Advances in Industrial Control
Alain Glumineau
Jesús de León Morales
Sensorless AC
Electric Motor
Control
Robust Advanced Design Techniques and
ApplicationsAdvances in Industrial Control
Series editors
Michael J. Grimble, Glasgow, UK
Michael A. Johnson, Kidlington, UKMore information about this series at http://www.springer.com/series/1412ú ó
Alain Glumineau Jes s de Le n Morales
(cid:129)
Sensorless AC Electric
Motor Control
Robust Advanced Design Techniques
and Applications
123AlainGlumineau Jesúsde León Morales
IRCCyN/Ecole Centrale deNantes FacultaddeIngenieríaMecánicayEléctrica
The Universityof NantesAngers Le Mans Universidad Autónomade NuevoLeón
Nantes NuevoLeón
France Mexico
ISSN 1430-9491 ISSN 2193-1577 (electronic)
Advances inIndustrial Control
ISBN 978-3-319-14585-3 ISBN 978-3-319-14586-0 (eBook)
DOI 10.1007/978-3-319-14586-0
LibraryofCongressControlNumber:2015930507
SpringerChamHeidelbergNewYorkDordrechtLondon
?SpringerInternationalPublishingSwitzerland2015
Thisworkissubjecttocopyright.AllrightsarereservedbythePublisher,whetherthewholeorpart
of the material is concerned, specifically the rights of translation, reprinting, reuse of illustrations,
recitation, broadcasting, reproduction on microfilms or in any other physical way, and transmission
or information storage and retrieval, electronic adaptation, computer software, or by similar or
dissimilarmethodologynowknownorhereafterdeveloped.
The use of general descriptive names, registered names, trademarks, service marks, etc. in this
publicationdoesnotimply,evenintheabsenceofaspecificstatement,thatsuchnamesareexempt
fromtherelevantprotectivelawsandregulationsandthereforefreeforgeneraluse.
Thepublisher,theauthorsandtheeditorsaresafetoassumethattheadviceandinformationinthis
book are believed to be true and accurate at the date of publication. Neither the publisher nor the
authors or the editors give a warranty, express or implied, with respect to the material contained
hereinorforanyerrorsoromissionsthatmayhavebeenmade.
Printedonacid-freepaper
Springer International Publishing AG Switzerland is part of Springer Science+Business Media
(www.springer.com)To my family
Alain Glumineau
To Adeline, Marine and Rafael
Jesús de León MoralesSeries Editors’ Foreword
TheseriesAdvancesinIndustrialControlaimstoreportandencouragetechnology
transferincontrolengineering.Therapiddevelopmentofcontroltechnologyhasan
impactonallareasofthecontroldiscipline.Newtheory,newcontrollers,actuators,
sensors, new industrial processes, computer methods, new applications, new phi-
losophies…, new challenges. Much of this development work resides in industrial
reports,feasibilitystudypapers,andthereportsofadvancedcollaborativeprojects.
Theseriesoffersanopportunityforresearcherstopresentanextendedexpositionof
suchnewworkinallaspectsofindustrialcontrolforwiderandrapiddissemination.
One of the interesting aspects of editing a control monograph series like
Advances in Industrial Control is the insight gained as to how control systems
theoryandcontrolengineeringisdevelopingandtheinteractionbetweentheoryand
practice. An example is that of nonlinear systems theory, where there are slow but
increasing signs of applications using these techniques. We can cite the following
monographs from the series to support this thesis:
(cid:129) Nonlinear Process Control by Peter L. Lee (Ed.) (ISBN 978-3-540-19856-7,
1993);
(cid:129) Nonlinear H 2/H∞ Constrained Feedback Control by Murad Abu-Khalaf, Jie
Huang and Frank L. Lewis (ISBN 978-1-84628-349-9, 2006);
(cid:129) Induction Motor Control Design by Riccardo Marino, Patrizio Tomei and
Cristiano M. Verrelli (ISBN 978-1-84996-283-4, 2010); and
(cid:129) Nonlinear Control of Vehicles and Robots by Béla Lantos and L?rinc Márton
(ISBN 978-1-84996-121-9, 2011).
Nonlinear systems theory is a well-established field of study yet the usual
engineering response to system nonlinearity is linearization, multiple models,
controller scheduling, and occasional recourse to adaptive and robust control to
overcometheuncertainties,andmismatchthattheinitiallinearizationapproachhas
introduced. It is therefore interesting to observe some practitioners using existing
nonlinearsystemstheorydirectlywithreal-worldsystemsandprocesses.Themost
promising application areas are those where there is a well-established historical
viiviii SeriesEditors’Foreword
archive of nonlinear models, suitable for the procedures of nonlinear systems
theory. One such field is the control of electrical machines.
The models of electrical machine systems are quite well-defined and have been
known for many years. They have a fairly small number of state variables, are
nonlinear, and multivariable. Despite small state dimensions, these systems have
unmeasurable state variables or states that the engineer wishes to avoid measuring
because the appropriate sensors are either costly or difficult and expensive to
implementinthephysicalmachine.Addtothismodelparametersthatareuncertain
(only approximately known) and/or time-varying, along with the presence of sys-
tem noise and it is easily seen that the nonlinear control of electrical machines is
challenging.
With these difficult characteristics, electrical machines are often used as a
benchmark system by academic researchers to test out new control approaches but
theyalsoconstituteareal-worldapplicationfieldintheirownright.Industriallyand
commercially electrical machines are the essential technological workhorses in the
power industries, the utility industries, transport, and many other fields. Such
importance makes this Advances in Industrial Control monograph Sensorless AC
ElectricMotorControl: Robust Advanced Design Techniquesand Applications by
Alain GlumineauandJesúsDeLeónMoralesa valuable contribution totheseries.
The authors focus on two issues:
i. AC electrical machine control (permanent magnet synchronous motors, and
induction motors); and
ii. the application of nonlinear system techniques.