1. VECTOR CONTROLLED RELUCTANCE SYNCHRONOUS MOTOR DRIVES WITH PRESCRIBED CLOSED-LOOP SPEED DYNAMICS

2. Model of Reluctance Synchronous Motor
Non-linear differential equations formulated in rotor-fixed d,q co-ordinate system describe the reluctance synchronous motor and form the basis of the control system development.

3. Control Structure for Reluctance Synchronous Motor

4. Master Control Law a) per unit stator current
Demanded dynamic behavior
Dynamic torque equation
Vector control condition for maximum torque
a) per unit stator current
b) for a given stator flux
Linearising function a) b)

5. SET OF OBSERVERS FOR STATE ESTIMATION AND FILTERING

6. Pseudo-Sliding Mode Observer for Rotor Speeda)
definition of error
Motor equations
Model system

7. Angular velocity extractor
Error system
Condition for
Sliding Motion
Sliding-Mode Observer
Pseudo-SMC Observer
Estimate of rotor speed
Equivalent variables

8. The Filtering Observer
Filtered values of and are produced by the observer based on Kalman filter
Load torque is modeled
as a state variable VJ
where design of:
needs adjustment of the one parameter only or as two different poles:
Electrical torque of SRM is treated as an external model input

9. Original control structure of speed controlled RSMY q
rotor
position
sensor
external load
torque G L w r * U d I 2 - 3
d dem
demanded d_q
stator currents
demanded three-
phase voltages v
d_eq
q dem 1
Reluctance
Synchronous
Motor
Master
Control
Law
Angular
velocity
extractor
Power
electronic
drive
circuit
a_b &
d_q
transf.
Rotor flux
calculator
demanded
rotor speed
Sliding-mode
observer
Slave
control law
Filtering
a_b
& a,b,c
transf
Switching
table s T dc
Measured variables:
rotor position,
stator current,
DC circuit voltage
q_eq

10. (of closed-loop system)
MRAC outer loop
Inner & Middle Loop
(real system)
correction loop
Model TF
Reference Model
(of closed-loop system)
Parameter mismatch increases a correction
Mason’s rule

11. Simulation results a1) id=const without MRAC
a) id, iq = f(t) b) Yd, Yq = f(t) c) Ld = f(t)
d) wid, west = f(t) e) GL, GLest = f(t) f) wid, wr = f(t)

12. Simulation results a2) id=const with MRAC
a) id, iq = f(t) b) Yd, Yq = f(t) c) Ld = f(t)
d) wid, west = f(t) e) GL, GLest = f(t) f) wid, wr = f(t)

13. Simulation results (without MRAC) b1) dq-current angle control
a) id, iq = f(t) b) Yd, Yq = f(t) c) Ld = f(t)
d) wid, west = f(t) e) GL, GLest = f(t) f) wid, wr = f(t)

14. Simulation results (with MRAC) b2) dq-current angle control
a) id, iq = f(t) b) Yd, Yq = f(t) c) Ld = f(t)
d) wid, west = f(t) e) GL, GLest = f(t) f) wid, wr = f(t)

15. Effect of MRAC on Various Types of Prescribed Dynamics
b) first order dyn.
c) second ord. dyn.
a) constant torque

16. Conclusions and Recommendations
The simulation results of the proposed new control method for electric drives employing SRM show a good agreement with the theoretical predictions.
The only departure of the system performance from the ideal is the transient influence of the external load torque on the rotor speed.
This effect is substantially reduced if MRAC outer loop is applied.
It is highly desirable to employ suggested control strategy experimentally.