ARTICLE | doi:10.20944/preprints202210.0298.v1
Subject: Engineering, Control & Systems Engineering Keywords: Sensorless FOC; IPMSM; backstepping control; EKF
Online: 20 October 2022 (07:01:34 CEST)
The collector and brushless electronic commutation machines based on the working principle of the direct current machines have been widely used in industrial applications through the help of the developments in power electronics, microelectronics, permanent magnets, microprocessors&control, digital signal processing technologies, etc. Internal permanent magnet synchronous motors (IPMSMs) are used in increasing numbers due to their advantages such as high torque/current and torque/inertia, robust construction, high efficiency, reliability, etc. The problems brought by position sensors, especially in terms of application, performance, mass production, and cost, have made sensorless control a necessity in drive systems and applications.This paper presents a backstepping control method for speed sensorless IPMSM based on an extended Kalman filter (EKF). First, a comprehensive nonlinear dynamical model of the IPMSM in the direct and quadrature ( ) rotor frame is derived and its state-space representation is obtained. Then, the rotor speed and current tracking backstepping controllers are designed to achieve precise tracking and anti-disturbance performance. The designed controllers are embedded into the field-oriented control (FOC) scheme. The asymptotic stability condition for the backstepping controller is guaranteed through the Lyapunov stability theorem. Finally, An EKF is designed for estimating the immeasurable mechanical parameters of IPMSM and tracking the system states in a finite time with high steady-state precision. The effectiveness of the proposed methodology is proved by conducting simulations having various dynamic operating conditions such as sudden torque load change, command speed change, and parameter variation.
ARTICLE | doi:10.20944/preprints201801.0077.v1
Subject: Engineering, Electrical & Electronic Engineering Keywords: UAVs sensor fusion; EKF; real data analysis; system design
Online: 9 January 2018 (07:47:45 CET)
This paper presents a methodology to design sensor fusion parameters using real performance indicators of navigation in UAVs based on PixHawk flight controller and peripherals. This methodology and the selected performance indicators allows to find the best parameters for the fusion system of a determined configuration of sensors and a predefined real mission. The selected real platform is described with stress on available sensors and data processing software, and the experimental methodology is proposed to characterize sensor data fusion output and determine the best choice of parameters using quality measurements of tracking output with performance metrics not requiring ground truth.
ARTICLE | doi:10.20944/preprints202101.0015.v1
Subject: Engineering, Automotive Engineering Keywords: Autonomous Vehicle; Dual-rate control; Dual-rate EKF; MPC; LPV model
Online: 4 January 2021 (11:28:07 CET)
In this contribution, different lane-keeping control strategies for Autonomous Ground Vehicles (AGV) have been analyzed and compared. The AGV must be oriented and kept within a given reference path using the front wheel steering angle as the control action for a specific longitudinal velocity. While non-linear models can describe the lateral dynamics of the vehicle in an accurate manner, they might lead to difficulties when computing some real-time control laws such as Model Predictive Control (MPC). Linear Parameter Varying (LPV) models can provide a trade-off between computational complexity and model accuracy. Another way to reduce computational complexity is to explore other control strategies, for example, the one based on the Inverse Kinematic Bicycle model (IKIBI). Additionally, AGV sensors typically work at different measurement acquisition frequencies so that Kalman Filters (KF) are usually needed for sensor fusion. If these frequencies are slower than the actuation rate, a multi-rate KF may be needed. The two control strategies (MPC using a LPV model and IKIBI) have been compared in simulations over a circuit path in the presence of process and measurement Gaussian noise. The MPC controller has shown to provide a more accurate lane-keeping behavior than an IKIBI control strategy. Finally, it has been seen that Dual-Rate Extended Kalman Filters (DREKF) constitute an essential tool when only slow and noisy sensor feedback is available in an AGV lane-keeping application.