The implementation of automated systems in manufacturing industries increases efficiency, precision, and safety by reducing human intervention, errors, and waste. Variable loads can cause several problems for automation systems. One of the most significant challenges is maintaining the stability and precision of the production process despite changing load conditions. These variable loads can lead to unstable systems or failures, causing an increase in errors, reduced efficiency, and lower product quality. It is essential to design control systems that can adapt to changing load conditions and maintain stable and precise operation under all circumstances. To address this problem, this thesis presents an adaptive controller based on load identification and gain scheduling, to replace the standard FOC consisting of regular PI-controllers. The load estimator is used to estimate the external load with relatively small RMSD values, while the ain scheduler adjusts the controller gains based on the estimated load. Other controllers are also explored, such as an angular velocity error-based adaptive controller. The results shows that both proposed controllers perform better than the standard controller when the system is subject to variable external loads, however, the load estimator paired with the gain scheduled PI-controller performs best. / Automatiseringen, inom framförallt tillverkningsindustrin, ökar effektivitet, precision och säkerheten genom att minska den mänskliga faktorn, fel och kassationer. System som utsätts för variabel belastning kan orsaka flera olika problem för automationssystem. En av de största utmaningarna är att bibehålla stabilitet och precision i produktionsprocessen trots förändrade belastningsförhållanden. Dessa variabla belastningar kan leda till instabila system eller fel, vilket ökar felmängden, minskar effektiviteten och sänker produktkvaliteten. Därför är det viktigt att utforma styrsystem som kan anpassa sig till förändrade lastförhållanden och samtidigt upprätthålla stabil och precis drift under oavsett förutsättningar. För att lösa detta problem presenterar denna avhandling en adaptiv regulator baserad på lastidentifiering och gain-scheduling, för att ersätta den vanliga FOC som består av klassiska PI-regulatorer. Lastestimatorn används för att uppskatta den externa lasten med ett relativt litet RMSD, medan gain-scheduling justerar regulatorns förstärkning baserat på den uppskattade belastningen. Andra regulatorer utforskas också, såsom en adaptiv regulator baserad på fel i vinkelhastighet. Resultaten visar att båda föreslagna regulatorer presterar bättre än standardregulatorn när systemet utsätts för variabla externa belastningar, men att lastestimatorn tillsammans med gainscheduled PI-regulatorer presterar bäst.

Nous proposons dans ces travaux, une solution aux problèmes de longue date posés par le control sans capteur d’une machine électrique. Cette solution consiste à élaborer un contrôleur asymptotiquement stable qui régule la vitesse du moteur en mesurant uniquement les coordonnées électriques. Nous l’avons appliqué à un moteur synchrone à aimant permanent non saillant, perturbé par un couple de charge constant non connu. Le schéma proposé est un observateur non linéaire d’ordre 4, basé sur le control qui ne dépend pas d’opérations non robustes intrinsèques au système, comme l’intégration de boucle ouverte à un système dynamique et ce schéma peut être facilement intégrée en temps réel. Le contrôleur est facile à commander par l’ajustement du gain qui détermine directement le taux de convergence de la position et de la vitesse et charge le couple d’observateurs. Les simulations et les résultats expérimentaux mettent en évidences les bonnes performances ainsi que la robustesse des paramètres d’incertitudes du schéma que nous proposons. La comparaison par simulation avec un contrôleur sans capteur à champ orienté présenté récemment dans la littérature, a également été effectuée. La thèse se termine par des remarques de conclusion et des propositions de sujet de recherche s’inscrivant dans la continuité de ces travaux. / A solution to the longstanding problem of sensorless control of an electrical machine is provided in this work. That is, the construction of an asymptotically stable controller that regulates the mechanical speed of the motor, measuring only the electrical coordinates. The result is presented for a non-salient permanent magnet synchronous motor perturbed by an unknown constant load torque. The proposed scheme is a fourth order nonlinear observer-based controller that does not rely on-intrinsically nonrobust-operations like open-loop integration of the systems dynamical model nor signal differentiation, and can be easily implemented in real time. The controller is easy to commission, with the tuning gains directly determining the convergence rates of the position, speed and load torque observers. Simulation and experimental results that illustrate the good performance, as well as the robustness to parameter uncertainty, of the scheme are presented. A simulated comparison with a sensorless field-oriented controller, recently proposed in the drives literature, is also carried out. The thesis is closed with some concluding remarks and some potential research topics generated from this work.

O presente trabalho trata do desenvolvimento de um sistema de controle vetorial para máquinas elétricas síncronas de ímã permanente (MSIP), com forma de onda da força contra eletromotriz (FCEM) não senoidal, sem a utilização de sensor de posição angular do eixo. O sistema de controle é desenvolvido utilizando a transformação não-senoidal dqx, que exige a todo instante o conhecimento da posição do rotor, assim aplica-se um estimador de posição baseado nas medidas elétricas e no modelo matemático da máquina elétrica utilizando o filtro de Kalman juntamente com PLLs. Abordam-se a modelagem matemática da máquina, as técnicas de controle sem sensor tradicionais e as abordagens de controle de alto desempenho sem o uso de sensor de posição. Mostra-se o sistema proposto bem como os resultados da sua aplicação em ambiente simulado e por meio de testes práticos em bancada, mostrando o comportamento dinâmico da máquina síncrona. / This work deals with the development of a vector control system for permanent magnet synchronous machines (PMSM), with non-sinusoidal back electromotive force (Back EMF) waveforms, widely known as the BLDC machine, without shaft angular position sensor. The control system is developed using the non-sinusoidal transformation dqx, which demands constant knowledge of the shaft\'s angular position. This way, a position estimator is applied, based solely on electrical measurements and the machines mathematical model applying the Kalman filter and PLLs. Thus, the machines mathematical modelling, and the sensorless control and estimation approaches are reviewed. The developed system is explained, along with the results obtained trough simulations and practical tests, demonstrating the dinamic behavior of the PMSM.

An existing solar-powered water pumping system located in Mutomo, Kenya has beenevaluated in this paper. The requirement for this system is to produce a minimum of25m³ water per day throughout the year.The aim of this thesis is to investigate theperformance of the currently installed system and find a suitable replacement in termsof efficiency and economic viability. In order to acquire the necessary knowledge forthis project, a literature study was carried out to analyse the research within the area.Three simulation models were created which all include an electric motor driven by aphotovoltaic array and are connected to a submersible groundwater pump. Allmodels utilise space vector pulse width modulation. One model of an inductionmotor that represents the currently installed system, one induction motor thatdelivers a minimum of 25 m³ water per day, and one model of a permanent magnetsynchronous motor for comparison. Simulations using weather data, representing anaverage day for each month of the year were carried out. It was shown that thecurrently installed system does not fulfil the requirement of producing 25 m³ waterper day, and in addition produces a significant amount of energy that can not beutilised. It was also shown that the efficiency of the permanent magnet synchronousmotor was superior to the induction motors. In order to compare the systems interms of economic viability, price quotations from world leading manufacturers wereacquired. The results of the economic comparison show that the superior efficiencyof the permanent magnet synchronous motor was not enough to compensate for thehigher investment cost.

O presente trabalho trata do desenvolvimento de um sistema de controle vetorial para máquinas elétricas síncronas de ímã permanente (MSIP), com forma de onda da força contra eletromotriz (FCEM) não senoidal, sem a utilização de sensor de posição angular do eixo. O sistema de controle é desenvolvido utilizando a transformação não-senoidal dqx, que exige a todo instante o conhecimento da posição do rotor, assim aplica-se um estimador de posição baseado nas medidas elétricas e no modelo matemático da máquina elétrica utilizando o filtro de Kalman juntamente com PLLs. Abordam-se a modelagem matemática da máquina, as técnicas de controle sem sensor tradicionais e as abordagens de controle de alto desempenho sem o uso de sensor de posição. Mostra-se o sistema proposto bem como os resultados da sua aplicação em ambiente simulado e por meio de testes práticos em bancada, mostrando o comportamento dinâmico da máquina síncrona. / This work deals with the development of a vector control system for permanent magnet synchronous machines (PMSM), with non-sinusoidal back electromotive force (Back EMF) waveforms, widely known as the BLDC machine, without shaft angular position sensor. The control system is developed using the non-sinusoidal transformation dqx, which demands constant knowledge of the shaft\'s angular position. This way, a position estimator is applied, based solely on electrical measurements and the machines mathematical model applying the Kalman filter and PLLs. Thus, the machines mathematical modelling, and the sensorless control and estimation approaches are reviewed. The developed system is explained, along with the results obtained trough simulations and practical tests, demonstrating the dinamic behavior of the PMSM.

Le LHC met en collision deux faisceaux de protons avec une énergie de 7 Tevchacun, entrainant ainsi un taux de particules d'environ 109 Hz. Le taux departicules est déterminé la production d'une coupe transversale, une constancenaturelle, la luminosité et un paramétre dépendant de l'accélérateurcapable de décrire les faisceaux de particules. La luminosité dépend dunombre de particules dans chaque faisceau linéairement et des dimensionstransversales du faisceau inversement. Elle augmente avec la densité dufaisceau de particules et en conséquence, la probabilité d'interactions estaccrue. Pour optimiser les tailles des faisceaux transversaux, on utilisedes dispositifs de contrle de pro_le, qui permettent de mesurer les changementsde paramétres dépendants. A l'intérieur du LHC, trois di_érentstypes de dispositifs de contrle des pro_les sont installés, savoir le WireScanner (WS), le Synchroton Light Monitor et le Rest Gas Pro_le Monitor.Le WS est considéré comme étant le plus précis de ces trois dispositifsde contrle et sert d'appareil de calibrage pour les deux autres. Ils'agit d'un appareil électromécanique qui mesure l'état de densité du faisceautransversale de faon intermittente. Lorsque le cble traverse le faisceau,l'interaction particule-matiére génére une cascade de particules secondaires.Ces derniers sont interceptés par un scintillateur, lequel est attaché un photo-multiplieur, et ce a_n de mesurer l'intensité de la lumiéreainsi produite. L'amplitude du signal lumineux est proportionnelle la densité de la portion de faisceau interceptée. L'acquisition de la position du_l et celle de l'intensité du signal sont synchronisées avec la fréquence dela révolution de particules puis sont combinées pour construire le pro_lede densité du faisceau transversal. Le WS est installé et mis en marchedans tous les accélérateurs circulaires du CERN sur une base réguliére / The LHC collides two protons beams with an energy of 7 TeV each resultingin a aimed total particle rate of about 109 Hz. The particle rateis determined by the production cross section, a natural constant and theluminosity accelerator dependent parameter describing the particle beams.The luminosity depends on the number of particles in each beam linearlyand on the transverse dimensions of the particle beam inversely. It increaseswith the particle beam density and therefore the probability of interactions.To optimize the transverse beams sizes, pro_le monitors are used to measureparameter depending changes. Within the LHC, three di_erent typesof pro_le monitors are installed: Wire scanner (WS), Synchrotron lightmonitor and Rest Gas Pro_le Monitor. The WS monitor is considered tobe the most accurate of these monitors and serves as a calibration devicefor the two others. The WS is an electro-mechanical device which measuresthe transverse beam density pro_le in an intermittent way. As the wirepasses through the beam, the particle-matter interaction generates a cascadeof secondary particles. These are intercepted by a scintillator, which isattached to a photomultiplier in order to measure the intensity of the lightthereby produced. The light signal amplitude is proportional to the densityof the intercepted beam portion. The acquisitions of the wire position andthe intensity signal are synchronized with the particle revolution frequencyand are combined to construct the transverse beam density pro_le. TheWS is installed and operated in all circular accelerators of CERN on a dailybasis.

No description available.

This report describes the work of developing a rapid prototyping system for Permanent Magnet Synchronous Motors using LabView FPGA at ABB Corporate Research in Västerås. The aim of the rapid prototyping system is to serve as an additional tool to simulation when evaluating new control algorithms for mechatronic applications. Using LabView FPGA, Field Oriented Control is implemented for a single axis and a multi axis system on the sbRIO 9632 development board from National Instruments. The aim is to develop a controller for multiple axes while optimizing the use of system resources. The report presents the work of testing and evaluating the implementation of the single axis system. The system will be tested in a laboratory test bench to verify its performance. The laboratory results are compared and verified against MATLAB/Simulink simulations of the system. Using the results from the single axis tests as a benchmark the multi axis system is verified and evaluated. The implemented systems proved to provide good regulation of the motor currents for both the single axis and the multi axis system.

A field-oriented control design and detailed analysis of a VSI-fed PMSM drive system with active load is done through simulations of the system model, using modern simulation software packages. A new control method for the speed tracking control based on the estimation of the load torque profile is proposed. A new, multilevel modeling approach for creating simulation models of power electronic circuits is developed for easier analysis and faster simulations. It is based on a modular approach wherein each module can be modeled at any level of complexity, while maintaining full compatibility of the modules. The new approach is applied to modeling of the VSI-fed PMSM drive system. The three-phase VSI-fed PMSM drive system model that is developed and experimentally verified is analyzed in the application of a starter/generator, where the load changes dynamically with motor speed. As a result, a detailed analysis of the field-oriented control design of a two stage cascade digital controller is presented, with an emphasis on the new method for the speed control, large-signal and small-signal analyses of several most popular flux-weakening strategies, and sampling delay effects on the system stability. / Master of Science

This diploma thesis is about using vector control (or field-oriented control) of synchronous BLDC and PMSM motors on FPGAs. First part describes basic theory of these motors and how to control them. Then vector control is detailed and its parts as (or Clarke) and Park transformation. Rest of the thesis deals with the design of universal controller with adjustable accuracy in VHDL language. Data is separated from computing part which utilizes custom arithmetic-logic unit. In the last part of the thesis the design is tested in simulator using model of PMSM motor.