Classical synchronous motors are the most effective device to drive industrial production systems and robots with precision and rapidity. However, numerous applications require efficient controls in non-conventional situations. Firstly, this is the case with synchronous motors supplied by thyristor line-commutated inverters, or with synchronous motors with faults on one or several phases. Secondly, many drive systems use non-conventional motors such as polyphase (more than three phases) synchronous motors, synchronous motors with double excitation, permanent magnet linear synchronous motors,…mehr
Classical synchronous motors are the most effective device to drive industrial production systems and robots with precision and rapidity. However, numerous applications require efficient controls in non-conventional situations. Firstly, this is the case with synchronous motors supplied by thyristor line-commutated inverters, or with synchronous motors with faults on one or several phases. Secondly, many drive systems use non-conventional motors such as polyphase (more than three phases) synchronous motors, synchronous motors with double excitation, permanent magnet linear synchronous motors, synchronous and switched reluctance motors, stepping motors and piezoelectric motors. This book presents efficient controls to improve the use of these non-conventional motors.
Jean-Paul Louis is currently Emeritus Professor at École normale supérieure de Cachan (ENS Cachan, UniverSud Paris, France). He is Associate Editor of the European Journal of Electrical Engineering (Hermes). His teaching and research concern modeling and control of electrical systems.
Inhaltsangabe
Introduction xi Jean-Paul LOUIS Chapter 1. Self-controlled Synchronous Motor: Principles of Function and Simplified Control Model 1 Francis LABRIQUE and François BAUDART 1.1. Introduction 1 1.2. Design aspects specific to the self-controlled synchronous machine 2 1.3. Simplified model for the study of steady state operation 3 1.4. Study of steady-state operation 6 1.5. Operation at nominal speed, voltage and current 12 1.6. Operation with a torque smaller than the nominal torque 15 1.7. Operation with a speed below the nominal speed 15 1.8. Running as a generator 16 1.9. Equivalence of a machine with a commutator and brushes 17 1.10. Equations inferred from the theory of circuits with sliding contacts 22 1.11. Evaluation of alternating currents circulating in steady state in the damper windings 26 1.12. Transposition of the study to the case of a negative rotational speed 28 1.13. Variant of the base assembly 28 1.14. Conclusion 29 1.15. List of the main symbols used 29 1.16. Bibliography 30 Chapter 2. Self-controlled Synchronous Motor: Dynamic Model Including the Behavior of Damper Windings and Commutation Overlap 33 Ernest MATAGNE 2.1. Introduction 33 2.2. Choice of the expression of Nk 35 2.3. Expression of fluxes 40 2.4. General properties of coefficients , and 46 2.5. Electrical dynamic equations 48 2.6. Expression of electromechanical variables 51 2.7. Expression of torque 53 2.8. Writing of equations in terms of coenergy 54 2.9. Application to control 56 2.10. Conclusion 60 2.11. Appendix 1: value of coefficients , and 60 2.12. Appendix 2: derivatives of coefficients , and 61 2.13. Appendix 3: simplifications for small ¿62 2.14. Appendix 4: List of the main symbols used in Chapters 1 and 2 63 2.15. Bibliography 65 Chapter 3. Synchronous Machines in Degraded Mode 67 Damien FLIELLER, Ngac Ky NGUYEN, Hervé SCHWAB and Guy STURTZER 3.1. General introduction 67 3.2. Analysis of the main causes of failure 68 3.3. Reliability of a permanent magnet synchronous motors drive 72 3.4. Conclusion 76 3.5. Optimal supplies of permanent magnet synchronous machines in the presence of faults 77 3.6. Supplies of faulty synchronous machines with non-sinusoidal back electromagnetic force 77 3.7. Experimental learning strategy in closed loop to obtain optimal currents in all cases 113 3.8. Simulation results 116 3.9. General conclusion 118 3.10. Glossary 119 3.11. Bibliography 121 Chapter 4. Control of the Double-star Synchronous Machine Supplied by PWM Inverters 125 Mohamed Fouad BENKHORIS 4.1. Introduction 125 4.2. Description of the electrical actuator 127 4.3. Basic equations 128 4.4. Dynamic models of the double-star synchronous machine 131 4.5. Control of the double-star synchronous machine 146 4.6. Bibliography 158 Chapter 5. Vectorial Modeling and Control of Multiphase Machines with Non-salient Poles Supplied by an Inverter 161 Xavier KESTELYN and Éric SEMAIL 5.1. Introduction and presentation of the electrical machines 161 5.2. Control model of inverter-fed permanent magnet synchronous machines 163 5.3. Torque control of multiphase machines 189 5.4. Modeling and torque control of multiphase machines in degraded supply mode 203 5.5. Bibliography 204 Chapter 6. Hybrid Excitation Synchronous Machines 207 Nicolas PATIN and Lionel VIDO 6.1. Description 207 6.2. Modeling with the aim of control 220 6.3. Control by model inversion 230 6.4. Overspeed and flux weakening of synchronous machines 235 6.4. Conclusion 237 6.5. Bibliography 239 Chapter 7. Advanced Control of the Linear Synchronous Motor 241 Ghislain REMY and Pierre-Jean BARRE 7.1. Introduction 241 7.2. Classical control of linear motors 253 7.3. Advanced control of linear motors 265 7.4. Conclusion 279 7.5. Nomenclature 280 7.6. Acknowledgment 281 7.7. Bibliography 281 7.8. Appendix: LMD10-050 Datasheet of ETEL 285 Chapter 8. Variable Reluctance Machines: Modeling and Control 287 Mickael HILAIRET, Thierry LUBIN and Abdelmounaïm TOUNZI 8.1. Introduction 287 8.2. Synchronous reluctance machines 289 8.3. Switched reluctance machines 303 8.4. Conclusion 323 8.5. Bibliography 323 Chapter 9. Control of the Stepping Motor 329 Bruno ROBERT and Moez FEKI 9.1. Introduction 329 9.2. Modeling 329 9.3. Control in open loop 335 9.4. Controls in closed loop 350 9.5. Advanced control: the control of chaos 361 9.6. Bibliography 371 Chapter 10. Control of Piezoelectric Actuators 375 Frédéric GIRAUD and Betty LEMAIRE-SEMAIL 10.1. Introduction 375 10.2. Causal model in the supplied voltage referential 380 10.3. Causal model in the referential of the traveling wave 389 10.4. Control based on a behavioral model 400 10.5. Controls based on a knowledge model 401 10.6. Conclusion 407 10.7. Bibliography 407 List of Authors 411 Index 413
Introduction xi Jean-Paul LOUIS Chapter 1. Self-controlled Synchronous Motor: Principles of Function and Simplified Control Model 1 Francis LABRIQUE and François BAUDART 1.1. Introduction 1 1.2. Design aspects specific to the self-controlled synchronous machine 2 1.3. Simplified model for the study of steady state operation 3 1.4. Study of steady-state operation 6 1.5. Operation at nominal speed, voltage and current 12 1.6. Operation with a torque smaller than the nominal torque 15 1.7. Operation with a speed below the nominal speed 15 1.8. Running as a generator 16 1.9. Equivalence of a machine with a commutator and brushes 17 1.10. Equations inferred from the theory of circuits with sliding contacts 22 1.11. Evaluation of alternating currents circulating in steady state in the damper windings 26 1.12. Transposition of the study to the case of a negative rotational speed 28 1.13. Variant of the base assembly 28 1.14. Conclusion 29 1.15. List of the main symbols used 29 1.16. Bibliography 30 Chapter 2. Self-controlled Synchronous Motor: Dynamic Model Including the Behavior of Damper Windings and Commutation Overlap 33 Ernest MATAGNE 2.1. Introduction 33 2.2. Choice of the expression of Nk 35 2.3. Expression of fluxes 40 2.4. General properties of coefficients , and 46 2.5. Electrical dynamic equations 48 2.6. Expression of electromechanical variables 51 2.7. Expression of torque 53 2.8. Writing of equations in terms of coenergy 54 2.9. Application to control 56 2.10. Conclusion 60 2.11. Appendix 1: value of coefficients , and 60 2.12. Appendix 2: derivatives of coefficients , and 61 2.13. Appendix 3: simplifications for small ¿62 2.14. Appendix 4: List of the main symbols used in Chapters 1 and 2 63 2.15. Bibliography 65 Chapter 3. Synchronous Machines in Degraded Mode 67 Damien FLIELLER, Ngac Ky NGUYEN, Hervé SCHWAB and Guy STURTZER 3.1. General introduction 67 3.2. Analysis of the main causes of failure 68 3.3. Reliability of a permanent magnet synchronous motors drive 72 3.4. Conclusion 76 3.5. Optimal supplies of permanent magnet synchronous machines in the presence of faults 77 3.6. Supplies of faulty synchronous machines with non-sinusoidal back electromagnetic force 77 3.7. Experimental learning strategy in closed loop to obtain optimal currents in all cases 113 3.8. Simulation results 116 3.9. General conclusion 118 3.10. Glossary 119 3.11. Bibliography 121 Chapter 4. Control of the Double-star Synchronous Machine Supplied by PWM Inverters 125 Mohamed Fouad BENKHORIS 4.1. Introduction 125 4.2. Description of the electrical actuator 127 4.3. Basic equations 128 4.4. Dynamic models of the double-star synchronous machine 131 4.5. Control of the double-star synchronous machine 146 4.6. Bibliography 158 Chapter 5. Vectorial Modeling and Control of Multiphase Machines with Non-salient Poles Supplied by an Inverter 161 Xavier KESTELYN and Éric SEMAIL 5.1. Introduction and presentation of the electrical machines 161 5.2. Control model of inverter-fed permanent magnet synchronous machines 163 5.3. Torque control of multiphase machines 189 5.4. Modeling and torque control of multiphase machines in degraded supply mode 203 5.5. Bibliography 204 Chapter 6. Hybrid Excitation Synchronous Machines 207 Nicolas PATIN and Lionel VIDO 6.1. Description 207 6.2. Modeling with the aim of control 220 6.3. Control by model inversion 230 6.4. Overspeed and flux weakening of synchronous machines 235 6.4. Conclusion 237 6.5. Bibliography 239 Chapter 7. Advanced Control of the Linear Synchronous Motor 241 Ghislain REMY and Pierre-Jean BARRE 7.1. Introduction 241 7.2. Classical control of linear motors 253 7.3. Advanced control of linear motors 265 7.4. Conclusion 279 7.5. Nomenclature 280 7.6. Acknowledgment 281 7.7. Bibliography 281 7.8. Appendix: LMD10-050 Datasheet of ETEL 285 Chapter 8. Variable Reluctance Machines: Modeling and Control 287 Mickael HILAIRET, Thierry LUBIN and Abdelmounaïm TOUNZI 8.1. Introduction 287 8.2. Synchronous reluctance machines 289 8.3. Switched reluctance machines 303 8.4. Conclusion 323 8.5. Bibliography 323 Chapter 9. Control of the Stepping Motor 329 Bruno ROBERT and Moez FEKI 9.1. Introduction 329 9.2. Modeling 329 9.3. Control in open loop 335 9.4. Controls in closed loop 350 9.5. Advanced control: the control of chaos 361 9.6. Bibliography 371 Chapter 10. Control of Piezoelectric Actuators 375 Frédéric GIRAUD and Betty LEMAIRE-SEMAIL 10.1. Introduction 375 10.2. Causal model in the supplied voltage referential 380 10.3. Causal model in the referential of the traveling wave 389 10.4. Control based on a behavioral model 400 10.5. Controls based on a knowledge model 401 10.6. Conclusion 407 10.7. Bibliography 407 List of Authors 411 Index 413
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