Synthesis of State Observer and Nonlinear Output Feedback Controller Design of AC Machines

206 Pages·2017·10.49 MB·English

Synthesis of State Observer and Nonlinear Output
Feedback Controller Design of AC Machines
* A.A.R Al Tahir
To cite this version:
* A.A.R Al Tahir. Synthesis of State Observer and Nonlinear Output Feedback Controller Design of
AC Machines . Engineering Sciences [physics]. universite de caen normandie, 2016. English. ￿NNT:
￿. ￿tel-01465299￿
HAL Id: tel-01465299
https://hal.science/tel-01465299
Submitted on 11 Feb 2017
HAL is a multi-disciplinary open access L’archive ouverte pluridisciplinaire HAL, est
archive for the deposit and dissemination of sci- destinée au dépôt et à la diffusion de documents
entific research documents, whether they are pub- scientifiques de niveau recherche, publiés ou non,
lished or not. The documents may come from émanant des établissements d’enseignement et de
teaching and research institutions in France or recherche français ou étrangers, des laboratoires
abroad, or from public or private research centers. publics ou privés.
THESE

Pour obtenir le diplôme de doctorat
Spécialité (Génie Electrique)

Normandie Université
U.F.R de Sciences
ECOLE DOCTORALE SIMEM

Synthèse d’Observateur d'État et Commande Non-Linéaire
à Retour de Sortie des Machines AC

Présentée et soutenue par
Ali Abdul Razzaq AL TAHIR

Thèse soutenue publiquement le (16 décembre 2016)
devant le jury composé de

Professeur des Universités/

Mr / Mohamed Benbouzid Université de Bretagne Occidentale, Rapporteur

France

Maître de Conférences HDR Emérite

Mr / Maxime Wack / Université de Technologie de Rapporteur

Belfort-Montbéliard, France

Professeur des universités /
Mr / Fayçal Ikhouane Universitat Politècnica de Catalunya, Examinateur
Spain
Maître de Conférences HDR/
Mr / Salah Laghrouche Université de Technologie de Examinateur
Belfort-Montbéliard, France
Professeur des universités/
Mr / F. Giri Directeur de thèse
Normandie Université, France
Professeur des universités /
Mr / Tarek Ahmed - Ali Directeur de thèse
Normandie Université, France
Laboratoire : Groupe de recherche en informatique, image, automatique et
instrumentation de Caen (GREYC)
Acknowledgements

First of all, I will give my thanks forever to my God, who makes me able to complete
this work. This thesis is submitted to the School of Doctorate ‘’SIMEN ‘’ at University of
Caen Lower Normandy in partial fulfillment of the requirements for the Ph.D. degree in
Electrical Engineering. The dissertation has been followed by two supervisors: Professor F.
Giri from CNRS – 6072, GREYC laboratory, UFR Science 2 and Tarek. A. Ali from
School National Superior Engineer of Caen and Research Center (ENSICAEN) at
University of Caen Lower Normandy. I would like to express my special thanks to them

for their support and enduring patience, advice, guidance and their response to my work
during my PhD research. Without them, this project would not have been possible. Also,
I would like to express my special thanks to members of jury for their responses.
I greatly appreciate the Iraqi government, ministry of higher education and scientific
research in Iraq. Thanks also to all staff of the Iraqi Cultural Attaché and Campus France
for administrative assistance, which are fully sponsored to carry - out my PhD study at
university of Caen lower Normandy. During the project period of three years, I had many
valuable discussions with the colleagues at GREYC laboratory for providing the research
facilities that make it possible for me to conduct this work. I would like to thank all of
them for scientific assistance. My thanks also to the laboratory staff of GREYC, who
helped me to build the implementation test for this project.
Finally, I must express my profound gratitude to my father, my mother, who never lived
to see the fruit of their dedicates, to my sisters, and siblings for supporting me, continuous
encouragement and patience, even when the road was bumpy throughout my years of study
and through the process of researching and writing this thesis. This accomplishment would
not have been possible without them. I am really thankful to them. Words cannot explain
how I am grateful to my wife beside me throughout my study.

PhD AL TAHIR Ali Abdul Razzaq,

2016
i
List of Publications and Communications

Here are the list of the publications and the communications on the results of this work:

International Conferences

1. A. A.R. AL-Tahir, A. El Magri, T. Ahmed-Ali, A. El Fadili, F. Giri, (2015). Sampled -
Data High-Gain Nonlinear Observer Design for Synchronous PMSM. 1’st IFAC
Conference on Modelling, Identification and Control of Nonlinear Systems, Saint
Petersburg, Russia, Papers Online Science Direct, ELSEVIER, 48 (11): 327 - 332.
doi:10.1016/j.ifacol.2015.09.206.

2- A. A.R. AL-Tahir, R. Lajouad, F.Z. Chaoui, R. Tami, F.Z. Chaoui, T. Ahmed-Ali, F. Giri,
(2016). A Novel Observer Design for Sensorless Sampled Output Measurement:
Application of Variable Speed Doubly Fed Induction Generator. 12’th IFAC International
workshop on Adaptation and Learning in Control and Signal Processing, University of
Technology, Eindhoven, Netherlands, Papers Online Science Direct, ELSEVIER, 49 (13):
235 - 240. doi.org/10.1016/j.ifacol.2016.07.957.

3- M. Kissaoui, A. A.R. AL - Tahir, A. Abouloifa, F.Z. Chaoui Y. Abouelmahjoub, F. Giri,
(2016). Output-Feedback Nonlinear Adaptive Control of Three-phase AC/DC Converter
for On-line UPS Systems. 12’th IFAC International workshop on Adaptation and Learning
in Control and Signal Processing, University of Technology, Eindhoven, Netherlands,
Papers Online Science Direct, ELSEVIER, 49 (13): 324 - 329.
doi.org/10.1016/j.ifacol.2016.07.987
Articles accepted in the international journal

1- A. A.R. AL-Tahir, (2016). Sensorless Online Measurements: Application to Variable
Speed Drive Systems. Submitted to International Journal for computation and
mathematics in electrical and electronic engineering, early accepted for publication.

ii
Articles under revision in the international journals

2- A. A.R. AL-Tahir, (2016). Reduced order nonlinear state observer design having inter-
sampled output behaviour. Submitted to Journal of Dynamic Systems, Measurements and
Control, (under revision).

Communication Posters

4- [Al Tahir,2015] Poster presentation entitled of ‘’ Sampled Data Nonlinear Observer Design
for Permanent Magnet Synchronous Machines”, Journee’s du GREYC 2015, 4 - 5 June,
2015, organized by University of Caen Basse Normandy, and ENSICAEN, Campus 2,
Amphi S3 – 057 et Salle S3 – 037.

Communication Oral

5- Workshop entitled “Sampled – Data - High Gain Observer Design for Globally
Exponential Convergence Dealing with PMSM”, presented to association OPTIC,
University of Caen Basse Normandy, UCBN 2014.

6- Oral presentation entitled “High - Gain Observer Synthesis based on Sampled Output
Measurements”. The doctoral school day DSD organized by the SIMEM's student
representatives together with OPTIC association, University of Caen Basse Normandy,
UCBN, 10 / 06 / 2016.

iii
Table of contents

page
Acknowledgements i
List of publications and communications ii
List of figures ix
List of tables xii
List of abbreviations and symbols xiii
1. Introduction 2
1.1 State of the art ………………………………………………………. 2
1.1.1 Development of synchronous machine drives …………………. 2
1.1.2 Continuous – time nonlinear state observer design ……………. 2
1.1.3 Sampled – data nonlinear state observer design ……………….. 3
1.1.3.1 Emulation design process ……………………………... 6
1.1.3.2 Direct discrete-time design process …………………… 6
1.1.3.3 Sampled-data design process ………………………….. 6
1.1.4 Electrical power system control techniques …………………... 7
1.1.5 Wind power generation systems ………………………………. 8
1.2 Contribution of the thesis ……………………………………………. 10
1.3 Objectives and motivations of the thesis …………………………….. 10
1.4 On-line observer design techniques for some of AC machines ……... 11
1.4.1 Sampled – data observer design for PMSM drives …………... 13
1.4.2 DFIG running with non-standard sampled observer …………. 14
1.5 Adaptive output feedback control of VSC for UPS system ………….. 15
1.6 Outline of thesis ……………………………………………………... 16
1.7 Appendices …………………………………………………………... 18
2. Mathematical Models and Control Fundamentals for On-line
19
Stabilization
iv
2.1 Fundamentals of permanent - magnets electric machine ……………. 20
2.1.1 Rotor position sensor elimination …………………………….. 21
2.1.2 PM synchronous machines versus induction machines ………. 22
2.2 Permanent magnet synchronous machine modeling ……………….... 22
2.2.1 Modeling of PMSM in abc – representations ………………... 23
2.2.2 Model of PMSMs in rotating (𝑑− 𝑞) reference frame ……… 25
2.2.3 Model of PMSMs in (𝛼− 𝛽) representation ………………... 27
2.3 Modeling of wind generation power systems ………………………... 28
2.3.1 Wind turbine mathematical model …………………………… 29
2.3.2 Doubly fed induction generator model ……………………….. 30
2.4 Wind speed types and operating regions of WPGSs ………………… 31
2.4.1 Cut - in wind speed …………………………………………… 32
2.4.2 Rated wind speed ……………………………………….......... 32
2.4.3 Cut - out wind speed …………………………………………. 32
2.5 Wind turbine concepts ………………………………………………. 33
2.5.1 Fixed speed wind turbines ……………………………………… 33
2.5.2 Partial VSWT with rotor resistance ……................................... 33
2.5.3 VSWT with partial-scale converter …………………………… 34
2.5.4 VSWT with full-scale power converter ………………………. 35
2.6 Observability study for sensorless control design ………………….... 36
2.7 Backstepping control design techniques ………………..................... 42
2.7.1 Continuous - time backstepping design technique …………… 43
2.8 Introduction for a class of system studied ………………………….... 48
2.9 Fundamental properties for stability convergence analysis …………. 50
2.9.1 Input – to – state stability concept …………………………… 50
2.9.2 Fundamentals of ISS small - gain condition ………………… 51
3. Sampled – Data Nonlinear Observer Design for Sensorless Synchronous
54
PMSM
3.1 Introduction ……………………………………………………….. 55
3.1.1 Review of related research …………………………………... 55
3.1.2 Purposes and contributions ………………………………….. 55
v
3.2 Synchronous machine modeling and model transformation ………... 56
3.2.1 Synchronous PMSM model ………………………………….. 57
3.2.2 MIMO Model transformation of PMSM …………………….. 59
3.2.3 Observability analysis of full order variable speed PMSM …. 61
3.3 Sampled-data observer design and convergence analysis ……………. 62
3.3.1 Sampled – data observer structure …………………………… 63
3.3.2 Some technical hypotheses …………………………………... 63
3.3.3 Comparison with published results …………………………... 64
3.3.4 Some definition and notation ………………………………… 65
3.3.5 Stability analysis of the proposed observer …………………... 66
3.3.6 Discussion the main result …………………………………… 71
3.3.7 Observer equation in the original coordinates ………………... 71
3.4 Simulation results and verifications …………………………………. 72
3.4.1 Implementation considerations ………………………………. 72
3.4.2 Observer dynamic tracking performance …………………… 75
3.4.3 Sensorless sampled output measurements …………………… 75
3.5 Conclusions …………………………………………………………. 80
4. A Novel Observer Design based on Sensorless Sampled Output
Measurements: Application to Variable Speed DFIG based Wind 83
Turbines
4.1 Introduction ………………………………………………………..... 84
4.1.1 Review of related research …………………………………… 84
4.1.2 Purposes and contributions …………………………………… 87
4.2 Representation of DFIG based wind turbine …………………………. 88
4.2.1 Wind turbine modeling ………………………………………... 88
4.2.2 Modeling assumptions ………………………………………… 90
4.2.3 Full version of DFIG model ………………………………....... 90
4.2.4 Power calculation in (𝑑 − 𝑞) quantities …………………...... 92
4.2.5 Observability analysis of full version DFIG model …………... 94
4.2.6 Motivations of using reduced model DFIG …………………… 97
4.2.7 Reduced version of DFIG model ……………………………... 97
4.3 Position sensorless measurements …………………………………..... 100
vi
4.4 Reduced - order state observer design ……………………………….. 101
4.4.1 Observer design assumptions ………………………………… 102
4.4.2 Some remarks and notations ………………………………... 103
4.5 Comparison with published results …………………………………. 104
4.6 Sampled - data observer design and convergence analysis ………... 104
4.6.1 Stability analysis of the proposed observer ………………….. 106
4.6.2 Discussion of the main result ………………………………... 113
4.7 Simulation results and verifications ……………………………….... 114
4.7.1 Implementation considerations ………………………………. 114
4.7.2 Observer dynamic tracking performance ……………………. 116
4.7.3 Sensorless sampled output measurements …………………... 117
4.7.4 Sensorless position measurements …………………………... 118
4.8 Conclusions …………………………………………………………. 122
5. Output Feedback Nonlinear Adaptive Control Strategy of Three - Phase
AC/DC Boost Power Converter for Online UPS Systems 124
5.1 Introduction ……………………………………………………….. 125
5.1.1 Review of related research …………………………………... 126
5.1.2 Purpose and contribution ……………………………………. 127
5.2 Uninterruptable power supply topologies ………………………….. 128
5.3 Problem formulation ……………………………………………….. 129
5.3.1 System topology and modeling ……………………………... 129
5.3.2 Main control objectives ……………………………………... 132
5.3.3 Comparing with published results …………………………… 134
5.4 Adaptive controller design …………………………………………. 135
5.4.1 Observability analysis of on-line UPS system ……………… 135
5.4.2 Adaptive observer design …………………………………… 139
5.4.3 Stability convergence analysis ……………….…………….. 140
5.4.4 Inner control loop design - PFC achievement ……………… 142
5.4.5 Outer control loop design - DC output voltage regulation …... 145
5.4.6 Power factor calculation and estimation ……………………. 146
vii
5.5 Numerical simulation and verification …………………………........ 151
5.5.1 Implementation considerations ……………………………… 151
5.5.2 Tracking performance in presence of constant load …………. 152
5.5.3 Control performance in presence of resistive load uncertainty 157
5.6 Conclusions ………………………………………………………… 160
6. General Conclusions and Perspectives 162
6.1 General conclusions ..……………………………………………… 162
6.2 Suggestions for future works …………………………………........ 165
Appendices 166
A1. Clarke’s transformation ……………………………………………. 166
A2. Park ‘s transformation ……………………………………………… 166
A3. Pulse width modulation (PWM) generation ……………………….. 168
A4. Derivation of wind power equation ………………………………... 168
A5. Young’s inequality.…………………………………………………. 169
Bibliography
173

viii