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1
Content available PMSM drive with adaptive state feedback speed controller
Szczepanski R., Tarczewski T., Grzesiak L. M.
Bulletin of the Polish Academy of Sciences. Technical Sciences
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2020
|
Vol. 68, nr 5
1009--1017
EN
In this paper, the issue related to control of the plant with nonconstant parameters is addressed. In order to assure the unchanged response of the system, an adaptive state feedback speed controller for permanent magnet synchronous motor is proposed. The model-reference adaptive system is applied while the Widrow-Hoff rule is used as adjustment mechanism of controller’s coefficients. Necessary modifications related to construction of the cost function and formulas responsible for adjustment of state feedback speed controller’s coefficients are depicted. The impact of adaptation gain, which is the only parameter in proposed adjustment mechanism, on system behaviour is experimentally examined. The discussion about computational resources consumption of the proposed adaptation algorithm and implementation issues is included. The proposed approach is utilized in numerous experimental tests on modern SiC based drive with nonconstant moment of inertia. Comparison between adaptive and nonadaptive control schemes is also shown.
2
Content available Grid-tied converter operated under unbalanced and distorted grid voltage conditions
Gałecki A., Michalczuk M., Kaszewski A., Ufnalski B., Grzesiak L. M.
Bulletin of the Polish Academy of Sciences. Technical Sciences
|
2020
|
Vol. 68, nr 2
389--398
EN
The paper presents a three-phase grid-tied converter operated under unbalanced and distorted grid voltage conditions, using a multi-oscillatory current controller to provide high quality phase currents. The aim of this study is to introduce a systematic design of the current control loop. A distinctive feature of the proposed method is that the designer needs to define the required response and the disturbance characteristic, rather than usually unintuitive coefficients of controllers. Most common approach to tuning a state-feedback controller use linear-quadratic regulator (LQR) technique or pole-placement method. The tuning process for those methods usually comes down to guessing several parameters. For more complex systems including multi-oscillatory terms, control system tuning is unintuitive and cannot be effectively done by trial and error method. This paper proposes particle swarm optimization to find the optimal weights in a cost function for the LQR procedure. Complete settings for optimization procedure and numerical model are presented. Our goal here is to demonstrate an original design workflow. The proposed method has been verified in experimental study at a 10 kW laboratory setup.
3
Content available Artificial bee colony based state feedback position controller for PMSM servo-drive – the efficiency analysis
Tarczewski T., Niewiara L. J., Grzesiak L. M.
Bulletin of the Polish Academy of Sciences. Technical Sciences
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2020
|
Vol. 68, nr 5
997--1007
EN
This paper presents a state feedback controller (SFC) for position control of PMSM servo-drive. Firstly, a short review of the commonly used swarm-based optimization algorithms for tuning of SFC is presented. Then designing process of current control loop as well as of SFC with feedforward path is depicted. Next, coefficients of controller are tuned by using an artificial bee colony (ABC) optimization algorithm. Three of the most commonly applied tuning methods (i.e. linear-quadratic optimization, pole placement technique and direct selection of coefficients) are used and investigated in terms of positioning performance, disturbance compensation and robustness against plant parameter changes. Simulation analysis is supported by experimental tests conducted on laboratory stand with modern PMSM servo-drive.
4
Content available Application of extended Kalman filter for estimation of periodic disturbance and velocity ripple reduction in PMSM drive
Niewiara Ł. J., Tarczewski T., Grzesiak L M.
Bulletin of the Polish Academy of Sciences. Technical Sciences
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2020
|
Vol. 68, nr 5
983--995
EN
In this paper an application of extended Kalman filter (EKF) for estimation and attenuation of periodic disturbance in permanent magnet synchronous motor (PMSM) drive is investigated. Most types of disturbances present into PMSM drive were discussed and described. The mathematical model of the plant is presented. Detailed information about the design process of the disturbance estimator was introduced. A state feedback controller (SFC) with feedforward realizes the regulation and disturbance compensation. The theoretical analysis was supported by experimental tests on the laboratory stand. Both time- and frequency-domain analysis of the estimation results and angular velocity were performed. A significant reduction of velocity ripple has been achieved.
5
Content available remote Układ laboratoryjny energoelektronicznego interfejsu sieciowego AC/DC/DC dla magazynu energii
Kaszewski A., Straś A., Gałecki A., Michalczuk M., Ufnalski B., Grzesiak L M.
Przegląd Elektrotechniczny
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2018
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R. 94, nr 6
49--55
PL
W artykule przedstawiono układy kondycjonera mocy z nadprzewodnikowym magazynem energii oraz zasobnikiem ultrakondensatorowym. Zawarto opis stanowiska laboratoryjnego z energoelektronicznym interfejsem sieciowym dla magazynu energii. W skład interfejsu sieciowego wchodzi trójgałęziowy trójpoziomowy przekształtnik napięcia AC/DC i dwugałęziowy trójpoziomowy przekształtnik napięcia DC/DC. Omówiono metodę wyrównywania napięć w obwodzie pośredniczącym DC. Przedstawiono uniwersalność układu, który może pracować zarówno z ultrakondesatorowym jak i z nadprzewodnikowym magazynem energii, natomiast przekształtniki mogą działać jako trójpoziomowe lub dwupoziomowe. Omówiono zastosowane elektroniczne układy sterowania z mikrokontrolerami TMS320F28335 i matrycą programowalną FPGA.
EN
The article presents the power conditioner system with superconductor and ultracapacitor energy storage. A description of a laboratory setup of a power electronics interface for the energy storage is included. The grid interface contains a three-level AC/DC converter and a two-branch three-level DC/DC converter. Balancing method of controlling the AC/DC converter and the universality of the DC/DC system are presented. The versatility of the system, which can work both with ultracapacitor and superconductor energy storage, is shown. Power electronics converters can work in a three-level or in a two-level mode. The electronic systems with DSC TMS320F28335 microcontrollers and FPGA have been discussed.
6
Content available remote Sterowanie bazujące na sprzężeniu od wektora zmiennych stanu z ograniczeniami serwonapędem z silnikiem PMSM
Tarczewski T., Skiwski M., Grzesiak L M., Zieliński M.
Przegląd Elektrotechniczny
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2018
|
R. 94, nr 3
99--105
PL
W artykule przedstawiono syntezę regulatora bazującego na sprzężeniu od wektora zmiennych stanu z ograniczeniami sterującego serwonapędem. Do wyznaczenia współczynników wzmocnień regulatora zastosowano algorytm optymalizacyjny sztucznej kolonii pszczół. Przedstawiono metodę wprowadzenia ograniczeń do regulatora bazującą na dyskretnych równaniach predykcyjnych. Opracowany algorytm regulacji zaimplementowano w prototypowym serwonapędzie z tranzystorami mocy SiC MOSFET i przeprowadzono testy na stanowisku laboratoryjnym.
EN
In this paper, synthesis of constrained state feedback controller for servo-drive is presented. Gain coefficients of the controller were obtained by using an artificial bee colony based optimization algorithm. Constraints handling method that is based on discrete predictive equations has been proposed. Designed control algorithm has been implemented in a prototype servo-drive with SiC MOSFET power transistors and experimentally verified.
7
Content available remote On the similarity and challenges of multiresonant and iterative learning current controllers for grid converters and why the disturbance feedforward matters
Ufnalski B., Grzesiak L M., Kaszewski A., Galecki A.
Przegląd Elektrotechniczny
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2018
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R. 94, nr 5
38--46
EN
There are two main techniques to solve the reference tracking problem for repetitive references and under repetitive disturbances, namely multiresonant (a.k.a. multioscillatory) controllers and iterative learning controllers. Nevertheless, neither of the approaches is a definitive winner, which is to be demonstrated herein. Both have their strengths, weaknesses and challenges. A grid-tie converter will be the case study here. The goal is to draw or inject sinusoidal currents under distorted grid voltage conditions. The supporting feedforward controller will be addressed within the context of the discussed repetitive control task. The case will be illustrated using numerical simulations. Our main goal is to make practitioners familiar with the relationships between these two control methods.
PL
Istnieją dwia główne sposoby rozwiązywania zadania regulacji nadążnej dla powtarzalnego sygnału zadanego w obecności powtarzalnego zakłócenia, jest to zastosowanie regulatorów wielorezonansowych (zwanych też wielooscylacyjnymi) oraz regulatorów z uczeniem iteracyjnym. Jednak żadnego z tych rozwiązań nie można uznać za jednoznacznie lepsze, co zostanie tutaj pokazane. Oba cechują zarówno mocne strony, jak i pewne słabci oraz wyzwania implementacyjne. Przekształtnik sieciowy posłuży tutaj za przykład. Celem jest pobieranie lub oddawanie sinusoidalnego prądu sieci pomimo odkształconego napięcia. Omówione zostanie również sprzężenie w przód od zakłócenia w kontekście zadania sterowania powtarzalnego. Zagadnienie zostanie zilustrowane przy użyciu symulacji komputerowych. Naszym głównym celem jest pokazanie praktykom związków pomiędzy tymi dwiema metodami sterowania.
8
Content available remote Jednofazowy mostkowy przekształtnik DC-AC z tranzystorami GaN GIT
Wydźgowski L., Niewiara Ł. J., Tarczewski T., Grzesiak L M., Zieliński M.
Przegląd Elektrotechniczny
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2018
|
R. 94, nr 3
111--115
PL
W niniejszym artykule przedstawiono jednofazowy mostkowy przekształtnik napięcia z tranzystorami GaN GIT. W pracy omówiono zastosowaną topologię przekształtnika oraz przedstawiono strukturę zaprojektowanych sterowników bramkowych.. Na podstawie badań eksperymentalnych dokonano analizy sprawności układu dla wybranych częstotliwości przełączania oraz analizy częstotliwościowej wąskopasmowej oraz szerokopasmowej obejmującej badanie zawartości harmonicznych w odtwarzanym sygnale napięciowym dla częstotliwości przełączania 100 kHz, 200 kHz oraz 500 kHz.
EN
In this paper a single phase bridge voltage inverter with GaN GIT transistors is investigated. The article discusses the applied topology of the converter and presents the structure of the designed gate drivers. An analysis of the system efficiency for different switching frequencies (100 and 200 kHz) and harmonic analysis was carried out. Narrow and wideband harmonic analyzes were performed on the produced output voltage signal for switching frequencies at the level of 100,200 and 500 kHz.
9
Content available PMSM servo-drive fed by SiC MOSFETs based VSI
Tarczewski T., Skiwski M., Grzesiak L. M., Zieliński M.
Power Electronics and Drives
|
2018
|
Vol. 3 (38), No. 1
35--45
EN
The article presents modern PMSM servo-drive with SiC MOSFETs power devices and microprocessor with ARM Cortex core. The high switching frequency is obtained due to the application of high efficient power switching components and powerful microprocessor. It allows to achieve good dynamical properties of current control loop, proper disturbance compensation and silent operation of servo-drive. Experimental tests results obtained for two different control schemes (i.e., cascade control structure and state feedback position control) are presented.
10
Content available High-performance PMSM servo-drive with constrained state feedback position controller
Tarczewski T., Skiwski M., Niewiara L. J., Grzesiak L. M.
Bulletin of the Polish Academy of Sciences. Technical Sciences
|
2018
|
Vol. 66, nr 1
49--58
EN
This paper describes high-performance permanent magnet synchronous motor (PMSM) servo-drive with constrained state feedback (SFC) position controller. Superior behavior of the control system has been achieved by applying SFC with constraints handling method based on a posteriori model predictive approach (MPAC). The concept utilizes predictive equations obtained from discrete-time model of the PMSM to compute control signals which generate admissible values of the future state variables. The novelty of the proposed solution lies in the limitation of several state-space variables in servo-drive control system. Since MPAC has firstly been applied to limit more than one state-space variable of the plant, necessary conditions for introducing constraints into multivariable control system with SFC are depicted. Due to the low complexity of proposed algorithm, a low cost microprocessor, STM32F4, is employed to execute the state feedback position control with model predictive approach to constraints handling. Experimental results show that the proposed control method provides superior performance of PMSM servodrive with modern SiC based voltage source inverter (VSI).
11
Content available remote Particle swarm based repetitive spline compensator for servo drives
Basiński K., Ufnalski B., Grzesiak L M.
Przegląd Elektrotechniczny
|
2017
|
R. 93, nr 2
181--187
EN
In this paper the particle swarm based repetitive spline compensator (PSBRSC), a new method of repetitive compensator implementation, is investigated. The proposed approach employs the particle swarm optimizer (PSO) to solve a dynamic optimization problem (DOP) related to the control task in a servo drive with a permanent magnet synchronous machine (PMSM) in online mode. The first novelty reported here is to use cubic spline interpolation to calculate the samples of PSBRSC signal that are located between the samples taken directly from the optimizer. Also the responsiveness of the repetitive controller is improved thanks to the introduction of the evaporation rate growth mechanism.
PL
W artykule przedstawiono kompensator splajnowo-rojowy (ang. particle swarm based repetitive spline compensator), nowa metodę realizacji kompensacji w procesach powtarzalnych. Zaproponowany układ wykorzystuje metodę roju cząstek do rozwiązywania w czasie rzeczywistym zagadnienia optymalizacji dynamicznej związanego z kształtowaniem sygnału modyfikującego uchyb regulacji w serwonapędzie z silnikiem synchronicznym z magnesami trwałymi (PMSM). Pierwszą nowością przedstawioną w artykule jest wykorzystanie interpolacji splajnowej trzeciego rzędu do wyznaczenia próbek sygnału wyjściowego kompensatora znajdujących się pomiędzy próbkami pochodzącymi bezpośrednio z optymalizatora. Ponadto szybkość reakcji kompensatora została poprawiona dzięki wprowadzeniu mechanizmu wzrostu współczynnika zapominania.
12
Content available Hybrid MPPT algorithm for PV systems under partially shaded conditions using a stochastic evolutionary search and a deterministic hill climbing
Basiński K., Ufnalski B., Grzesiak L. M.
Power Electronics and Drives
|
2017
|
Vol. 2 (37), No. 2
49--59
EN
A hybrid maximum power point tracking method has been proposed for the photovoltaic system using a stochastic evolutionary search and a deterministic hill climbing algorithm. The proposed approach employs the particle swarm optimizer (PSO) to solve a dynamic optimization problem related to the control task in a PV system. The position of the best particle is updated by the hill climbing algorithm, and the position of the rest of the particles by the classic PSO rule. The presented method uses the re-randomization mechanism, which places five consecutive particles randomly, but in specified intervals. This mechanism helps track the maximum power point under partially shaded conditions.
13
Content available remote DC-DC converter based on silicon carbide (SiC) power devices with P+ based current controller
Niewiara Ł. J., Tarczewski T., Grzesiak L M.
Przegląd Elektrotechniczny
|
2016
|
R. 92, nr 6
18--24
EN
In this paper an investigation of voltage control system with P+ current controller for a DC-DC converter is presented. A DC-DC converter based on silicon carbide power devices were used. Synchronous buck topology is used for converter structure. Mathematical model of the converter is presented. The dependence between converter working conditions (i.e. input voltage, load current, switching frequency) and passive LC components is also given. A modified current control method based on P+ structure is considered. Proposed algorithm is compared with a traditional cascade structure based on PI type controllers. Output voltage and coil current dynamics were investigated. Experimental tests results were presented.
PL
W artykule przedstawiono wyniki badań układu regulacji napięcia przetwornicy DC-DC z regulatorem prądu typu P+. Zastosowano przetwornicę DC-DC z łącznikami na bazie węglika krzemu. Przetwornica została wykonana w topologii obniżającej napięcie. Przedstawiony został model matematyczny przetwornicy. Opisano także zależność pomiędzy warunkami pracy przetwornicy (np. napięcie wejściowe, prąd obciążenia, częstotliwość kluczowania) a parametrami elementów pasywnych LC. Przedstawiono propozycję struktury zmodyfikowanego regulatora prądu typu P+. Rozważany algorytm porównano z tradycyjnym algorytmem PI. Przedstawione badanie eksperymentalne dotyczą dynamiki napięcia wyjściowego oraz prądu dławika.
14
Content available remote Application of artificial bee colony algorithm to auto-tuning of linear-quadratic regulator for PMSM position control
Tarczewski T., Grzesiak L M.
Przegląd Elektrotechniczny
|
2016
|
R. 92, nr 6
57--62
EN
In this paper auto-tuning process of linear-quadratic regulator (LQR) for position control of permanent magnet synchronous motor (PMSM) is presented. The novelty of the proposed solution lies in use of artificial bee colony (ABC) optimization algorithm to calculate gain coefficients of controller. In order to maintain selected state and control variables of drive in a permissible level, the ABC algorithm has been extend for solving constrained optimization problem. Proper operation of auto-tuning procedure was investigated by numerical simulations.
PL
W artykule przedstawiono proces samostrojenia regulatora liniowo-kwadratowego przeznaczonego do regulacji położenia silnika synchronicznego o magnesach trwałych. Oryginalność proponowanego rozwiązania polega na zastosowaniu algorytmu optymalizacyjnego sztucznej kolonii pszczół do wyznaczenia współczynników wzmocnień regulatora. W celu utrzymywania wartości wybranych zmiennych stanu i sygnałów sterujących w dopuszczalnym zakresie, algorytm optymalizacyjny rozszerzono o możliwość rozwiązywania problemów optymalizacyjnych z ograniczeniami. Poprawne działanie algorytmu automatycznego strojenia zostało zbadane w testach symulacyjnych.
15
Content available Silicon carbide based DC-DC converter – operating analysis
Niewiara Ł., Tarczewski T., Grzesiak L. M.
Poznan University of Technology Academic Journals. Electrical Engineering
|
2016
|
No. 88
109--119
EN
In this paper operating analysis of DC-DC converter is presented. Silicon Carbide based DC-DC converter is investigated. SiC power switches (i.e. MOSFETs and diodes) were used. Synchronous buck topology is applied for converter structure. The DC-DC converter mathematical model is also presented. The parameters of LC circuit were calculated using shown equations. Working conditions determine the values of output LC circuit (inductance and capacitance). The analysis of working conditions is presented for different switching frequencies. The size of passive components (LC) is compared for different operating points. Experimental tests results were presented. Waveforms of voltage and current signals were also shown.
16
Content available PMSM drive based on STM32F4 microcontroller
Skiwski M., Tarczewski T., Grzesiak L. M.
Poznan University of Technology Academic Journals. Electrical Engineering
|
2016
|
No. 87
377--387
EN
In this paper based on STM32F4 microcontroller and dedicated for permanent magnet synchronous motor (PMSM) drive is presented. Information concern structure and implementation of the program main blocks such as: modulator, speed and position calculation, communication interface are depicted. Designing process of cascade control structure with PI controllers is shown. An internal model control (IMC) was used to calculate coefficients of current controllers while the symmetric optimum criterion was applied to compute angular speed controller. Since mathematical model of the drive is non-linear, linearization and decoupling procedure as well as dead-time compensation are also included. Finally, experimental test results for PMSM with FOC control algorithm are shown.
17
Content available Application of artificial bee colony algorithm to auto-tuning of state feedback controller for DC-DC power converter
Tarczewski T., Niewiara Ł. J., Grzesiak L M.
Power Electronics and Drives
|
2016
|
Vol. 1 (36), No. 2
83--96
EN
The article presents an auto-tuning method of state feedback voltage controller for DC-DC power converter. The penalty matrices employed for calculation of controller’s coefficients were obtained by using nature-inspired artificial bee colony (ABC) optimization algorithm. This overcomes the main drawback of state feedback control related to time-consuming trial-and-error tuning procedure. The optimization algorithm takes into account constraints of selected state and control variables of DC-DC power converter. In order to meet all control objectives (i.e., fast voltage response and chattering-free control signal) an appropriate performance index is proposed. Proper selection of state feedback controller (SFC) coefficients is proven by simulation and experimental tests of DC-DC power converter.
18
Content available Analysis of circuit and operation for DC–DC converter based on silicon carbide
Niewiara Ł. J., Tarczewski T., Grzesiak L. M.
Computer Applications in Electrical Engineering
|
2016
|
Vol. 14
268--279
EN
In this paper operating analysis of DC–DC converter is presented. Silicon Carbide based DC–DC converter is investigated. SiC power switches (i.e. MOSFETs and diodes) were used. Synchronous buck topology is applied for converter structure. The DC–DC converter mathematical model is also presented. The parameters of LC circuit were calculated using shown equations. Working conditions determine the values of output LC circuit (inductance and capacitance). Real power semiconductors are equipped in output and input capacitances. This feature may influence the generated input signal. Parasitic capacitances and inductances of the paths causes oscillations and voltage overshoots of the input PWM signal. To avoid such phenomenon, it is necessary to use a snubber circuit. This issue is also presented. The analysis of working conditions is presented for different switching frequencies. The size of passive components (LC) is compared for different operating points. Experimental tests results were presented. Waveforms of voltage and current signals were also shown.
19
Content available Repetitive neurocontroller with disturbance feedforward path active in the pass-to-pass direction for a VSI inverter with an output LC filter
Ufnalski B., Grzesiak L. M.
Bulletin of the Polish Academy of Sciences. Technical Sciences
|
2016
|
Vol. 64, nr 1
115--125
EN
An enhancement to the previously developed repetitive neurocontroller (RNC) is discussed and investigated in the paper. Originally, the time-base generator (TBG) has been used to produce the only input signal for the neural approximator. The resulting search space makes the dynamic optimization problem (DOP) of shaping the control signal solvable with the help of a function approximator such as the feed-forward neural network (FFNN). The plant under consideration, i.e. a constant-amplitude constant-frequency voltage-source inverter (CACF VSI) with an output LC filter, is assumed to be equipped with the disturbance load current sensor to enable implementation of the disturbance feed-forward (pDFF) path as a part of the non-repetitive subsystem acting in the along the pass p-direction. An investigation has been undertaken to explore potential benefits of using this signal also as an additional input for the RNC to augment the approximation space and potentially enhance the convergence rate of the real-time search process. It is numerically demonstrated in the paper that the disturbance feed-forward path active in the pass-to-pass k-direction (kDFF) improves the dynamics of the repetitive part as well indeed.
20
Content available remote Tuning of PI regulators in distributed control system for an electric vehicle
Rumniak P., Ufnalski B., Grzesiak L M.
Przegląd Elektrotechniczny
|
2015
|
R. 91, nr 9
290-294
EN
In this paper a drive system for an urban electric vehicle is presented. The electric propulsion system consists of two in-wheel outer-rotor permanent magnet synchronous motors (PMSMs) fed by two three-level inverters. A proposed control system has been designed as a distributed one. The outer speed loop involves a master digital signal controller (DSC) whereas the inner current loops are closed using two slave microcontrollers. An effective analytical tuning of such a control system requires accurate identification of delays presented in all the paths, including the controller area network (CAN) bus used here to intercommunicate all the DSCs, the delays inherently related to a digital (sampled) nature of the system and the delay caused by a pulse width modulator. A step-by-step description of the analytical tuning of the controllers is provided. The tuning procedure respects all the identified delays and is validated experimentally in a non-mobile laboratory setup.
PL
Niniejszy artykuł przedstawia układ napędowy dla miejskiego pojazdu elektrycznego. Napęd elektryczny składa się z dwóch silników synchronicznych o magnesach trwałych zasilanych za pomocą trójpoziomowych falowników napięcia. Zaproponowany układ sterowania został zaprojektowany jako system rozproszony. Na nadrzędnym mikrokontrolerze zaimplementowano układ regulacji prędkości, natomiast na dwóch podrzędnych mikrokontrolerach wykonywany jest algorytm regulatorów prądu. Analityczne strojenie regulatorów wymaga dokładnej identyfikacji opóźnień występujących w systemie sterowania, w tym opóźnienia wprowadzane przez magistralę CAN, opóźnień związanych z cyfrową realizacją system oraz opóźnienie spowodowane przez modulator szerokości impulsów. W artykule opisano metody doboru nastaw regulatorów PI wraz z uwzględnieniem zidentyfikowanych opóźnień. Weryfikacja metod została przeprowadzona na laboratoryjnym stanowisku badawczym.
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