A timely introduction to current research on PID and predictive control by one of the leading authors on the subject PID and Predictive Control of Electric Drives and Power Supplies using MATLAB/Simulink examines the classical control system strategies, such as PID control, feed-forward control and cascade control, which are widely used in current practice. The authors share their experiences in actual design and implementation of the control systems on laboratory test-beds, taking the reader from the fundamentals through to more sophisticated design and analysis. The book contains sections on closed-loop performance analysis in both frequency domain and time domain, presented to help the designer in selection of controller parameters and validation of the control system. Continuous-time model predictive control systems are designed for the drives and power supplies, and operational constraints are imposed in the design. Discrete-time model predictive control systems are designed based on the discretization of the physical models, which will appeal to readers who are more familiar with sampled-data control system. Soft sensors and observers will be discussed for low cost implementation. Resonant control of the electric drives and power supply will be discussed to deal with the problems of bias in sensors and unbalanced three phase AC currents. * Brings together both classical control systems and predictive control systems in a logical style from introductory through to advanced levels * Demonstrates how simulation and experimental results are used to support theoretical analysis and the proposed design algorithms * MATLAB and Simulink tutorials are given in each chapter to show the readers how to take the theory to applications. * Includes MATLAB and Simulink software using xPC Target for teaching purposes * A companion website is available Researchers and industrial engineers; and graduate students on electrical engineering courses will find this a valuable resource.

Liuping Wang is Professor of Control Engineering at RMIT University, Melbourne, Australia. She has been working on PID control systems and system identification for over 20 years and, together with her research group, Professor Wang has generated the research outcomes that have significantly improved the performance of computer numerical control (CNC) machines, leading to a new understanding of electric motor control and regenerative power supplies. She has published numerous articles on the subject.

Shan Chai, Dae Yoo, Lu Gan and Ki Ng are PhD students working under the supervision of Professor Wang and are part of the research team that has produced, and is producing, new approaches and new understanding of the electrical motor control and the control of regenerative power supplies.

Electrical drives play a critical role in electromechanical energy conversions. They are the fundamental building blocks in manufacturing, transportation, mineral processing, wind energy and many other industries.

This book presents methods for design and implementation of PID and predictive control of electrical drives and grid connected three phase power converters with emphasis on meeting operational constraints while optimizing performance. The authors share their experiences in actual design and implementation of the control systems on laboratory test-beds, taking readers from the fundamentals through to the sophisticated design and analysis.

• Brings together both classical control systems and predictive control systems in a logical style from introductory through to advanced levels
• Demonstrates how simulation and experimental results are used to support theoretical analysis and the proposed design algorithms
• Gives MATLAB and Simulink tutorials to show the readers how to apply theoretical concepts
• Includes MATLAB and Simulink software for teaching purposes
• A companion website with Simulink/MATLAB and xPC Target Programs is available

PID and Predictive Control of Electrical Drives and Power Converters using MATLAB/Simulink is an excellent resource for researchers and industrial engineers, as well as graduate students and senior undergraduates on electrical engineering courses.

About the Authors xiii

Preface xv

Acknowledgment xix

List of Symbols and Acronyms xxi

1 Modeling of AC Drives and Power Converter 1

1.1 Space Phasor Representation 1

1.1.1 Space Vector for Magnetic Motive Force 1

1.1.2 Space Vector Representation of Voltage Equation 4

1.2 Model of Surface Mounted PMSM 5

1.2.1 Representation in Stationary Reference Frame 5

1.2.2 Representation in Synchronous Reference Frame 7

1.2.3 Electromagnetic Torque 8

1.3 Model of Interior Magnets PMSM 10

1.3.1 Complete Model of PMSM 11

1.4 Per Unit Model and PMSM Parameters 11

1.4.1 Per Unit Model and Physical Parameters 11

1.4.2 Experimental Validation of PMSM Model 12

1.5 Modeling of Induction Motor 13

1.5.1 Space Vector Representation of Voltage Equation of Induction Motor 13

1.5.2 Representation in Stationary Reference Frame 17

1.5.3 Representation in Reference Frame 17

1.5.4 Electromagnetic Torque of Induction Motor 19

1.5.5 Model Parameters of Induction Motor and Model Validation 19

1.6 Modeling of Power Converter 21

1.6.1 Space Vector Representation of Voltage Equation for Power Converter 22

1.6.2 Representation in Reference Frame 22

1.6.3 Representation in Reference Frame 23

1.6.4 Energy Balance Equation 24

1.7 Summary 25

1.8 Further Reading 25

References 25

2 Control of Semiconductor Switches via PWM Technologies 27

2.1 Topology of IGBT Inverter 28

2.2 Six-step Operating Mode 30

2.3 Carrier Based PWM 31

2.3.1 Sinusoidal PWM 31

2.3.2 Carrier Based PWM with Zero-sequence Injection 32

2.4 Space Vector PWM 35

2.5 Simulation Study of the Effect of PWM 37

2.6 Summary 40

2.7 Further Reading 40

References 40

3 PID Control System Design for Electrical Drives and Power Converters 41

3.1 Overview of PID Control Systems Using Pole-assignment Design Techniques 42

3.1.1 PI Controller Design 42

3.1.2 Selecting the Desired Closed-loop Performance 43

3.1.3 Overshoot in Reference Response 45

3.1.4 PID Controller Design 46

3.1.5 Cascade PID Control Systems 48

3.2 Overview of PID Control of PMSM 49

3.2.1 Bridging the Sensor Measurements to Feedback Signals (See the lower part of Figure 3.6) 50

3.2.2 Bridging the Control Signals to the Inputs to the PMSM (See the top part of Figure 3.6) 51

3.3 PI Controller Design for Torque Control of PMSM 52

3.3.1 Set-point Signals to the Current Control Loops 52

3.3.2 Decoupling of the Current Control Systems 53

3.3.3 PI Current Controller Design 54

3.4 Velocity Control of PMSM 55

3.4.1 Inner-loop Proportional Control of q-axis Current 55

3.4.2 Cascade Feedback Control of Velocity:P Plus PI 57

3.4.3 Simulation Example for P Plus PI Control System 59

3.4.4 Cascade Feedback Control of Velocity:PI Plus PI 61

3.4.5 Simulation Example for PI Plus PI Control System 63

3.5 PID Controller Design for Position Control of PMSM 64

3.6 Overview of PID Control of Induction Motor 65

3.6.1 Bridging the Sensor Measurements to Feedback Signals 67

3.6.2 Bridging the Control Signals to the Inputs to the Induction Motor 67

3.7 PID Controller Design for Induction Motor 68

3.7.1 PI Control of Electromagnetic Torque of Induction Mo…