Lech M. Grzesiak and Tomasz Tarczewski
The purpose of this paper is to discuss the design and verification of a non‐classical structure of servo‐drive controller with the state feedback and a load torque feedforward…
Abstract
Purpose
The purpose of this paper is to discuss the design and verification of a non‐classical structure of servo‐drive controller with the state feedback and a load torque feedforward compensation.
Design/methodology/approach
First a well known nonlinear mathematical model of a PMSM is transformed into a linear form by introducing new variables. The state space new model presented in rotated orthogonal reference frame is decoupled by means of equation in d and q axis. To achieve correct dynamic performance of the servo‐drive system the state feedback with an internal input model and load torque feedforward compensation is proposed. The observed load torque has been used as an input signal for the feedforward compensator. The design of the control system and simulation analysis were performed in Matlab/Simulink. The proposed control algorithm was implemented in a DSP controller (TMS320F2812). The experiments were carried out by using a 0.6 kW PMSM drive system.
Findings
It is shown that the proposed compensator can eliminate the effects of load torque changes by steady‐state operation and significantly improve dynamic behaviour during load changing. A novel mathematical formula how calculate an appropriate gain for feedforward compensator is given.
Research limitations/implications
Analysis of possible disturbance compensation shows that full dynamic compensation of disturbance is impossible. Only the compensation of load torque for a steady state is possible. The described control structure operates without state variables limitations so it is not recommended to application where the high dynamic of transient process is required.
Practical implications
The proposed control system can be used in industrial applications where load torque compensation is needed instead the high dynamic performance.
Originality/value
Presented mathematical formula how calculate an appropriate gain for feedforward compensator is a theoretical contribution of the authors. The test results are consistent with the computer simulation test results and validate the correct dynamic performance of the proposed control method.
Details
Keywords
Marek Michalczuk, Bartlomiej Ufnalski and Lech M. Grzesiak
The purpose of this paper is to provide high-efficiency and high-power hybrid energy source for an urban electric vehicle. A power management strategy based on fuzzy logic has…
Abstract
Purpose
The purpose of this paper is to provide high-efficiency and high-power hybrid energy source for an urban electric vehicle. A power management strategy based on fuzzy logic has been introduced for battery-ultracapacitor (UC) energy storage.
Design/methodology/approach
The paper describes the design and construction of on-board hybrid source. The proposed energy storage system consists of battery, UCs and two DC/DC interleaved converters interfacing both storages. A fuzzy-logic controller (FLC) for the hybrid energy source is developed and discussed. Control structure has been tested using a non-mobile experimental setup.
Findings
The hybrid energy storage ensures high-power ability. Flexibility and robustness offered by the FLC give an easy accessible method to provide a power management algorithm extended with additional input information from road infrastructure or other vehicles. In the presented research, it was examined that using information related to the topography of the road in the control structure helps to improve hybrid storage performance.
Research limitations/implications
The proposed control algorithm is about to be validated also in an experimental car.
Originality/value
Exploratory studies have been provided to investigate the benefits of energy storage hybridization for electric vehicle. Simulation and experimental results confirm that the combination of lithium batteries and UCs improves performance and reliability of the energy source. To reduce power impulses drawn from the battery, power management algorithm takes into consideration information on slope of a terrain.