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Outline
Project Objectives
What is Adaptive Control?
Definition of Adaptive Backstepping
Advantages of Using a Adaptive Backstepping Controller
Problem Formulation
Design Procedures
Project Work Summary
Project Objectives
Track the speed of an induction motor to a desired reference trajectory under timevarying load torque for an electric vehicle
Robust control of an electric vehicle induction motor under varying changes in the
motor parameters.
Learning Mechanisms
(Parameter Adaptation)
Coordination
Mechanisms
Robust
Feedback
r (t)
Adjustable
Model Compensation
x
Plant
What is Backstepping?
x= f x +
=u
V = 1 x2
2
des = x , V 0
f (x)
z = - des
u
Va = 1 x 2 + 1 z 2
2
2
u = c x
Va
x, = State Variables
z = Virtual State
(x) = Virtual Control
u = plant input
f ' (x)
Both the stability properties and control law can be ensured in this same step
The Control Law can be obtained in steps no greater than the order of the system
Problem Formulation
Flux
Command
+-
ids
Vds
Flux
Controller
ref
iqs
ref
Vqs
Speed
Controller
+Speed
Command
ids
iqs
Vds , Vqs =
i a , ib , i c
Va , Vb , Vc =
Vqs
Va
Space
Vector
Modulation
Vb
Power
Stage
Vc
sin
ia
ib
ic
Rotating
Stator
Frame to
Stationary
Stator Frame
Conversion
cos
Where
*
Vds
Flux
Estimator
IM
Time
varying Load
Torque
Design Procedure
Modeling-:
The equations representing the dynamics of motion of the Induction Motor is
derived in the three phase, stationary and rotating stator frame co-ordinates and
analyzed for the application of Adaptive Backstepping procedure.
Controller Design-:
Flux Controller-:
An Observer Backstepping Flux Controller is designed using flux observers to make
the estimated flux track a desired reference trajectory to ensure that sufficient torque
is delivered to Load
Speed Controller-:
An Adaptive Backstepping Speed Controller is designed to make the measured
speed of the motor track a desired reference trajectory under varying Load Torque
Conditions
Simulation-:
The adaptive controllers designed are simulated in the Simulink environment to
verify the results
Design ProcedureContinued
Hardware Implementation-:
The Adaptive Controllers developed are verified in real time using an Induction
Motor tied to a varying load. The results are observed and conclusions made
Model the Induction Motor in the stationary and rotating stator frames so that Vector
Control can be applied to develop a speed controller as well as a flux contoller
Apply adaptive backstepping procedure to develop a speed controller for the motor
speed to track a desired reference speed under time varying load conditions
Design flux observers to estimate the flux and design an observer based
backstepping controller for the flux to track a desired reference trajectory so that
sufficient torque can be supplied to the Load
Develop a modular design in Simulink environment for the motor models, observer
models, controller models, and etc for simulation