Modeling and Adaptive Nonlinear Control of Electric Motors

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1 Power Systems Modeling and Adaptive Nonlinear Control of Electric Motors Bearbeitet von Farshad Khorrami, Prashanth Krishnamurthy, Hemant Melkote 1. Auflage Buch. x, 528 S. Hardcover ISBN Format (B x L): 15,6 x 23,4 cm Gewicht: 2050 g Weitere Fachgebiete > Technik > Elektronik > Sensorik schnell und portofrei erhältlich bei Die Online-Fachbuchhandlung beck-shop.de ist spezialisiert auf Fachbücher, insbesondere Recht, Steuern und Wirtschaft. Im Sortiment finden Sie alle Medien (Bücher, Zeitschriften, CDs, ebooks, etc.) aller Verlage. Ergänzt wird das Programm durch Services wie Neuerscheinungsdienst oder Zusammenstellungen von Büchern zu Sonderpreisen. Der Shop führt mehr als 8 Millionen Produkte.

2 Contents 1 Introduction Stepper Motors and Classification Variable Reluctance Stepper Motor Permanent Magnet Stepper Motor Hybrid Stepper Motor Sawyer Motors Brushless DC (BLDC) Motors Induction Motors Practical Considerations Power Losses Thermal Effects Current and Voltage Constraints Power Electronics and Drive Circuits Finite Word Length and Noise Nonlinear Control Design Applications to Electric Motors and Open Problems Dual-Axis Linear Stepper (Sawyer) Motors A Dynamical Model for Sawyer Motor Position Sensing and Control Issues Modeling of Stepper Motors Variable Reluctance Stepper Motor Models with Saturation v

3 vi CONTENTS 3.2 Permanent Magnet Stepper Motor Sawyer Motor Modeling of Hysteresis and Eddy Current Losses Disturbance due to Umbilical and Load Force Cogging and Ripple Force Resonance Stepping Full-Stepping VR Motors PM Motors Sawyer Motors Micro-Stepping VR Motors PM Motors Sawyer Motors Feedback Linearization and Application to Electric Motors Feedback Linearization Theory SISO Systems MIMO Systems System Inversion Feedback Linearizing Designs for Step Motors VR Motors PM Motors Sawyer Motors Robust Adaptive Control of a Class of Nonlinear Systems Robust Control Under Strict Matching Nonlinear Systems of the Special Strict Feedback Form: Characterization Robust Tracking Design Robust Output Feedback Design

4 CONTENTS vii The Design Procedure A Robust Control Design for Multi-Output Systems Robust Adaptive Control of Stepper Motors Previous Work VR Stepper Motors PM Stepper Motors Sawyer Motors Problem Formulation for Various Stepper Motors Control of VR Stepper Motors Simulation Results Control of PM Stepper Motors Simulation Results Control of Sawyer Motors Simulation Results Current Control of Stepper Motors Using Position Measurements Only Current Controllers for VR and PM Stepper Motors Commutation Simulation Results Sawyer Motors Simulation Results Voltage Control of Stepper Motors Using Position and Velocity Measurements PM Stepper Motors Simulation Results Sawyer Motors Simulation Results Voltage Control of PM Stepper Motors Using Position Measurement Only Feedback Design Assuming Knowledge of Electrical Time Constant215

5 viii CONTENTS Simulation Results Feedback Design Assuming Known Bounds on Motor Parameters Simulation Results Brushless DC Motors Electro-Mechanical Model Feedback Linearizing Design Robust Adaptive Control Design Application to Multi-Link Manipulators Simulation Results Current-Level Control of BLDC Motors Using Position Measurements Only Torque Ripple Reduction for BLDC Motors Induction Motor: Modeling and Control Modeling Field Oriented Control (FOC): Asymptotic Input-Output Linearization A Nonlinear ISS-Based Extension of FOC Simulation Results Input-Output Decoupling Dynamic Feedback Linearization Integrator in the q-axis Integrator in the d-axis Direct Torque Control (DTC) Simulation Results Flux Observers Observer Based on Position and Currents Observer Based on Velocity and Currents Output Feedback Control Design Adaptive Control of Induction Motors Adaptive State Feedback Control

6 CONTENTS ix All Parameters Unknown A Singularity-Free Adaptive Controller Assuming Lower Bound on αl sr A Lower-Order Dynamic Controller for Practical Tracking Adaptive Output Feedback Control Only Rotor Velocity Measured: Mechanical Parameters Unknown Load Torque, Rotor Resistance, and Friction Unknown Mechanical Parameters and Rotor Resistance Unknown Simulation Results Passivity-Based Control of Electric Motors Dissipativity and Passivity Euler Lagrange Systems Electric Motors as Euler Lagrange Systems Passivity-Based Control of Electric Motors VR Stepper Motors PM Stepper Motors Brushless DC Motors Induction Motors Adaptive Passivity-Based Control Torque Ripple Reduction for Step Motors Torque Ripple in Open-Loop Operation Schemes for Torque Ripple Reduction Adaptive Variable Structure Control Under Strict Matching Application to PM Stepper Motors Simulation Results Force Ripple Reduction for Sawyer Motors Simulation Results Friction Compensation in Servo-Drives Dynamic Friction Models: General Properties

7 x CONTENTS Existing Dynamic Friction Models Model-Independent Friction Compensation Methodology System Model Control Design via Adaptive VSC Simulation Results with Different Models Experimental Results Experiments on Low-Velocity Sinusoidal Trajectory Tracking Experiments on Point-to-Point Maneuver Compliant Transmission Simulation Results A Fundamentals of AC Machines 443 B Floquet Frame: Extensions to DQ Transformation 449 B.1 Case of Position-Only Dependent Transformations C Torque Maximization with Current and Voltage Constraints (Field Weakening) 459 C.1 Low-Speed Range C.2 High-Speed Range C.3 Intermediate-Speed Range C.4 Transition Speeds D Stable System Inversion 463 E Lyapunov Stability Theorems 473 F Backstepping 477 G Input-to-State Stability and Nonlinear Small Gain 491 Bibliography 501 Index 519

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