Control Methods for

Electrical Machines

Edited by
René Husson
First published in France in 2003 by Hermes Science/Lavoisier entitled “Méthodes de commande des
machines électriques” © LAVOISIER, 2003
First published in Great Britain and the United States in 2009 by ISTE Ltd and John Wiley & Sons, Inc.

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Library of Congress Cataloging-in-Publication Data

Méthodes de commande des machines électriques. English

Control methods for electrical machines / edited by René Husson.
p. cm.
Includes bibliographical references and index.
ISBN 978-1-84821-093-6
1. Electric machinery--Automatic control. 2. Electric machinery--Mathematical models.
I. Husson, René. II. Title.
TK2391.M48 2009
621.31'042--dc22
2008043200

British Library Cataloguing-in-Publication Data

A CIP record for this book is available from the British Library
ISBN: 978-1-84821-093-6

Printed and bound in Great Britain by CPI/Antony Rowe Ltd, Chippenham, Wiltshire.
 Table of Contents

Preface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xi
Chapter 1. Overview of Mechanical Transmission Problems . . . . . . . . . 1
Pascal FONTAINE and Christian CUNAT
1.1. Technological aspects. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
1.1.1. General structures of the machines . . . . . . . . . . . . . . . . . . . 1
1.1.2. Mechanisms and movement. . . . . . . . . . . . . . . . . . . . . . . . 4
1.1.3. Engine-machine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
1.1.4. Particular movements . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
1.1.5. Friction – elements of tribology . . . . . . . . . . . . . . . . . . . . . 16
1.2. Bibliography . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

Chapter 2. Reminders of Solid Mechanics . . . . . . . . . . . . . . . . . . . . . 31

Jean-François SCHMITT and Rachid RAHOUADJ
2.1. Reminders of dynamics. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
2.1.1. Kinematics of a rigid body . . . . . . . . . . . . . . . . . . . . . . . . 31
2.1.2. Kinetic elements for a rigid body – Koenig’s theorems . . . . . . . 36
2.1.3. Newtonian dynamics . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
2.2. Application example: dynamic balance of a rigid rotor . . . . . . . . . . 42
2.3. Analytical dynamics (Euler-Lagrange). . . . . . . . . . . . . . . . . . . . 46
2.4. Linear energies in the neighborhood of the balance for a
non-damped discrete system . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
2.4.1. Equilibrium configuration without group motion . . . . . . . . . . . 49
2.4.2. Equilibrium configuration with group motion . . . . . . . . . . . . . 50
2.5. Vibratory behavior of a discrete non-damped system around
an equilibrium configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
2.6. Analytical study of the vibratory behavior of a milling
machine table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
2.6.1. Positioning the problem . . . . . . . . . . . . . . . . . . . . . . . . . . 53
vi Control Methods for Electrical Machines

2.6.2. Setting up the model . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53

2.6.3. Direct resolution of the eigenvalue problem . . . . . . . . . . . . . . 58
2.6.4. Cancellation of the stiff mode and reduction of the problem . . . . 59
2.7. Bibliography . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61

Chapter 3. Towards a Global Formulation of the Problem of

Mechanical Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
Christian CUNAT, Mohamed HABOUSSI and Jean François GANGHOFFER
3.1. Presentation of the mechanical drive modeling problem . . . . . . . . . 63
3.2. Brief review on continuum mechanics . . . . . . . . . . . . . . . . . . . . 72
3.2.1. Conservation laws . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
3.2.2. Principle of virtual powers (PVP) . . . . . . . . . . . . . . . . . . . . 75
3.2.3. Thermomechanics of continuous mediums . . . . . . . . . . . . . . . 76
3.2.4. Notions on strain . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
3.2.5. Some material behaviors: elementary analog models. . . . . . . . . 81
3.2.6. Variational formulations in mechanics of the structures . . . . . . . 82
3.3. Bibliography . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89

Chapter 4. Continuous-time Linear Control . . . . . . . . . . . . . . . . . . . 91

Frédéric KRATZ
4.1. Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
4.2. PID controllers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
4.2.1. Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
4.2.2. Various structures. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
4.2.3. Selection criteria for the adjustments . . . . . . . . . . . . . . . . . . 95
4.2.4. Control mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
4.3. PID controllers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
4.3.1. Adjustment by trial and error . . . . . . . . . . . . . . . . . . . . . . . 100
4.3.2. Ziegler-Nichols method . . . . . . . . . . . . . . . . . . . . . . . . . . 102
4.3.3. Cohen-Coon method . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103
4.4. Methods based on previous knowledge of a system model . . . . . . . . 104
4.4.1. Presentation of the Bode method. . . . . . . . . . . . . . . . . . . . . 104
4.4.2. Presentation of the Phillips and Harbor method . . . . . . . . . . . . 106
4.5. Linear state feedback control systems . . . . . . . . . . . . . . . . . . . . 107
4.5.1. Formulation of the control problem . . . . . . . . . . . . . . . . . . . 107
4.5.2. The structure of the control law . . . . . . . . . . . . . . . . . . . . . 107
4.5.3. Reconstruction of the state . . . . . . . . . . . . . . . . . . . . . . . . 108
4.5.4. The controller as a combination of state feedback and
an observer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110
4.5.5. Design of feedback gain matrix F . . . . . . . . . . . . . . . . . . . . 115
4.6. Optimal control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117
4.6.1. Optimal regulator at continuous time . . . . . . . . . . . . . . . . . . 117
4.6.2. Stochastic optimal regulator at continuous time . . . . . . . . . . . . 121
 Table of Contents vii

4.6.3. Discrete time optimal regulator. . . . . . . . . . . . . . . . . . . . . . 122

4.6.4. Stochastic time optimal regulator . . . . . . . . . . . . . . . . . . . . 125
4.6.5. LQG/H2 control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125
4.7. Choice of a control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129
4.8. Bibliography . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130

Chapter 5. Overview of Various Controls . . . . . . . . . . . . . . . . . . . . . 131

Frédéric KRATZ
5.1. Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131
5.2. Internal model controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132
5.2.1. Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132
5.2.2. Passage of the structure of regulation to that of control
by internal model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133
5.2.3. Properties of the control by internal model . . . . . . . . . . . . . . . 134
5.2.4. Implementation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 139
5.3. Predictive control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 141
5.3.1. Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 141
5.3.2. General principles of predictive control. . . . . . . . . . . . . . . . . 144
5.4. Sliding control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149
5.4.1. Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149
5.4.2. Structure of the control law . . . . . . . . . . . . . . . . . . . . . . . . 149
5.4.3. Equivalent method control . . . . . . . . . . . . . . . . . . . . . . . . 152
5.5. Bang-bang control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152
5.6. Control-based fuzzy logic . . . . . . . . . . . . . . . . . . . . . . . . . . . 154
5.6.1. Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 154
5.6.2. Structure of the controlled loop. . . . . . . . . . . . . . . . . . . . . . 155
5.6.3. Representation of fuzzy controllers . . . . . . . . . . . . . . . . . . . 156
5.6.4. Basic concepts of fuzzy logic . . . . . . . . . . . . . . . . . . . . . . . 157
5.6.5. Fuzzification. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 161
5.6.6. The inference mechanism . . . . . . . . . . . . . . . . . . . . . . . . . 162
5.6.7. Defuzzification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 163
5.7. Neural network control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 164
5.7.1. Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 164
5.7.2. Formal neurons . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 164
5.7.3. Neural networks. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 165
5.7.4. Parsimonious approximation . . . . . . . . . . . . . . . . . . . . . . . 166
5.7.5. Implementation of neural networks . . . . . . . . . . . . . . . . . . . 166
5.8. Bibliography . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 167

Chapter 6. Sliding Mode Control . . . . . . . . . . . . . . . . . . . . . . . . . . 169

Rachid OUTBIB and Michel ZASADZINSKI
6.1. Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 169
6.2. Illustrative example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 170