**5.2 PiL testing of SM1**

In **Figure 8**, results for the starting of the SM1 have been given. Tracking of the reference speed is precise.

In **Figure 9**, results for the reversing of the speed of the SM1 have been given. Tracking of the reference speed is again obtained precisely.

**Figure 11.** *Starting of SM2-PiL.*

**Figure 12.**

**Figure 13.**

**165**

*Load step changes of SM2-PiL.*

*Reversing of the speed of SM2-PiL.*

*Synchronous Machine Nonlinear Control System Based on Feedback Linearization…*

*DOI: http://dx.doi.org/10.5772/intechopen.89420*

**Figure 9.** *Reversing of the speed of SM1-PiL.*

**Figure 10.** *Load step changes of SM1-PiL.*

*Synchronous Machine Nonlinear Control System Based on Feedback Linearization… DOI: http://dx.doi.org/10.5772/intechopen.89420*

**Figure 11.** *Starting of SM2-PiL.*

To check the novel control algorithm PiL, testing of both (SM1 and SM2) machines have been done. Testing included starting process, reversing of the speed

In **Figure 8**, results for the starting of the SM1 have been given. Tracking of the

In **Figure 9**, results for the reversing of the speed of the SM1 have been given.

Tracking of the reference speed is again obtained precisely.

and load step changes.

*Control Theory in Engineering*

**5.2 PiL testing of SM1**

reference speed is precise.

*Reversing of the speed of SM1-PiL.*

**Figure 9.**

**Figure 10.**

**164**

*Load step changes of SM1-PiL.*

**Figure 12.** *Reversing of the speed of SM2-PiL.*

**Figure 13.** *Load step changes of SM2-PiL.*

In **Figure 10**, results for the load step changes of the SM1 have been given. The step change is from no load to 100% of the nominal load. Except from rotor speed and electromagnetic torque, results of damper flux observer and load torque estimation are also given.

**Appendix**

**Author details**

Marijo Šundrica

**167**

Synchronous machine SM 1 parameters:

*DOI: http://dx.doi.org/10.5772/intechopen.89420*

0.162 (p.u.), Inertia constant *H*: 0.14 (s). Synchronous machine SM 2 parameters:

q-axes *L*σQ: 0.0509 (p.u.), Inertia constant *H*: 2.2 (s).

Power *Sn*: 8.1 (kVA), Voltage *Un*: 400 (V), pole pairs *p*: 2, frequency *f*n: 50 (Hz), stator winding resistance *R*s: 0.082 (p.u.), stator winding leakage inductance *L*σs: 0.072 (p.u.), mutual inductance d-axes *L*md: 1.728 (p.u.), mutual inductance q-axes *L*mq: 0.823 (p.u.), rotor winding resistance *R*f: 0.0612 (p.u.), rotor winding leakage inductance *L*σf: 0.18 (p.u.), damper winding resistance d-axes *R*D: 0.159 (p.u.), damper winding leakage inductance d-axes *L*σD: 0.117 (p.u.), damper winding resistance q-axes *R*Q: 0.242 (p.u.), damper winding leakage inductance q-axes *L*σQ:

*Synchronous Machine Nonlinear Control System Based on Feedback Linearization…*

Power *Sn*: 1560 (kVA), Voltage *Un*: 6300 (V), pole pairs *p*: 5, frequency *f*n: 50 (Hz),

stator winding resistance *R*s: 0.011 (p.u.), stator winding leakage inductance *L*σs: 0.148 (p.u.), mutual inductance d-axes *L*md: 1.177 (p.u.), mutual inductance q-axes *L*mq: 0.622 (p.u.), rotor winding resistance *R*f: 0.0017 (p.u.), rotor winding leakage inductance *L*σ<sup>f</sup> (p.u.): 0,186, damper winding resistance d-axes *R*D: 0.0481 (p.u.), damper winding leakage inductance d-axes *L*σD: 0.096 (p.u.), damper winding resistance q-axes *R*Q: 0.0256 (p.u.), damper winding leakage inductance

Končar—Power Plant and Electric Traction Engineering, Zagreb, Croatia

© 2019 The Author(s). Licensee IntechOpen. This chapter is distributed under the terms of the Creative Commons Attribution License (http://creativecommons.org/licenses/ by/3.0), which permits unrestricted use, distribution, and reproduction in any medium,

\*Address all correspondence to: marijo.sundrica@koncar-ket.hr

provided the original work is properly cited.

There is an error of about 10% in observer operation, and an error in load torque estimator of about 5%. This is due to reduction in data precision during PiL testing. In spite of that, an error in speed tracking exists only during the step change and it is about 3%.

#### **5.3 PiL testing of SM2**

In **Figure 11**, results for the starting of the SM2 have been given. Tracking of the reference speed is precise.

In **Figure 12**, results for the reversing of the speed of the SM2 have been given. Tracking of the reference speed is again obtained precisely.

In **Figure 13**, results for the load step changes of the SM2 have been given. The step change is from no load to 100% of the nominal load. Except from rotor speed and electromagnetic torque, results of damper flux observer and load torque estimation has been also given.

There is an error of about 15% in observer operation, and an error in load torque estimator of about 3%. This is due to reduction in data precision during PiL testing. In spite of that, an error in speed tracking exist only during the step change and it is about 2%.
