Energy: Imen Kortas, Anis Sakly, Mohamed Faouzi Mimouni
Energy: Imen Kortas, Anis Sakly, Mohamed Faouzi Mimouni
Energy: Imen Kortas, Anis Sakly, Mohamed Faouzi Mimouni
Energy
journal homepage: www.elsevier.com/locate/energy
a r t i c l e i n f o a b s t r a c t
Article history: The problem of energy optimization of a DSIM (Double Stator Induction Motor) using the concept of a
Received 4 February 2015 RFOC (Rotor Field Oriented Control) can be treated by an OCS (Optimal Control Strategy). Using OCS, a
Received in revised form cost-to-go function can be minimized and subjected to the motor dynamic equations and boundary
22 June 2015
constraints in order to find rotor flux optimal trajectories. This cost-to go function consists of a linear
Accepted 10 July 2015
Available online 6 August 2015
combination of magnetic power, copper loss, and mechanical power. The dynamic equations are rep-
resented by using a reduced Blondel Park model of the DSIM. From the HJB (HamiltoneJacobieBellman)
equation, a system of nonlinear differential equations is obtained, and analytical solutions of these
Keywords:
Double Star Induction Machine
equations are achieved so as to obtain a time-varying expression of a minimum-energy rotor flux. This
Rotor Field Oriented Control analytical solution of rotor flux achieved maximum DSIM's efficiency and was implemented in the
HamiltoneJacobieBellman ORFOC (optimal rotor flux oriented control) and compared to the conventional RFOC at different dynamic
Optimal control regime of the DSIM. Simulation results are given and improved the effectiveness of the proposed
Energy minimization strategy.
© 2015 Elsevier Ltd. All rights reserved.
http://dx.doi.org/10.1016/j.energy.2015.07.035
0360-5442/© 2015 Elsevier Ltd. All rights reserved.
56 I. Kortas et al. / Energy 89 (2015) 55e64
control problem of threeephase IM (induction motor). A third or- objective optimization has been utilized distinctly with each
der nonlinear model described in arbitrary rotating frame of in- objective function, nonetheless of other objectives. Throughout the
duction motor is used in this paper along with a quadratic last setting, input power, coefficient of performance and ecological
performance index. The problem is solved using the quasilinera- function objectives are optimized concurrently employing a non-
ization approach which converts the nonlinear optimal control dominated sorting GA (genetic algorithm) named the non-
problem into sequence linear quadratic optimal control problems. dominated sorting genetic algorithm (NSGA-II). As in multi-
In Ref. [7], a new minimum-time minimum-loss speed control al- objective optimization, an assortment of optimum results named
gorithm for induction motors is suggested to obtain high perfor- the Pareto optimum frontiers are gained rather than a single ulti-
mance, as well as high efficiency, under field-oriented control with mate optimum result gained via conventional single-objective
practical constraints on voltage and current. This algorithm utilizes optimization. Thus, a process of decision making has been uti-
a two-stage control. In the transient stage, a maximum torque lized for choosing an ultimate optimum result.
control algorithm is utilized to get the minimum-time response. In In Ref. [18], an optimization investigations of an irreversible
the steady state, a minimum-loss control algorithm is applied to absorption heat pump system on the basis of a new thermo-
improve the efficiency. Simulation studies show the performance of ecological criterion is developed. The objective functions which
the proposed minimum-time minimum-loss control algorithm considered are the specific heating load, COP (coefficient of per-
under field-oriented control. formance) and the ECOP (ecological coefficient of performance).
S. M. Yang and F.C. Lin [8] propose a scheme that uses power Three objective functions of the ECOP, COP and the specific heating
factor control with automatic measurement of the minimum-loss load are optimized simultaneously using the multi-objective opti-
power factor commands. A fuzzy logic compensator is included in mization algorithm NSGAII. COP and ECOP are maximized and
the controller to improve the accuracy of the generated commands. specific heating load is minimized in order to get the best perfor-
The scheme is simple for implementation and does not require an a mance. Decision making is done by means of three methods of
priori knowledge of motor parameters. Experimental results have LINAMP and TOPSIS and FUZZY. Finally, sensitivity analysis and
validated the effectiveness of this scheme to minimize the motor error analysis was performed for the system.
operating losses. A design of an adaptive nonlinear control system S. Hoseyn et al. [19] present an optimal design of a solar-driven
for high performance induction motors is developed in Ref. [9]. The heat engine Based on thermal and ecological criteria. In the present
proposed control system is of the explicit model reference type. It investigation, thermodynamic analysis and an EA (evolutionary
consists of a nonlinear controller (inner loop) that controls the rotor algorithm) were employed to optimize the dimensionless ecolog-
speed, an adaptation mechanism (outer loop) that involves a ical function, thermal efficiency, and dimensionless power of a
maximum likelihood estimator, communicating with a feedback solar-driven engine system. Four scenarios were conducted for
control law that uses the results of the adaptation mechanism to optimization of the solar heat engine. In the first three, a traditional
redesign the inner loop controller online. The advantage of syn- single objective optimization was employed separately with each
thesizing this type of controller lies in the fact that the desired objective function, regardless of other objectives. In the fourth
trajectory of the rotor speed is determined from the output of the scenario, efficiency and power objectives were optimized simul-
reference model, while the control trajectories that lead to that taneously using a nondominated sorting GA (genetic algorithm)
behavior are computed through the developed state feedback called the nondominated sorting genetic algorithm (NSGA-II). As in
control law. The control system is simulated under a situation multiobjective optimization, a set of optimal solutions called the
where some of the parameters vary in the presence of noise. It is Pareto optimal frontier was obtained instead of a single final
shown that the adaptive controller keeps the performance of the optimal solution obtained in traditional single-objective optimi-
drive system close to the desired performance even in the presence zation. Therefore, a process of decision making was employed for
of uncertainty. The effect of measurement noise is also taken into selecting a final optimal solution. Three decision-making pro-
consideration to show that the controller is feasible for practical cedures were applied to find optimized solutions from the Pareto
situations. optimal solutions in the objectives' space. The results obtained
M. H. Ahmadi et al. [16] present a developed ecological function from four optimization scenarios were compared and discussed
for absorption refrigerators with four-temperature-level. Moreover, using a deviation index introduced in this paper. It was shown that
aforementioned absorption refrigerator is optimized by imple- the optimal results obtained in single-objective optimization with
menting ecological function. With the aim of the first and second an ecological objective are very close to the corresponding results
laws of thermodynamics, an equivalent system is initially deter- obtained in the multiobjective optimization, in that the power and
mined. To reach the addressed goal of this research, three objective thermal efficiency are optimized simultaneously.
functions that the COP (coefficient of performance), the ecological In this paper, minimum energy control will be solved by an
function and thermoeconomic criterion have been involved in alternative approach called the HJB (Hamilton-Jacobi Bellman), in
optimization process simultaneously. Three objective functions are which the optimal control is not interested in the specific initial
maximized at the same time. Developed MOEAs (multi objective states, but in any unspecified initial conditions. In fact, the cost
evolutionary approaches) on the basis of Non-dominated Sorting function subject to the criterion index is transformed into a cost-to-
Genetic Algorithm (NSGA-II) method are implemented throughout go function. By imposing a transient mode to the DSIM drive, the
this work. nonlinear HJB equation was successfully solved in an analytical
In Ref. [17], authors propose an ecological and thermal ap- form and offered a time-varying expression of minimum energy
proaches for the Ericsson cryogenic refrigerator. Three objective rotor flux. This analytical solution was implemented in an optimal
functions (input power, coefficient of performance and ecological RFOC (Rotor Field Oriented Control) in which both a deadbeat rotor
objective function) are gained for the suggested system. flux controller and a saturation model are introduced.
Throughout the current research, an EA (evolutionary algorithm) This paper is organized as follows: Section 2 is mainly intended
and thermodynamic analysis are employed to specify optimum to describe the full DSIM model. Section 3 is devoted to present the
values of the input power, coefficient of performance and ecological reduced model. In the fourth section the energy model of the DSIM
objective function of an Ericsson cryogenic refrigerator system. is explained. In Section 5, the optimal control strategy is presented
Four setups are assessed for optimization of the Ericsson cryogenic in details by the energy-power cost function, the presentation of
refrigerator. Throughout the three scenarios, a conventional single- the optimal control problem, the mechanical system operation (the
I. Kortas et al. / Energy 89 (2015) 55e64 57
2.2. Reduced model of the DSIM v s1 Ls þ s2 Lsp 2 1 2
W ¼ 32 =
: u1 þ u22 þ 4r (9)
vt 2 2Lr
In order to eliminate the nonlinear terms in the DSIM dynamic
model and allow an easy resolution of a possible optimal control
problem, the system can be forced into a current-command mode
the Joule losses:
using high-gain feedback. Furthermore, the reduced order current-
fed DSIM model can be simplified by restraining the Proportional -
Integral (PI) to a sample proportional gain [4], as follows:
t t
s1 Ls þ s2 Lsp PJ ¼ 3 2=
Rs I_sðd;qÞ Isðd;qÞ þ Rr I_rðd;qÞ Irðd;qÞ
Vsðd;qÞ ¼ (2)
ε
(10)
with By using the first equation of system (1) and Equation (10), the
Joule losses can be expressed with respect to U and 4r as follows:
u1 Is1d þ Is2d
U¼ ¼
u2 Is1q þ Is2q 2 ! !
M 3R 3 d42r
2 2 r 2
PJ ¼ 32
=
Rs þ Rr : u1 þ u2 4
which 0 < ε < 1 and U is a new command of the system. Lr 2 L2r r 2Lr dt
The standard reduced model form is obtained through singular
(11)
perturbation. It is given by the following system:
58 I. Kortas et al. / Energy 89 (2015) 55e64
U* ¼ c0 t þ c1 (19)
Cost function can be defined as an integral of the index,
f ðIsd ; Isq ; 4r ; UÞ given as follows:
with c0 > 0.
ZT
J¼ f Isd ; Isq ; 4r ; U dt (14) 3.2. Determination of HamiltoneJacobieBellman equation
0
In order to increase the subsequent equations' readability, we
The index corresponds to the weighted sum:
denote x1 ¼ 4r and x2 ¼ U.
f Isd ; Isq ; 4r ; U ¼ b1 WL þ b2 PJ þ b3 Pm (15) The dynamic system and the cost function described in (17) and
(18) respectively become:
The weighting factors b1 , b2 and b3 are used to scale power-
energy combined convex criteria terms defined above. Minimize
the cost function provides two important advantages: first, mini- ZT
b2 2
mizing the corresponding magnetic energy stored, allowing thus Jr ¼ 4r ð0Þ 42r ðTÞ þ r1 u21 þ r2 u22 þ q1 x21 þ q2 4r u2 x2 dt
maximizing the power factor, the second being the minimization of Lr
0
losses in the winding thus increasing the machine efficiency.
(20)
Using equations (9), (11), (13) and (14), the cost function is given
as follows:
2 2 ! !3
1 M R
r
ZT 6 b1 s1 Ls þ s2 Lsp : u21 þ u22 þ : 42 þ b2 Rs þ Rr u21 þ u22 2 42r 7
6 2Lr r Lr Lr 7
J ¼ 32 = 6 7dt (16)
6 7
4 b2 d 2 M 5
0 4r þ b3 p 4r u2 U
Lr dt Lr
and
Z T
b d 2 b 8
with 2 ð4r Þ dt ¼ 2 ð42r ð0Þ 42r ðTÞÞ representing the
0 Lr dt Lr < x_1 ¼ ax1 þ bu1
>
boundary conditions of the rotor flux in [0, T]. Kl cu2 x1 (21)
Considering the new control vector U ¼
u1
, the system
>
: x_2 ¼ x2 þ
u2 Jm Jm
described by (4) can be defined as follows:
8 Therefore, the task is to find an optimal cost-to-go function
< 4_ r ¼ a4r þ bu1
> VðT; x1 Þ that must necessarily satisfy the boundary condition
(17)
>
:U _ ¼ Kl U þ cu2 4r VðT; x1 Þ ¼ Kðx1 ðtÞÞ, with Kðx1 ðtÞÞ is defined as the final state pen-
Jm Jm alty term. In our case:
Using the new constraint given by (17) and the cost function
b2 2 b
given by (16), an optimal control problem can be presented as Kðx1 ðtÞÞ ¼ 4r ð0Þ 42r ðTÞ ¼ 2 x21 ð0Þ x21 ðTÞ (22)
follows: Find the optimal control variables ðu*1 Þ and ðu2 Þ that Lr Lr
transfers the dynamic system described in (17) from the initial The Optimality principle has shown that the optimal co-state
states: 4r ð0Þ ¼ 4r0 and U(0) to admissible final states 4r ðTÞ and l* ðtÞ as defined in the Hamiltonian-Jacobi [11] equation corre-
U(T) so that the cost function is minimized: sponds to the gradient of the optimal cost-to-go function given as
follows:
ZT
b2 2
Jr ¼ 4r ð0Þ 42r ðTÞ þ r1 u21 þ r2 u22 þ q1 42r þ q2 4r u2 U dt * vV T; x*1 ðtÞ
Lr l ðtÞ ¼ (23)
0 vx*1
(18) vV ðT;x* ðtÞÞ
where vx*1
1
is continuously differentiable with respect to x1 et
where the weighting factors r1 , r2 , q1 and q2 must be positives. x1 ¼ x*1 ðtÞ.
I. Kortas et al. / Energy 89 (2015) 55e64 59
c 2 ZT
*
V t; Fr ¼ min 2
Fr ð0Þ Fr ðTÞ þ r1 u21 þ r2 u22 þ q1 F2r 2 1
u*1 Lr V t; x*1 ¼ a1 ðtÞ x*1 þ a2 ðtÞ 2 þ a3 ðtÞ (35)
t x*1
þ q2 Fr u2 U vt These yields:
(27) vV t; x*1 2
¼ 2a1 ðtÞx*1 a2 ðtÞ 3 (36)
which transfer the initial state Fr ð0Þ ¼ Fr0 to an admissible final vx*1 x* 1
state x1 ðTÞ ¼ Fr ðTÞ under the following constraint:
and
x_1 ¼ ax1 þ bu1 (28)
vV t; x*1 2 1
This determines directly the following HJB equation: ¼ a_ 1 ðtÞ x*1 þ a_ 2 ðtÞ 2 þ a_ 3 ðtÞ (37)
vt x*
vV t; F*r vVðt; Fr Þ 1
¼ min H t; F*r ; u*1 ; (29) Using the expressions of the partial derivatives given by (36)
vt u*1 vFr
and (37) into (34), we obtain the following equation:
then 0 12
* 2 1 b2 @ * 2 A
1 a_ 1 ðtÞ x1 þ a_ 2 ðtÞ 2 þ a_ 3 ðtÞ ¼ 2a1 ðtÞx1 a2 ðtÞ 3
Hðt; x1 ; u1 Þ ¼ r1 u21 þ r1 ðAt þ BÞ2 þ q1 x21 x*1 4l1 x*1
x2 0 1
vVðt; x1 Þ 2
þ q2 ðAt þ BÞðc0 t þ c1 Þ þ ðax1 þ u1 Þ þ ax*1 @2a1 ðtÞx*1 a2 ðtÞ 3 A
vx1
x*1
(30) ! !
l2 2 l4
þ l t þ l
with A ¼ kl :cc0 , and B ¼ Jcm ðc0 þ kl c1 Þ x21
3
x21
5
b2 0sffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi 1
a_ 2 ðtÞ þ 2aa2 ðtÞ þ 2a1 ðtÞa2 ðtÞ þ l2 t 2 þ l4 t þ l7 ¼ 0 (40) 1 al1 @ l 6 b2
l1 a1 ðtÞ ¼ ! þ 2 1þ 1A
0 1" b l1 a2
t#
2b2 a1p
b2
2aþ l1
2
a_ 3 ðtÞ þ l3 t þ l5 t þ l8 ¼ 0 (41) @ l1
A 1e
2b2 a 1p
2aþ l1
(52)
b2 1 2b2 a1 ðtÞa2 ðtÞ
a22 ðtÞ 6 þ ¼0 (42)
l1 x1 l1 x21 Now consider the second Equation (40):
0 1 150
b 1 A b2 l2 t 3 l4 t 2
_ ¼ sðtÞ@
sðtÞ t
þ þ þ l7 t þ C 1
1 e =b 2b l1 3 2 reference rotor speed
(60)
where: sðt0 Þ ¼ ðx*1 ðt0 ÞÞ3
et sðTÞ ¼ ðx*1 ðTÞÞ3 100
The solution pðtÞ of the equation is given as follows:
0 1
Zt
1 b
@ t
þ Adt Z t
1 e =b 2b b2 l2 t 3 l t2 50
pðtÞ ¼ e 0 þ 4
l1 3 2
0
0 1
Zt
1b
@ t
þ Adt
1 e =b 2b
þ l7 t þ C1 e0 dt 0
0 1 2 3 4 5 6 7 8 9
2 3
2b2 þ 1 l t 3 l t 2
4b2
6
6
2
þ 4 þ l7 t þ C1 2
2 l2 t þ l4 t þ l7 7
7
2b 3 2
b2 b
2
log 1t 1 6
6
2
2b þ 1 7
7
pðtÞ ¼ e
=
eb 6 7 (62)
l1 6 7
6 8b3
32b 4
l 7
6 2 7
4 3 ð2l2 t þ l4 Þ 4 5
2 2
2b þ 1 2b þ 1
4. Simulation results
Then we determine an analytical solution of the rotor flux which
minimizes energy consumption of the DSIM as follows: The Double Star Induction Machine models with conventional
and optimal RFOC were numerically simulated. The conventional
vffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
2 33ffi
u2
u 2b 2
þ 1 3
u6 l2 t l t 2
4b 2
u6 6 6 þ 4 þ l7 t þ C1 2
2 l2 t þ l4 t þ l7 77
77
u6 6 2b 3 2 77
u 6 b 2
log 1
1 6 2b 2
þ 1 77
u b
4 2 t
F*r ðtÞ ¼ u6 6 77
=
e eb (63)
u6 l1 6 77
u66
6
6 8b 3
32b 4
l 77
77
u4 4 3 ð2l t þ l Þ
2
4 55
t 2 4
2 2
2b þ 1 2b þ 1
0.35
optimal rtor flux 140
0.3
120
0.25
100
0.1 40
0.05 20
0
0 1 2 3 4 5 6 7 8 9 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
time(s) time(s)
Fig. 2. Optimal rotor flux. Fig. 4. Reference and estimated rotor speed.
In order to be restricted to the transient operation, only the Fig. 8 indicates that major energy-loss savings with dynami-
acceleration (from t ¼ 0 s to t ¼ 1 s) and permanent (from t ¼ 1 s to cally optimized rotor flux trajectories. It is obvious to observe
t ¼ 2 s) modes were taken into account in the motor speed profile, that the RFOC taking into account the magnetic effect and
as shown in Fig. 4. operating with optimal flux leads to the best DSIM energy con-
Fig. 5 present the minimum energy flux trajectory correspond- sumption decreasing. This decrease is more considerable for
ing to the motor speed profile, all the unknown boundary condi- smalls loads.
tions and parameters shown in the optimal rotor flux expression in Energy saving of the optimum rotor flux trajectories is demon-
Equation (63) were determined. strated by the following comparison with the constant value-rated
In Fig. 6 the flux current remains constant during motor flux trajectory summed up in Table 1.
speed increase. We see that the flux current delivered by the
ORFOC registers a significant decrease compared to the one
5. Conclusion
delivered by the conventional RFOC. This means that the pre-
sented method saves energy. Fig. 7 prove that the torque current
This paper presents an optimal control strategy using energy
have the same evolution compared to the electromagnetic
minimization. The criterion used in this optimal control is
torque.
subjected to dynamic equations of a DSIM reduced-order model.
Inverter Inverter
current+MLI current+MLI
(Stator1) (Stator2)
Speed
MADE
DC
AC
InversePark
InversePark
Trans
Trans
Estimeted
Flux control
18
0.35
a x 10
4
0.2
1.6
0.15
energy (J)
0.1
1.4
0.05 1.2
0
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2 1
time(s)
50
flux current under RFOC
b x 10
4
35
4.1
30
Isd (A)
4
25
energy (J)
3.9
20
3.8
15
3.7
10
3.6
5
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
time(s) 3.5
Fig. 6. Direct current evolution from both of the proposed ORFOC and the RFOC. 3.4
1.64 1.66 1.68 1.7 1.72 1.74
time(s)
Fig. 8. a: Energy consumption evolution from both of the proposed ORFOC and the
RFOC for large loads. b: Energy consumption evolution from both of the proposed
ORFOC and the RFOC for small loads.
50
torque current under RFOC
45 torque current under optimal RFOC
40 The rotor flux and the motor speed are considered as state
variables. A closed-cycle mechanical process operation is pre-
35
sented by a transient and constant regime. Based on the optimal
30 control theory, this approach provides a cost function given as
weighted sum of a DSIM energy-power model. In order to
Isq (A)
Table 1
Compared energy consumption of 20 KW DSIM under rotor flux oriented controls.
Acknowledgments [2] Lorenz, RD., Yang SM. Efficiency-optimized flux trajectories for closed cycle
operation of field oriented induction machine drives, IEEE industry applica-
tion society Annual Meeting, 1988 Conference, vol. 1, 457e762.
Thank you to the editors and two anonymous reviewers for their [3] Lorenz RD, Yang SM. AC induction servo sizing for motion control applications
detailed and helpful comments, which considerably clarified and via loss minimizing real-time flux control. IEEE Trans Ind Appl 1992;28.
strengthened the paper. I want to thank Mr. Mohammed Fawzi and [4] Canudas de Wit C, Ramirez J. Optimal torque control for current-feeded in-
duction motors. IEEE Trans Automat Control 1999;44.
Mr. Anis Mimouni Sakly for their patience, their availability, their [5] Didier G, de Wit CC, Ramirez J. Nonlinear H2 and H∞ optimal controllers for
advice and constant help throughout this work. current-fed induction motors. IEEE Trans Automat Control 1999;44.
[6] Jasem MKh, Jaddu HM. The optimal control of a three-phase induction motor.
In: Proceedings of the 25th IASTED conference, Lanzarote, Spain; 2006.
[7] Chang JH, Kim BK. Minimum-time minimum-loss speed control of induction
Appendix motors under field-oriented control. IEEE Trans Ind Electron 1997;44.
[8] Yang SM, Lin FC. Loss-minimization control of vector-controlled induction
motor drives. J Chin Inst Eng 2003;26:37e45.
[9] Rubaai A, Uribina O, Kankam MD. Design of an adaptative nonlinear
controller-based optimal control theory for a voltage source induction motor
Simulation motor parameters. drive system, industry applications conference. In: Thirty-sixth IAS Annual
Meeting Conference Record of the IEEE, vol. 2; 2001. p. 1279e84.
Rated voltage V 220/230 V Stator self inductance Ls 81.2 mH [10] Chiasson J. Modelling and high-performance control of electric machines, IEEE
press series on power engineering. John Willey & Sons; 2005.
Current Rating IN 19 A Rotor Self Inductance Lr 8.9 mH
[11] Geering HP. Optimal control with engineering application. Springer-Verlog
frequency F 50 Hz Mutual Inductance 26.3 mH Berlin Heidelberg; 2007.
Stator-Rotor M [12] Locatelli A. Optimal control. Birkhauser Verlog; 2001.
rated torque Y 127 Nm Stator self leakage 0.78 mH [13] Buoro D, Pinamonti P, Reini M. Optimization of a distributed cogeneration
inductance ls system with solar district heating. Appl Energy 2014;124:298e308.
Number of pairs 2 Rotor self leakage 0.38 mH [15] Song Z, Hofmann H, Li J, Han X, Ouyang M. Optimization for a hybrid energy
of poles p inductance lr storage system in electric vehicles using dynamic programming approach.
Stator resistance Rs 0.4 Ohm Moment of inertia J 0.6 Kgm2 Appl Energy 2015;139:151e62.
Rotor resistance Rr 0.4 Ohm Viscosity coefficient f 0.02 [16] Ahmadi MH, Ahmadi MA, Mehrpooya M, Hosseinzade H, Feidt M. Thermo-
dynamic and thermoeconomic analysis and optimization of performance of
irreversible four-temperature-level absorption refrigeration. Energy Convers
Manag 2014;88:1051e9.
[17] Ahmadi MH, Ahmadi MA. Thermodynamic analysis and optimization of an
irreversible Ericsson cryogenic refrigerator cycle. Energy Convers Manag
2015;89:147e55.
References [18] Ahmadi MH, Ahmadi MA, Mehrpooya M, Sameti M. Thermo-ecological anal-
ysis and optimization performance of an irreversible three-heat-source ab-
[1] Mimouni MF, Dhifaoui R. Modelling and simulation of double-star induction sorption heat pump. Energy Convers Manage 2015;90:175e83.
machine vector control using copper losses minimization and parameters [19] Sayyaadi H, Ahmadi MH, Dehghani S. Optimal design of a solar-driven heat
estimation. Int J Adapt Control Signal Process 2002;16:1e24. http://dx.doi.org/ engine based on thermal and ecological criteria. J Energy Eng 2014:04014012.
10.1002/acs.767.