Electrical Drives 2010 Laplace Transform and System Stability

Electrical Drives 2010 - A.
GENON 1
Power electronic systems
Electrical drives
Prof. A.GENON
Université de Liège (Belgique)
2010 • Analogic command

• Numerical commnd
AGenon@ulg.ac.be
Definition
∞
F ( s) = L[ f (t )] = ∫ f (t )e − st dt
LAPLACE TRANSFORM 0
s is a complex variable
Computational rules
Inverse transformation
f (t ) F (s )
Linéarité k1 f1 (t ) + k 2 f 2 (t ) k1 F1 ( s ) + k 2 F2 ( s) 1
2 jπ ∫Γ
f (t ) = F ( s)e st ds
Translation retardée f (t − t0 ) (t0 ≥ 0) e − st0 F ( s )
∑ Res [F ( s)e ]
1
2 jπ ∫Γ
Dérivation d sF (s ) f (t ) = F ( s )e st ds = si
st
f (t ) pôles de F ( s )
dt
1 ⎡ d k −1 ⎤
Intégration t F (s) Ressi [F ( s )] =
(k − 1)! ⎢⎣ ds k −1
[
( s − si )k F ( s )e st ⎥]
∫
0
f (t )dt
s ⎦ s = si
Valeur initiale lim f (t ) lim sF ( s )

t→ 0 s →∞
Valeur finale lim f (t )

t →∞
lim sF ( s )
s→ 0
Note : Γ is a counterclockwise contour containing the origin ot the
complex plane and all the poles of the function F(s) (Bromwich
contour ).
1
Electrical Drives 2010 - A.GENON 2
Inverse transformation
partial fraction expansion
F ( s) = ∑
ri ⎛⎜ r = lim ( s − p ) F ( s) ⎞⎟ ,
s − pi ⎝ i s → pi i
⎠
TABLES
Î f (t ) = ∑ ri e pit .
Continuous system stability

Transfer function
Im
S (s)
= H (s)
E (s)
1
Re
Routh-Hurwitz criterion Rout-Hurwitz criterion

The necessary and sufficient
soit D = an s n + an −1s n −1... + a1s + a0 condition to ensure the stability of a
system is that
• the coefficients of the denominator of
an an − 2 an − 4 . . . the transfer function
an −1 an −3 an − 5 . . .
A11 =
− dtm
an
an −1
an − 2
a n −3
A12 =
− dtm
an
an −1
an − 4
a n −5
A13 =
− dtm
an
an −1
a n −6
an − 7 and
A11 A12 A13 . . . an −1 an−1 an −1
A21 A22 A23 . . . − dtm

an −1
A11
a n −3
A12
− dtm
a n −1
A11
an − 5
A13
− dtm
an −1
A11
an − 7
A14
• the elements of the first column of the
. . . . . .
A21 =
A11
A22 =
A11
A23 =
A11 Routh table
A11 A12 A11 A13 A11 A14
− dtm − dtm − dtm
. . . . . . A31 =
A21
A21
A22
A32 =
A21
A21
A23
A33 =
A21
A21
A24
are positive or have the same sign.
. . . . . .
An1 An 2 An3 . . .
2
Notion of sampled signal
Z TRANSFORMATION
∞
f (t ) = ∑ f [k ] δ (t − kTE )
k =0
Definition examples
∞ ∞
f (t ) = ∑ f [k ] δ (t − kTE ) ⇒ F ( s ) = ∑ f [k ] e − s k TE
k =0 k =0
∞
z = e s TE ⇒ F ( z ) = ∑ f [k ] z − k
k =0
( f [k ] = 0 ∀ k < 0)
Z transform : computational rules Inverse Z transform

• Analytic method:
∞
F ( z ) = ∑ f [k ] z − k (série de LAURENT)
k =0
⇒ f [k ] =
1
2 jπ ∫ F ( z) z
Γ
k −1
[
dz = ∑ Rés F ( z ) z k −1 ] z = zi
i
[ ] [
Rés F ( z ) z k −1 = lim ( z − zi ) F ( z ) z k −1
z → zi
]
⎡ d m −1 ⎤
[
Rés F ( z ) z k −1 =] 1
lim ⎢
(m − 1)! z → zi ⎣ dz m −1
[
( z − zi ) F ( z ) z k −1 ⎥ ]
⎦
Note : Γ is a counterclockwise closed path encircling the origin and
entirely in the region of convergence. The contour must encircle all
the poles of F(z) (Bromwich contour)
3
Inverse Z transform
partial fraction expansion
ri
F ( z) = ∑
z − zi
⎛⎜ avec r = lim ( z − z ) F ( z ) ⎞⎟
⎝ i
z → zi
i
⎠
TABLES ⇒ f [k ] = ∑ ri zi k −1
because z
F ( zik ) =
z − zi
z 1
F ( zik −1 ) = z −1 =
z − zi z − zi
Inverse Z transform Stability of sampled-data systems in

Polynomial division open loop
If F(z) can be written as the ratio of two Sampling does not modify the stability of a system in
open loop.
polynomials and if the degree of the
A continuous system is stable in open loop when the real part of
numerator is lower or equal of the degree of all the poles is negative. As :
he denominator the polynomial division
zi = e siTE = e − ( ρ i ± jωi )TE = e − ρ iTE (cos ωiTE ± j sin ωiTE )
gives : the condition of stability of a sample-data system is that the poles of the
sampled transfer function are inside of the unit circle :
N ( z)
F ( z) = = f 0 + f1 z −1 + f 2 z − 2 + K s z
D( z ) zi < 1
⇒ f [k ] = f k
Stability of sampled-data systems in Closed loop stability of sampled-data

open loop systems
QBO ( z )
GBO ( z ) =
PBO ( z )
GBO ( z ) QBO ( z )
⇒ GBF ( z ) = =
1 + GBO ( z ) PBO ( z ) + QBO ( z )
The system will be stable if the roots of the

characteristic polynomial PBO(z)+ QBO(z) are inside of
the unit circle
4
Closed loop stability :

Routh-Hurwitz criterion
RH allows to determine if the roots of a polynomial have
negative real parts.
Appying to the characteristic polynomials the following

transformation : z=(1+w)/(1-w) | w=(z-1)/(z+1) one
transforms the inside part of the unit circle onto the negative TABLES
real part of the w plane. W
Indeed, if :
Z
z = α e (0 ≤ α ≤ 1)
jω
z − 1 α cos ω + jα sin ω − 1
w= =
z + 1 α cos ω + jα sin ω + 1
⎛ α 2 − 1 + 2 jα sin ω ⎞
ℜ(w) = ℜ⎜⎜ ⎟<0
2 ⎟
⎝ (α cos ω + 1) + (α sin ω ) ⎠
2
5
Entraînements électriques
Electrical drives Is it possible to consider discrete
Prof. A. GENON, ULg
systems as if they were
Chapter 3 continuous ?
If yes, under what conditions?
Mixed systems
e sTE / 2 1 + sTE / 2
z = e sTE = ≈
e − sTE / 2 1 − sTE / 2
Padé approximation
Example of a discrete regulator:

the numerical PID
We observe that the gray areas overlap satisfactorily. We

deduce that the approximation is valid for:
0 ≤ ρ TE ≤ 0,5 et − π / 4 ≤ ω TE ≤ π / 4
Continuous treatment of a discrete system :

Transfer function of a numerical PID
example of the numerical PID
k
y R [k ] = K P e[k ] + K I TE ∑ e[i ] + (e[k ] − e[k − 1] )
KD Hypothesis : Padé conditions are met
i =0 TE
z K z −1 ( K P + K I TE + K D / TE ) z 2 − ( K P + 2 K D / TE ) z + K D / TE
YR ( z ) = K P E ( z ) + K I TE E(z) + D E(z) GR ( z ) =
z −1 TE z z ( z − 1)
YR ( z ) ( K P + K I TE + K D / TE ) z 2 − ( K P + 2 K D / TE ) z + K D / TE 1 + sTE / 2
GR ( z ) =
E ( z)
=
z ( z − 1) z=
1 − sTE / 2
⇒ GR ( s ) =
1 ⎛
1 + sTE / 2 ⎝
( 2 ⎞
⎜ (K P + K I TE ) + I + s K D + K PTE / 2 + K I TE / 4 ⎟
K
)
s ⎠
If we compare with an analog PID, YR ( s) K*

GR* ( s ) = = K P* + I + s K D*
we obtain E ( s) s
YR ( z ) ( K P + K I TE ) z − K P
PI : GR ( z ) = = K P* = K P + K I TE
E ( z) z −1
K I* = K I
K D* = K D + K PTE / 2 + K I TE2 / 4
1
Discrete transfer function of the continuous

system preceded by a holding element
1 − e − s TE
g E (t ) = u (t ) − u (t − TE ) ⇒ GE ( s) =
s
Q: What must be done if a continuous 1 − e − s TE
G (s) = GS ( s ) = (1 − e − s TE )G1 ( s )
s
system is controlled by a discrete regulator?
G ( s) 1 r r ⎛1 1 ⎞
G1 ( s ) = S = ∑ i = ∑ i ⎜⎜ − ⎟⎟
s s i s − pi i − pi ⎝ s s − pi ⎠
R: We must determine the discrete transfer ⇒ g1 (t ) = ∑

ri
− pi
(
u (t ) 1 − e pi t )
i
function of the continuous system .... zi = e piTE
ri z (1 − zi )
G1 ( z ) = −∑
i pi (z − 1)( z − zi )
ri (1 − zi )
Example : command
G ( z ) = (1 − z −1 )G1 ( z ) = −∑ of a DC motor by a
i pi (z − zi )
μC
Discrete transfer function of the continuous Analog to digital conversion

system preceded by a holding element :
EXAMPLE : 2nd order filter Shannon theorem
1 1 1 1 1
GS ( s ) = = +
(1 + sT1 )(1 + sT2 ) T1 − T2 s + 1 / T1 T2 − T1 s + 1 / T2
z−n
⇒ G( z ) = K
(z − z1 )(z − z2 )
z1 = e −TE / T1
Proper sampling requires that the sampling frequency
z 2 = e −TE / T2
is much higher than the highest frequency the signal to
T1 (1 − z1 ) z 2 − T2 (1 − z 2 ) z1
n= be sampled (3 to 4 times).
T1 (1 − z1 ) − T2 (1 − z 2 )
T1 (1 − z1 ) − T2 (1 − z 2 ) If necessary, we must first filter the signal to be
K=
T1 − T2 sampled.
Analog to digital conversion Analog to digital conversion

Quantization error Signal to noise ratio
= Prob(signal ∈ [V, V + dV ])
dV
p(V )dV =
Vmax
Vmax S / BdB = 10 log10 SB = −4,26 + 6,02 N
q=
2N −1
∫ e(V ) p(V )dV = (2 ) ∫ (q − V ) p(V )dV = 0

Vmax 3q / 2
E ( e) = N
−1 Nombre de bits Rapport signal/bruit
0 q/2
4 21 dB
( ) ∫ (q − V )
Vmax 3q / 2 2
q
VAR (e) = ∫e (V ) p(V )dV = 2 N − 1 p(V )dV =
2 2
12 8 45 dB
0 q/2
q 16 93 dB
σ = VAR(e) =
12
V S/B= signal to noise ratio
V eff ,max = max
2 2
2
⎛V ⎞ 3
S / B = ⎜⎜ eff ,max ⎟⎟ = 2 2 N
⎝ σ ⎠ 8
S / BdB = 10 log10 SB = −4,26 + 6,02 N
2
Parallel analog to digital converter

Successive approximations ADC
• necessits a sample and hold element

• works by successive comparisons and accuracy increase with each iteration
•Ve > Vref/2, bit1=1
•Ve< Vref/2+Vref/4, bit2=0
•Ve> Vref/2+Vref/8, bit3=1
• etc
• slower conversion (10us for 12 bits)
10 bits Î 1024 comparators !!!
very fast
Ramp compare ADC Digital to analog converter
t 2 − t1
Ve = Vref
t1 − t0
1. Integration of Ve during a fixed time t1-t0

2. Negative integration with a known voltage –Vref and measure of elapsed time
t2-t1
3. Relative slow, but can be very precise Much easier to achieve than the reverse
⎛B B B B ⎞
VS = −Vref ⎜ 3 + 2 + 1 + 0 ⎟
⎝ 2 4 8 16 ⎠
3
Entraînements électriques Conventional circuits

Electrical drives Transistor amplifier : common emitter
Prof. A. GENON, ULg
Chapter 4
COMMAND CIRCUITS
Conventional circuits Conventional circuits

Transistor amplifier : common collector Push-pull
Conventional circuits Transistor chopper command
Use of a triac
U M #U com
optocoupler
PWM command
1
Transistor chopper command

Transistor inverter command
The LM555 IC
α
UM = U
π
2 2 α
U M ,1 = U sin
π 2
astable monostable
1.44
f =
( R A + 2 RB )C1
PWM command
THYRISTOR command THYRISTOR chopper command
THYRISTOR rectifier command

One compares the control signal Ucom to a
sinusoid Ur whose value is maximum at the
instant of natural switching
(ex : -V2 for Th1).
Then
U c = U C 0 cos α =
⎛ U ⎞ U
= U C 0 cos⎜⎜ arccos com ⎟⎟ = C 0 U com
⎝ U r max ⎠ U r max
2
Entraînements électriques Introduction

Electrical drives Uc

+

Prof. A. GENON, ULg -

Chapter 5
The comparator and the analog controller are often combined
in one element.
Analogic controllers
The purpose of analogic controllers is to compare a reference
and a measurement and to develop a corrective signal applied
to the command circuits.
The analog controllers are mostly designed with operational
amplifiers.
The operational amplifier The operational amplifier

Example : The uA709
VA+
Q13 Q12 -
Q 14 Q 11 Ue
R2 R3
Q9 + Us
Q8 VS
CC Q7
VE+ Q 10
+
In its field of linearity, the ideal OA has the following
VE- Q1 Q2
+
characteristics:
Q5 • infinite gain, therefore no differential input voltage;
Q4 Q6
• infinite input impedance, therefore no input current.
R1
Q3
VA-
P controller PI controller
1 2
=
R0 Re
Us 1 + s R1 C1 1 + s Tn Tn ⎛ 1 ⎞
GR ( s ) = = = = ⎜⎜1 + ⎟
Uc −Um s Re C1 s Ti Ti ⎝ sTn ⎟⎠
Tn=R1C1
Ti=ReC1
1 2 1
= +
R0 Re R1
Us R
GR ( s ) = = 1 =K
U c − U m Re
frequency response step response
1
PI controller PI PI controller (adjustable coefficients)

1
1 2 Si αR << R1 +
= sC1
R0 Re
⎛ 1 ⎞
1 + s R1 C1 1 + s Tn Tn ⎛ 1 ⎞ αR // ⎜⎜ R1 + ⎟
sC1 ⎟⎠
Us
GR ( s ) = = = = ⎜⎜1 + ⎟ ⎝
Uc −Um s Re C1 s Ti Ti ⎝ sTn ⎟⎠ Uα = U s ≈ αU s
⎛ 1 ⎞
(1 − α )R + αR // ⎜⎜ R1 + ⎟
⎝ sC1 ⎟⎠
If the values of Tn=R1C1 and Ti=ReC1

are known : 1 + sR1C1 1 + sTn
GR ( s ) = =
sαRe C1
Then Æ sTi
select Re between 10 and 100 kohms Ti = αReC1
Æ C1=Ti/Re Tn = R1C1
Æ R1=Tn/C1
PID controller PID controller

GR (s) =
(1 + s R1 C1 )(1 + s R2 C2 ) + s R2 C1 = (1 + s Tn )(1 + s Tv )
s Re C1 s Ti
Tn =
R1 C1 + R2 C 2 + R2 C1
+
(R1 C1 + R2 C2 + R2 C1 ) 2 − R C R C2
1 1 2
2 4
Tv =
R1 C1 + R2 C2 + R2 C1
−
(R1 C1 + R2 C2 + R2 C1 ) 2 − R C R C2
1 1 2
2 4
Ti = ReC1
Tn + Tv 1 s TnTv Theorical frequency response

GR ( s ) = + +
Ti s Ti Ti
frequenccy response step response Actual frequency response
PID controller PID controller (adjustable coefficients)
Re ⊂ [10,100] Kohms
Ti
C1 =
Re
C2 ≈ 10C1
1
1 ⎡ ⎤ Si R << R2 + :
R1 = ⎢Tn + Tv ± (Tn + Tv )2 − 4 TnTv C1 + C2 ⎥ sC2
2C1 ⎣ C2 ⎦
⎡ ⎤ (1 + s R1 C1 )(1 + s R2 C2 ) = (1 + s Tn )(1 + s Tv )
R2 =
1
⎢Tn + Tv m (Tn + Tv )2 − 4 TnTv C1 + C2 ⎥ GR ( s ) ≈
2(C1 + C2 ) ⎣ C2 ⎦ s α Re C1 s Ti
Tn = R1 C1
Following condition must be respected C1 + C2 (Tn + Tv )
2
≤ Tv = R2 C2
C2 4 TnTv
Ti = αRe C1
2
PI controller (adaptation of 1 time constant) PI controller (adaptation of 2 time constants)
U i = K mU vU s
Um −Uc K UU
+ m v s =0
Re R1 + 1 / sC1
1 + s R1 C1 1 + s Tn Us 1 + s K m1 U vn R1 C1 1 + s Tn
⇒ GR ( s ) = = = GR ( s ) = − =−
s K mU v Re C1 s Ti Uc −Um s K m 2 U vi Re C s Ti
Tn = R1 C1 Ti = K mU v Re C1 Tn = K m1 U vn R1 C1
Ti = K m 2 U vi Re C
Adaptive controller with variable structure Adaptive controller with variable structure
R1 Note:
1 + sC2 R2 The sources of the JFET’s are connected to the input of the OA (virtual ground)
R2 + R1 1 + sTn
FET1 ON Î GR ( s ) =
R
=
sTi
The diode between drain and ground prevents the drain potential to become too
sCRe high
R2 + R1
When the JFET leads, the diode does not because UDS is very low
R3 1
FET2 ON Î GR ( s ) = =
sRReC sTi
First order passive filter Active filter of second order
Us Us 1 1
=
1
=
1 =− =−
U e 1 + sRC 1 + sT Ue (1 + sRC1 / 4)(1 + sRC2 ) (1 + sT1 )(1 + sT2 )
3
PID + second order active filter PID + reference filter
Us
=
1
.
(1 + sR1C1 )(1 + sR2C2 ) + sR2C1 + sR3C2 [1 + s(R1 + R2 )C1 ]
U c − U m (1 + sReCe / 4 )(1 + sR3C2 ) sReC1
=
1 (1 + sTn )(1 + sTv )
(1 + sT1 )(1 + sT2 ) sTi
PID with clipping circuit Action controller with 2 positions

The diodes do not
conduct if:
U1 = U s (1 − α 1 ) − α 1U a < 0
U 2 = U s (1 − α 2 ) + α 2U a > 0
• analog input, binary output

• = Schmitt trigger
If one LED leads, the voltage Us is clamped as shown on • in D1 : constant current
the diagram • D4 prevents Us<0
• D2 prevents Us>Ucn+UD2
• D3 = compensation of UD1
Action controller with 2 positions
4
Entraînements électriques Main configurations

Electrical drives Classic method
Prof. A. GENON, ULg
Chapter 6 • Consist to use a digital PI or PID

• Suitable for systems with 1 or 2 dominant
time constants and who have a well damped
Digital controllers oscillating behaviour
Main configurations. Main configurations.

State control State control
• The orders issued by the regulator depends EXAMPLE : the BOOST converter Ue
Us =
- from the values of the state variables of the system that 1− δ
are either measured or estimated (state estimator)
- sometimes from the measurable or estimable • State variables : Ue et Us
disturbances • The reference is Usc ; Uem and Usm are measured
• The control signal (CS) is a linear combination of • The duty cycle to impose is U
quantities of orders and disturbances δ = 1 − em
U sc
• The integral term Ki is added, so
• The SC is usually an integral component to cancel
the error in steady state U em
δ = 1− + Ki
• Suitable for control of all systems U sc
K i = K i −1 + k (U sc − U sm )
Main configurations Main configurations

Sliding mode control Cascade control
• Suitable for systems with a
pulse device (chopper or
inverter)
• The output of the controller is
a logical variable depending
from the reference and the
state variables
1
Main configurations
RST control
Trajectory pursuit control
Classic control:
+ R(z) Us N(z)
Uc Um U m ( z) N ( z ) R( z )
S(z) D(z)
=
U c ( z ) N ( z ) R( z ) + D( z ) S ( z )
RST control:
+ 1 Us N(z)
Uc T(z) Um U m ( z) N ( z )T ( z )
S(z) D(z)
=
For fine tuning (robots) U c ( z ) N ( z ) R ( z ) + D( z ) S ( z )
Example: if acceleration and speed are good but position R(z)
is too late, R3 acts to increase the speed More possibilities, numeric, etc
RST control : effect of disturbances RST control : effect of disturbances

P1 P2 P1 P2
+ + + +
+ 1 Us + N(z) + + 1 Us + N(z) +
Uc T(z) Um Uc T(z) Um
S(z) D(z) S(z) D(z)
R(z) R(z)
For a null static error in case of disturbance, 1/ S (z) must

T ( z) N ( z) S ( z) N ( z) S ( z ) D( z )
contain at least one integrator, and : U m ( z) = U c ( z) + P1 ( z ) + P2 ( z )
R( z ) N ( z ) + S ( z ) D( z ) R( z ) N ( z ) + S ( z ) D( z ) R( z ) N ( z ) + S ( z ) D ( z )
S ( z ) = ( z − 1) S ' ( z ) Against disturbances, the RST behaviour is the same as

its of a conventional controller
RST control : causality RST control : causality

P1 P2
S ( Z )U s ( z ) = T ( z )U c ( z ) − R( z )U m ( z ) P1 P2
U s ( z) =
1
(T ( z )U c ( z ) − R( z )U m ( z ) )
+ 1 Us +
+
N(z) +
+
+ 1 Us +
+
N(z) +
+ S ( z)
Uc T(z) Um Uc T(z) Um
S ( Z )U s ( z ) = T ( z )U c ( z ) − R( z )U m ( z )
S(z) D(z) S(z) D(z)
S ( z ) = z σ + s1 z σ −1 + s2 z σ − 2 + ...... + sσ
R(z) R(z) S ( z ) = zσ + s1 zσ −1 + s2 zσ − 2 + ...... + sσ
R ( z ) = r0 z ρ + r1 z ρ −1 + r2 z ρ − 2 + ...... + rρ
R( z ) = r0 z ρ + r1 z ρ −1 + r2 z ρ − 2 + ...... + rρ
T ( z ) = t0 zτ + t1 zτ −1 + t 2 zτ −2 + ...... + tτ
T ( z ) = t0 zτ + t1 zτ −1 + t2 zτ − 2 + ...... + tτ
(1 + s z
1
−1
) (
+ s2 z −2 + ...... + sσ z −σ U s ( z ) = t0 z τ −σ + t1 zτ −σ −1 + t 2 zτ −σ − 2 + ...... + tτ z −σ U c ( z ) ) U s [k + 1] = − s1U s [k ] − s2U s [k − 1] − ..... − sσ U s [k − σ + 1]
( )
− r0 z ρ −σ + r1 z ρ −σ −1 + r2 z ρ −σ − 2 + ...... + rρ z −σ U m ( z ) + t 0U c [k + 1 + τ − σ ] + t1U c [k + τ − σ ] + t 2U c [k + 1 + τ − σ − 2] + ...... + tτ U c [k + 1 − σ ]
− r0U m [k + 1 + ρ − σ ] − r1U m [k + ρ − σ ] − r2U m [k + 1 + ρ − σ − 2] − ...... − rρU m [k + 1 − σ ]
U s [k + 1] = − s1U s [k ] − s2U s [k − 1] − ..... − sσ U s [k − σ + 1]
+ t 0U c [k + 1 + τ − σ ] + t1U c [k + τ − σ ] + t 2U c [k + 1 + τ − σ − 2] + ...... + tτ U c [k + 1 − σ ]
− r0U m [k + 1 + ρ − σ ] − r1U m [k + ρ − σ ] − r2U m [k + 1 + ρ − σ − 2] − ...... − rρU m [k + 1 − σ ] If at position k+1, Uc and/or Um are not available :
Î σ ≥ρ
often σ = ρ =τ Î σ ≥ ρ +1
often ρ = τ = σ −1
σ ≥τ σ ≥ τ +1
2
RST control : Closed loop transfer fuction RST control : Closed loop transfer fuction
+ 1 Us N(z)
Uc T(z) S(z) Um
D(z)
+ 1 Us N(z)
Uc T(z) Um
S(z) D(z)
R(z)
R(z)
If a null static error against the reference is suited,

U m ( z) N ( z )T ( z ) N ( z)
= = m the following condition must be met :
U c ( z ) N ( z ) R ( z ) + D ( z ) S ( z ) Dm ( z )
N m (1)
=1
Dm (1)
The closed loop transfer function may be selected with some
liberties but : Indeed, if UC (z) is a unit step : U c ( z ) = z /( z − 1)
- avoid to delete zeros of N (z) too close to the unit circle
- meet the following condition : z N m ( z ) N m (1)
U m (∞) = lim ( z − 1) = =1
z →1 z − 1 Dm ( z ) Dm (1)
δ [Dm ( z )] − δ [N m ( z )] ≥ δ [D ( z )] − δ [N ( z )]
RST control : Summary RST control : synthesis example

+ 1 Us N(z) Consider a small motor with a transfer 20.445(s + 1.29)
Uc T(z) Um U m ( z)
=
N ( z )T ( z ) N ( z)
= m Gs ( s ) =
(s + 18.264)(s + 1.45)
S(z) D(z)
U c ( z ) N ( z ) R ( z ) + D ( z ) S ( z ) Dm ( z ) function between the reference and the

R(z) speed is :
It is proposed to control this engine with a digital controller having a sampling period of
Î ρ =τ =σ or ρ = τ = σ −1 100ms.
Î S ( z ) = ( z − 1) S ' ( z ) if a null static error against disturbances is wished It is proposed to use a RST controller with a zero static error against the disturbances and
command.
In closed loop, a time constant of 50ms is wished

Î δ [Dm ( z )] − δ [N m ( z )] ≥ δ [D ( z )] − δ [N ( z )]
REMARKS
The transfer function has the following characteristics:
N m (1) • A first time constant of 54ms (time constant electric)
Î =1 if a null static error against reference is wished • A second time constant of 690ms (mechanical time constant)
Dm (1)
• A zero corresponds to a delay of 775ms
We note that the sampling period is not negligible against the time constants of the system.
Î ATTENTION : avoid to delete badly damped zeros
RST control : synthesis example RST control : synthesis example

0.930(z − 0.878) + 1 Us N(z)
N (z) Uc T(z) Um
= S(z) D(z)
20.445(s + 1.29 ) 20.640 0.195 D ( z ) (z − 0.865)( z − 0.161)
Gs ( s ) = = −
(s + 18.264)(s + 1.45) (s + 18.264) (s + 1.45) R(z)
r1 = 20.640 p1 = −18.264 z1 = e p1TE = 0.161 A first-order behaviour is wanted (possible because the difference of
r2 = −0.195 p2 = −1.45 z 2 = e p1TE = 0.865 degrees between the numerator and denominator in OL is equal to 1).
Moreover, the zero of the numerator OL (0.878) is sufficiently distant

Transfer function of the engine preceded by a holding element from the unit circle so it can be removed safely:
ri 1 − zi 0.948 0.018 0.930(z − 0.878) N ( z)

G ( z ) = −∑ = − = =
pi z − zi z − 0.161 z − 0.865 ( z − 0.865)(z − 0.161) D ( z )
i
Î U m N m ( z)
= =
a
U c Dm ( z ) z − z a
3

N ( z) 0.930( z − 0.878)
=
A time constant of 450 ms is expected D ( z ) ( z − 0.865)(z − 0.161) Uc T(z)
+ 1
S(z)
Us N(z)
D(z)
Um
Î za = e −TE / TBF
=e −0.1 / 0.45
= 0.135 Î
U m N m ( z)
= =
a U m N m ( z)
= =
T ( z) N ( z) R(z)
U c Dm ( z ) z − 0.135 U c Dm ( z ) R ( z ) N ( z ) + S ( z ) D ( z )
Um 0.930T ( z )(z − 0.878) 0.865

= =
Î U c 0.930 R( z )(z − 0.878) + S ( z )(z − 0.865)( z − 0.161) z − 0.135
A null static error against the reference is expected
To eliminate the numerator’s zero and to have a zero static error against
.
N m (1) U m Nm (z) 0.865 disturbances, S(z) must have the following form :
Î =1=
a
a = 0.865 = =
z − 0.135 Î Î U c Dm ( z ) z − 0.135
S ( z ) = (z − 1)(z − 0.878)
Dm (1)
T ( z ) = t 0 z 2 + t1 z + t 2
s0 = 1
R( z ) = r0 z 2 + r1 z + r2
s1 = −1.878
+ 1 Us N(z)
s2 = 0.878
Uc T(z) Um
S(z) D(z)
R(z) Um
=
(
0.930 t0 z 2 + t1 z + t2 )=
0.865
Î ( )
U c 0.930 r0 z 2 + r1 z + r2 + ( z − 1)(z − 0.865)(z − 0.161) z − 0.135

s0 = 1
+ 1 Us N(z)
Uc T(z) S(z) D(z)
Um
s1 = −1.878 + 1 Us N(z)
Uc T(z) Um
S(z)
s2 = 0.878
D(z)
R(z)
R(z)
t0 = 0.930 r0 = 2.033
Um
=
0.930 t0 z 2 + t1 z + t2 ( =
)0.865 t1 = 0 r1 = −1.253
( )
U c 0.930 r0 z 2 + r1 z + r2 + ( z − 1)(z − 0.865)(z − 0.161) z − 0.135
t2 = 0 r2 = 1.049
Um 0.930(t 0 z 2 + t1 z + t 2 ) 0.865 z 2
= =
Î U c 0.930(r0 z 2 + r1 z + r2 ) + ( z − 1)( z − 0.865)(z − 0.161) (z − 0.135)z 2
U s [k + 1] = − s1U s [k ] − s2U s [k − 1]+ t0U c [k + 1] + t1U c [k ] + t2U c [k − 1] − r0U m [k + 1] − r1U m [k ] − r2U m [k − 1]
( )
0.930 t0 z 2 + t1 z + t 2 = 0.865 z 2
Î 0.930(r z 2
+ r z + r ) + ( z − 1)( z − 0.865)( z − 0.161) = ( z − 0.135)z 2
0 1 2
By identifying the coefficients :

t0 = 0.930 r0 = 2.033
t1 = 0 r1 = −1.253
Î U s [k + 1] = 1.878U s [k ] − 0.878U s [k − 1]+ 0.215U c [k + 1] − 2.033U m [k + 1] + 1.253U m [k ] − 1.049U m [k − 1]
t2 = 0 r2 = 1.049
Numerical command circuits

Numerical command circuits
Microprocessor :
• DSP (Digital Signal Processor)
• fast (3GHz) – Evolved microcontroller, rapidity
• 32 to 128 bits logic – Contains special functions (FFT, ...)
• requires external devices
• expensive • FPGA (Field Programmable Gate Array)
Microcontroller – Circuit with logic functions which may be interconnected by
programming (VHDL = Very High Speed Description Language)
• contains CPU + its minimum environment
• autonomy • ASIC (Application Specific Integrated Circuit)
• relatively slow (10MHz, 8 bit)
• inexpensive – For large series
4
Cascade control
Electrical drives
Prof. A. GENON, ULg
Chapter 7
Electrotechnical applications
of regulators
Rectifiers 4 quadrants AC/DC controller with

current circulation
4 quadrants AC/DC controller with 4 quadrant AC/DC controller without current

current circulation circulation
LOGIC : the 2 bridges may never

conduct at the same time Î dead time
1
1 quadrant chopper with PWM controller

1 quadrant chopper with 2 position controller
4 quadrant chopper with PWM controller Inverter with 2 position controller

@

6 6!

7
8

) *
1 -

6 6"

U = δV − (1 − δ )V = ( 2δ − 1)V
(other command modes exist)
Inverter with PWM controller
2
Entraînements électriques Boost converter command

Electrical drives iL iD io
L
Prof. A. GENON, ULg D
vi C
R vo
iT
Chapter 8 If the switching frequency is sufficiently high, the system can be studied as a
continuous process although command is discreet
⎧ diL 1
Command of switched power supplies = [v g (t ) + ( vi − vo )(1 − g (t ))] g=1 : switch ON
⎪⎪ dt L i
⎨ dv 1⎡ v v ⎤ g=0 : switch OFF
⎪ o
= ⎢− o g (t ) + (ii − o )(1 − g (t ))⎥
⎩⎪ dt C ⎣ R R ⎦
To study this kind of system, we proceed by averaging over one sample period :
1 t
T ∫t −T
X (t ) = X (t ) dt
Boost converter command iL iD io

Boost converter command iL(1-@)
⎧ diL 1
[ ]
vi vo (1 − δ )
L iL io
⎪⎪ dt = L vi − vo (1 − g (t )) ≈ L −
D
vi L
C
L
⎨
R vo
⎪ dvo = − vo + iL (1 − g (t )) ≈ − vo + iL (1 − δ )
iT vi vi(1-@) C
R vo
⎩⎪ dt RC C RC C
⎧ diL 1
= [v g (t ) + ( vi − vo )(1 − g (t ))]
⎪⎪ dt L i 1 This model is not linear.
t
⎨ dv 1⎡ v v ⎤
+ X (t ) =
T ∫ t −T
X (t ) dt
Î Thus, we proceed to the linearization in the vicinity of a static equilibrium point:
⎪ o
= ⎢− o g (t ) + (ii − o )(1 − g (t ))⎥
⎩⎪ dt C ⎣ R R ⎦ (
⎧vi = vi + v~i (
⎧ d ~iL v~i v~o (1 − δ ) v(oδ
( ~
⎪v = v( + v~ ( v = − +
vo = i ( ⎪⎪ dt
⎪ o o o 1−δ Î ⎨ ~
L L ( L( ~
⎨ ( ~ + ~ ~
⎪iL = iL + iL ( ( v( ⎪ dvo = − vo + iL (1 − δ ) − iLδ
⎧ diL 1
⎪⎪ dt L i o
[ ] v v (1 − δ )
= v − v (1 − g (t )) ≈ i − o
L L
⎪δ = δ( + δ~
⎩
(δ − 1)iL = o
R ⎩⎪ dt RC C C
⎨
⎪ dvo = − vo + iL (1 − g (t )) ≈ − vo + iL (1 − δ ) By eliminating the static current between these relationships and assuming
⎪⎩ dt RC C RC C iL(1-@)
io
constant vi, we obtain the transfer function: ( (
iL (
iL vo (1 − δ )
L
−
s
v~o C LC (
Î vi vi(1-@) C ~ =
R vo
δ 1 (1 − δ ) 2
s2 + s+
RC LC
Boost converter command Current control iL
( ( (
i v (1 − δ ) iL iD io
principle ip -mc
s L− o L iL iD io
v~o C LC ( D
~ = L
D m1 -m2
δ 1 (1 − δ ) 2 vi C
s2 + s+ R vo
vi C
RC LC R vo
iT
0 θ=δΤ T
iT
This transfer function has 1 positive zero and 2 complex poles generally weakly
damped. Let T be the period of hash and θ the conduction time. The switch is closed at the
beginning of the period and the current increases. The switch is opened when the
current reaches the value ip-mc θ.
Î This system is very difficult to regulate. The slope mc is chosen to ensure stable operation.
m2 − m1 m1 2δ − 1
Therefore generally one prefer to use a current control rather than a duty cycle
To ensure stable operation, it is necessary that the Î mc >
2
=
2 1− δ
current is amortized if any disturbance happens
control.
mc is not necessary if δ ≤ 0,5
1
Current control Current control

Transfer function iL iD io
The IC LM5021
The transfer function between the output L
D
vi C
voltage and the current iL can be found after R vo
iT
local averaging and linearization of the
equations:
iL
v~o s−a
~ =K
ip (s + b )(s + c ) ip -mc
-m2
m1
0 θ=δΤ T
This transfer function has a positive zero and two real poles (one at low frequency
and one at higher frequency).
Under these conditions, the system is much easier to

control
Example : forward converter

with current control
2
Entraînements électriques Speed variation history.

Electrical drives
Prof. A. GENON, ULg
Chapter 9 1. Ward-Léonard
2. DC motor drives
COMMAND OF INDUCTION MOTORS 3. AC motor drives
Dynamics of induction motor : Dynamics of induction motor :

3 phase model 3 phase model
⎛U X ⎞ ⎛U x ⎞ ⎛IX ⎞ ⎛ Ix ⎞
⎛U XYZ ⎞ ⎛ Z 3 S Z 3SR ⎞⎛ I XYZ ⎞ ⎜ ⎟ ⎜ ⎟ ⎜ ⎟ ⎜ ⎟
⎜ ⎟ ⎜ ⎟⎜ ⎟
⎜ U ⎟ = ⎜Z
U XYZ = ⎜ U Y ⎟;U xyz = ⎜U y ⎟; I XYZ = ⎜ I Y ⎟; I xyz = ⎜ I y ⎟;
⎝ xyz ⎠ ⎝ 3 SR ,t Z 3 R ⎟⎠⎜⎝ I xyz ⎟⎠ ⎜U ⎟ ⎜U ⎟ ⎜I ⎟ ⎜I ⎟
• For each coil : ⎝ Z⎠ ⎝ z⎠ ⎝ Z⎠ ⎝ z⎠
• ;
⎛ R3 S + sL3 S sM 3S sM 3S ⎞
; • ; ⎜
Z 3 S = ⎜ sM 3S R3S + sL3S sM 3S ⎟
⎟
;
. ⎜ sM R3 S + sL3 S ⎟⎠
d • . ⎝ 3S sM 3S
U i = Ri I i + Ψi
dt
⎛ R3 R + sL3 R sM 3 R sM 3 R ⎞
6
⎜ ⎟
Ψi = Li I i + ∑ M ij I j Z 3 R = ⎜ sM 3 R R3 R + sL3 R sM 3 R ⎟
j ≠i
⎜ sM R3 R + sL3 R ⎟⎠
⎝ 3R sM 3 R
⎛ sM 3 SR cos(θ R ) sM 3 SR cos(θ R + 2π / 3) sM 3 SR cos(θ R − 2π / 3) ⎞

⎜ ⎟
Z 3 SR = ⎜ sM 3 SR cos(θ R − 2π / 3) sM 3 SR cos(θ R ) sM 3 SR cos(θ R + 2π / 3) ⎟
⎜ sM cos(θ + 2π / 3) sM cos(θ − 2π / 3) sM 3 SR cos(θ R ) ⎟
⎝ 3 SR R 3 SR R ⎠
Dynamics of induction motor : 2 phase model

Dynamics of induction motor : 2 phase model I AB = Ct* I XYZ ⎛ 1 0 ⎞
2⎜ ⎟
C* = ⎜ −1/ 2 3/2 ⎟
Iαβ = Ct* I xyz 3⎜ ⎟
⎝ −1/ 2 − 3 / 2 ⎠
. .
I X = I S , Max sin (ω t ) IA =
3
I S , Max sin (ω t )
I Y = I S , Max sin (ω t + 120 ) ⇔ 2
I S , Max cos(ω t )
3
I Z = I S , Max sin (ω t + 240 ) IB =
2
⎛ 1 0 ⎞
I AB = Ct* I XYZ 2⎜ ⎟ I x = I R , Max sin (gω t ) I R , Max sin (gω t )
3
C* = ⎜− 1/ 2 3/2 ⎟ Iα =
Iαβ = Ct* I xyz 3⎜ ⎟ I y = I R , Max sin (gω t + 120 ) ⇔ 2
⎝ − 1 / 2 − 3 / 2⎠
I R , Max cos(gω t )
3
I z = I R , Max sin ( gω t + 240 ) Iβ =
2
1
Induction motor : axes related to magnetic field Induction motor : axes related to magnetic field
⎛ I ds ⎞ ⎛ cos(θ a ) sin(θ a ) ⎞⎛ I A ⎞ ⎛IA ⎞
⎜ ⎟ = ⎜⎜
⎜ I ⎟ − sin(θ ) cos(θ ) ⎟⎟⎜⎜ I ⎟⎟ = PS ,t ⎜⎜ I ⎟⎟
⎝ qs ⎠ ⎝ a a ⎠⎝ B ⎠ ⎝ B⎠
⎛ I dr ⎞ ⎛ cos(θ a − θ R ) sin(θ a − θ R ) ⎞⎛ Iα ⎞ ⎛ Iα ⎞
⎜ ⎟ = ⎜⎜ ⎜ ⎟ ⎜ ⎟
⎜ I ⎟ − sin(θ − θ ) cos(θ − θ ) ⎟⎟⎜ I ⎟ = PR ,t ⎜ I ⎟
⎝ qr ⎠ ⎝ a R a R ⎠⎝ β ⎠ ⎝ β⎠
3
I ds = I S ,Max
2
3
⎛ I ds ⎞ ⎛ cos(θ a ) sin(θ a ) ⎞⎛ I A ⎞ ⎛ IA ⎞ I qs = I S ,Max
⎜ ⎟ = ⎜⎜
⎜ I ⎟ − sin(θ ) cos(θ ) ⎟⎟⎜⎜ I ⎟⎟ = PS ,t ⎜⎜ I ⎟⎟
2
θa = ω t
⎝ qs ⎠ ⎝ a a ⎠⎝ B ⎠ ⎝ B⎠
θa − θ R = (ω − ω 0 ) t = gω t
3
I dr = I R , Max
⎛ I dr ⎞ ⎛ cos(θ a − θ R ) sin(θ a − θ R ) ⎞⎛ Iα ⎞ ⎛ Iα ⎞ 2
⎜ ⎟ = ⎜⎜ ⎜ ⎟ ⎜ ⎟
⎜ I ⎟ − sin(θ − θ ) cos(θ − θ ) ⎟⎟⎜ I ⎟ = PR ,t ⎜ I ⎟
⎝ qr ⎠ ⎝ a R a R ⎠⎝ β ⎠ ⎝ β⎠ 3
I qr = I R , Max
2
Induction motor : axes related to magnetic field Induction motor : axes related to magnetic field
⎛U ds ⎞ ⎛ I ds ⎞
⎜U ⎟ ⎜ ⎟
⎜ qs ⎟ = ⎛⎜ Ps ,t 0 ⎞⎛ Ct
⎟⎜
0 ⎞⎛ Z 3 S
⎟⎜
Z 3 SR ⎞⎛ C 0 ⎞⎛ Ps
⎟⎜ ⎟⎜
0 ⎞⎜ I qs ⎟
⎟⎟⎜ ⎟
⎜0 ⎟ ⎜ 0 Pr ,t ⎟⎠⎜⎝ 0 Ct ⎟⎠⎜⎝ Z 3 SR ,t Z 3 R ⎟⎠⎜⎝ 0 C ⎟⎠⎜⎝ 0 Pr ⎠ I dr
⎜⎜ ⎟⎟ ⎝ ⎜ ⎟
⎜I ⎟
⎝0 ⎠ ⎝ qr ⎠
En posant: I S = I ds + jI qs
U S = U ds + jU qs
I R = I dr + jI qr
dψ S
On obtient U S = RS I S + jωψ S +
dt
dψ R
⎛ U ds ⎞ ⎛ I ds ⎞ 0 = RR I R + j gωψ R +
⎜U ⎟ ⎜ ⎟ dt
⎜ qs ⎟ ⎛⎜ Ps ,t 0 ⎞⎛ Ct
⎟⎜
0 ⎞⎛ Z 3S Z 3 SR ⎞⎛ C 0 ⎞⎛ Ps 0 ⎞⎜ I qs ⎟
⎜U dr ⎟ = ⎜ 0 ⎟⎜ ⎟⎜ ⎟⎜ ⎟⎜ ⎟
Pr ,t ⎟⎠⎜⎝ 0 Ct ⎟⎠⎜⎝ Z 3SR ,t Z 3 R ⎟⎠⎜⎝ 0 C ⎟⎠⎜⎝ 0 ⎟
Pr ⎠ I dr ψ S = LS I S + M I R
⎜ ⎟ ⎝ ⎜ ⎟
⎜U ⎟ ⎜I ⎟
⎝ qr ⎠ ⎝ qr ⎠ ψ R = M I S + LR I R
Le couple vaut C = MI dr I qs − MI qr I ds
Induction motor : axes related to magnetic field Induction motor

In steady state conditions, we find the classical
equations of the equivalent circuit
⎛ IX ⎞ ⎛ cos(θ a ) − sin(θ a ) ⎞
⎜ ⎟ *⎛ A ⎞
I ⎛ I ds ⎞ ⎜ ⎟⎛ I ds ⎞
⎜ IY ⎟ = C ⎜⎜ ⎟⎟ = C PS ⎜⎜ ⎟⎟ = ⎜ cos(θ a − 2π / 3) − sin(θ a − 2π / 3) ⎟⎜⎜ ⎟⎟
*
⎜I ⎟ ⎝ IB ⎠ ⎝ I qs ⎠ ⎜ cos(θ + 2π / 3) − sin(θ + 2π / 3) ⎟⎝ I qs ⎠
⎝ Z⎠ ⎝ a a ⎠
⎛U X ⎞ ⎛ cos(θ a ) − sin(θ a ) ⎞
⎜ ⎟ *⎛
UA ⎞ ⎛U ds ⎞ ⎜ ⎟⎛U ds ⎞
⎜ U Y ⎟ = C ⎜⎜ ⎟⎟ = C PS ⎜⎜ ⎟ ⎜ ⎟
⎟ = ⎜ cos(θ a − 2π / 3) − sin(θ a − 2π / 3) ⎟⎜
*
⎟
⎜U ⎟ ⎝U B ⎠ ⎝U qs ⎠ ⎜ cos(θ + 2π / 3) − sin(θ + 2π / 3) ⎟⎝U qs ⎠
⎝ Z⎠ ⎝ a a ⎠ Xμ = ω M
X S = ω ( LS − M )
X R = ω ( LR − M )
2
Command of the induction motor Command of the induction motor

GENERAL STRATEGY :
Four techniques are considered:
We try to maintain constant and maximum the flux in the
machine because the torque is proportional to flux.
1. Scalar control on voltage
2. Vector control on voltage
To act on the couple, we act on the stator current because :
3. Scalar control on current
4. Vector control on current
C = k .Φ.I sin(Φ, I )
Scalar control on voltage Scalar control on voltage : simplified version
ÎÎ ⎛U X ⎞ ⎛ cos(θ a ) ⎞
⎜ ⎟ ⎜ ⎟
⎜ U Y ⎟ = Pt CtU c = ⎜ cos(θ a − 2π / 3) ⎟U c
⎜U ⎟ ⎜ cos(θ + 2π / 3) ⎟
⎝ Z⎠ ⎝ a ⎠
⎛ ⎞
⎜ ⎟
ψS =
1
jω
( U
)
U S − RS I S = S ⎜1 −
jω ⎜
RS
gω 2 M 2
⎟
⎟
⎜ RS + jωLS + ⎟
⎝ RR + j gω LR ⎠
US RS
ψS = 1−
ω gω 2 M 2
RS + jωLS +
RR + j gω LR
gω M 2 R R
C=p ψ S2 = f ( gω ,ψ S )
(
R R2 L2s + ( gω ) LR Ls − M 2
2
)
2
Scalar control on voltage : Scalar control on voltage :

action on couple sophisticated version
⎛U X ⎞ ⎛ cos(θ a ) ⎞ ⎛U X ⎞ ⎛ cos(θ a ) ⎞
⎜ ⎟ ⎜ ⎟ ⎜ ⎟ ⎜ ⎟
⎜ U Y ⎟ = Pt CtU c = ⎜ cos(θ a − 2π / 3) ⎟U c ⎜ U Y ⎟ = Pt CtU c = ⎜ cos(θ a − 2π / 3) ⎟U c
⎜U ⎟ ⎜ cos(θ + 2π / 3) ⎟ ⎜U ⎟ ⎜ cos(θ + 2π / 3) ⎟
⎝ Z⎠ ⎝ a ⎠ ⎝ Z⎠ ⎝ a ⎠
gω M 2 RR gω M 2 RR
C=p ψ S = f ( gω ,ψ S )
2
C=p ψ S = f ( gω ,ψ S )
2
(
R R2 L2s + (gω ) LR Ls − M 2
2
)2
(
R R2 L2s + (gω ) LR Ls − M 2
2
)2
3
Scalar control on voltage :

Vector control on voltage
speed control
ÎÎ
⎛ ⎞
⎜ ⎟
ψS =
1
jω
( U
jω
)
U S − RS I S = S ⎜⎜1 −
RS
gω 2 M 2
⎟
⎟
⎜ RS + jωLS + ⎟
⎝ RR + j gω LR ⎠
−1
⎛ ⎞
⎜ ⎟
U S = U ds + jU qs = jω ψ S ⎜⎜1 − ⎟
RS
gω 2 M 2 ⎟
⎛U X ⎞ ⎛ cos(θ a ) ⎞ ⎜ RS + jωLS + ⎟
⎜ ⎟ ⎜ ⎟ ⎝ RR + j gω LR ⎠
⎜ U Y ⎟ = Pt CtU c = ⎜ cos(θ a − 2π / 3) ⎟U c
⎜U ⎟ ⎜ cos(θ + 2π / 3) ⎟ gω M 2 RR
⎝ ⎠ ⎝ ⎠ C=p ψ S2 = f ( gω ,ψ S )
Z
gω M 2 RR
a 2
(
R R2 L2s + (gω ) LR Ls − M 2
2
)
C=p ψ S2 = f ( gω ,ψ S )
2 2 2
(
R R Ls + (gω ) LR Ls − M 2 2
)
Scalar control on current
⎛ j gω M 2 ⎞
⎛U X ⎞ ⎛ cos(θ a ) − sin(θ a ) ⎞ ψ S = LS I S + M I R = ⎜⎜ LS − ⎟I S
⎜ ⎟ ⎜ ⎟⎛U ds ⎞
⎝ RR + j gω LR ⎟⎠
⎜ U Y ⎟ = Pt CtU c = ⎜ cos(θ a − 2π / 3) − sin(θ a − 2π / 3) ⎟⎜⎜ ⎟
⎟
⎜U ⎟ ⎜ cos(θ + 2π / 3) − sin(θ + 2π / 3) ⎟⎝U qs ⎠ j gω M 2
−1
⎝ Z⎠ ⎝ a a ⎠ I S = LS − ψS
RR + j gω LR
gω M 2 RR
Vector control on voltage C=p ψ S2 = f ( gω ,ψ S )
(
R R2 L2s + (gω ) LR Ls − M 2
2
)
2
Scalar control on current Scalar control on current
4
Scalar control on current Vector control on current

dψ
2 U S = RS I S + jωψ S + ψ SS = LS I S + M I R
Couple
ψdtR = M I S + LR I R
dψ
0 = RR I R + j gωψ R + C R= MI dr I qs − MI qr I ds
dt
1,5
In an axes system related to the rotor flux (d in the direction of the rotor flux):
ψR LR
1 I ds = (1 + s )
M RR
LRψ R
I qs = gω
0,5 MRR
LRψ R2
t(sec)
C = ψ R I qs = gω
MRR
θ a = ∫ (ω + gω )dt
0 0,5 1 1,5 2
Vector control on current Vector control on current
⎛IX ⎞ ⎛ cos(θ a ) − sin(θ a ) ⎞ ⎛IX ⎞ ⎛ cos(θ a ) − sin(θ a ) ⎞

⎜ ⎟ ⎜ ⎟⎛ I ds ⎞ ⎜ ⎟ ⎜ ⎟⎛ I ds ⎞
⎜ I Y ⎟ = ⎜ cos(θ a − 2π / 3) − sin(θ a − 2π / 3) ⎟⎜⎜ ⎟⎟ To reach overspeed ⎜ I Y ⎟ = ⎜ cos(θ a − 2π / 3) − sin(θ a − 2π / 3) ⎟⎜⎜ ⎟⎟
⎜ ⎟ ⎜ ⎟⎝ I qs ⎠ ⎜ ⎟ ⎜ ⎟⎝ I qs ⎠
⎝ I Z ⎠ ⎝ cos(θ a + 2π / 3) − sin(θ a + 2π / 3) ⎠ conditions, one reduces the ⎝ I Z ⎠ ⎝ cos(θ a + 2π / 3) − sin(θ a + 2π / 3) ⎠
θ a = ∫ (ω + gω )dt flux θ a = ∫ (ω + gω )dt
5
Transfer function of a DC motor with
Electrical drives independent excitation
Prof. A. GENON, ULg U = (R + sL )I + kΦN
sJN = kΦI − Cr
C = kΦI
Chapter 10 ou :
I=
1
(U − kΦN ) = 1
(U − kΦN )
R + Ls R (1 + sTa )
Preparing the lab.
C = kΦI Cr
Controlling a DC machine.
N = (C − C r )
1 U 1 I C 1 N
sJ + k
R(1 + s Ta) sJ
-
Transfer function of a DC motor with

Principle of cascade control
independent excitation
Cr
U 1 I C 1 N
+ k
We have also : -
R(1 + s Ta) sJ
k
Nref iref N
rØgulateur rØgulateur convertisseur moteur
+ de vitesse + de courant
- -
⎛ R ⎞ U R(1 + sTa )
N ⎜⎜ sJ (1 + sTa ) + 1⎟ =
I
− C
⎝ (kΦ )2 ⎟⎠ kΦ (kΦ )2 r
⎛ RJ ⎞
⎜ Tm = ⎟
⎜ (kΦ )2 ⎟
⎝ ⎠
U R(1 + sTa )
Î N (1 + sTm (1 + sTa ) ) = − C
kΦ (kΦ )2 r
General scheme
Nref iref N
rØgulateur rØgulateur convertisseur moteur
+
-
de vitesse +
-
de courant
Technics
I
To determine the parameters of the regulators,

there exists 2 methods:
• analytical method based on model knowledge
• experimental method
1
Current regulator (1)
ANALYTICAL METHOD FOR

DETERMINING THE
REGULATORS PARAMETERS

Current regulator (2) Current regulator (3)

I mes 1 + sTi K conv K mi 1
In OL : = Ki
In open loop (OL) : I ref sTi R (1 + sTa )(1 + sTcmi )
I mes 1 + sTi K conv 1 K mi Principle: compensation of the greatest time constant

= Ki
I ref sTi 1 + sTconv R(1 + sTa ) 1 + sTmi Æ Ti = Ta
Tcmi = Tconv + Tmi << Ta
1 + sTi K conv K mi I mes 1 K conv K mi 1

Æ
I mes
= Ki
1 Î = Ki
I ref sTi R (1 + sTa )(1 + sTcmi ) I ref sTi R 1 + sTcmi
Current regulator (4) Current regulator (5)

I mes 1 K conv K mi 1
= Ki

I ref sTi R 1 + sTcmi

In closed loop (CL)
1 K conv K mi 1
1 K conv K mi 1 In CL I mes = K i I ref
I mes = K i ( I ref − I mes ) sTi R 1 + sTcmi
sTi R 1 + sTcmi
1 K conv K mi 1 1 K conv K mi 1 Ti
I mes (1 + K i ) = Ki I ref Choose Ki =
sTi R 1 + sTcmi sTi R 1 + sTcmi K conv K mi
2Tcmi
R
I mes 1
Then =
I ref 1 + 2 sTcmi + 2 s 2Tcmi
2
2
Current regulator (6) Current regulator (6b)

1.2V
1.0V

0.8V
0.6V
0.4V
I mes 1
=
2 0.2V
0V
0s 2ms 4ms 6ms 8ms 10ms 12ms 14ms 16ms 18ms 20ms
V(LAPLACE4:OUT) V(V13:+)
Time
If we apply a step at system input, we can observe

Behaviour of the closed current loop
• an overshoot of 4,3%
• overshoot 4,3%
• a rise time of 4,7*Tcmi
• rise time : 4,7*Tcmi = 4,7ms
Current regulator (7) Speed regulator (1)

I mes 1
=
2
Subsequently, we will approximate this transfer function with:
I 1 1 Î
=
I ref K mi 1 + 2sTcmi
Speed regulator (2) Speed regulator (3)
N mes 1 + sTn 1 kΦ K mn
In OL : ≈ Kn
N ref sTn K mi sJ 1 + sTc min
N mes 1 + sTn 1 1 kΦ K mn 1 + sTn 1 kΦ K mn To have a good performance in rejecting disturbances,
= Kn ≈ Kn
N ref sTn K mi 1 + 2 sTcmi sJ 1 + sTmn sTn K mi sJ 1 + sTc min one choose ususaly :
avec Tc min = 2Tcmi + Tmn
Tn = 4Tc min
kΦTm K mi
(by grouping small time constants) Kn =
2Tn RK mn
3
Speed regulator (4) Speed regulator (4b)

1.5V
1.0V
N mes 1 + sTn 1 kΦ K mn Tn = 4Tc min 0.5V
≈ Kn kΦTm K mi
N ref sTn K mi sJ 1 + sTc min Kn =
2Tn RK mn 0V
0s
V(R18:1)
2ms
V(V13:+)
4ms 6ms 8ms 10ms
Time
12ms 14ms 16ms 18ms 20ms
ÎIn CL N mes 1 + 4sTc min

=
N ref 1 + 4 sTc min + 8s 2Tc2min + 8s 3Tc3min Closed Speed loop
As response to a step at the input, we observe:
• an overshoot of 43% Overshoot : 43%
• a rise time of 3.2 * Tcmi Rise time : 3,2*Tcmin = 3,2ms
(valid if the mechanical time constant is much higher than other time
constants)
Speed regulator (5) Speed regulator (5b)

N mes 1 + 4 sTc min
=
1.2V
N ref 1 + 4sTc min + 8s 2Tc2min + 8s 3Tc3min 1.0V
0.8V
0.6V
To reduce the overshoot (due to the zero in the 0.4V
numerator), we can add a reference filter : 0.2V
1
F (s) =
0V
0s 2ms 4ms 6ms 8ms 10ms 12ms 14ms 16ms 18ms 20ms
V(LAPLACE5:OUT) V(V13:+)
1 + 4sTc min
Time
N mes 1 Closed speed loop with reference filter

ÎIn CL =
N ref 1 + 4 sTc min + 8s 2Tc2min + 8s 3Tc3min
As response to a step, we observe : Overshoot : 8%
• an overshoot of 8% Rise time : 7,5*Tcmi = 7,5 ms
• a rise time equal to 7,5*Tcmi
Reminder: transfer function of a

PID
EXPERIMENTAL METHOD FOR
THE DETERMININATION OF ⎛ 1 ⎞
H ( s ) = K p ⎜⎜1 + + sTv ⎟⎟
REGULATORS PARAMETERS ⎝ sTn ⎠
4
Critical oscillations method (1) Critical oscillations method (2)

Initialy, the system is in CL with : The controller parameters are given in the
low K p following table (Ziegler-Nichols method) :
⎛ 1 ⎞
Tn → ∞ Î H ( s ) = K p ⎜⎜1 + + sTv ⎟⎟ → K p
⎝ sTn ⎠
Tv → 0 Kp Tn Tv
P 0.50 K crit
Kp is increased gradually until the limit of PI 0.45 K crit 0.85Tcrit
oscillation. At this point, we note : PID 0.59 K crit 0.50Tcrit 0.12Tcrit
K crit = K p at this point

Tcrit = oscillation period
Response to a step (1) Response to a step (2)

The system is initialy in OL : a step K is applied Coefficients following Ziegler-Nichols :
at the system input and the response is observed.
Tu,Tg and Ks are measured
Kp Tn Tv
P Tg
K sTu
PI Tg 3.33Tu
0.90
K sTu
PID Tg 2Tu 0.5Tu
1.2
K sTu
Response to a step (3)

Coefficients following Chien, Hrones and Resewick :
Critère de qualité
Régulation apériodique de très Régulation avec dépassement
courte durée de 20%
Rejet de Suivi de Rejet de Suivi de
perturbation consigne perturbation consigne
P Tg Tg Tg Tg
K p = 0.3 K p = 0.3 K p = 0.7 K p = 0.7
K sTu K sTu K sTu K sTu
PI Tg Tg Tg Tg
K p = 0.6 K p = 0.35 K p = 0.7 K p = 0.6
Tn = 4Tu Tn = 1.2Tu Tn = 2.3Tu Tn = Tu
PID Tg Tg Tg Tg
K p = 0.95 K p = 0.60 K p =1.2 K p = 0.95
Tn = 2.4Tu Tn = Tu Tn = 2Tu Tn = 1.35Tu
Tv = 0.42Tu Tv = 0.5Tu Tv = 0.42Tu Tv = 0.47Tu

Electrical Drives 2010 Laplace Transform and System Stability

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Electrical Drives 2010 Laplace Transform and System Stability

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Electrical Drives 2010 - A.

Power electronic systems

2010 • Analogic command

Valeur initiale lim f (t ) lim sF ( s )

Valeur finale lim f (t )

Continuous system stability

Routh-Hurwitz criterion Rout-Hurwitz criterion

A21 A22 A23 . . . − dtm

Notion of sampled signal

Z transform : computational rules Inverse Z transform

Inverse Z transform Stability of sampled-data systems in

Stability of sampled-data systems in Closed loop stability of sampled-data

The system will be stable if the roots of the

Closed loop stability :

Appying to the characteristic polynomials the following

Example of a discrete regulator:

We observe that the gray areas overlap satisfactorily. We

Continuous treatment of a discrete system :

If we compare with an analog PID, YR ( s) K*

Discrete transfer function of the continuous

R: We must determine the discrete transfer ⇒ g1 (t ) = ∑

function of the continuous system .... zi = e piTE

Discrete transfer function of the continuous Analog to digital conversion

Analog to digital conversion Analog to digital conversion

∫ e(V ) p(V )dV = (2 ) ∫ (q − V ) p(V )dV = 0

Parallel analog to digital converter

• necessits a sample and hold element

Ramp compare ADC Digital to analog converter

1. Integration of Ve during a fixed time t1-t0

Entraînements électriques Conventional circuits

Conventional circuits Conventional circuits

Conventional circuits Transistor chopper command

Transistor chopper command

THYRISTOR command THYRISTOR chopper command

THYRISTOR rectifier command

Entraînements électriques Introduction

The operational amplifier The operational amplifier

frequency response step response

PI controller PI PI controller (adjustable coefficients)

If the values of Tn=R1C1 and Ti=ReC1

PID controller PID controller

Tn + Tv 1 s TnTv Theorical frequency response

frequenccy response step response Actual frequency response

PID controller PID controller (adjustable coefficients)

PI controller (adaptation of 1 time constant) PI controller (adaptation of 2 time constants)

First order passive filter Active filter of second order

PID + second order active filter PID + reference filter

PID with clipping circuit Action controller with 2 positions

• analog input, binary output

Action controller with 2 positions

Entraînements électriques Main configurations

Chapter 6 • Consist to use a digital PI or PID

Main configurations. Main configurations.

Main configurations Main configurations

RST control : effect of disturbances RST control : effect of disturbances

For a null static error in case of disturbance, 1/ S (z) must

S ( z ) = ( z − 1) S ' ( z ) Against disturbances, the RST behaviour is the same as

RST control : causality RST control : causality

If a null static error against the reference is suited,

RST control : Summary RST control : synthesis example

U c ( z ) N ( z ) R ( z ) + D ( z ) S ( z ) Dm ( z ) function between the reference and the

In closed loop, a time constant of 50ms is wished