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Tham khảo tài liệu 'electric machines and drives part 9', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | A RMRAC Parameter Identification Algorithm Applied to Induction Machines 149 The procedure described in Fig. 2 and Fig. 3 is applied to parameter identification of the q axis or transfer function 2. However the same procedure is used for parameter identification of the d axis or transfer function 3. 4. RMRAC gains adaptation algorithm The gradient algorithm used to obtain the control law gains is given by 0 ƠP0 e 7 m2 with m 5qm 51 up yp 1 m 0 51 51 1 8 and Ị Wm s Iw 9 w w wỊ yp Mp T 10 w wj are auxiliary vectors 5q 51 are positive constants and 5q satisfies 5q ỏ2 min po qo qo K is such that the Wm s qo poles and the F qoI eigenvalues are stable and l 2 is a positive constant. The sigma modification Ơ in 7 is given by Í 0 if H0H Mq a ao s 1 if Mq M0 l 2Mq 11 Mq r0 if 0H 2Mq where Mq 11 0 II and ơqị 2ụ 2 R2 R ụ K are design parameters. In this case the parameters used in the implementation of the gradient algorithm are 50 0.7 J1 1 5 1 12 Ơ0Ị 0.1 _ M0 10 More details of design of the gradient algorithm can be seen in loannou Tsakalis 1986 . As defined in Lozano-Leal et al. 1990 the modified error in 7 is given by e 1 0T Ị WmQĩ w 13 or e 0T ụn. 14 When the ideal values of gains are identified and the plant model is well known the plant can be obtained by equation analysis of MRC algorithm described in the next section. 150 Electric Machines and Drives Fig. 4. MRC structure. 5. MRC analysis The Model Reference Control MRC shown in Fig. 4 can be understood as a particular case of RMRAC structure which is presented in Fig. 3. This occurs after the convergence of the controller gains when the gradient algorithm changes to the steady-state. It is important to note that this analysis is only valid when the plant model is well known and free of unmodeled dynamics and parametric variations. To allow the analysis of the MRC structure the plant and reference model must satisfy some assumptions as verified in Ioannou Sun 1996 . These suppositions which are also valid for RMRAC .