Implementation of Hybrid Control for Motor Drives

Abstract

Abstract-This paper presents the implementation of a hybridcontrol strategy applied to a permanent-magnet synchronousmotor (PMSM) drive. Hybrid control is a general approach for control of a switching-based hybrid system (HS). This class of HS includes a continuous process controlled by a discrete controller with a finite number of states. In the case of ac motor drives, in contrast to conventional vector control like proportional-integral control or predictive control, where the inverter is not taken into account by the controller, hybrid control integrates the inverter model and considers the state of the inverter as a control variable. It allows to obtain faster torque dynamics than vector-control algorithms. The hybrid control algorithm requires both computing velocity for real-time implementation and code flexibility for management of low-performance functions and analog-digital interfaces. Codesign appears as a promising methodology for partitioning hybrid-control algorithm between software (flexible) and hardware (velocity) while taking care of overall time constrains. In this paper, the implementation of hybrid-control algorithm for a PMSM drive is performed through a codesign approach on an Excalibur board, embedding a CPU-core (Nios-2 by Altera) inside an APEX20KE200EFC484-2X field-programmable gate array. The partitioning of software and hardware parts is explained. Experimental results show the effectiveness of the implementation. Performances, advantages, and limitations are discussed.Index Terms-AC motor drives, control, dynamic hybrid system (HS), field-programmable gate array (FPGA), hardware-software codesign.

Bilateral Control of Nonlinear Pneumatic Teleoperation System With Solenoid Valves

“…As mentioned in Section III.B, transparency can be achieved in the four-channel teleoperation system in Fig. 6 subject to the choice of controllers C m , C s , C 2 and C 3 in (14) as well as C 6 = C 2 -1 and C 5 = C 3 -1 from (13), if the inner force control loop is perfect. This condition involving the inner force control loop is verified in Fig.…”

“…To overcome the drawbacks of PWM-based control of solenoid valves, this paper presents a new control method inspired by the hybrid theory recently developed for asynchronous/synchronous electrical motors control [11][12][13]. This approach is used in a switching-based hybrid system, which includes continuous actuators and a discrete controller with a finite number of states.…”

Two-Vector FCS-MPC for Permanent-Magnet Synchronous Motors Based on Duty Ratio Optimization

“…Conventional FCS-MPC predicts current with 7 different voltage vectors and selects the most optimized vector with a cost function. It has faster response but larger current ripple [15]. A two-vector FCS-MPC based on direct torque control, which calculates the time duration of vectors, respectively, was put forward to reduce the current ripple [16].…”

Comparison of Unmodulated Current Control Characteristics of Permanent Magnet Synchronous Motor

“…Some current controllers that have been implemented for PMSM are conventional nonlinear control (on-off, hysteresis, delta modulation) [4][5][6], PI control [7][8][9], internal model control [10,11], linear matrix inequality [12], resonant control [13], sliding mode control [14][15][16], predictive control [17][18][19][20][21][22], hybrid control [23], and intelligence control [24,25]. Furthermore, these controls can be categorized basically in two types: with modulation [7-15, 17-20, 22, 24, 25] and without modulation [4-6, 16, 19, 21, 23].…”

“…Additionally, the modulated control has a better steady state response since its switching frequency is not varied. According to [23,25,26], PI control with PWM gives better steady state response while the modern control has better response during transient condition. However, [21] demonstrates that PI control with PWM could provide better response in steady state and transient conditions.…”