Discrete time integration of observers with continuous feedback based on Tustin's method with variable prewarping

Christopher Korlinchak, Mihai Comanescu

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Citations (Scopus)

Abstract

The paper discusses the problem of integrating the equations of state observers associated with direct field orientation (DFO) of motor drives and presents a method to improve the integration accuracy when the drive operates at high frequency. In a typical implementation, observer equations are integrated based on the Euler method (forward rectangular rule). Euler method is simple; however, integration is accurate only at low/medium speed. As the speed (frequency) increases, the integration process becomes more and more inaccurate because the rectangular approximation starts losing more and more area from under the curve. Theoretically, the problem could be alleviated by increasing the sampling frequency; however, this cannot always be done because it has implications related to the switching frequency of the power converter. Another idea is to use a more accurate integration method, for example, trapezoidal integration (Tustin method). At high frequency, trapezoidal integration performs better than the Euler method and the resulting estimates are closer to the expected values (in both magnitude and phase). In DFO drives, this leads to a more accurate field orientation angle. The paper presents an improvement to trapezoidal integration - the state equations of observers are integrated using a discrete-time filter that is prewarped as a function of the drive's operating frequency. The algorithm estimates the applied frequency, prewarps the continuous-time transfer function used in practical integration and obtains a discrete-time filter with frequency dependent coefficients. It is shown that the method produces an improvement over trapezoidal integration in the high-speed region. The implications related to DFO are studied by considering a full-order observer for the PMSM - integration with prewarping is compared with the classic Tustin method. The theoretical development is supported with simulation results.

Original languageEnglish (US)
Title of host publication6th IET International Conference on Power Electronics, Machines and Drives, PEMD 2012
PagesP161
Edition592 CP
DOIs
StatePublished - Aug 13 2012
Event6th IET International Conference on Power Electronics, Machines and Drives, PEMD 2012 - Bristol, United Kingdom
Duration: Mar 27 2012Mar 29 2012

Publication series

NameIET Conference Publications
Number592 CP
Volume2012

Other

Other6th IET International Conference on Power Electronics, Machines and Drives, PEMD 2012
CountryUnited Kingdom
CityBristol
Period3/27/123/29/12

Fingerprint

Feedback
Equations of state
Power converters
Switching frequency
Transfer functions
Sampling

All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering

Cite this

Korlinchak, C., & Comanescu, M. (2012). Discrete time integration of observers with continuous feedback based on Tustin's method with variable prewarping. In 6th IET International Conference on Power Electronics, Machines and Drives, PEMD 2012 (592 CP ed., pp. P161). (IET Conference Publications; Vol. 2012, No. 592 CP). https://doi.org/10.1049/cp.2012.0161
Korlinchak, Christopher ; Comanescu, Mihai. / Discrete time integration of observers with continuous feedback based on Tustin's method with variable prewarping. 6th IET International Conference on Power Electronics, Machines and Drives, PEMD 2012. 592 CP. ed. 2012. pp. P161 (IET Conference Publications; 592 CP).
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Korlinchak, C & Comanescu, M 2012, Discrete time integration of observers with continuous feedback based on Tustin's method with variable prewarping. in 6th IET International Conference on Power Electronics, Machines and Drives, PEMD 2012. 592 CP edn, IET Conference Publications, no. 592 CP, vol. 2012, pp. P161, 6th IET International Conference on Power Electronics, Machines and Drives, PEMD 2012, Bristol, United Kingdom, 3/27/12. https://doi.org/10.1049/cp.2012.0161

Discrete time integration of observers with continuous feedback based on Tustin's method with variable prewarping. / Korlinchak, Christopher; Comanescu, Mihai.

6th IET International Conference on Power Electronics, Machines and Drives, PEMD 2012. 592 CP. ed. 2012. p. P161 (IET Conference Publications; Vol. 2012, No. 592 CP).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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N2 - The paper discusses the problem of integrating the equations of state observers associated with direct field orientation (DFO) of motor drives and presents a method to improve the integration accuracy when the drive operates at high frequency. In a typical implementation, observer equations are integrated based on the Euler method (forward rectangular rule). Euler method is simple; however, integration is accurate only at low/medium speed. As the speed (frequency) increases, the integration process becomes more and more inaccurate because the rectangular approximation starts losing more and more area from under the curve. Theoretically, the problem could be alleviated by increasing the sampling frequency; however, this cannot always be done because it has implications related to the switching frequency of the power converter. Another idea is to use a more accurate integration method, for example, trapezoidal integration (Tustin method). At high frequency, trapezoidal integration performs better than the Euler method and the resulting estimates are closer to the expected values (in both magnitude and phase). In DFO drives, this leads to a more accurate field orientation angle. The paper presents an improvement to trapezoidal integration - the state equations of observers are integrated using a discrete-time filter that is prewarped as a function of the drive's operating frequency. The algorithm estimates the applied frequency, prewarps the continuous-time transfer function used in practical integration and obtains a discrete-time filter with frequency dependent coefficients. It is shown that the method produces an improvement over trapezoidal integration in the high-speed region. The implications related to DFO are studied by considering a full-order observer for the PMSM - integration with prewarping is compared with the classic Tustin method. The theoretical development is supported with simulation results.

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Korlinchak C, Comanescu M. Discrete time integration of observers with continuous feedback based on Tustin's method with variable prewarping. In 6th IET International Conference on Power Electronics, Machines and Drives, PEMD 2012. 592 CP ed. 2012. p. P161. (IET Conference Publications; 592 CP). https://doi.org/10.1049/cp.2012.0161