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Internal model control of induction motors based on extended state observer

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Abstract

The conventional internal model control (IMC) has been used widely due to its advantages of less computational burden and simple implementation. Since the internal model controller has a fixed filter, disturbances created by mismatched models, parameter variations and other unstructured dynamic uncertainties in induction motors (IMs) cannot be eliminated by a fixed IMC. To solve these problems, the control strategy of an induction motor using internal model control with an extended state observer (IMC-ESO) was proposed. IM parameter variations and other unstructured dynamic uncertainties are considered in IM drives. Based on this model, an ESO is defined as a hypothetical equivocal function. Then the estimated disturbance is applied as a feed-forward compensation to accurately control the current loop. Since the designed ESO works concurrently with IMC, the fast dynamic response of the IMC is maintained. The feasibility and validity of the proposed method are validated by experimental results.

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Abbreviations

α, β :

Stationary reference frame axes

d, q :

Rotary reference frame axes

isα, isβ :

α-axis and β-axis stator currents, A

isd, isq :

d-axis and q-axis stator currents, A

iu, iv, iw :

a-axis, b-axis and c-axis stator currents, A

usα, usβ :

α-axis and β-axis stator voltages, V

usd, usq :

d-axis and q-axis stator voltages, V

Lm, Ls,Lr :

Mutual inductance, stator inductance and rotor inductance, H

ωf, ωs :

Slip frequency and synchronous angular velocity, rad/s

n :

Angular rotor speed, r/min

u, v, w :

Three-phase reference frame axes

0*:

Reference quantity

σ :

(= 1 − (L2m/LsLr)) Total leakage coefficient

θ :

Rotor position, rad

Rs, Rr :

Stator and rotor resistances, Ω

T r :

(= Lr/Rr) Rotor time constant

U dc :

DC link voltage, V

T L :

Load torque, N m

εd, εq :

Unstructured uncertainties

U N :

Rated voltage, V

P N :

Rated power, kW

I N :

Rated current, A

f N :

Rated frequency, Hz

δd, δq :

Disturbances caused by parameter variations and other unmodeled dynamics uncertainties.

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Authors and Affiliations

  1. Department of Electrical Engineering, Xi’an University of Technology, Xi’an, China

    Jing Liu, Zhonggang Yin, Cong Bai & Na Du

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  1. Jing Liu
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  2. Zhonggang Yin
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Correspondence to Zhonggang Yin.

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Liu, J., Yin, Z., Bai, C. et al. Internal model control of induction motors based on extended state observer. J. Power Electron. 20, 163–175 (2020). https://doi.org/10.1007/s43236-019-00025-2

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  • DOI: https://doi.org/10.1007/s43236-019-00025-2

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