The different chapters of this book cover a large range of information regarding electrical actuators, including: synchronous and asynchronous machine modeling in order to measure and identify offline and online parameters using modern optimization methods; identification in real time of parameters with Luenberger filter and the extended Kalman filter; estimation of non-measurable variables, first by linear estimates and observers, then by lower observers. Robustness is a very problematic issue, as well, which is fully explored in a chapter dedicated to the subject. Finally, the estimate of non-measurable mechanical variables is particularly dealt with: estimate of load moment, then observation of the positioning of a command without mechanical sensor. The conditions to measure variables and real implementation of numerical algorithms are also examined with particular attention.
Autorentext
Bernard de Fornel works for ENS Cachan, France.
Jean-Paul Louis works for ENSEEIHT, Toulouse, France.
Inhalt
Introduction xiii
Bernard DE FORNEL and Jean-Paul LOUIS
PART I. MEASURES AND IDENTIFICATIONS 1
Chapter 1. Identification of Induction Motor in Sinusoidal Mode 3
Edouard LAROCHE and Jean-Paul LOUIS
1.1. Introduction 3
1.2. The models 4
1.3. Traditional methods from a limited number of measurements 17
1.4. Estimation by minimization of a criteria based on admittance 24
1.5. Linear estimation 36
1.6. Conclusion 44
1.7. Appendix 45
1.8. Bibliography 47
Chapter 2. Modeling and Parameter Determination of the Saturated Synchronous Machine 49
Ernest MATAGNE and Emmanuel DE JAEGER
2.1. Modeling of the synchronous machine: general theory 49
2.2. Classical models and tests 83
2.3. Advanced models: the synchronous machine in saturated mode 100
2.4. Bibliography 116
Chapter 3. Real-Time Estimation of the Induction Machine Parameters 119
Luc LORON
3.1. Introduction 119
3.2. Objectives of parameter estimation 121
3.3. Fundamental problems 124
3.4. Least square methods 138
3.5. Extended Kalman filter 146
3.6. Extended Luenberger observer 158
3.7. Conclusion 168
3.8. Appendix: machine characteristics 169
3.9. Bibliography 169
PART II. OBSERVER EXAMPLES 175
Chapter 4. Linear Estimators and Observers for the Induction Machine (IM) 177
Maria PIETRZAK-DAVID, Bernard DE FORNEL and Alain BOUSCAYROL
4.1. Introduction 177
4.2. Estimation models for the induction machine 178
4.3. Flux estimation 186
4.4. Flux observation190
4.5. Linear stochastic observersKalmanBucy filters 198
4.6. Separate estimation and observation structures of the rotation speed 210
4.7. Adaptive observer 223
4.8. Variable structure mechanical observer (VSMO) 234
4.9. Conclusion 248
4.10. Bibliography 249
Chapter 5. Decomposition of a Determinist Flux Observer for the Induction Machine: Cartesian and Reduced Order Structures 251
Alain BOUSCAYROL, Maria PIETRZAK-DAVID and Bernard DE FORNEL
5.1. Introduction 251
5.2. Estimation models for the induction machine 252
5.3. Cartesian observers 260
5.4. Reduced order observers 271
5.5. Conclusion on Cartesian and reduced order observers 281
5.6. Appendix: parameters of the study induction machine 281
5.7. Bibliography 281
Chapter 6. Observer Gain Determination Based on Parameter Sensitivity Analysis 285
Benoît ROBYNS
6.1. Introduction 285
6.2. Flux observers 286
6.3. Analysis method of the parametric sensitivity 293
6.4. Choice of observer gains 298
6.5. Reduced order flux observer 301
6.6. Full order flux observer 310
6.7. Conclusion 316
6.8. Appendix: parameters of the squirrel-cage induction machine 319
6.9. Bibliography 319
Chapter 7. Observation of the Load Torque of an Electrical Machine 321
Maurice FADEL and Bernard DE FORNEL
7.1. Introduction 321
7.2. Characterization of a load torque relative to an axis of rotation 322
7.3. Modal control of the actuator with load torque observation 330
7.4. Observation of load torque 342
7.5. Robustness of control law by state feedback with observation of the resistant torque 377
7.6. Experimental results 386
7.7. Conclusion 399
7.8. Bibliography 401
Chapter 8. Observation of the Rotor Position to Control the Synchronous Machine without Mechanical Sensor 405
Stéphane CAUX and Maurice FADEL
8.1. State of the art 405
8.2. Reconstruction o...