Torque Ripple Minimization in Switched Reluctance Motor Using Passivity-Based Robust Adaptive Control

Authors: M.M. Namazi, S.M. Saghaiannejad, A. Rashidi

Abstract:

In this paper by using the port-controlled Hamiltonian (PCH) systems theory, a full-order nonlinear controlled model is first developed. Then a nonlinear passivity-based robust adaptive control (PBRAC) of switched reluctance motor in the presence of external disturbances for the purpose of torque ripple reduction and characteristic improvement is presented. The proposed controller design is separated into the inner loop and the outer loop controller. In the inner loop, passivity-based control is employed by using energy shaping techniques to produce the proper switching function. The outer loop control is employed by robust adaptive controller to determine the appropriate Torque command. It can also overcome the inherent nonlinear characteristics of the system and make the whole system robust to uncertainties and bounded disturbances. A 4KW 8/6 SRM with experimental characteristics that takes magnetic saturation into account is modeled, simulation results show that the proposed scheme has good performance and practical application prospects.

Keywords: Switched Reluctance Motor, Port HamiltonianSystem, Passivity-Based Control, Torque Ripple Minimization

Digital Object Identifier (DOI): doi.org/10.5281/zenodo.1072108

References:

[1] R. Krishnan, Switched Reluctance Motor Drives, Boca Raton, FL:CRC Press, 2001.
[2] T. S. Chuang, and C. Pollock, "Robust speed control of a switched reluctance vector drive using variable structure approach," IEEE Trans. on Industrial Electronics, vol. 44, no. 6, pp. 800-808, Dec. 1997.
[3] A. D. Cheok, and Z. Wang, "Fuzzy Logic Rotor Position Estimation Based Switched Reluctance Motor DSP Drive With Accuracy Enhancement," IEEE Trans. on Power Electronics, vol. 20, no. 4, pp. 908-921, July 2005.
[4] S. K. Panda and P. K. Dash, "Application of nonlinear control to switched reluctance motors: A feedback linearization approach," IEE Proc.-Electric Power App.s, vo1. 43, no. 5, pp. 371-379, Sept. 1996.
[5] B. Ge, X. Wang, P. Su, and J. Jiang, "Nonlinear internal-model control for switched reluctance drives," IEEE Trans. on Power Electronics, vol. 17, no. 3, pp. 379-388, May 2002.
[6] R. Ortega, A. van der Schaft, I. Mareels, and B. Maschke, "Putting energy back in control," IEEE Contr. Syst. Mag., vol. 21, no. 2, pp. 18- 33, Apr. 2001.
[7] G. Espinosa-Pe'rez, P. Maya-Ortiz, M. Velasco-Villa, and H. Sira- Ramírez, "Passivity-based control of switched reluctance motors with nonlinear magnetic circuits," IEEE Trans. On Control System Technology, Vol. 12, no. 3, pp 439-448, May 2004.
[8] V. Ramanarayanan and D.Panda, "Mutual Coupling and Its Effect on Steady-State Performance and Position Estimation of Even and Odd Number Phase Switched Reluctance Motor Drive," IEEE Trans. On Magnetics, vol. 43, no. 8, pp. 3445-3456, August 2007.
[9] S. Stramigioli and H. Bruyninckx, Geometric Network Modeling and Control of Complex Physical Systems. Berlin, Germany: Springer- Verlag, 2008.
[10] R. Ortega, A. van der Schaft, B. Maschke, and G. Escobar, "Interconnection and damping assignment passivity-based control of port-controlled hamiltonian systems," Automatica, vol. 38, no. 4, pp. 585-596, 2002.
[11] J.E. Slotine and W. Li, Applied Nonlinaer Control, Prentice Hall, 2002.
[12] R. Ortega, A. Loria, P. J. Nicklasson, and H. Sira-Ramirez, Passivitybased Control of Euler-Lagrange Systems. Mechanical Electrical and Electromechanical Applications: Springer-Verlag, 1998.
[13] M. M. Namazi, S. M. Saghaiannejad, and A. Rashidi, "Robust Adaptive Speed control of Switched Reluctance Motor Considering Torque Ripple Minimization, " 18th Annual Conf. Electric. Eng. Iran, pp. 1787-1792, May 2010.
[14] H.R. Koofigar, S. Hosseinnia, and F. Sheikholeslam, "Robust adaptive nonlinear control for uncertain control-affine systems and its applications," Nonlinear Dynamics, Springer Science Publishing, vol. 56, no. 1, pp. 13-22, June 2008.
[15] Iqbal Husain, "Minimization of Torque ripple in SRM drives," IEEE Trans. on Industrial Electronics, vol. 49, no. 1, pp. 28-39, Feb. 2002.