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1. Introduction
In the past few years the performance of computers has increased
dramatically. With this increased performance it is possible to develop more
complex control systems for real life applications. These new control methods
are more robust and more reliable than the others, because they can handle
complex plant models. The H theory is a new method and only a few scientific
papers with the application to induction motors can be found in the scientific
literature [1]. The goal is to demonstrate the practical applicability of the H
controller in an industrial environment. The electrical drive with three phase
asynchronous motor is widely used in industry, its main drawback is the
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30
D. Fodor
Notation Meaning
Notation
Control input
u, u(t)
Stator
(d,q)
Disturbances, noise
w, w(t)
Rotor speed
Output
y, y(t)
Flux
angle
Measurement
m, m(t)
Noise, reference
u Sd , u Sq Leakage factor
Magnetizing current
imR
Rotor,
stator
TR ,TS
time constant
Inertia
Load torque
mL
current i , i
Sd Sq
speed, ,
mR
n, r
(1)
d
1
1
imR (t )
iSd (t )
imR (t ) ;
dt
TR
TR
(2)
d
iSq(t) 4iSq (t) 5mR(t)imR(t) mR(t)iSd (t) 3uSq (t) ;
dt
(3)
2
zp
d
2 p
(1 ) LS imR (t )iSq (t )
(t )
mL ;
dt
3 J
J
(4)
i mR (t )
1
(t )e j (t ) ;
LH R
(5)
mR
1
iSq
TR imR
31
(6)
1
( 1 ) 1
;
TS
TR
(7)
( 1 ) 1
;
TR
(8)
1
;
LS
(9)
1
;
TS
(1 )
(10)
;
(11)
d
imR (t ) 0 in (2). Then iSd is equal to imR, and
dt
d
iSd (t ) 0 . (1) is then not a differential equation, but an algebraic one.
dt
Substituting (6) into (3) and (4), and using imR =imRref, iSd= imR, it results the
following simplified state space representation of the AC drive:
d
dt
iSq
m
i
A Sq Bu u Sq Bw L ;
n
1 1
1
1
T T T
S
R
R
A
2
2 p
ref
3 J (1 ) LS imR
1
Bu LS ;
0
Bw p
N1
;
N2
ref
ref
imR
imR
(12)
(13)
(14)
(15)
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D. Fodor
Gp (Perturbed Plant)
G
(Nominal
Plant)
+
u(t)
y(t)
Multiplicative uncertainity
The only input of the model (12) is the q component of the stator voltage.
u (t )
x (t ) Ax (t ) B B
u w w (t )
0
m(t ) C m
y (t ) C x(t ) D
yu
mw u (t )
0 w(t )
T
Dmw Dmw
I;
D Tyu C y 0 ;
D Tyu D Tyu I ;
(16)
(17)
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The plant is controllable from the control input and from the
disturbance input;
The plant is observable from the measured output and from the
reference output.
w(t) disturbances, reference
signals and noise
u(t) control input
Controller
(18)
Controller structure
xest
m
State Estimator
u
State
Feedback
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D. Fodor
(16) and (17). Note that, since all parameters are fixed, the description is timeinvariant. The measured value is the difference between the reference speed and
the actual speed together with the measurement noise. The reference output
consists of the difference between reference and actual speed (without noise),
iSq , and u Sq . The controller should keep the control input finite and should not
try to set it to zero, so the weights for the stator current and voltage in the
reference output are kept small. Note that the disturbance input is included in
the reference output, which is not consistent with the H problem statement as
in (16) and (17). This drawback can be solved by applying more general
suboptimal control formulas [6]. In order to make calculations easier, a steady
state gain was used to design the controller. Some performance limitations have
to be made [5] to guarantee good reference tracking (after the design ad hoc
integral action was added [3]) and the output signals were bounded. The final
model of the system for controller design results:
d
dt
iSq
mL
i
A Sq Bu u Sq Bwf n ;
r
1
0
0
0
i
(
)
1
m
t
Sq 0
y (t ) 0.01 0 0
0
0
0.01
0
B wf p
N1
N2
0
0
0
0
0
0
0
0
1 u Sq
1 mL
;
0 n
0 r
0
.
0
(19)
(20)
(21)
The controller has the form (18). After solving the Riccati equations, the
matrices of the controller Ac , B , C can be calculated using the solutions of
c
c
the equations and the state matrices of the model. A performance bound
required for the solution was chosen approximately 10% over theoretical
optimum.
5. Simulation results
Parameters of the induction drive used in the simulation:
Ls = 0.13 H, Lh = 0.12 H, Lr = 0.13 H, Rr = 3.0 Rs = 1.86 p = 2.
The simulation was made with MATLAB/Simulink, according to the
structure presented in Fig. 4. The model representing the AC drive is a time-
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variant model described by the equations (1)-(11), and not the simplistic model
used for controller design. The inputs of the motor are three phase stator
voltages and the load torque. The controller provides the value of u sq , while
Speed
Controller to
generate usq
usq
usa
usb
AC motor model
usc
Constant
usd
usd
Current
Angle
Flux identification
Transformation
ia
ib
ic
Transformation
from a,b,c to
Computation
of Rotor flux
r
cos()
Computation
of flux angle
sin()
The simulation results are presented in Fig. 6-8. Fig. 6 shows the reference
tracking capability, even with large measurement noise. The load torque is
presented in Fig. 7. The simulation results show that the H controller works
well, and the system with rapidly changing reference shows good dynamic
behaviour.
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D. Fodor
250
real speed
reference
200
150
100
50
0.75
0.5
0.25
0
-50
0
10
0
0
15
Time (s)
Time (s)
10
15
0.1
-0.1
8.7
9.3
Time (s)
From the simulation results presented in Fig. 9-10, it is clear that the
controller shows good results even when load torque changes rapidly. Note, that
during controller design, the load was considered as disturbance; according to
(4), it influences the rotor speed more than the measurement noise. Thanks to
the robustness of the H controller, the measurement errors and modeling errors
are compensated.
120
real speed
reference
110
100
90
80
5
7.5
10
Time (s)
12.5
15
Figure 9: Reference tracking (100 rad/s) during rapid variation of the load.
37
0.95
0.9
0.85
0.8
0.75
0.7
0.65
0.6
0.55
0.5
0
Time (s)
10
15
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D. Fodor
derivative
In1
1
s
[ik1]
parameter 1
inputgain
1
Out1
output
[ik2]
outputgain
parameter 2
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Speed
Rotor flux
Error
Load torque
8. Conclusion
According to the theoretical background presented in section 2 and 3, an
H controller was designed by making some simplifications on the motor model
and then the controllers behaviour was tested with it. It was shown that all
assumptions, simplifications made during the design process are valid. The
system showed good dynamic behaviour and it was shown how the performance
(noise rejection, robustness, and tracking) depends on the design parameters. In
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D. Fodor
consequence, the controller can be implemented for real-time usage as the last
sections show. The controller can be further developed by taking into account
more disturbances. Remark that actuator errors (resulting from the switching
behaviour of the inverter) and modelling noise were not used in the controller
design, and current measurements were assumed to be precise (it was assumed
to measure them without noise). The performance can be further improved by
using a flux model, which is further developed so that it gives more precise
values during transient processes, or by using a speed estimator [9]. Since the
motor model is nonlinear, a parameter-variant or nonlinear controller can be
taken into account as well [10].
References
[1]