Constrained Model Predictive Control of the Drive System With Mechanical Elasticity

Cychowski, Marcin; Szabat, K.; Orłowska-Kowalska, Teresa

doi:10.1109/tie.2009.2015753

Cited by 113 publications

(52 citation statements)

References 28 publications

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Section: Introductionmentioning

confidence: 99%

“…One of the methods allowing to introduce the restrictions of the values of state variables is predictive control. This method allows to introduce limitations as early as the controller design stage [6,15].The goal of this work is a comparison of various methods of restricting the amplitude of selected state variables of a drive with an elastic coupling and their influences on the dynamic properties of a drive. The comparison will encompass three control systems: the first one will use a classical PI controller with two additional feedbacks from selected state variables.…”

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confidence: 99%

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Comparison of the control methods of electrical drives with an elastic coupling allowing to limit the torsional torque amplitude

Serkies¹

2017

EiN

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Article citation info: (*) Tekst artykułu w polskiej wersji językowej dostępny w elektronicznym wydaniu kwartalnika na stronie www.ein.org.pl Piotr SerkieSComparison of the Control methods of eleCtriCal drives with an elastiC Coupling allowing to limit the torsional torque amplitude porównanie metod sterowania napędem elektryCznym z połąCzeniem sprężystym pozwalająCe na ograniCzenie amplitudy momentu skrętnego* IntroductionModern power transmission systems are expected to show higher dynamics while preserving high precision and reliability. Such requirements results in an increasingly higher use of the properties and strength of construction materials. Therefore, in a growing number of drives one can observe finite stiffness of couplings between a drive and machinery. This problem was initially considered in the heavy industry in various types of machines, such as: rolling mills [13], conveyor belts [10] Various methods are used in the control of vehicle speed or the location of drives with an elastic coupling, starting with simple ones based on a PI controller tuned with account for coupling elasticity [22], to the introduction of additional feedbacks from one to a few state variables to such a controller, a detailed overview of such solutions can be found in [17]. Some other control systems use adaptive control. Such methods as fuzzy sliding mode control and neural control [3,7], as well as vortex control [14] can be distinguished here, this group of methods ensures good oscillation attenuation and it is additionally characterised by high resistance in the case of wrongly determined drive parameters. Another approach to adaptive is presented in [8,18], here a superior system was used to retune controller setting, it continuously reproduces the unknown and variable parameter. Yet another, not so common, is the sliding mode control [9].In the case drives with an elastic coupling, the major challenge faced by the control system is the attenuation of the oscillation of electro-mechanical state variables. However, another issue which appears in the discussed group of drives is the limitation of the torsional torque amplitude in such a way that the lives of mechanical couplings can be extended, which improves the reliability of the whole drive system. However, the above described methods do not allow to introduce the restriction of the values of state variables (torsional torque) in a simple way. The only restricted values is the set electromagnetic torque (control signal). In such systems the only way to limit the amplitude of internal state variables is weakening the dynamics of the whole system. Another approach which allows to introduce the value restrictions of a selected state variable is using the cascade control structure in which a separate, subordinate control loop is formed. Then it is possible to restrict such state variable [16]. One of the methods allowing to introduce the restrictions of the values of state variables is predictive control. This method allows to introduce limitations as early as the ...

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Section: Introductionmentioning

confidence: 99%

mentioning

confidence: 99%

Comparison of the control methods of electrical drives with an elastic coupling allowing to limit the torsional torque amplitude

Serkies¹

2017

EiN

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“…Lately, the model based predictive control approach has been studied intensively for power electronic applications [16] and especially for drive systems with elastic coupled loads [17]. In [18], the MBPC approach was proven to be suitable for drive applications in terms of the achievable control performance, robustness against model-mismatches, and unexpected dynamics, as well as in terms of its online computation burden.…”

Section: Introductionmentioning

confidence: 99%

“…In [18], the MBPC approach was proven to be suitable for drive applications in terms of the achievable control performance, robustness against model-mismatches, and unexpected dynamics, as well as in terms of its online computation burden. The MBPC speed control has already been used in [19] for a stiff drive system and in [17], [20], and [21] for an elastic coupled drive system. The proposed control approaches are based on a deeper theoretical basis starting with the well known PI SC across the PI-SS SC up to the MBPC SC .…”

Section: Introductionmentioning

confidence: 99%

Comparative study of conventional PI-control, PI-based state space control and model based predictive control for drive systems with elastic coupling

Thomsen

Hoffmann

Fuchs

2010

2010 IEEE Energy Conversion Congress and Exposition

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Three different control methods for the speed control of drive systems with elastically coupled loads are presented and compared. In drive applications where the load is connected to the driving motor with a drive shaft that has a finite stiffness, unwanted mechanical dynamics can occur. These unwanted dynamics can stress both mechanical and electrical drive components. Further, the shaft torsion, if neglected in the control synthesis, can dramatically reduce the achievable control performance. To overcome these challenges, the design, analysis, and a comparative study of three speed control methods for a drive system with resonant loads are carried out. The control methods considered are: a conventional PI-control, a PI-based state space control, and a model based predictive control. To ensure a suitable basis for their comparison, the three different speed control methods are designed with equal bandwidths and verified with the same test setup. Further, all speed control methods presented use only drive side speed measurement to control the drive speed.

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“…It is based on the optimization of a cost function pertaining to the difference between the output and the trajectory to be tracked [12]. MPC improves insensitivity to parameter variation and external disturbances and handles the state and control constraints [13], [14]. However, a nonlinear optimization problem has to be solved online to determine the optimal control, which limited its application to slow nonlinear systems for a long time.…”

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confidence: 99%

Robust cascaded nonlinear predictive control of a permanent magnet synchronous motor

Errouissi¹,

Ouhrouche²

2009

2009 IEEE International Conference on Industrial Technology

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Abstract-A nonlinear predictive control (NPC) scheme in a cascaded structure for a permanent magnet synchronous motor drive is proposed. Taylor series expansion is used to predict the system response over a finite horizon. As NPC cannot remove completely the steady-state error in the presence of mismatched parameters and external perturbation, a disturbance observer is used to estimate the offset caused by parametric uncertainties and the load torque variation. In addition, input constraints (restrictions on the magnitude) are considered in the synthesis of the disturbance observer, resulting in an equivalent cascaded proportional integral action with an antiwindup compensator. The validity of the proposed controller was tested via simulation and experiment. Excellent results were obtained with respect to the speed trajectory tracking, stability, and disturbance rejection.Index Terms-Antiwindup compensator, cascaded control, disturbance observer, nonlinear predictive control (NPC), permanent magnet synchronous motor (PMSM), robustness.

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Constrained Model Predictive Control of the Drive System With Mechanical Elasticity

Cited by 113 publications

References 28 publications

Comparison of the control methods of electrical drives with an elastic coupling allowing to limit the torsional torque amplitude

Comparison of the control methods of electrical drives with an elastic coupling allowing to limit the torsional torque amplitude

Comparative study of conventional PI-control, PI-based state space control and model based predictive control for drive systems with elastic coupling

Robust cascaded nonlinear predictive control of a permanent magnet synchronous motor

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