Murat BARUT, O. Seta BOĞOSYAN, Metin GÖKAŞAN

SKASM' nin hız algılayıcısız doğrudan vektör kontrolü

Bu çalışmada, Sincap Kafesli Asenkron Motorların (SKASM’lerin) algılayıcısız kontrolünde başarımı olumsuz yönde etkileyen modele ait elektriksel ve mekanik yana ilişkin parametre belirsizliklerini çözmek üzere Genişletilmiş Kalman Filtresi (GKF) tabanlı gözlemleyici algoritmaları tasarlanarak gerçeklenmiştir. Doğrudan vektör kontrol sistemi ya da vektör kontrollü a.a sürücüsü ile başarımları test edilen bu algoritmalar ile herhangi yüksek frekanslı bir işaret eklemeksizin ve başlangıç değerleri bilinmediği varsayımıyla algılayıcısız kontrol için gerekli tüm durumlar, sabit sürtünme –viskoz– terimini de içeren yük momenti ve değeri bilinmeyen rotor direnci eş zamanlı olarak kestirilebilmiştir. Benzetim/deney sonuçları önerilen yöntemlerin oldukça etkin ve dayanıklı olduğunu göstermiştir. Bu yönleriyle, literatürde bilinen ilk çalışmadır.

Speed sensorless direct vector control of the IM

This paper offers a solution to the performance deteriorating effect of uncertainties in the sensorless control of induction motors (IMs). The major contribution of the study is the development and implementation of a Extended Kalman Filter (EKF) algorithms that take electrical and mechanical uncertainties into account. Also, unlike previous EKF based estimation studies taking the angular velocity, ωm, into consideration as a constant parameter, in this study, $omega_m$, is estimated as a state with the utilization of the equation of motion. In this regard, this is the first known study to estimate the mechanical uncertainties together with the estimation of the rotor resistance, $R_r^l$ , without injecting high frequency signals. The EKF algorithms also estimate the rotor flux, angular velocity and stator currents with no apriori knowledge on the states and initial values taken as zero. Experiments performed under unknown load torque and with rotor resistance variations up to twice the rated value, demonstrate the good performance and robustness of the estimation methods. The algorithms also estimate the mechanical uncertainties as a constant state to capture the unknown viscous and Coulomb friction in steady state, therefore, could be used to improve the performance of the velocity or position control of IM’s, if utilized in combination with a compensation scheme.

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