Post on 19-Dec-2015
transcript
Development of a Neuro Fuzzy Technique for Position Sensor Elimination in a SRM
L. O. Henriques, L.G. Rolim, W. I. Suemitsu,
P.J. Costa Branco
Presentation
• Introduction
– Operating modes
• System Training and Operation– Estimator types
• Results– Simulated and experimental
• Conclusions
Introduction
• Necessity for a perfect operation:– Correct excitation of the phases in synchronism with
the rotor position
• Reasons to remove the position sensor:– Cost, reliability, size, weight and inertia
• Basic voltage equation:
n
kkjjj dt
dRiv
1
Operating Modes in Sensorless Control
ba s e
5- Veryh igh speed
4- H ighspeed
3- Lowspeed
2- Very lowspeed
1- S till
Operating Modes in Sensorless Control
•Region 1 and 2: – Counter EMF is smaller than the DC bus voltage.
– Can operate in CR-PWM (hysteresis)
–Drawback: produces significant braking torque
–Voltage pulse injection to measure the inductance
base
5- Veryhigh speed
4- Highspeed
3- Lowspeed
2- Very lowspeed
1- Still
Operating Modes in Sensorless Control
•Region 3– Limitations (precision and accurancy) using diagnosis signal techniques
•Region 4– Operation is single pulse
– Region named “Constant power region”
•Region 5– Requires efficient real time algorithms
System Training and Operation
• Conventional estimator
dt
di
iiRv
dt
d...
1
System Training and Operation
• Initial proposed estimator
Voltage Profile Training Data
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 -150
-100
-50
0
50
100
150
Voltage (V)
-8
-6
-4
-2
0
2
4
Filtered Voltage
(V)
time (s) 0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6
System Training and Operation
• Final proposed estimator
sensor
+
-
Training phase
1/s
Operation phase
Training and Operation Phase
PIController
+
+
Converter+
Motor+
-
NeuroFuzzy
Compensator
NeuroFuzzy
Estimator
filter
Vphases
iref
iref
ipi
i
re f
Simulated Result
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 20
10
20
30
40
50
60
70
80
90
Time(s)
Po
siti
on
(deg
ree)
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 20
10
20
30
40
50
60
70
Time(s)
spee
d(r
pm
)
estimated real
Experimental Results
0 500 1000 1500-5
0
5 Filtered Phase Voltage
phas
e 1
(vol
t)
0 500 1000 1500-5
0
5
0 500 1000 1500-5
0
5
Sample point #
phas
e 2
(vol
t)ph
ase
3(v
olt)
Experimental Result
0 500 1000 15000
0.5
1
1.5
2Reference current
Sample point #
Am
pere
(A
)
Experimental Result
0 100 200 300 400 50090
95
100
105
110Real Speed
Sample point #
(rpm
)
Experimental Result
Estimated Speed
0 100 200 300 400 50085
90
95
100
105
110
Sample point #
(rpm
)
Experimental Result
0 100 200 300 400 50085
90
95
100
105
110Real and Estimated Speed
Sample point #
(rpm
)
Conclusions
• A review of the torque-speed operating modes is shown
• A new technique of position sensor elimination is presented, based on intelligent techniques with neural nets and fuzzy logic
• Simulated and experimental results demonstrated the feasibility of the technique.
Basic Voltage Equation
n
k
kjdt
djRijv
1
dt
di.
idt
d.jRijv
dt
di.
idt
d.
dt
d)i,(f
dt
di.
ii.Rv.
dt
d 1