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EN
The selection of a reference model (RM) for a Model-Reference Adaptive Control is one of the most important aspects of the synthesis process of the adaptive control system. In this paper, the four different implementations of RM are developed and investigated in an adaptive PMSM drive with variable moment of inertia. Adaptation mechanisms are based on the Widrow-Hoff rule (W-H) and the Adaptation Procedure for Optimization Algorithms (APOA). Inadequate order or inaccurate approximation of RM for the W-H rule may provide poor behavior and oscillations. The results prove that APOA is robust against an improper selection of RM and provides high-performance PMSM drive operation.
EN
Traditional industrial robots come with prime movers, i.e. electric motors (EMs), which range from a few hundred to just a few kilo watts of power ratings. However, for autonomous robotic navigation systems, we require motors which are lightweight with the aspect of high torque and power density. This aspect is very critical when the EMs in robotic navigations are subjected to harsh high temperature survival conditions, where the sustainability of the performance metrics of the electromagnetic system of the EMs degrades with the prevailing high temperature conditions. Hence, this research work addresses and formulates the design methodology to develop a 630 W high temperature PMSM (HTPMSM) in the aspect of high torque and power density, which can be used for the autonomous robotic navigation systems under high temperature survival conditions of 200°C. Two types of rotor configurations i.e. the surface permanent magnet type (SPM) and the interior permanent magnet type (IPM) of HTPMSM are examined for its optimal electromagnetic metrics under the temperature conditions of 200◦C. The 630 W HTPMSM is designed to deliver the rated torque of 2 Nm within the volumetric & diametric constraints of DxL, which comes at 80 × 70 mm at the rated speed of 3 000 rpm with the survival temperature of 200°C and target efficiency greater than 90%. The FEM based results are validated through the hardware prototypes for both SPM and IPM types, and the results confirm the effectiveness of the proposed design methodology of HTPMSM for sustainable autonomous robotic navigation applications.
PL
W artykule zaprezentowano metodę diagnostyki zwarć zwojowych stojana silnika PMSM, wykorzystującą sieć neuronową. Przeanalizowano sygnały prądowe i napięciowe pochodzące ze struktury sterowania, a następnie poddano je analizie w celu ekstrakcji najlepszych symptomów uszkodzeń. Wybrane cechy podano na wejście sieci neuronowej podczas procesu treningu. Badania eksperymentalne prezentują potencjał zastosowania modelowania matematycznego jako generatora wzorców symptomów uszkodzeń.
EN
This paper presents a method for diagnosing the inter-turn short circuits of a PMSM, using a neural network. Current and voltage signals from the control structure were then analysed to extract the best fault symptoms. The selected features were given to the neural network input during the training process. The tests performed on a experimental setup demonstrate the potential of using mathematical modelling as a fault symptom pattern generator.
PL
W artykule przedstawiono możliwość wykorzystania krótkoczasowej transformaty Fouriera sygnału prądu fazowego stojana oraz modułu wektora przestrzennego prądów stojana do ekstrakcji symptomów uszkodzeń uzwojeń stojana silnika synchronicznego o magnesach trwałych. Dodatkowo, zaproponowano możliwość automatyzacji procesu wnioskowania o stanie uzwojenia stojana przy zastosowaniu wybranych algorytmów bazujących na sztucznej inteligencji: maszyny wektorów nośnych oraz perceptronu wielowarstwowego. System diagnostyczny rozszerzono o możliwość lokalizacji uszkodzonej fazy. Badania eksperymentalna potwierdzają wysoką skuteczność opracowanego rozwiązania.
EN
This paper presents the possibility of using the short-time Fourier transform of the stator phase current and stator current space vector module in the process of permanent magnet synchronous motor stator winding fault symptoms extraction. Additionally, the automatization of the stator winding condition inference process which the use of selected artificial intelligence based algorithms: Support Vector Machine and MultiLayer Perceptron is proposed. The developed diagnostic system has been extended with the functionality of locating the damaged phase. Experimental studies confirmed the high effectiveness of the developed method.
PL
W artykule przedstawiono możliwość zastosowania krótkoczasowej transformaty Fouriera składowych symetrycznych prądów fazowych stojana i wybranych algorytmów uczenia maszynowego: K-najbliższych sąsiadów oraz perceptronu wielowarstwowego, do diagnostyki zwarć międzyzwojowych uzwojenia stojana silnika synchronicznego o magnesach trwałych. Zaproponowana metoda umożliwia uzyskanie wysokiej skuteczności klasyfikacji oraz lokalizacji uszkodzenia we wczesnym stadium, co potwierdziły badania eksperymentalne przeprowadzone w różnych warunkach pracy układu napędowego.
EN
This paper presents the possibility of using the Short-Time Fourier Transform of stator phase currents symmetrical components and selected machine learning algorithms: K-Nearest Neighbors and MultiLayer Perceptron, for the diagnosis of interturn short-circuits in the stator winding of a permanent magnet synchronous motor. The proposed method provides high effectiveness of classification and localization of the fault at an early stage, which is confirmed by experimental tests that were carried out in various operating conditions of the drive system.
PL
Niniejsza praca przedstawia metodę sterowania średnim napięciem wyjściowym z bezpośredniego przekształtnika matrycowego z Quasi-Z źródłem za pomocą regulatora neuronowego uczonego online. Zaprezentowany obiekt wykazuje nieliniowość poprzez zmiany swoich stałych czasowych zależne od zadanego wzmocnienia napięciowego. Zaproponowany regulator neuronowy porównano z regulatorem liniowym oraz sprawdzono stabilność uczenia się systemu.
EN
This paper presents a method of controlling the average output voltage from a Quasi-Z source direct matrix converter using a neural controller trained online. The presented plant shows non-linearity through changes of its time constants depending on the given voltage gain. The proposed neural controller was compared with a linear one and the learning stability of the system was verified.
PL
W artykule opisano wpływ podwojenia liczby faz w silniku synchronicznym z magnesami trwałymi na wybrane parametry elektryczne i mechaniczne silnika, na przykładzie silnika napędu eKIT przeznaczonego dla elektrycznie napędzanych pojazdów dostawczych o dopuszczalnej masie całkowitej do 3.5 t i mobilnych maszyn specjalnych. Szczegółowo przedstawiono konstrukcję uzwojenia w wariancie 3-fazowym i sposób przekształcenia 3-fazowego uzwojenia symetrycznego w dwugwiazdowe asymetryczne uzwojenie 6-fazowe. Następnie przedstawiono wyniki obliczeń elektromagnetycznych i porównano wybrane parametry elektryczne i mechaniczne silników w wariantach z 3- i 6-fazowym uzwojeniem twornika.
EN
The article describes the effect of doubling the number of phases in a permanent magnet synchronous motor on selected electrical and mechanical parameters of the motor, based on the example of an eKIT drive motor intended for electrically driven delivery vehicles with a total weight of up to 3.5 t and special mobile machines. The construction of the winding in the 3-phase variant and the method of transforming a 3-phase symmetrical winding into a double-star asymmetric 6-phase winding are presented in detail. Then, the results of electromagnetic calculations are presented and selected electrical and mechanical parameters of motors in variants with 3- and 6-phase armature windings are compared.
EN
The paper presents a novel hybrid cuckoo search (CS) algorithm for the optimization of the line-start permanent magnet synchronous motor (LSPMSM). The hybrid optimization algorithm developed is a merger of the heuristic algorithm with the deterministic Hooke–Jeeves method. The hybrid optimization procedure developed was tested on analytical benchmark functions and the results were compared with the classical cuckoo search algorithm, genetic algorithm, particle swarm algorithm and bat algorithm. The optimization script containing a hybrid algorithm was developed in Delphi Tiburón. The results presented show that the modified method is characterized by better accuracy. The optimization procedure developed is related to a mathematical model of the LSPMSM. The multi-objective compromise function was applied as an optimality criterion. Selected results were presented and discussed.
EN
In this paper, a creative dung beetle optimization (CDBO) algorithm is proposed and applied to the offline parameter identification of permanent magnet synchronous motors. First, in order to uniformly initialize the population state and increase the population diversity, a strategy to improve the initialization of the dung beetle population using Singer chaotic mapping is proposed to improve the global search performance; second, in order to improve the local search performance and enhance the convergence accuracy of the algorithm, a new dung beetle position update strategy is designed to increase the spatial search range of the algorithm. Simulation results show that the proposed optimization algorithm can quickly and accurately identify parameters such as resistance, inductance, and magnetic chain of the PMSM, with significant improvements in convergence algebra, identification accuracy and stability.
PL
Współcześnie do zasilania silników elektrycznych o liczbie faz (m > 3) stosowane są dedykowane falowniki. Artykuł dotyczy silników z magnesami trwałymi z uzwojeniem 2 x 3-fazowym z przesunięciem fazowym 30º. Uzwojenia zasilane są napięciem 2 x 3-fazowym przesuniętym czasowo względem siebie o kąt π/6≈30º. Silniki w stosunku do uzwojenia symetrycznego fazy 3 i 6 osiągają wyższy znamionowy moment obrotowy i kompensację harmonicznych obwodowych siły magnetomotorycznej (SMM) twornika θμ dla μ = 5, 7, 17, 19, 29, 31, co skutkuje mniejszymi stratami mocy, niższymi pulsacjami momentu elektromagnetycznego, niższym hałasem magnetycznym i niższymi wibracjami. Takie silniki polecane są przede wszystkim do stosowania w serwonapędach.
EN
The electric motors with the number of phases (m > 3) are dedicated to power supply from inverters. The article concerns permanent magnet motors with a 2 x 3-phase winding with a phase shift of 30º. The windings are supplied with 2 x 3-phase voltage temporarily shifted in relation to each other by the angle π/6=30º. Motors, in relation to the 3rd and 6th phase symmetrical winding, achieve a higher rated torque and compensation of harmonics of magnetomotive force (MMF) of the armature θμ for μ = 5, 7, 17, 19, 29, 31, which results in lower power losses, lower pulsations of the electromagnetic torque, lower magnetic noise and lower vibrations. Such motors are recommended primarily for use in servo drives.
EN
The article discusses the universal current sensor fault detection and compensation mechanism, which can be applied in three-phase power electronics (PE) symmetrical system. The mechanism is based on the assumption that a symmetrical system can be described using different components in the stationary reference frame. The solution given in article as a Cri-base detector was tested in electrical drives with induction motors (IMs) and permanent magnet synchronous motors (PMSMs). This study also proves that the same algorithm can work stable in active rectifier systems. Such an application of this detector has not been previously reported in the literature. The article describes the detection of various types of faults in different phases. The fault-tolerant voltage-oriented control (FTVOC) of an active rectifier is compared with previously described solutions for IMs and PMSMs. By analysing in various types of systems, the work proves the universality of the detector based on Cri markers.
EN
In modern drive systems, the high-efficient permanent magnet synchronous motors (PMSMs) have become one of the most substantial components. Nevertheless, such machines are exposed to various types of faults. Hence, on-line condition monitoring and fault diagnosis of PMSMs have become necessary. One of the most common PMSM faults is the stator winding fault. Due to the destructive character of this failure, it is necessary to use fault diagnostic methods that allow fault detection at its early stage. The article presents the results of experimental studies obtained from fast Fourier transform (FFT) and short-time Fourier transform (STFT) analyses of the stator phase current, stator phase current envelope and stator phase current space vector module. The superiority of the proposed method over the classical approach based on the stator current analysis using FFT is highlighted. The proposed solution is experimentally verified under various motor operating conditions. The application of STFT analysis discussed so far in the literature has been limited to the fault diagnosis of induction motors and the narrow range of the analysed motor operating conditions. Moreover, there are no works in the field of motor diagnostics dealing with STFT analysis for stator windings based on the stator current envelope and the stator current space vector module.
PL
W artykule opisano wpływ podwojenia liczby faz w silniku synchronicznym z magnesami trwałymi na wybrane parametry elektryczne i mechaniczne silnika, na przykładzie silnika napędu eKIT przeznaczonego dla elektrycznie napędzanych pojazdów dostawczych o dopuszczalnej masie całkowitej do 3.5 t i mobilnych maszyn specjalnych. Szczegółowo przedstawiono konstrukcję uzwojenia w wariancie 3-fazowym i sposób przekształcenia 3-fazowego uzwojenia symetrycznego w dwugwiazdowe asymetryczne uzwojenie 6-fazowe. Następnie przedstawiono wyniki obliczeń elektromagnetycznych i porównano wybrane parametry elektryczne i mechaniczne silników w wariantach z 3- i 6-fazowym uzwojeniem twornika.
EN
The article describes the effect of doubling the number of phases in a permanent magnet synchronous motor on selected electrical and mechanical parameters of the motor, based on the example of an eKIT drive motor intended for electrically driven delivery vehicles with a total weight of up to 3.5 t and special mobile machines. The construction of the winding in the 3-phase variant and the method of transforming a 3-phase symmetrical winding into a double-star asymmetric 6-phase winding are presented in detail. Then, the results of electromagnetic calculations are presented and selected electrical and mechanical parameters of motors in variants with 3- and 6- phase armature windings are compared.
EN
The popularity of high-efficiency permanent magnet synchronous motors in drive systems has continued to grow in recent years. Therefore, also the detection of their faults is becoming a very important issue. The most common fault of this type of motor is the stator winding fault. Due to the destructive character of this failure, it is necessary to use fault diagnostic methods that facilitate damage detection in its early stages. This paper presents the effectiveness of spectral and bispectrum analysis application for the detection of stator winding faults in permanent magnet synchronous motors. The analyzed diagnostic signals are stator phase current, stator phase current envelope, and stator phase current space vector module. The proposed solution is experimentally verified during various motor operating conditions. The object of the experimental verification was a 2.5 kW permanent magnet synchronous motor, the construction of which was specially prepared to facilitate inter-turn short circuits modelling. The application of bispectrum analysis discussed so far in the literature has been limited to vibration signals and detecting mechanical damages. There are no papers in the field of motor diagnostic dealing with the bispectrum analysis for stator winding fault detection, especially based on stator phase current signal.
EN
In recent years there has been an increasing demand for electric vehicles due to their attractive features including low pollution and increase in efficiency. Electric vehicles use electric motors as primary motion elements and permanent magnet machines found a proven record of use in electric vehicles. Permanent magnet synchronous motor (PMSM) as electric propulsion in electric vehicles supersedes the performance compared to other motor types. However, in order to eliminate the cumbersome mechanical sensors used for feedback, sensorless control of motors has been proposed. This paper proposes the design of sliding mode observer (SMO) based on Lyapunov stability for sensorless control of PMSM. The designed observer is modeled with a simulated PMSM model to evaluate the tracking efficiency of the observer. Further, the SMO is coded using MATLAB/Xilinx block models to investigate the performance at real-time.
EN
Both permanent magnet brushless DC motors and permanent magnet synchronous motors have attracted wide attention and are increasingly used in industrial high-performance applications in recent years. Those motors are known for their good electrical, magnetic and performance characteristics, but there is one parameter known as cogging torque that has a negative influence on the performance characteristics of the motor. This pulsating torque is generated as a result of the interaction between the stator teeth and the permanent magnets. The minimisation of the ripple of this torque in those permanent magnet motors is of great importance and is generally achieved by a special motor design which in the design process involves a variety of many geometrical motor parameters. In this research work, a novel approach will be introduced where two different nature-inspired algorithms, such as genetic algorithm (GA) and cuckoo search (CS) algorithm are used as an optimisation tool, in which the defined equation for the maximum value of the cogging torque is applied as an objective function. Therefore, a proper mathematical presentation of the maximum value of the cogging torque for the analysed synchronous motor is developed and implemented in the research work. For a detailed analysis of the three different motor models, the initial motor and the two optimised motor models are modelled and analysed using a finite element method approach. The cogging torque is analytically and numerically calculated and the results for all the models are presented.
EN
This paper deals with the selected methods of detecting angular misalignment in drive systems with a permanent magnet synchronous motor (PMSM), which are based on the analysis of the stator phase current signal, as well as their experimental verification and comparison. The proposed and compared methods are spectral analysis and wavelet analysis of the stator current, stator current envelope, stator current space vector module. Furthermore, the influence of power supply frequency and load torque on the performance of the proposed diagnostic methods is also discussed. The experimental tests were carried out for an undamaged motor and for two levels of angular misalignment. The article discusses the question of exactly what damage symptoms can be extracted from each of the methods. In the case of spectral analyses, it is demonstrated which multiplicities of the failure frequency are the most sensitive to misalignment and the least sensitive to changes in motor operating condition, which may be considered novel in the case of drive systems with permanent magnet motors. It is also proven that discrete wavelet transform (DWT) of the envelope and monitoring of the value of the relevant components allows the detection of misalignment with the availability of measuring current only in one phase in various motor operating conditions.
PL
Artykuł dotyczy napędów elektrowibracyjnych dwusilnikowych, które są źródłem drgań liniowych sinusoidalnie zmiennych w różnego typu przemysłowych urządzeniach wibracyjnych, jak np. przesiewacze czy przenośniki wibracyjne. W napędach tych stosowane są dwa elektrowibratory pracujące przeciwbieżnie, wyposażone zazwyczaj w trójfazowe silniki indukcyjne klatkowe zasilane bezpośrednio z sieci elektrycznej. Praca przeciwbieżna obu elektrowibratorów jest osiągana dzięki zjawisku samosynchronizacji. Dzięki pracom B+R obecnie pojawiła się możliwość zastosowania w tego typu napędach elektrowibra­cyjnych silników synchronicznych z magnesami trwałymi (ang. skrót PMSM), zasilanych z dedykowanych przemienników częstotliwości. W artykule porównano konstrukcję obwodu elektromagnetycznego trójfazowego elektrowibratora indukcyjnego o mocy 2 kW i prędkości znamionowej 1500 obr./min z konstrukcją obwodu elektromagnetycznego elektrowibratora wyposażonego w silnik PMSM, zapewniającego osiągnięcie podobnych parametrów w zakresie siły wymuszającej drgania. W oparciu o wyniki obliczeń elektromagnetycznych wykazano, że elektrowibrator z silnikiem PMSM, przy zachowaniu tych samych parametrów obciążenia, w stosunku do elektrowibratora indukcyjnego charakteryzuje się znacząco wyższą sprawnością i jednocześnie mniejszymi wymiarami gabarytowymi i masą. W artykule opisano też inne istotne zalety zastosowania elektrowibratorów PMSM w napędach elektrowibracyjnych dwusilnikowych w porównaniu do napędów z elektrowibratorami indukcyjnymi.
EN
The article deals with dual motor electro-vibrating drives, which are the sources of linear sinusoidal vibrations in various types of industrial vibrating devices, like vibrating screens or conveyors. These drives use two counter-rotating electric vibrators, usually equipped with three-phase squirrel-cage induction motors powered directly from the electrical grid. The counter-rotating operation of both electric vibrators is achieved due to the phenomenon of self-synchronization. Thanks to R&D work, now it is possible to use permanent magnet synchronous motors (PMSM) in this type of drives, powered from dedicated frequency converters. The article compares the design of the electromagnetic circuit of a 3-phase induction electric vibrator with a power of 2 kW and a rated speed of 1500 rpm with the design of the electromagnetic circuit of an electric vibrator equipped with a PMSM motor, ensuring similar performance in terms of vibration exciting force. Based on the results of electromagnetic calculations, it has been shown that the electric vibrator with the PMSM motor, while maintaining the same load parameters in relation to the induction electric vibrator, is characterized by significantly higher efficiency and, at the same time, smaller overall dimensions and weight. The article also describes other significant advantages of using PMSM electric vibrators in dual motor electro-vibrating drives, compared to drives with induction electric vibrators.
PL
W artykule przedstawiono konstrukcję obwodu elektromagnetycznego elektrowibratora wyposażonego w silnik synchroniczny wzbudzany magnesami trwałymi (PMSM). Elektrowibrator ten jest przeznaczony do zastosowania w przemysłowych napędach elektrowibracyjnych, zwłaszcza w napędach dwusilnikowych generujących drgania mechaniczne liniowe, sinusoidalnie zmienne. Wybrane parametry elektromechaniczne elektrowibratora z silnikiem PMSM porównano z parametrami odpowiedniego elektrowibratora tradycyjnego, wyposażonego w silnik indukcyjny klatkowy. Przedstawiono zalety wynikające z zastosowania elektrowibratorów z silnikami PMSM na tle dotychczasowych rozwiązań z silnikami indukcyjnymi.
EN
In the paper a construction of electromagnetic circuit of electrovibrator equipped with permanent magnet synchronous motor (PMSM) is described. This electrovibrator is intended for use in the industrial vibrating motor drives, especially in dual-motor drives generating linear, sinusoidal mechanical vibrations. Selected electromechanical parameters of the electrovibrator with the PMSM motor are compared with the parameters of a similar traditional electrovibrator, equipped with a squirrel-cage induction motor. The advantages resulting from the use of electrovibrators with PMSM motors on the background of existing solutions with induction motors are presented.
PL
W artykule przedstawiono wybrane zabiegi konstrukcyjne, które mogą być wykorzystane do kształtowania charakterystyk elektromechanicznych elektrycznego napędu trakcyjnego z silnikiem PMSM. Uwzględniono m.in. wpływ na te charakterystyki takich czynników jak: liczba zwojów szeregowych w fazie uzwojenia, rodzaj materiału magnetycznego zastosowanego w magnesach trwałych, sposób rozmieszczenia magnesów trwałych w wirniku. Wykazano, że nawet na późnym etapie projektowania napędu trakcyjnego z silnikiem PMSM, można jeszcze w pewnym stopniu kształtować charakterystyki elektromechaniczne napędu w celu ich jak najlepszego dopasowania do wymagań konkretnego zastosowania – pojazdu. Rozważania oparto na projekcie napędu elektrycznego eKIT, przeznaczonego dla pojazdów o masie do 3.5 t.
EN
The article presents selected design procedures that can be used to shape the electromechanical characteristics of an electric traction drive with a PMSM motor. They include, among others, influence on these characteristics of such factors as: the number of series turns in the winding phase, the type of magnetic material used in the permanent magnets, the arrangement of the permanent magnets in the rotor. It has been shown that even at a late stage of designing a traction drive with a PMSM motor, it is possible to shape the electromechanical characteristics of the drive to some extent in order to best match them to the requirements of a specific application - vehicle. The considerations were based on the eKIT electric drive design, intended for vehicles weighing up to 3.5 tons.
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