EEE373 Electric Motor Drive

Lecture 6
Asst. Prof. Dr. Mongkol Konghirun EE, KMUTT

Speed Control Drive System

Current limiting closed-loop speed control with low-pass filter
+ Vdc * m

Speed Controller

* ia

+ ia -

Current controller

Vcontrol

PWM Driver

Chopper

Current feedback

- Vo +

ia

DC Motor

Low-pass filter Speed feedback Controller

Te

Tl Tachogenerator

1 1 + sT

Speed Control Drive System

Low-pass filter is used to remove the speed ripple or smooth the speed signal from the tacho-generator. The T is time constant of low-pass filter.

Hysteresis Current Control

The PWM current controller acts once a cycle, controlling the duty cycle of the chopper. Thus, the chopper then is a variable voltage source with average current control.

Hysteresis Current Control

Unlike the PWM current controller, the hysteresis controller controls the current on an instantaneous basis rather than an average basis. In hysteresis control, the current is controlled within a narrow band of excursion (i) from its desired value (command value).

Hysteresis Current Control

i a (Actual current)

i i

i * (Command current)
a

t 0

Vdc

t 0

Hysteresis Current Control

The voltage applied to the load is determined by the following logic:
* ia ia i, * ia ia + i,

Set Vload = Vdc Set Vload = 0

Hysteresis Current Control

Table of comparison of current controllers.

Characteristic Switching frequency Speed of current response Ripple current Filter size Switching losses

Hysteresis Varying Fastest Adjustable Dependent on i Usually high

PWM Fixed at switching frequency Fast Fixed Usually small Low

Principle of Negative Feedback Control

Increase the manipulated variable when the process variable is smaller than the setpoint and decrease the manipulated variable when the process variable is larger than the setpoint. Keep the process variable close to the setpoint in sprite of disturbance and variation of the process characteristics.

On-Off Control
This control law applies the maximum corrective action. The controllers mathematics is

U = U max U = U min

if e > 0 if e < 0

where control error, e = r y.

On-Off Control
It is simple. There are no parameters to choose. It typically results in a system variables oscillating because the system overreacts. A dead-zone or hysteresis are usually introduced to take care the undefined control at zero error.

On-Off Control
U U U

U max

U max

U max

U min

U min

U min

Conventional on-off control

Dead-Zone on-off control

Hysteresis on-off control

Proportional Control
This control law attempts to avoid the oscillation introduced in on-off control. The controllers mathematics is

U = U max U = Ke + U b U = U min

if e > emax if emin < e < emax if e < emin

where control error, e = r y.

Proportional Control
U U max

Slope = Ub

K=

U max U min emax emin

(K is called as the proportional gain)

U min e e min e max

Proportional Control
However, the control law does not take care the plants characteristic variations or plant disturbance, finally causing the steady-state error.
2 y
2

1 = before plant characteristic variation happened 2 = after plant characteristic variation happened

u Ub Control bias must be change in order to keep the zero steady-state error.

Proportional Control
Proportional controller.
y

U = Ke + U b

In steady-state,
2 1

y = r , e = 0, u = U b
u = U b , y = y2 , e 0
1 = before plant characteristic variation happened 2 = after plant characteristic variation happened
u

Ub Control bias must be change in order to keep the zero steady-state error.

Integral Control
Using only the proportional control, there is normally an error in steady-state. This control law is to ensure that the process output agree with the setpoint in steady-state. With integral action, a small positive error will always lead to an increasing control signal, and a small negative error will give a decreasing control signal.

Integral Control
Integral action can also be visualized as a device that automatically resets the control bias, Ub. With P-control, the controllers mathematics is

U = Ke + I

(PI control)

K I = edt + I 0 Ti

Integral Control
With P-control, the controllers mathematics is

U = Ke + I

(PI control)

K I = edt + I 0 Ti where Ti = integral or reset time 1/Ti = measurement of speed of response (referred to as reset rate) Ti Time constant of plant

Integral Control
t p (Peak time) M p (Overshoot) 1.0

1%

0.9

0.1 t t r (Rise time) t s (Settling time)

Effect of increasing PI gain to the step transient responses Rise time Gain increased K decrease Settling time overshoot stability

Ti

increase

decrease increase

increase decrease decrease increase

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Derivative Control
The purpose of this control law is to increase the damping and improve the closed-loop stability. Because of typical process dynamics, it will take some time before a change in the control variable is noticeable in the process output. Thus, the control system will be late in correcting for an error.

Derivative Control
This control law extrapolates the control output in advance, then improving the system stability. With P-control, the controllers mathematics is
U = Ke + D (PD or predicted control)

de dt where Td = derivative time D = KTd

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Derivative Control
Using the Taylor series expansion of a function about a point (x = a). f(a+x) = f(a) + f(a)x + f(a)(x)2 /2! + For the error, e(t+Td)

e(t + Td ) e ( t ) + Td

de + ... dt Thus, the control law is usually an estimate of proportional control at time ahead. U = Ke ( t + Td ) = Ke ( t ) + KTd

de + ... dt

Derivative Control
However, the derivative action may result in difficulties, if there is high frequency noise in feedback, y. For a given sinusoidal measurement noise, n = sin(t), then, the contribution to the derivative term of the control signal is
U n = KTd dn = KTd cos ( t ) dt

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Derivative Control
Clearly, the amplitude of control signal can thus be arbitrarily large if the noise has a sufficiently high frequency (). To avoid this difficulty, the feedback y with the high the frequency noise may be prefiltered.

Derivative Control
Another negative side of D-control can be explained as follows. According to the Dcontrol equation.
D = KTd d (r y) = KTd dt dr dy dt dt

The reference must not be suddenly be changed (i.e., step change) because the dr/dt become infinity.

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Derivative Control
Therefore, the reference should be gradually changed from one setpoint to new setpoint. This could be done by using a simple firstorder low-pass filter at reference.

Continuous PID Control

Combining three actions, the PID controller can finally be formulated as follows:

U = P+I +D
P

where

P = Ke
u

+ e I +

K I = edt + I 0 Ti de D = KTd dt

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When is PI control sufficient?

The control is adequate for all process where the dynamic are essentially of the first order. Another reason is that the high order process has been designed so that its operation does not require tight control.

When is PI control sufficient?

Similarly, PID control is sufficient for processes where the dominant dynamics are of the second order. With a derivative action, improved damping is provided, hence, a higher proportional gain (K) can be used to speed up the transient response.

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EEE373 Electric Motor Drive

Lecture 6
Asst. Prof. Dr. Mongkol Konghirun EE, KMUTT

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