EMF, induced in stator windings. An idea of back EMF observer, known in literature, was developed and modified. A new structure of adaptive observer with proportional-integral function of corrector was introduced. Simulation as well as experimental results showed good properties of proposed observer structure.

   Sensorless Position and Speed Estimation in Induction Machines
By N. Teske; G. Asher; J. Cilia; S. C. Spiteri [View]
[Download]

Abstract: This paper describes various methods aimed at estimating the rotor position for an AC 3-phase induction motor without a shaft sensor using specially designed saliencies or natural saliencies. A High Frequency (HF) signal needs to be injected so as to detect the rotor position. As is common knowledge, saturation causes problems when estimating rotor position using HF injection. The saturation effect and ways to overcome this problem are discussed. The methods considered assume a saturated induction machine having either an engineered cage saliency spanning one pole pitch or a rotor slotting saliency. The performance of these methods is investigated at all loads at low and zero speed.

   Sensorless Speed Detection of Induction Machines Using S-method
By A. Obradovic; M. Djurovic [View]
[Download]

Abstract: By using the S-method and measurements of the stator current one can determine the speed of induction machines without having any sensor. The use of the S-method eliminates some disadvantages, which are brought in calculations using STFT and Wavelet decomposition, and in particular is suitable for determination of speed in transients. The S-method, when applied to transients, has produced results of the same accuracy as STFT when it is applied to steady state. The experimental results have shown good agreement with numerical results.

   Signal Testing and Diagnosing in CAN Communication Based Control Networks without PC
By T. Bencze; V. Hauptmann; M. Molnar; T. Göndör; D. Fodor; K. Horváth [View]
[Download]

Abstract: The paper presents two developing approaches of a Controller Area Network signal analyzing tool. The tool enables signal test/diagnose facility for Electronic Control Unit’s within a Controller Area Network based communication network without PC (i.e.: vehicle, automated manufacturing line, distributed motor control application). The tool is based on a simple and inexpensive target hardware, and is easily reconfigurable and extendable for different applications. The program has been tested for automotive application.

   Study of Methods for Induction Machine Torque Monitoring
By S. Gregora; J. Novak; V. Schejbal [View]
[Download]

Abstract: Several methods for monitoring of instantaneous value responses of electrical drive torques are presented. The methods based on the direct torque measurements using tensometric sensors are considered. These methods can be used not only for induction machines. Furthermore, the possibilities of indirect evaluations of induction machine torques using real-time computation of mathematical model are given.

   Torque Estimation In Industrial Control Systems With Ac Slip-Ring Motors
By A. Slutej; A. Poljugan; F. Kolonic [View]
[Download]

Abstract: Speed control system with slip-ring AC motor (ASTAT®) is a highly developed, wellproven system for heavy duty tasks especially in the field of industrial cranes and another heavy duty material handling systems. In order to increase systems performances, inner torque control loop is added. As feedback information, actual motor (electromagnetic) torque estimator as separate hardware and software module is realized. Torque estimation algorithm is running under DSP ADMC300 and based on measurement of stator currents and voltages. This module is included in the rest of the control system via communication link and can be used as plug-in unit.

EPE-PEMC 2002 - Topic 07: Sensing and Observing
You are here: EPE Documents > 04 - EPE-PEMC Conference Proceedings > EPE-PEMC 2002 - Conference > EPE-PEMC 2002 - Topic 07: Sensing and Observing
	[return to parent folder]

	Adaptive Equivalent Integrator for Flux Estimation in Wide Speed Range for Sensorless Control of AC Drives By G. D. Andreescu	[View] [Download]
Abstract: The paper develops a flux-linkage estimator, using voltage-model in stator reference, based on an equivalent integrator in closed-loop with a speed-adaptive PI compensator to eliminate the DC-offset. Based on this accurate flux-linkage estimation, a speed and position observer using phase-locked loop (PLL) technique with sliding-mode compensator speed-adaptive is developed. This proposed solution is a general approach that can be used in vector control of universal AC drives with sinusoidal flux distribution, including sensorless vector control. As application example, a sensorless control for permanent magnet synchronous motor (PMSM) with current-vector control method is presented. Simulation results prove high-dynamic performances in wide speed range step reversal, for zero to rated load-torque step. The DC-offsets and the errors in flux initial-position are canceled.

	Application of extended Kaman filter for road condition estimation By I. Petrovic; N. Peric; J. Matusko	[View] [Download]
Abstract: High quality estimation of tire-road friction forces has important role in many automotive control systems like anti-lock brake systems (ABS), traction control systems etc. For this purpose an extended Kalman filter augmented with integral term has been employed. A procedure for selecting appropriate integral gain has been proposed. The proposed estimator has been compared to the well-known passivity based state estimator.

	Auto-tuning of permanent magnet motor drives with observer based parameter identifiers By T. Sobieraj; J. Kabziñski	[View] [Download]
Abstract: The concept of observer based parameter identifiers (OPI) was introduced. OPI is an adaptive system allowing estimation of unknown parameters of a nonlinear plant. The stability analysis was presented and used for planning of the identification experiment. The application of OPI to identification of permanent motors parameters is described and tested by numerical simulations and in an experimental setup with a DSP board.

	Detection of Squirrel-Cage Breaks in Induction Machines By M. Bogut; I. Kurtovic; S. Stefanko	[View] [Download]
Abstract: The problem with squirrel-cage breaks is how to detect reliably a break of the first bar or the first end ring. The paper presents how to improve the certainty of diagnostics of the first squirrel-cage break by measuring several break-dependent quantities.

	Effect of Equation of Motion on Low-Frequency Impedance of Induction Motors – an Approach for Rotor Flux Angle Estimation By V.-M Leppänen; J. Luomi	[View] [Download]
Abstract: Taking the equation of motion into account in a sensorless induction motor drive reveals an apparent saliency in the motor impedance that is linked to the rotor flux orientation. The saliency phenomenon can be explained based on the standard space-vector model of the motor, and it can be used for sensorless rotor flux angle estimation down to zero speed and stator frequency.

	Identifcation and Observation of Mechatronic Systems with unknown Nonlinear Dynamic Functions By D. Schroeder; S. Hofmann; T. Treichl	[View] [Download]
Abstract: In this article a new approach to identify and observe mechatronic systems is presented. This approach deals with complex nonlinear dynamic systems and is based on the idea, that the total system can be split into a well-known dynamic subsystem and an unknown nonlinear dynamic subsystem. The identification algorithm of the unknown subsystem is derived from the Volterra theory. The original identification technique, which is restricted to systems with a single input and a single output (SISO), is extended to systems with multiple inputs and a single output (MISO). Furthermore the identification algorithm is enhanced with a normalized radial basis function network in order to approximate complex nonlinear static functions within the unknown subsystem. Finally the identification algorithm is implemented into an observer in order to cope with globally integrating systems. In this manner the identification algorithm becomes practicable for mechatronic systems, e.g. nonlinear motion systems.

	Neural Network Based Tuning of Speed Observer For Control System of Induction Motor By M. Wlas; Z. Krzemiñski	[View] [Download]
Abstract: A speed observer for the induction motor is presented in the paper. Correction of observer properties by application of artificial neural network are proposed. Two architecture of ANN are presented and implemented in sensorless control: MLP – multi-layer percepton and Elman recurrent NN. Motor parameters are estimated and used to learn additional neural network used for approximation of parameter dependences. Results of experiments are presented.

	Neural Network Improvement of Model Reference Adaptive System in Induction Motor Drive By J. Jelonkiewicz	[View] [Download]
Abstract: In the paper a rotor speed estimator is considered, which is based on MRAS. Firstly, the features of the estimator using back e.m.f. signal are obtained. Then neural network structure is selected to replace the reference model in the system. The features of modified MRAS estimator are evalueted in various tests including motor parameters changes. Finally, the structure is implemented in DSP system to verify results in real drive.

	Sensor-Less Speed Control Based On Fuzzy Estimator By J. Catala; L. Romeral; A. Arias; M. R. Chekkouri	[View] [Download]
Abstract: A novel sensor-less system for induction motors is designed. This novel design is based on an adaptive fuzzy system, which is obtained by mixing open-loop estimator response with steady-state estimator. In order to find the best response a ponderating average system is used. The ponderated average depends on the working point of the plant, this point is found without any further measure over the plant. The open-loop estimator response is improved by means of using an adaptive fuzzy controlled filter that selects the optimised cut frequency. The aim of this system is to obtain a good performance with neither great computational charge nor mathematical noise in the estimated process. Besides, the final system is more robust against variations of the internal parameters of the motor. The results validate the entire work, not only in transient and steady state but also in the start-up.

	Sensorless Control of PMSM with Modified Observer Structure By K. Zawirski; K. Urbanski	[View] [Download]
Abstract: In the paper a problem of speed and position estimation in sensorless control of PMSM drive is discussed. A presented solution bases on detecting back EMF, induced in stator windings. An idea of back EMF observer, known in literature, was developed and modified. A new structure of adaptive observer with proportional-integral function of corrector was introduced. Simulation as well as experimental results showed good properties of proposed observer structure.

	Sensorless Position and Speed Estimation in Induction Machines By N. Teske; G. Asher; J. Cilia; S. C. Spiteri	[View] [Download]
Abstract: This paper describes various methods aimed at estimating the rotor position for an AC 3-phase induction motor without a shaft sensor using specially designed saliencies or natural saliencies. A High Frequency (HF) signal needs to be injected so as to detect the rotor position. As is common knowledge, saturation causes problems when estimating rotor position using HF injection. The saturation effect and ways to overcome this problem are discussed. The methods considered assume a saturated induction machine having either an engineered cage saliency spanning one pole pitch or a rotor slotting saliency. The performance of these methods is investigated at all loads at low and zero speed.

	Sensorless Speed Detection of Induction Machines Using S-method By A. Obradovic; M. Djurovic	[View] [Download]
Abstract: By using the S-method and measurements of the stator current one can determine the speed of induction machines without having any sensor. The use of the S-method eliminates some disadvantages, which are brought in calculations using STFT and Wavelet decomposition, and in particular is suitable for determination of speed in transients. The S-method, when applied to transients, has produced results of the same accuracy as STFT when it is applied to steady state. The experimental results have shown good agreement with numerical results.

	Signal Testing and Diagnosing in CAN Communication Based Control Networks without PC By T. Bencze; V. Hauptmann; M. Molnar; T. Göndör; D. Fodor; K. Horváth	[View] [Download]
Abstract: The paper presents two developing approaches of a Controller Area Network signal analyzing tool. The tool enables signal test/diagnose facility for Electronic Control Unit’s within a Controller Area Network based communication network without PC (i.e.: vehicle, automated manufacturing line, distributed motor control application). The tool is based on a simple and inexpensive target hardware, and is easily reconfigurable and extendable for different applications. The program has been tested for automotive application.

	Study of Methods for Induction Machine Torque Monitoring By S. Gregora; J. Novak; V. Schejbal	[View] [Download]
Abstract: Several methods for monitoring of instantaneous value responses of electrical drive torques are presented. The methods based on the direct torque measurements using tensometric sensors are considered. These methods can be used not only for induction machines. Furthermore, the possibilities of indirect evaluations of induction machine torques using real-time computation of mathematical model are given.

	Torque Estimation In Industrial Control Systems With Ac Slip-Ring Motors By A. Slutej; A. Poljugan; F. Kolonic	[View] [Download]
Abstract: Speed control system with slip-ring AC motor (ASTAT®) is a highly developed, wellproven system for heavy duty tasks especially in the field of industrial cranes and another heavy duty material handling systems. In order to increase systems performances, inner torque control loop is added. As feedback information, actual motor (electromagnetic) torque estimator as separate hardware and software module is realized. Torque estimation algorithm is running under DSP ADMC300 and based on measurement of stator currents and voltages. This module is included in the rest of the control system via communication link and can be used as plug-in unit.