Sensorless Control of Permanent Magnet Synchronous Machine Drives

Name: Sensorless Control of Permanent Magnet Synchronous Machine Drives
Brand: Wiley
Price: 118.99 EUR
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Zi Qiang Zhu Xi Meng Wu(Author)

Wiley (Publisher)

1st Edition

Published on 8. November 2023

496 pages

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978-1-394-19437-7 (ISBN)

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Sensorless Control of Permanent Magnet Synchronous Machine Drives

A comprehensive resource providing basic principles and state-of-the art developments in sensorless control technologies for permanent magnet synchronous machine drives

Sensorless Control of Permanent Magnet Synchronous Machine Drives highlights the global research achievements over the last three decades and the sensorless techniques developed by the authors and their colleagues, and covers sensorless control techniques of permanent magnet machines, discussing issues and solutions. Many worked application examples are included to aid in practical understanding of concepts.

Written by pioneering authors in the field, Sensorless Control of Permanent Magnet Synchronous Machine Drives covers topics such as:
* Permanent magnet brushless AC and DC drives
* Single three-phase, dual three-phase, and open winding machines
* Modern control theory based sensorless methods, covering model reference adaptive system, sliding mode observer, extended Kalman filter, and model predictive control
* Flux-linkage and back-EMF based methods for non-salient machines, and active flux-linkage and extended back-EMF methods for salient machines
* Pulsating and rotating high frequency sinusoidal and square wave signal injection methods with current or voltage response, at different reference frames, and selection of amplitude and frequency for injection signal
* Sensorless control techniques based on detecting third harmonic or zero-crossings of back-EMF waveforms
* Parasitic effects in fundamental and high frequency models, impacts on position estimation and compensation schemes, covering cross-coupling magnetic saturation, load effect, machine saliency and multiple saliencies

Describing basic principles, examples, challenges, and practical solutions, Sensorless Control of Permanent Magnet Synchronous Machine Drives is a highly comprehensive resource on the subject for professionals working on electrical machines and drives, particularly permanent magnet machines, and researchers working on electric vehicles, wind power generators, household appliances, and industrial automation.

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Content

Cover
Title Page
Copyright Page
Contents
About the Authors
Preface
List of Abbreviations
List of Symbols
Chapter 1 General Introduction
1.1 Introduction
1.2 Permanent Magnet Machines
1.2.1 Topologies
1.2.2 Drives
1.3 Basic Principle of PM BLAC (PMSM) Drives
1.3.1 Modeling
1.3.1.1 ABC Reference Frame
1.3.1.2 Stationary Reference Frame
1.3.1.3 Synchronous Reference Frame
1.3.2 Control Strategies
1.3.2.1 Space Vector PWM
1.3.2.2 Field-Oriented Control
1.3.2.3 Direct Torque Control
1.3.2.4 Model Predictive Control
1.4 Basic Principle of PM BLDC Drives
1.4.1 Modeling
1.4.2 Control Strategies
1.5 Comparison Between PM BLDC (PMSM) and BLAC Drives
1.5.1 Square-Wave Back-EMF Machine
1.5.2 Sine-Wave Back-EMF Machine
1.6 Sensorless Control Techniques and Applications
1.6.1 Classification
1.6.2 Applications
1.7 Scope of This Book
References
Chapter 2 Fundamental Model-Based Sensorless Control
2.1 Introduction
2.2 Flux-Linkage-Based Method
2.2.1 Flux-Linkage Method for Non-salient PMSMs
2.2.2 Active Flux-Linkage Method for Salient PMSMs
2.3 Back-EMF-Based Method
2.3.1 Back-EMF Method for Non-salient PMSMs
2.3.2 Extended Back-EMF Method for Salient PMSMs
2.3.2.1 In Synchronous Reference Frame
2.3.2.2 In Stationary Reference Frame
2.3.3 Comparison
2.3.3.1 Comparison Between Back-EMF and Flux-Linkage Methods
2.3.3.2 Comparison of Active Flux and Extended Back-EMF
2.4 Position Observer
2.4.1 Arctangent Method
2.4.2 Phase-Locked Loop
2.4.3 Simplified Extended Kalman Filter
2.4.4 Simulation Results
2.5 Summary
References
Chapter 3 Fundamental Model-Based Sensorless Control-Issues and Solutions
3.1 Introduction
3.2 Integration and Filter
3.2.1 Initial Value
3.2.2 Drift
3.2.3 Delay
3.3 Back-EMF and Current Harmonics
3.3.1 Influence of Back-EMF Harmonics
3.3.2 Influence of Current Harmonics
3.4 Cross-Coupling Magnetic Saturation
3.4.1 Impact on Position Estimation
3.4.2 Sensorless Control Accounting for Cross-Coupling Inductance
3.5 Parameter Mismatch
3.5.1 Impact on Position Estimation
3.5.2 Position Correction Method Under Parameter Mismatches
3.5.2.1 q-Axis Injection for q-Axis Inductance Mismatch
3.5.2.2 d-Axis Injection for Resistance Mismatch
3.5.2.3 Amplitude Calculation Technique
3.5.2.4 Position Error Correction with LMS Algorithm
3.5.2.5 Experimental Results
3.6 Parameter Asymmetry
3.6.1 Asymmetric Modeling
3.6.1.1 Resistance Asymmetry
3.6.1.2 Inductance Asymmetry
3.6.1.3 Back-EMF Asymmetry
3.6.2 Impacts on Position Estimation
3.6.3 Harmonic Suppression
3.7 Summary
References
Chapter 4 Saliency Tracking-Based Sensorless Control Methods
4.1 Introduction
4.2 High-Frequency Model of PM Machines
4.2.1 Model in Synchronous Reference Frame
4.2.2 Model in Estimated Synchronous Reference Frame
4.2.3 Model in Stationary Reference Frame
4.3 High-Frequency Signal Injection in Estimated Synchronous Reference Frame
4.3.1 Pulsating Sinusoidal Signal
4.3.2 Pulsating Square-Wave Signal
4.4 High-Frequency Signal Injection in Stationary Reference Frame
4.4.1 Rotating Sinusoidal Signal
4.4.2 Pulsating Sinusoidal Signal
4.4.2.1 Mathematical Model
4.4.2.2 Ip Pre-detection and Compensation
4.4.2.3 Experiment Results
4.4.3 Pulsating Square-Wave Signal
4.4.3.1 Mathematical Model
4.4.3.2 IpSQ Pre-detection and Compensation
4.4.3.3 Experiment Results
4.5 Position Observer
4.5.1 Basic Structure
4.5.2 Influence of LPF
4.5.3 Convergence Analysis
4.6 Other Saliency Tracking-Based Methods
4.6.1 Transient Voltage Vector-Based Method
4.6.2 PWM Excitation-Based Method
4.7 Summary
References
Chapter 5 Saliency Tracking-Based Sensorless Control Methods-Issues and Solutions
5.1 Introduction
5.2 Cross-Coupling Magnetic Saturation
5.2.1 Impact on Position Estimation
5.2.2 Compensation Scheme
5.2.2.1 Direct Compensation
5.2.2.2 Indirect Compensation
5.3 Machine Saliency and Load Effect
5.3.1 Machine Saliency Investigation
5.3.2 Machine Saliency Circle
5.4 Multiple Saliency Effect
5.5 Asymmetric Parameters
5.5.1 High-Frequency Models with Machine Inductance Asymmetry
5.5.2 Suppression of Position Errors Due to Inductance Asymmetry
5.5.3 Experimental Results
5.5.3.1 Position Estimation Under Inductance Asymmetry
5.5.3.2 The Second Harmonic Oscillating Error Suppression
5.6 Inverter Nonlinearity Effects
5.6.1 Mechanism
5.6.1.1 Deadtime
5.6.1.2 Parasitic Capacitance Effects
5.6.2 HF Voltage Distortion
5.6.3 HF Current Distortion
5.6.3.1 Rotating Signal Injection-Based Method
5.6.3.2 Pulsating Signal Injection-Based Method
5.6.3.3 Experiment Results
5.6.4 Compensation Scheme
5.6.4.1 Pre-compensation
5.6.4.2 Post-compensation
5.6.4.3 Comparison
5.7 Signal Processing Delay
5.8 Selection of Amplitude and Frequency for Injection Voltage Signal
5.8.1 Quantization Error in AD Conversion
5.8.2 Sensorless Safe Operation Area
5.8.3 Experimental Results of Determining Amplitude and Frequency
5.8.4 Sensorless Operation Performance
5.8.5 Pseudo-random Selection of Injection Signal
5.9 Transition Between Low Speed and High Speed
5.10 Summary
References
Chapter 6 Saliency Tracking-Based Sensorless Control Method Using Zero Sequence Voltage
6.1 Introduction
6.2 Rotating Sinusoidal Signal Injection
6.2.1 Zero Sequence Voltage Model
6.2.2 Signal Demodulation
6.3 Conventional Pulsating Sinusoidal Signal Injection
6.4 Anti-rotating Pulsating Sinusoidal Signal Injection
6.4.1 Anti-rotating Signal Injection
6.4.2 Signal Demodulation
6.4.3 Cross-Saturation Effect
6.4.4 Experimental Results
6.4.4.1 Zero Sequence Voltage Model Verification
6.4.4.2 Steady- and Dynamic-State Position Estimation Performances
6.4.4.3 Robustness and Accuracy Comparison
6.5 Conventional Pulsating Square-Wave Signal Injection
6.6 Anti-rotating Pulsating Square-Wave Signal Injection
6.6.1 Anti-rotating Signal Injection
6.6.2 Signal Demodulation
6.6.3 Cross-Saturation Effect
6.6.4 Experimental Results
6.6.4.1 Zero Sequence Voltage Model Verification
6.6.4.2 Steady- and Dynamic-State Position Estimation Performance
6.6.4.3 Comparison to Square-Wave Injection Method with HF Current Sensing
6.7 Summary
References
Chapter 7 Sensorless Control of Dual Three-Phase PMSMs and Open-.Winding PMSMs
7.1 Introduction
7.2 Dual Three-Phase PMSMs
7.2.1 Modeling of DTP-PMSM Drive
7.2.1.1 Double dq Model
7.2.1.2 Vector Space Decomposition
7.2.2 HFSI Sensorless Control with Current Response
7.2.3 HFSI Sensorless Control with Voltage Response
7.2.3.1 Zero Sequence Voltage Measurement
7.2.3.2 Modeling of Dual Three-Phase PMSM
7.2.3.3 Pulsating Sinusoidal Signal Injection
7.2.3.4 Rotating Signal Injection Method
7.2.3.5 Experimental Results and Analysis for DTP-PMSM
7.2.4 Fundamental Model-Based Sensorless Control
7.2.4.1 Extended Back-EMF Model on DTP-PMSM
7.2.4.2 Parameter Mismatch Effect
7.2.4.3 Parameter Mismatch Correction
7.2.4.4 Experimental Results
7.2.5 Third Harmonic Back-EMF-Based Sensorless Control
7.3 Open Winding PMSMs
7.3.1 Modeling of OW-PMSM Drive
7.3.2 Phase Shift-Based SVPWM for OW-PMSM
7.3.3 Zero Sequence Current-Based Sensorless Control
7.3.4 Nonparametric Zero Sequence Voltage-Based Sensorless Control
7.4 Summary
References
Chapter 8 Magnetic Polarity Identification
8.1 Introduction
8.2 Dual Voltage Pulses Injection-Based Method
8.3 d-Axis Current Injection-Based Method
8.3.1 HF Current Response
8.3.2 HF Zero Sequence Voltage Response
8.4 Secondary Harmonic-Based Method
8.4.1 Modeling of Secondary Harmonics
8.4.2 HF Current Response
8.4.3 HF Zero Sequence Voltage Response
8.4.4 Experiment Results
8.5 Summary
References
Chapter 9 Rotor Initial Position Estimation
9.1 Introduction
9.2 Magnetic Saturation Effect
9.3 Basic Pulse Injection Method Using Three Phase Currents
9.3.1 Pulse Excitation Configuration
9.3.2 Current Response Model
9.3.3 Initial Position Estimation
9.4 Improved Pulse Injection Method Using Three Phase Currents
9.4.1 Utilization of Three Phase Current Responses
9.4.2 Pulse Injection Sequence
9.4.3 Boundary Detection Strategy
9.4.4 Experiment Results
9.4.4.1 Estimation Example
9.4.4.2 Overall Rotor Initial Position Estimation Performance
9.4.4.3 Boundary Detection Performance
9.5 Pulse Injection Method Using DC-Link Voltage
9.5.1 Utilization of DC-Link Voltage Variation
9.5.2 Pulse Injection Process
9.5.3 Experiment Results
9.5.3.1 Estimation Example
9.5.3.2 Overall Estimation Performance
9.5.3.3 Comparison with Estimation Using Current Responses
9.6 Voltage Pulse Selection
9.6.1 Selection of Duration
9.6.2 Selection of Magnitude
9.6.3 Experiment Results
9.7 High-Frequency Signal Injection-Based Method
9.7.1 Three-Phase HF Current Amplitude
9.7.2 Sector Detection
9.7.3 Experiment Results
9.8 Summary
References
Chapter 10 Sensorless Control of PM Brushless DC Drives Based on Detection of Zero-Crossing of Back-EMF Waveform
10.1 Introduction
10.2 Basics of ZCP Detection
10.2.1 Mathematic Model
10.2.2 Typical Current Waveforms
10.2.3 Sensorless Operation of BLDC Drives
10.3 ZCP Detection with PWM
10.3.1 PWM Patterns
10.3.2 Back-EMF Sensing
10.3.2.1 Sinusoidal Back-EMF
10.3.2.2 Trapezoidal Back-EMF
10.4 ZCP Deviation and Solution
10.4.1 Horizontal Deviation Caused by Machine Parameter Asymmetry
10.4.1.1 Horizontal Deviation of EMF Waveforms
Terminal Voltage in Sector II
Terminal Voltage in Sector V
10.4.1.2 Influence of Machine Parameter Asymmetry on ZCP Detection
10.4.2 Vertical Deviation Caused by Resistance Tolerance of RVD
10.4.2.1 Resistance Tolerance of Measurement Circuit
10.4.2.2 Voltage Shift and ZCP Angle Errors
10.4.3 Adaptive Threshold Correction
10.4.3.1 Vertical Correction
10.4.3.2 Horizontal Correction
10.4.4 Experimental Results
10.5 Freewheeling Angle
10.5.1 PWM Pattern
10.5.1.1 Commutation Mode 1
10.5.1.2 Commutation Mode 2
10.5.1.3 Comparison of Current Descent Rates
10.5.1.4 Freewheeling Angle
10.5.1.5 Experiment Results
10.5.2 Sensorless Safe Operation Area
10.5.2.1 Prediction of SOA
10.5.2.2 Experiment Results
10.5.3 Resistance and Inductance
10.5.4 DC-Link Voltage
10.5.5 PWM Duty Ratio
10.6 Machine Design Effect
10.7 Summary
References
Chapter 11 Sensorless Control Based on Third Harmonic Back-EMF
11.1 Introduction
11.2 Detection and Methods
11.2.1 Third Harmonic Back-EMF
11.2.2 Virtual Third Harmonic Back-EMF
11.3 BLDC Operation
11.3.1 Without PWM
11.3.2 With PWM
11.3.2.1 Low-Pass Filter
11.3.2.2 Envelope Construction
11.4 BLAC (PMSM) Operations
11.4.1 Rotor Position Estimator Based on Integration
11.4.2 Rotor Position Estimator Based on Zero-Crossing Correction
11.4.3 Rotor Position Estimator Based on Continuous Signal
11.4.4 Experiment Results
11.5 Position Estimation of DTP-PMSMs
11.5.1 Position Estimation Based on Third Harmonic Flux-Linkage
11.5.2 Position Estimation Using Third Harmonic Back-EMF
11.5.3 Experiment Results
11.6 Issues with Third Harmonic Back-EMF Detection
11.6.1 Requirement of Neutral Line
11.6.2 Absence of Third Harmonic Back-EMF
11.6.3 Rotor Saliency
11.6.4 Unbalanced Three Phases
11.7 Issues with Virtual Third Harmonic Back-EMF Detection
11.7.1 ZCP Detection Under Asymmetric Parameters
11.7.2 Commutation Errors Caused by Asymmetric Parameters
11.7.3 Phase Compensation of Commutation Errors
11.7.4 Experiment Results
11.8 Summary
References
Chapter 12 Application of Modern Control Theories
12.1 Introduction
12.2 Model Reference Adaptive System
12.2.1 Basic Principle
12.2.2 Current Model-Based Observer
12.2.3 Voltage Model-Based Observer
12.2.4 Simplified Voltage Model Observer
12.3 Sliding Mode Observer
12.3.1 Basic Principle
12.3.2 Conventional SMO
12.3.3 Chattering Issue and Solutions
12.4 Extended Kalman Filter
12.4.1 Basic Principle
12.4.1.1 Step 1: Prediction
12.4.1.2 Step 2: Innovation
12.4.2 PMSM Model Simplification
12.4.3 Full-Order EKF
12.4.4 Reduced-Order EKF
12.4.5 Parameter Tuning
12.5 Model Predictive Control
12.5.1 Predictive Current Control
12.5.2 Predictive Current Control with Deadbeat Solution
12.5.3 HFSI Sensorless Control
12.5.3.1 High-Frequency Voltage Signal Injection
12.5.3.2 Signal Demodulation
12.5.3.3 Experiment Results
12.6 Summary
References
Appendix A Speed Estimation
A.1 Speed Estimation Associated with Rotor Position
A.2 Speed Estimation from Machine Model
A.3 Hybrid Speed Estimation Method
References
Appendix B Specifications of Prototype Machines and Test Rigs
B.1 PM BLAC Drives
B.2 PM BLDC Drives
Index
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Sensorless Control of Permanent Magnet Synchronous Machine Drives

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