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Properties of sensorless control systems based on multiscalar models of the induction motor

COMPEL-THE INTERNATIONAL JOURNAL FOR COMPUTATION AND MATHEMATICS IN ELECTRICAL AND ELECTRONIC ENGINEERING 2006年第1期25卷 195-206页

作者： Krzeminski, Z Lewicki, A Wlas, M Gdansk Tech Univ PL-80952 Gdansk Poland

Purpose - To develop general forms of multiscalar models of the induction motor and to present properties of the sensorless control systems based on such models. design/methodology/approach - Previously presented multiscalar model of the induction motor based on a stator current and rotor flux vector is generalized as a model of type 1. New model of type 2 is defined for stator current and the vector which is directly controlled by a voltage vector. The above models are applied in a sensorless control system with speed observer. Dynamical properties of the sensorless control systems are investigated by simulations and experiments. Findings - Application of the multiscalar model of type 2 results in higher exactness of sensorless control system than application of the multiscalar model of type 1. controlled variables are more smooth in transients. Research limitations/implications - This is not an analytical proof of stability of the control systems. Practical implications - Provides very useful information for development of sensorless control systems for the induction motor. Originality/value - This paper extends the known method of nonlinear control of the induction motor to the general form. It is possible to choose the sensorless control system of better properties than those used so far.

关键词： induction electric motors control systems

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control system design for UAV trajectory tracking

Control system design for UAV trajectory tracking

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6th International symposium on Instrumentation and control Technology

作者： Wang Haitao Gao Jinyuan Beihang Univ Sch Automat Sci & Elect Engn Beijing Peoples R China

ISBN: (纸本)0819464538

In recent years, because of the emerging requirements for increasing autonomy, the controller of uninhabited air vehicles must be augmented with a very sophisticated autopilot design which is capable of tracking complex and agile maneuvering trajectory. This paper provides a simplified control system framework to solve UAV maneuvering trajectory tracking problem. The flight control system is divided into three subsystems including command generation, transformation and allocation. According to the kinematics equations of the aircraft, flight path angle commands can be generated by desired 3D position from path planning. These commands are transformed to body angular rates through direct nonlinear mapping, which is simpler than common multi-loop method based on time scale separation assumption. Then, by using weighted pseudo-inverse method, the control surface deflections are allocated to follow body angular rates from the previous step. In order to improve the robustness, a nonlinear disturbance observer-based approach is used to compensate the uncertainty of system. A 6DOF nonlinear UAV model is controlled to demonstrate the performance of the trajectory tracking control system. Simulation results show that the control strategy is easy to be realized and the precision of tracking is satisfying.

关键词： flight control trajectory tracking control allocation disturbance observer

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Proceedings of the 2006 IEEE International symposium on Intelligent control, ISIC 2006

Proceedings of the 2006 IEEE International Symposium on Inte...

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2006 IEEE International symposium on Intelligent control, ISIC 2006

ISBN: (纸本)0780397983

The proceedings contain 94 papers. The topics discussed include: neural adaptive control of dynamic sandwich systems with hysteresis;radial basis function based iterative learning control for stochastic distribution systems;energy-efficient approaches to coverage holes detection in wireless sensor networks;optimal sensor placement for border perambulation;finite horizon discrete-time approximate dynamic programming;adaptive critic designs based coupled neurocontrollers for a static compensator;stability analysis and design for switched descriptor systems;a design of a partial sliding mode controller using duality to linear functional observer;stability of digital control systems with time delays;robust stabilization of nonlinear switched systems via switched output feedback;intermittent iterative learning control;and iterative learning control of perspective dynamic systems.

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Interval observer design based on taylor models for nonlinear uncertain continuous-time systems

Interval observer design based on taylor models for nonlinea...

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12th GAMM-IMACS International symposium on Scientific Computing, Computer Arithmetic and Validated Numerics, SCAN 2006

作者： Kletting, Marco Rauh, Andreas Hofer, Eberhard P. Aschemann, Harald Institute of Measurement Control and Microtechnology University of Ulm D-89081 Ulm Germany Department of Mechatronics University of Rostock D-18059 Rostock Germany

ISBN: (纸本)076952821X

In most applications in control engineering not all state variables can be measured. Consequently, state estimation is performed to reconstruct the non-measurable states taking into account both system dynamics and the measurement model. If the system is subject to interval bounded uncertainties, an interval observer provides a guaranteed estimation of all states. The estimation consists of a recursive application of prediction and correction steps. The prediction step corresponds to a verified integration of the system model describing the system dynamics between two points of time at which measured data is available. In this paper, a Taylor model based integrator is used. Considering the state enclosures obtained in the prediction step, the correction step reconstructs states and parameters from the uncertain measurements with the help of a measurement model. The enclosures of states and parameters determined by the interval observer are consistent with both system and measurement models as well as all uncertainties.

关键词： Enclosures

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Guaranteed robust tracking with flatness based controllers applying interval methods

Guaranteed robust tracking with flatness based controllers a...

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12th GAMM-IMACS International symposium on Scientific Computing, Computer Arithmetic and Validated Numerics, SCAN 2006

作者： Kletting, Marco Hofer, Eberhard P. Antritter, Felix Institute of Measurement Control and Microtechnology University of Ulm D-89081 Ulm Germany Institute of Automatic Control University of Erlangen-Nürnberg Cauerstrasse 7 D-91058 Erlangen Germany

ISBN: (纸本)076952821X

Flatness based tracking controller design (see e.g. [4, 5, 16]) is one of the most important tools for the control of nonlinear systems. A drawback of this approach is the lack of methods for the robustness analysis of such controllers with respect to uncertain parameters in the plant. In [1] the application of interval methods has been proposed for the guaranteed robustness analysis of flatness based tracking controllers. This approach allows to explicitly calculate the deviations from the reference trajectory which are caused by uncertain parameters in the plant in a guaranteed way. In this contribution the analysis using interval methods is extended to the case when a nonlinear tracking observer is necessary to estimate unmeasured states. Furthermore it is shown that unknown sensor offsets can be included into this robustness framework. The approach is illustrated for a magnetic levitation system.

关键词： controllers

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nonlinear Predictive control with Disturbance observer for Induction Motor Drive

Nonlinear Predictive Control with Disturbance Observer for I...

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IEEE International symposium on Industrial Electronics (ISIE)

作者： Adel Merabet Mohand Ouhrouche Rung-tien Bui Electric Machines Identification and Control Laboratory (EMICLab) University of Quebec Chicoutimi Chicoutimi QUE Canada

A nonlinear predictive control (NPC) law with a disturbance observer is presented. It is applied to induction motor in order to track speed and flux profiles. The prediction defined on finite horizon is carried out via Taylor series expansion. The load torque is considered as an unknown disturbance and it is estimated by a nonlinear observer. Using the nonlinear predictive control has simplified the structure of the dynamic observer. The combination of the predictive controller and the observer works as a nonlinear controller with an integral action. The stability of the whole system can be achieved by simple design parameters. The simulations show very satisfactory performance of the proposed controller for trajectories tracking, the robustness to parameters variations and the disturbance rejection are successfully achieved

关键词： Predictive control Induction motor drives Induction motors Robust control Taylor series Stability Electrical equipment industry nonlinear systems Torque control control systems

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Discrete-time nonlinear recurrent high order neural observer

Discrete-time nonlinear recurrent high order neural observer

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IEEE International Conference on Computer-Aided design

作者： Alma Y. Alanis Edgar N. Sanchez Alexander G. Loukianov CINVESTAV Unidad Guadalajara Guadalajara Jalisco Mexico

This paper presents the design of an adaptive recurrent neural observer for nonlinear systems, whose mathematical model is assumed to be unknown. The observer is based on a recurrent high order neural network (RHONN), which estimates the state vector of the unknown plant dynamics. The learning algorithm for the RHONN is based on an extended Kalman filter. This paper also includes the respective stability analysis, on the basis of the Lyapunov approach, for the neural observer trained with the extended Kalman filter. Some simulation results are included to illustrate the applicability of the proposed scheme.

关键词： observers Recurrent neural networks Uncertainty Neural networks State estimation nonlinear systems Stability analysis Mathematical model MIMO Algorithm design and analysis

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An RBFN-based observer for nonlinear systems via deterministic learning

An RBFN-based observer for nonlinear systems via determinist...

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IEEE International Conference on Computer-Aided design

作者： Cong Wang Cheng-hong Wang Su Song College of Automation South China University of Technology Guangzhou China Department of Information Sciences National Natural Science Foundation Beijing China

Recently, it was shown that for a class of nonlinear systems with only output measurements, by using a high-gain observer and a dynamical radial basis function network (RBFN), locally-accurate identification of the underlying system dynamics can be achieved along the estimated state trajectory. In this paper, it will be shown that the learned knowledge on system dynamics can be reused in an RBFN-based nonlinear observer, so that correct state estimation can be achieved not by using high gain domination, but by the internal matching of the underlying system dynamics. The significance of the paper is that it shows that non-high-gain state estimation can be achieved by incorporating the knowledge reuse mechanism of the deterministic learning theory. Simulation studies are included to demonstrate the effectiveness of the approach.

关键词： nonlinear systems observers State estimation nonlinear dynamical systems Neural networks Radial basis function networks Algorithm design and analysis Intelligent control Linearization techniques Convergence

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Hysteresis switched observer with regional pole placements for general manipulation systems

Hysteresis switched observer with regional pole placements f...

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IEEE International Conference on Computer-Aided design

作者： Salim Chaib Driss Boutat Abderraouf Benali Ecole Nationale Suprieure d'Ingnieurs de Bourges Laboratoire de Vision et Robotique Bourges France

In this paper, we focus on the problem of a observer design for a manipulation system. The mechanical compliance introduced by the cooperation between the manipulators and their interactions with load is complex and nonlinear which makes the observer design very difficult. The last motivates us to develop a new approach to design a multi models-based observer that we will call hysteresis switched observer. The proposed hysteresis switched observer is based on a piecewise linear approximation of the dynamic model. The robust design of the observers composing the hysteresis switched one and the hysteresis behavior of the switching logic ensure the asymptotic stability of the error of the observation with a smooth dynamics

关键词： Hysteresis State feedback Robust stability observers Manipulators Intelligent robots Piecewise linear techniques control systems Switched systems Piecewise linear approximation

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A novel robust nonlinear motion controller with disturbance observer

A novel robust nonlinear motion controller with disturbance ...

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IEEE International Conference on Computer-Aided design

作者： Zi-Jiang Yang Hiroshi Tsubakihara Shunshoku Kanae Kiyoshi Wada Chun-Yi Su Department Electrical and Electronic Systems Engineering Graduate School of Information Science and Electrical Engineering Kyushu University Fukuoka Japan Department of Mechanical Engineering Concordia University Montreal QUE Canada

In this paper, a novel robust nonlinear motion controller with disturbance observer (DOB) for positioning control of a nonlinear single-input-single-output (SISO) mechanical system is proposed. The controller is designed in a backstepping manner. At the first step, a PI controller is designed to stabilize the position error. Then at the second step, a novel robust nonlinear velocity controller with DOB is designed to stabilize the velocity error. By using some elegant nonlinear damping terms, the input-to-state stability (ISS) property of the overall nonlinear control system is proved, which leads to a major contribution of construction of a theoretically guaranteed robust nonlinear controller with DOB for the first time in the literature. The performance of the proposed controller is verified through application to a magnetic levitation system. Comparative studies with an adaptive robust nonlinear controller are also carried out. It is shown that the proposed novel controller while being simple is superior over the adaptive robust nonlinear controller for the experimental setup under study

关键词： Robust control Motion control nonlinear control systems control systems Error correction Robust stability Programmable control Adaptive control Mechanical systems Backstepping

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