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A novel hybrid control approach for modular automation system: a case study of sensorless interior permanent magnet in-wheel motor

Yong Li (Jiangsu University, Automotive Engineering Research Institute, Zhenjiang, China and Key Laboratory of Advanced Manufacture Technology for Automobile Parts (Chongqing University of Technology), Chongqing, China)
Yanjun Huang (Department of Mechanical and Mechatronics Engineering, University of Waterloo, Waterloo, Canada)
Xing Xu (Automotive Engineering Research Institute, Jiangsu University, Zhenjiang, China)

Assembly Automation

ISSN: 0144-5154

Publication date: 4 November 2019

Abstract

Purpose

Sensorless interior permanent magnet in-wheel motor (IPMIWM), as an exemplar of modular automation system, has attracted considerable interests in recent years. This paper aims to investigate a novel hybrid control approach for the sensorless IPMIWM from a cyber-physical systems (CPS) perspective.

Design/methodology/approach

The control approach is presented based on the hybrid dynamical theory. In the standstill-low (S-L) speed, the rotor position/speed signal is estimated by the method of the high frequency (HF) voltage signal injection. The least square support vector machine (LS-SVM) is used to acquire the rotor position/speed signal in medium-high (M-H) speed operation. Hybrid automata model of the IPMIWM is established due to its hybrid dynamic characteristics in wide speed range. A hybrid state observer (HSO), including a discrete state observer (DSO) and a continuous state observer (CSO), is designed for rotor position/speed estimation of the IPMIWM.

Findings

The hardware-in-the-loop testing based on dSPACE is carried out on the test bench. Experimental investigations demonstrate the hybrid control approach can not only identify the rotor position/speed signal with a certain load but also be able to reject the load disturbance. The reliability and the effectiveness of the proposed hybrid control approach were verified.

Originality/value

The proposed hybrid control approach for the sensorless IPMIWM promotes the deep combination and coordination of sensorless IPMIWM drive system. It also theoretically supports and extends the development of the hybrid control of the highly integrated modular automation system.

Keywords

Acknowledgements

This work was supported by the National Natural Science Foundation of China (51705213), the Natural Science Foundation of Jiangsu Province (BK20160525) and the Key Laboratory of Advanced Manufacture Technology for Automobile Parts (2018KLMT05).

Citation

Li, Y., Huang, Y. and Xu, X. (2019), "A novel hybrid control approach for modular automation system: a case study of sensorless interior permanent magnet in-wheel motor", Assembly Automation, Vol. 39 No. 5, pp. 840-853. https://doi.org/10.1108/AA-08-2018-0120

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Emerald Publishing Limited

Copyright © 2019, Emerald Publishing Limited

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