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Adviser : Y.S. Kung Student :Jin-Mu Lin

Back EMF Sensorless -Control Algorithm for High-Dynamic Performance PMSM. IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 57, NO. 6, JUNE 2010,P.2092~2100 Fabio Genduso, Rosario Miceli, Member, IEEE, Cosimo Rando, and Giuseppe Ricco Galluzzo.

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Adviser : Y.S. Kung Student :Jin-Mu Lin

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  1. Back EMF Sensorless-Control Algorithm for High-Dynamic Performance PMSM IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 57, NO. 6, JUNE 2010,P.2092~2100 Fabio Genduso, Rosario Miceli, Member, IEEE, Cosimo Rando, and Giuseppe Ricco Galluzzo Adviser : Y.S. Kung Student :Jin-Mu Lin

  2. Outline Abstract Introduction Control-algorithm description Experimental results Conclusion Appendix References

  3. Abstract 1. a low-time-consumingand low-cost sensorless-control algorithm for high-dynamic performance permanent-magnet synchronous motors. 2. This control algorithm is based on the estimation of rotor speed and angular position starting from the back electromotive force space-vector determination without voltage sensors by using the reference voltages givenbythecurrent controllers instead of the actual ones.

  4. 3. This choice obviously introduces some errors that must be vanished by means of a compensatingfunction. 4. The mathematical structure of the estimation guarantees a high degree of robustness against parameter variation as shown by the sensitivity analysis reported in this paper.

  5. Introduction 1. in field-oriented control for brushless machines, the exact knowledge of the rotor angular position is needed. 2. when the rated power of an electrical machine is small or fractional,the electrical-drive comprehensive cost will raised.

  6. 3. the signaltransmission between sensor and control systems can be subjected to electromagnetic interference (EMI) coming from external sources, producing an error in measurement that may besignificant for feedback control. 4.So in this paper, a novel low-time-consuming and low-cost sensorless-control algorithm for PMSM drives, both surface or IPM mounted.

  7. Control-algorithm description A. PMSM Mathematical Model

  8. the torque expression in (1) becomes Because of the constant PM flux, the torque depends only onthe quadrature component of the stator current.

  9. B. Description of the Estimator Assuming a balanced three-phase system, the expression ofthe back EMF space vectorcomponents is

  10. The argument of the back EMF clearly is not the real rotorposition.

  11. A simple analysis on the machine model at steady state withid = 0gives the following expression for correct rotor position:

  12. Let T be the lag time introduced bythe inverter andbe the first term of (4),

  13. Now, after substitution, considering a well-known calculus formula for the increment of functions, we can write

  14. and developing the partial derivatives of the incremental term , we get

  15. Now, neglecting all harmonics, consider that and are, respectively, cosine and sine functions of ωt. The same can be said for and. In particular, it is where V is the rms value of the stator voltage.

  16. It is now clear that T being very small compared with 2π/ω

  17. In this way, our previous expansion of (8) reduces to

  18. that in a more compact form becomes cos(ϕ) being the power factor in the motor operation and V , I,andE are, respectively, the rms values of the stator voltages,currents, and back EMF.

  19. Equation (12) may be written also in complex-number form where ( ∗ ) denotes the complex conjugate.

  20. Furthermore, as with = 0, the motor drive operates with near-unity power actor, (12) can be further simplified as follows:

  21. Introducing these speed- and current-offset corrections in(4), one finally gets a suggestion for the first expression of “estimated” position

  22. Fig. 2 shows the sum of speed and current offsets

  23. Equation (15) may be rewritten in a differential form bysubstituting with the derivative of

  24. C. Estimator Realization Taking the presence of the PI intoaccount, the ultimate estimator-equation form is

  25. Estimator block diagram.(Fig.3.)

  26. Experimental results A. Description of the Test Bench 1) an IPMSM; 2) acontrolled hysteresis brake; 3) a digitalsignalprocessing and control engineering(dSPACE) board; 4) a resolver (used only for comparisonpurpose). A master Power PC 604E and a Ti slave DSP of the type TMS320F240.

  27. Test bench for IPMSM electrical-drive machine.(Fig.4.)

  28. B.Results and Discussion 1) step change in motor speed from 400 up to 4000 r/min(nominal speed) and back again to 400 r/min. 2) sudden application of a 1.8-N · m load torque while themotor runs at 4000 r/min speed.

  29. Comparison between (solid line) real and (dashed line) estimatedspeed during the execution of test n. 1. Fig. 5.

  30. (Solid line) Real and (dashed line) estimated position during theexecution of test n. 1. Fig. 6.

  31. Comparison between (solid line) real and (dashed line) estimated rotorposition during theexecution of test n. 2. Fig. 7.

  32. Comparison between (solid line) real and (dashed line) estimated rotorspeed during the execution of test n. 2. Fig. 8.

  33. Estimation error for rotor speed during the execution of test n. 2. Fig. 9.

  34. Conclusion this paper, a low-time-consuming and low-cost sensorless-control algorithm for PMSM without voltage probes for position andspeed estimation has beenintroduced,discussed, andexperimentally verified. Drive starting is made with open-loop operation.

  35. in the proposed control systems, thereferencevoltagesinsteadof the actual voltagesareused for the back-EMFestimation,thereforeeliminatingthe presence of voltageprobes.

  36. Clearly, the presented correction method is intended, above all, to make the electrical drive cheaper and suitable for industrial drives both surface or internal mounted PM working within the nominal speed range, as, for example, for spindle drives, while the field weakening is not taken into account.

  37. References 1/4 [1] M. Rashed, P. F. A. MacConnell, A. Fraser, P. Stronach, and S. Acarnley,“Sensorless indirect-rotor-field-orientation speed control of a permanent-magnet synchronous motor with stator-resistance estimation,” IEEE Trans. Ind. Electron., vol. 54, no. 3, pp. 1664–1675, Jun. 2007. [2] T. D.Batzel and K.Y.Lee,“Electric propulsion with the sensorless permanent magnet synchronous motor:Model and approach,” IEEE Trans. Energy Convers., vol. 20, no. 4, pp. 818–825, Dec. 2005. [3] J.-K. Seok, J.-K. Lee, and D.-C. Lee, “Sensorless speed control of nonsalient permanent-magnet synchronous motor using rotor-position- tracking PI controller,” IEEE Trans. Ind. Electron., vol. 53, no. 2, pp. 399–405, Apr. 2006. [4] O. Wallmark and L. Harnefors, “Sensorless control of salient PMSM drives in the transition region,” IEEE Trans. Ind. Electron., vol. 53, no. 4, pp. 1179–1187, Jun. 2006. [5] M. J. Corley and R. D. Lorenz, “Rotor position and velocity estimation for a salient-pole permanent magnet synchronous machine at standstill and high speed,” IEEE Trans. Ind. Appl., vol. 34, no. 4, pp. 784–789, Jul./Aug. 1998. [6] S. Ogasawara and H. Akagi, “Implementation and position control per-formance of a position-sensorless IPM motor drive system based on mag-netic saliency,” IEEE Trans. Ind. Appl., vol. 34, no. 4, pp. 806–812, Jul./Aug. 1998. [7] S. Ogasawara and H. Akagi, “An approach to real-time position estimation at zero and low speed for PM motor based on saliency,” IEEE Trans. Ind. Appl., vol. 34, no. 1, pp. 163–168, Jan./Feb. 1998. [8] G. Pesse and T. Paga, “A permanent magnet synchronous motor flux con-trol scheme without position sensor,” in Proc. EPE, Trondheim, Norway,1997, pp. 553–568.

  38. References 2/4 [9] J. Barrenscheen, D. Flieller, D. Kalinowski, and J. P. Louis, “A newsensorless speed and torque control for permanent magnet synchronousmotors: Realisation and modelling,” in Proc. EPE, Sevilla, Spain, 1995,pp. 839–844. [10] J. Oyama, T. Abe, T. Higuchi, E. Yamada, and K. Shibahara, “Position sensor-less control of half-wave rectified brushless synchronous motor,” in Proc. EPE, Sevilla, Spain, 1995, pp. 149–153. [11] Z. M. A. Peixoto, F. M. F. Sa, P. F. Seixas, B. R. Menezes, and P. C. Cortizo, “Design of sliding observer for back electromotive force,position and speed estimation of interior magnet motors,” in Proc. EPE,Sevilla, Spain, 1995, pp. 833–838. [12] L. Ben-Brahim and A. Kawamura, “A fully digitized field-oriented con-trolled induction motor drive using only current sensor,” IEEE Trans. Ind.Appl., vol. 39, no. 3, pp. 241–249, Jun. 1992. [13] J. Holtz, “pulsewidth modulation—A survey,” IEEE Trans. Ind. Electron.,vol. 39, no. 5, pp. 410–420, Oct. 1992. [14] A. Cataliotti, F. Genduso, A. Raciti, and G. R. Galluzzo, “Generalized PWM–VSI control algorithm based on a universal duty-cycle expression:Theoretical analysis, simulation results, and experimental validations,”IEEE Trans. Ind. Electron., vol. 54, no. 3, pp. 1569–1580, Jun. 2007. [15] N. Matsui and M. Shigyo, “Brushless dc motor control without sensors,”IEEE Trans. Ind. Appl., vol. 28, no. 1, pp. 120–127, Jan./Feb. 1992. [16] R. Wu and G. R. Slemon, “A permanent magnet motor drive without a shaft sensor,” IEEE Trans. Ind. Appl., vol. 27, no. 5, pp. 1005–1011,Sep./Oct. 1991.

  39. References 3/4 [17] F. Alonge, A. O. Di Tommaso, R. Miceli, and C. Rando, “Sensorless control of permanent magnet synchronous motors for wide speed range applications,” in Proc. SPEEDAM, Taormina, Italy, pp. 12–17.[18] A. O. Di Tommaso and R. Miceli, “A new high accuracy software basedresolver-to-digital converter,” in Proc. 29th IEEE IECON, Nov. 2–6,2003, vol. 3, pp. 2435–2440. [19] J.-L. Shi, T.-H. Liu, and Y.-C. Chang, “Position control of an interior permanent-magnet synchronous motor without using a shaft position sen-sor,” IEEE Trans. Ind. Electron., vol. 54, no. 4, pp. 1989–2000, Jun. 2007 [20] J.-L. Shi, T.-H. Liu, and Y.-C. Chang, “Adaptive controller design for a sensorless IPMSM drive system with a maximum torque control,” Proc.Inst. Elect. Eng.—Electron. Power Appl., vol. 153, no. 6, pp. 823–833,Nov. 2006. [21] S. Morimoto, S. Sanada, M. Takeda, and Y. Imai, “Influence of ro-tor configuration on sensorless control for permanent-magnet synchro-nous motors,” IEEE Trans. Ind. Appl., vol. 44, no. 1, pp. 93–100, Jan./Feb. 2008. [22] F. Genduso, R. Miceli, C. Rando, and G. RiccoGalluzzo, “A novel correc-tion method for a low cost sensorless control system of IPMSM electrical drives,” in Proc. ISIE, Cambridge, U.K., Jul. 2008, pp. 509–514. [23] S.-Y. Kim and I.-J. Ha, “A new observer design method for HF signal injection sensorless control of IPMSMs,” IEEE Trans. Ind. Electron.,vol. 55, no. 6, pp. 2525–2529, Jun. 2008. [24] M. Boussak, “Implementation and experimental investigation of sensor-less speed control with initial rotor position estimation for interior per-manent magnet synchronous motor drive,” IEEE Trans. Power Electron.,vol. 20, no. 6, pp. 1413–1422, Nov. 2005.

  40. References 4/4 [25] G.-D. Andreescu, C. I. Pitic, F. Blaabjerg, and I. Boldea, “Combined flux observer with signal injection enhancement for wide speed range sensorless direct torque control of IPMSM drives,” IEEE Trans. EnergyConvers., vol. 23, no. 2, pp. 393–402, Jun. 2008.

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