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1

Real-time simulation and experimental implementation of luenberger observer-based speed sensor fault detection of bldc motors

Al-Mutayeb Yousef, Almobaied Moayed, Ouda Mohamed

Acta Mechanica et Automatica

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2024

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Vol. 18, no. 1

144--157

EN

Modern control systems’ dependability, safety and efficiency have all been improved by studying fault-tolerant control systems (FTCS). FTCS techniques can typically be active or passive controls. The fault detection and diagnosis (FDD) method is used in this study’s active control branch to identify probable faults that could develop in the speed Hall sensors of brushless DC motors (BLDC). FDD methodologies can be categorised into two types, depending on the available data and the process involved: model-based methods and data-based methods. The proposed approach in this study explores the implementation of the Luenberger observer methodology as part of the model-based approach. The chosen methodology was practically implemented and subjected to experimental evaluation. The proposed observer relies on the residual signal, which displays the difference between the plant’s observed and estimated speed signals and serves as a failure alert for the entire system. Given the increasing demand for BLDC motors in various industrial control applications, including medical fields, automation and robotics, this particular motor was selected as a benchmark to thoroughly evaluate and validate the proposed method. The primary contribution of this paper lies in the real-time application of model-based sensor fault detection methods to BLDC motors. The efficiency of the suggested method is showcased through extensive MATLAB simulations, where the obtained results confirm the successful detection of faults with a high level of responsiveness. As a result, the project was successfully implemented in real-time, and the experimental results exhibited a close correlation with the simulated outcomes. This consistency between simulation and practical implementation validates the accuracy and reliability of the proposed methodology for detecting faults in the BLDC motor speed sensor. The results underscore the heightened reliability and safety attained by promptly and accurately detecting sensor faults during the operation of the motor.

2

Efficient deadbeat control of single-phase inverter with observer for high performance applications

Mohammed Saoudi, Benguesmia Hani, Chouder Aissa

Przegląd Elektrotechniczny

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2023

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R. 99, nr 7

237--242

EN

In this paper, a deadbeat control technique for single-phase inverters used in UPS applications is presented. For the suggested control approach to maintain sinusoidal output voltage for high dynamic performance even with load fluctuations, measurements of capacitor current and output voltage are necessary. By reducing the error between the output voltage and the voltage reference without adding more current sensors, the deadbeat controller improves the performance of the proposed controller. It also reduces load voltage distortion and restores the system state in the event of an external shutdown-loop road interference. We suggest a capacitor current estimation based on the Luenberger observer to address this flaw. PROCESSOR-IN-THE-LOOP The "P.I.L" test method, which can be thought of as an expensive system, enables us to create and evaluate controllers by running built-in C code on the DSP scheduled for the controller during simulated PSIM power phase control. To address this drawback, we propose a capacitor current estimation based on the Luenberger observer.

PL

W artykule przedstawiono algorytm sterowania martwym uderzeniem falowników jednofazowych do zastosowań w systemach zasilania awaryjnego (UPS). Proponowana metoda sterowania wymaga pomiaru prądu kondensatora i napięcia wyjściowego w celu utrzymania sinusoidalnego napięcia wyjściowego w celu uzyskania wysokiej wydajności dynamicznej nawet przy zmianach obciążenia. liczbę czujników prądu, a także eliminuje zniekształcenia napięcia obciążenia i przywraca stan systemu w przypadku zewnętrznej ingerencji w pętlę wyłączania drogowego. Aby rozwiązać ten problem, proponujemy oszacowanie prądu kondensatora na podstawie obserwatora Luenbergera. PROCESOR-W-PĘTLI „P.I.L” to metoda testowa, która pozwala nam tworzyć i oceniać kontrolery poprzez uruchomienie wbudowanego kodu C na DSP zaplanowanym dla kontrolera podczas symulowanej kontroli fazy mocy PSIM, co można uznać za kosztowny system , aby poradzić sobie z tą wadą, proponujemy oszacowanie prądu kondensatora na podstawie obserwatora Luenbergera.

3

Bezpośrednie polowo-zorientowane sterowanie silnikiem indukcyjnym tolerujące uszkodzenia czujników prądu z wykorzystaniem podwójnego zmodyfikowanego obserwatora Luenbergera

Adamczyk Michał, Orłowska-Kowalska Teresa

Przegląd Elektrotechniczny

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2023

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R. 99, nr 4

43--50

PL

W artykule przedstawiono analizę bezpośredniego polowo-zorientowanego sterowania silnikiem indukcyjnym tolerującego uszkodzenia wszystkich czujników prądów stojana. Do detekcji i kompensacji uszkodzeń czujników prądu zaproponowano podwójny zmodyfikowany obserwator Luenbergera. Dodatkowo, w porównaniu do aktualnie stosowanych rozwiązań, zastosowanie opisanej modyfikacji wektora błędu obserwatora umożliwiło zwiększenie jego odporności na zmiany parametrów silnika oraz dokładności estymacji prądu stojana. Badania eksperymentalne potwierdziły wysoką skuteczność proponowanego rozwiązania.

EN

The article presents an analysis of direct field-oriented control of an induction motor that tolerates failure of all stator current sensors. A dual modified Luenberger observer has been proposed for the detection and compensation of faults in current sensors. Additionally, compared to recent solutions, the use of the described modification of the observer's error vector allowed to increase its robustness to changes in motor parameters and the accuracy of stator current estimation. Experimental studies confirmed the high effectiveness of the proposed solution.

4

Wykorzystanie estymatorów i obserwatorów stanu jako softwarowych czujników pomiarowych dla niedostępnych pomiarowo-zmiennych procesowych

Brylski Jędrzej

Elektronika : konstrukcje, technologie, zastosowania

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2023

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Vol. 64, Nr 4

35--42

PL

Artykuł przedstawia przegląd różniczkowych asymptotycznych obserwatorów (estymatorów) stanu typu Luenbergera lub Kalmana oraz całkowych obserwatorów odtwarzających stan dokładnie, stosowanych w liniowych układach dynamicznych. Estymatory i obserwatory mogą pracować jako softwarowe czujniki niedostępnych do pomiaru zmiennych wektora stanu układu. Takie soft-sensory, dostarczające wirtualnej informacji mogą być wykorzystane dla celów sterowania, do diagnostyki i wykrywania błędów w procesach technicznych oraz do monitoringu procesu, pod warunkiem, że znany jest model tego procesu. Obserwatory różniczkowe gwarantują jedynie asymptotyczne nadążanie za stanem rzeczywistym tzn. nieznany początkowy błąd odtwarzania z biegiem czasu maleje do zera, ale nie ma możliwości obliczenia jego bieżącej wartości, czyli rzeczywistego stanu. W drugiej części artykułu przedstawiono innego typu obserwator stanu, który ma strukturę opartą o operatory całkowe. Na podstawie pomiarów sygnałów wyjściowych i wejściowych układu na pewnym z góry określonym skończonym przedziale czasu T, zwanym oknem pomiarowym, może on po tym przedziale dokładnie odtworzyć stan z początku okna (stan początkowy) lub z końca okna (stan bieżący). W wersji on-line dokładna rekonstrukcja stanu x(t) jest wykonywana w sposób ciągły dla każdego t, na podstawie specjalnej procedury wykonywanej w dwóch równolegle i płynnie przesuwanych oknach o przyjętej szerokości T, na przedziale czasowym [t - T,t]. W jednym oknie przetwarzany jest sygnał sterowania, a w drugim sygnał z wyjścia systemu. Pokazano zasadnicze różnice tych obserwatorów.

EN

The paper presents an overview of differential, asymptotic state observers (estimators) like Luenberger or Kalman type as well as the integral exact state observers, both used in linear dynamical systems. Estimators and observers can work as soft-sensors for the measurement of the state vector variables which are not available for measurement. Such soft-sensors, providing virtual information, can be used for control purposes, for diagnostics and error detection in technical processes and for process monitoring, provided that the process model is known. Differential observers guarantee only asymptotic tracking of the real state, i.e. the unknown initial state reconstruction error decreases to zero over time, but it is not possible to calculate its current value, and thus the value of the real state. The second part of the paper presents a different type of state observer, which has a structure based on two integral operators. On the basis of measurements of the output and input signals of the system over a certain predetermined finite period of time T, called the measurement window, after this interval, the observer can reproduce the state exactly at the beginning of the window (initial state) or at the end of the window (current state). In the on-line version, the exact reconstruction of the state x(t) is performed continuously for each t, based on a special procedure performed in two parallel and smoothly sliding windows of the assumed width T, on a time interval [t - T,t]. In one window the control signal is processed, and in the second the signal from the system output. The main differences of these observers are shown.

5

Fault diagnosis-based observers using Kalman filters and Luenberger estimators: Application to the pitch system fault actuators

Zemali Zakaria, Cherroun Lakhmissi, Hadroug Nadji, Nadour Mohamed, Hafaifa Ahmed

Diagnostyka

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2023

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Vol. 24, No. 1

art. no. 2022110

EN

This paper aims to present a robust fault diagnosis structure-based observers for actuator faults in the pitch part system of the wind turbine benchmark. In this work, two linear estimators have been proposed and investigated: the Kalman filter and the Luenberger estimator for observing the output states of the pitch system in order to generate the appropriate residual between the measured positions of blades and the estimated values. An inference step as a decision block is employed to decide the existence of faults in the process, and to classify the detected faults using a predetermined threshold defined by upper and lower limits. All actuator faults in the pitch system of the horizontal wind turbine benchmark are studied and investigated. The obtained simulation results show the ability of the proposed diagnosis system to determine effectively the occurred faults in the pitch system. Estimation of the output variables is effectively realized in both situations: without and with the occurrence of faults in the studied process. A comparison between the two used observers is demonstrated.

6

On some ways to implement state-multiplicative fault detection in discrete-time linear systems

Krokavec Dušan, Filasová Anna

International Journal of Applied Mathematics and Computer Science

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2022

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Vol. 32, no. 2

229--240

EN

New design conditions on the observer based residual filter design for the linear discrete-time linear systems with zoned system parameter faults are presented. With respect to time evolution of residual signals and with a guarantee of their robustness, the design task is stated in terms of linear matrix inequalities, while the recursive implementation of algorithms is motivated by the platform existence for real-time processing. A major objective is to analyze the configuration required and, in particular, a new characterization of the norm boundaries of the multiplicative zonal parametric faults to be projected onto the structure of the set of linear matrix inequalities.

7

Odtwarzanie momentu aerodynamicznego mikroelektrowni wiatrowej w układzie sterowania z pełnym obserwatorem stanu

Jąderko Andrzej, Mamok Łukasz

Przegląd Elektrotechniczny

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2020

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R. 96, nr 1

162--165

PL

W artykule przedstawiono układ sterowania małą turbiną wiatrową o regulowanej prędkości obrotowej z odtwarzaniem momentu aerodynamicznego oraz efektywnej prędkości wiatru. W układzie sterowania zastosowano pełny obserwator Luenbergera do estymacji niemierzalnych zmiennych stanu. Zaproponowano algorytm obliczania efektywnej prędkości wiatru. Układ regulacji ma zapewnić maksymalizację uzyskiwanej mocy elektrycznej dla prędkości wiatru w obszarze pomiędzy prędkością startu turbiny, a prędkością wyłączenia ze względu na warunki bezpieczeństwa, tj. w drugiej strefie pracy turbiny. Pokazano wyniki przeprowadzonych badań symulacyjnych układu sterowania z pełnym obserwatorem stanu dla znormalizowanych podmuchów wiatru.

EN

A proposal of the control scheme for micro wind turbine with aerodynamic torque and effective wind speed estimation is presented in this paper. Fully Luenberger observer for the non-measurable state variables estimation is used in this control scheme. Algorithm of the effective wind speed calculation is proposed. The control system of the turbine should ensure maximum captured electrical power for wind speed in the region between start speed of turbine and cut-off speed, when wind turbine is shouted down due to safety reasons, i.e. in a second operating region of the turbine. Simulations results of the control system with the fully state observer for the normalized gusts of wind are shown in the paper.

8

Sensorless backstepping control using a Luenberger observer for double-star induction motor

Chaabane Hadji, Eddine Khodja Djalal, Salim Chakroune

Archives of Electrical Engineering

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2020

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Vol. 69, nr 1

101--116

EN

In this paper, we propose sensorless backstepping control of a double-star induction machine (DSIM). First, the backstepping approach is designed to steer the flux and speed variables to their references and to compensate uncertainties. Lyapunov”s theory is used and it demonstrates that the dynamic tracking of trajectories tracking is asymptotically stable. Second, unfortunately, this law control called sophisticated is a major problem which leads to the necessity of using a mechanical sensor (speed, load torque). This imposes an additional cost and increases the complexity of the montage. In practice, this variable is unknown and its measurement is expensive. To restrain this problem we estimate speed and load torque by using a Luenberger observer (LO). Simulation results are provided to illustrate the performance of the proposed approach in high and low variable speeds and load torque disturbance.

9

RT-LAB platform for real-time implementation of luenberger observer based speed sensorless control of induction motor

Bechar Mansour, Hazzab Abdeldjebar, Habbab Mohamed, Sicard Pierre, Slimi Mohammed

Journal of Automation Mobile Robotics and Intelligent Systems

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2019

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Vol. 13, No. 4

65--72

EN

This paper proposes RT-LAB platform for realtime implementation of Luenberger observer based on speed sensorless scalar control of induction motor. The observed shaft speed is derived from lyapunov’s theory. It is shown by an extensive study that this Luenberger observer with PI anti-windup speed controller is completely satisfactory at (nominal, variable, reverse) speed references and it is also robust to load torque disturbance. The sensorless control algorithm along with the proposed Luenberger observer is modeled, built in the Host PC and successfully implemented in real-time using digital simulator OP5600. The experimental results observed in the GW-Instek digital oscilloscope’s screen validate the effectiveness of the proposed Luenberger observer for speed sensorless scheme.

10

State estimators and observers for continuous and discrete linear systems. Part 1. Differential asymptotic state estimators

Byrski J., Byrski W.

Science, Technology and Innovation

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2018

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Vol. 3, no. 2

62--68

EN

In the paper an overview of state estimators and state observers used in linear systems, will be presented. The state estimators and observers can be used in many applications like the state reconstruction for the control purposes or for the diagnosis and fault detection in technical processes or for the virtual measurements of inaccessible variables of the system as well as for the best filtration of the differential equation solution. As the standard most commonly the Kalman filter and Luenberger type observers are used. Although the Kalman filter guarantees optimal filtering quality of the state, reconstructed from the noisy measurements, both Kalman filter and the Luenberger observer guarantee only asymptotic quality of the real state changes and tracking, basing on the current measurements of the system output and input signals. Unfortunately, the value of the estimation error at any moment of time cannot be calculated. The discussion on differences between continuous and two types of discrete Kalman Filter will be presented. This paper is planned to be the introduction to presentation of another type of the state observers which have the structure given by the integral operators. Based on measurements of the system output and input signals on some predefined finite time interval, they can reconstruct, after this interval, the observed state exactly.

11

Non-proportional full-order Luenberger observers of induction motors

Białoń T., Lewicki A., Pasko M., Niestrój R.

Archives of Electrical Engineering

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2018

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Vol. 67, nr 4

925--937

EN

The paper recapitulates recently conducted investigations of non-proportional Luenberger observers, applied to reconstruction of state variables of induction motors. Three structures of non-proportional observers are analyzed, a proportional-integral observer, modified integral observer and observer with integrators. Criteria for gain selection of the observer are described, classical ones based on poles, as well as additional, increasing observer’s robustness. Fulfilment of the presented criteria can be ensured with the three proposed methods for gain selection, two analytical, based on dyadic transformation and one based on optimization.

12

Multi-layer observer as new structure for state estimation in linear systems

Bernat J., Kołota J., Superczyńska P., Stępień S.

Archives of Electrical Engineering

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2017

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Vol. 66, nr 3

507--521

EN

A new structure to design observers for linear systems is presented in this work. The key step is the construction of two layers where the first consists of multiple observers and the second connects them providing the weighted estimation state. The main difficulty is to find a new feedback which is responsible for control weights. To define observation law, we rely on multi observers from the first layer. The proposed structure significantly improves the transient characteristics of the observation process, which is shown in illustrative examples.

13

Nieproporcjonalne obserwatory strumieni magnetycznych silnika indukcyjnego

Niestrój R., Białoń T., Pasko M.

Prace Naukowe Politechniki Śląskiej. Elektryka

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2015

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z. 4

37--52

PL

W artykule podsumowano prowadzone w ostatnich latach badania obserwatorów Luenbergera o nieliniowych sprzężeniach zwrotnych, zastosowanych do odtwarzania strumieni magnetycznych silnika indukcyjnego. Zaprezentowano struktury modeli matematycznych obserwatorów, określono kryteria oraz zaprezentowano metody doboru wzmocnień obserwatorów.

EN

The paper summarizes recently conducted researches of Luenberger observers with non-linear feedbacks, applied for reconstruction of magnetic fluxes of an induction motor. Structures of mathematical models of the observers are presented, criteria and methods for observer gains selection are given.