Model Reference Adaptive Control of Marine Permanent Magnet Propulsion Motor Based on Parameter Identification

Round 1

Reviewer 1 Report

The article "Research on model reference adaptive control of marine permanent magnet propulsion motor based on parameter identification" is acceptable to publish in Electronics journal. The introduction is very short which needs to be elaborated.

1. In abstract some quantitative results must be added.
2. What is  adaptive algorithm?
3. Novelty and research gap is not identified. 
3. Many typos. Should thoroughly check it once.
4. Avoid long paragraphs in introduction
6. Nomenclature is important at the beginning
7. Validation of the mathematical model is required
8. Step by step detailed analysis in results is required

Author Response

Dear referees,

 

With this cover letter, we will submit the revised manuscript entitled,” Research on model reference adaptive control of marine permanent magnet propulsion motor based on parameter identification” for publication in electronics. We would like to thank referees for the careful and constructive reviewers. Based on the comments from the referees, we have made changes of the manuscript, which are detailed below.

 

1. In abstract some quantitative results must be added.

Thank the reviewer for the precious comments and suggestions. The manuscript has given in the abstract that the improved method reduces the speed estimation error by 50% compared to MRAS, and reduces the rotor position angle estimation error by 96%.

2. What is adaptive algorithm?

Thank the reviewer for the precious comments and suggestions. The adaptive algorithm refers to the model reference adaptive system. There is a misrepresentation in the manuscript, and it has now been revised to the model reference adaptive system. Model reference adaptation is used in the manuscript to estimate rotor speed and rotor position information.

3. Novelty and research gap is not identified.

Thank the reviewer for the precious comments and suggestions. The manuscript successfully solves the problem that the adaptive sliding mode observer system relies heavily on the motor parameters in the position sensorless control through simulation experiments. We think it has certain novelty and research significance.

4. Many typos. Should thoroughly check it once.

Thank the reviewer for the precious comments and suggestions. Grammatical errors, typos, formulas and other errors in the manuscript have been carefully checked and revised.

5. Avoid long paragraphs in introduction

Thank the reviewer for the precious comments and suggestions. The Introduction section of the manuscript has been supplemented to avoid long paragraphs.

6. Nomenclature is important at the beginning

Thank the reviewer for the precious comments and suggestions. The beginning of the manuscript has been carefully checked to name the relevant abbreviations and explain them.

7. Validation of the mathematical model is required

Thank the reviewer for the precious comments and suggestions. Figure 4 has been added to the manuscript with a detailed description and analysis to verify the correctness of the mathematical model.

8. Step by step detailed analysis in results is required

Thank the reviewer for the precious comments and suggestions. The manuscript has gone through the step-by-step analysis results in Figures 5-10.

 

We believe that the comments have been highly constructive and very useful to restructure the manuscript. And we hope that all these changes fulfill the requirements to make the manuscript acceptable for publication in Atherosclerosis.

 

Sincerely,

Yubo Huang, Jundong Zhang*, Dong Chen and Jiahao Qi.

College of Marine Engineering, Dalian Maritime University, Dalian, China

Dalian Maritime University, Dalian 116026, China

+86-0411-8497-8997; [email protected]

 

Author Response File: Author Response.pdf

Reviewer 2 Report

There is a serious literature about MRAS for PMSM.  It would be useful to give more details about the authors' contributions to this subject in Section 1.  This section is too short.

There are some technical errors and unclear statements, requiring a serious revision.  Some suggestions for improvement follow. 

l.23:  define POD

l.41:  Better replace "solve" by "reduce" 

l.48:  I suggest to add some brief information about PSIM.

l.55-58:  The phrase needs to be reformulated, e.g.,  "In the PMSM sensorless ..., adjustable model, the stator current as the output, and to design the 
adaptive law based on the stator error, ..."

l.64, l.66, l.78, l.96:  Where -> where

(2):   this seems incorrect; for instance, since from (3), I'_q and U'_q coincide to I_q and U_q, respectively, the second equations in (1) and (2) will coincide only if the term – ψ_f / L_s in (1) will be replaced by – ω_e ψ_f / L_s.  It is difficult to follow the text without defining the notation used.

(3), (8), (11):   L_S → L_s    (twice in each formula) 

(5):   L_S → L_s    (3x) 

(10):  err → e   (2x)

(10):  – W → + W   (in order to agree to the definitions of e in (9) and of W in (11))

(10), (11):  There is no need to define A_e, since A_e = A, defined in (5)!

(14):  The final product is wrongly written:  it should be written as a weighted scalar product, I'^T W Î'. 

l.79:  (12) → (13)

(15):  If I'_q = I_q, according to (3), then (15) cannot have two terms containing I_q.

l.86, (17), (19), and Fig. 2:  Use a unified notation for x_i and X_i.

l.87:  Use italic k in O(k) and d(k).

(17)-(19):  X and W, hence also O, depend on the discrete-time k;  this dependency should appear in these formulas, not only in (20) and the following formulas.

l.94 and l.96:  η is defined twice, with different definitions;  it would be better to define η on line 94 as "the step size, a finite positive number".  
The words on l.96 "step size calculated for weight" is unclear, because it does not say how it is computed.

(22):  There should be a reference where the convergence is proven when (22) is satisfied, because there is no proof in the paper. 

l.99:  What means "surface PMSM" and "vector control strategy with id=0"?

(23):  ψ_f, k₀, k₁ are undefined

(24) and (25) are identical;  maybe (25) should define X_R(k), O_R(k), d_R(k), and R(k+1).
         Why (23) uses I_q, U*_d, U*_q and (24), (25) use i_q, u*_d, u*_q?  Please, unify notation to capitals.  Who is η₁?   

l.103-105:  Use subscripts L, R, ψ_f, s, and f for X, O, d, L, and ψ variables, respectively.  Also, use comma instead of a strange sign between groups of these variables. 

l.118:  Please say what SVPWM is.

l.120-124:  The phrase is unclear.  Replace "as" by "is" (twice);  use subscripts α, β;  also use commas!

l.121:  ω_me -> ω_mE  (as in Fig. 3)

The displayed formulas should end by appropriate punctuation.

Author Response

Dear referees,

 

With this cover letter, we will submit the revised manuscript entitled,” Research on model reference adaptive control of marine permanent magnet propulsion motor based on parameter identification” for publication in electronics. We would like to thank referees for the careful and constructive reviewers. Based on the comments from the referees, we have made changes to the manuscript, which are detailed below.

 

1. 23:  define POD

Thank the reviewer for the precious comments and suggestions. The POD is podded electrical propulsion system. It has been revised to marine electric propulsion in the new manuscript.

2. 41:  Better replace "solve" by "reduce" 

Thank the reviewer for the precious comments and suggestions. The manuscript has made relevant changes.

3. 48: I suggest to add some brief information about PSIM.

Thank the reviewer for the precious comments and suggestions. A related introduction has been added to the Introduction in the manuscript. “PSIM is system simulation software for power electronics and motor drives. It has the advantages of simple and easy to use, good convergence and high simulation accuracy.”

4. 55-58:  The phrase needs to be reformulated, e.g.,  "In the PMSM sensorless ..., adjustable model, the stator current as the output, and to design the adaptive law based on the stator error, ..."

Thank the reviewer for the precious comments and suggestions. In the manuscript, we have reworked this sentence to read " The basic idea is to use the mathematical expression without unknown parameters as the reference model, and use the expression with unknown parameters as the adjustable model, and the physical meaning of the output of the two models is the same. The parameter adaptation rate is designed by using the error between the output values of the two models to estimate the rotor speed and rotor position ".

5. 64, l.66, l.78, l.96:  Where -> where

Thank the reviewer for the precious comments and suggestions. The manuscript has been revised.

6. (2): this seems incorrect; for instance, since from (3), I'q and U'q coincide to Iq and Uq, respectively, the second equations in (1) and (2) will coincide only if the term – ψf / Ls in (1) will be replaced by – ωe ψf / Ls.  It is difficult to follow the text without defining the notation used.

Thank the reviewer for the precious comments and suggestions. The manuscript has added Equation 2 for supplementary clarification.

7. (3), (8), (11): LS → Ls    (twice in each formula)

Thank the reviewer for the precious comments and suggestions. The manuscript has been revised.

8. (5):   LS→ Ls    (3x)

Thank the reviewer for the precious comments and suggestions. The manuscript has been revised.

9. (10):  err →e   (2x)

Thank the reviewer for the precious comments and suggestions. The manuscript has been revised.

10. (10):  – W→ + W   (in order to agree to the definitions of e in (9) and of W in (11))

Thank the reviewer for the precious comments and suggestions. The manuscript has been revised.

11. (10), (11):  There is no need to define Ae, since Ae= A, defined in (5)!

Thank the reviewer for the precious comments and suggestions. The manuscript has been revised.

12. (14):  The final product is wrongly written:  it should be written as a weighted scalar product, I'TW Î'. 

Thank the reviewer for the precious comments and suggestions. The manuscript has been revised.

13. 79:  (12) → (13)

Thank the reviewer for the precious comments and suggestions. The manuscript has been revised from (13) to (14).

14. (15):  If I'q= Iq, according to (3), then (15) cannot have two terms containing Iq.

Thank the reviewer for the precious comments and suggestions. The manuscript has been revised. (15) containsandrespectively, whereis the measured q-axis current, andis the q-axis current estimated by MRAS. There is a difference between the two and they are not equal. In (3), andare equal. Soandare not equal. Bothandcan exist in (15).

15. 86, (17), (19), and Fig. 2:  Use a unified notation for xiand Xi.

Thank the reviewer for the precious comments and suggestions. The manuscript has been revised.

16. 87:  Use italic kin O(k) and d(k).

Thank the reviewer for the precious comments and suggestions. The manuscript has been revised.

17. (17)-(19):  Xand W, hence also O, depend on the discrete-time k;  this dependency should appear in these formulas, not only in (20) and the following formulas.

Thank the reviewer for the precious comments and suggestions. The manuscript has been revised.

18. 94 and l.96:  η is defined twice, with different definitions;  it would be better to define η on line 94 as "the step size, a finite positive number". 

The words on l.96 "step size calculated for weight" is unclear, because it does not say how it is computed.

Thank the reviewer for the precious comments and suggestions. The manuscript has been revised, and re-change η to λ

19. (22):  There should be a reference where the convergence is proven when (22) is satisfied, because there is no proof in the paper. 

Thank the reviewer for the precious comments and suggestions. Reference [25] has been added to the manuscript, and its convergence can be known from [25].

20. 99:  What means "surface PMSM" and "vector control strategy with id=0"?

Thank the reviewer for the precious comments and suggestions. The manuscript has been revised,

21. (23):  ψf, k0, k1 are undefined

Thank the reviewer for the precious comments and suggestions. The manuscript has been revised and defined k₀, k₁. has been changed to

22. (24) and (25) are identical;  maybe (25) should define XR(k), OR(k), dR(k), and R(k+1).
           Why (23) uses Iq, U*d, U*q and (24), (25) use iq, u*d, u*q?  Please, unify notation to capitals.  Who is η1?  

Thank the reviewer for the precious comments and suggestions. The manuscript has been revised. Sorry for some typos here,  has been changed to.

23. 103-105:  Use subscripts L, R, ψf, s, and ffor X, O, d, L, and ψ variables, respectively.  Also, use comma instead of a strange sign between groups of these variables. 

Thank the reviewer for the precious comments and suggestions. The manuscript has been revised。

24. 118:  Please say what SVPWM is.

Thank the reviewer for the precious comments and suggestions. The manuscript has been added with relevant instructions. SVPWM means space vector pulse width modulation. We have defined it.

25. 120-124:  The phrase is unclear.  Replace "as" by "is" (twice);  use subscripts α, β;  also use commas!

Thank the reviewer for the precious comments and suggestions. The manuscript has been revised。

26. 121:  ω_me-> ω_mE  (as in Fig. 3)

Thank the reviewer for the precious comments and suggestions. The manuscript has been revised.

 

We believe that the comments have been highly constructive and very useful to restructure the manuscript. And we hope that all these changes fulfill the requirements to make the manuscript acceptable for publication in Atherosclerosis.

 

Sincerely,

Yubo Huang, Jundong Zhang*, Dong Chen and Jiahao Qi.

College of Marine Engineering, Dalian Maritime University, Dalian, China

Dalian Maritime University, Dalian 116026, China

+86-0411-8497-8997; [email protected]

 

Author Response File: Author Response.pdf

Round 2

Reviewer 1 Report

Authors have done well in the revision. 

Author Response

Dear referees,

 

With this cover letter, we will submit the revised manuscript entitled,” Research on model reference adaptive control of marine permanent magnet propulsion motor based on parameter identification” for publication in electronics. We would like to thank referees for the careful and constructive reviewers. Based on the comments from the referees, we have made changes of the manuscript, which are detailed below.

 

Thank the reviewer for the precious comments and suggestions. The manuscript has added a solution procedure for the motor speed adaptation rate.

 

We believe that the comments have been highly constructive and very useful to restructure the manuscript. And we hope that all these changes fulfill the requirements to make the manuscript acceptable for publication in Atherosclerosis.

 

Sincerely,

Yubo Huang, Jundong Zhang*, Dong Chen and Jiahao Qi.

College of Marine Engineering, Dalian Maritime University, Dalian, China

Dalian Maritime University, Dalian 116026, China

+86-0411-8497-8997; [email protected]

Author Response File: Author Response.pdf

Reviewer 2 Report

The authors improved and extended the paper, taking almost all suggestions into account.  However, few mistakes have appeared in the revision, as mentioned below.  I suggest that the authors should carefully read this revision for any further possible errors and inconsistencies.

l.15:   etc. The → etc., the

The second formulas in (1) and (2) will be the same only if  φ_f / L_s  in (1) is replaced by  ω_e φ_f / L_s.

l.101:  Where → where 

l.112:  Û'_d  and  Û'_q  do not appear in (7), and they should be deleted in l.112.

(9):    I'_d → Î'_d
        I'_q → Î'_q   

l.121:  t₁ should also appear in the right hand side of the η(0,t₁) definition.  V is not defined.

In the integral in (13):   d_t → dt 

l.124:  (12) → (13)

Fig.2:  The bottom block has no text!

There is an inconsistency between Fig.2 and formulas (19)-(21).  In Fig.2, O(k) = ∑ⁿ_i=1 W_i X_i, hence in (19) one should define O(k), but the index of the sum should be, e.g., i, not k.  But W(k) and X(k) used in (20) and (21) are not defined in the paper.  Actually, they are vectors.  Specifically, W(k) is the vector of weights W_i(k), i = 1, ..., n, at discrete-time k, and similarly for X(k).  Therefore, the last product in (21) should be written as a scalar product, W(k)^T X(k).  Then, in (25) one should use a norm of X(k), ||X(k)||^2.
 
(25)-(27):  i_q → I_q,  i_d → I_d
            Note that (25)-(27) are simplified formulas for Adaline network, which has four inputs, and three outputs and targets, and there is just one weight for each of these three models. 

l.158:  Where → where

Author Response

Dear referees,

 

With this cover letter, we will submit the revised manuscript entitled,” Research on model reference adaptive control of marine permanent magnet propulsion motor based on parameter identification” for publication in electronics. We would like to thank referees for the careful and constructive reviewers. Based on the comments from the referees, we have made changes to the manuscript, which are detailed below.

 

1. 15:   etc. The → etc., the

Thank the reviewer for the precious comments and suggestions. The manuscript has made relevant changes.

2. The second formulas in (1) and (2) will be the same only if  φ_f / L_s in (1) is replaced by  ω_e φ_f / L_s

Thank the reviewer for the precious comments and suggestions. The manuscript has made relevant changes in (1).

3. 101:  Where → where

Thank the reviewer for the precious comments and suggestions. The manuscript has made relevant changes.

4. 112:  Û'_d and  Û'_q  do not appear in (7), and they should be deleted in l.112.

Thank the reviewer for the precious comments and suggestions. The manuscript has made relevant changes.

5. (9):    I'_d→ Î'_d
           I'_q → Î'_q

Thank the reviewer for the precious comments and suggestions. The manuscript has made relevant changes.

6. 121:  t₁should also appear in the right hand side of the η(0,t₁) definition.  V is not defined.

Thank the reviewer for the precious comments and suggestions. The manuscript has made relevant changes.

7. In the integral in (13):   d_t→ dt

Thank the reviewer for the precious comments and suggestions. The manuscript has made relevant changes.

8. 124:  (12) → (13)

Thank the reviewer for the precious comments and suggestions. The manuscript has added a solution process.

9. 2:  The bottom block has no text!

Thank the reviewer for the precious comments and suggestions. The manuscript has made relevant changes.

10. There is an inconsistency between Fig.2 and formulas (19)-(21).  In Fig.2, O(k) = ∑ⁿ_i=1W_i X_i, hence in (19) one should define O(k), but the index of the sum should be, e.g., i, not k.  But W(k) and X(k) used in (20) and (21) are not defined in the paper.  Actually, they are vectors.  Specifically, W(k) is the vector of weights W_i(k), i = 1, ..., n, at discrete-time k, and similarly for X(k).  Therefore, the last product in (21) should be written as a scalar product, W(k)^T X(k).  Then, in (25) one should use a norm of X(k), ||X(k)||^2.

Thank the reviewer for the precious comments and suggestions. The manuscript has made relevant changes.

11. (25)-(27):  i_q→ I_q,  i_d → I_d
                Note that (25)-(27) are simplified formulas for Adaline network, which has four inputs, and three outputs and targets, and there is just one weight for each of these three models. 

Thank the reviewer for the precious comments and suggestions. The manuscript has made relevant changes.

12. 158:  Where → where

Thank the reviewer for the precious comments and suggestions. The manuscript has made relevant changes.

 

We believe that the comments have been highly constructive and very useful to restructure the manuscript. And we hope that all these changes fulfill the requirements to make the manuscript acceptable for publication in Atherosclerosis.

 

Sincerely,

Yubo Huang, Jundong Zhang*, Dong Chen and Jiahao Qi.

College of Marine Engineering, Dalian Maritime University, Dalian, China

Dalian Maritime University, Dalian 116026, China

+86-0411-8497-8997; [email protected]

 

Author Response File: Author Response.pdf