This is the final project of the course "311 - Automation and Electrical Machines" at FIng - UNCuyo. Lectures and guidance by EEng. Gabriel Julián. Mendoza, Argentina.
The objective is to design an automatic position controller for a 3 phase AC permanent-magnet synchonous motor (PMSM). The system consists of a 3 phase AC PMSM, an inverter (0-24Vrms), a planetary gear set, 1 position sensor (encoder) and 3 current sensors.
We modelled and simulated the open-loop performance of the system.
Then we added a torque modulator using a Constant (delta = 90°) Torque Angle Control strategy (direct axis current is zero). The nonlinear system is linearized using the feedback linearization technique. A modified PID position/speed controller is added. Finally, we designed a Luenberger state observer in order to estimate the speed of the motor's shaft.
We obtained a robust, well performant controller which can succesfully follow position and speed profiles.
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| Torque modulator. Decouples non-linear terms using feedback linearization and provides direct access to the motor's torque. |
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| Global system. Includes the torque modulator, a PID position/speed controller and a state observer. |
Gino Avanzini, Emiliano Cabrino.
Automática y Máquinas Eléctricas - Ing. Gabriel Julián.
Ingeniería en Mecatrónica. Facultad de Ingeniería, Universidad Nacional de Cuyo
Mendoza, Argentina, 2020