Book description
Synchronous motors are indubitably the most effective device to drive industrial production systems and robots with precision and rapidity. Their control law is thus critical for combining at the same time high productivity to reduced energy consummation. As far as possible, the control algorithms must exploit the properties of these actuators. Therefore, this work draws on well adapted models resulting from the Park's transformation, for both the most traditional machines with sinusoidal field distribution and for machines with non-sinusoidal field distribution which are more and more used in industry. Both, conventional control strategies like vector control (either in the synchronous reference frame or in the rotor frame) and advanced control theories like direct control and predictive control are thoroughly presented. In this context, a significant place is reserved to sensorless control which is an important and critical issue in tomorrow's motors.
Table of contents
- Cover
- Title Page
- Copyright
- Introduction
-
Chapter 1: Synchronous motor controls, Problems and Modeling
- 1.1. Introduction
- 1.2. Problems on the synchronous motor control
- 1.3. Descriptions and physical modeling of the synchronous motor
- 1.4. Modeling in dynamic regime of the synchronous motor in the natural three-phase a-b-c reference frame
- 1.5. Vector transformations and dynamic models in the a-ß and d-q reference frames (sinusoidal field distribution machines with non-salient and salient poles)
- 1.6. Can we extend the Park transformation to synchronous motors with non-sinusoidal field distributions?
- 1.7. Conclusion
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1.8. Appendices
- 1.8.1. Numerical values of the parameters
- 1.8.2. Nomenclature and notations
- 1.8.3. Acknowledgments
- 1.9. Bibliography
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Chapter 2: Optimal Supply and Synchronous Motors Torque Control: Designs in the a-b-c Reference Frame
- 2.1. Introduction: problems of the controls in a-b-c
- 2.2. Model in the a-b-c reference frame: extension of the steady state approach in transient regime
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2.3. Structures of torque controls designed in the a-b-c reference frame
- 2.3.1. Case of the sinusoidal distribution machine
- 2.3.2. Extension to brushless DC motors (case of trapezoidal field distribution machines)
- 2.4. Performances and criticisms of the control approach in the a-b-c reference frame
- 2.4.1. Case of a proportional control
- 2.4.2. Case of an integral and proportional (IP) current regulation
- 2.4.3. Interpretation in Park components of the IP controller designed in a-b-c
- 2.4.4. Advanced controllers: example of the resonant controller
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2.5. Generalization: extension of the supplies to the case of non-sinusoidal distribution machines
- 2.5.1. Generalization of the modeling
- 2.5.2. A first (heuristic) approach of the solution
- 2.5.3. First generalization: optimization of the Joule losses (without constraint on the zero-sequence component current)
- 2.5.4. Application of this approach: optimization in the case where electromotive forces are sinusoidal
- 2.5.5. Second generalization: optimization of the Joule losses with constraint (the zero-sequence component current must be equal to zero)
- 2.5.6. Geometrical interpretation of the two optimal currents
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2.6. Use of Fourier expansion to obtain optimal currents
- 2.6.1. Interest of the Fourier expansion (FS)
- 2.6.2. Modeling by Fourier series (with complex coefficients)
- 2.6.3. Properties of the results by the Fourier expansion
- 2.6.5. Second important case: the back-EMF only contain even order harmonics
- 2.6.6. General case, even and uneven order harmonics
- 2.6.7. Rules: to impose the torque, it is necessary to impose its different harmonics
- 2.6.8. General approach for the optimization (heuristic demonstration in one example)
- 2.6.9. General formulation of the optimization method
- 2.6.10. An important example: the sinusoidal field distribution machine
- 2.6.11. Application: obtaining a constant torque
- 2.6.12. Some results
- 2.7. Conclusion
- 2.8. Appendices
- 2.9. Bibliography
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Chapter 3: Optimal Supplies and Synchronous Motors Torque Controls. Design in the d-q Reference Frame
- 3.1. Introduction: on the controls designed in the Park d-q reference frame
- 3.2. Dynamic model (case of the salient pole machine and constant excitation)
- 3.3. First approach to determine of optimal current references (d-q reference frame)
- 3.4. Determination of the current controls designed in the d-q reference frame
- 3.5. New control by model inversion: example of an IP controller with compensations
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3.6. Optimal supply of the salient poles synchronous motors; geometrical approach of the isotorque curves
- 3.6.1. General information: a general approach with the torque surfaces
- 3.6.2. Preliminaries 1: case of synchronous machines, with magnets, with non-salient poles and with spatial distribution of the sinusoidal field
- 3.6.3. Preliminaries 2: case of synchronous machines with magnets, with non-salient poles and with spatial distribution of a non-sinusoidal field – first extension of the Park transformation
- 3.6.4. Remark: Analogy with the p-q theory
- 3.6.5. 3D visualization, case of non-salient pole machines
- 3.6.6. Generalization to the salient pole machines: case of synchronous magnet machines with sinusoidal field distribution
- 3.6.7. Visualization: case of an excited synchronous machine with salient poles
- 3.6.8. Case of a reluctance synchronous machine
- 3.6.9. Case of synchronous machines with variable reluctance and non-sinusoidal spatial field distribution: second extension of the Park transformation
- 3.6.10. Visualization: torque surface of a reluctance synchronous machine
- 3.7. Conclusion
- 3.8. Appendices
- 3.9. Bibliography
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Chapter 4: Drive Controls with Synchronous Motors
- 4.1. Introduction
- 4.2. Principles adopted for speed controls: case of IP controllers
- 4.3. Speed controls designed in the a-b-c reference frame (application to a non-salient pole machine)
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4.4. Determination of the speed controls designed in the d-q reference frame (application to a salient pole machine)
- 4.4.1. General information
- 4.4.2. Introductory example: speed control with compensation or decoupling
- 4.4.3. Discussion on the speed controls
- 4.4.4. Examples of regulation choices. The interest of an IP controller: its limits
- 4.4.5. Examples of the regulation choices: IP controller with an anti-windup device
- 4.4.6. Examples of regulation choices: IP controller with limited dynamics
- 4.4.7. Example of an advanced regulation: P controller associated with an integral observer
- 4.5. Note on position regulations
- 4.6. Conclusion
- 4.7. Appendices
- 4.8. Bibliography
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Chapter 5: Digital Implementation of Vector Control of Synchronous Motors
- 5.1. Introduction
- 5.2. Classical, analog and ideal torque control of a synchronous motor
- 5.3. Digital implementation problem of the synchronous motor vector control
- 5.4. Discretization of the control system
- 5.5. Study of the delays introduced by the digital implementation of the vector control of the synchronous motor
- 5.6. Quantization problems
- 5.7. Delays in the reverse Park transformation
- 5.8. Conclusion
- 5.9. Bibliography
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Chapter 6: Direct Control of a Permanent Magnet Synchronous Machine
- 6.1. Introduction
- 6.2. Model of the permanent magnet synchronous machine in the d-q reference frame
- 6.3. Conventional DTC with free switching frequency
- 6.4. DTC at a fixed switching frequency
- 6.5. Predictive direct control
- 6.6. Conclusion
- 6.7. Bibliography
- Chapter 7: Synchronous Machine and Inverter Fault Tolerant Predictive Controls
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Chapter 8: Characterization of Control without a Mechanical Sensor in Permanent Magnet Synchronous Machines
- 8.1. Introduction
- 8.2. Sensorless control of PMSM, thanks to an extended Kalman filter
- 8.3. Comparison with the MRAS (model reference adaptive system) method
- 8.4. Experimental results comparison
- 8.5. Control without sensor of the PMSM with load torque observation
- 8.6. Starting the PMSM without a mechanical sensor
- 8.7. Conclusion
- 8.8. Bibliography
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Chapter 9: Sensorless Control of Permanent Magnet Synchronous Machines: Deterministic Methods, Convergence and Robustness
- 9.1. Introduction
- 9.2. Modeling PMSMs for mechanical sensorless control
- 9.3. Convergence analysis of mechanical sensorless control laws
- 9.4. Estimation of the back-EMF vector
- 9.5. Robustness of sensorless control of PMSM with respect to parameter uncertainties
- 9.6. Sensorless control of PMSMs in the presence of uncertainties on the resistance
- 9.7. Conclusion
- 9.8. Appendix 1
- 9.9. Appendix 2
- 9.10. Bibliography
- List of Authors
- Index
Product information
- Title: Control of Synchronous Motors
- Author(s):
- Release date: June 2011
- Publisher(s): Wiley
- ISBN: 9781848212732
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