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Dissertations / Theses on the topic 'AC motor control'
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Odiete, G. C. E. "AC voltage adjustment and controlled compensation of electrical power drives." Thesis, University of Bradford, 1986. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.373229.
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Purcell, Anthony. "New switching techniques for direct torque controlled induction motor drives." Thesis, University of Newcastle Upon Tyne, 1998. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.285275.
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Yildirim, Dogan. "Field Oriented Control Of A Permanent Magnet Synchronous Motor Using Space Vector Modulated Direct Ac-ac Matrix Converter." Master's thesis, METU, 2012. http://etd.lib.metu.edu.tr/upload/12614302/index.pdf.
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The study designs and constructs a three-phase to three-phase direct AC&ndashAC matrix converter based surface mounted permanent magnet synchronous motor (PMSM) drive system. First, the matrix converter topologies are analyzed and the state-space equations describing the system have been derived in terms of the input and output variables. After that, matrix converter commutation and modulation methods are investigated. A four-step commutation technique based on output current direction provides safe commutation between the matrix converter switches. Then, the matrix converter is simulated for both the open-loop and the closed-loop control. For the closed-loop control, a current regulator (PI controller) controls the output currents and their phase angles. Advanced pulse width modulation and control techniques, such as space vector pulse width modulation and field oriented control, have been used for the closed-loop control of the system. Next, a model of diode-rectified two-level voltage source inverter is developed for simulations. A comparative study of indirect space vector modulated direct matrix converter and space vector modulated diode-rectified two-level voltage source inverter is given in terms of input/output waveforms to verify that the matrix converter fulfills the two-level voltage source inverter operation. Following the verification of matrix converter operation comparing with the diode-rectified two-level voltage source inverter, the simulation model of permanent magnet motor drive system is implemented. Also, a direct matrix converter prototype is constructed for experimental verifications of the results. As a first step in experimental works, filter types are investigated and a three-phase input filter is constructed to reduce the harmonic pollution. Then, direct matrix converter power circuitry and gate-driver circuitry are designed and constructed. To control the matrix switches, the control algorithm is implemented using a DSP and a FPGA. This digital control system measures the output currents and the input voltages with the aid of sensors and controls the matrix converter switches to produce the required PWM pattern to synthesize the reference input current and output voltage vectors, as well. Finally, the simulation results are tested and supported by laboratory experiments involving both an R-L load and a permanent magnet synchronous motor load. During the tests, the line-to-line supply voltage is set to 26 V peak value and a 400 V/3.5 kW surface mounted permanent magnet motor is used.
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Henrichs, Stefan Hubertus. "AC motor control with special reference to the induced excitation of synchronous machines." Thesis, University of Portsmouth, 1991. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.292360.
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The frequency of a Pulse Width Modulated (PWM) power source can be adjusted to control the speed of an AC machine. Machine response in this mode of operation depends strongly on the quality of the chosen PWM switching strategy. Several methods of PWM waveform synthesis are presented and new methods are introduced. A novel Relaxed Spectrum (RS) algorithm based on a Fourier series expansion of the PWM signal is presented. The algorithm computes sinusoidal and non-sinusoidal switching patterns from a specified set of harmonic coefficients. The RS method is suitable for both full- and half-bridge PWM invertors. Unwanted harmonics inherent in a PWM signal, are exploited to induce excitation into the rotor of a synchronous machine. Rotor mounted diodes are used to rectify the induced currents. 'Rvo novel induced excitation methods are presented which permit accurate control of excitation levels. Whilst the first method uses a single Excitation Harmonic Voltage (EHV) for rotor excitation, an EHV pair is used in the second method to obtain improved machine response. The RS algorithm is applied to obtain a PWM waveform which approximates closest to a given specification. PWM switching patterns are obtained for most possible excitation conditions. Voltage Control Limit Functions (VCLF) are computed which define control limits for several excitation schemes. The response of a computer simulated machine model to an Ideal Test Voltage (lTV) is investigated to assess the performance of the new methods of machine excitation. Simulation reveals that the use of an EHV pair minimises motor torque pulsation. Optimum excitation ratios are then defined in terms of the harmonic indices of a given EHV pair. These ratios are shown to be largely independent of machine parameters. The RS method is used t(] compute generalised sets of PWM switching sequences which can subsequently be applied to a wide range of differently rated machines. Analogue Symmetrical Sample (SS) PWM waveform synthesis methods for induce( excitation are compared with their digital equivalents. It is shown that digital P~ techniques compare favourably and can provide higher excitation levels when a largl fundamental drive voltage is required.
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Park, Joon B. "Fault-Tolerant Nonlinear Estimator-Based Direct Torque Control of Sensorless AC Motor Drives." Thesis, Southern Illinois University at Edwardsville, 2019. http://pqdtopen.proquest.com/#viewpdf?dispub=10982121.
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The advancement of sophisticated power electronics technology and high expectation of sensing reliability attribute to the rapid deployment of sensorless-control of AC motor drives. The purpose of this thesis is to provide the comparative studies of the extended Kalman filter (EKF), the fault tolerant extended Kalman filter (FTEKF), and the unscented Kalman filter (UKF)-based sensorless direct torque control approaches for permanent magnet AC motor (PMAC) and induction motor (IM) drives to improve Kalman filtering based state-estimation performances during external disturbances, noise and measurement failures. The proposed fault tolerant Kalman filtering control algorithm is robust to modeling uncertainties and sensing failures. Comparative of computer simulation studies and hardware implementations results have shown that the proposed second-order fault tolerant Kalman filter (SOFTEKF) provide superior state-estimation performance improvements in comparison with the unscented Kalman filter and traditional extended Kalman filter for sensorless direct torque control applications of AC motor drives.
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Engdahl, Henrik. "Solving a Dead-lock Problem of NFO Sinus." Thesis, Linköping University, Department of Electrical Engineering, 2007. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-8477.
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This thesis presents, analyzes and suggests solutions to the dead-lock problem of the sensorless variable speed drive NFO Sinus. Friction, measurement, parameter estimation and quantization effects are believed possible origins of this problem and is hence studied. A short introduction to ¯eld oriented control of the asynchronous AC motor and the NFO Control strategy is also included.
The report is published at LiTH as ISRN LiTH-ISY-EX--06/3945--SE and at LTH under ISRN LUTFD2/TFRT--5780--SE.
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Hewson, Chris R. "Dynamometer emulation of dynamic mechanical loads for testing and commissioning of AC motor drives." Thesis, University of Nottingham, 1999. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.301665.
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Lee, Seung-Ju. "Multiple simultaneous specifications (MSS) control design method of a high-speed AC induction motor." Thesis, National Library of Canada = Bibliothèque nationale du Canada, 2000. http://www.collectionscanada.ca/obj/s4/f2/dsk1/tape4/PQDD_0024/MQ50487.pdf.
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Abebe, K. D. "Modelling and implementation of PMW-fed asynchronous machines." Thesis, University of Strathclyde, 1987. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.382322.
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Antonopoulos, Antonios. "On the Internal Dynamics and AC-Motor Drive Application of Modular Multilevel Converters." Doctoral thesis, KTH, Elektrisk energiomvandling, 2014. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-156200.
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This thesis is an effort to investigate the operation and the performanceof modular multilevel converters (M2Cs). Proven to be the most promisingtopology in high-voltage high-power applications, it is necessary to put aneffort in understanding the physical laws that govern the internal dynamicsof such converters, in order to design appropriate control methods. AlthoughM2Cs belong to the well-studied family of voltage-source converters (VSCs),and claim a modular structure, their control is significantly more complicatedcompared to two- or three-level VSCs, due to the fact that a much highernumber of switches and capacitors are needed in such a topology. This thesishighlights the important parameters that should be considered when designingthe control for an M2C, through analyzing its internal dynamics, and alsosuggests ways to control such converters ensuring stable operation withoutcompromising the performance of the converter.Special focus is given on ac motor-drive applications as they are very demandingand challenging for the converter performance. Interactions betweenthe internal dynamics and the dynamics of the driven motor are experimentallyinvestigated. The problem of operating the converter when connectedto a motor standing still is visited, even under the condition that a greatamount of torque and current are requested, in order to provide an idea forthe converter requirements under such conditions. Finally, an optimization ofthe converter operation is suggested in order to avoid overrating the convertercomponents in certain operation areas that this is possible.All analytical investigations presented in this thesis are confirmed by experimentalresults on a laboratory prototype converter, which was developedfor the purposes of this project. Experimental verification proves the validityof the theoretical investigations, as well as the correct performance of thecontrol methods developed during this project on a real, physical converter,hoping that the results of this thesis will be useful for large-scale implementations,in the mega- or even giga-watt power range.Denna avhandling är ett försök att undersöka drift och egenskaper avmodulära multinivåomvandlare (M2C:er). Eftersom denna topologi anses varaden mest lovande inom högspänings-högeffekt-tillämpningar är, och somett underlag för att kunna formulera lämpliga styrmetoder, är det nödvändigtatt lägga kraft i att försöka förståde fysikaliska lagar som styr den inredynamiken i sådana omvandlare. Även om M2C:erna tillhör den välstuderadefamiljen av spänningsstyva omvandlare (VSC:er), och har en modulärstruktur, är deras reglering avsevärt mer komplicerad jämfört med två- ellertre-nivåomvandlare, eftersom ett mycket större antal switchar och kondensatorerär nödvändiga i en sådan topologi. Denna avhandling sätter fingretpå de parametrar som måste beaktas när man konstruerar regleringen för enM2C, genom att analysera den interna dynamiken, samt att föreslå sätt attstyra sådana omvandlare såatt stabil drift kan säkerställas utan att negativtpåverka prestanda.Ett speciellt fokus läggs på växelströmsmotordrifter eftersom de är särskiltutmanande vad gäller prestanda. Växelverkan mellan den interna dynamikenoch motorns dynamik undersöks experimentellt. Problemet att driva motornvid stillestånd behandlas även i fallet med hög ström och högt moment för atterhålla kunskap om kraven påomvandlaren i sådana fall. Slutligen föreslås enoptimering av omvandlarens drifttillstånd för att undvika överdimensioneringav omvandlarens komponenter i de fall detta är möjligt.Alla analytiska undersökningar som läggs fram i denna avhandling är bekräftadegenom experimentella resultat från en laboratorieomvandlare, somutvecklats inom ramen för detta arbete. Den experimentella verifieringen bevisargiltigheten av alla teoretiska undersökningar. Den visar också på demycket goda prestanda som de utvecklade styrmetoderna har vid drift aven verklig fysisk omvandlare. Förhoppningen är att resultaten från detta arbetekan komma till använding i storskaliga implementerinar i mega- ellergiga-wattklassen.
QC 20141201
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Popek, Michal. "Třífázový DC/AC střídač na malé napětí pro synchronní motor AXi 5345/18." Master's thesis, Vysoké učení technické v Brně. Fakulta elektrotechniky a komunikačních technologií, 2008. http://www.nusl.cz/ntk/nusl-217588.
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The target of this master's thesis is to describe, design and construct an extra low voltage three-phase DC/AC inverter for the motor AXI 5345/18, which will work in EC motor mode. The inverter is supplied by DC source 24 V. In order to save place, the wiring is designed on three separated printed board circuits. These are connected together by connectors for ribbon cables. The control is done by reverse current loop realized by active electronics and superior circuit MC 33035. The proper wiring of current loop is conformed for both control and testing of jet sensors ACS750. Power electronics of the inverter is realized by potential-free modul GWM 120-0075P3 consisted of 6 mosfet transistors. The designed wiring is not set for the concrete realisation, but it can be used for control of propulsion of the wheel, auxiliary propulsion of engine or in appliances, where servo with worse parameters of control loop is used in a sufficent way and it can be cheaper.
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Abu, Saad Samieh. "The utilisation of information available in a sensorless control system of an AC induction motor for condition monitoring." Thesis, University of Huddersfield, 2015. http://eprints.hud.ac.uk/id/eprint/28350/.
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Induction motor driven mechanical transmission systems are widely utilised in many applications across numerous sectors including industry, power generation and transportation. They are however subject to common failure modes primarily associated with faults in the driven mechanical components. Notably, gearboxes, couplings and bearings can cause significant defects in both the electrical and mechanical systems. Condition monitoring (CM) undertakes a key role in the detection of potential defects in the early development stages and in turn avoiding catastrophic operational and financial consequences caused by unplanned breakdowns. Meanwhile, variable speed drives (VSDs) have been increasingly deployed in recent years to achieve accurate speed control and higher operational efficiency. Among the different speed control designs, sensorless VSDs deliver improved dynamic performance and obviate speed measurement devices. This solution however results in heightened noise levels and continual changes in the power supply parameters that potentially impede the detection of minute fault features. This study addresses the gap identified through a systematic review of the literature on the monitoring of mechanical systems utilise induction motors (IM) with sensorless VSDs. Specifically, existing techniques prove ineffective for common mechanical faults that develop in gearboxes and friction induced scenarios. The primary aim of this research centres on the development of a more effective and accurate diagnostic solution for VSD systems using the data available in a VSD. An experimental research approach is based to model and simulate VSD systems under different fault conditions and gather in-depth data on changes in electrical supply parameters: current, voltage and power. Corresponding techniques including model based methods and dynamic signature analysis methods were developed for extracting the changes from noise measurements. An observer based detection technique is developed based on speed and flux observers that are deployed to generate power residuals. Both static and dynamic techniques are incorporated for the first time in order to detect the mechanical misalignment and lubrication degradation, each with different degrees of severities. The results of this study demonstrate that observer based approaches utilising power residual signalling can be effective in the identification of different faults in the monitoring of sensorless VSD driven mechanical systems. Specifically, the combination between dynamic and static components of the power supply parameters and control data has proved effective in separating the four types of common faults: shaft misalignment, lubricant shortage, viscosity changes and water contamination. The static data based approach outperforms the dynamic data based approach in detecting shaft misalignments under sensorless operating modes. The dynamic components of power signals, however, records superior results in the detection of different oil degradation problems. Nevertheless, static components of torque related variables, power and voltage can be used jointly in separating the three tested lubricant faults.
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Nekvapil, Jan. "Řízení trojfázového asynchronního motoru." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2009. http://www.nusl.cz/ntk/nusl-228416.
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This theses concern proposal and implementation asynchronous motor control algorithm in the processor DSP56F807 from the manufacturer Freescale. The complex design of applicable control algorithm and suitable interconnection with processor and outer component is solved in this work. Integral part is also choosing of suitable power elements of inverter and sensors.
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Zdařil, Tomáš. "Regulátor otáček pro střídavé motory." Master's thesis, Vysoké učení technické v Brně. Fakulta elektrotechniky a komunikačních technologií, 2012. http://www.nusl.cz/ntk/nusl-219772.
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The goal of the thesis was to design and create one-way speed controler for brushless DC motors, that is used in air modeling. The circuit is controlled by the Atmel AVR. As power unit for motor is used Li–pol accumulator. The controller is equipped with BEC to power the receiver and allows monitoring of current consumption and voltage on the accumulator. Measured data can be upload to a PC where they can be displayed by RegulatorPC in graphical form.
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Arafat, AKM. "ANALYSIS AND CONTROL OF FIVE-PHASE PERMANENT MAGNET ASSISTED SYNCHRONOUS RELUCTANCE MOTOR DRIVE UNDER FAULTS." University of Akron / OhioLINK, 2018. http://rave.ohiolink.edu/etdc/view?acc_num=akron1524168102423576.
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Aban, Vahap Volkan. "The Design, Control, And Performance Analysis Of Ac Motor Drives With Front End Diode Rectifier Utilizing Low Capacitance Dc Bus Capacitor And Comparison With Conventional Drives." Master's thesis, METU, 2012. http://etd.lib.metu.edu.tr/upload/12615099/index.pdf.
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In this thesis the design, control, stability, input power quality, and motor drive performance of ac motor drives with front end three phase diode rectifiers utilizing low capacitance dc bus capacitor are investigated. Detailed computer simulations of conventional motor drives with diode rectifier front end utilizing high capacitance dc bus capacitor and the drives with low capacitance dc bus capacitor are conducted and the performances are compared. Performance evaluation of various active control methods found in previous studies aiming to provide the dc bus stability of drives with low capacitance dc bus capacitor are done at various load levels and types. Design recommendations are provided for the drives utilizing low capacitance dc bus capacitor.
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Luo, Xiaozhong. "Direct power control of AC motors." abstract and full text PDF (UNR users only), 2009. http://0-gateway.proquest.com.innopac.library.unr.edu/openurl?url_ver=Z39.88-2004&rft_val_fmt=info:ofi/fmt:kev:mtx:dissertation&res_dat=xri:pqdiss&rft_dat=xri:pqdiss:1472963.
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Aleman-Nieto, Alberto E. "Commande adaptative vectorielle d'un moteur asynchrone en utilisant un processeur de signal numérique." Université Joseph Fourier (Grenoble ; 1971-2015), 1996. http://www.theses.fr/1996GRE10141.
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Dans cette thèse, une étude en simulation a été effectuée afin de mettre en évidence l'effet de la température sur les performances de l'asservissement, et de chercher une solution pour y pallier. Deux solutions sont proposées, l'une effectuée en simulation et l'autre implémentée en temps réel: la première suppose l'existence d'une sonde de température permettant la mesure directe de la variation de la température. Sa compensation se fera alors en temps réel en adaptant le modèle de flux, la pulsation de glissement et les coefficients du régulateur de flux. La seconde fait une estimation de la variation de la constante de temps rotorique. Cette méthode consiste à injecter une séquence binaire pseudo-aléatoire (SBPA). Ensuite la variation de #R est estimée en utilisant la méthode d'intercorrélation entre le signal et son effet recueilli sur l'erreur de la vitesse. L'implémentation de la méthode d'identification pour adapter la constante de temps rotorique est faite en trois étapes: d'abord la méthode a flux oriente indirecte est mis en œuvre. Ceci permet aussi de mettre au point la structure matérielle de la commande. Ensuite, la méthode a flux oriente directe est implémentée. Ceci a permis d'une part, de valider les simulations et d'autre part de mettre au point la section qui fait l'estimation du flux rotorique. Enfin l'implémentation de la méthode d'injection de signal binaire pseudo-aléatoire et corrélation est expliquée. Ces trois étapes sont accompagnées d'une explication détaillée concernant leur mise en œuvre
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Sevinc, Ata. "Speed sensorless control of induction motors." Thesis, University of Bristol, 2001. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.364962.
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Boast, G. S. "Wide bandwidth control of AC machines." Thesis, University of Sussex, 1992. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.325931.
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Lacroix, Samantha. "Modélisation et commande d’une chaine de conversion pour véhicule électrique intégrant la fonction de charge des batteries." Thesis, Paris 11, 2013. http://www.theses.fr/2013PA112074/document.
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Le développement des véhicules hybrides et électriques s’est intensifié ces dernières années, face aux problématiques environnementales et économiques. Afin que les performances de ces derniers soient comparables à celle d’un véhicule à moteur thermique, de nombreuses avancées technologiques sont indispensables. Le déploiement de véhicule entièrement à traction électrique, ne serait être réalisable, sans des infrastructures de recharge adaptées. Cette thèse constitue une contribution à l’étude d’un chargeur de batteries intégré au véhicule électrique, dans le cadre du projet SOFRACI.L'architecture de ce chargeur entièrement réversible sert également pour la traction du véhicule. L’utilisation de tous les éléments y compris le moteur de traction pour les deux fonctions, réduit l’encombrement et le coût de la structure. L’objectif principal consiste à modéliser le système de conversion alternatif-continu du chargeur et à établir les lois de commandes.Lors de la première phase de l’étude, une attention particulière a été portée à l’utilisation des enroulements de la machine en tant qu’inductance de filtrage du convertisseur. Un modèle correspondant à ce fonctionnement a été obtenu et a permis de mettre en évidence un couplage magnétique existant entre les diverses phases.En s’appuyant sur les modèles obtenues, la seconde étape a consisté à définir les stratégies de commande. Deux méthodes ont été employées. La première, par le biais d’une transformation a permis de se ramener dans un repère, où la majorité des termes de couplage ont été éliminés. Pour l’autre méthode, tous les éléments du couplage ont été considérés. Pour chacune de ces stratégies, des correcteurs PI et RST fondés sur le placement de pôles robustes ont été dimensionnés pour garantir la stabilité du système.Une part importante du travail a été consacrée à la réalisation d’un banc d’essai expérimental reconstituant la conversion alternative-continue. Compte tenu des différences de dynamiques des grandeurs asservies, une carte FPGA et un processeur ont été utilisés. L’exploitation de ce moyen d’essai a permis de comparer et de valider les lois de commande développéesEnvironmental constraints and reduction of fossil fuels resources have led industrials and laboratories to search for alternative solutions in the transportation domain. For the last few years, several vehicles or planes functions have been gradually electrified, up to their complete electrification. This thesis presents an AC/DC converter integrated in an Electric Vehicle (EV) for the charger application. The conversion is realized by using the electric traction powertrain, in order to reduce the global cost and increase compactness where a specific motor has been design.During the first phase of the study, a model of the motor used as filtering inductances has been obtained and allowed to highlight an existing magnetic coupling between the motor’s phases.The second step was to define control strategies. Two methods were used. The first one, by a transformation allowed eliminating the majority of the coupling term. In the other method, all coupling elements have been considered. For each strategies, IP and RST controllers based on robust pole placement were designed to ensure system stability.An important part of the work was devoted to the realization of an experimental test bench for AC-DC conversion. A FPGA and a processor were used for control implementation. The control laws has been compared and validated thanks to the experimental platform
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White, Terence H. "A three-phase hybrid dc-ac inverter system utilizing hysteresis control." Thesis, Monterey, Calif. : Springfield, Va. : Naval Postgraduate School ; Available from National Technical Information Service, 2004. http://library.nps.navy.mil/uhtbin/hyperion/04Jun%5FWhite%5FTerence.pdf.
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Padalík, Michal. "Algoritmy odbuzování při řízení střídavých motorů." Master's thesis, Vysoké učení technické v Brně. Fakulta elektrotechniky a komunikačních technologií, 2008. http://www.nusl.cz/ntk/nusl-217703.
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Granata, John A. (John Anthony). "A test platform for measuring the energy efficiency of AC induction motors under various loading conditions and control schemes/." Thesis, Massachusetts Institute of Technology, 2012. http://hdl.handle.net/1721.1/76911.
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Thesis (M. Eng.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, June 2012."May 2012." Cataloged from PDF version of thesis.
Includes bibliographical references (p. 63).
A test platform was developed to measure and compare the energy efficiency of an AC induction motor under steady-state and cyclical loading conditions while operating in both a constant speed mode and while performing speed to speed transitions. The details of the construction are provided. The motor under test is fully characterized and modeled in order to establish theoretical bounds for maximum efficiency operation. In addition, several custom motor controllers were created and the specifics of their implementation are given. Results from tests on both commercial and custom controllers show the test platform to be a valuable tool for characterizing the energy efficiency of the AC induction motor while subjected to various loading conditions under the control of the different motor controllers.
by John A. Granata.
M.Eng.
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Aboelhassan, Mustafa Osman Elrayah. "Robustní řízení synchronního stroje s permanentními magnety a spínaným tokem." Doctoral thesis, Vysoké učení technické v Brně. Fakulta elektrotechniky a komunikačních technologií, 2013. http://www.nusl.cz/ntk/nusl-233605.
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Je jasné, že nejúspěšnější konstrukce zahrnuje postup vícefázového řízení, ve kterém každá fáze může být považována za samostatný modul. Provoz kterékoliv z jednotek musí mít minimální vliv na ostatní, a to tak, že v případě selhání jedné jednotky ostatní mohou být v provozu neovlivněny. Modulární řešení vyžaduje minimální elektrické, magnetické a tepelné ovlivnění mezi fázemi řízení (měniče). Synchronní stroje s pulzním tokem a permanentními magnety se jeví jako atraktivní typ stroje, jejíž přednostmi jsou vysoký kroutící moment, jednoduchá a robustní konstrukce rotoru a skutečnost, že permanentní magnety i cívky jsou umístěny společně na statoru. FS-PMSM jsou poměrně nové typy střídavého stroje stator-permanentní magnet, které představují významné přednosti na rozdíl od konvenčních rotorů - velký kroutící moment, vysoký točivý moment, v podstatě sinusové zpětné EMF křivky, zároveň kompaktní a robustní konstrukce díky umístění magnetů a vinutí kotvy na statoru. Srovnání výsledků mezi FS-PMSM a klasickými motory na povrchu upevněnými PM (SPM) se stejnými parametry ukazuje, že FS-PMSM vykazuje větší vzduchové mezery hustoty toku, vyšší točivý moment na ztráty v mědi, ale také vyšší pulzaci díky reluktančnímu momentu. Pro stroje buzené permanentními magnety se jedná o tradiční rozpor mezi požadavkem na vysoký kroutící moment pod základní rychlostí (oblast konstantního momentu) a provozem nad základní rychlostí (oblast konstantního výkonu), zejména pro aplikace v hybridních vozidlech. Je předložena nová topologie synchronního stroje s permanentními magnety a spínaným tokem odolného proti poruchám, která je schopná provozu během vinutí naprázdno a zkratovaného vinutí i poruchách měniče. Schéma je založeno na dvojitě vinutém motoru napájeném ze dvou oddělených vektorově řízených napěťových zdrojů. Vinutí jsou uspořádána takovým způsobem, aby tvořila dvě nezávislé a oddělené sady. Simulace a experimentální výzkum zpřesní výkon během obou scénářů jak za normálního provozu, tak za poruch včetně zkratových závad a ukáží robustnost pohonu za těchto podmínek. Tato práce byla publikována v deseti konferenčních příspěvcích, dvou časopisech a knižní kapitole, kde byly představeny jak topologie pohonu a aplikovaná řídící schémata, tak analýzy jeho schopnosti odolávat poruchám.
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Herman, Ivo. "Algoritmy odhadu stavových veličin elektrických pohonů." Master's thesis, Vysoké učení technické v Brně. Fakulta elektrotechniky a komunikačních technologií, 2012. http://www.nusl.cz/ntk/nusl-219775.
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This thesis deals with state estimation methods for AC drives sensorless control and with possibilities of the estimation. Conditions for observability for a synchronous drive were derived, as well as conditions for the moment of inertia and the load torque observability for both drive types - synchronous and asynchronous. The possibilities of the estimation were confirmed by experimental results. The covariance matrices for all filters were found using an EM algorithm. Both drives were also identified. The algoritms used for state estimation are Extended Kalman Filter, Unscented Kalman Filter, Particle Filters and Moving Horizon Estimator.
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楊順益. "Digital control of AC servo motor." Thesis, 1986. http://ndltd.ncl.edu.tw/handle/94776229607978135592.
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Ye, Guo-Jin, and 葉國進. "Tracking Control for Two axes AC Servo Motor." Thesis, 2008. http://ndltd.ncl.edu.tw/handle/y9e3zz.
Full textAbstract:
碩士國立雲林科技大學
電機工程系碩士班
96
The main purpose of the study is to design and develop a PWM Control Method for AC Servo Motor and AC Induction Motor,study utilized the TMS320F2812 digital signal processor manufactured by TI Company as the core system,the connected PC and DSP through USB2.0 and adapted the law of any motor control designed in MATLAB/SIMULINK on the PC to the digital controller for controlling.The parameter adjustment of the controller used DSP-Based to produce Kp,Ki of PI controller. For motor control system,we use the PWM Control Method to design AC Servo Mot- or and AC Induction Motor controller.This thesis utilized AC Induction Motor deliver position command to AC Servo Motor,the controller is to design current and velocity closed loop. However, AC Servo Motor is to receive AC Induction Motor position command,the controller is to design current,velocity and position closed loop.Finally we use vector control method to complete control of position to make machine to roll-line.The input of position control is generated by encoder of AC Servo Motor,the AC Servo Motor of position control has 1800rpm to start machine which can roll-line.AC Se- rvo Motor stepper-motor of position control has 1800rpm to start machine which can roll-line.
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Wu, Wen-Tai, and 吳文泰. "Single-phase Pump Motor Control via AC Chopper." Thesis, 2017. http://ndltd.ncl.edu.tw/handle/21723790523578816761.
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碩士中原大學
電機工程研究所
105
This paper explores an architecture and method that allows the signal-phase induction motor with a power regulating function, to control the pump with a constant pressure. The hardware architecture uses an AC chopper to control the input voltage of the AC power supply of the induction motor via pulse width modulation (PWM), and to set the motor output power according to the pump pressure. In detial, the models of centrifugal pump and induction motor are derivated. Next, the PID digital controlleris realized by simulink simulation. Finally, the AC splitter and related circuits are implemented, The single-chip dsPIC33FJ16MC102 is used for developing control procedures, and returning date of the pressure sensor. The AC motor is controlled to change the output of mechine power and achieve the pressure control of pump.
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Long, Wang Sheng, and 王勝龍. "Heavy Load Field-Oriented Control AC Servo Motor Drive." Thesis, 1998. http://ndltd.ncl.edu.tw/handle/27340395548382032882.
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碩士中原大學
電機工程研究所
86
The purpose of this thesis is to design and implement a high-performance AC servo motor drive. A co-processor structure, which is based on a personal computer (PC) and a digital signal processor (DSP), is presented in this thesis. Using IGBT modules and other control and protect circuits to implement an inverter, a 20 kW heavy load AC motor drive system is completed. The drive system can accomplish high precision of velocity and position control for induction and permanent magnet synchronous motors. In order to reduce the influences of plant parameter variations and external load disturbances to the motor drive system, a robust field-oriented AC motor drive is presented in this thesis.An integral-proportional (IP) controller and its systematic design procedure is introduced first. Next, a recursive least square (RLS) estimator with unbiased characteristics, which composes of a RLS algorithm and a proposed torque observer, is introduced. The rotor inertia constant, the damping constant, and the disturbed load torque of the AC motor drive are estimated by the proposed RLS estimator. Then the IP position controller is real-time designed to match the time-domain command tracking specifications under the condition of parameter variations, and the observed disturbance torque is fed forward to increase the robustness of the AC motor drive. The theoretical basis of the proposed controller and estimator are derived in detail, and the effectiveness of the proposed AC motor drive system is confirmed by the simulation and experimental results.
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袁德威. "The DSP Controller Based AC Induction Motor Vector Control." Thesis, 1999. http://ndltd.ncl.edu.tw/handle/64557353708022332455.
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碩士逢甲大學
電機工程學系
87
The purpose of this thesis is to implement a DSP-based induction motor vector control, with the inclusion of the rotor flux orientation method. With the structure of the vector control, the current controller, the flux controller and the speed controller will be analyzed and designed in detail. In order to cope with the design methodology, each controller will be simulated by using the MATLAB/SIMULINK software package for different parameters. The induction motor vector controller designed in this thesis consists of two parts, hardware and software. For the hardware aspect, DSP controller, protective circuit, current sensor circuit, power module, and the related digital peripheral circuits will be included. The inner loop control for calculating the values of and , current controller, flux controller and speed controller, and the outer loop control for calculating the electrical and mechanical speed, both are for the software aspect considered. Finally, a three-horsepower four-pole induction motor with vector control will be demonstrated and verified with the parameters calculated and obtained from the simulation.
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Kuo, Yau-Lin, and 郭瑤琳. "Variable Structure Control Theory Apply on AC Induction Motor." Thesis, 1996. http://ndltd.ncl.edu.tw/handle/95158194137406184013.
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碩士國立中央大學
電機工程研究所
84
Fundamentals of the Variable Structure Control(VSC) theory have been developed almost exclusively. The most attractive advantage of using VSC is insensitivity to external disturbance and to variation in plant parameters. Otherwise, VSC is easier to physical implement then other method.So VSC is vary fittingly applying on the complex induction motor. This paper discusses the VSC is used by speed controller, speed estimater andflux observer of induction servo motor drives. Then the principles and fundamental characteristics of the system are presented on the basis of simulation and experimental results. The whole hardware processing is realized by 586 personal computer and IGBT.
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Kuo, Tien-Sung, and 郭天送. "Design and Implementation of an FPGA-Based Motor Control IC for AC Servo Motors." Thesis, 1997. http://ndltd.ncl.edu.tw/handle/26879988429872247031.
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碩士國立交通大學
控制工程系
85
This thesis presents a hardware circuit architecture of a fully digitalvector control IC for ac servo motor using the field programmable gatearray (FPGA). The modular design approach has been proposed to simplifythe design and realization. The vector control IC for ac servo motor namedDMC-3000 can be used for the vector control of both permanent magnet syn-chronous motor and induction motor. The constructed IC consists of three major parts: a current vector control module, a decoupling control module,and a servo loop module. Specifications of the DMC-3000 are determined based on practical application considerations. Bit length effect of thecontrol IC has be或寫入converter and position feedback from the quadrature encoder can be directlyinterfaced to the develope motor control IC. The DMC-3000 can be incorporatedwith a digital signal processor (DSP) or a microprocessor to provide asimple solution for ac servo motor control. The control and status registersof the DMC-3000 can be on-line adjusted or monitored. A rotor-flux angleregister has been designed in the proposed DMC-3000, therefore, the flux model for the decoupling control of an induction motor can be easily realizedby it''s coprocessor. About 25000 gate counts are used to realize the proposedcontrol scheme. Experimental results have been given to verify the design and implementation of the proposed control IC.
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Wu, Hsun-ching, and 吳訓慶. "A Remote Supervisory Control for AC Server Motor Using PDA." Thesis, 2008. http://ndltd.ncl.edu.tw/handle/26130782927450399484.
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碩士義守大學
電機工程學系碩士班
96
This paper aims at the establishment of a monitor system by use of the personal digital assistant (PDA). The system is accomplished with a PDA, a wireless device server, a Bluetooth RS-232 transmitter, a programmable logic controller, driver, and servomotor, etc. The PDA has the advantage that adequate display space shows intact functions on a light and small controller. It is very suitable for the moveable system of monitoring and failovering. The network module includes the wireless network card of the PDA, the wireless device server, and the RS-232 port of the PLC. This system can also monitor the servomotor via the Bluetooth RS-232 transmitter. Because of the convenient taking, the operation of PDA can overcome the restrain of space. This apparatus will reach the aim of wireless monitoring. The man-machine interface is achieved with eMbeddeb Visual Basic 3.0 (eVB) and VB.NET 2005. These programs can save development time and realize the aim of graphic control. This system provides the user to quickly know the operation condition, find out the unusual alarm, show the troubleshooting, and control via wireless. From this system, the remote controller can use a PDA to monitor the apparatus. This system provides an economic and convenient solution for the automatic control system. The practicability is also discussed.
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Liu, Jia-Ying, and 劉佳穎. "SPWM and Vector Control for an AC Servo Motor Drive." Thesis, 2010. http://ndltd.ncl.edu.tw/handle/62884174545971547055.
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碩士大葉大學
電機工程學系
98
The purpose of this paper is to build a three-phase AC servo motor drive with Microchip's digital signal processor (DSP) dsPIC30F4011 as the core of the control. In order to improve mathematical ability of the servo system and greatly reducing hardware space, a set of digital servo drive system has been developed. The main drive uses the dsPIC30F4011 as the core elements and mathematical operations in the hardware circuit. In this study, an IPM module Toshiba's TPD4125K is applied as the PWM switch. In the drive mode, the quadrature encoder interface (QEI) A, B phase of motor position are captured, Motor speed is obtained through a mathematical relationship between the encoder conversion. Phase current signals obtained the d-q axis current are measured. And then, coordinate conversion to output from the dsPIC through the gate-driver complete sinusoidal pulse modulation SPWM electronic commutation. Experimental results demonstrated to achieve the objective of servo motor current vector control and speed control.
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ming-hsuan, Tu, and 涂明炫. "DSP-Based Motion Control Design for AC Servo Motor Drives." Thesis, 2001. http://ndltd.ncl.edu.tw/handle/52842557082964039984.
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碩士國立交通大學
電機與控制工程系
89
The external disturbance is the type of additive variation to the motion system. When the inertia changes, it is the type of multiplicative variation to the motion system. In this thesis, the digital disturbance observer (DDOB) is applied to reduce effects from external disturbance for AC servo motor drives. Parameters of PI controller can be automatically tuned in the velocity loop as the inertia changes. In the position loop, the integrator and the state feedback controller including an observer are applied to the servo system design by using the pole-placement method. Compared with the P controller, the bandwidth is improved form 19.7 Hz to 44.9 Hz. With external disturbance, the bandwidth decreases to 36.5 Hz. Then, the DDOB and auto-tuning technique are applied and the bandwidth is recovered to 40.6 Hz. Moreover, the estimated current from the DDOB can be used to monitor. Both the load variance and the inertia change. All algorithms and experiments are implemented in the developed TMS320F240 DSP motor control system.
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Hsieh, Ming-Wei, and 謝明偉. "Design of a Control IC for AC Synchronous Servo Motor." Thesis, 2004. http://ndltd.ncl.edu.tw/handle/84047939500288039786.
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碩士國立臺灣海洋大學
機械與輪機工程學系
92
Abstract This thesis considers the design of the control IC for AC synchronous servo motor. The design uses CPLD to configure the control system such that the chip containing coordinates conversion, the PI controller for current loop and velocity loop as well as the PWM. The design adopted 2’ complement method for numerical operation. Concerning the electronic circuit, the library of parameterized modules of VHDL is adopted to design frame conversion, that use Quartus II 4.0 as software, and we use Matlab/Simulink/Altera DSP Builder for simulation and identification. The CPLD compoenet of ALTERA is applied in the design to realize the control chip for motor control, the overall design suggest an realization that can involve advanced design design algorithm, and can reduce development time.
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Luo, Jeou-Lang, and 羅久琅. "Robust integral Structure Control for AC Induction Motor Servo Drives." Thesis, 1998. http://ndltd.ncl.edu.tw/handle/66517298948236500629.
Full textAbstract:
碩士國立中山大學
電機工程學系研究所
86
This paper designs and implements a DSP based AC induction servo motor drive .The proposed servo drive applies indirect vector control to eliminate the nonlinear coupling of induction motor and employs the robust integral structure control (RISC) algorithm to design the induction servo control system so as to achieve a fast and accurate servo control. From the simulation and experimental results, the proposed RISC system can achieve the requirements of acurate position /velocity servo-tracking in the face of load disturbanle .this scheme also successfully implements accurate position /velocity servo control,with good transient adn steady-state responses. This paper designs and implements a DSP based AC induction servo motor drive .The proposed servo drive applies indirect vector control to eliminate the nonlinear coupling of induction motor and employs the robust integral structure control (RISC) algorithm to design the induction servo control system so as to achieve a fast and accurate servo control. From the simulation and experimental results, the proposed RISC system can achieve the requirements of acurate position /velocity servo-tracking in the face of load disturbanle .this scheme also successfully implements accurate position /velocity servo control,with good transient adn steady-state responses.
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Chen, Ming-Hui, and 陳明輝. "Shaft Position Sensorless Control of Permanent Magnet AC Motor and Verification." Thesis, 2011. http://ndltd.ncl.edu.tw/handle/50735407268000826401.
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碩士國立臺北科技大學
電力電子產業研發碩士專班
99
Permanent magnet AC motor was widely used because of the high efficiency, high-speed operation, and the high ratio for per unit current torque. In order to achieve the purpose of vector control, we need the rotor position by the position sensors like encoder, resolver and hall sensor in the motor control system. There position sensors can not to be installed in everywhere. In this thesis, the back EMF method of shaft position sensorless control of observer was explored to replace the position sensors and improve the system reliability. This thesis aims to explore the shaft position sensorless control of permanent magnet AC motor and verification. First, we analysised the based theoretical of the permanent magnet AC motor control, shaft position sensorless and velocity observer control of the mathematical model. We explored the shaft position sensorless control of observer application to control system. Finally, we proposed a control strategy application to the shaft position sensorless control system.
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CHEN, MING-HUNG, and 陳明宏. "Development of Digital Control for AC Permanent-Magnet Synchronous Motor drives." Thesis, 2001. http://ndltd.ncl.edu.tw/handle/12385857521749624194.
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碩士國立臺灣科技大學
電機工程系
89
This thesis is concerned with the development of digital control system for ac permanent-magnet synchronous motors to yield good speed regulation, low current harmonic and stable output speed. The design of controller is conducted by digitizing the mathematical model of ac permanent-magnet synchronous motors using impulse invariance technique. The regulation and limitation of control parameters are also studied. In addition, a predicted current estimator, which is insensitive to motor feedback currents, is proposed to function under stationary frame for harmonic current suppression. A digital control system for 150 kW ac permanent-magnet synchronous motor is realized with digital signal processor (DSP TMS320F240). Experimental results indicate that the total harmonic distortion of current is reduced from 10% to 7.2% for 850 W and 3.3% to 3% for 48 kW output power by the proposed predicted current estimator technique.
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Chen, Song-Ray, and 陳松瑞. "A Research of Velocity and Position Control of AC Induction Motor." Thesis, 1997. http://ndltd.ncl.edu.tw/handle/10927933482854202048.
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葉雲碩. "Stable Predictive Control for an AC Induction Motor-Driven Servo System." Thesis, 2004. http://ndltd.ncl.edu.tw/handle/76690187743309866281.
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碩士國立中興大學
機械工程學系
92
This thesis considers the system identification and infinite horizon stable predictive control (IHSPC) design for an AC induction motor-driven servo system. The RLS (recursive least squares) algorithm is used for obtaining the optimal parameters of a discrete-time linear estimation model with a constant bias term. Based on the estimated model, the IHSPC design methodology is adopted for synthesizing a stable predictive control law for the actual servo system. Finally, the control law is developed in the MATLAB/SIMULINK environment and implemented using a dSPACE DS1102 control board. Experimental results validate the feasibility of the suggested approach.
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Huang, Min Tsung, and 黃閩宗. "Implementing and Studying the Remote-control Device of AC Induction Motor." Thesis, 2003. http://ndltd.ncl.edu.tw/handle/57477566171643687096.
Full textAbstract:
碩士國立臺灣科技大學
機械工程系
91
The object of this paper is to perform a remote-control system that is able to control the remote AC induction motor driver. In the first implementing controlling the remote induction motor speed is important goal. In addition, the position control and speed control system is designed with vector-controlled theorem that is in synchronous reference frame. About software, the xPC of the MATLAB is used to be the remote- control workspace interface in this thesis. And in this paper, sending speed command or getting feedback signal is combined with a suitable interface card for capturing or generating the analog or digital signal when the motor is operated. Then all the signal of feedback or command is dealt with at the client user. About hardware, in the motor driver of remote-control device is used the inverter that is made by a predecessor. And the center processor is the TI’s TMS320 F243 digital signal processor (DSP). And the interface card is the Advantech’s PCL-812PG signal captured card. In this paper, this interface card is used to send speed command or get feedback signal. Firstly, implementing the induction motor system with the vector- controlled theorem include closed loop speed control. Secondly, sending speed command to the remote system or getting feedback signal form the remote system is implemented in the workspace of xPC of the MATLAB. Finally, the system combination of software and hardware, experimentation in the different speed and position command is used to confirm the remote- control system performance.
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Wu, Jiunn-Lin, and 吳俊麟. "Simulations and Experiments of Two-axes Control of AC Induction Motor." Thesis, 1996. http://ndltd.ncl.edu.tw/handle/38181254389827942783.
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Liu, Ching-Shau, and 劉慶孝. "DSP-Based Integral Variable Structure Control Of an AC Induction Motor." Thesis, 1994. http://ndltd.ncl.edu.tw/handle/04976973560362050435.
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Lin, Hsieh-Liang, and 林謝良. "Automatic Control Loop Tuning and Section Crossing Control for Linear Permanent-Magnet AC Motor." Thesis, 2017. http://ndltd.ncl.edu.tw/handle/6b89z9.
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碩士國立臺北科技大學
電機工程研究所
105
Linear permanent magnet synchronous machine drives (LPMSM) are widely used in precision and automation industries for their high dynamic response, accurate positioning, and direct drive capabilities. These drives generally consist of current, velocity, and position control loops. In this thesis, an automatic control loop tuning scheme for LPMSM servo motor drive is proposed. Motor resistance and inductances are identified first for current loop tuning. The force constant and mechanical parameters are then identified for velocity and position loop tuning. In addition to auto-tune, a section crossing control scheme for LPMSM with multiple sections is also investigated. These machines are generally used in the applications that require long transportation distance. The control system must deal with the discontinuous position feedback problem during section crossing, while maintaining a good positioning accuracy after crossing the section. In the presented scheme, an estimator with the back-emf is used to estimate mover position during the section crossing period. Then, motor position is compensated after the transition period to prevent over-current caused by the discontinuous feedback position. Both the theoretical analysis and experimental verification results are presented.
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Chiang, Chin-Yi, and 江晉毅. "Design and Implementation of a CPLD-Based Universal AC Motor Control IC." Thesis, 1998. http://ndltd.ncl.edu.tw/handle/98845718814738871819.
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碩士國立交通大學
電機與控制工程學系
86
This thesis presents the design and implementation of a universal ac motor control IC using complex programmable logic device (CPLD). The proposed control IC is constructed under rotor flux oriented control, and may be used for vector control of both permanent magnet and induction ac motors. There are three major units in this control IC: voltage/current vector controller, decoupling controller, and servo controller. The control IC is programmable, and control parameters can be set by an external microprocesos. In the realization of the current vector controller, 10-bit integer arithmetic is adopted, and the current vector control can be either operating in stationary or synchronous reference frame. The sampling rate can be programmed from 78 Hz to 50 kHz. In decoupling and servo controllers, 16-bit integer arithmetic is adopted to realize the control algorithm. Decoupling controller is used for the decoupling control of both permanent magnet and induction ac motors. Servo controller accomplishes speed and poition loop control. Proportional and integral with feedforward control is adopted in position loop and a second-order digital filter is used in speed loop. About 90% of 100 thousands typical gates CPLD is used to realize the proposed control IC. In this thesis, software simulation and servo experiments have been carried out to verify the control IC functions. Experimental results show that the control IC has very excellent characteristics and all of the designed functions can work correctly.
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蔡宗甫. "The Study and Implementation of the AC Induction Motor Space Vector Control." Thesis, 2000. http://ndltd.ncl.edu.tw/handle/18810407484807680285.
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碩士逢甲大學
電機工程學系
88
Abstract The purpose of this thesis is to implement a single chip TMS320C240 digital signal processor controller based induction motor drive. The field-oriented control algorithm well be used in this thesis. The voltages, currents and flux linkages of the three-phase systems are transformed into the d-q axis system. The decoupled techniques for the nonlinear dynamic equations are applied. The space vector PWM is utilized to control the motor speed. This method permits a 15-percent increase in output voltage of the PWM inverter. The current controller, flux controller and the speed controller of the motor drive will be designed and analyzed in detail. Each controller and function blocks of the motor drive will be simulated by using the MATLAB/SIMULINK software package. Finally, a DSP-based motor drive with the vector control and space vector pulse width modulation will be implemented and demonstrated. Keywords: Vector control、Field-oriented Control Method、SVPWM
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Γάτας, Κωνσταντίνος. "Ψηφιακός έλεγχος ειδικού τύπου AC - κινητήρα." Thesis, 2013. http://hdl.handle.net/10889/6291.
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Η παρούσα διπλωματική εργασία αποτελεί μία μελέτη στον
ψηφιακό έλεγχο ενός AC – Κινητήρα ειδικού τύπου. Ο τύπος
αυτός είναι μία ασύγχρονη – επαγωγική μηχανή ενώ ο έλεγχος
που πραγματοποιείται αποτελεί μέρος μίας ευρύτερης μορφής
ελέγχου αυτή του FOC (Προσανατολισμένος προς κάποιο πεδίο
έλεγχος). Ο χαρακτηρισμός του ως ψηφιακού οφείλεται στη
χρήση του ελεγκτή TMDSHVMTRPFCKIT ο οποίος καθιστά
εφικτή την οποιαδήποτε μορφή ελέγχου. Αξίζει να αναφερθεί
πως ο έλεγχος δεν κάνει χρήση αισθητήρων ενώ τα προς έλεγχο
μεγέθη δεν μετριούνται αλλά εκτιμώνται. Τέλος η όλη
διαδικασία ελέγχου δύναται να παρακολουθείται κατά τη
διάρκεια λειτουργίας του επαγωγικού κινητήρα κάνοντας χρήση
του γραφικού λογισμικού GUI, το οποίο απαιτεί και την
κατάλληλη επικοινωνία του ελεγκτή με τον προσωπικό Η/Υ.This thesis is a study in digital control of a special type of AC - Motor. This type is an asynchronous - induction machine while the control made a part of a broader form control of FOC (Field Oriented toward some control). The characterization as digital due to using the TMDSHVMTRPFCKIT controller which makes possible any form of control. It is worth mentioning that the control does not use sensors to control while sizes are not measured but estimated. Finally the whole process control can be monitored during the operation of the induction motor using graphic software GUI, which requires the proper communication controller with the P/C.
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ZHAN, MEI-LANG, and 詹美郎. "A study of a self-controlled AC servo motor with sliding mode control." Thesis, 1992. http://ndltd.ncl.edu.tw/handle/56016766448215583001.
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