Research Activities of Electric Machinery and Control ...linfj/PDF/lab_intro_20160112.pdfDrive and Control of Wind Turbine System Electric Machinery and Control Lab, Department of

Research Activities of Electric Machinery

and Control Laboratory

Adviser：Chair Professor Faa-Jeng Lin

Department of Electrical Engineering

National Central University

2016-01-07

Electric Machinery and Control Lab, Department of Electrical Engineering, National Central University, Taiwan.

1

Drive and Control of Wind Turbine System


Areas of Research

• Intelligent control systems including fuzzy, neural network and

GA

• Ultrasonic, synchronous and induction motor servo drives

(rotating and linear)

• Magnetic levitation

• Piezoceramic actuator

• Induction generator system

• Nonlinear and adaptive control

• Power electronics

• Renewable Energy

• Microgrid

• DSP-based computer control systems and computer interface

• Digital and analog circuits, VHDL, Spice

2



3

Experimental Equipments

DSP+CPLD

FPGA Toggle

5



4

Linear Induction

Motor

Five Degree-of-Freedom Active

Magnetic Bearing Control System

Magnetic Levitation

System

Two-Axis Motion

Control System


6



5

Three-Phase Induction

Motor Drive

Linear Permanent Magnet

Synchronous Motor DriveHigh-Efficiency Permanent Magnet

Synchronous Motor Drive

Linear Induction

Motor Drive


7



6

Three-Axis Stage with Linear

Ultrasonic Motors

Permanent Magnet Synchronous

Wind-Turbine Generator

Gantry Position Stage DSP28335 Based BLDC

Motor Drive System


8



7


Permanent Magnet Synchronous Motor

Drive System for Light Electric Vehicle

Sensorless Drive System for PMSM Compressor

PV Converter and Inverter

with LVRT

9



8

Three-Phase Induction

Motor Drive


Wind Turbine Emulator and Induction

Generator

Inverter System for Microgird Electric Power Steering Emulator

Converter and Inverter for WTG

10



9


Dynamic Signal Analyzer

Precision LCR Meter

Programmable AC Power Sources

Digital Oscilloscope

11



10


DC Electronic Loads

Digital Oscilloscope (400MHz)

DC Power Supply (200V/25A)

Programmable AC Power Sources

12



11


PV Emulator

Three-Phase Power Analyzer

Programable 3-phase Power Source

13



12

System configuration of indirect field-oriented control LIM servo drive

Digital Filter

and

Differentiator

Rectifier

3-phase

220V

60Hz

-

L+

C

++

PWM

Inverter

Ramp Comparison

Current Control

Coordinate

Translator

SIN/COS

Generator

-

+

-

Position

Loop

Controller

Limiter

v

h

*

*

ds

qs

i

i

+Secondary

Time-Constant

Estimator

LIM

Speed

Loop

Controller

rTecosesin

aVbV

aT bT cT

ai

bi

d

v

ee

ev

slv

vnp

pn

*

ai*

bi*

ci

*

qsi

*

dsi*

dr

*v

d

*d

r

m

r

TL

drTs *1 )(

rT

Research Achievements

Recurrent-Fuzzy-Neural-Network Control Linear Induction Motor Servo Drive Using Genetic Algorithm

14



13

d

md

_

Recurrent Fuzzy

Neural Network

Controller

*qsi

me

Reference

Model

*d

LIM Drive System

FKDMs

1

s

1

+

_

dvFe

)(sH p

LF

Delta

Adaptation

Law

oiijijko w,,m,w 4

Genetic

Algorithms

rmw ,,,

dtd mpe

mpe

me

me

mpe

+

Control block of LIM servo drive with GA-based RFNN controller

Recurrent-Fuzzy-Neural-Network Control Linear Induction Motor Servo Drive Using Genetic Algorithm


15



14

Control block of FPGA-based LIM servo drive

Fuzzy Sliding-Mode Control Linear Induction Motor Drive Using FPGA

bi

LIM

encoder

rectifier

3-phase

220V

60Hz

L

C-

+

PWM

inverter

ramp

comparison

current

control

ai

aT bT cT

*

ai*

bi*

ci

encoder

signal

command

generatorfuzzy inference

mechanism

encoder

interface

24 MHz

CLK

D/A

converter

data & D/A

control signal

*

qsi

*

dsi

FPGA

timing control

integral switching

surface

sliding-mode

position controller

generator

1x

2x

1x

2x

S

S

fK

field-oriented control system

v co-ordinate

translator

&

generator

)sin( e )cos( e

egenerator

fuzzy sliding-mode control& generator

data & D/A

controller

*

ai

*

bi

*

ci

1x

1x 2x

12

1212

12

12

12

12

12

1212

12

12

2

12


16



15

Robust Fuzzy-Neural-Network Sliding-Mode Control for Two-Axis Motion Control System

DSP-based two-axis motion control system

Linear Scale

&

Hall Sensor

X-Axis Motor

Drive

X-Y Table Using PMLSMs

axibxicxi

ayi

byi

cyi

DSP-Based Control Computer

D/A

Converter

1 2 3A4 5 6B7 8 9C* 0B# FD

1 2 3A4 5 6B7 8 9C* 0B# FD

LCD

Flash

EPROM

TMS

320C32

Parallel

Port

Encoder

Interface

axi

bxi

cxi

ayi

byi

cyi

Y-Axis Motor

DriveY-Axis

PMLSM

X-Axis

PMLSM

Linear Scale

&

Hall Sensor


17



16

Robust Fuzzy-Neural-Network Sliding-Mode Control for Two-Axis Motion Control System

RFNN sliding-mode control system

Reference

Model

Auxiliary

Controller

)(tU

d

Adaptation

Laws

Robust

Controller

Field-Oriented Control

PMLSM Servo Drive

Sliding

Surface

dt

d

eFuzzy

Neural Network

Estimator

Adaptive

Uncertainty

Estimation

mdd +

-

+

-

+

S

FNNW

)(tu

rU

RFNN Sliding-Mode Control System

)(ˆ tH

smW ˆ ,ˆ ,ˆ smW ˆ ,ˆ ,ˆ

ddt

d e


18



17

Frequency Control Induction Generator System Using Recurrent-Fuzzy-Neural-Network

Control block of induction generator system with RFNN control

aT

bT cT

aT

bT cT

dci

dcC

ai

bi

pL

aT

bT cT

aT

bT cT

uu vi ,

vv vi ,

ww vi ,

viui

ci

ai

bi

Load

aT bT cT

*ui

*wi

*vi

aT bT cT

*ai

*ci

*bi

e

sl

e

r

r

*qsi

dcPRFNN

*outP

dcvdci*dsi

*qsi

RFNN *

dcP

3

*

uvv

Isolation and

Drive Circuits

Coordinate

Transformation

PMSM IG

converter

*dsi

Fuzzy

Modeling

*dsi

uvv

Isolation and

Drive Circuits

Current Control

Circuits

Current Control

Circuits

Coordinate

Transformation

iT

i

dsr

qs

dtd

dcv

*

abv


19



18

Frequency Control Induction Generator System Using Recurrent-Fuzzy-Neural-Network

Structure of four-layer RFNN

rule

layer

membership

layer

input

layeri

k

o

w jk3

wko4

yi1

y j2

yk3

yo4

xi

1

oiw

z1

oiw

z1

output

layer

j


20



19

Synchronous Motor Drive System Using DSP and CPLD

System configuration of field-oriented control PMSM servo drive

Inverter

PWM1

PWM2

PWM3

PWM4PWM5PWM6

ai

bi

ci

dsi

qsi

U

V

W

*

aV

*

bV

*

cV

*

dsi

*

qsi

Encoder

Interface

Circuit

u,v,w

a,b,z

Encoder &

Hall Signal

Detector

Rotor Initial

Angle Detector

WSiUSi

r

e

h

DSP TMS320

LF2407

r

*

r

Rectifier

CPLD ALTERA

10K100ARC240-1

Speed

Loop

Controller

+

PI

PI

*

qsV

*

dsV0

-

-

+

-

+

+

-

3-phase

220V

60Hz

SIN/COS

Generator

A/D

A/D

32

23

SPWM

Current

Process

Circuit

Filter

Circuit


21



20

Synchronous Motor Drive System Using DSP and CPLD

System block of PMSM servo drive

Encoder

Rectifier

3-phase

220V

60Hz-

L+

CPMSM

Protection

Circuit

Filter & Encoder

Interface Circuits

IGBT

Motor Driver Board

LED

A/D

Altera 10K100A

CPLD Control Board

DSP-

TMS320LF2407

DSK Control Board

RS-232

Byte Blaster

Bus

Bus

U

VW

DIP

Hall

Encoder


22



21

X-Y-θ Motion Control Stage Using Linear Ultrasonic Motors

System block of X-Y-θ motion control stage

Motor Drives

Pentium 4 Memory

Interface


LUSM

EncoderX

*

xV

YX

PC

EncoderY

Encoder

*

yV*

V

LUSM

LUSM`

YX

X-Axis

Y-axis

Ө-Axis

Servo Control Cards 3

EncoderI/OADC

Motor Drives

Pentium 4 Memory

Interface


LUSM

EncoderX

*

xV

YX

PC

EncoderY

Encoder

*

yV*

V

LUSM

LUSM`

YX

X-Axis

Y-axis

Ө-Axis

Servo Control Cards 3

EncoderI/OADC


23



22

X-Y-θ Motion Control Stage Using Linear Ultrasonic Motors

Robust SAFNN backstepping control system

TU dmd

+

_

)(1 tz )(2 tz

)(1 tz

md

v

Stabilizing

Function &)(2 tz

Single-axis Motion Mechanism

Using LUSM Drive

dt

d

dt

d

Nominal Model

Design

hU

nU

d

md

+

v

SAFNN

Adaptation

Law

Γ

Compensator &

Adaptation Law

+

)(1 tz

)(2 tz

)(2 tz

W

rU

)(1 tz

-


24



23

Magnetic Levitation System Using DSP

System block of magnetic levitation apparatus


25



24

Intelligent sliding-mode control system using a radial basis function network (SMCRBFN)

Sliding

Surface

dt

dmx

+

-

rx

Input /

Output

Electronics

Electro-

Mechanical

Plant

Magnetic Levitation System

SMCRBFN

Update Law

e

. . . .. . .

dt

d

FE ˆ ,ˆ

)ˆ(ˆ FeP)ˆ(ˆ EeK

)(tS )(tU rx

RBFN

Compensated

Controller

)(tUc

)(tU s

+

+

Magnetic Levitation System Using DSP


26



25

F.A.M.B. Drives

Motion Control Cards

Pentium 4 Memory

ADCI/ODAC

Interface


*

rxV

PC

yr

zllrr yxyx ,,,,

xrxlyl z

rxFryFzF

lxFlyF

*

ryV*

lxV*

lyV*

zV

zllrr yxyx ,,,,

Inverter

Induction Motor

z

y

x

Position Sensor

Axial Bearing

Left Radial Bearing Right Radial Bearing

Axial Disk

F.A.M.B. Drives

Motion Control Cards

Pentium 4 Memory

ADCI/ODAC

Interface


*

rxV

PC

yr

zllrr yxyx ,,,,

xrxlyl z

rxFryFzF

lxFlyF

*

ryV*

lxV*

lyV*

zV

zllrr yxyx ,,,,

Inverter

Induction Motor

z

y

x

Position Sensor

Axial Bearing

Left Radial Bearing Right Radial Bearing

Axial Disk

Five degree-of-freedom active magnetic bearing system using PC

System block of five degree-of-freedom active magnetic bearing


27



26

mz

1e

e Integral

Sliding Surface

(30)

dt

d

z

z

βα ˆ,ˆ

Complementary

Sliding Surface

(32)

cs

p q

Adaptive Laws

(48) & (49)

MIMO RHNN

Estimator

(43)

)ˆ|(ˆ αeP )ˆ|(ˆ βeQ

TAMB System

(22) eU

cU

rU

ACSMCU

2

dt

d

dt

d

Compensator

(44)

qp ˆ,ˆ

e

e

ACSMC System

gsRobust

Controller

(45)

. .

RHNN

Estimation Laws

(46) & (47)

mz

1e

e Integral

Sliding Surface

(30)

dt

d

dt

d

z

z

βα ˆ,ˆ

Complementary

Sliding Surface

(32)

cs

p q

Adaptive Laws

(48) & (49)

MIMO RHNN

Estimator

(43)

)ˆ|(ˆ αeP )ˆ|(ˆ βeQ

TAMB System

(22) eU

cU

rU

ACSMCU

2

dt

d2

dt

d

dt

d

dt

d

Compensator

(44)

qp ˆ,ˆ

e

e

ACSMC System

gsRobust

Controller

(45)

. .

RHNN

Estimation Laws

(46) & (47)

Adaptive complementary sliding-mode control system using Hermite neural network

Five degree-of-freedom active magnetic bearing system using PC


28



27

Y1-axis PMLSM

Y2-axis PMLSM

X-axis PMLSM

qsxiX-axis motor drive

Y1-axis motor drive

2qsyi

1qsyiD/A

converter

flash

EPROM

TMS

320VC33

parallel

port

encoder

interface

DSP-based control

computer

Linear Scale

Y2-axis motor drive

Linear Scale

Linear Scale

Y1-axis PMLSM

Y2-axis PMLSM

X-axis PMLSM

qsxiX-axis motor driveX-axis motor drive

Y1-axis motor driveY1-axis motor drive

2qsyi

1qsyiD/A

converter

flash

EPROM

TMS

320VC33

parallel

port

encoder

interface

D/A

converter

flash

EPROM

TMS

320VC33

parallel

port

encoder

interface

DSP-based control

computer

Linear Scale

Y2-axis motor drive

Linear Scale

Linear Scale

Gantry position stage using DSP


System block of gantry position stage29



28

Gantry position stage using DSP


iu_ 1yd

2ydmd

Dual Linear Motors Servo System

T

E

dt

d Ξ

dt

d *E

β

1ye

2yeE

E

Ξ

Ξ

*E

CSMCSFNN

niA

+

+ +CSMCSFNNi

u

+

_

+

+

1

niB

dt

d

td

d2

2

dt

d

iλ

dt

d

iλ

+

2

Riu

Robust

Controller (32)

Adaption Laws

(33)-(36)&(37)

T

T

T

T

T

T

T

T

T

T

T

T

T

T

T

T

+

_

_+

id

md

id

iS

*

ie2

*

iieλ

md

Cii SS

iλ

*

ie

*

ie

*

ie

iH

Cross-Coupled Position

Tracking Error

*

ie

+

Sliding Surfaces

(16)&(18)

iu_ 1yd

2yd

1yd

2ydmd

Dual Linear Motors Servo SystemDual Linear Motors Servo System

T

E

dt

d

dt

d ΞΞ

dt

d

dt

d *E

β

1ye

2yeE

E

Ξ

Ξ

*E

CSMCSFNN

niAniA

+

+ +CSMCSFNNi

u

+

_

+

+

1

niB1

niB

dt

d

dt

d

td

d2

2

td

d2

2

dt

d

dt

d

iλiλ

dt

d

dt

d

iλiλ

+

2

Riu

Robust

Controller (32)

Adaption Laws

(33)-(36)&(37)

T

T

T

T

T

T

T

T

T

T

T

T

T

T

T

T

T

T

T

T

T

T

T

T

T

T

T

T

T

T

T

T

+

_

_+

id

md

id

iS

*

ie2

*

iieλ

md

Cii SS

iλ

*

ie

*

ie

*

ie

iH

Cross-Coupled Position

Tracking Error

*

ie

+

Sliding Surfaces

(16)&(18)

Cross-coupled synchronous control using Sugeno type fuzzy neural network estimator 30



29

va,vb,ia,ib

IPM

膨

脹

閥

冷凝器

冷凝

高溫高壓高溫高壓

蒸汽液體

蒸發器低溫低壓

蒸汽

低溫低壓

液體

壓

縮

機

出風口與蒸發器入口溫度、膨脹閥兩側壓力與溫度

Microchip

dsPIC30F4011

16bit

Ta+ Tb+ Tc+

Ta- Tb- Tc-

uvw

室內機

室外機

Drive circuit

Protection circuit

Drive circuit

Vdc

蒸發器出口

溫度

膨脹閥出口溫度

+

-

PWM

+

-

va,vb,ia,ib

IPM

膨

脹

閥

冷凝器

冷凝

高溫高壓高溫高壓

蒸汽液體

蒸發器低溫低壓

蒸汽

低溫低壓

液體

壓

縮

機

出風口與蒸發器入口溫度、膨脹閥兩側壓力與溫度

Microchip

dsPIC30F4011

16bit

Ta+ Tb+ Tc+

Ta- Tb- Tc-

uvw

室內機

室外機

Drive circuit

Protection circuit

Drive circuit

Vdc

蒸發器出口

溫度

膨脹閥出口溫度

+

-

PWM

+

-

System block of sensorless drive system for PMSM compressor

Sensorless drive system for PMSM compressor using dsPIC


31



30

Sensorless drive system for PMSM compressor using dsPIC

Control block of high frequency signal injection method


Speed

Controller

Current

Controlleriqs*

ids*

=0

High Frequency

Voltage Injection

+

+vd*

vq*

SPWM

Voltage

Source

Inverter

+ Vdc -

PMSM

abc

LPF

LPF

Signal Processing

And

Rotor Speed / Flux angle

Estimater

wre*

wre

θre

^

θre

^

dq

dq

abc^

Speed

Controller

Current

Controlleriqs*

ids*

=0ids*

=0

High Frequency

Voltage Injection

+

+vd*

vq*

SPWM

Voltage

Source

Inverter

+ Vdc -

PMSM

abc

LPF

LPF

Signal Processing

And

Rotor Speed / Flux angle

Estimater

wre*

wre

θre

^θre

^

θre

^θre

^

dq

dq

abc^

32



31

System block of mother-board type intelligent light electric vehicle


33



Intelligent control PV system using PWFNN with LVRT under grid fault

DC

SPWMPWM

Limiter

DC

DC

AC

PV

PI

Controller

Current

Controller

PC-based

+

-

pvV

*

pvV

pvVpvI

pvV

dcV

*

ai*

bi*

ci

ai

bi

ci

convconav

conbv concv

abv

L

dcCpvC

SSR

Power

Calculation

and

PLL

-+

dq / abc

Limiter

PWFNN

Controller

*

dcV

dcV

*

qi*

di

eθ

cibiai

abv

bcv

cav

-+

Limiter

PWFNN

Controller

*Q

Q

Mode I/ Mode II

3-Phase

Grid

100

abv

bcv

cav

P

Mode

Grid

Fault

Control

0 Grid Fault Signal

bcv

cav

Y

Y - ∆

110/220

1: 2 3

32





Layer 2

(Membership Layer)

Layer 6

(Output Layer)

Layer 3

(Probabilistic Layer)

Layer 4

(Wavelet Layer)

Layer 5

(Rule Layer)

Layer 1

(Input Layer)

11P

1 59

12P 13P 61P 62P 63P

1x2x

2

1y 2

2y 2

3y 2

4y 2

5y 2

6y

1

Iy 5

Iy 9

Iy

1

Oy 5

Oy9

Oy

6

oy

1

1y1

2y

11 2115

25 1929

6

1w 6

5w 6

9w

4

11w 4

21w 4

15w 4

25w4

19w 4

29w

41P42P

43P

5

11w 5

41w5

25w

5

69w5

55w 5

39w

Network structure of probabilistic wavelet fuzzy neural network (PWFNN)

33




34

Fault tolerant control led six-phase PMSM drive system using TSKFNN-AMF control



k

kkoq NyNwNyi )()()( 455*

)()()( 34 NTNyNy kkk

j

jjkk ywNy 233 )(

i

iikk NxNcNT )()()(

)(,))((

)(,))((

)(1

2

21

1

2

21

2

NymmNy

mNymNy

Nnet

ij

rj

ji

ji

lj

ji

j

))(exp()( 22 NnetNy jj

35Research Achievements

TSK type FNN with asymmetric membership function

)()(1 NxNy ii

Layer 1

(Input Layer)

Layer 2

(Membership Layer)

Layer 4

(Consequent Layer)

Layer 5

(Output Layer)

Layer 3

(Rule Layer and

TSK Type Fuzzy

Inference

Mechanism)

…

5*

oq yi

2

1y

3

1y 3

2y 3

9y

…

1x 2x

4

9y4

2y4

1y

5

1w 5

2w5

9w

11c 21c 12c 22c 19c 29c

...

...

1T 2T9T

1

1y1

2y

2

2y 2

3y 2

4y2

5y 2

6y

3

11w 3

22w 3

41w3

52w

3

39w3

59w

3

33w 3

63w

5

3w4

3y

3

3y

13c 23c

3T

2

jy

1

iy

1

iy

0

1

ljσ rjσ

jm

)( 12

ij yy

37



1.微電網介紹

38


Micorgird system including storage, PV, WTG and islanding detection using intelligent control



dci

aT

aT

bT

bT

cT

cT

dcV

Lf

VSI

110V/220V

e

*P

P

PI/

TSKPFN

N-AMF

0* Q

Q

ui

vi

wi

uV

vV

wV

Power

Caculating and

PLL Units

*

qi*

di

Storage

System

*

ui *

vi *

wi

Current Control

and Drive

Circuits

ui

vi

aT bT cT

dq/abc

R load2, 4kW

PI/

TSKPFN

N-AMF

Utility System

Microgri

d

S1

39


Intelligent control micorgird

system at grid connection mode



dci

dcV

L

Microgrid

f

VSI

110V/220V

e

*

uV

uV

*f

f

ui

vi

wi

uV

vV

wV

PLL Unit

*

qi*

di

*

ui *

vi *

wi

ui

vi

aT

bT

cT

dq/abc

aT

aT

bT

bT

cT

cT

1/s

R load2, 4kW

PI/

TSKPFNN-

AMF

PI/

TSKPFNN-

AMF

Current Control

and Drive Circuits

Utility System

Storage

System

S1

40


Intelligent control micorgird

system at islanding mode

Documents

Research Activities of Electric Machinery and Control ...linfj/PDF/lab_intro_20160112.pdfDrive and Control of Wind Turbine System Electric Machinery and Control Lab, Department of