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Chaos in Electric Drive Systems RED BOX RULES ARE FOR PROOF STAGE ONLY. DELETE BEFORE FINAL PRINTING. Chaos in Chau Electric Drive Systems Wang K. T. Chau • Zheng Wang Analysis, Control Chaos in Electric Systems Drive and Application K.T. Chau, The University of Hong Kong, Hong Kong, China Zheng Wang, Southeast University, China In Chaos in Electric Drive Systems: Analysis, Control and Application, authors Chau and Wang systematically introduce an emerging technology of electrical engineering that bridges abstract chaos theory and practical electric drives. The authors consolidate all important information in this interdisciplinary technology, including the fundamental concepts, mathematical modeling, theoretical analysis, computer simulation, and hardware implementation. The book provides comprehensive coverage of chaos in electric drive systems with three main parts: analysis, control and application. Corresponding drive systems range from the simplest to the latest types: DC, induction, synchronous reluctance, switched reluctance, and permanent magnet brushless drives. • The fi rst book to comprehensively treat chaos in electric drive systems • Reviews chaos in various electrical engineering technologies and drive systems • Presents innovative approaches to stabilize and stimulate chaos in typical drives • Discusses practical application of chaos stabilization, chaotic modulation Chaos in and chaotic motion • Authored by well-known scientists in the fi eld • Lecture materials available from the book's companion website Electric Drive Systems This book is ideal for researchers and graduate students who specialize in electric drives, mechatronics, and electric machinery, as well as those enrolled in classes covering advanced topics in electric drives and control. Engineers and product Analysis, Control designers in industrial electronics, consumer electronics, electric appliances and electric vehicles will also fi nd this book helpful in applying these emerging techniques. Lecture materials for instructors available at and Application www.wiley.com/go/chau_chaos Cover design: Jim Wilkie CHAOS IN ELECTRIC DRIVE SYSTEMS CHAOS IN ELECTRIC DRIVE SYSTEMS ANALYSIS, CONTROL AND APPLICATION K.T. CHAU The University of Hong Kong, Hong Kong, China ZHENG WANG Southeast University, China This edition first published 2011 Ó 2011 John Wiley & Sons (Asia) Pte Ltd Registered office John Wiley & Sons (Asia) Pte Ltd, 2 Clementi Loop, # 02-01, Singapore 129809 For details of our global editorial offices, for customer services and for information about how to apply for permission to reuse the copyright material in this book please see our website at www.wiley.com. All Rights Reserved. No part of this publication may be reproduced, stored in a retrieval system or transmitted, in any form or by any means, electronic, mechanical, photocopying, recording, scanning, or otherwise, except as expressly permitted by law, without either the prior written permission of the Publisher, or authorization through payment of the appropriate photocopy fee to the Copyright Clearance Center. Requests for permission should be addressed to the Publisher, John Wiley & Sons (Asia) Pte Ltd, 2 Clementi Loop, #02-01, Singapore 129809, tel: 65-64632400, fax: 65-64646912, email: [email protected]. Wiley also publishes its books in a variety of electronic formats. Some content that appears in print may not be available in electronic books. Designations used by companies to distinguish their products are often claimed as trademarks. All brand names and product names used in this book are trade names, service marks, trademarks or registered trademarks of their respective owners. The Publisher is not associated with any product or vendor mentioned in this book. This publication is designed to provide accurate and authoritative information in regard to the subject matter covered. It is sold on the understanding that the Publisher is not engaged in rendering professional services. If professional advice or other expert assistance is required, the services of a competent professional should be sought. Library of Congress Cataloging-in-Publication Data Chau, K. T. Chaos in electric drive systems : analysis, control and application / K.T. Chau, Zheng Wang. p. cm. Includes bibliographical references and index. ISBN 978-0-470-82633-1 (cloth) 1. Electric driving–Automatic control. 2. Chaotic behavior in systems. I. Wang, Zheng, 1979- II. Title. TK4058.C37 2011 621.46–dc22 2010051061 Print ISBN: 978-0-470-82633-1 E-PDF ISBN: 978-0-470-82634-8 O-book ISBN: 978-0-470-82635-5 E-Pub ISBN: 978-0-470-82836-6 Set in 9/11pt Times by Thomson Digital, Noida, India. To our parents, families, colleagues and friends worldwide Contents Preface xi Organization of this Book xiii Acknowledgments xv About the Authors xvii PART I INTRODUCTION 1 Overview of Chaos 3 1.1 What is Chaos? 3 1.2 Development of Chaology 4 1.3 Chaos in Electrical Engineering 8 1.3.1 Chaos in Electronic Circuits 9 1.3.2 Chaos in Telecommunications 10 1.3.3 Chaos in Power Electronics 11 1.3.4 Chaos in Power Systems 12 1.3.5 Chaos in Electric Drive Systems 13 References 16 2 Introduction to Chaos Theory and Electric Drive Systems 23 2.1 Basic Chaos Theory 23 2.1.1 Basic Principles 23 2.1.2 Criteria for Chaos 28 2.1.3 Bifurcations and Routes to Chaos 29 2.1.4 Analysis Methods 37 2.2 Fundamentals of Electric Drive Systems 45 2.2.1 General Considerations 45 2.2.2 DC Drive Systems 50 2.2.3 Induction Drive Systems 56 2.2.4 Synchronous Drive Systems 61 2.2.5 Doubly Salient Drive Systems 68 References 77 viii Contents PART II ANALYSIS OF CHAOS IN ELECTRIC DRIVE SYSTEMS 3 Chaos in DC Drive Systems 81 3.1 Voltage-Controlled DC Drive System 81 3.1.1 Modeling 81 3.1.2 Analysis 83 3.1.3 Simulation 87 3.1.4 Experimentation 94 3.2 Current-Controlled DC Drive System 96 3.2.1 Modeling 96 3.2.2 Analysis 98 3.2.3 Simulation 102 3.2.4 Experimentation 108 References 110 4 Chaos in AC Drive Systems 113 4.1 Induction Drive Systems 113 4.1.1 Modeling 113 4.1.2 Analysis 116 4.1.3 Simulation 117 4.1.4 Experimentation 118 4.2 Permanent Magnet Synchronous Drive Systems 119 4.2.1 Modeling 120 4.2.2 Analysis 122 4.2.3 Simulation 125 4.2.4 Experimentation 127 4.3 Synchronous Reluctance Drive Systems 129 4.3.1 Modeling 130 4.3.2 Analysis 133 4.3.3 Simulation 136 4.3.4 Experimentation 139 References 143 5 Chaos in Switched Reluctance Drive Systems 145 5.1 Voltage-Controlled Switched Reluctance Drive System 146 5.1.1 Modeling 146 5.1.2 Analysis 149 5.1.3 Simulation 151 5.1.4 Experimentation 153 5.2 Current-Controlled Switched Reluctance Drive System 155 5.2.1 Modeling 155 5.2.2 Analysis 157 5.2.3 Simulation 159 5.2.4 Phenomena 163 References 166 Contents ix PART III CONTROL OF CHAOS IN ELECTRIC DRIVE SYSTEMS 6 Stabilization of Chaos in Electric Drive Systems 171 6.1 Stabilization of Chaos in DC Drive System 171 6.1.1 Modeling 171 6.1.2 Analysis 175 6.1.3 Simulation 178 6.1.4 Experimentation 179 6.2 Stabilization of Chaos in AC Drive System 181 6.2.1 Nonlinear Feedback Control 182 6.2.2 Backstepping Control 183 6.2.3 Dynamic Surface Control 186 6.2.4 Sliding Mode Control 189 References 192 7 Stimulation of Chaos in Electric Drive Systems 193 7.1 Control-Oriented Chaoization 193 7.1.1 Time-Delay Feedback Control of PMDC Drive System 193 7.1.2 Time-Delay Feedback Control of PM Synchronous Drive System 199 7.1.3 Proportional Time-Delay Control of PMDC Drive System 201 7.1.4 Chaotic Signal Reference Control of PMDC Drive System 204 7.2 Design-Oriented Chaoization 207 7.2.1 Doubly Salient PM Drive System 209 7.2.2 Shaded-Pole Induction Drive System 219 References 231 PART IV APPLICATION OF CHAOS IN ELECTRIC DRIVE SYSTEMS 8 Application of Chaos Stabilization 235 8.1 Chaos Stabilization in Automotive Wiper Systems 235 8.1.1 Modeling 236 8.1.2 Analysis 238 8.1.3 Stabilization 240 8.2 Chaos Stabilization in Centrifugal Governor Systems 246 8.2.1 Modeling 247 8.2.2 Analysis 248 8.2.3 Stabilization 248 8.3 Chaos Stabilization in Rate Gyro Systems 250 8.3.1 Modeling 251 8.3.2 Analysis 253 8.3.3 Stabilization 253 References 255 9 Application of Chaotic Modulation 257 9.1 Overview of PWM Schemes 257 9.1.1 Voltage-Controlled PWM Schemes 257 9.1.2 Current-Controlled PWM Schemes 260 9.2 Noise and Vibration 261 x Contents 9.3 Chaotic PWM 263 9.3.1 Chaotic Sinusoidal PWM 265 9.3.2 Chaotic Space Vector PWM 269 9.4 Chaotic PWM Inverter Drive Systems 271 9.4.1 Open-Loop Control Operation 272 9.4.2 Closed-Loop Vector Control Operation 273 References 280 10 Application of Chaotic Motion 283 10.1 Chaotic Compaction 283 10.1.1 Compactor System 285 10.1.2 Chaotic Compaction Control 286 10.1.3 Compaction Simulation 287 10.1.4 Compaction Experimentation 290 10.2 Chaotic Mixing 292 10.2.1 Mixer System 293 10.2.2 Chaotic Mixing Control 294 10.2.3 Chaotic Mixing Simulation 295 10.2.4 Chaotic Mixing Experimentation 298 10.3 Chaotic Washing 301 10.3.1 Chaotic Clothes-Washer 302 10.3.2 Chaotic Dishwasher 304 10.4 Chaotic HVAC 306 10.5 Chaotic Grinding 309 References 312 Index 315 Preface Chaos is a phenomenon that occurs in nature, from as large as the universe to as tiny as a particle. The concepts of chaology have penetrated into virtually all branches of science and engineering.
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