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52
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Introduction
I have received the M.Sc. and Ph.D. degrees from Poznan University of Technology in 1995 and 2003, respectively. Presently I am an assistant professor in Institute of Control, Robotics and Information Engineering in Poznan University of Technology. My research areas include electrical drives, sensorless control, applications of artificial neural networks and computer based control systems, motion control, UAV control.
Current institution
Publications
Publications (52)
Free access at https://doi.org/10.1515/bpasts-2017-0054
In the paper a new sensorless control structure for the PMSM drive is presented. Such a structure is especially recommended for speed in the range of single revolutions per second (excluding standstill). The method uses a back EMF observer for position estimation. However, there is no need to...
This paper describes the study and experimental verification of sensorless control of permanent magnet synchronous motors with a high precision drive using two novel estimation methods. All the studies of the modified Luenberger observer, reference model, and unscented Kalman filter are presented with algorithm details. The main part determines tri...
This paper presents a method for shaft position estimation of a synchronous motor with permanent magnets. Zero speed and very low speed range are considered. The method uses the analysis of high-frequency currents induced by the introduction of additional voltage in the control path in the stationary coordinate system associated with the stator. An...
Przegląd Elektrotechniczny: do pobrania z http://pe.org.pl/articles/2023/5/41.pdf
W pracy przedstawiono sposób odtwarzania położenia wału silnika synchronicznego z magnesami trwałymi z wykorzystaniem dodatkowego prądu wysokiej częstotliwości. Uzyskany hodograf tego prądu przetwarzany jest z użyciem analizy głównych składowych. Rezultatem przetwarz...
This paper presents the operation of a modified speed controller with a standard PI/PID structure that includes the preprocessing of the controller’s input signal, focusing on the past behavior of control errors. The modification involves adding a delay line, with the outputs of the individual line segments summed with a weighting method, as detail...
This publication investigates the control of output voltage-boosting in a Quasi-Z-Source direct matrix converter operating as part of a PMSM drive system with an RLC grid filter. The structure and control algorithms enabling regulation of the converter’s output voltage in both step-down and step-up modes are presented. These methods are based on th...
Przegląd Elektrotechniczny: do pobrania z http://pe.org.pl/articles/2024/5/17.pdf . W skrócie: dodajemy opóźnienia w torze sterowania aby polepszyć wybrane wskaźniki jakości. Eksperymentalna weryfikacja.
Free access at: "https://journals.pan.pl/dlibra/publication/150201/edition/131104/content"
In this paper, a voltage control system for a PMSM motor based on the QZSDMC converter is proposed, which allows operation in both buck and boost modes as a possible method to make the drive resistant to power grid voltage sags. The authors presented a metho...
The paper presents the results of simulations and experiments in the field of control of the low damping and time delay oscillating system. This system includes a quadcopter hovering at a very low altitude, and the altitude is controlled. The time delay is introduced mainly by the remote control device. In order to handle the quadcopter at low alti...
The method using a visual feedback is proposed in order to control the position of the unmanned aerial vehicles (UAV). The position estimator is based on a Viola-Jones detector, which was prepared in order to make continuous recognition of the quadcopter presence in the image captured by the camera. Typical methods of altitude control, which are ba...
A MP4 movie with exemplary test flights of the quadcopter, which results were presented in the article. Closed loop operation: white horizontal and vertical lines - reference position, green circle - estimated position which is used in control loop. Altitude (Y-axis) and horizontal shift (X-axis) controlled by computer.
In order to precise control of unmanned aerial vehicles (UAV), there is a need to get information about UAV's attitude. In the paper a visual feedback is used in order to determine an altitude of the quadcopter. In a case of measure in range of meters or hundreds of meters, typical methods based on barometric sensor, or radar altimeter are used. Ho...
A MP4 movie with exemplary test flights of the quadcopter, which results were presented in the article. Closed loop operation: white horizontal line - reference altitude, green horizontal line - estimated altitude which is used in control loop. Altitude (Y-axis) controlled by computer, X-axis controlled manually.
Free access at https://doi.org/10.1515/bpasts-2017-0049
In the paper a procedure for determining the observer parameters for selected types of electrical motors is discussed. The procedure is based on the identity observer developed by Luenberger. The paper presents determining the parameters using calculation examples for the DC motor and also for...
The article proposes a method for estimating the shaft position of a synchronous motor with permanent magnets for the zero and very low speed range. Presented method involves a comparison of obtained shape of current hodograph to the reference pattern using the principal component analysis. The method is based on an analyzing of the high frequency...
Free access at http://pe.org.pl/articles/2017/6/6.pdf In this paper, simulation research results of PMSM drive with open phase fault detection are presented. Proposed fault detection system is implemented using two artificial neural networks. One of them is the neural model of healthy PMSM and another one generates diagnostic signals. When the faul...
In the paper selected results of study of the low speed range Permanent Magnet Synchronous Motor (PMSM) sensorless drive are presented. This drive uses the position estimator, which is based on the back electromotive force (BEMF) observer. The drive was tested by simulation and in laboratory. It works properly especially in projected range of the s...
W artykule przedstawiono wyniki badań symulacyjnych układu napędowego z PMSM z systemem detekcji przerwy w fazie. W jego skład wchodzi m.in. dokładny model przekształtnika, który będzie umożliwiał realizację różnych scenariuszy uszkodzeń oraz układ detekcji awarii, zrealizowany przy użyciu dwóch sztucznych sieci neuronowych. Jedna z tych sieci pełn...
Free access at:
https://journals.tubitak.gov.tr/cgi/viewcontent.cgi?article=2735&context=elektrik (link updated 22.03.2024)
This paper presents a comparative study of a drive system with a permanent magnet synchronous motor fed by a matrix converter and a voltage source inverter with diode rectifier stage. A rotor-oriented vector control is implem...
(In Polish only) Streszczenie. W pracy przedstawiono nową strukturę regulacji prędkości dla bezczujnikowego napędu z PMSM. Ma ona zastosowanie szczególnie w przypadku pracy z niskimi prędkościami, rzędu pojedynczych obrotów na sekundę. Istotną cechą tego układu jest brak konieczności wyznaczania prędkości wału silnika – odtwarzane jest tylko jego p...
Keywords «Sensorless control», «Adjustable speed drive», «Electrical drive», «Estimation technique», «Permanent magnet motor».
A new control structure is presented for use at the sensorless control of speed for low speed range. That method uses an observer for position estimation. Such structure does not require the calculation of the speed value f...
Free access at http://dx.doi.org/10.7305/automatika.2015.12.732
The paper presents results of studies on the position estimation for the permanent magnet synchronous motor (PMSM) drive using gain scheduling technique for tuning the observer’s parameters. It allows a good estimation accuracy in wide range of working point change. Such observer with...
The paper presents a method for estimating the shaft position of a synchronous motor with permanent magnets (PMSM) for the zero and very low speed range. The method is based on the analysis of the high frequency currents, which are induced by the additional test voltage in a stationary coordinate system associated with the stator. Although this met...
Extended version of the article "Sensorless speed control of PMSM drive for low speed range using back EMF estimation" (EPNC 2014)
The purpose of this paper is to develop the Permanent Magnet Synchronous Motors drive which has possibility to work in sensorless mode at low speed based on back EMFs estimation.
Estimation uses modified Luenberger obs...
Extended version of the article presented at the conference Mechatronika 2014:
free access at http://dx.doi.org/10.17973/MMSJ.2015_03_201506
In the paper is presented a comparison of three method of back electromotive force estimation. Presented structures: the observers and the simulator, are utilized to estimate the back electromotive force for...
The paper presents a comparison of methods of the back EMFs estimation for the permanent magnets synchronous motor in a case of position estimation at the low speed range. These methods are based on the following structures for back EMF estimation: observer for model of the electrical part of the motor, the observer for the modified correction func...
If the motor speed value is below a range of single revolutions per second, the speed control starts to cover an additional area of the nonlinear phenomena, where nonlinearity strongly implicates the controller response. In such conditions, the proper estimation of the speed value is a critical component in the control chain to eliminate possible o...
To determine the position of the motor shaft the permanent magnet synchronous, in the case of non-zero speed, for example, you can use the method based on estimation instantaneous value of electromotive force. On their basis, the shaft position is determined. Calculating the velocity directly from the position, typically forces the use of filters i...
In Polish only. Free access at http://pe.org.pl/articles/2014/6/32.pdf
To determine the position of the motor shaft the permanent magnet synchronous, in the case of non-zero speed, for example, you can use the method based on estimation instantaneous value of electromotive force. On their basis, the shaft position is determined. Calculating the vel...
The paper presents results of a research on the sensorless drive with PMSM supplied through the sinusoidal filter. The back electromotive force based observer is used to the shaft position estimation. Used in the study, the observer's correction function, contains multi integrators in the path, which improves the position estimation. Otherwise than...
The paper presents results of studies on the sensorless drive with permanent magnet synchronous motor (PMSM) supplied through the motor choke. The position is estimated using a modified Luenberger observer. Its modification consists in using a PII2 correction function instead a proportional one, which gives smaller estimation errors. The advantages...
The paper deals with the problem of estimation the rotor position and speed in sensorless PMSM drive based on back EMF estimation using MATLAB Simulink environment. At low speed range position estimation is particularly difficult due to the small value of the input and estimated signals, which are covered by measured noises and disturbances. Additi...
The paper deals with the problem of position and speed estimation methods in SRM (Switched Reluctance Motor) drive equipped with hysteresis band current controller with MRAS (Model Reference Adaptive System) type observer. An adaptive flux model uses equation set of one-dimensional equations instead of one two-dimensional equation. The reference mod...
The paper deals with the problem of rotor position and speed detection in sensorless PMSM drive at low speed range. Additional problem is to obtain high dynamic of proposed drive system. Achieving of the low calculation time of control algorithm is very important for high dynamic drives because of fast change of operating point, so observer's equat...
W pracy przedstawiono metody odtwarzania położenia i prędkości napędu z silnikiem reluktancyjnym przełączalnym (SRM) zasilanym z histerezowego regulatora prądu. Obserwator wykorzystuje do obliczeń zamiast prądu faz, prąd zadany. Prędkość jest wyznaczana z pochodnej sygnału położenia
The paper deals with the problem of speed and position estimation in SRM drive equipped with hysteresis band current controller. Instead of measured current the observer utilize reference current. The voltage is calculated from transistor switching on-time. A speed observer structure which uses estimated back EMF and current of each phase is presen...
W pracy przedstawiono koncepcję regulatora prędkości w napędzie ze sprężystością umożliwiającego aktywne tłumienie drgań. Zastosowany regulator wykorzystuje sztuczną sieć neuronową (SSN). Badana struktura w torze sprzężenia zwrotnego wykorzystuje tylko informacje z przetwornika obrotowo-impulsowego położenia wału umieszczonego od strony silnika.
The paper deals with the problem of speed and position estimation in SRM drive equipped with hysteresis band current controller. Instead of measured current the observer utilize reference current. The voltage is calculated from switching on-time. A speed observer structure which uses estimated back EMF and current of each phase is presented. The sh...
The paper deals with the problem of sensorless control of SRM drives. A speed control system using back EMF and position estimator is presented. The shaft position is estimated using a "global" current error. That observer robustness on motor parameter accuracy estimation is verified by simulation results.
Purpose
The aim of the paper is to find a simple structure of speed controller robust against drive parameters variations. Application of artificial neural network (ANN) in the controller of PI type creates proper non‐linear characteristics, which ensures controller robustness.
Design/methodology/approach
The robustness of the controller is based...
Streszczenie -W pracy zaprezentowano przykłady zastosowania sztucznych sieci neuronowych (SSN) do modelowania obiektów podstawowych, obiektów nieliniowych oraz możliwości zastosowania SSN w napędzie elektrycznym.
This paper deals with the problem of rotor speed and position detection in sensorless permanent magnet synchronous motor (PMSM) drives. A concept based on detecting the back EMF induced in stator windings was developed and modified. A general structure of an adaptive observer with the proportional-integral function of a corrector is introduced. The...
W referacie omówiono zastosowanie sztucznej sieci neuronowej (SSN) jako regulatora prędkości silnika synchronicznego o magnesach trwałych (SSMT). Nieliniowa struktura takiego regulatora umożliwia uzyskanie odporności napędu na zmiany parametrów obiektu w szerokich granicach. Użycie SSN umożliwia szybką korektę zachowania się regulatora dla różnych...
W pracy zaprezentowano wyniki badań laboratoryjnych obserwatora położenia i prędkości dla bezczujnikowego napędu z silnikiem synchronicznym o magnesach trwałych. Przedstawiona metoda obserwacji bazuje na detekcji SEM indukowanych w uzwojeniach stojana. Zmodyfikowanie tradycyjnej struktury obserwatora, polegające na wprowadzeniu złożonej funkcji kor...
A problem of rotor speed and position detection for sensorless PMSM drive was analysed in the paper. The concept based on detecting back EMF, induced in the stator windings, was developed and modified. A general structure of observer, with more complex function of corrector than traditional one was introduced. On the base of this concept the observ...
In the paper an application of fuzzy logic controller (FLC) for control of thyristor DC drive is presented. During synthesis of the FLC a robustness against variation of structure of the current control plant was taken into account. Comparison between the fuzzy control system and an ordinary digital control system, carried out by simulation method,...
W referacie omówiono zastosowanie sztucznej sieci neuronowej (SSN) jako regulatora prędkości. Nieliniowa struktura takiego regulatora umożliwia uzyskanie odporności napędu na zmiany parametrów obiektu w szerokich granicach. Użycie SSN umożliwia szybką korektę zachowania się regulatora dla różnych punktów pracy. W referacie przedstawiono syntezę neu...
In the paper, a study of a fuzzy logic controller (FLC)
application for the solution of some of the control problems of
thyristor DC drives is presented. The control problems, which are taken
into account during FLC synthesis, consist in the variable structure of
the current control plant and variation of the moment of inertia in the
speed control...
