A New Anti-Windup PI Controller for Direct Torque Control System

Transcription

1 TELKOMNIKA Indonian Journal of Elctrical Enginring Vol., No.7, July 04,. 568 ~ 574 DOI: 0.59/tlkonika.vi A Nw Anti-Windu PI Controllr for Dirct Torqu Control Syt MIAO Jing-Li, LI Qi-ng Hbi Univrity of Enginring, China Corronidng author, -ail: @qq.co Abtract Sd controllr in induction otor dirct torqu control (DTC) yt uually adot th traditional PI controllr. But th traditional PI controllr ha charactritic of nonlinar aturation, what will ak th control rforanc of actual yt bco wor. In ordr to irov yt control rforanc, thi ar adot a nw ty Anti-Windu PI controllr, Thi thod aratly control th intgral tat by fd backing th outut of th intgrator to th inut ort of th intgrator according to whthr th controllr outut i aturatd or not, which can ak th yt laving aturation a oon a oibl. A a rult, th ovrhoot and ttling ti of th yt ar rducd. Siulation and xrintal rult how that thi thod can ignificantly ur th intgral windu hnonon a wll a rduc th ovrhoot and hortn th ttling ti. Th nw Anti-Windu PI controllr ha a bttr rforanc than th traditional PI controllr. Ky word: induction otor; dirct torqu control; PI controllr; Anti-Windu; iulation Coyright 04 Intitut of Advancd Enginring and Scinc. All right rrvd.. Introduction Dirct torqu control (DTC) tchnology i a high-rforanc AC d rgulating tchniqu. It aar latr than th vctor control tchnology. But coard with vctor control tchnology, DTC tchnology will not b rtrictd by currnt rgulator bandwidth. So th torqu dynaic ron i fatr and not nitiv to th chang of th aratr of otor [-5]. But a tyical d controllr of DTC yt uually u PI controllr. Whil th traditional PI controllr do not conidr th ur liit of actual torqu. Whn th utation in th d i hand, PI controllr will outut a big torqu. But actually th otor can t outut uch a big torqu. It will ak th rforanc of th yt bco wor. W call thi hnonon Windu [6-0]. To olv thi robl, thi ar adot a nw ty Anti-Windu PI controllr. Th nw controllr can quickly xit th aturatd zon, So a to raliz th rducing of ovrhoot and fatr ron d [-4].. Nw Anti-Windu PI Controllr In th induction otor, th rlationhi btwn d and torqu i: ( TE TL) d () dt J J B Uing -function can b xrd a: ( TE TL ) J B () In th quation, i angular vlocity of th chanical rotor, J i th ont of inrtia of th otor, B i th Vicou friction cofficint, T E i th givn torqu of th otor, T L i th Rcivd Stbr 0, 03; Rvid Fbruary 4, 04; Acctd March 5, 04

2 TELKOMNIKA ISSN: load torqu, J/B i calld th chanical ti contant. Lt k =J/B, that i to ay k i chanical ti contant. Traditional PI controllr i affctd by th Windu hnonon, it quivalnt on th outut id joind a liiting function T E (u). Equation (3) i th xrion. Figur i th function of th corronding curv. Figur i th PI controllr tructur with a aturation liit. T E u T gn( u), u T ax u, u T ax ax (3) In thi quation, u i th outut of traditional PI controllr, gn(u) i th ign function. Figur. Th Function Curv of T E (u) K T L u T E J B K i Figur. Traditional PI Controllr Structur with a Saturation Liit To inhibition th aturation hnonon, thi articl introducd a nw ty Anti - Windu PI controllr, figur 3 how th control block diagra. According to th Figur 3, Whn u = T E, witch S will b clod, S will b ond. Th controllr turn into th tyical PI controllr. Whn u > T E, witch S will b clod, S will b ond. Th outut ultilid by a cofficint and thn ngativ fdback to th inut. So that th intgral outut can convrg to zro raidly. K i S K u T E C i u T E T L J B k S u T E Figur 3. Th Nw Anti-Windu PI Controllr Structur A Nw Anti-Windu PI Controllr for Dirct Torqu Control Syt (MIAO Jing-Li)

3 570 ISSN: Th i in th Figur 3 i intgral tat. It xrion i: K i, u u i i, u u k n n (4) In Equation (4), K i i intgral contant. k i th intgral fdback gain cofficint. And k, K i <<k. 3. Stability Analyi If th yt i tabl, th yt ut t two condition. Firt th yt in th linar rgion i tabl. Scond th yt could convrgnc to th linar ara fro th aturatd zon. If two condition ar atifid at th a ti, th yt will b tabl. 3.. Firt Condition In th linar, th nw Anti-Windu PI controllr i th a a traditional PI controllr. At thi ti th rror can b xrd a: ( i TL ) K ( ) (5) k J k J Lyaunov function i dfind a follow: L (, i) J ( i i ) K 0 i (6) In th Equation (6), i 0 i i tabl valu, o: K L (,) i ( B TL ) i 0 ( B ) (7) J i B T (8) 0 L In th linar, it alway t: V (, q) 0 i0 Tax (9) To u u, th controllr tabl condition in th linar i: TL B Tax (0) 3.. Scond Condition In th aturatd zon, w can gt th xrion of rror fro Equation (). ( TE TL) () k J k Fro quation (4) w can gt: i i () k TELKOMNIKA Vol., No. 7, July 04:

4 TELKOMNIKA ISSN: Bcau of k<<k, th dynaic d rror i far lowr than th intgral dynaic tat. That i to ay, th intgral tat i wa idiatly t to zro whn th controllr i in th aturatd zon. So: u K i K (3) If E b =T ax /K. Fro Equation (3), w can find that, whn <=E b th controllr i in th linar, whn >E b th controllr i in th aturatd zon. Lyaunov function i dfind a follow: () L (4) Aftr th drivation: L () k k J ( TE TL) (5) Tak Equation () and Equation (3) into Equation (5) Tax TL L () ( ) k J J k ( Tax TL ) k k J (6) Bcau of L () 0, only nd to t: k T T J { ( ax L )} (7) So w can gt th condition: B (8) TL B Tax Tax K Coard Equation (0) and Equation (8), w can that a long a th yt t Equation (0) ut t Equation (8). So Equation (0) i th tabl condition. To u u w can gt th tabl condition a follow: TL B Tax (9) 4. Modling and Siulation Matlab/Siulink i ud to carry out th odling and iulation. Figur 4 i th tructur chart of th DTC yt with th nw Anti-Windu PI controllr. Firt of all, according to Figur 4 th odl of induction otor DTC yt with traditional PI controllr wa tablihd. And thn th odl of th nw Anti-Windu PI controllr wa tablihd, hown in A Nw Anti-Windu PI Controllr for Dirct Torqu Control Syt (MIAO Jing-Li)

5 57 ISSN: th Figur 5. Finally th nw Anti-windu PI controllr rlacd th traditional PI controllr, o that w can gt two diffrnt iulation diagra of d ron. T T d T d i,, u a u b a b c U dc U i a i b IM Figur 4. Th Structur Chart of th Syt u Proortional P Intgral q Su TE u if (u ~= 0) l If q Action &q If Action Subyt Action &q If Action Subyt Figur 5. Th Nw Anti-Windu PI Controllr Siulation Diagra 5. Siulation and Exrint 5.. Th Siulation Rult Motor aratr ar litd a follow: th tator ritanc R =.5, th rotor ritanc R r =.7, th tator inductanc L =0.335H, th rotor inductanc L r =L = 0.335H, th utual inductanc L = 0.394H, th logarithic P=, th ont of inrtia J=0.0086kg.. PI aratr i a in th two controllr, K =,K i =0. Th intgral fdback gain cofficint in th nw Anti-Windu PI controllr i k=0.95. Th axiu outut torqu of th otor i T ax =0N., dicrt aling riod i 50. Th tator flux linkag givn valu i =0.8Wb. Induction otor i tarting with no load, but th load torqu will bco 4N. at. Sd i 0 at th bginning, thn t to 400rad/ at 0.. Figur 6 i th rult of iulation grah. Figur 7 and Figur 8 ar th artial nlargd figur. Fro Figur 7 w can that, traditional PI controllr ovrhoot aount of d ron rachd 7.5% and adjutnt ti i 0.6, but th nw Anti-Windu PI controllr i alot no ovrhoot aount of d ron and adjutnt ti i only 0.5. Fro th iulation rult can b n, th nw Anti-Windu PI controllr control rforanc ha vry obviou advantag. Fro Figur 8 w can that, whn th load turn into 4N., th two curv ar iilar. Two ty of controllr ability to rit load diturbanc i alot th a. TELKOMNIKA Vol., No. 7, July 04:

6 TELKOMNIKA ISSN: ω/(rad/) traditional PI controllr 50 nw Anti-Windu PI controllr givn d t/ Figur 6. Siulation Rult ω/(rad/) traditional PI controllr nw Anti-Windu PI controllr givn d t/ Figur 7. Partial Enlargd Grah of Sd St Ron ω/(rad/) nw Anti-Windu PI controllr givn d traditional PI controllr t/ Figur 8. Partial Enlargd Grah of Joining th Load 5.. Exrintal Rult On th bai of thortical analyi and digital iulation, thi articl ha carrid on th corronding xrintal rarch. Exrint yt adot th cial otor control digital ignal rocor TMS30F8 a th controllr. Procor TMS30F8 with RS - 3 rial counication ort will b collctd xrintal data tranittd to th PC. Th otor aratr ar th a. Th tator flux linkag alitud to 0.8 Wb. Sd givn valu for 50 rad/ = r/in. Th load i about N.. Figur 9 to 0 ar th xrintal rult. Th xrintal rult and iulation rult ar conitnt. It validat th corrctn of thi thod. A Nw Anti-Windu PI Controllr for Dirct Torqu Control Syt (MIAO Jing-Li)

7 574 ISSN: S d/rad/ Sd/rad/ Figur 9. Exrintal Rult of Convntional PI Controllr with Saturation Liit Figur0. Exrintal Rult of Nw Anti- Windu PI Controllr 6. Concluion Th traditional PI controllr ha intgral aturation robl, o thi ar adot a nw ty Anti-Windu PI controllr. And th condition for th tability of th yt i givn. Siulation and xrintal rult how that, th nw Anti-Windu PI controllr can rduc or vn liinat ovrhoot aount of d ron, and hortn adjuting ti. At th a ti, th controllr alo ha th advantag of il tructur and ay to rojct ilntation. Rfrnc [] Takahahi I,Naguchi T.A Nw Quick-ron and Hing-fficincy Control Stratgy of an Induction Motor. IEEE Tranaction on Induction Alication (S ). 986; (5): [] M.Dnrock. Dirct lf-control of invrtr-fd achin. IEEE Tranaction on Powr Elctronic. 988; 3(4): [3] Wang Huan-gang, Xu Wn-li, Li Jian, t al. A nw aroach to dirct torqu control of induction achin. Procding of th CSEE. 004; 4(): 08-. [4] S Tarbourich, M Turnr. Anti-windu dign: an ovrviw of o rcnt advanc and on robl. IET Control Thory and Alication. 009; 3(): -9. [5] Sudhakar Abarau, M Vijaya Kuar. Nural Ntwork Controllr in DTC of Synchronou Motor Driv. TELKOMNIKA Indonian Journal of Elctrical Enginring. 03; 3(3): [6] Yang Ming, Xu Dian-guo, Gui Xian-guo. Rviw of control yt anti-windu dign. Elctric Machin and Control. 006; 0(6): [7] Zhou Hua-wi, Wn Xu-hui, Zhao Fng, t al. Prdicativ anti-windu tratgy for PI-ty d controllr. Elctric Machin and Control. 0; 6(3): 5-. [8] Hwi-Bo Shin, Jong-Gyu Park. Anti-windu PID controllr with intgral tat rdictor for variabld otor driv. IEEE Tran. Indutrial Elctronic. 0; 59(3): [9] JK Sok, KT Ki, DC L. Autoatic od witching of P/PI d control for indutry rvo driv uing onlin ctru analyi of torqu coand. IEEE Tran. Indutrial Elctronic. 007; 54(5): [0] Y Png, D Vrancic, R Hanu. Anti-windu, bul, and conditiond tranfr tchniqu for PID controllr. IEEE Tran. Control Syt. 996; 6(4): [] Hwi-Bo Shin. Nw Antiwindu PI controllr for variabl-d otor driv. IEEE Tran. Indutrial Elctronic. 998; 45(3): [] Yu Yanjun, Chai Fng, Gao Hongwi, t al. Dign of PMSM Syt Bad on Anti-Windu Controllr. Tranaction of China Elctrotchnical Socity. 009; 4(4): [3] Jong-Woo Chi, Sang-Chol L. Antiwindu tratgy for PI-ty d controllr. IEEE Tran. Indutrial Elctronic. 009; 56(6): [4] Miao JingLi, Huang Xiao Guang; Yuan Xiangng. Bad on Anti-windu PI of bruhl Dc otor control yt dign. TELKOMNIKA Indonian Journal of Elctrical Enginring. 03; (): TELKOMNIKA Vol., No. 7, July 04: