Electric Machinery and Control Laboratory Department of Electrical Engineering National Central University

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1 Aviser:Professor Faa-Jeng Lin Electric Machinery an Control Laboratory Department of Electrical Engineering National Central University

2 Areas of Research 2 Intelligent control systems incluing fuzzy, neural network an GA Ultrasonic, synchronous an inuction motor servo rives (rotating an linear) Magnetic levitation Piezoceramic actuator Inuction generator system Nonlinear an aaptive control Power electronics Mechatronics DSP-base computer control systems an computer interface Digital an analog circuits, VHDL, Spice

3 Awars 3 Excellent Research Awar, National Science Council, Taiwan, 1993 to IEEE Senior Member, USA, 1999 Outstaning Research Professor Awar, Chung Yuan Christian University, Taiwan, 2000 Excellent Young Electrical Engineer Awar, the Chinese Electrical Engineering Association, Taiwan, The Crompton Premium Best Paper Awar, the Institution of Electrical Engineers (IEE), Unite Kingom, Best Paper Awar, Taiwan Power Electronics Conference, Taiwan, 2004~2006. Distinguishe Research Awars, National Science Council, Taiwan, 2004.

4 Awars 4 Outstaning Research Professor Awar, National Dong Hwa University, Taiwan, Outstaning Technology Awar, Precision CNC Servo Competition, Ministry of Eucation, Taiwan, Outstaning Professor of Electrical Engineering Awar, the Chinese Electrical Engineering Association, Taiwan, Fellow, The Institution of Engineering an Technology (IET, former IEE) Distinguishe Professor, National Central University, Taiwan, Project for Outstaning Researcher, National Science Council, Taiwan, Best Paper Awar, Applications Competition of Matlab/Simulink, Taiwan, 2009.

5 Experimental Equipments 5 Win-Turbine Emulator an Inuction Generator System DSPCPLD FPGA Toggle

6 Experimental Equipments 6 Linear Inuction Motor Two-Axis Motion Control System Magnetic Levitation System Five Degree-of-Freeom Active Magnetic Bearing Control System

7 Experimental Equipments 7 Linear Inuction Motor Drive Three-Phase Inuction Motor Drive Linear Permanent Magnet Synchronous Motor Drive High-Efficiency Permanent Magnet Synchronous Motor Drive

8 Experimental Equipments 8 Three-Axis Stage with Linear Ultrasonic Motors Permanent Magnet Synchronous Win-Turbine Generator Gantry Position Stage DSP28335 Base BLDC Motor Drive System

9 Experimental Equipments 9 Sensorless Drive System for PMSM Compressor Permanent Magnet Synchronous Motor Drive System for Light Electric Vehicle Three-Phase Power Analyzer

10 Experimental Equipments 10 Dynamic Signal Analyzer Programmable AC Power Sources Precision LCR Meter Digital Oscilloscope

11 Experimental Equipments 11 DC Electronic Loas DC Power Supply (200V/25A) Digital Oscilloscope (400MHz) Programmable AC Power Sources

12 12 Recurrent-Fuzzy-Neural-Network Control Linear Inuction Motor Servo Drive Using Genetic Algorithm 3-phase 220V 60Hz Rectifier L - C PWM Inverter LIM Ta Tb Tc Ramp Comparison Current Control i a i b - Position Loop Controller v - v Spee Loop Controller λ r i s Limiter i qs i a cos θ e i b i c Coorinate Translator sin θ e Seconary Time-Constant Estimator Tˆr Va Vb ( s λ 1 T ) r r Lm Tr i Tˆr qs i s SIN/COS Generator n p n p v v sl v e π h ω e θ e v Digital Filter an Differentiator System configuration of inirect fiel-oriente control LIM servo rive

13 13 Recurrent-Fuzzy-Neural-Network Control Linear Inuction Motor Servo Drive Using Genetic Algorithm w & 4 ko, m&, & σ, w& ij ij oi η, η, ησ, η w m Delta Aaptation Law r Genetic Algorithms e m pe m e m pe m LIM Drive System Reference Moel m _ e m t pem Recurrent Fuzzy Neural Network Controller i qs K F F e _ F L 1 Ms D H p (s) v 1 s Control block of LIM servo rive with GA-base RFNN controller

14 14 Fuzzy Sliing-Moe Control Linear Inuction Motor Drive Using FPGA 3-phase 220V 60Hz rectifier L - C PWM inverter encoer LIM FPGA Ta Tb Tc 24 MHz CLK timing control i s v fiel-oriente control system sin( θ e )& cos( θ e ) generator θ e generator co-orinate translator i 12 a i 12 b i 12 c ata & D/A controller i a ramp comparison current control i b i c D/A converter i a i b encoer signal ata & D/A control signal comman generator encoer interface x 1 generator x 1 x 2 x 1 x 2 K f integral switching surface fuzzy inference 12 mechanism sliing-moe position controller S & S i qs 12 2 x1 2 & x generator fuzzy sliing-moe control Control block of FPGA-base LIM servo rive

15 15 Robust Fuzzy-Neural-Network Sliing-Moe Control for Two-Axis Motion Control System X-Y Table Using PMLSMs DSP-Base Control Computer X-Axis Motor Drive i cx i bx i ax LCD 1 2 3A 4 5 6B 7 8 9C 0B# FD TMS 320C32 Parallel Port Flash EPROM D/A Converter Encoer Interface i ax i bx i cx i ay i by i cy Y-Axis Motor Drive i ay i by i cy Y-Axis PMLSM X-Axis PMLSM Linear Scale & Hall Sensor Linear Scale & Hall Sensor DSP-base two-axis motion control system

16 16 Robust Fuzzy-Neural-Network Sliing-Moe Control for Two-Axis Motion Control System RFNN Sliing-Moe Control System Aaptive Uncertainty Estimation ˆ& H ( t ) Robust Controller U r m Reference e Neural Network WˆFNN Moel Estimator - t e& & W ˆ, m& ˆ, s& ˆ Fuzzy Wˆ, mˆ, sˆ - u(t) U(t) Fiel-Oriente Control PMLSM Servo Drive Aaptation Laws t Sliing Surface S Auxiliary Controller RFNN sliing-moe control system

17 17 Frequency Control Inuction Generator System Using Recurrent-Fuzzy-Neural-Network i c PMSM IG i i i a b c T a T b T c C c v c T a T b T c i, i, i, u v u v v v w v w L p Δ 3φ Loa T a T b T c T a T b T c i s v ab Fuzzy Moeling P out θ r ω sl t ω r ω e η converter i a i b iqs T ri s θ e P c Isolation an Drive Circuits Ta i a i qs Tb i b Tc Current Control Circuits i c Coorinate Transformation i s P c i c RFNN v c Isolation an Drive Circuits T a T b T c Current Control Circuits i u i s i v i w Coorinate Transformation i qs RFNN i u i v v uv v uv Control block of inuction generator system with RFNN control

18 18 Frequency Control Inuction Generator System Using Recurrent-Fuzzy-Neural-Network y o 4 z 1 Σ z 1 output layer o 4 w ko y k 3 Π Π Π Π rule layer k w oi 3 w jk w oi y j 2 membership layer j y i 1 Π Π input layer i x i 1 Structure of four-layer RFNN

19 19 ω r DSP TMS320 LF ω r Spee Loop Controller Synchronous Motor Drive System Using DSP an CPLD 0 i qs i s - - CPLD ALTERA 10K100ARC240-1 PI PI V s V qs 2φ 3φ V a V b V c SPWM PWM1 PWM2 PWM3 PWM4 PWM5 PWM6 Rectifier - Inverter U V W 3-phase 220V 60Hz i US i WS i s i qs 3φ 2φ i a i b i c Current Process Circuit A/D A/D Filter Circuit θ e SIN/COS Generator θ h θ r Rotor Initial Angle Detector Encoer & Hall Signal Detector Encoer Interface Circuit u,v,w a,b,z System configuration of fiel-oriente control PMSM servo rive

20 20 Synchronous Motor Drive System Using DSP an CPLD 3-phase 220V 60Hz Rectifier L - C Protection Circuit Motor Driver Boar IGBT Filter & Encoer Interface Circuits U V W Hall Encoer PMSM Encoer Byte Blaster Bus RS-232 DSK Control Boar DSP- TMS320LF2407 Bus Altera 10K100A A/D LED DIP CPLD Control Boar System block of PMSM servo rive

21 X-Y-θ Motion Control Stage Using Linear Ultrasonic Motors 21 PC Pentium 4 Memory Servo Control Cars 3 ADC I/O Encoer Digital Oscilloscope V x V y V θ Interface X Y θ Motor Drives θ Encoer Y Encoer X Y θ X Encoer LUSM Ө-Axis LUSM` LUSM Y-axis System block of X-Y-θ motion control stage X-Axis

22 X-Y-θ Motion Control Stage Using Linear Ultrasonic Motors 22 z ( t 2 ) Compensator & Aaptation Law m _ t & m Stabilizing z ( 1 ) z 1( t) Function & z 2 ( t) z 2( t ) t v z ( t 1 ) m Nominal Moel Design v SAFNN U n U r - U h UT Single-axis Motion Mechanism Using LUSM Drive z ( t 1 ) z ( t 2 ) Γ W &ˆ Aaptation Law Robust SAFNN backstepping control system

23 23 PC Magnetic Levitation System Using DSP magnetic current signals of laser sensor electromechanical plant control effort DSP car magnet position actuator System block of magnetic levitation apparatus

24 24 Magnetic Levitation System Using DSP Compensate Controller x m - e t Sliing Surface U c (t) S (t) U (t) SMCRBFN U (t) s Input / Output Electronics Electro- Mechanical Plant xr x r Kˆ ( e Eˆ ) Pˆ ( e Fˆ ) Magnetic Levitation System RBFN t E & ˆ, F & ˆ Upate Law Intelligent sliing-moe control system using a raial basis function network (SMCRBFN)

25 Five egree-of-freeom active magnetic bearing system using PC PC 25 Pentium 4 Memory M otion Control Cars DAC I/O ADC Digital Oscilloscope V rx V ry V lx V ly V z Interface r x, r y, l x, l y, z F.A.M.B. Drives l y l x F z z r y r x F ry F rx F ly F lx y r x, r y, l x, l y, z Inverter Position Sensor z x Left Raial Bearing Inuction M otor Right Raial Bearing Axial Disk Axial Bearing System block of five egree-of-freeom active magnetic bearing

26 26 Five egree-of-freeom active magnetic bearing system using PC z m e& e t Integral z t t 2 e Ξ s g Sliing Surface (30) e 1 Complementary Sliing Surface (32) λ σ MIMO RHNN s c Estimator (43) α & ˆ, β & ˆ Robust Controller (45) P ˆ ( e α ˆ) Q ˆ ( e β ˆ ) Σ Σ.. RHNN Estimation Laws (46) & (47) U r U e εˆ p εˆ U ACSMC U c Compensator (44) q Aaptive Laws (48) & (49) TAMB System (22) & ˆ ε, & ˆ p ε q z ACSMC System Aaptive complementary sliing-moe control system using Hermite neural network

27 27 Gantry position stage using DSP DSP-base control computer i qsx X-axis motor rive TMS 320VC33 parallel port D/A converter i qsy1 i qsy2 Y1-axis motor rive Y2-axis motor rive flash EPROM encoer interface X-axis PMLSM Y1-axis PMLSM Linear Scale Y2-axis PMLSM Linear Scale Linear Scale System block of gantry position stage

28 T T T T T T T T Drive an Control of Win Turbine System 28 Gantry position stage using DSP CSMCSFNN m _ e y1 e y2 _ Cross-Couple Position Tracking Error β E E Ξ t E & T Ξ E t Ξ & E m i t e& i λ i 2e& 2 i λ e i i λ i e i e& i S i Sliing Surfaces (16)&(18) S t e& i 2 & m 2 t & i A ni t i S Ci Ĥ i λ i Dual Linear Motors Servo System _ y1 1 1 u u B 1 CSMCSFNNi i ni y2 _ Aaption Laws (33)-(36)&(37) Robust Controller (32) u Ri Cross-couple synchronous control using Sugeno type fuzzy neural network estimator

29 29 Sensorless rive system for PMSM compressor using spic PWM IPM Drive circuit 蒸汽高溫高壓 室外機冷凝冷凝器 液體高溫高壓 Microchip spic30f bit V c - Ta Tb Tc Ta - Tb - Tc - u v 壓 w 縮機 蒸發器出口溫度 - 膨脹閥 膨脹閥出口溫度 Drive circuit Protection circuit v a,v b,i a,i b 蒸汽低溫低壓 蒸發器室內機 液體低溫低壓 出風口與蒸發器入口溫度 膨脹閥兩側壓力與溫度 System block of sensorless rive system for PMSM compressor

30 30 Sensorless rive system for PMSM compressor using spic High Frequency Voltage Injection V c - w re Spee Controller i s =0 i qs Current Controller LPF v v q q ^ θ re q abc SPWM Voltage Source Inverter ^ w re LPF Signal Processing An Rotor Spee / Flux angle ^ θ re abc PMSM Estimater Control block of high frequency signal injection metho

31 31 System block of mother-boar type intelligent light electric vehicle

32 High-efficiency vertical-axis win power generation an hybri generative power technologies using PV an win power via DSP 32 功率流向 AC/DC 轉換器 i c T a T b T c P, Q 微電網控制中心 風力發電機 TMS320 F2812 功率流向 C c V c i, i, i, u v u v v v w v w ' v u ' v v ' v w 市電 DC/DC 轉換器 T a T b T c L p ' i u ' i v ' i w SS1 控制 系統 太陽能板 20kW 充電電池 TMS320 F2812 功率流向 DC/DC 轉換器 TMS320 F2812 T a 隔離電路與驅動閘 T b T c DSP TMS320 F2812 量測訊號 P, Q V uv Υ 接三相本地負載 SS2 控制 控制訊號 CAN Bus CAN Bus 量測訊號 ( 電壓與頻率 ) GSM 模組或 IEC61850 分散式電源控制器 System block of high-efficiency vertical-axis win power generation an hybri generative power technologies using PV an win power

Electric Machinery and Control Laboratory Department of Electrical Engineering National Central University

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