The article addresses the issue of mobile robotic platform positioning in GNSS-denied environments in real-time. The proposed system relies on fusing data from an Inertial Measurement Unit (IMU), magnetometer, and encoders. To get symmetrical error gauss distribution for the measurement model and achieve better performance, the Error-state Extended Kalman Filter (ES EKF) is chosen. There are two stages of vector state determination: vector state propagation based on accelerometer and gyroscope data and correction by measurements from additional sensors. The error state vector is composed of the velocities along the x and y axes generated by combining encoder data and the orientation of the magnetometer around the axis z. The orientation angle is obtained from the magnetometer directly. The key feature of the algorithm is the IMU measurements’ isolation from additional sensor data, with its further summation in the correction step. Validation is performed by a simulation in the ROS (Robot Operating System) and the Gazebo environment on the grounds of the developed mathematical model. Trajectories for the ES EKF, Extended Kalman Filter (EKF), and Unscented Kalman Filter (UKF) algorithms are obtained. Absolute position errors for all trajectories are calculated with an EVO package. It is shown that using the simplified version of IMU’s error equations allows for the achievement of comparable position errors for the proposed algorithm, EKF and UKF.
This article describes an electric drive system’s topology with a permanent magnet synchronous motor for a wide speed range applications. Topology consists of a synchronous motor with permanent magnets (PMSM) and two inverters connected to the beginnings and to the ends of the PMSM’s stator windings. The first inverter is connected to a storage battery, while the other one to a floating bridge capacitor, which acts as a back-EMF compensator. The article proposes electric drive system topolo-gy and its control algorithm. Simulation modeling was implemented by the MATLAB/Simulink software package. Simulation results shows that the proposed electric drive system, in comparison with the standard topology with a «star» stator windings connection, is able to increase the maximum speed of PMSM in the field weakening mode by 17%. The maximum achievable torque on the rotor shaft at the maximum speed of the PMSM motor was increased by 16.6%. Also, developed topology allows to in-crease the speed range in the constant torque mode by 34%.
This paper represents structure of permanent magnet synchronous motor (PMSM) control system focused to work in field weakening mode. Structurally it consists of PMSM motor with open end winding, main bridge inverter (MB) with DC voltage at one side of motor winding and floating bridge (FB) inverter with a capacitor at the other side of motor winding. Structure of control system with active and reactive power distribution for MB and FB inverter with capacitor’s voltage level control and motor’s shaft control loops is proposed. Simulation model via Matlab/Simulink and Simscape language is designed. Comparing proposed control system with field oriented PMSM vector control and “Y” motor end winding connection is provided. Obtained results shows that proposed control system helps to reach 1.4 times more maximum speed that a conventional one
This paper represents control strategy of anisotropic permanent magnet synchronous motor (IPMSM) in the field-weakening region. Field weakening controller allows to increase maximum achievable speed with output torque reduction. Proposed control system consists of four general modes: MTPA (maximum torque per ampere), MC (maximum current), FW (field weakening), and MTPV (maximum torque per voltage) which must be chosen accordingly to motor speed, current and torque references. Operation point is found as an intersection of torque hyperbola and voltage ellipse curves in d-q motor’s current reference frame involving motor parameters’ limits. However, due to nonlinear dependence between torque and voltage equations, it is quite complicated to obtain both right control mode selection and reference output calculation. In order to solve this problem, a unified control algorithm adopted for wide speed and torque reference with online constraints calculation is proposed. Matlab/Simulink control model of PMSM motor and control system were designed in order to show developed strategy performance. Simulation results shows increasing of speed limit by more than 2.5 times related to nominal speed with high controller’s response. However, speed limit increasing leads to a decrease in motor’s output torque. Due to this fact, presented control strategy is not suitable for applications where nominal torque level is essential for all speed operation points.
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