An Accurate Auto-Tuning Procedure for Encoderless AC Motor Drives in Industrial Environments
Abstract
Modern ac motor drives are based on fieldoriented vector control with feedback and feedforward
control units. The feedback control unit for position and
speed consists of two cascaded standard PI-controllers.
These controllers require information of the position and
the derivative of the position, respectively. Typically a shaft
encoder provides this information but more often a position
observer is used instead. The feedforward control unit uses
the set position trajectory in combination with mechanical
parameters and essentially imposes the overall dynamics.
This work presents a new method for self-commissioning of
speed controller, position controller and feedforward
control unit for drives without a shaft encoder. Performance
and feasibility of the proposed method are demonstrated by
experimental results.
References
H. Zoubek and M. Pacas, “A method for speed-sensorless
identification of two-mass-systems,” in Energy Conversion
Congress and Exposition (ECCE), 2010 IEEE, Sept. 2010, pp. 4461
–4468.
S. Beineke, J. Schirmer, J. Lutz, H. Wertz, A. Baehr, and J. Kiel,
“Implementation and applications of sensorless control for
synchronous machines in industrial inverters,” in Sensorless
Control for Electrical Drives (SLED), 2010 First Symposium on,
July 2010, pp. 64 –71.
L. Yongdong and Z. Hao, “Sensorless control of permanent magnet
synchronous motor — a survey,” in Proc. IEEE Vehicle Power and
Propulsion Conf. VPPC ’08, 2008, pp. 1–8.
X. Dan and S. Zhengqiang, “Sensorless control of surface
permanent magnet synchronous motor using a structured adaptive
flux observer,” in Power Electronics and Motion Control
Conference, 2004. IPEMC 2004. The 4th International, vol. 2, Aug.
, pp. 1023 –1027 Vol.2.
Y. Imaeda, S. Doki, M. Hasegawa, K. Matsui, M. Tomita, and
T. Ohnuma, “Pmsm position sensorless control with extended flux
observer,” in IECON 2011 - 37th Annual Conference on IEEE
Industrial Electronics Society, Nov. 2011, pp. 4721 –4726.
J. Weissbacher, A. Weber, G. Steiner, and M. Horn, “A simple
method for self-commissioning of industrial ac motor drives
without shaft encoder,” in MECHATRONIKA, 2012 15th
International Symposium, 2012, pp. 1–6.
A. Weber and G. Steiner, “An accurate identification and
compensation method for nonlinear inverter characteristics for ac
motor drives,” in I2MTC 2012 Graz, 13-16 May 2012, pp. 821–
H. Zoubek and M. Pacas, “An identification method for multimass-
systems in speed sensorless operation,” in Industrial
Electronics (ISIE), 2011 IEEE International Symposium on, June
, pp. 1895 –1900.
H. Wertz and F. Schutte, “Self-tuning speed control for servo drives
with imperfect mechanical load,” in Industry Applications
Conference, 2000. Conference Record of the 2000 IEEE, vol. 3,
, pp. 1497 –1504 vol.3.
D. Schroeder, Elektrische Antriebe - Regelung von
Antriebssystemen, ser. Elektrische Antriebe. Springer, 2001.
R. Isermann, Identifikation Dynamischer Systeme 1: Grundlegende
Methoden. Springer Verlag, 1992.
S. Skogestad and I. Postlethwaite, Multivariable feedback control:
analysis and design. Wiley, 1996.
F. Mink, A. Baehr, and S. Beineke, “Self-commissioning
feedforward control for industrial servo drive,” in Advanced
Electromechanical Motion Systems Electric Drives Joint
Symposium, 2009. ELECTROMOTION 2009. 8th International
Symposium on, 2009, pp. 1–6.