Seminaar_Report

CONTROL STRATEGIES ON INDUCTION MOTOR DRIVES
Seminar (EE7C03) report
submitted by
RACHANA N
(4NI20EE066)
in partial fulfilment of the requirement

for the award of degree of Bachelor of Engineering
in
Electrical and Electronics Engineering
under the supervision of
Dr.Ananthapadmabha.B.R
Associate Professor
Dept. of Electrical and Electronics Engineering
The National Institute of Engineering, Mysuru
Department of Electrical & Electronics Engineering

The National Institute of Engineering
(An Autonomous Institute under VTU, Belagavi
Recognised by AICTE, New Delhi, Grant-in-Aid by Government of Karnataka,
Accredited by NAAC, New Delhi)
Mysuru – 570 008
December 2023
ACKNOWLEDGEMENT
I would like to thank my college The National Institute of Engineering for providing me with
the opportunity to undertake and complete this seminar. I would also like to show my sincere
gratitude to the Department of Electrical and Electronics Engineering for granting me access to
the necessary resources, literature, and laboratories.
I express my gratitude to my seminar guide, Mr. Anathapadmanabha B R, Associate
Professor, Dept of Electrical and Electronics Engineering, who encouraged me and
guided me throughout this endeavour.
I also thank my head of the department Dr. H Pradeepa, for constant encouragement and for
providing necessary facilities to carry out the seminar successfully.
I like to thank my beloved principal, Dr.Rohini Nagapadma and the management of the National
Institute of Engineering, Mysore.
Rachana N
(4NI20EE066)
iii
ABSTRACT
CONTENTS
1.1 Introduction.
1.2 Methods of SOC.

1.3 Voltage method.
1.4 Coulomb counting method.
1.5 Advantages and drawbacks of coulomb counting method
1.6 Kalman filter method
1.7 Block diagram of Kalman filter method.
1.8 Framework of Kalman filter method.
1.9 Example of Kalman filter method.
2.0 Advantages and drawbacks of kalman filter method.
2.1 Model based method to estimate to SOC
2.2 Advantages of model based method to estimate to SOC.
2.3 References.
ii
1.1: INTRODUCTION
State of charge (SoC) is the level of charge of an electric battery relative to its capacity. The
units of SoC are percentage points (0% = empty; 100% = full). An alternative form of the
same measure is the depth of discharge (DoD), the inverse of SoC (100% = empty; 0% =
full). SoC is normally used when discussing the current state of a battery in use, while DoD
is most often seen when discussing the lifetime of the battery after repeated use.
In a battery electric vehicle (BEV), hybrid vehicle (HV), or plug-in hybrid electric vehicle
(PHEV), SoC for the battery pack is the equivalent of a fuel gauge. It is important to mention
that state of charge, presented as a gauge or percentage value on any vehicle dashboard,
especially in plug-in hybrid vehicles, may not be representative of a real level of charge. In
that particular case, some noticeable amount of energy stored in the electric battery is not
shown on the dashboard, and is reserved for hybrid-work operations. It permits a vehicle to
accelerate with electric motors mainly using battery energy, while the petrol engine serves as
a generator and recharges the battery to the minimum level needed for such operation.
Examples of such cars are Mitsubishi Outlander PHEV (all versions/years of production),
where 0% of the state of charge presented to the driver is a real 20-22% of charge level
(assuming zero level as the lowest level of charge permitted by car producer). Another one is
BMW i3 REX (Range Extender version), where about 6% of SOC is reserved for PHEV-
alike operations. Tesla has stated that their SoC should be less than 95%, with some
commentators saying between 30%-80% Archived 2021-01-11 at the Wayback Machine.
There is some data to back this up as well.
The state of charge (SOC) can help to reduce electrical car's owners' anxiety when they are
waiting in the line or stay at home since it will reflect the progress of charging and let
owners know when it will be ready.
1.2 METHODS OF SOC
⚫ Voltage method.
⚫ Coulomb counting method
⚫ Kalman filter
⚫ Measuring using hydrometer
1.3 VOLTAGE METHOD
Dept. of E&E Engg., NIE, Mysuru Page

1
In this method battery voltage is converted to equivalent SOC value using the battery’s
predefined discharge curve(OCV vs SOC).
A modification of this method assumes a cell model, v(t)=OCV(z(t))-

i(t)R0
i.e. v(t)+i(t)R0 on “SOC vs

OCV” curve.
Drawbacks:
⚫ It ignores effects of diffusion voltages,hysterisis and so is still noisy.
⚫ Hysteris is another complicating factor.
1.4 COULUMB COUNTING METHOD

2
Coulomb counting method is also known as the battery current integration method.It is
one of the most general and simple methods of estimating the SOC.We use it for a
baseline comparison for more advanced methods.In this method a discharging/charging
current I(t) is measured and integrated over time to calculate the amount of energy
remaining inside the battery.
The coulomb counting equation to compute the state of charge(SOC) of the battery is given
by,
where the unit of time t is in seconds.

s(t) denotes the SOC at time.
s(0) denotes the initial SOC at time t = 0. i(t) is the current in
Ampere (A) into or out of the battery at time t.
C is the battery capacity in Ampere hours (Ah).
By approximating the integration using a rectangular method,
where Δk = t(k + 1) − t(k) is the sampling duration between two adjacent samples.
The widely known form of the Coulomb counting equation can be written as follows
s(k+1)=s(k)−1/3600 CΔk i(k).

3
1.5 Advantages and drawbacks of coulomb counting method
⚫ It is a simple method .
⚫ It can be used as base for more complex methods.
⚫ Many other factors like temperature,fluctation of battery voltage,application of battery
etc,need to be considered along with the coulomb counting method to make a more accurate
SOC calculation.
DRAWBACK
⚫ Inaccurate current measurments accumulate to large errors,wheras accurate current

measurment is expensive.
1.6 KALMAN FILTER METHOD
In statistics and control theory,kalman filtering ,also known as Linear quadratic

estimation(LQE).It is an algorithm that uses a series of measurements observed over time.
It can containing statistical noise and other inaccuracies,and produces estimates of

unknown variables that tend to be more accurate than those based on single measurement
alone.To overcome the shortcomings of the voltage method and the current integration
method, a Kalman filter can be used. The battery can be modeled with an electrical model
which the Kalman filter will use to predict the over-voltage, due to the current. In
combination with coulomb counting, it can make an accurate estimation of the state of
charge. The strength of a Kalman filter is that it is able to adjust its trust of the battery
voltage and coulomb counting in real time.

4
1.7 BLOCK DIAGRAM OF KALMAN FILTER
1.8 FRAMEWORK OF KALMAN FILTER
General framework of the Kalman filter consists of two equations,
xk+1=AK xk+Bkuk+wk..................(1)
yk=Ckxk+Dkuk+vk................(2)
xk is the system state vector at time index k.
Equation (1) is called the state equation or process equation.
The input to the system is uk which is known or can be measured.The measurement could
result in errors,assumed to be noise, wk which cannot be measured and affects the state of the
system.

5
Equation (2) models the output of the system yk, in terms of the input, the state vector and
the noise in the measurement of the output, vk..This equation is also called the measurement
equation or the output equation.
Both wk and vk are assumed to be mutually uncorrelated white Gaussian random processes with
zero mean and covariance matrices of known values. The equations are initialized by setting
the following at k=0.
where, the superscript T refers to the transpose of the matrix.
For k=1,2,3… the following computations are made:

6
7
8
1.9 EXAMPLE OF KALMAN FILTER METHOD
To demonstarte the Kalman filter steps,we’ll develop and use a crude cell model,

9
zk+1=1.zk- (1/3600.Q ) ik.
volt_k=3.5 +0.7 ×zk-R0ik.

10
11
12
13
14
2.0 ADVANTAGES AND DRAWBACK OF KALMAN FILTER METHOD
• The coulomb counting was corrected every ten minutes(instead of after every
measurement like in state-of-the-art KF procedures) with the SOC value
predicted by the simplified KF algorithm. This reduced the computing
requirements that would be required for real-time SOC evaluation onboard a
vehicle.
• The methodology can be extended on cell of different manufacturer or

different technologies.
DRAWBACKS
⚫ Basic Kalman filter is limited to a linear assumption.than the input voltage.

⚫ More complex systems,can be non linear,for this EXTENDED KALMAN filter can be
used.
⚫ In extended kalman filter the predict and update functions are highly non-linear,it can give
poor performance.
2.1 Model-based method to estimate SOC
An alternative to a voltage-only method or a current-only method is somehow to combine

the approaches.Model-based estimators implement algorithms that use sensed
measurements to infer internal hidden state of dynamic system,Same input propagated
through true system, model, measured and p outputs compared; error used to update
model's state estimate.

15
Output error due to: state, measurement, model errors; Update
must be done carefully to account for all of these.
2.2 ADVANTAGES OF MODEL BASED METHOD TO ESTIMATE SOC
⚫ In,model-based method it combines both voltage method and current method.
⚫ It uses the algorithm which is used to sense the measurements.
2.3 REFERENCES
⚫ Tarun Huria and Massimo Ceraolo,Javier Gazzarri and Robyn Jackey “Simplified Extended
Kalman Filter Observer for SOC Estimation of Commercial Power-Oriented LFP Lithium
Battery Cells”2013-01-1544.
⚫ G. L. Plett, "Extended Kalman filtering for management system of LiPB-based HEV battery
packs," Journal of Power Sources, vol. 134, no. 2, pp. 262-276, August 2004.
⚫ Kiarash Movassagh, Sheikh Arif Raihan and Balakumar Balasingam “Performance Analysis
of Coulomb Counting” IEEE-2019.9074781.
⚫ Yong-Min Jeong, Yong-Ki Cho, Jung-Hoon Ahn, Seung-Hee Ryu, and Byoung-Kuk
Lee “Enhanced Coulomb Counting Method with Adaptive SOC Reset Time for Estimating
OCV” IEEE.2019.6953989 .

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ULTRACAPACITOR-BATTERY HYBRID ENERGY STORAGE SYSTEM FOR ENHANCED
Page14
ULTRACAPACITOR-BATTERY HYBRID ENERGY STORAGE SYSTEM FOR ENHANCED
Dept. of E&E Engg., NIE, Mysuru

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CONTROL STRATEGIES ON INDUCTION MOTOR DRIVES

Seminar (EE7C03) report

in partial fulfilment of the requirement

Electrical and Electronics Engineering

under the supervision of

Department of Electrical & Electronics Engineering

1.2 Methods of SOC.

1.4 Coulomb counting method.

1.5 Advantages and drawbacks of coulomb counting method

1.6 Kalman filter method

1.7 Block diagram of Kalman filter method.

1.8 Framework of Kalman filter method.

1.9 Example of Kalman filter method.

2.0 Advantages and drawbacks of kalman filter method.

2.1 Model based method to estimate to SOC

2.2 Advantages of model based method to estimate to SOC.

1.2 METHODS OF SOC

1.3 VOLTAGE METHOD

Dept. of E&E Engg., NIE, Mysuru Page

A modification of this method assumes a cell model, v(t)=OCV(z(t))-

i.e. v(t)+i(t)R0 on “SOC vs

1.4 COULUMB COUNTING METHOD

Dept. of E&E Engg., NIE, Mysuru Page

where the unit of time t is in seconds.

C is the battery capacity in Ampere hours (Ah).

By approximating the integration using a rectangular method,

s(k+1)=s(k)−1/3600 CΔk i(k).

Dept. of E&E Engg., NIE, Mysuru Page

⚫ Inaccurate current measurments accumulate to large errors,wheras accurate current

1.6 KALMAN FILTER METHOD

In statistics and control theory,kalman filtering ,also known as Linear quadratic

It can containing statistical noise and other inaccuracies,and produces estimates of

Dept. of E&E Engg., NIE, Mysuru Page

1.8 FRAMEWORK OF KALMAN FILTER

General framework of the Kalman filter consists of two equations,

xk is the system state vector at time index k.

Equation (1) is called the state equation or process equation.

Dept. of E&E Engg., NIE, Mysuru Page

where, the superscript T refers to the transpose of the matrix.

For k=1,2,3… the following computations are made:

Dept. of E&E Engg., NIE, Mysuru Page

Dept. of E&E Engg., NIE, Mysuru Page

Dept. of E&E Engg., NIE, Mysuru Page

• The methodology can be extended on cell of different manufacturer or

⚫ Basic Kalman filter is limited to a linear assumption.than the input voltage.

2.1 Model-based method to estimate SOC

An alternative to a voltage-only method or a current-only method is somehow to combine

Dept. of E&E Engg., NIE, Mysuru Page

2.2 ADVANTAGES OF MODEL BASED METHOD TO ESTIMATE SOC

⚫ In,model-based method it combines both voltage method and current method.

⚫ It uses the algorithm which is used to sense the measurements.

Dept. of E&E Engg., NIE, Mysuru Page

Dept. of E&E Engg., NIE, Mysuru

Dept. of E&E Engg., NIE, Mysuru

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