Int
ern
at
i
onal
Journ
al of
P
ower E
le
ctr
on
i
cs a
n
d
Drive
S
ystem
s
(
IJ
PEDS
)
Vo
l.
1
2
,
No.
3
,
Septem
be
r
202
1
, pp.
1358
~
136
8
IS
S
N:
20
88
-
8694
,
DOI: 10
.11
591/
ijp
ed
s
.
v
1
2
.i
3
.
pp
1358
-
136
8
1358
Journ
al h
om
e
page
:
http:
//
ij
pe
ds
.i
aescore.c
om
Real tim
e imple
mentati
on of
anti
-
wind
up PI c
ont
rolle
r for
speed c
ont
ro
l
of i
nducti
on machi
ne base
d on DTC
strategy
Lahcen
Ou
boubker
1
, J
awa
d La
m
terk
at
i
2
, Mohame
d K
ha
f
alla
h
3
, Azi
z El
A
fi
a
4
1
Facul
ty
of
Appl
ie
d
Sc
ie
nc
es
of
Ait
Mel
loul
,
Ibn Zohr
Univer
si
ty
,
Agadir
,
Moroc
c
o
1
LGEMS L
abor
a
tory,
Na
ti
on
al
Sc
hool
of
Appl
ie
d
Scie
nc
es
of
Aga
dir,
Ibn
Zohr
Un
ive
rsity
,
Agad
ir,
Morocc
o
2
RITM
La
bor
at
o
ry,
H
igh
School of T
e
chnol
ogy
,
Hass
an
II
Unive
rsity,
C
asa
bl
anca,
Moro
cc
o
1,2,3,4
Ene
rgy and
El
e
ct
ri
ca
l
Sys
tems L
abor
at
ory
,
ENSEM,
Hass
an
II
Univ
ersit
y,
C
asa
bla
n
ca,
Moro
cc
o
4
ENSA
M,
Hass
an
II
Univ
ersit
y,
Casabl
an
ca,
Mor
occ
o
Art
ic
le
In
f
o
ABSTR
A
CT
Art
ic
le
history:
Re
cei
ved
Dec
29, 202
0
Re
vised Ju
n 2,
2021
Accepte
d
J
ul
13, 2
021
T
his
paper
pre
s
ent
s
simul
at
ion
and
exp
eri
m
ent
a
l
result
s
of
anti
-
windup
PI
cont
roller
to
i
mp
rove
indu
ct
ion
ma
ch
ine
spe
ed
c
ontrol
b
ase
d
on
dire
c
t
torqu
e
cont
rol
(DTC)
strategy
.
Problems
li
ke
rol
love
r
c
an
a
rise
in
conv
ent
ion
al
PI
cont
roller
du
e
t
o
saturation
e
ff
ec
t
.
In
ord
er
to
avoi
d
su
ch
pro
ble
ms
an
ti
-
windup
PI
cont
roll
e
r
is
pre
sente
d.
Thi
s
cont
roller
is
s
im
ple
fo
r
im
plementat
ion
in
pr
ac
t
ice.
The
proposed
an
ti
-
windup
PI
cont
ro
ll
er
dem
onstra
te
s
b
e
tt
er
dyna
mic
st
ep
cha
ng
es
r
esponse
in
spe
ed
i
n
t
erm
s
of
over
shoot
s
.
All
simul
ation
work
was
done
using
Simul
ink
in
the
MA
TL
AB
software
.
Th
e
exp
eri
m
ent
a
l
result
s
wer
e
obt
ai
n
ed
b
y
pra
ct
i
ca
l
im
plementat
ion
on
a
dSP
ACE
1
104
boar
d
for
a
1.
5
KW
indu
cti
on
m
ac
hin
e.
Simul
ation
and
expe
ri
me
nt
a
l
r
esult
s
have
prove
n
a
good
p
erf
or
ma
nc
e
and
ver
ified
th
e
v
al
i
dit
y
of
the pre
s
e
nte
d
cont
rol
stra
t
egy.
Ke
yw
or
ds:
An
ti
-
wind
up P
I
c
on
tr
oller
Direct t
orq
ue c
on
t
ro
l
dS
P
ACE
1104
Ind
uction mac
hin
e
Re
al
ti
me implementat
io
n
Sp
ee
d dr
i
ve
This
is an
open
acc
ess arti
cl
e
un
der
the
CC
BY
-
SA
l
ic
ense
.
Corres
pond
in
g
Aut
h
or
:
Lahce
n Oub
oubk
e
r
Dep
a
rteme
nt of Physi
cs
Faculty
of
App
li
ed
Scie
nces
of A
it
M
el
lo
ul
LGE
M
S,
E
NSA, Ib
n Zo
hr
U
niv
e
rsity, A
ga
dir
BP
11
36, Mor
occo
Emai
l:
l.oub
oubk
e
r@uiz.ac
.m
a
1.
INTROD
U
CTION
T
r
a
d
i
t
i
o
n
a
l
l
y
,
D
C
m
o
t
o
r
s
a
r
e
u
s
e
d
f
o
r
s
p
e
e
d
v
a
r
i
a
t
i
o
n
o
f
e
l
e
c
t
r
i
c
m
a
c
h
i
n
e
s
,
b
e
c
a
u
s
e
t
h
e
m
a
g
n
e
t
i
c
f
l
u
x
a
n
d
e
l
e
c
t
r
o
m
a
gn
e
t
i
c
t
o
r
q
u
e
a
r
e
e
a
s
i
l
y
c
o
n
t
r
o
l
l
e
d
b
y
t
h
e
s
t
a
t
or
a
n
d
r
o
t
o
r
c
u
r
r
e
n
t
,
r
e
s
p
e
c
t
i
v
e
l
y
[
1
]
.
I
n
t
h
e
l
a
s
t
t
w
o
d
e
c
a
d
e
s
,
A
C
m
o
t
o
r
s
a
r
e
r
e
pl
a
c
i
n
g
D
C
m
o
t
o
r
s
.
T
h
e
i
n
d
u
c
t
i
on
m
a
c
h
i
n
e
(
I
M
)
i
s
t
h
e
m
o
s
t
r
o
b
u
s
t
a
n
d
r
e
s
p
o
n
s
i
v
e
A
C
m
o
t
o
r
i
n
t
h
e
i
n
d
u
s
t
r
y
.
H
o
w
e
v
e
r
,
i
t
s
n
o
n
l
i
n
e
a
r
a
n
d
h
i
g
h
l
y
c
o
u
p
l
e
d
s
t
r
u
c
t
u
r
e
p
r
e
s
e
nt
s
a
l
i
m
i
t
a
t
i
o
n
t
o
t
h
e
p
e
r
f
o
r
m
a
n
c
e
o
f
t
h
e
c
o
n
t
r
o
l
o
f
t
h
i
s
i
n
d
u
c
t
i
o
n
m
a
c
h
i
n
e
[
2
]
.
I
n
t
h
e
l
a
s
t
d
e
c
a
d
e
,
a
n
e
w
c
o
n
t
r
o
l
m
e
t
h
o
d
c
a
l
l
e
d
D
T
C
h
a
s
b
e
e
n
i
n
t
r
o
d
u
c
e
d
.
D
T
C
h
a
s
r
e
c
e
i
v
e
d
c
o
n
s
i
d
e
r
a
b
l
e
a
t
t
e
n
t
i
on
i
n
i
n
d
u
s
t
r
i
a
l
m
o
t
o
r
d
r
i
v
e
a
pp
l
i
c
a
t
i
o
n
s
.
T
h
e
m
a
i
n
r
e
a
s
o
n
f
o
r
i
t
s
p
o
p
u
l
a
r
i
t
y
i
s
d
u
e
t
o
i
t
s
s
i
m
p
l
e
s
t
r
u
c
t
u
r
e
,
r
o
b
u
s
t
n
e
s
s
t
o
r
o
t
o
r
p
a
r
a
m
e
t
e
r
v
a
r
i
a
t
i
o
n
s
a
n
d
f
a
s
t
d
y
n
a
m
i
c
re
s
p
o
n
s
e
[
3
]
.
D
i
r
e
c
t
t
o
r
q
u
e
c
o
n
t
r
o
l
(
D
T
C
)
h
a
s
b
e
e
n
d
e
v
e
l
op
e
d
t
o
r
e
p
l
a
c
e
t
r
a
d
i
t
i
o
n
a
l
P
W
M
d
r
i
v
e
s
o
f
t
h
e
o
p
e
n
-
a
n
d
c
l
o
s
e
d
-
l
o
o
p
t
y
p
e
u
s
e
d
i
n
F
O
C
[
4
]
.
D
T
C
h
a
s
s
e
v
e
r
a
l
a
d
v
a
n
t
a
g
e
s
:
t
o
r
q
u
e
r
e
s
p
o
n
s
e
,
t
o
r
q
u
e
r
e
p
e
a
t
a
b
i
l
i
t
y
,
m
o
t
o
r
d
y
n
a
m
i
c
a
n
d
s
t
a
t
i
c
s
p
e
e
d
a
c
c
u
r
a
c
y
[5].
T
h
e
D
T
C
m
e
t
h
o
d
i
s
c
h
a
r
a
c
t
e
r
i
z
e
d
b
y
a
s
w
i
t
c
h
i
n
g
t
a
b
l
e
t
h
a
t
d
e
t
e
r
m
i
n
e
s
t
h
e
v
o
l
t
a
g
e
v
e
c
t
o
r
t
o
b
e
a
p
p
l
i
e
d
f
o
r
c
o
n
t
r
o
l
l
i
ng
t
h
e
s
w
i
t
c
h
e
s
o
f
t
h
e
v
o
l
t
a
g
e
i
n
v
e
r
t
e
r
[6]
.
T
h
i
s
c
o
n
t
r
o
l
m
e
t
ho
d
i
s
v
e
r
y
s
i
m
p
l
e
.
I
t
a
l
l
o
w
s
d
e
c
o
u
p
l
e
d
c
o
n
t
r
o
l
t
o
f
l
u
x
a
n
d
t
o
r
q
u
e
w
i
t
h
o
u
t
r
e
s
o
r
t
i
n
g
t
o
u
s
e
t
h
e
t
e
c
h
n
i
q
u
e
of
w
i
d
t
h
m
o
d
u
l
a
t
i
o
n
a
nd
p
u
l
s
e
c
u
r
r
e
n
t
r
e
g
u
l
a
t
o
r
s
[
6
]
.
T
h
i
s
t
y
p
e
of
c
o
n
t
r
o
l
i
s
b
a
s
e
d
o
n
n
o
n
-
l
i
n
e
a
r
c
o
r
r
e
c
t
o
r
s
o
f
t
h
e
h
y
s
t
e
r
e
s
i
s
t
y
p
e
w
h
i
c
h
p
r
e
s
e
n
t
l
i
m
i
t
a
t
i
o
n
s
i
n
c
a
s
e
o
f
l
a
r
g
e
s
w
i
t
c
h
i
n
g
a
n
d
u
n
c
o
n
t
r
o
l
l
a
bl
e
f
r
e
q
u
e
n
c
y
[
6
].
Evaluation Warning : The document was created with Spire.PDF for Python.
In
t J
P
ow Elec
&
D
ri S
ys
t
IS
S
N:
20
88
-
8
694
Real ti
me
i
mp
l
emen
t
ation of
an
ti
-
wi
nd
up PI co
ntro
ll
er fo
r
sp
ee
d
c
on
tr
ol
of in
du
ct
io
n …
(
L
ahcen
Ou
boub
ke
r)
1359
On
the
ot
her
ha
nd
,
t
he
desig
n
of
the
spe
ed
co
ntr
oller
gr
e
at
ly
af
fects
the
pe
rformance
of
the
dri
ve
.
Vecto
r
c
ontr
ol
ge
ne
rall
y
us
e
s
propo
rtion
al
-
integral
(
PI)
s
peed
c
ontrolle
r
as
i
nn
e
r
sp
e
ed
l
oop
to
ge
ner
at
e
tor
qu
e
cu
rr
e
nt
[
7],
[8
].
PI
sp
e
ed
c
on
t
ro
ll
er
is
of
te
n
us
e
d
be
cause
it
ca
n
re
du
ce
ste
ad
y
st
at
e
error
an
d
e
asy
to
impleme
nt.
To
get
fast
dyna
mic
respo
ns
e,
high
P
I
gai
ns
cause
undesira
ble
sy
ste
m
be
hav
i
or
s
uc
h
as
hig
h
ov
e
rs
hoot
an
d
slo
w
set
tl
ing
ti
me.
On
the
oth
e
r
ha
nd,
int
egr
al
-
pro
portio
nal
(IP)
s
peed
c
on
tr
oller
ha
s
be
en
pr
ese
nted
in
[
8],
[9
],
[10
]
that
pro
vid
e
bette
r
performa
nce
i
n
reducin
g
or
el
imi
nating
ove
rs
hoot,
but
sti
ll
giv
es
fast dy
namic
r
esp
on
se
.
Both
s
pee
d
c
on
t
ro
ll
er
sche
mes
on
c
onve
ntion
al
PI
an
d
c
onve
ntion
a
l
IP
a
re
desig
ned
with
ou
t
consi
der
i
ng
th
e
li
mit
of
c
on
t
r
oller
ou
t
pu
t.
W
her
eas
,
in
real
conditi
on,
a
c
ontr
ol
sy
ste
m
w
il
l
find
th
e
sat
urat
ion
pro
blem.
W
he
n
it
sat
urat
ed
,
the
feedbac
k
loop
can
be
da
mage
d
an
d
t
he
sy
ste
m
w
orks
li
ke
an
op
e
n
lo
op
sy
ste
m.
I
n
ad
di
ti
on
,
t
he
e
xist
ence
of
inte
gral
act
ion
that
r
esp
onds
to
acc
umulat
ed
e
rro
r
s
f
rom
t
he
pas
t
can
le
ad
to
la
r
ge
overs
hoot,
dela
yed
res
pons
e
,
slow
set
tl
ing
ti
me,
eve
n
s
ys
te
m
instabil
it
y.
This
pro
blem
i
s
cal
le
d
windup e
ff
ect
.
An
ti
-
wind
up strategie
s a
re a
va
il
able in
order t
o
s
olv
e
the
prob
le
m
of
wind
up
ef
fect [
11
],
[12].
The
c
onve
ntio
nal
antiwi
ndup
meth
ods
in
cl
ud
e:
(i
)
co
ndit
ion
al
inte
grat
ion
[
13]
-
[15]
,
wh
e
re
the
integral
act
io
n
is
act
ivate
d
or
deacti
vated
de
pendin
g
on
cer
ta
in
co
nd
it
io
ns,
the
i
ntegrat
io
n
bein
g
s
uspen
ded
i
n
case
of
sat
urat
ion
an
d
the
co
n
tr
ol
er
ror
is
of
the
same
si
gn
as
the
co
nt
ro
l
sig
nal;
(ii
)
the
us
e
of
a
l
imi
te
d
integrat
or
[
16
],
w
her
e
t
he
inte
gr
at
or
value
is
li
mit
ed
to
the
l
inear
range
of
t
he
act
uat
or
by
hard
feedbac
k
via
a
high
-
gain
dea
d
zo
ne;
(iii
)
in
[17
]
-
[
19]
a
cl
a
ssica
l
method
for
c
ompu
ti
ng
fee
db
ac
k
i
n
wh
ic
h
the
di
fference
betwee
n
the
sa
turated
a
nd
un
sat
ur
at
ed
c
ontr
ol
sig
nal
is
use
d
to
gen
e
rate
a
feedbac
k
sign
al
that
act
s
on
t
he
integrat
or
in
put
is
prese
nted
[
20
]
.
U
nifie
d
a
nt
i
-
doubli
ng
str
at
egies
that
c
ombine
the
trac
king
bac
k
cal
c
u
la
ti
on
and co
ndit
ion
a
l i
ntegr
at
io
n
a
ppr
oac
hes
a
re
presented
in
[20
]
, [
21].
In
this
wor
k
w
e
pr
ese
nt
an
a
nt
i
-
windup
P
I
s
peed
c
ontr
ol
for
an
in
duct
ion
machine
base
d
on
a
direct
tor
qu
e
c
on
t
ro
l
strat
eg
y,
i
n
orde
r
t
o
el
imi
na
te
the
un
desir
able
si
de
e
ff
ec
t
know
n
a
s
i
ntegr
at
or
wi
ndup.
T
he
pro
po
se
d
a
nti
-
wi
ndup
co
nt
ro
ll
er
has
s
ome
ad
van
ta
ge
s:
al
mo
st
ze
ro
overs
hoot
and
ve
ry
s
imple
impleme
ntati
on
in
e
xisti
ng
PI
co
ntr
oller
s.
T
o
validat
e
our
ap
proa
ch,
t
he
A
nti
-
windup
PI
co
ntr
oller
performa
nces
for
in
du
ct
io
n
machine
sp
ee
d
co
ntr
ol
bas
ed
on
direct
tor
qu
e
c
ontrol
strat
egy
ha
ve
been
inv
est
igate
d
by
sim
ulati
ons
unde
r
M
A
TL
AB
/Si
mu
li
nk
and
the
validit
y
of
the
pro
po
sed
c
ontr
ol
sc
heme
is
pro
ved by t
he e
xp
e
rime
ntal r
esults o
n dS
PAC
E sy
ste
m
w
it
h DS
1104 c
on
t
ro
ll
er
boar
d.
2.
I
NDU
CTIO
N MA
CHINE
A
ND THREE
P
HAS
E
IN
VE
RTER
MO
DE
LING
Figure
1
s
how
s
a
simpli
fie
d
ci
rcu
it
dia
gr
am
of
a
co
nventi
onal
tw
o
-
le
ve
l
volt
age
in
ve
rter
feed
i
ng
an
inducti
on
ma
c
hin
e.
T
he
deli
ver
e
d
volt
age
vecto
r
de
pends
on
the
sta
te
of
th
e
s
witc
hes
S
a
,
S
b
,
S
c
a
nd
t
he
DC
vo
lt
age
E
.
Figure
1.
Th
re
e
-
phase
volt
ag
e inv
e
rter
fe
d
i
nductio
n
m
ach
ine
2
.
1.
M
od
e
li
n
g o
f
t
he
th
r
ee
-
p
ha
se in
ver
ter
T
h
e
f
u
n
c
t
i
o
n
o
f
t
h
e
i
n
v
e
r
t
e
r
i
s
t
o
c
o
n
v
e
r
t
t
h
e
d
i
r
e
c
t
v
o
l
t
a
g
e
i
n
t
o
a
l
t
e
r
n
a
t
i
n
g
o
n
e
.
T
h
e
D
C
-
A
C
c
o
n
v
e
r
t
e
r
i
s
c
o
m
p
o
s
e
d
o
f
6
i
n
s
u
l
a
t
e
d
g
a
t
e
bi
p
o
l
a
r
t
r
a
n
s
i
s
t
o
r
s
(
I
G
B
T
s
)
t
o
c
o
n
t
r
o
l
t
h
e
t
h
r
e
e
-
p
h
a
s
e
i
n
d
u
c
t
i
o
n
m
a
c
h
i
n
e
.
T
h
e
a
i
m
o
f
t
h
i
s
k
i
nd
o
f
s
y
s
t
e
m
i
s
t
o
m
a
n
a
g
e
t
h
e
a
m
p
l
i
t
u
d
e
a
n
d
f
r
e
q
u
e
n
c
y
o
f
t
h
e
s
t
a
t
o
r
v
o
l
t
a
g
e
s
.
T
h
e
t
h
r
e
e
-
p
h
a
s
e
i
n
v
e
r
t
e
r
m
o
d
e
l
c
o
n
t
a
i
n
s
e
i
g
h
t
s
w
i
t
c
hi
n
g
s
t
a
t
e
s
.
F
i
g
u
r
e
2
s
h
o
w
s
t
h
e
r
e
p
r
e
s
e
n
t
a
t
i
o
n
o
f
e
a
c
h
I
G
B
T
s
t
a
t
e
b
a
s
e
d
o
n
a
v
e
c
t
o
r
p
r
e
s
e
n
t
a
t
i
o
n
.
Evaluation Warning : The document was created with Spire.PDF for Python.
IS
S
N
:
2088
-
8
694
In
t J
P
ow
Ele
c
&
Dr
i
S
ys
t
,
V
ol
.
12
, N
o.
3
,
Se
ptembe
r
202
1
:
1358
–
136
8
1360
Figure
2.
O
perat
ing
c
onditi
on
s o
f
th
ree
-
phas
e inv
e
rter:
vect
or prese
ntati
on of the
volt
ages
The
sta
to
r
pha
se
volt
ages
a
r
e
desc
ribe
d
i
n
(
1
)
us
i
ng
li
te
ratur
e
[
22
],
w
her
e
V
(a,
b,
c
)
are
the
th
ree
ph
a
se
sta
t
or v
ol
ta
ges,
E
is
the
D
C
li
nk
volt
ag
e
a
nd
S
(a,
b,
c
)
are
t
he
switc
hi
ng f
unct
io
ns
th
at
can
ta
ke
t
wo
lo
gi
c
values
0 or
1.
{
=
3
(
2
−
−
)
=
3
(
−
+
2
−
)
=
3
(
−
−
+
2
)
(1)
The
outp
ut vol
ta
ge
of t
he
in
ve
rter
is
def
i
ne
d
in
(
2
)
a
nd (
3
)
us
in
g
t
he vect
or
pr
ese
ntati
on.
=
+
(2)
[
]
=
[
1
−
1
2
−
1
2
0
√
3
2
−
√
3
2
]
[
]
(3)
The
n,
can
be
e
xpresse
d
usi
ng
(4).
T
he
(
4)
al
lows
th
e
deter
minati
on
of
the
vo
lt
age
f
or
ea
ch
sect
or
usi
ng
the
vecto
r pr
ese
nta
ti
on
.
=
√
2
3
(
+
2
3
+
4
3
)
(
4)
2.2
.
M
od
e
li
n
g o
f
t
he
th
r
ee
-
p
ha
se
in
duc
tio
n machi
ne
The
i
nductio
n
machine
is
a
nonlinea
r
a
nd
unsymmet
rical
s
ys
te
m.
As
repo
rted
i
n
li
te
ratu
r
e,
the
sta
tor
and
ro
t
or
volt
age
eq
uatio
ns
c
an
be
re
pr
ese
nt
ed
in
a
sta
ti
onar
y
re
fer
e
nce
fr
ame
us
i
ng
(
5)
a
nd
(
6)
[23
]
-
[25].
The (7
)
a
nd (8
)
g
ive
the
sta
tor
f
lu
x
e
quat
ion
s
.
T
he param
et
ers of
t
hese e
qu
at
ion
s a
re
def
i
ned by:
,
:
α
-
β
stat
or volt
a
ges
,
,
,
:
sta
tor
a
nd roto
r
curre
nts;
,
,
,
:
α
-
β
stat
or
an
d r
otor f
l
ux
;
R
s
, R
r
:
sta
tor
a
nd roto
r
resist
ances;
Ls, L
r
:
sta
tor
a
nd roto
r
inductanc
es;
M
:
mu
tual i
nducta
nce;
np
:
machine
pole
pa
irs.
[
]
=
[
]
+
[
]
(5)
Evaluation Warning : The document was created with Spire.PDF for Python.
In
t J
P
ow Elec
&
D
ri S
ys
t
IS
S
N:
20
88
-
8
694
Real ti
me
i
mp
l
emen
t
ation of
an
ti
-
wi
nd
up PI co
ntro
ll
er fo
r
sp
ee
d
c
on
tr
ol
of in
du
ct
io
n …
(
L
ahcen
Ou
boub
ke
r)
1361
[
]
=
[
0
0
]
=
[
]
+
[
]
+
[
]
[
]
(
6)
[
]
=
[
]
[
]
+
[
]
[
]
(7)
[
]
=
[
]
[
]
+
[
]
[
]
(8)
3.
BASI
C DTC
OF I
NDU
CTI
ON M
ACHIN
E DRIVE
DTC
is
a
ve
ct
or
c
ontrol
method
us
e
d
to
c
ontr
ol
the
to
rqu
e
and
there
f
or
e
the
sp
ee
d
of
t
he
in
duct
ion
machine
by
co
ntr
olli
ng
the
s
witc
hing
se
qu
e
nce
of
the
in
ve
rter
tra
ns
ist
ors.
The
Fig
ure
3
sh
ows
t
he
basi
c
DT
C
pr
i
nciple.
T
he
DTC
pro
vid
e
s
direct
an
d
ind
e
pe
nd
e
nt
th
e
con
tr
ol
of
the
fl
ux
a
nd
t
orq
ue
of
an
i
nductio
n
machine
by
sel
ect
ing
the
op
ti
mal
switc
hing
mode
s
of
the
volt
age
in
ver
te
r
.
it
al
lows
the
flu
x
a
nd
tor
que
to
be
mainta
ine
d
wi
thin
their
hyst
eresis
ba
nds.
Th
us
,
DTC
pr
ov
i
des
very
f
ast
torque
res
pons
e
with
ou
t
us
in
g
coor
din
at
e
tra
nsfo
rmati
on,
c
urren
t
c
ontr
ollers
an
d
P
WM
generator
.
In
the
D
TC,
the
mac
hi
ne
t
or
que
c
on
t
r
ol
is
achieve
d
with
two
hyste
re
sis
co
ntr
ollers,
one
f
or
sta
tor
flux
ma
gnit
ud
e
error
a
nd
the
oth
e
r
for
the
tor
que
mag
nitud
e
er
r
or.
T
he
sel
ect
ion
of
on
e
s
witc
hing
vecto
r
pe
r
sam
plin
g
ti
me
de
pe
nds
on
the
sig
n
of
these
tw
o
con
t
ro
ll
ers
[6].
Figure
3. Ba
sic
D
TC s
che
me for
in
du
ct
io
n m
achine
dri
ve w
it
h
sp
ee
d
l
oop
By
us
in
g
a
(
,
)
st
at
ion
ar
y
sta
tor
re
fer
e
nce
f
ra
me,
t
he
sta
tor
flu
x
li
nka
ge
a
nd
el
ect
r
om
a
gnet
ic
tor
qu
e
Г
e
are c
al
culat
ing
by
usi
ng
(
9) an
d (10)
:
=
∫
(
−
)
0
(
9
)
=
∫
(
−
)
0
(
10
)
T
he
sta
to
r flu
x l
ink
age
phas
or
is give
n b
y
(11)
:
=
√
2
+
2
(
11
)
The
a
ngle
is equ
al
t
o:
=
−
1
(
)
(
12)
Evaluation Warning : The document was created with Spire.PDF for Python.
IS
S
N
:
2088
-
8
694
In
t J
P
ow
Ele
c
&
Dr
i
S
ys
t
,
V
ol
.
12
, N
o.
3
,
Se
ptembe
r
202
1
:
1358
–
136
8
1362
The
est
imat
e
d
el
ect
ro
ma
gn
et
i
c torq
ue
is
gi
ve
n by (
13):
T
=
[
−
]
(
13
)
The
er
ror
bet
w
een
t
he
est
imat
ed
t
orq
ue
Г
a
nd
the
ref
e
ren
ce
t
orq
ue
Г
∗
is
the
in
pu
t
of
a
t
hr
ee
l
evel
hyste
resis
com
par
at
or
,
w
her
eas
t
he
e
rro
r
betwee
n
the
est
imat
ed
sta
to
r
flu
x
ma
gn
it
ude
an
d
his
re
f
eren
ce
sta
to
r
fl
ux
mag
nitud
e
∗
is
the
in
put
of
a
two
le
vel
hyst
eresis
c
ompara
tor
.
Fi
g
ure
4
(
a)
a
nd
Fi
gure
4
(b)
il
lustra
te
th
e
flu
x
a
nd
tor
que
co
m
pa
rators.
Figure
4.
H
ys
t
eresis c
ompara
tor
s,
(
a
)
flu
x h
ys
te
resis c
omp
arator
;
(
b)
t
orq
ue hyst
eresis c
omparat
or
To
determi
ne
the
sta
tor
volt
age
vecto
r
to
be
a
pp
li
ed
,
th
e
ci
rcu
la
r
sta
tor
flu
x
path
is
first
div
i
ded
into
six
sy
m
metri
cal
se
ct
or
s
(
Fig
ur
e
5)
[6].
T
he
n,
th
e
ef
fect
of
eac
h
sta
tor
vector
volt
age
on
th
e
fl
ux
a
nd
t
orqu
e
i
s
stud
ie
d
.
T
he
s
el
ect
ion
of
the
adequate
v
oltage
vect
or
is
ba
sed
on
the
s
w
it
ching
ta
ble
gi
ven
in
T
ab
le
1.
T
he
input
s
qu
a
ntit
ie
s ar
e t
he flu
x sec
tor
a
nd the
ou
t
pu
ts
of the
two hyste
re
sis c
omparat
or
s
.
Figure
5
.
Inf
l
ue
nce
of the
volt
age v
ect
or sel
ect
ed
on t
he va
riat
ion
of stat
or f
l
ux m
odulus
and
to
rque
Table
1.
Sw
it
c
hing table
Secto
r
1
2
3
4
5
6
1
1
V
2
V
3
V
4
V
5
V
6
V
1
0
V
7
V
0
V
7
V
0
V
7
V
0
-
1
V
6
V
1
V
2
V
3
V
4
V
5
0
1
V
3
V
4
V
5
V
6
V
1
V
2
0
V
0
V
7
V
0
V
7
V
0
V
7
-
1
V
5
V
6
V
1
V
2
V
3
V
4
V
0
=[0,0
,0]
;
V
1
=[1
,0,0
]
; V
2
=
[1,1
,0]
;
V
3
=[0,1
,0]
;
V
4
=[0
,1,1
]
; V
5
=
[0,0
,1] ;
V
6
=[1,0
,1]
;
V
7
=[1
,1,1
]
(a)
(b)
0
1
∗
−
−
+
-
1
+
0
1
−
Evaluation Warning : The document was created with Spire.PDF for Python.
In
t J
P
ow Elec
&
D
ri S
ys
t
IS
S
N:
20
88
-
8
694
Real ti
me
i
mp
l
emen
t
ation of
an
ti
-
wi
nd
up PI co
ntro
ll
er fo
r
sp
ee
d
c
on
tr
ol
of in
du
ct
io
n …
(
L
ahcen
Ou
boub
ke
r)
1363
4.
AN
TI
-
WI
N
D
UP
P
I CO
NTRO
LL
ER
The
struct
ur
e
of
the
anti
-
windup
PI
c
on
tr
oller
base
d
on
th
e
bac
k
-
cal
c
ulati
on
meth
od
is
pr
ese
nted
in
Figure
6
.
T
he
sat
ur
at
io
n
e
rro
r
u
e
an
d
a
nti
-
windup
gain
K
are
the
main
par
amet
e
rs
f
or
t
he
inte
gr
al
act
ion
correct
ion,
where:
=
−
(
14
)
A
feedbac
k
sig
nal
is
ge
ner
at
e
d
from
the
di
fference
betwee
n
t
he
sat
ur
at
e
d
an
d
unsat
urat
e
d
c
ontrol
sig
na
ls
an
d
is
us
ed
t
o
re
du
ce
the
integ
rator
i
nput
w
he
n
the
co
ntr
oller
ou
t
pu
t
e
xcee
ds
the
act
uato
r
li
mit
s.
The
sat
urat
ion
in
Figure
6
can
e
it
her
be
a
m
od
el
us
e
d
i
n
the
con
t
ro
ll
er
or
t
he
act
ual
sa
tu
r
at
ion
of
the
ac
tuator
if
it
s
ou
tpu
t
is
measu
rab
le
.
Figure
6.
A
nti
-
windup
PI co
nt
ro
ll
er
base
d o
n bac
k
cal
c
ulati
on meth
od
5.
SIMULATI
O
N RESULTS
AND DIS
C
USSION
In
order
t
o
e
va
luate
the
perf
orma
nce
of
t
he
pro
po
se
d
c
on
tr
ol
st
rateg
y,
si
mu
la
ti
on
te
sts
wer
e
ca
rr
ie
d
ou
t
i
n
MATL
AB/Si
mu
li
nk
env
i
ronme
nt
f
or
a
1.5
kW
inducti
on
mach
ine.
Ta
ble
2
s
hows
the
re
groups
th
e
el
ect
rical
and
mecha
nical
paramet
ers
val
ues
.
Dif
fer
e
nt
sim
ulati
on
te
sts
w
ere
car
ried
ou
t
unde
r
the
c
ondi
ti
on
s
,
DC
volt
age
E
=150
V;
Re
fer
e
nce
sta
tor
flu
x
=
0
.
35
;
=
0
.
01
,
Г
=
0
.
02
.
;
and
the
samplin
g
ti
me
=
1
4
.
The
fi
rst
te
st
ai
ms
to
e
valua
te
the
sp
ee
d
t
r
ackin
g
e
ffi
ci
en
cy.
In
fact,
as
sh
ow
n
in
Figure
7,
sta
rti
ng
f
r
om
a
ste
a
dy
sta
te
of
60
0
r
pm
,
400
r
pm
acce
le
ra
ti
on
a
nd
decele
rati
on
ste
ps
we
re
a
pp
li
ed
resp
ect
ivel
y
at
t=
1,2
s
a
nd
t=
3
s
.
We
rema
r
k
t
hat
the
A
nti
-
wi
ndup
P
I
spe
ed
c
ontr
oller
has
ac
hie
ved
the
te
st
go
al
s:
no
ov
e
r
/under
-
s
hoots,
faster
ti
me
res
pons
e
a
nd
bet
te
r
c
onsta
nc
y
in
ste
a
dy
sta
te
.
Fi
gure
8
pre
sents
e
le
ct
ro
ma
gn
et
i
c torq
ue.
The
sta
to
r
cu
rrents
Fig
ur
e
9
a
nd
Fig
ur
e
10
a
re
sin
usoidal
a
nd
present
le
ss
harmo
nics.
T
he
sta
tor
fl
ux
Figure
11
trac
ks
it
s
ref
e
ren
c
e
with
good
performa
nce.
The
sec
ond
te
st
is
to
evalu
at
e
the
disturbance
s
reject
ion
ef
fecti
ven
ess
.
In
fact
,
du
rin
g
t
his
te
st,
the
sp
ee
d
w
as
mainta
i
ned
at
600
r
pm
an
d
a
disturba
nce
(
80%
of
loa
d
t
orqu
e
(
))
was
inse
rted
at
=
1
.
5
and
rem
ove
d
at
t=
3s
.
A
s
s
how
n
in
Fi
gur
e
12,
the
pro
pose
d
P
I
An
ti
-
wind
up
c
on
t
ro
ll
er
ha
s
si
gn
i
ficant
im
pr
ov
e
ments;
the
reject
ion
of
loa
d
distu
rb
a
nces
was
do
ne
quic
kly
.
In
add
it
io
n,
as
sc
how
n
i
n
Fig
ure
13
,
t
he
de
ve
lop
e
d
tor
que
f
ollows
t
he
loa
d
t
orq
ue.
T
he
c
ompensati
on
s
f
or
disturb
a
nce a
re
achieve
d b
y d
evelo
ped ele
ct
r
om
a
gn
et
ic
t
orq
ue
a
uto
mati
cal
ly.
Table
2.
Ind
uct
ion
machi
ne pa
rameters
Para
m
eters
v
alu
e
Rated
Power
P
1
.
5
kW
Vo
ltag
e
V
220
/
380
V
Nu
m
b
er
o
f
Pair
Po
les
n
p
2
Stato
r
Res
istan
ce
R
s
5
.
63
Ω
Ro
to
r
Res
istan
ce
R
r
2
.
62
Ω
Stato
r
Sel
f
-
Ind
u
cta
n
ce
L
s
0
.
018
H
Ro
to
r
Self
-
Ind
u
ctan
ce
L
r
0
.
018
H
Mutu
al I
n
d
u
ctan
ce
M
0
,
20
H
Total in
ertia
J
0
,
023
kg
.
m
2
Friction
coeff
i
cien
t
f
0
,
00155
N
.
m
.
s
Figure
7. S
pee
d
trac
king
res
ponse
s,
ca
se
of
4
00
r
pm
acce
le
rati
on
/de
cel
erati
on
0
.
5
1
1
.
5
2
2
.
5
3
3
.
5
4
400
600
800
1000
1200
T
i
m
e
(
s
e
c
)
w
(
r
p
m
)
w
r
e
f
w
m
Evaluation Warning : The document was created with Spire.PDF for Python.
IS
S
N
:
2088
-
8
694
In
t J
P
ow
Ele
c
&
Dr
i
S
ys
t
,
V
ol
.
12
, N
o.
3
,
Se
ptembe
r
202
1
:
1358
–
136
8
1364
Figure
8.
Ele
ct
romag
netic
T
orq
ue res
pons
e
Figure
9.
Stat
or c
urren
t
res
pons
es
Figure
10. Z
oo
m o
n
sta
tor
c
ur
ren
t
res
pons
es
Figure
11.
Stat
or
flu
x
i
n
the
α
β phase
plan
e
Figure
12.
Disturba
nces
reject
ion
res
pons
e
fo
r
80%
of
and 60
0
r
pm re
fer
e
nce s
pe
ed: s
peed
respo
ns
e
Figure
13.
Disturba
nces
reject
ion
res
pons
e
fo
r
80%
of
and 60
0
r
pm re
fer
e
nce s
pe
ed: to
rque
respo
ns
e
6.
EXPERI
MEN
TAL SET
UP
AND
P
R
AC
T
ICA
L
R
ES
UL
TS
6
.
1.
Ex
peri
m
ent
al setup
The
reali
zed
e
xp
e
rime
ntal
set
up
is
s
how
n
in
Fig
ure
14
an
d
Fig
ur
e
15
.
It
con
sist
s
of
:
(i
)
an
IG
BT
s
Vo
lt
age
Inve
rter,
(ii)
the
1.5
KW
in
duct
io
n
mo
to
r
(c
ouple
d
i
n
sta
r)
is
dri
ven
unde
r
l
oad
with
t
he
help
of
DC
gen
e
rato
r
mec
han
ic
al
ly
c
oupl
ed
to
t
he
m
ot
or
a
nd
hav
i
ng
the
f
ollow
i
ng
char
act
e
risti
cs:
1KW
,
22
0V,
6.5A,
2520r
pm.
T
he
la
tt
er
sup
plies
a
4K
W
resist
iv
e
ba
nk
t
o
pro
duce
dif
fer
e
nt
l
oad
to
r
qu
es
,
(i
ii
)
A
dS
P
ACE
11
04
bo
a
r
d
base
d
on
a
250
MHz
603
-
P
ower
PC
-
64
-
bit
process
or
a
nd
a
sla
ve
-
D
SP
b
ased
on
a
20
M
Hz
TMS3
20F24
0
-
16
-
bit
microc
ontr
oller
is
us
e
d.
T
he
dSP
A
CE
works
on
M
at
la
b/Sim
ulink
R
2013b
pl
at
fo
r
m.
dS
P
ACE
boa
r
d
is
us
e
d
with
Con
tr
ol
Des
k
s
of
t
war
e
wh
ic
h
makes
the
record
of
the
res
ults
eas
y.
It
helps
al
so
by
ma
king
the
dev
el
opment
of
c
on
tr
oll
ers
e
f
fecti
ve
a
nd
aut
om
at
es
t
he
e
xperiments.
Wit
h
the
dS
P
ACE
1104
the
us
e
r
can
de
sign
the
dri
ve
in
MATL
A
B/
Simuli
nk
R
2013
b
an
d
wit
h
the
help
of
Re
al
-
Time
W
orks
hop
(RTW
) of
MA
TLAB/Si
m
ulin
k
R2
013b a
nd
Re
al
Time I
nterf
ace
(RTI
),
t
he
u
se
r
ca
n
c
onver
t t
he
m to
r
e
a
l
-
ti
me
cod
e
s, (iv
) A t
a
choge
ner
at
or
is use
d for s
pe
ed
se
nsor
(15V
for
1500
rpm).
0
.
5
1
1
.
5
2
2
.
5
3
3
.
5
4
-
1
0
-5
0
5
10
T
i
m
e
(
s
e
c
)
T
e
(
N
.
m
)
0
.
5
1
1
.
5
2
2
.
5
3
3
.
5
4
-5
0
5
i
s
a
i
s
b
i
s
c
1
1
.
0
2
1
.
0
4
1
.
0
6
1
.
0
8
1
.
1
1
.
1
2
1
.
1
4
1
.
1
6
1
.
1
8
1
.
2
-4
-2
0
2
4
i
s
a
i
s
b
i
s
c
-
0
.
8
-
0
.
6
-
0
.
4
-
0
.
2
0
0
.
2
0
.
4
0
.
6
0
.
8
-
0
.
5
0
0
.
5
Fl
u
x
a
l
p
h
a
(
W
e
b
)
F
l
u
x
b
e
t
a
(
W
e
b
)
1
1
.
5
2
2
.
5
3
3
.
5
4
580
590
600
610
620
T
i
m
e
(
s
e
c
)
w
(
r
p
m
)
w
r
e
f
w
m
0
.
5
1
1
.
5
2
2
.
5
3
3
.
5
4
-2
0
2
4
T
i
m
e
(
s
e
c
)
T
e
(
N
.
m
)
Evaluation Warning : The document was created with Spire.PDF for Python.
In
t J
P
ow Elec
&
D
ri S
ys
t
IS
S
N:
20
88
-
8
694
Real ti
me
i
mp
l
emen
t
ation of
an
ti
-
wi
nd
up PI co
ntro
ll
er fo
r
sp
ee
d
c
on
tr
ol
of in
du
ct
io
n …
(
L
ahcen
Ou
boub
ke
r)
1365
Figure
1
4
.
E
xp
erimental
platf
orm
Figure
1
5
.
Dif
f
eren
t
par
ts
of e
xp
e
rime
ntal t
est
b
enc
h
a
nd it
s
dS
P
ACE c
ontr
ol
6.2
.
Pr
act
ic
al
resul
ts
an
d
di
scussion
To
validat
e
th
e
simulat
io
n
re
su
lt
s,
diff
e
re
nt
pr
act
ic
al
te
sts
wer
e
car
ried
ou
t
unde
r
th
e
conditi
ons:
DC
volt
age
E
=150
V;
Re
fer
e
nce
sta
to
r
flu
x
=
0
.
35
;
=
0
.
01
,
=
0
.
02
.
;
and
t
he
samplin
g
ti
me
ℎ
=
1
−
4
.
The
fi
rst
te
st
ai
ms
to
evalua
te
pr
act
ic
al
ly
the
sp
ee
d
trac
ki
ng
e
ffi
ci
en
cy
.
I
n
fact
,
as
show
n
in
Fig
ure
16
,
sta
rting
from
a
ste
a
dy
sta
te
of
600
rpm,
40
0
r
pm
acce
le
rati
on
a
nd
decele
rati
on
ste
ps
wer
e
a
pp
li
ed
.
We
rema
r
k
t
ha
t
the
A
nti
-
wi
nd
up
P
I
s
peed
c
ontr
oller
has
ac
hieve
d
the
te
st
go
al
s
:
no
ove
r/unde
r
-
sh
oots
,
faster
ti
me
res
pons
e
a
nd
bette
r
co
ns
t
ancy
i
n
ste
ad
y
sta
te
.
Figure
17
prese
nts
prac
ti
cal
el
ect
ro
magn
et
ic
tor
qu
e
.
Fig
ur
e
18
a
nd
Fig
ur
e
19
s
how
s
that
the
sta
tor
c
urr
ents
of
the
ma
chine
hav
e
a
s
inu
s
oid
al
wav
e
fo
r
m
and
prese
nt
le
ss
ha
rm
onic
s.
The
sta
tor
fl
ux
Fig
ure
20
tracks
it
s
refe
ren
ce
with
go
od
pe
rfo
rma
nc
e
.
the
exp
e
rime
ntal r
esults co
nfi
rm t
he
sim
ulati
on
resu
lt
s
.
Evaluation Warning : The document was created with Spire.PDF for Python.
IS
S
N
:
2088
-
8
694
In
t J
P
ow
Ele
c
&
Dr
i
S
ys
t
,
V
ol
.
12
, N
o.
3
,
Se
ptembe
r
202
1
:
1358
–
136
8
1366
Figure
16. Prac
ti
cal
sp
eed t
rac
king
respo
ns
e,
case o
f
400 r
pm
acce
le
rati
on
/
decele
ra
ti
on
Figure
17. Prac
ti
cal
elec
trom
a
gn
et
ic
to
r
qu
e
re
spon
se
Figure
18.
Pr
ac
ti
cal
stat
or
curr
ent
s
re
spo
ns
es
Figure
19. Z
oo
m o
n
sta
tor
c
ur
ren
t
s
res
pons
es
Figure
20.
Pr
ac
ti
cal
s
ta
tor
flu
x i
n
the
α
β
ph
as
e p
la
ne
The
sec
ond
te
s
t
is
to
evaluate
the
distu
r
ban
c
es
reject
ion
e
ffec
ti
ven
ess.
I
n
fact,
du
rin
g
thi
s
te
st,
the
sp
ee
d
was
mainta
ined
at
600
r
pm
an
d
a
disturbance
(
80%
of
)
was
i
ns
erte
d
at
=
13
.
4
an
d
rem
oved
at
t=
20
s
.
A
s
s
ho
wn
in
Fig
ure
21,
t
he
pro
pose
d
a
nti
-
wi
ndup
PI
c
ontr
oller
offe
rs
si
gn
i
fican
t
impro
veme
nt
s;
load
disturba
nce
rej
ect
ion
wa
s
ach
ie
ved
qu
ic
kly
with
the
pro
posed
c
on
tr
oller
.
M
ore
ov
e
r,
as
s
chow
n
in
Fi
gure
22
,
the
dev
el
op
e
d
tor
que
ca
n
f
ollow
the
loa
d
t
orqu
e
.
The
co
mp
e
ns
at
io
ns
f
or
disturba
nce
a
r
e
ac
hie
ved
by
dev
el
op
e
d
el
ec
trom
a
gnet
ic
torqu
e
au
t
om
at
ic
a
ll
y
.
T
he
e
xp
e
ri
mental
r
es
ults
confirm
the
simulat
ion re
su
lt
s
.
Figure
21. E
xp
erimental
distu
rb
a
nces
reject
ion
respo
ns
e
for
80%
of
an
d 600 rp
m
ref
e
ren
ce
sp
ee
d: sp
ee
d re
sp
onse
Figure
22. E
xp
erimental
distu
rb
a
nces
reject
ion
respo
ns
e
for
80%
of
an
d 600 rp
m
ref
e
ren
ce
sp
ee
d: torq
ue r
esp
on
se
0
5
10
15
20
25
30
35
40
600
800
1000
T
i
m
e
(
s
e
c
)
w
(
r
p
m
)
w
r
e
f
w
m
0
5
10
15
20
25
30
35
40
-
1
0
-5
0
5
10
T
i
m
e
(
s
e
c
)
T
e
(
N
.
m
)
0
5
10
15
20
25
30
35
40
-5
0
5
T
i
m
e
(
s
e
c
)
I
s
(
A
)
i
s
a
i
s
b
i
s
c
5
5
.
0
1
5
.
0
2
5
.
0
3
5
.
0
4
5
.
0
5
5
.
0
6
5
.
0
7
5
.
0
8
5
.
0
9
5
.
1
-4
-2
0
2
4
T
i
m
e
(
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e
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s
(
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)
i
s
a
i
s
b
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s
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.
8
-
0
.
6
-
0
.
4
-
0
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2
0
0
.
2
0
.
4
0
.
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0
.
8
-
0
.
5
0
0
.
5
Fl
u
x
a
l
p
h
a
(
W
e
b
)
F
l
u
x
b
e
t
a
(
W
e
b
)
12
13
14
15
16
17
18
19
20
21
22
580
590
600
610
620
T
i
m
e
(
s
e
c
)
w
(
r
p
m
)
12
13
14
15
16
17
18
19
20
21
22
-2
0
2
4
T
i
m
e
(
s
e
c
)
T
e
(
N
.
m
)
Evaluation Warning : The document was created with Spire.PDF for Python.
In
t J
P
ow Elec
&
D
ri S
ys
t
IS
S
N:
20
88
-
8
694
Real ti
me
i
mp
l
emen
t
ation of
an
ti
-
wi
nd
up PI co
ntro
ll
er fo
r
sp
ee
d
c
on
tr
ol
of in
du
ct
io
n …
(
L
ahcen
Ou
boub
ke
r)
1367
7.
CONCL
US
I
O
N
In
t
his
pa
per,
we
prese
nted
a
simulat
ion
a
nd
real
ti
me
impleme
ntati
on
study
of
a
nti
-
wi
ndup
PI
con
t
ro
ll
er
in
orde
r
t
o
im
pro
ve
in
du
ct
io
n
m
achine
s
peed
c
on
t
ro
l
base
d
on
direct
tor
que
co
ntr
ol
st
rategy.
A
model
of
pro
pose
d
c
on
t
ro
l
s
cheme
,
based
on
the
M
at
la
b
-
Simuli
nk
sim
ul
at
ion
to
ol,
ha
s
bee
n
pro
pos
ed
a
nd
validat
ed
th
rou
gh
-
ou
t
ex
per
i
menta
l
te
st
res
ults.
T
he
e
xp
e
r
imenta
l
re
su
lt
s
s
how
that
t
he
DTC
meth
od
a
pp
li
ed
to
an
in
duct
io
n
machin
e
us
i
ng
an
A
nti
-
wi
ndup
P
I
c
on
tr
oller
of
s
peed
pre
sent
m
os
t
inter
est
and
c
ontrib
ute
to
impro
veme
nt the per
forma
nc
e of s
ys
te
m.
REFERE
NCE
S
[1]
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.
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L
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-
t
orque
cro
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coupl
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f
FO
C
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Novel
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urba
t
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a
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stra
te
gy
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DTC
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ct
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on
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ac
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wi
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qu
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”
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wee
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t
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le
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ert
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a
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le
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el
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te
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ct
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tor,”
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rnati
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“Ch
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of
spe
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ensorle
ss
vector
cont
rol
of
par
al
l
el
conn
ecte
d
du
a
l
induc
ti
on
mot
o
r
fed
by
a
singl
e
i
nver
te
r
,
”
in
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ings
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the
Powe
r
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ren
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aka
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n
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n
ce
s,
“
Vec
tor
cont
ro
l
o
f
a
three
-
phase
par
allel
conn
ec
t
ed
two
mot
or
single
inve
r
te
r
sp
ee
d
s
ensorle
ss
drive,”
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ki
sh
Journal
o
f
El
e
ct
rica
l
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gine
ering
&
Co
mputer
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iva
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Hara
tsu,
T.
K
iha
ra
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k
a
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and
T
.
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“Per
for
ma
nc
e
com
par
ison
of
th
e
cont
rol
l
er
conf
igurations
f
or
the
sensorle
ss
IM
drive
us
ing
th
e
modi
fi
ed
spee
d
ad
aptive
observ
er,”
in
2000
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gh
th
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rnational
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nfe
renc
e
on
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wer
Elec
tr
onic
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Variable
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d
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EE
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K.
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am
a
nd
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C.
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“
A
com
par
at
iv
e
study
of
proport
iona
l
-
in
te
gr
al
(PI)
and
integra
l
-
p
roporti
ona
l
(IP
)
cont
rollers
for
dc
mot
or
dr
ives
,
”
in
Int
e
rnati
onal
Journal
o
f
Control
,
vo
l.
44,
no.
1
,
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200
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R.
Hanus,
M.
K
inna
er
t
and
J.
L
.
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t
e,
“Con
dit
ioni
ng
t
ec
hni
que,
a
g
ene
r
al
a
nti
-
windup
and
bumpl
ess
tr
ansfe
r
me
thod
,
”
Aut
om
ati
ca
,
vol
.
23
,
no
.
6
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pp
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729
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73
9
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1987,
doi: 10.
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X.
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D.
Zha
ng
,
H.
L
i
and
E.
G.
Col
li
n
s,
“Digi
t
al
ant
i
-
windup
PI
cont
r
oll
ers
for
v
ari
ab
l
e
-
spee
d
mo
tor
dr
ive
s
using
FP
G
A
and
sto
cha
sti
c
t
heor
y,
”
I
EE
E
T
rans
act
ions
on
Powe
r
E
lectroni
cs
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vo
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ark
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par
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at
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qu
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-
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EE
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ansacti
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A
utom
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I
spee
d
control
for
industry
servo
driv
es
usi
ng
onli
ne
spe
ct
rum
ana
lysis
of
torqu
e
command
,
”
in
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E
Tr
ansacti
o
ns
on
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El
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ct
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Stat
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w
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spee
d
mot
or
dr
ive
s,”
in
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EE
E
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ansacti
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-
per
forma
n
ce
sp
ee
d
servo
sys
tem
conside
ring
Vol
ta
ge
sa
turation
of
a
ve
ct
or
-
con
trol
le
d
inductio
n
mot
or,”
in
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EE
E
Tr
ansacti
o
ns
on
Industrial
El
e
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ronics
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