DOI QR코드

DOI QR Code

Sensorless Control of Permanent Magnet Synchronous Motors with Compensation for Parameter Uncertainty

  • Yang, Jiaqiang (College of Electrical Engineering, Zhejiang University) ;
  • Mao, Yongle (College of Electrical Engineering, Zhejiang University) ;
  • Chen, Yangsheng (College of Electrical Engineering, Zhejiang University)
  • Received : 2016.06.20
  • Accepted : 2017.02.06
  • Published : 2017.05.01

Abstract

Estimation errors of the rotor speed and position in sensorless control systems of Permanent Magnet Synchronous Motors (PMSM) will lead to low efficiency and dynamic-performance degradation. In this paper, a parallel-type extended nonlinear observer incorporating the nominal parameters is constructed in the stator-fixed reference frame, with rotor position, speed, and the load torque simultaneously estimated. The stability of the extended nonlinear observer is analyzed using the indirect Lyapunov's method, and observer gains are selected according to the transfer functions of the speed and position estimators. Taking into account the parameter inaccuracies issue, explicit estimation error equations are derived based on the error dynamics of the closed-loop sensorless control system. An equivalent flux error is defined to represent the back Electromotive Force (EMF) error caused by the inaccurate motor parameters, and a compensation strategy is designed to suppress the estimation errors. The effectiveness of the proposed method has been validated through simulation and experimental results.

Keywords

References

  1. K. Ahn, A.E. Bayrak, and P.Y. Papalambros, "Electric Vehicle Design Optimization: Integration of a High-Fidelity Interior-Permanent-Magnet Motor Model," IEEE Trans. Veh. Technol., vol. 64, no. 9, pp. 3870-3877, Sep. 2015. https://doi.org/10.1109/TVT.2014.2363144
  2. Y. Chen, P. Pillay, and A. Khan, "PM Wind Generator Topologies," IEEE Trans. Ind. Appl., vol. 41, no. 6, pp. 425-436, Nov./Dec. 2005.
  3. C.L Xia, W.T. Deng, and T.N. Shi, "Torque Ripple Minimization of PMSM Using Parameter Optimization Based Iterative Learning Control," Journal of Electrical Engineering & Technology, vol. 11, no. 2, pp. 425-436, Mar. 2016. https://doi.org/10.5370/JEET.2016.11.2.425
  4. P. P. Acarnley and J. F. Watson, "Review of Position- Sensorless Operation of Brushless Permanent-magnet Machines," IEEE Trans. Ind. Electron., vol. 53, no. 2, pp. 352-362, Apr. 2006. https://doi.org/10.1109/TIE.2006.870868
  5. S.J. Kim, Y.K. Lee, J.S. Lee, K.W. Lee, T. Kwon, and H. Mok, "Sensorless Control Method in IPMSM Position Sensor Fault for HEV," Journal of Electrical Engineering & Technology, vol. 8, no. 5, pp. 1056-1061, Sep. 2013. https://doi.org/10.5370/JEET.2013.8.5.1056
  6. J. Holtz, "Acquisition of Position Error and Magnet Polarity for Sensorless Control of PM Synchronous Machines," IEEE Trans. Ind. Appl., vol. 44, no. 4, pp. 1172-1180, Jul./Aug. 2008. https://doi.org/10.1109/TIA.2008.921418
  7. M. Seilmeier and B. Piepenbreier, "Sensorless Control of PMSM for the Whole Speed Range using Two-degree-of-freedom Current Control and HF Test Current Injection for Low-speed range," IEEE Trans. Power Electron., vol. 30, no. 8, pp. 4394-4403, Aug. 2015. https://doi.org/10.1109/TPEL.2014.2353215
  8. D. Kim, Y. Kwon, S. Sul, and J. Kim, "Suppression of Injection Voltage Disturbance for High-Frequency Square-wave Injection Sensorless Drive with Regulation of Induced High-Frequency Current Ripple," IEEE Trans. Ind. Appl., vol. 52, no. 1, pp. 302-312, Jan./Feb. 2016. https://doi.org/10.1109/TIA.2015.2478887
  9. P. Kshirsagar, R. Burgos, J. Jang, A. Lidozzi, F. Wang, D. Boroyevich, and S. Sul, "Implementation and Sensorless Vector-control Design and Tuning Strategy for SMPM Machines in Fan-type Applications," IEEE Trans. Ind. Appl., vol. 30, no. 8, pp. 2402-2413, Nov./Dec. 2012.
  10. B. Nahid-Mobarakeh, F. Meibody-Tabar, and F. Sargos, "Back EMF Estimation-based Sensorless Control of PMSM: Robustness with Respect to Measurement Errors and Inverter Irregularities," IEEE Trans. Ind. Appl., vol. 43, no. 2, pp. 485-494, Mar./Apr. 2015. https://doi.org/10.1109/TIA.2006.889826
  11. T. Bernardes, V. Montagner, H. Grundling, and H. Pinheiro, "Discrete-time Sliding Mode Observer for Sensorless Vector Control of Permanent Magnet Synchronous Machine," IEEE Trans. Ind. Electron., vol. 61, no. 4, pp. 1679-1691, Apr. 2014. https://doi.org/10.1109/TIE.2013.2267700
  12. J. Dominguez, A. Navarrete, M. Meza, A. Loukianov, and J. Canedo, "Digital Sliding-mode Sensorless Control for Surface-mounted PMSM," IEEE Trans. Ind. Informat., vol. 10, no. 1, pp. 137-151, Feb. 2014. https://doi.org/10.1109/TII.2013.2262280
  13. Y. Fan, L. Zhang, M. Cheng, and K. Chau, "Sensorless SVPWM-FADTC of a New Flux-modulated Permanent-magnet Wheel Motor Based on a Widespeed Sliding Mode Observer," IEEE Trans. Ind. Electron., vol. 62, no. 5, pp. 3143-3151, May 2015. https://doi.org/10.1109/TIE.2014.2376879
  14. G. Zhang, G. Wang, D. Xu, and N. Zhao, "Adalinenetwork- based PLL for Position Sensorless Interior Permanent Magnet Synchronous Motor Drives," IEEE Trans. Power Electron., vol. 31, no. 2, pp. 1450-1460, Feb. 2016. https://doi.org/10.1109/TPEL.2015.2424256
  15. L. Idkhajine, E. Monmasson, and A. Maalouf, "Fully FPGA-based Sensorless Control for Synchronous AC Drive using an Extended Kalman Filter," IEEE Trans. Ind. Electron., vol. 59, no. 10, pp. 3908-3918, Oct. 2012. https://doi.org/10.1109/TIE.2012.2189533
  16. N. Quang, N. Hieu, and Q.P. Ha, "FPGA-Based Sensorless PMSM Speed Control Using Reduced-Order Extended Kalman Filters," IEEE Trans. Ind. Electron., vol. 61, no. 2, pp. 6574-6582, Dec. 2014. https://doi.org/10.1109/TIE.2014.2320215
  17. M. Rashed, P.F.A. MacConnell, A.F. Stronach, and P. 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. https://doi.org/10.1109/TIE.2007.895136
  18. Y. Shi, K. Sun, L. Huang, and Y. Li, "Online Identification of Permanent Magnet Flux Based on Extended Kalman Filter for IPMSM Drive with Position Sensorless Control," IEEE Trans. Ind. Electron., vol. 59, no. 11, pp. 4169-4178, Nov. 2012. https://doi.org/10.1109/TIE.2011.2168792
  19. G. Bisheimer, M.O. Sonnaillon, C.H. De Angelo, J.A. Solsona, and G.O. Garcia, "Full Speed Range Permanent Magnet Synchronous Motor Control without Mechanical Sensors," IET Electr. Power Appl., vol. 4, no. 1, pp. 35-44, 2010. https://doi.org/10.1049/iet-epa.2008.0187
  20. G. Zhu, A. Kaddouri, L.A. Dessaint, and O. Akhrif, "A Nonlinear State Observer for the Sensorless Control of a Permanent-magnet AC Machine," IEEE Trans. Ind. Electron., vol. 48, no. 6, pp. 1098-1108, Dec. 2001. https://doi.org/10.1109/41.969388
  21. B. Bhangu and C. Bingham, "GA-tuning of Nonlinear Observers for Sensorless Control of Automotive Power Steering IPMSMs," Proc. IEEE Vehicle Power and Propulsion, pp. 772-779, 2005.
  22. J. A. Solsona, M. I. Valla, and C. Muravchik, "Nonlinear Control of a Permanent Magnet Synchronous Motor with Disturbance Torque Estimation," IEEE Trans. Energy Convers., vol. 15, no. 2, pp. 163-168, Jun. 2000. https://doi.org/10.1109/60.866994
  23. Driels, MR. Nonlinear Systems: Analysis, Stability, and Control. Springer, New York, p. 182-223, 1999.

Cited by

  1. A Parameter Identification Method Based on Forgetting Factor Dynamic Adjustment for PMSM Applied to the Rapid Control of Satellite Attitude vol.14, pp.1, 2019, https://doi.org/10.1007/s42835-018-00049-x