POLITECHNIKA WARSZAWSKA

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6. ANN sensorless Field Oriented Conrol of IM β Y isβ is ψ R X δ isx i sy γ s α isα Fig. 6.1. Vector diagram of induction motor If we for the sake of simplicity omit the equation of stator voltage (current control), than the rest of equation we can write as: d r r T r N = − dt xr dωm x T M M = dt xr r ψ ω = ω sψ − ω ψ ψ rr r + xM isα xr risy − mL rr xM m = xr isy ψ r (6.4) From these equations, it can be noted, that i sx is control signal of rotor flux dynamic and i sy is control signal of electromagnetic torque m, where x m = M ψ risy (6.5) xr and ω r is a slip frequency. 121
6. ANN sensorless Field Oriented Conrol of IM The whole description of the motor (with stator voltage equations) can be calculated as follows: TN TN TN TN ψ d r rr r = − ψ r r + xM isx dt xr xr 2 2 disx xM rr xr rs + xM r = ψ r r − isx + ωmisy + dt 2 2 σxs xr οxs xr 2 r i r sy 1 xM + usx xr ψ r σxs di 2 2 sy xM xr rs + xM r = − ω r mψ r −ωmisx − isy − dt σxs x 2 r οxs xr r i r sxisy 1 xM + usy xr ψ r σxs dθ r i r sy = ωm + xM dt xr ψ r (6.6) Where ⎛ψ rβ ⎞ θ = arctan ⎜ ⎟ (6.7) ⎝ψ rα ⎠ is the phase position of the ψ r space vector in α-β coordinates. The block scheme, which represents equations Eq. 6.4, is shown in Fig. 6.2. If we compare this system and the separately excited dc we can note some similarities. In x-y frame the rotor flux ψ r is at rest and is directed along x-axis. If the stator current rotate with the synchronous angular speed (steady state), then we obtain motionless vectorial graph in the field coordinates x-y 122
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POLITECHNIKA WARSZAWSKA WARSAW UNIV
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Contents 1. Introduction 4 2. Mathe
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1. Introduction 1. INTRODUCTION The
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1. Introduction In the author’s o
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2. Mathematical description of indu
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3. Basics of Artificial Neural Netw
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4. ANN based Current Controllers (C
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4. ANN based Current Controllers 4.
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4. ANN based Current Controllers Ta
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4. ANN based Current Controllers Th
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4. ANN based Current Controllers As
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4. ANN based Current Controllers Fi
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4. ANN based Current Controllers Fi
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Page 171 and 172: References REFERENCES Books and Ove
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References [34] D. Schauder, and R.
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References [66] A. Tripathi and P.
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References [97] J. W. Kolar, H. Ert
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References [129] M. P. Kazmierkowsk
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A1. Description of the simulation p
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A2. Laboratory setup A2. Laboratory
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A2. Laboratory setup A2.3. dSpace D
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A2. Laboratory setup Offset calibra
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A2. Laboratory setup consists of an
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A3. Motor parameters A3. MOTOR PARA
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A4. Notation - u s - stator voltage
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