Rotor position and velocity estimation for a salient-pole permanent magnet synchronous machine at standstill and high speeds
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Citations
An extended electromotive force model for sensorless control of interior permanent-magnet synchronous motors
Review of position-sensorless operation of brushless permanent-magnet machines
An Extended Electromotive Force Model for Sensorless Control of Interior Permanent-Magnet
Sensorless Sliding-Mode MTPA Control of an IPM Synchronous Motor Drive Using a Sliding-Mode Observer and HF Signal Injection
A general algorithm for speed and position estimation of AC motors
References
Transducerless position and velocity estimation in induction and salient AC machines
A permanent magnet motor drive without a shaft sensor
Microcomputer Control for Sensorless Brushless Motor
An approach to position sensorless drive for brushless DC motors
A state observer for the permanent-magnet synchronous motor
Related Papers (5)
Transducerless position and velocity estimation in induction and salient AC machines
Frequently Asked Questions (17)
Q2. Why do the authors need to calculate the voltage command feedforward?
Because the authors can directly manipulate the voltage applied to the machine, the authors calculate the voltage command feedforward needed to generate the desired decoupled flux vector in (3) and (4).
Q3. What is the actual implementation of the technique?
The actual implementation of the technique involved the use of two Analog Devices AD2S100 vector rotator chips to perform the reference frame transformation and an RTDC to perform the voltage to frequency (V/F) and counter operation.
Q4. What is the rotor flux in a reference frame?
If a flux vector at a known carrier frequency is applied only in theaxis of an estimated rotor position, the estimated position can be made to track the actual position via a controller which drives the estimated position such that the -axis current at the injected carrier frequency is zero in the estimated position reference frame.
Q5. What is the use of the position and velocity information in the single-saliency model?
With the single-saliency model, the use of the position and velocity information is limited to commutation or low-performance servo applications.
Q6. What is the effect of the torque oscillation on the motor velocity?
Because this torque oscillation is at 2 kHz, the inertia of the motor very effectively filters the effect of this very small carrier-frequency torque to negligible levels on the motor velocity.
Q7. What is the effect of the position and velocity on the motor?
The estimated position and velocity are used for field orientation of the motor, as well as for closing position and velocity loops.
Q8. What is the stator voltage model in a rotor reference frame?
The stator voltage model in a rotor reference frame is characterized by (1):(1)where and are the stator - and -axes voltage, flux linkage, and current in the rotor reference frame, is the stator resistance, is the rotor angular velocity, and is the derivative operator.
Q9. What is the magnitude of the carrier frequency?
The magnitude of the carrier-frequency voltage is set at 10% of rated voltage, resulting in a current at the carrier frequency of about 2% rated current.
Q10. What is the purpose of this paper?
This paper has introduced a self-sensing technique for estimating position and velocity for PMSM’s, which is appropriate for both standstill and high speeds.
Q11. What is the term dependent on the inductance of the motor?
this term is only a scaling term and should not affect the accuracy of the position and velocity estimates, since its spatial angle is being tracked, not the amplitude.
Q12. What is the rotor flux vector in a stationary frame?
Transforming the flux vector to the stationary reference frame yields(4)The carrier-frequency stator flux linkage in a stationary reference frame is given by(5)where and are the carrier-frequency components of the stator current in a stationary frame and and are the average inductance and the amplitude of the spatial modulation of the inductance, as defined by(6)The carrier-frequency components of the stator currents in a stationary frame can be obtained from (4) and (5), resulting in(7)where the high-frequency current magnitudes and are defined by(8)The -axis component of the high-frequency current in the estimated rotor position reference frame is given by(9)which results in(10)From (10), it can be seen that a carrier-frequency signal is produced that is amplitude modulated by the error between the estimated position and the actual position.
Q13. What is the setup of the motor?
The setup consists of an Intel 486-based personal computer with a Burr Brown interface board consisting of an eightchannel analog-to-digital converter board, two two-channel digital-to-analog converter boards, and four 8-b digital I/O ports.
Q14. What is the effect of the harmonic error on the shape of the servo?
Without including such unmodeled terms in the shape being tracked, this harmonic error can cause localized instability and oscillation if the gains on velocity and position are set too high.
Q15. What is the experimental setup used for this research?
The experimental setup used for this research is the dual motor drive system depicted in Fig. 6.The dual motor drive configuration was set up to allow continuous and transient loads to be applied at any speed.
Q16. What is the stator flux linkage in a rotor reference frame?
The stator flux linkage viewed in a rotor reference frame is given by (2):(2)where and are the - and -axes inductance and is the permanent magnet flux.
Q17. What is the difference between the induced and the stationary frame voltage?
Since the stator resistive voltage drop is small relative to the induced voltage at the injected frequency, the stationary frame voltage that must be applied to the stator can be well approximated by(11)This results in(12)Since the control is easier to implement in the rotor frame, it is best to transform these equations to the estimated rotor frame, designated by the superscript , as follows.