Modal analysis of turborotors using planar modes—theory

The generalized dynamic equations of motion have been obtained by the direct stiffness method for multimass flexible rotor bearing systems including the effects of gyroscopic moments, disc skew, and rotor acceleration. A set of undamped critical speed mode shapes calculated from the average horizontal and vertical bearing stiffness is used to transform the equations of motion into a set of coupled modal equations of motion. The modal equations are coupled by the generalized bearing coefficients and the gyroscopic moments. An analysis using only undamped critical speeds or decoupled modal analysis assuming proportional damping may lead to erroneous results. This paper presents a rapid method of calculating rotor resonance speeds with their corresponding amplification factors, stability and unbalance response of turborotors. Examples of the application of this modal approach are presented and results are compared to those of other methods such as matrix transfer analysis.     

Active Vibration Control of a Single Mass Rotor on Flexible Supports

This paper considers vibration control of a single mass flexible rotor on damped flexible supports with active feedback control. Both proportional and derivative feedback control are utilized. Free vibrations and unbalance response of the rotor-control system are determined. The effect of proportional control is to increase the critical speed of rotating machinery while the effect of derivative control is to reduce the amplitude of vibration. Generally larger ratios of support stiffness to shaft stiffness require larger values of control parameters to produce given amplitudes of vibration.     

Real time implementation of indirect rotor flux oriented control of a five-phase induction motor with novel rotor resistance adaption using sliding mode observer

High performance multiphase motor drive requires precise knowledge of the state quantities and the machine parameters. Access to these state quantities is through measurement using sensors whose accuracy is paramount to achieve the performance level required by industrial applications. However, the problems of the parameters variations, inaccessibility to the measurement of some states, no-observability of the machine in some regions, the cost of the sensors and their lack of precision, make this very difficult task. To address these problems, it is necessary to resort to soft sensors through the design of observers and estimators. In multiphase induction motor drive, the observation problem arises especially for rotor flux that is not accessible for measurement. About the parameters variations, the rotor resistance and the stator resistance are the most critical parameters of the machine because their influence is crucial for the control and observation. The change in the resistances can be as large as 40–50% of the rated value, which may affect the control adversely. This paper develops a new structure of an adaptive sliding mode observer based on an online estimation of the rotor resistance value in order to avoid the effect of its variation in the rotor flux oriented control. The results show convergent (the errors in the transient and steady states are 5% and 1%, respectively) behavior of the drive using the proposed control scheme for large rotor resistance variation under loaded condition. The stability of the drive is proved using Lyapunov criteria. The simulation results are validated using real time implementation.     

Non-linear dynamic response of circular plates subjected to transient loads

The Chebyshev polynomials have been applied to the large amplitude motions of circular plates under transient loads, with and without damping. The non- linear differential equations are linearized by using Taylor series expansions for one of the terms. It is shown that there is good agreement between the results obtained by the present technique and the available results. The advantage of this technique is essentially due to the fact that the Chebyshev polynomials are rapidly converging polynomials. It is shown that very accurate results can be obtained with only four terms of the Chebyshev series which may not be possible with conventional methods.     

Mathematical aspects of static and dynamic stability problems in power systems

A power system is modelled by a system of parameterised differential-algebraic equations (DAEs) when it is operating normally; it is modelled by time-piecewise DAEs when a transient process occurs. The normal operation of power systems is related to the static stability problem; while the transient process is related to the dynamic stability problem. After categorising the stability problems in power systems into static and dynamic cases, mathematical formulations are proposed and mathematical problems related to them are studied using different mathematical tools. In the static case, the determination of feasibility region is related to solving algebraic equations; while in the dynamic case, identifying attraction domain is related to solving a DAE. For a power system, the determination of feasibility region is usually reduced to optimisation problems, while the determination of attraction domain and critical clearing time is related to the study of transient energy functions.     

Robust sensorless observer-based adaptive sliding modes control of synchronous motors

Using a nonlinear complete order model of a synchronous motor, a robust second order sliding mode observer based control scheme is proposed. For that, a generalized super-twisting 3rd order observer is proposed for nonlinear systems. Based on the proposed observer scheme, a robust rotor flux observer is designed, then, a stator current observer is proposed using a classical super-twisting algorithm for extracting information of the rotor speed by means of the equivalent control method. The control design for the output tracking of a desired reference signal for the rotor speed is carried out with a classical super-twisting sliding mode algorithm and adaptive backstepping techniques. Due to the number of inputs, the flux in the excitation winding, and the direct component of the stator currents are also regulated. Numeric simulations predict a good performance of the closed-loop synchronous motor with parameter variations.     

Robust integral backstepping control for sensorless IPM synchronous motor controller

In this paper, a sensorless speed control for interior permanent magnet synchronous motors (IPMSM) is designed by combining a robust backstepping controller with integral actions and an adaptive interconnected observer. The IPMSM control design generally requires rotor position measurement. Then, to eliminate this sensor, an adaptive interconnected observer is designed to estimate the rotor position and the speed. Moreover, a robust nonlinear control based on the backstepping algorithm is designed where an integral action is introduced in order to improve the robust properties of the controller. The stability of the closed-loop system with the observer–controller scheme is analyzed and sufficient conditions are given to prove the practical stability. Simulation results are shown to illustrate the performance of the proposed scheme under parametric uncertainties and low speed. Furthermore, the proposed integral backstepping control is compared with the classical backstepping controller.     

Optimal adaptive reset control with guaranteed transient and steady state tracking error bounds

In this paper, a solution for improvement of transient performance in adaptive control of nonlinear systems is proposed. An optimal adaptive controller based on a reset mechanism and a prescribed performance bound is devised. The suggested controller has the structure of adaptive backstepping controller in which the estimated parameters are reset to an optimal value. The designed controller ensures both the transient bound and the asymptotical convergence of the states. It is shown that the tracking error satisfies the prescribed performance bound all the time, besides the speed of the convergence rate is increased by resetting the estimated parameters. The results have been proved through both the analytical and simulation studies. The proposed method is applied to an Augmented Quarter Car Model as a case study. Simulation results verify the established theoretical consequences that the prescribed performance bound based optimal adaptive reset controller can enhance the transient performance of the adaptive controller.     

New modeling approach of secondary control layer for autonomous single-phase microgrids

In a microgrid (MG) topology, the secondary control is introduced to compensate for the voltage amplitude and frequency deviations, mainly caused by the inherent characteristics of the droop control strategy. This paper proposes an accurate approach to derive small signal models of the frequency and amplitude voltage at the point of common coupling (PCC) of a single-phase MG by analyzing the dynamics of the second-order generalized integrator-based frequency-locked loop (SOGI-FLL). The frequency estimate model is then introduced in the frequency restoration control loop, while the derived model of the amplitude estimate is introduced for the voltage restoration loop. Based on the obtained models, the MG stability analysis and proposed controllers’ parameters tuning are carried out. Also, this study includes the modeling and design of the synchronization control loop that enables a seamless transition from island mode to grid-connected mode operation. Simulation and practical experiments of a hierarchical control scheme, including traditional droop control and the proposed secondary control for two single-phase parallel inverters, are implemented to confirm the effectiveness and the robustness of the proposal under different operating conditions. The obtained results validate the proposed modeling approach to provide the expected transient response and disturbance rejection in the MG.     

Hermite neural network-based second-order sliding-mode control of synchronous reluctance motor drive systems

This paper proposes a novel Hermite neural network-based second-order sliding-mode (HNN-SOSM) control strategy for the synchronous reluctance motor (SynRM) drive system. The proposed HNN-SOSM control strategy is a nonlinear vector control strategy consisting of the speed control loop and the current control loop. The speed control loop adopts a composite speed controller, which is composed of three components: 1) a standard super-twisting algorithm-based SOSM (STA-SOSM) controller for achieving the rotor angular speed tracking control, 2) a HNN-based disturbance estimator (HNN-DE) for compensating the lumped disturbance, which is composed of external disturbances and parametric uncertainties, and 3) an error compensator for compensating the approximation error of the HNN-DE. The learning laws for the HNN-DE and the error compensator are derived by the Lyapunov synthesis approach. In the current control loop, considering the magnetic saturation effect, two composite current controllers, each of which comprises two standard STA-SOSM controllers, are designed to make direct and quadrature axes stator current components in the rotor reference frame track their references, respectively. Comparative hardware-in-the-loop (HIL) tests between the proposed HNN-SOSM control strategy and the conventional STA-SOSM control strategy for the SynRM drive system are performed. The results of the HIL tests validate the feasibility and the superiority of the proposed HNN-SOSM control strategy.     

Refining and Extending the Business Model With Information Technology: Dell Computer Corporation

The exceptional performance of Dell Computer in recent years illustrates an innovative response to a fundamental competitive factor in the personal computer industry - the value of time. This article shows how Dell's strategies of direct sales and build-to-order production have proven successful in minimizing inventory and bringing new products to market quickly, enabling it to increase market share and achieve high returns on investment. The Dell case illustrates how one business model may have inherent advantages under particular market conditions, but it also shows the importance of execution in exploiting those advantages. In particular, Dell's use of information technology (IT) has been vital to executing both elements of its business model - direct sales and build-to-order - and provides valuable insights into how IT can be applied to achieve speed and flexibility in an industry in which time is critical. Many of the insights gained from this case can be applied more generally to other time-dependent industries, suggesting that the findings from the Dell case will have implications for a growing number of companies and industries in the future.     

基于光电编码器的双馈调速系统中数字信号的检测

光电编码器是电气传动系统中用来测量电动机转速和转子位置的核心部件。本文介绍了其工作原理和主要特点,并给出了电机双馈调速系统中基于增量式光电编码器的电机转速、转子位置及转子感应电势相位的检测方法。     

Damper circuits and rotor leakage in the transient performance of saturated synchronous machines

The sudden development of short-circuit currents, and of recovery voltages at interruption of currents, depends on the effects of stator and rotor leakages as well as of saturation in the generating synchronous machines.The non-linear problem of the interaction of these features with the performance of the main windings and auxiliary damper circuits is solved analytically.This leads to a simple graphical representation which is numerically determined by the well-known magnetic and electric characteristics of machine and network and by two time constants of very different magnitudes which are derived from the ordinary data of the machines. Hence the variation with time, of short-circuit currents and of recovery voltages, can easily and rigorously be computed for every given example.The deviations of actual damper circuits from the ideal form and the effects of eddy currents in solid steel parts of the rotor are discussed so far that numerical results can be derived readily.A new transient test for synchronous machines is suggested by which rotor and stator leakage voltages can be measured separately, avoiding the uncertainties of the usual steady state leakage tests.     

Formation control for a string of interconnected second-order systems via target feedback

This paper investigates the formation control of interconnected second-order systems. Each agent is assumed to be capable of measuring its own absolute velocity and the relative positions with respect to its neighboring agents, whereas the target formation is described by absolute positions of all agents in a global coordinate. For such formation control problems, no distributed control policy was reported in existing literature. This paper focuses on the string connection structure of the agents and proposes a distributed control policy that takes the form of purely state feedback without incorporating any feed-forward component. The closed-loop system equation is characterized by an oscillation matrix whose entries are the feedback controller gains. Formation control is accomplished by formulating the agents’ target positions as feedback controller gains. Moreover, it is shown that for agent models described by double integrators, each of the agents located at the two endpoints of the string structure should know its own absolute position. For a class of agent models where each agent’s acceleration depends on its own position, the control laws do not need to use the absolute position. For both system models, the target formations that are asymptotically reachable by the proposed control laws are specified explicitly. Numerical simulations have been conducted to illustrate the effectiveness of the theoretical results.     

Optimized sliding mode current controller for power converters with non-minimum phase nature

This paper proposes a unified method to design an optimized type of the hysteresis modulation-based sliding mode current controller for non-minimum phase power converters in continuous conduction mode. The traditional sliding mode controlled converters have a slow transient voltage response at heavy loads, a large overshoot at light loads and during abrupt output resistance variations. To solve these problems, an optimized feedback control scheme is used according to the output resistance to adjust the coefficients of the controller. The basic idea of this controller is to suggest a new way for reduction of the sensitivity function amplitude of the closed loop system. The presented approach is developed for three basic DC/DC converters; i.e. boost, buck-boost and quadratic boost converters. Generally, the certain advantages of the suggested control approach are: (i) a fast transient response can be achieved in heavy load conditions, (ii) the voltage overshoot can be effectively reduced during load variations; (iii) the transient voltage overshoot can be eliminated in light load conditions; (iv) the closed loop control sensitivity can be reduced and therefore, the performance specification of a control system can be improved compared with the conventional sliding mode current control. To show the reliability of the suggested control scheme, simulations and experimental results for the derived systems are developed. Several conditions are performed to confirm the effectiveness of the proposed controller.     

Application of “stability index” to assess the stability of multi-machine systems

A new stability index is presented in this paper which may easily be calculated using the information obtained from the load flow study and the fault location and time. No information from previous transient stability studies of the system is required.The conventional methods of studying transient stability require long computing time whereas the use of stability index is a very fast method of assessing the system's stability. Application of the index provides a very quick insight into the behaviour of the generator under a three-phase fault and identifies the critical situations.Results of the calculation of this index for a sample power system are included and within a reasonable accuracy agree with the results of a full transient stability analysis.     

Discussion on “Adaptive sliding-mode-observer for sensorless induction motor drive using two-time-scale approach”

This short communication is a discussion of the paper entitled “Adaptive sliding-mode-observer for sensorless induction motor drive using two-time-scale approach” by A. Mezouar, M.K. Fellah and S. Hadjeri published in the Simulation Modelling Practice and Theory 16 (2008) 1323–1336. In the discussed paper the authors present a current and flux sliding mode observer for the induction motor that also incorporates an adaptive laws in order to estimate the rotor speed and the inverse of the rotor time constant. However the proposed design for the observer and for the adaptive laws, employs the real value of the rotor time constant and the real value of the rotor speed, which are unknown, and therefore cannot be used in the observer design nor in the adaptive laws design.     

A unified Krylov-Bogoliubov-Mitropolskii method for solving nth order nonlinear systems

A unified theory is presented for obtaining the transient response of nth order nonlinear systems with small nonlinearities by Krylov-Bogoliubov-Mitropolskii method. The method is a generalization of Bogoliubov's asymptotic method and covers all three cases when the roots of the corresponding linear equation are real, complex conjugate, or purely imaginary. It is shown that by suitable substitution for the roots in the general result that the solution corresponding to each of the three cases can be obtained. The method is illustrated by examples.     

Low Frequency Modulation properties of Thyristor circuits

Load voltage waveforms corresponding to symmetrical phase-angle triggering and integral-cycle triggering in single-phase thyristor circuits, and also the waveform due to half-wave rectification, are all discrete forms of amplitude modulation. In each case the modulated output voltage is obtained from a sinusoidal (supply) carrier signal by use of a rectangular modulating function, dependent on thyristor switching.The use of amplitude modulation (AM) techniques for frequency conversion in high power applications is subject to certain severe restrictions of performance. These restrictions can be largely overcome by the use of phase modulation (PM) methods which involve two channels of AM in each electrical supply line.Appropriate waveforms may be realised by the use of controlled switching of thyristors. These are arranged in combinations of inverse-parallel connected pairs forming subtractor modulators. Certain thyristor commutation problems arise in PM systems at high power levels. These problems can be overcome by producing so-called AM/PM waveforms that combine the separate advantages of AM and PM systems.     

基于SVPWM的无速度传感器矢量控制的研究

通过介绍空间电压矢量脉宽调制(SVPWM)控制策略在无速度传感器矢量控制系统中的实现,在此基础上给出了基于DSP的全数字化调速系统,并分别建立了改进的电压型转子磁链观测模型和PI自适应速度估算模型。实验结果表明:所采用的控制方法正确可行,控制系统具有良好的性能。