Position control system of moderate precision based on 'forced dynamics control' for the drive with significant vibration modes is described. To exploit the only position sensor on the motor side, ...all necessary control variables are estimated in observers based on motor position and stator current measurements. The designed controller is of a cascade structure, comprising an inner speed control loop, which respects vector control principles and an outer position control loop, which is designed to control load angle with prescribed dynamics in the presence of flexible modes. Simulations of the overall control system indicate that the proposed control system exhibits the desired robustness and therefore warrants further development and experimental investigation.
U radu je opisano upravljanje sustavom pozicioniranja srednje preciznosti s izraženim vibracijskim modovima korištenjem metodologije prisilnog upravljanja dinamikom. Kako bi se iskoristio senzor ...pozicije na strani motora, sve potrebne varijable stanja estimiraju se na temelju mjerenja pozicije motora i statorskih struja. Projektirani regulator je kaskadne strukture, s unutarnjom petljom po brzini vrtnje koja se temelji na principima vektorskog upravljanja, i vanjskom petljom po poziciji za upravljanje kutom tereta s definiranom dinamikom u prisustvu slabo prigušenih modova. Simulacijski rezultati cjelokupnog sustava upravljanja potvr.uju da predloženi sustav upravljanja posjeduje željenu robusnost i time opravdava budući razvoj i eksperimentalna istraživanja.
Purpose - The purpose of this paper is to discuss the design and verification of a new control algorithm for the drive with permanent magnet synchronous motor (PMSM) and flexible coupling based on ..."Forced dynamics control". Control laws are derived and tested for the rotor and load angle control and achieve non-oscillatory position step response with a specified settling time.Design methodology approach - "Forced dynamics control" is a new control technique based on feedback linearization which forces rotor or load position to follow demanded position with prescribed closed-loop dynamics. The proposed control structure is developed in two steps: first, the feedback linearisation is applied to the rotor speed and then similar technique is used for position control loop.Findings - The proposed controller is of the cascade structure, comprising an inner speed control loop, respecting vector control principles and outer position control loop designed to control the rotor or load angle, respectively. Estimates of load torques acting on the motor and load side as inputs of control algorithms are produced in observers and used to compensate disturbances offering a certain degree of robustness. Preliminary experiments confirm that proposed system follows the ideal closed-loop dynamics with moderate accuracy.Research limitations implications - The focus is on experimental verification of the position control of flexible PMSM drive with two position sensors and moderate precision, where the oscillations due to hardware setup, achieved sampling frequency and corresponding observers adjustment are limited up to 50 rad s−1.Practical implications - The designed control structure can substantially improve control performance of industrial plants subjects to torsion oscillations.Originality value - Experimental results of a novel control structure for the PMSM drives with torsion oscillations are sufficiently promising and confirmed that the rotor and load angle responses follow the prescribed ones fairly closely.
Position Control of PMSM in Sliding Mode Bris, Peter; Vittek, Jan; Makys, Pavol
Advances in electrical and electronic engineering,
03/2008, Volume:
7, Issue:
1-2
Journal Article
Peer reviewed
Open access
In the paper control of linear permanent magnet synchronous motor (PMSM) based on the principles of sliding mode control (SMC) with respect of vector control principles is carried out. The presented ...simulations comprise position quantization due to assumed experimental verification on the bench which consists of linear PMSM and incremental position sensor. Simulation results compare two methods for obtaining of position derivatives needed for SMC algorithm. The first method exploits a filtering observer and second one uses numerical derivations and first order filters.
Design and verification of a new energy saving position control algorithm for PMSM drives loaded with combined constant, linear and quadratic friction torques is the main contribution of this paper. ...For minimization of energy losses a symmetrical trapezoidal speed-time profile based on prescribed maneuver time is computed to achieve prescribed dynamics to achieve the demanded reference position. Overall control system exploits principles of vector control and forced dynamics control. A zero dynamic lag pre-compensator is included for precise tracking of prescribed state variables. The simulation results confirmed possibility to achieve energy savings with prescribed constant acceleration, trapezoidal speed and position profiles for pre-planned rest to rest maneuver.
Forced dynamics control principles are exploited to develop control algorithms for electric drive with PMSM and flexible couplings. The controller is of the cascade structure, comprising an inner ...speed control loop, which respects the principles of vector control and requires a load torque estimate and an outer position control loop, which is designed to control the PMSM rotor or load angle in the presence of the vibrations due to flexible coupling including an external load torques. Computation of PMSM stator voltage is based on novel algorithm exploiting forced dynamics control. Derived control laws require the estimates of the load torque and its derivatives estimated in the set of observers. Control algorithm is verified by simulations and preliminary experiments indicating good agreements with theoretical predictions, therefore further experimental verification of the designed control algorithm is recommended.
Paper presents a position control system capable of achieving the prescribed speed and position response, for drives with PMSM and a significant vibration mode. The controller is of cascade ...structure, comprising an inner speed control loop and an outer position control loop. The inner speed control system complies with principles of vector control and feedback linearisation. The outer position loop based on `forced dynamics', controls the load angle in the presence of flexible coupling and external load torques. A set of two observers, the first on the load side, and second on the motor side, generates all the state variables necessary for speed and position control algorithms with prescribed dynamics. This approach allows elimination of the motor side position sensor. Simulations confirm that the proposed model based control system with one position sensor can operate with moderate accuracy.
This paper is focused on the effective implementation of new ISO 9001requirements into companies. The qualitative research was carried out in five international medium-sized production organizations. ...Difference analysis, analysis of parties involved, and cost analysis were used to solve the problem. The difference analysis was described between standards ČSN ISO 9001:2009 and ČSN ISO9001:2016. The analysis of parties involved was created on basis of new requirements and it describes all parties involved in the company, both from the public and privatesectors. The aim of the work was to propose gradual steps, based on which a successfultransition to a revised standard can be made, which is not quite simple, given thegeneral validity of the standard for all types of organizations.The study presents various solutions for a successful transition to new andrevised version of the standard. Nine primary propositions and seven secondarypropositions were suggested.
Main contribution of this paper is the design and verification of a new energy saving position control algorithm for electric drives with significant Coulomb and viscous friction. For minimization of ...energy losses a trapezoidal velocity-time profile based on prescribed maneuver time is computed to achieve prescribed dynamics for demanded reference position. The overall control system exploits principles of vector control and forced dynamics control. A zero dynamic lag pre-compensator is included to achieve precise tracking of a pre-planned rest-to-rest maneuver. The simulation results for the drive with PMSM confirmed possibility to achieve substantial energy savings.
Main contribution of this paper is an experimental verification of a new position control algorithm exploiting principles of forced dynamics control capable to operate in energy saving mode. To ...minimize energy loss a specified velocity-time profile based on prescribed maneuver time is computed to achieve prescribed dynamics for demanded reference position. Settings of the velocity-time profile parameters respect influence of load torque, which is used for deceleration or acceleration of the drive. The control system exploits principles of vector control, maintaining perpendicular stator current vector and the rotor flux vector. A zero dynamic lag pre-compensator is included to achieve precise following of a pre-planned rest-to-rest maneuver. The simulations predicted and presented experimental results confirmed possibility to achieve prescribed speed profile and to precisely follow of pre-planned rest to rest maneuvers for the drive with PMSM.
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