This paper investigates the application of a novel Model Predictive Control structure for the drive system with an induction motor. The proposed controller has a cascade-free structure that consists of a vector of electromagnetics (torque, flux) and mechanical (speed) states of the system. The long-horizon version of the MPC is investigated in the paper. In order to reduce the computational complexity of the algorithm, an explicit version is applied. The influence of different factors (length of the control and predictive horizon, values of weights) on the performance of the drive system is investigated. The effectiveness of the proposed approach is validated by some experimental tests.
Cells of a prototype powered wheelchair can be designed in various connections to provide different supply voltages which has impact on the efficiency of other wheelchair drive elements. The impact of cell configuration and resulting battery voltage on overall efficiency of power elements have been studied to determine the optimal configuration and voltage of the pack. A brief description of a battery energy storage system was given, and main requirements and variables were introduced to reveal the flexibility of the battery design. The efficiency versus supply voltage plots of a drive converter and battery charger were presented and discussed to find the optimal battery voltage. The motor design was analyzed from the fill factor perspective. The calculated efficiency parameters of all drive power elements were used to discuss and select an optimal battery cell configuration.
Accurate information on Induction Motor (IM) speed is essential for robust operation of vector controlled IM drives. Simultaneous estimation of speed provides redundancy in motor drives and enables their operation in case of a speed sensor failure. Furthermore, speed estimation can replace its direct measurement for low-cost IM drives or drives operated in difficult environmental conditions. During torque transients when slip frequency is not controlled within the set range of values, the rotor electromagnetic time constant varies due to the rotor deep-bar effect. The model-based schemes for IM speed estimation are inherently more or less sensitive to variability of IM electromagnetic parameters. This paper presents the study on robustness improvement of the Model Reference Adaptive System (MRAS) based speed estimator to variability of IM electromagnetic parameters resulting from the rotor deep-bar effect. The proposed modification of the MRAS-based speed estimator builds on the use of the rotor flux voltage-current model as the adjustable model. The verification of the analyzed configurations of the MRAS-based speed estimator was performed in the slip frequency range corresponding to the IM load adjustment range up to 1.30 of the stator rated current. This was done for a rigorous and reliable assessment of estimators’ robustness to rotor electromagnetic parameter variability resulting from the rotor deep-bar effect. The theoretical reasoning is supported by the results of experimental tests which confirm the improved operation accuracy and reliability of the proposed speed estimator configuration under the considered working conditions in comparison to the classical MRAS-based speed estimator.
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